2025-08-09T16:37:17.472Z,1754757437.472 [CommandExec](IMPORTANT): got command restart logs
2025-08-09T16:37:17.785Z,1754757437.785 [lineCaptureHoming:InitialDive:B.Mass] Running Loop=1
2025-08-09T16:37:17.785Z,1754757437.785 [lineCaptureHoming:InitialDive:A.SetSpeed] Running Loop=1
2025-08-09T16:37:30.736Z,1754757450.736 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-09T16:37:30.876Z,1754757450.876 [DAT](DEBUG): Acoustic response timeout
2025-08-09T16:37:30.876Z,1754757450.876 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-09T16:37:31.130Z,1754757451.130 [DAT](INFO): DAT read: user:11>

2025-08-09T16:37:31.131Z,1754757451.131 [DAT](INFO): DAT read: Tx time:16:37:30.4937

2025-08-09T16:37:31.131Z,1754757451.131 [DAT](INFO): Ping request sent.
2025-08-09T16:37:31.131Z,1754757451.131 [DAT](INFO): transmitted an acoustic signal
2025-08-09T16:37:31.131Z,1754757451.131 [DAT](INFO): publishing transmit ping time
2025-08-09T16:37:31.132Z,1754757451.132 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000736
2025-08-09T16:37:31.380Z,1754757451.380 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.248315
2025-08-09T16:37:31.632Z,1754757451.632 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.500429
2025-08-09T16:37:31.883Z,1754757451.883 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.752077
2025-08-09T16:37:32.136Z,1754757452.136 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.005009
2025-08-09T16:37:32.388Z,1754757452.388 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.256780
2025-08-09T16:37:32.639Z,1754757452.639 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.507977
2025-08-09T16:37:32.891Z,1754757452.891 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.760002
2025-08-09T16:37:33.144Z,1754757453.144 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.012289
2025-08-09T16:37:33.395Z,1754757453.395 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.264221
2025-08-09T16:37:33.648Z,1754757453.648 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.516378
2025-08-09T16:37:33.899Z,1754757453.899 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.768168
2025-08-09T16:37:34.159Z,1754757454.159 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.027304
2025-08-09T16:37:34.403Z,1754757454.403 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.272100
2025-08-09T16:37:34.656Z,1754757454.656 [DAT](INFO): DAT read: Rx Time:16:37:33.4815

2025-08-09T16:37:34.656Z,1754757454.656 [DAT](INFO): Rx dataTimestamp_ set to:1754757454.655756
2025-08-09T16:37:34.657Z,1754757454.657 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.525346
2025-08-09T16:37:34.908Z,1754757454.908 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.776711
2025-08-09T16:37:35.165Z,1754757455.165 [DAT](INFO): DAT read: 16:37:33.4815 LVL= 32752, 32753, 32754, 32755, AGC= 72, IDX= 422,-0.18,-1.471,-2.461,-0.409,-1.324, PHS=-0.045,-1.092, 0.871, RAW= 177.8,   3.2, CAL= 177.3,   0.6, ROT= 332.7,  -0.6

2025-08-09T16:37:35.166Z,1754757455.166 [DAT](INFO): got valid direction response:
 16:37:33.4815 LVL= 32752, 32753, 32754, 32755, AGC= 72, IDX= 422,-0.18,-1.471,-2.461,-0.409,-1.324, PHS=-0.045,-1.092, 0.871, RAW= 177.8,   3.2, CAL= 177.3,   0.6, ROT= 332.7,  -0.6

2025-08-09T16:37:35.167Z,1754757455.167 [DAT](INFO): DAT read: Bearing 322.6, -26.2 (Local)

2025-08-09T16:37:35.167Z,1754757455.167 [DAT](INFO): Local bearing/azimuth received:
 Bearing 322.6, -26.2 (Local)

2025-08-09T16:37:35.169Z,1754757455.169 [DAT](INFO): DAT read: Range 11 to 50 : 437.7 m  (Round-trip  583.6 ms) speed  0.1 m/s

2025-08-09T16:37:35.169Z,1754757455.169 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-09T16:37:35.170Z,1754757455.170 [DAT](INFO): direction in FSK: [0.888569,-0.458624,0.010472]
2025-08-09T16:37:35.170Z,1754757455.170 [DAT](INFO): publishing direction and range info
2025-08-09T16:37:37.146Z,1754757457.146 [NAL9602](INFO): SBD MO Status=0, MOMSN=612, MT Status=0, MTMSN=0
2025-08-09T16:37:37.146Z,1754757457.146 [NAL9602](INFO): No messages in MT queue
2025-08-09T16:38:07.947Z,1754757487.947 [NAL9602](INFO): Not Powering down - fast GPS
2025-08-09T16:38:30.974Z,1754757510.974 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-09T16:38:31.159Z,1754757511.159 [DAT](DEBUG): Acoustic response timeout
2025-08-09T16:38:31.160Z,1754757511.160 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-09T16:38:31.411Z,1754757511.411 [DAT](INFO): DAT read: user:12>

2025-08-09T16:38:31.412Z,1754757511.412 [DAT](INFO): DAT read: Tx time:16:38:30.7955

2025-08-09T16:38:31.412Z,1754757511.412 [DAT](INFO): Ping request sent.
2025-08-09T16:38:31.412Z,1754757511.412 [DAT](INFO): transmitted an acoustic signal
2025-08-09T16:38:31.413Z,1754757511.413 [DAT](INFO): publishing transmit ping time
2025-08-09T16:38:31.413Z,1754757511.413 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000760
2025-08-09T16:38:31.663Z,1754757511.663 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250771
2025-08-09T16:38:31.915Z,1754757511.915 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502852
2025-08-09T16:38:32.167Z,1754757512.167 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754951
2025-08-09T16:38:32.419Z,1754757512.419 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006837
2025-08-09T16:38:32.671Z,1754757512.671 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258915
2025-08-09T16:38:32.923Z,1754757512.923 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510888
2025-08-09T16:38:33.175Z,1754757513.175 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762784
2025-08-09T16:38:33.427Z,1754757513.427 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014896
2025-08-09T16:38:33.679Z,1754757513.679 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266933
2025-08-09T16:38:33.931Z,1754757513.931 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518813
2025-08-09T16:38:34.188Z,1754757514.188 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.775192
2025-08-09T16:38:34.248Z,1754757514.248 [BPC1](ERROR): BPC1B failed to parse battery data due to unrecognized msg size.
2025-08-09T16:38:34.439Z,1754757514.439 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.026901
2025-08-09T16:38:34.691Z,1754757514.691 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.278804
2025-08-09T16:38:34.943Z,1754757514.943 [DAT](INFO): DAT read: Rx Time:16:38:33.7504

2025-08-09T16:38:34.944Z,1754757514.944 [DAT](INFO): Rx dataTimestamp_ set to:1754757514.943444
2025-08-09T16:38:34.944Z,1754757514.944 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.531857
2025-08-09T16:38:35.197Z,1754757515.197 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.784318
2025-08-09T16:38:35.453Z,1754757515.453 [DAT](INFO): DAT read: 16:38:33.7504 LVL= 32736, 32753, 25138, 31827, AGC= 75, IDX= 102,-0.29, 2.585, 2.458,-2.115, 3.110, PHS=-0.423,-0.607, 1.014, RAW= 204.1,   0.2, CAL= 203.8,  -2.0, ROT= 306.2,   2.0

2025-08-09T16:38:35.454Z,1754757515.454 [DAT](INFO): got valid direction response:
 16:38:33.7504 LVL= 32736, 32753, 25138, 31827, AGC= 75, IDX= 102,-0.29, 2.585, 2.458,-2.115, 3.110, PHS=-0.423,-0.607, 1.014, RAW= 204.1,   0.2, CAL= 203.8,  -2.0, ROT= 306.2,   2.0

2025-08-09T16:38:35.456Z,1754757515.456 [DAT](INFO): DAT read: Bearing 342.4, -11.8 (Local)

2025-08-09T16:38:35.456Z,1754757515.456 [DAT](INFO): Local bearing/azimuth received:
 Bearing 342.4, -11.8 (Local)

2025-08-09T16:38:35.457Z,1754757515.457 [DAT](INFO): DAT read: Range 11 to 50 : 413.1 m  (Round-trip  550.8 ms) speed  0.3 m/s

2025-08-09T16:38:35.458Z,1754757515.458 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-09T16:38:35.459Z,1754757515.459 [DAT](INFO): direction in FSK: [0.590246,-0.806469,-0.034899]
2025-08-09T16:38:35.459Z,1754757515.459 [DAT](INFO): publishing direction and range info
2025-08-09T16:38:54.723Z,1754757534.723 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-08-09T16:38:57.736Z,1754757537.736 [DataOverHttps](INFO): setting unavailable, lastComms_.elapsed()=60.243759
2025-08-09T16:38:58.050Z,1754757538.050 [lineCaptureHoming:MicromodemComms] Running Loop=1
2025-08-09T16:38:58.050Z,1754757538.050 [lineCaptureHoming:MicromodemComms](DEBUG): Aggregate::initialize lineCaptureHoming:MicromodemComms
2025-08-09T16:38:58.058Z,1754757538.058 [lineCaptureHoming:MicromodemComms:CheckIn] Running Loop=1
2025-08-09T16:38:58.059Z,1754757538.059 [lineCaptureHoming:MicromodemComms:CheckIn](DEBUG): Aggregate::initialize lineCaptureHoming:MicromodemComms:CheckIn
2025-08-09T16:38:58.059Z,1754757538.059 [lineCaptureHoming:MicromodemComms:CheckIn:A] Running Loop=1
2025-08-09T16:39:12.675Z,1754757552.675 [Radio_Surface](INFO): Powering down
2025-08-09T16:39:29.551Z,1754757569.551 [NAL9602](INFO): Not Powering down - fast GPS
2025-08-09T16:39:29.863Z,1754757569.863 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-08-09T16:39:30.867Z,1754757570.867 [DataOverHttps](INFO): Radio surface powered OFF, will not connect.
2025-08-09T16:39:31.189Z,1754757571.189 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-09T16:39:31.415Z,1754757571.415 [DAT](DEBUG): Acoustic response timeout
2025-08-09T16:39:31.415Z,1754757571.415 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-09T16:39:31.667Z,1754757571.667 [DAT](INFO): DAT read: user:13>

2025-08-09T16:39:31.668Z,1754757571.668 [DAT](INFO): DAT read: Tx time:16:39:31.0441

2025-08-09T16:39:31.669Z,1754757571.669 [DAT](INFO): Ping request sent.
2025-08-09T16:39:31.669Z,1754757571.669 [DAT](INFO): transmitted an acoustic signal
2025-08-09T16:39:31.669Z,1754757571.669 [DAT](INFO): publishing transmit ping time
2025-08-09T16:39:31.669Z,1754757571.669 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000747
2025-08-09T16:39:31.919Z,1754757571.919 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250630
2025-08-09T16:39:32.171Z,1754757572.171 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502606
2025-08-09T16:39:32.424Z,1754757572.424 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754898
2025-08-09T16:39:32.675Z,1754757572.675 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006645
2025-08-09T16:39:32.927Z,1754757572.927 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258598
2025-08-09T16:39:33.180Z,1754757573.180 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510990
2025-08-09T16:39:33.431Z,1754757573.431 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762640
2025-08-09T16:39:33.683Z,1754757573.683 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014582
2025-08-09T16:39:33.935Z,1754757573.935 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266605
2025-08-09T16:39:34.187Z,1754757574.187 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518628
2025-08-09T16:39:34.440Z,1754757574.440 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770930
2025-08-09T16:39:34.691Z,1754757574.691 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.022624
2025-08-09T16:39:34.944Z,1754757574.944 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.275457
2025-08-09T16:39:35.195Z,1754757575.195 [DAT](INFO): DAT read: Rx Time:16:39:33.9940

2025-08-09T16:39:35.196Z,1754757575.196 [DAT](INFO): Rx dataTimestamp_ set to:1754757575.195537
2025-08-09T16:39:35.196Z,1754757575.196 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.527713
2025-08-09T16:39:35.447Z,1754757575.447 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.778594
2025-08-09T16:39:35.705Z,1754757575.705 [DAT](INFO): DAT read: 16:39:33.9940 LVL= 32752, 26257, 16674, 32755, AGC= 69, IDX= 385,-0.19, 0.025, 1.456, 2.082, 1.135, PHS=-1.008, 0.366, 0.903, RAW= 254.2,  -3.1, CAL= 251.2,  -6.8, ROT= 258.8,   6.8

2025-08-09T16:39:35.712Z,1754757575.712 [DAT](INFO): got valid direction response:
 16:39:33.9940 LVL= 32752, 26257, 16674, 32755, AGC= 69, IDX= 385,-0.19, 0.025, 1.456, 2.082, 1.135, PHS=-1.008, 0.366, 0.903, RAW= 254.2,  -3.1, CAL= 251.2,  -6.8, ROT= 258.8,   6.8

2025-08-09T16:39:35.712Z,1754757575.712 [DAT](INFO): DAT read: Bearing 359.4, -65.9 (Local)

2025-08-09T16:39:35.713Z,1754757575.713 [DAT](INFO): Local bearing/azimuth received:
 Bearing 359.4, -65.9 (Local)

2025-08-09T16:39:35.714Z,1754757575.714 [DAT](INFO): DAT read: Range 11 to 50 : 409.3 m  (Round-trip  545.8 ms) speed -0.4 m/s

2025-08-09T16:39:35.715Z,1754757575.715 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-09T16:39:35.716Z,1754757575.716 [DAT](INFO): direction in FSK: [-0.192868,-0.974055,-0.118404]
2025-08-09T16:39:35.716Z,1754757575.716 [DAT](INFO): publishing direction and range info
2025-08-09T16:40:05.910Z,1754757605.910 [BPC1](ERROR): BPC1B: No match for serial number 1717 in BPC1B's battery stick inventory (sticks 32-62 in onboard configuration file).
2025-08-09T16:40:28.204Z,1754757628.204 [lineCaptureHoming:InitialDive:C.Pitch] Stopped
2025-08-09T16:40:28.205Z,1754757628.205 [lineCaptureHoming:InitialDive](INFO): Completed lineCaptureHoming:InitialDive
2025-08-09T16:40:28.205Z,1754757628.205 [lineCaptureHoming:InitialDive] Stopped
2025-08-09T16:40:28.205Z,1754757628.205 [lineCaptureHoming:InitialDive](DEBUG): Aggregate::uninitialize lineCaptureHoming:InitialDive
2025-08-09T16:40:28.205Z,1754757628.205 [lineCaptureHoming:InitialDive:A.SetSpeed] Stopped
2025-08-09T16:40:28.205Z,1754757628.205 [lineCaptureHoming:InitialDive:A.SetSpeed](DEBUG): Uninitialize.
2025-08-09T16:40:28.205Z,1754757628.205 [lineCaptureHoming:InitialDive:B.Mass] Stopped
2025-08-09T16:40:28.205Z,1754757628.205 [lineCaptureHoming:InitialDive:B.Mass](DEBUG): Uninitialize.
2025-08-09T16:40:28.205Z,1754757628.205 [lineCaptureHoming:RepeatHack] Running Loop=1
2025-08-09T16:40:28.205Z,1754757628.205 [lineCaptureHoming:RepeatHack](DEBUG): Aggregate::initialize lineCaptureHoming:RepeatHack
2025-08-09T16:40:28.205Z,1754757628.205 [lineCaptureHoming:RepeatHack:A] Running Loop=1
2025-08-09T16:40:28.570Z,1754757628.570 [lineCaptureHoming:RepeatHack] Stopped
2025-08-09T16:40:28.570Z,1754757628.570 [lineCaptureHoming:RepeatHack](DEBUG): Aggregate::uninitialize lineCaptureHoming:RepeatHack
2025-08-09T16:40:28.570Z,1754757628.570 [lineCaptureHoming:RepeatHack:A] Stopped
2025-08-09T16:40:28.571Z,1754757628.571 [lineCaptureHoming:Lap] Running Loop=1
2025-08-09T16:40:28.571Z,1754757628.571 [lineCaptureHoming:Lap](DEBUG): Aggregate::initialize lineCaptureHoming:Lap
2025-08-09T16:40:28.571Z,1754757628.571 [lineCaptureHoming:Lap:A] Running Loop=1
2025-08-09T16:40:28.961Z,1754757628.961 [lineCaptureHoming:Lap:A] Stopped
2025-08-09T16:40:28.961Z,1754757628.961 [lineCaptureHoming:Lap:B] Running Loop=1
2025-08-09T16:40:28.961Z,1754757628.961 [lineCaptureHoming:Lap:B](DEBUG): Aggregate::initialize lineCaptureHoming:Lap:B
2025-08-09T16:40:29.404Z,1754757629.404 [lineCaptureHoming:LineCapture] Running Loop=1
2025-08-09T16:40:29.404Z,1754757629.404 [lineCaptureHoming:LineCapture](DEBUG): Aggregate::initialize lineCaptureHoming:LineCapture
2025-08-09T16:40:29.404Z,1754757629.404 [lineCaptureHoming:LineCapture:StandardEnvelopes] Running Loop=1
2025-08-09T16:40:29.404Z,1754757629.404 [lineCaptureHoming:LineCapture:StandardEnvelopes](DEBUG): Aggregate::initialize lineCaptureHoming:LineCapture:StandardEnvelopes
2025-08-09T16:40:29.404Z,1754757629.404 [lineCaptureHoming:LineCapture:StandardEnvelopes:A.AltitudeEnvelope] Running Loop=1
2025-08-09T16:40:29.404Z,1754757629.404 [lineCaptureHoming:LineCapture:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Initialize AltitudeEnvelopeComponent.
2025-08-09T16:40:29.404Z,1754757629.404 [lineCaptureHoming:LineCapture:StandardEnvelopes:B.DepthEnvelope] Running Loop=1
2025-08-09T16:40:29.405Z,1754757629.405 [lineCaptureHoming:LineCapture:StandardEnvelopes:B.DepthEnvelope](DEBUG): Initialize DepthEnvelopeComponent.
2025-08-09T16:40:29.405Z,1754757629.405 [lineCaptureHoming:LineCapture:StandardEnvelopes:C.OffshoreEnvelope] Running Loop=1
2025-08-09T16:40:29.405Z,1754757629.405 [lineCaptureHoming:LineCapture:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Initialize OffshoreEnvelopeComponent.
2025-08-09T16:40:29.405Z,1754757629.405 [lineCaptureHoming:LineCapture:G] Running Loop=1
2025-08-09T16:40:29.405Z,1754757629.405 [lineCaptureHoming:LineCapture:H] Running Loop=1
2025-08-09T16:40:29.405Z,1754757629.405 [lineCaptureHoming:LineCapture:HoldMass] Running Loop=1
2025-08-09T16:40:29.405Z,1754757629.405 [lineCaptureHoming:LineCapture:HoldMass](DEBUG): Aggregate::initialize lineCaptureHoming:LineCapture:HoldMass
2025-08-09T16:40:29.405Z,1754757629.405 [lineCaptureHoming:LineCapture:HoldMass:A] Running Loop=1
2025-08-09T16:40:29.405Z,1754757629.405 [lineCaptureHoming:LineCapture:HoldMass:B.Mass] Running Loop=1
2025-08-09T16:40:29.405Z,1754757629.405 [lineCaptureHoming:LineCapture:HoldMass:B.Mass](DEBUG): Initialize.
2025-08-09T16:40:29.405Z,1754757629.405 [lineCaptureHoming:LineCapture:HoldBuoyancy] Running Loop=1
2025-08-09T16:40:29.406Z,1754757629.406 [lineCaptureHoming:LineCapture:HoldBuoyancy](DEBUG): Aggregate::initialize lineCaptureHoming:LineCapture:HoldBuoyancy
2025-08-09T16:40:29.406Z,1754757629.406 [lineCaptureHoming:LineCapture:HoldBuoyancy:A.Buoyancy] Running Loop=1
2025-08-09T16:40:29.406Z,1754757629.406 [lineCaptureHoming:LineCapture:HoldBuoyancy:A.Buoyancy](DEBUG): Initialize Buoyancy Component.
2025-08-09T16:40:29.406Z,1754757629.406 [lineCaptureHoming:LineCapture:A] Running Loop=1
2025-08-09T16:40:29.406Z,1754757629.406 [lineCaptureHoming:LineCapture:HoldBuoyancy] Running Loop=1
2025-08-09T16:40:29.407Z,1754757629.407 [lineCaptureHoming:LineCapture:HoldBuoyancy:A.Buoyancy] Running Loop=1
2025-08-09T16:40:29.407Z,1754757629.407 [lineCaptureHoming:LineCapture:HoldMass] Running Loop=1
2025-08-09T16:40:29.407Z,1754757629.407 [lineCaptureHoming:LineCapture:HoldMass:B.Mass] Running Loop=1
2025-08-09T16:40:29.407Z,1754757629.407 [lineCaptureHoming:LineCapture:HoldMass:A] Running Loop=1
2025-08-09T16:40:29.407Z,1754757629.407 [lineCaptureHoming:LineCapture:H] Running Loop=1
2025-08-09T16:40:29.408Z,1754757629.408 [lineCaptureHoming:LineCapture:G] Running Loop=1
2025-08-09T16:40:29.408Z,1754757629.408 [lineCaptureHoming:LineCapture:StandardEnvelopes] Running Loop=1
2025-08-09T16:40:29.408Z,1754757629.408 [lineCaptureHoming:LineCapture:StandardEnvelopes:C.OffshoreEnvelope] Running Loop=1
2025-08-09T16:40:29.408Z,1754757629.408 [lineCaptureHoming:LineCapture:StandardEnvelopes:B.DepthEnvelope] Running Loop=1
2025-08-09T16:40:29.409Z,1754757629.409 [lineCaptureHoming:LineCapture:StandardEnvelopes:A.AltitudeEnvelope] Running Loop=1
2025-08-09T16:40:29.409Z,1754757629.409 [lineCaptureHoming:LineCapture:A] Stopped
2025-08-09T16:40:29.409Z,1754757629.409 [lineCaptureHoming:LineCapture:B] Running Loop=1
2025-08-09T16:40:29.776Z,1754757629.776 [lineCaptureHoming:UpdatePingUpdateRate_Terminal] Running Loop=1
2025-08-09T16:40:29.776Z,1754757629.776 [lineCaptureHoming:UpdatePingUpdateRate_Terminal](DEBUG): Aggregate::initialize lineCaptureHoming:UpdatePingUpdateRate_Terminal
2025-08-09T16:40:29.776Z,1754757629.776 [lineCaptureHoming:UpdatePingUpdateRate_Terminal:A] Running Loop=1
2025-08-09T16:40:29.777Z,1754757629.777 [lineCaptureHoming:UpdatePingUpdateRate_Terminal:A](INFO): Entering Terminal tracking update period  2.000000 s sec at 409.299988 m (mode  0.000000 count ).
2025-08-09T16:40:29.778Z,1754757629.778 [lineCaptureHoming:UpdatePingUpdateRate_Terminal:A] Stopped
2025-08-09T16:40:29.778Z,1754757629.778 [lineCaptureHoming:UpdatePingUpdateRate_Terminal:B] Running Loop=1
2025-08-09T16:40:29.781Z,1754757629.781 [lineCaptureHoming:LineCapture:B] Stopped
2025-08-09T16:40:29.781Z,1754757629.781 [lineCaptureHoming:LineCapture:D] Running Loop=1
2025-08-09T16:40:30.216Z,1754757630.216 [lineCaptureHoming:UpdatePingUpdateRate_Terminal:B] Stopped
2025-08-09T16:40:30.216Z,1754757630.216 [lineCaptureHoming:UpdatePingUpdateRate_Terminal:C] Running Loop=1
2025-08-09T16:40:30.216Z,1754757630.216 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-09T16:40:30.238Z,1754757630.238 [lineCaptureHoming:LineCapture:D] Stopped
2025-08-09T16:40:30.239Z,1754757630.239 [lineCaptureHoming:LineCapture:E] Running Loop=1
2025-08-09T16:40:30.411Z,1754757630.411 [DAT](DEBUG): Acoustic response timeout
2025-08-09T16:40:30.411Z,1754757630.411 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-09T16:40:30.577Z,1754757630.577 [lineCaptureHoming:UpdatePingUpdateRate_Terminal:C] Stopped
2025-08-09T16:40:30.577Z,1754757630.577 [lineCaptureHoming:UpdatePingUpdateRate_Terminal:D] Running Loop=1
2025-08-09T16:40:30.579Z,1754757630.579 [lineCaptureHoming:LineCapture:E] Stopped
2025-08-09T16:40:30.579Z,1754757630.579 [lineCaptureHoming:LineCapture:F] Running Loop=1
2025-08-09T16:40:30.663Z,1754757630.663 [DAT](INFO): DAT read: user:14>

2025-08-09T16:40:30.664Z,1754757630.664 [DAT](INFO): DAT read: Tx time:16:40:30.0442

2025-08-09T16:40:30.664Z,1754757630.664 [DAT](INFO): Ping request sent.
2025-08-09T16:40:30.664Z,1754757630.664 [DAT](INFO): transmitted an acoustic signal
2025-08-09T16:40:30.664Z,1754757630.664 [DAT](INFO): publishing transmit ping time
2025-08-09T16:40:30.665Z,1754757630.665 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000744
2025-08-09T16:40:30.917Z,1754757630.917 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.252628
2025-08-09T16:40:30.992Z,1754757630.992 [lineCaptureHoming:UpdatePingUpdateRate_Terminal:D] Stopped
2025-08-09T16:40:30.992Z,1754757630.992 [lineCaptureHoming:UpdatePingUpdateRate_Terminal](INFO): Completed lineCaptureHoming:UpdatePingUpdateRate_Terminal
2025-08-09T16:40:30.992Z,1754757630.992 [lineCaptureHoming:UpdatePingUpdateRate_Terminal] Stopped
2025-08-09T16:40:30.992Z,1754757630.992 [lineCaptureHoming:UpdatePingUpdateRate_Terminal](DEBUG): Aggregate::uninitialize lineCaptureHoming:UpdatePingUpdateRate_Terminal
2025-08-09T16:40:30.996Z,1754757630.996 [lineCaptureHoming:LineCapture:F] Stopped
2025-08-09T16:40:30.996Z,1754757630.996 [lineCaptureHoming:LineCapture:HomingSequence] Running Loop=1
2025-08-09T16:40:30.996Z,1754757630.996 [lineCaptureHoming:LineCapture:HomingSequence](DEBUG): Aggregate::initialize lineCaptureHoming:LineCapture:HomingSequence
2025-08-09T16:40:30.996Z,1754757630.996 [lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock] Running Loop=1
2025-08-09T16:40:30.996Z,1754757630.996 [lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock](DEBUG): Aggregate::initialize lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock
2025-08-09T16:40:31.025Z,1754757631.025 [lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock:guide] Running Loop=1
2025-08-09T16:40:31.025Z,1754757631.025 [lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock:guide](DEBUG): Aggregate::initialize lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock:guide
2025-08-09T16:40:31.026Z,1754757631.026 [lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock] Running Loop=1
2025-08-09T16:40:31.026Z,1754757631.026 [lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock](DEBUG): Initialize.
2025-08-09T16:40:31.034Z,1754757631.034 [lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock](DEBUG): Initializing internal variables to default values.
2025-08-09T16:40:31.035Z,1754757631.035 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance] Running Loop=1
2025-08-09T16:40:31.035Z,1754757631.035 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance](DEBUG): Aggregate::initialize lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance
2025-08-09T16:40:31.035Z,1754757631.035 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide] Running Loop=1
2025-08-09T16:40:31.035Z,1754757631.035 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide](DEBUG): Aggregate::initialize lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide
2025-08-09T16:40:31.035Z,1754757631.035 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:C.SetSpeed] Running Loop=1
2025-08-09T16:40:31.035Z,1754757631.035 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:C.SetSpeed](DEBUG): Initialize.
2025-08-09T16:40:31.035Z,1754757631.035 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:D.Pitch] Running Loop=1
2025-08-09T16:40:31.035Z,1754757631.035 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:D.Pitch](DEBUG): Initialize.
2025-08-09T16:40:31.036Z,1754757631.036 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:A] Running Loop=1
2025-08-09T16:40:31.036Z,1754757631.036 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance] Running Loop=1
2025-08-09T16:40:31.036Z,1754757631.036 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance](DEBUG): Aggregate::initialize lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance
2025-08-09T16:40:31.036Z,1754757631.036 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide] Running Loop=1
2025-08-09T16:40:31.036Z,1754757631.036 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide](DEBUG): Aggregate::initialize lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide
2025-08-09T16:40:31.036Z,1754757631.036 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:altitudeControl] Running Loop=1
2025-08-09T16:40:31.036Z,1754757631.036 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:altitudeControl](DEBUG): Aggregate::initialize lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:altitudeControl
2025-08-09T16:40:31.036Z,1754757631.036 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:altitudeControl:A.AltitudeServo] Running Loop=1
2025-08-09T16:40:31.036Z,1754757631.036 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:altitudeControl:A.AltitudeServo](INFO): Initialize.
2025-08-09T16:40:31.037Z,1754757631.037 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:depthControl] Running Loop=1
2025-08-09T16:40:31.037Z,1754757631.037 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:depthControl](DEBUG): Aggregate::initialize lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:depthControl
2025-08-09T16:40:31.037Z,1754757631.037 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:depthControl:A.Pitch] Running Loop=1
2025-08-09T16:40:31.037Z,1754757631.037 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:depthControl:A.Pitch](DEBUG): Initialize.
2025-08-09T16:40:31.037Z,1754757631.037 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:E] Running Loop=1
2025-08-09T16:40:31.037Z,1754757631.037 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:F] Running Loop=1
2025-08-09T16:40:31.037Z,1754757631.037 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:A] Running Loop=1
2025-08-09T16:40:31.171Z,1754757631.171 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.505841
2025-08-09T16:40:31.412Z,1754757631.412 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance] Stopped
2025-08-09T16:40:31.412Z,1754757631.412 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance](DEBUG): Aggregate::uninitialize lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance
2025-08-09T16:40:31.412Z,1754757631.412 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide] Stopped
2025-08-09T16:40:31.412Z,1754757631.412 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide](DEBUG): Aggregate::uninitialize lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide
2025-08-09T16:40:31.412Z,1754757631.412 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:A] Stopped
2025-08-09T16:40:31.412Z,1754757631.412 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:altitudeControl] Stopped
2025-08-09T16:40:31.413Z,1754757631.413 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:altitudeControl](DEBUG): Aggregate::uninitialize lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:altitudeControl
2025-08-09T16:40:31.413Z,1754757631.413 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:altitudeControl:A.AltitudeServo] Stopped
2025-08-09T16:40:31.413Z,1754757631.413 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:altitudeControl:A.AltitudeServo](DEBUG): Uninitialize.
2025-08-09T16:40:31.413Z,1754757631.413 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:depthControl] Stopped
2025-08-09T16:40:31.413Z,1754757631.413 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:depthControl](DEBUG): Aggregate::uninitialize lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:depthControl
2025-08-09T16:40:31.413Z,1754757631.413 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:depthControl:A.Pitch] Stopped
2025-08-09T16:40:31.413Z,1754757631.413 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:E] Stopped
2025-08-09T16:40:31.413Z,1754757631.413 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:F] Stopped
2025-08-09T16:40:31.413Z,1754757631.413 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance] Stopped
2025-08-09T16:40:31.413Z,1754757631.413 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance](DEBUG): Aggregate::uninitialize lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance
2025-08-09T16:40:31.413Z,1754757631.413 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide] Stopped
2025-08-09T16:40:31.413Z,1754757631.413 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide](DEBUG): Aggregate::uninitialize lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide
2025-08-09T16:40:31.413Z,1754757631.413 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:A] Stopped
2025-08-09T16:40:31.413Z,1754757631.413 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:C.SetSpeed] Stopped
2025-08-09T16:40:31.414Z,1754757631.414 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:C.SetSpeed](DEBUG): Uninitialize.
2025-08-09T16:40:31.414Z,1754757631.414 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:D.Pitch] Stopped
2025-08-09T16:40:31.414Z,1754757631.414 [lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock] Running Loop=1
2025-08-09T16:40:31.414Z,1754757631.414 [lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock](DEBUG): Initialize.
2025-08-09T16:40:31.414Z,1754757631.414 [lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock](DEBUG): Initializing internal variables to default values.
2025-08-09T16:40:31.415Z,1754757631.415 [lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock](INFO): Detached from dock at depth 50.540382 m.
2025-08-09T16:40:31.419Z,1754757631.419 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.755147
2025-08-09T16:40:31.671Z,1754757631.671 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.007063
2025-08-09T16:40:31.923Z,1754757631.923 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.259019
2025-08-09T16:40:32.182Z,1754757632.182 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.517094
2025-08-09T16:40:32.248Z,1754757632.248 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-09T16:40:32.305Z,1754757632.305 [DockingStepper](DEBUG): Initializing EZServoServo.
2025-08-09T16:40:32.423Z,1754757632.423 [DockingStepper](DEBUG): Initializing DockingStepper.
2025-08-09T16:40:32.431Z,1754757632.431 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.767130
2025-08-09T16:40:32.683Z,1754757632.683 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.018944
2025-08-09T16:40:32.935Z,1754757632.935 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.271245
2025-08-09T16:40:33.190Z,1754757633.190 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.525352
2025-08-09T16:40:33.439Z,1754757633.439 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.775098
2025-08-09T16:40:33.691Z,1754757633.691 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.026990
2025-08-09T16:40:33.943Z,1754757633.943 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.279055
2025-08-09T16:40:34.197Z,1754757634.197 [DAT](INFO): DAT read: Rx Time:16:40:33.0367

2025-08-09T16:40:34.199Z,1754757634.199 [DAT](INFO): Rx dataTimestamp_ set to:1754757634.197957
2025-08-09T16:40:34.201Z,1754757634.201 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.536064
2025-08-09T16:40:34.352Z,1754757634.352 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-09T16:40:34.447Z,1754757634.447 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.783001
2025-08-09T16:40:34.708Z,1754757634.708 [DAT](INFO): DAT read: 16:40:33.0367 LVL= 32752, 25713, 29122, 32755, AGC= 67, IDX= 373,-0.28, 0.552, 2.419, 1.903, 1.586, PHS=-0.932, 0.877, 0.272, RAW= 289.2,  -2.8, CAL= 288.5,  -7.8, ROT= 221.5,   7.8

2025-08-09T16:40:34.710Z,1754757634.710 [DAT](INFO): got valid direction response:
 16:40:33.0367 LVL= 32752, 25713, 29122, 32755, AGC= 67, IDX= 373,-0.28, 0.552, 2.419, 1.903, 1.586, PHS=-0.932, 0.877, 0.272, RAW= 289.2,  -2.8, CAL= 288.5,  -7.8, ROT= 221.5,   7.8

2025-08-09T16:40:34.723Z,1754757634.723 [DAT](INFO): DAT read: Bearing 258.8, -46.3 (Local)

2025-08-09T16:40:34.723Z,1754757634.723 [DAT](INFO): Local bearing/azimuth received:
 Bearing 258.8, -46.3 (Local)

2025-08-09T16:40:34.724Z,1754757634.724 [DAT](INFO): DAT read: Range 11 to 50 : 441.2 m  (Round-trip  588.3 ms) speed -0.4 m/s

2025-08-09T16:40:34.725Z,1754757634.725 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-09T16:40:34.726Z,1754757634.726 [DAT](INFO): direction in FSK: [-0.742026,-0.656489,-0.135716]
2025-08-09T16:40:34.732Z,1754757634.732 [DAT](INFO): publishing direction and range info
2025-08-09T16:40:34.740Z,1754757634.740 [DAT](INFO): ****** received valid address query ******
2025-08-09T16:40:34.740Z,1754757634.740 [DAT](INFO): ****** received valid ping request ******
2025-08-09T16:40:34.740Z,1754757634.740 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-09T16:40:34.951Z,1754757634.951 [DAT](INFO): DAT read: user:15>

2025-08-09T16:40:34.952Z,1754757634.952 [DAT](INFO): DAT read: Tx time:16:40:34.3442

2025-08-09T16:40:34.952Z,1754757634.952 [DAT](INFO): Ping request sent.
2025-08-09T16:40:34.952Z,1754757634.952 [DAT](INFO): transmitted an acoustic signal
2025-08-09T16:40:34.952Z,1754757634.952 [DAT](INFO): publishing transmit ping time
2025-08-09T16:40:34.953Z,1754757634.953 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000738
2025-08-09T16:40:35.206Z,1754757635.206 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.253115
2025-08-09T16:40:35.455Z,1754757635.455 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.503106
2025-08-09T16:40:35.707Z,1754757635.707 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754935
2025-08-09T16:40:35.904Z,1754757635.904 [DockingStepper](INFO): Changing to mode: 3
2025-08-09T16:40:35.959Z,1754757635.959 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.007073
2025-08-09T16:40:36.214Z,1754757636.214 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.260891
2025-08-09T16:40:36.463Z,1754757636.463 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510989
2025-08-09T16:40:36.653Z,1754757636.653 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-09T16:40:36.717Z,1754757636.717 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.764495
2025-08-09T16:40:36.967Z,1754757636.967 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.015003
2025-08-09T16:40:37.222Z,1754757637.222 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.269280
2025-08-09T16:40:37.471Z,1754757637.471 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518956
2025-08-09T16:40:37.724Z,1754757637.724 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.771627
2025-08-09T16:40:37.975Z,1754757637.975 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.022947
2025-08-09T16:40:38.234Z,1754757638.234 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.281338
2025-08-09T16:40:38.484Z,1754757638.484 [DAT](INFO): DAT read: Rx Time:16:40:37.3197

2025-08-09T16:40:38.485Z,1754757638.485 [DAT](INFO): Rx dataTimestamp_ set to:1754757638.484819
2025-08-09T16:40:38.487Z,1754757638.487 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.533912
2025-08-09T16:40:38.681Z,1754757638.681 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-09T16:40:38.735Z,1754757638.735 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.783121
2025-08-09T16:40:38.996Z,1754757638.996 [DAT](INFO): DAT read: 16:40:37.3197 LVL= 27936, 30337, 20978, 24979, AGC= 67, IDX= 247, 0.31, 0.180, 2.531, 1.563, 1.548, PHS=-1.265, 1.028,-0.029, RAW= 297.4,   2.7, CAL= 295.5,  -1.6, ROT= 214.5,   1.6

2025-08-09T16:40:38.998Z,1754757638.998 [DAT](INFO): got valid direction response:
 16:40:37.3197 LVL= 27936, 30337, 20978, 24979, AGC= 67, IDX= 247, 0.31, 0.180, 2.531, 1.563, 1.548, PHS=-1.265, 1.028,-0.029, RAW= 297.4,   2.7, CAL= 295.5,  -1.6, ROT= 214.5,   1.6

2025-08-09T16:40:38.999Z,1754757638.999 [DAT](INFO): DAT read: $Error in header

2025-08-09T16:40:38.999Z,1754757638.999 [DAT](INFO): Received a bad header
2025-08-09T16:40:39.011Z,1754757639.011 [DAT](INFO): #Rx 1: Read direction message, but no range.
2025-08-09T16:40:39.012Z,1754757639.012 [DAT](INFO): direction in FSK: [-0.823805,-0.566185,-0.027922]
2025-08-09T16:40:39.016Z,1754757639.016 [DAT](INFO): ****** received valid address query ******
2025-08-09T16:40:39.016Z,1754757639.016 [DAT](INFO): ****** received valid ping request ******
2025-08-09T16:40:39.016Z,1754757639.016 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-09T16:40:39.241Z,1754757639.241 [DAT](INFO): ****** received valid address query ******
2025-08-09T16:40:39.241Z,1754757639.241 [DAT](INFO): ****** received valid ping request ******
2025-08-09T16:40:39.242Z,1754757639.242 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-09T16:40:39.491Z,1754757639.491 [DAT](INFO): ****** received valid address query ******
2025-08-09T16:40:39.491Z,1754757639.491 [DAT](INFO): ****** received valid ping request ******
2025-08-09T16:40:39.492Z,1754757639.492 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-09T16:40:39.743Z,1754757639.743 [DAT](INFO): ****** received valid address query ******
2025-08-09T16:40:39.743Z,1754757639.743 [DAT](INFO): ****** received valid ping request ******
2025-08-09T16:40:39.743Z,1754757639.743 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-09T16:40:39.996Z,1754757639.996 [DAT](INFO): ****** received valid address query ******
2025-08-09T16:40:39.996Z,1754757639.996 [DAT](INFO): ****** received valid ping request ******
2025-08-09T16:40:39.996Z,1754757639.996 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-09T16:40:40.247Z,1754757640.247 [DAT](INFO): ****** received valid address query ******
2025-08-09T16:40:40.247Z,1754757640.247 [DAT](INFO): ****** received valid ping request ******
2025-08-09T16:40:40.247Z,1754757640.247 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-09T16:40:40.500Z,1754757640.500 [DAT](INFO): ****** received valid address query ******
2025-08-09T16:40:40.500Z,1754757640.500 [DAT](INFO): ****** received valid ping request ******
2025-08-09T16:40:40.500Z,1754757640.500 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-09T16:40:40.685Z,1754757640.685 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-09T16:40:40.752Z,1754757640.752 [DAT](INFO): ****** received valid address query ******
2025-08-09T16:40:40.752Z,1754757640.752 [DAT](INFO): ****** received valid ping request ******
2025-08-09T16:40:40.752Z,1754757640.752 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-09T16:40:41.004Z,1754757641.004 [DAT](INFO): ****** received valid address query ******
2025-08-09T16:40:41.004Z,1754757641.004 [DAT](INFO): ****** received valid ping request ******
2025-08-09T16:40:41.004Z,1754757641.004 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-09T16:40:41.255Z,1754757641.255 [DAT](INFO): ****** received valid address query ******
2025-08-09T16:40:41.255Z,1754757641.255 [DAT](INFO): ****** received valid ping request ******
2025-08-09T16:40:41.256Z,1754757641.256 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-09T16:40:41.508Z,1754757641.508 [DAT](INFO): ****** received valid address query ******
2025-08-09T16:40:41.508Z,1754757641.508 [DAT](INFO): ****** received valid ping request ******
2025-08-09T16:40:41.508Z,1754757641.508 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-09T16:40:41.759Z,1754757641.759 [DAT](INFO): ****** received valid address query ******
2025-08-09T16:40:41.759Z,1754757641.759 [DAT](INFO): ****** received valid ping request ******
2025-08-09T16:40:41.759Z,1754757641.759 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-09T16:40:41.900Z,1754757641.900 [lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock](INFO): Detected possible detachment. Starting timer.
2025-08-09T16:40:42.011Z,1754757642.011 [DAT](INFO): ****** received valid address query ******
2025-08-09T16:40:42.011Z,1754757642.011 [DAT](INFO): ****** received valid ping request ******
2025-08-09T16:40:42.012Z,1754757642.012 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-09T16:40:42.263Z,1754757642.263 [DAT](INFO): ****** received valid address query ******
2025-08-09T16:40:42.263Z,1754757642.263 [DAT](INFO): ****** received valid ping request ******
2025-08-09T16:40:42.263Z,1754757642.263 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-09T16:40:42.515Z,1754757642.515 [DAT](INFO): ****** received valid address query ******
2025-08-09T16:40:42.515Z,1754757642.515 [DAT](INFO): ****** received valid ping request ******
2025-08-09T16:40:42.515Z,1754757642.515 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-09T16:40:42.742Z,1754757642.742 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-09T16:40:42.767Z,1754757642.767 [DAT](INFO): ****** received valid address query ******
2025-08-09T16:40:42.767Z,1754757642.767 [DAT](INFO): ****** received valid ping request ******
2025-08-09T16:40:42.767Z,1754757642.767 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-09T16:40:43.019Z,1754757643.019 [DAT](INFO): ****** received valid address query ******
2025-08-09T16:40:43.019Z,1754757643.019 [DAT](INFO): ****** received valid ping request ******
2025-08-09T16:40:43.019Z,1754757643.019 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-09T16:40:43.273Z,1754757643.273 [DAT](INFO): ****** received valid address query ******
2025-08-09T16:40:43.273Z,1754757643.273 [DAT](INFO): ****** received valid ping request ******
2025-08-09T16:40:43.273Z,1754757643.273 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-09T16:40:43.523Z,1754757643.523 [DAT](INFO): ****** received valid address query ******
2025-08-09T16:40:43.523Z,1754757643.523 [DAT](INFO): ****** received valid ping request ******
2025-08-09T16:40:43.523Z,1754757643.523 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-09T16:40:43.775Z,1754757643.775 [DAT](INFO): ****** received valid address query ******
2025-08-09T16:40:43.775Z,1754757643.775 [DAT](INFO): ****** received valid ping request ******
2025-08-09T16:40:43.775Z,1754757643.775 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-09T16:40:44.027Z,1754757644.027 [DAT](INFO): ****** received valid address query ******
2025-08-09T16:40:44.027Z,1754757644.027 [DAT](INFO): ****** received valid ping request ******
2025-08-09T16:40:44.027Z,1754757644.027 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-09T16:40:44.279Z,1754757644.279 [DAT](INFO): ****** received valid address query ******
2025-08-09T16:40:44.279Z,1754757644.279 [DAT](INFO): ****** received valid ping request ******
2025-08-09T16:40:44.279Z,1754757644.279 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-09T16:40:44.531Z,1754757644.531 [DAT](INFO): ****** received valid address query ******
2025-08-09T16:40:44.531Z,1754757644.531 [DAT](INFO): ****** received valid ping request ******
2025-08-09T16:40:44.531Z,1754757644.531 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-09T16:40:44.771Z,1754757644.771 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-09T16:40:44.783Z,1754757644.783 [DAT](INFO): ****** received valid address query ******
2025-08-09T16:40:44.783Z,1754757644.783 [DAT](INFO): ****** received valid ping request ******
2025-08-09T16:40:44.783Z,1754757644.783 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-09T16:40:45.035Z,1754757645.035 [DAT](INFO): Reached modem response timeout
2025-08-09T16:40:45.035Z,1754757645.035 [DAT](DEBUG): Acoustic response timeout
2025-08-09T16:40:45.035Z,1754757645.035 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-09T16:40:45.287Z,1754757645.287 [DAT](INFO): DAT read: 

2025-08-09T16:40:45.287Z,1754757645.287 [DAT](INFO): Reached modem response timeout
2025-08-09T16:40:45.288Z,1754757645.288 [DAT](DEBUG): Acoustic response timeout
2025-08-09T16:40:45.288Z,1754757645.288 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-09T16:40:45.539Z,1754757645.539 [DAT](INFO): Reached modem response timeout
2025-08-09T16:40:45.539Z,1754757645.539 [DAT](DEBUG): Acoustic response timeout
2025-08-09T16:40:45.539Z,1754757645.539 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-09T16:40:45.791Z,1754757645.791 [DAT](INFO): Reached modem response timeout
2025-08-09T16:40:45.792Z,1754757645.792 [DAT](DEBUG): Acoustic response timeout
2025-08-09T16:40:45.792Z,1754757645.792 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-09T16:40:46.043Z,1754757646.043 [DAT](INFO): Reached modem response timeout
2025-08-09T16:40:46.043Z,1754757646.043 [DAT](DEBUG): Acoustic response timeout
2025-08-09T16:40:46.043Z,1754757646.043 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-09T16:40:46.295Z,1754757646.295 [DAT](INFO): Reached modem response timeout
2025-08-09T16:40:46.295Z,1754757646.295 [DAT](DEBUG): Acoustic response timeout
2025-08-09T16:40:46.296Z,1754757646.296 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-09T16:40:46.547Z,1754757646.547 [DAT](INFO): Reached modem response timeout
2025-08-09T16:40:46.547Z,1754757646.547 [DAT](DEBUG): Acoustic response timeout
2025-08-09T16:40:46.547Z,1754757646.547 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-09T16:40:46.799Z,1754757646.799 [DAT](INFO): Reached modem response timeout
2025-08-09T16:40:46.799Z,1754757646.799 [DAT](DEBUG): Acoustic response timeout
2025-08-09T16:40:46.800Z,1754757646.800 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-09T16:40:47.051Z,1754757647.051 [DAT](INFO): Reached modem response timeout
2025-08-09T16:40:47.051Z,1754757647.051 [DAT](DEBUG): Acoustic response timeout
2025-08-09T16:40:47.051Z,1754757647.051 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-09T16:40:47.142Z,1754757647.142 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-09T16:40:47.303Z,1754757647.303 [DAT](INFO): DAT read: Response Not Received

2025-08-09T16:40:47.304Z,1754757647.304 [DAT](INFO): response not received
2025-08-09T16:40:47.304Z,1754757647.304 [DAT](INFO): DAT read: user:17>

2025-08-09T16:40:47.305Z,1754757647.305 [DAT](INFO): DAT read: Tx time:16:40:46.7943

2025-08-09T16:40:47.305Z,1754757647.305 [DAT](INFO): Ping request sent.
2025-08-09T16:40:47.305Z,1754757647.305 [DAT](INFO): transmitted an acoustic signal
2025-08-09T16:40:47.305Z,1754757647.305 [DAT](INFO): publishing transmit ping time
2025-08-09T16:40:47.306Z,1754757647.306 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000742
2025-08-09T16:40:47.555Z,1754757647.555 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250178
2025-08-09T16:40:47.807Z,1754757647.807 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502061
2025-08-09T16:40:48.060Z,1754757648.060 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754891
2025-08-09T16:40:48.311Z,1754757648.311 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006106
2025-08-09T16:40:48.563Z,1754757648.563 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258017
2025-08-09T16:40:48.815Z,1754757648.815 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510097
2025-08-09T16:40:49.067Z,1754757649.067 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762078
2025-08-09T16:40:49.180Z,1754757649.180 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-09T16:40:49.319Z,1754757649.319 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014012
2025-08-09T16:40:49.571Z,1754757649.571 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266244
2025-08-09T16:40:49.823Z,1754757649.823 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518094
2025-08-09T16:40:50.076Z,1754757650.076 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770269
2025-08-09T16:40:50.327Z,1754757650.327 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.022014
2025-08-09T16:40:50.583Z,1754757650.583 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.277784
2025-08-09T16:40:50.835Z,1754757650.835 [DAT](INFO): DAT read: Rx Time:16:40:49.7762

2025-08-09T16:40:50.836Z,1754757650.836 [DAT](INFO): Rx dataTimestamp_ set to:1754757650.835551
2025-08-09T16:40:50.836Z,1754757650.836 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.531201
2025-08-09T16:40:51.087Z,1754757651.087 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.782022
2025-08-09T16:40:51.183Z,1754757651.183 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-09T16:40:51.347Z,1754757651.347 [DAT](INFO): DAT read: 16:40:49.7762 LVL= 32752, 23009, 27778, 32755, AGC= 70, IDX= 489,-0.10, 0.703, 2.763, 1.887, 1.935, PHS=-1.130, 0.873,-0.092, RAW= 298.8,   4.1, CAL= 296.6,  -0.1, ROT= 213.4,   0.1

2025-08-09T16:40:51.348Z,1754757651.348 [DAT](INFO): got valid direction response:
 16:40:49.7762 LVL= 32752, 23009, 27778, 32755, AGC= 70, IDX= 489,-0.10, 0.703, 2.763, 1.887, 1.935, PHS=-1.130, 0.873,-0.092, RAW= 298.8,   4.1, CAL= 296.6,  -0.1, ROT= 213.4,   0.1

2025-08-09T16:40:51.349Z,1754757651.349 [DAT](INFO): DAT read: Bearing 250.3, -25.4 (Local)

2025-08-09T16:40:51.350Z,1754757651.350 [DAT](INFO): Local bearing/azimuth received:
 Bearing 250.3, -25.4 (Local)

2025-08-09T16:40:51.351Z,1754757651.351 [DAT](INFO): DAT read: Range 11 to 50 : 433.3 m  (Round-trip  577.8 ms) speed -0.4 m/s

2025-08-09T16:40:51.352Z,1754757651.352 [DAT](INFO): DAT read: user:18>

2025-08-09T16:40:51.352Z,1754757651.352 [DAT](INFO): DAT read: Tx time:16:40:50.8943

2025-08-09T16:40:51.353Z,1754757651.353 [DAT](INFO): Ping request sent.
2025-08-09T16:40:51.353Z,1754757651.353 [DAT](INFO): transmitted an acoustic signal
2025-08-09T16:40:51.353Z,1754757651.353 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-09T16:40:51.354Z,1754757651.354 [DAT](INFO): direction in FSK: [-0.834847,-0.550480,-0.001745]
2025-08-09T16:40:51.355Z,1754757651.355 [DAT](INFO): publishing transmit ping time
2025-08-09T16:40:51.355Z,1754757651.355 [DAT](INFO): publishing direction and range info
2025-08-09T16:40:51.358Z,1754757651.358 [DAT](INFO): publishing transmit ping time
2025-08-09T16:40:51.358Z,1754757651.358 [DAT](INFO): publishing direction and range info
2025-08-09T16:40:53.217Z,1754757653.217 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-09T16:40:53.355Z,1754757653.355 [DAT](INFO): ****** received valid address query ******
2025-08-09T16:40:53.355Z,1754757653.355 [DAT](INFO): ****** received valid ping request ******
2025-08-09T16:40:53.355Z,1754757653.355 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-09T16:40:53.608Z,1754757653.608 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.254628
2025-08-09T16:40:53.860Z,1754757653.860 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.506813
2025-08-09T16:40:54.111Z,1754757654.111 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.758435
2025-08-09T16:40:54.363Z,1754757654.363 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.010417
2025-08-09T16:40:54.615Z,1754757654.615 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.262386
2025-08-09T16:40:54.870Z,1754757654.870 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.517030
2025-08-09T16:40:55.119Z,1754757655.119 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.766422
2025-08-09T16:40:55.229Z,1754757655.229 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-09T16:40:55.371Z,1754757655.371 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.018351
2025-08-09T16:40:55.624Z,1754757655.624 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.270707
2025-08-09T16:40:55.876Z,1754757655.876 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.522805
2025-08-09T16:40:56.128Z,1754757656.128 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.775419
2025-08-09T16:40:56.379Z,1754757656.379 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.026367
2025-08-09T16:40:56.631Z,1754757656.631 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.278438
2025-08-09T16:40:56.883Z,1754757656.883 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.530442
2025-08-09T16:40:57.135Z,1754757657.135 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.782353
2025-08-09T16:40:57.253Z,1754757657.253 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-09T16:40:57.387Z,1754757657.387 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.034454
2025-08-09T16:40:57.639Z,1754757657.639 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.286349
2025-08-09T16:40:57.891Z,1754757657.891 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.538381
2025-08-09T16:40:58.145Z,1754757658.145 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.791996
2025-08-09T16:40:58.395Z,1754757658.395 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.042365
2025-08-09T16:40:58.647Z,1754757658.647 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.294380
2025-08-09T16:40:58.865Z,1754757658.865 [RDI_Pathfinder](ERROR): only read 3 of 4 data items for beam range. Device response is::RA,  0.00, 191.03, 185.08, 171.50,
2025-08-09T16:40:58.899Z,1754757658.899 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.546606
2025-08-09T16:40:59.151Z,1754757659.151 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.798385
2025-08-09T16:40:59.281Z,1754757659.281 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-09T16:40:59.403Z,1754757659.403 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.050396
2025-08-09T16:40:59.655Z,1754757659.655 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.302380
2025-08-09T16:40:59.661Z,1754757659.661 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error. Device response is::TS,00021420280799,3.5,491.8,  0
2025-08-09T16:40:59.907Z,1754757659.907 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.554518
2025-08-09T16:41:00.161Z,1754757660.161 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.807810
2025-08-09T16:41:00.411Z,1754757660.411 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.058444
2025-08-09T16:41:00.664Z,1754757660.664 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.310734
2025-08-09T16:41:00.915Z,1754757660.915 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.562496
2025-08-09T16:41:01.167Z,1754757661.167 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.814412
2025-08-09T16:41:01.284Z,1754757661.284 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-09T16:41:01.419Z,1754757661.419 [DAT](INFO): Reached modem response timeout
2025-08-09T16:41:01.419Z,1754757661.419 [DAT](DEBUG): Acoustic response timeout
2025-08-09T16:41:01.419Z,1754757661.419 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-09T16:41:01.671Z,1754757661.671 [DAT](INFO): Reached modem response timeout
2025-08-09T16:41:01.671Z,1754757661.671 [DAT](DEBUG): Acoustic response timeout
2025-08-09T16:41:01.672Z,1754757661.672 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-09T16:41:01.923Z,1754757661.923 [DAT](INFO): Reached modem response timeout
2025-08-09T16:41:01.923Z,1754757661.923 [DAT](DEBUG): Acoustic response timeout
2025-08-09T16:41:01.923Z,1754757661.923 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-09T16:41:02.102Z,1754757662.102 [lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock](INFO): Detached at range: 433.30 m. Transitioning docking module to standby.
2025-08-09T16:41:02.176Z,1754757662.176 [DAT](INFO): Reached modem response timeout
2025-08-09T16:41:02.176Z,1754757662.176 [DAT](DEBUG): Acoustic response timeout
2025-08-09T16:41:02.176Z,1754757662.176 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-09T16:41:02.427Z,1754757662.427 [DAT](INFO): Reached modem response timeout
2025-08-09T16:41:02.427Z,1754757662.427 [DAT](DEBUG): Acoustic response timeout
2025-08-09T16:41:02.427Z,1754757662.427 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-09T16:41:02.557Z,1754757662.557 [DockingStepper](INFO): Changing to mode: 1
2025-08-09T16:41:02.679Z,1754757662.679 [DAT](INFO): Reached modem response timeout
2025-08-09T16:41:02.679Z,1754757662.679 [DAT](DEBUG): Acoustic response timeout
2025-08-09T16:41:02.679Z,1754757662.679 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-09T16:41:02.931Z,1754757662.931 [DAT](INFO): Reached modem response timeout
2025-08-09T16:41:02.931Z,1754757662.931 [DAT](DEBUG): Acoustic response timeout
2025-08-09T16:41:02.931Z,1754757662.931 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-09T16:41:03.183Z,1754757663.183 [DAT](INFO): Reached modem response timeout
2025-08-09T16:41:03.183Z,1754757663.183 [DAT](DEBUG): Acoustic response timeout
2025-08-09T16:41:03.183Z,1754757663.183 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-09T16:41:03.300Z,1754757663.300 [BPC1](ERROR): BPC1B: No match for serial number 1717 in BPC1B's battery stick inventory (sticks 32-62 in onboard configuration file).
2025-08-09T16:41:03.360Z,1754757663.360 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-09T16:41:03.436Z,1754757663.436 [DAT](INFO): Reached modem response timeout
2025-08-09T16:41:03.436Z,1754757663.436 [DAT](DEBUG): Acoustic response timeout
2025-08-09T16:41:03.437Z,1754757663.437 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-09T16:41:03.687Z,1754757663.687 [DAT](INFO): Reached modem response timeout
2025-08-09T16:41:03.687Z,1754757663.687 [DAT](DEBUG): Acoustic response timeout
2025-08-09T16:41:03.687Z,1754757663.687 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-09T16:41:03.941Z,1754757663.941 [DAT](INFO): DAT read: Response Not Received

2025-08-09T16:41:03.941Z,1754757663.941 [DAT](INFO): response not received
2025-08-09T16:41:03.942Z,1754757663.942 [DAT](INFO): DAT read: user:19>

2025-08-09T16:41:03.943Z,1754757663.943 [DAT](INFO): DAT read: Tx time:16:41:03.3443

2025-08-09T16:41:03.943Z,1754757663.943 [DAT](INFO): Ping request sent.
2025-08-09T16:41:03.943Z,1754757663.943 [DAT](INFO): transmitted an acoustic signal
2025-08-09T16:41:03.943Z,1754757663.943 [DAT](INFO): publishing transmit ping time
2025-08-09T16:41:03.945Z,1754757663.945 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.001296
2025-08-09T16:41:04.191Z,1754757664.191 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.248133
2025-08-09T16:41:04.444Z,1754757664.444 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.500548
2025-08-09T16:41:04.696Z,1754757664.696 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.752258
2025-08-09T16:41:04.959Z,1754757664.959 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.015721
2025-08-09T16:41:05.199Z,1754757665.199 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.255942
2025-08-09T16:41:05.452Z,1754757665.452 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.508921
2025-08-09T16:41:05.703Z,1754757665.703 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.760111
2025-08-09T16:41:05.760Z,1754757665.760 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-09T16:41:05.956Z,1754757665.956 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.012500
2025-08-09T16:41:06.208Z,1754757666.208 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.264925
2025-08-09T16:41:06.460Z,1754757666.460 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.516529
2025-08-09T16:41:06.713Z,1754757666.713 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.769662
2025-08-09T16:41:06.964Z,1754757666.964 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.020339
2025-08-09T16:41:07.215Z,1754757667.215 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.272145
2025-08-09T16:41:07.467Z,1754757667.467 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.524022
2025-08-09T16:41:07.720Z,1754757667.720 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.776319
2025-08-09T16:41:07.788Z,1754757667.788 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-09T16:41:07.971Z,1754757667.971 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.027981
2025-08-09T16:41:08.224Z,1754757668.224 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.280651
2025-08-09T16:41:08.475Z,1754757668.475 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.531912
2025-08-09T16:41:08.566Z,1754757668.566 [lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock](INFO): Docking module at standby.
2025-08-09T16:41:08.730Z,1754757668.730 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.786264
2025-08-09T16:41:08.979Z,1754757668.979 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.036022
2025-08-09T16:41:09.003Z,1754757669.003 [lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock](IMPORTANT): Undocking sequence complete.
2025-08-09T16:41:09.003Z,1754757669.003 [lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock] Stopped
2025-08-09T16:41:09.003Z,1754757669.003 [lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock:guide:B] Running Loop=1
2025-08-09T16:41:09.231Z,1754757669.231 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.288171
2025-08-09T16:41:09.369Z,1754757669.369 [lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock:guide:B](INFO): Transitioning to midcourse guidance.
2025-08-09T16:41:09.369Z,1754757669.369 [lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock:guide:B] Stopped
2025-08-09T16:41:09.370Z,1754757669.370 [lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock:guide:C] Running Loop=1
2025-08-09T16:41:09.483Z,1754757669.483 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.539978
2025-08-09T16:41:09.738Z,1754757669.738 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.793956
2025-08-09T16:41:09.813Z,1754757669.813 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-09T16:41:09.815Z,1754757669.815 [lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock:guide:C] Stopped
2025-08-09T16:41:09.815Z,1754757669.815 [lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock:guide](INFO): Completed lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock:guide
2025-08-09T16:41:09.815Z,1754757669.815 [lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock:guide] Stopped
2025-08-09T16:41:09.815Z,1754757669.815 [lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock:guide](DEBUG): Aggregate::uninitialize lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock:guide
2025-08-09T16:41:09.816Z,1754757669.816 [lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock](INFO): Completed lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock
2025-08-09T16:41:09.987Z,1754757669.987 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.043950
2025-08-09T16:41:10.193Z,1754757670.193 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance] Running Loop=1
2025-08-09T16:41:10.193Z,1754757670.193 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance](DEBUG): Aggregate::initialize lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance
2025-08-09T16:41:10.193Z,1754757670.193 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide] Running Loop=1
2025-08-09T16:41:10.193Z,1754757670.193 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide](DEBUG): Aggregate::initialize lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide
2025-08-09T16:41:10.193Z,1754757670.193 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:C.SetSpeed] Running Loop=1
2025-08-09T16:41:10.194Z,1754757670.194 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:C.SetSpeed](DEBUG): Initialize.
2025-08-09T16:41:10.194Z,1754757670.194 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:D.Pitch] Running Loop=1
2025-08-09T16:41:10.194Z,1754757670.194 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:D.Pitch](DEBUG): Initialize.
2025-08-09T16:41:10.194Z,1754757670.194 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:A] Running Loop=1
2025-08-09T16:41:10.194Z,1754757670.194 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance] Running Loop=1
2025-08-09T16:41:10.195Z,1754757670.195 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:D.Pitch] Running Loop=1
2025-08-09T16:41:10.195Z,1754757670.195 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:C.SetSpeed] Running Loop=1
2025-08-09T16:41:10.195Z,1754757670.195 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange] Running Loop=1
2025-08-09T16:41:10.195Z,1754757670.195 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange](DEBUG): Aggregate::initialize lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange
2025-08-09T16:41:10.196Z,1754757670.196 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange:A] Running Loop=1
2025-08-09T16:41:10.196Z,1754757670.196 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange:A](INFO): Transitioning to terminal guidance at range 433.299988 m 
2025-08-09T16:41:10.196Z,1754757670.196 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange:A] Stopped
2025-08-09T16:41:10.196Z,1754757670.196 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange:B] Running Loop=1
2025-08-09T16:41:10.197Z,1754757670.197 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:A](INFO): Navigating to dock waypoint ( 36.905698 arcdeg , -122.116120 arcdeg )
2025-08-09T16:41:10.197Z,1754757670.197 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:A] Stopped
2025-08-09T16:41:10.197Z,1754757670.197 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:E.Waypoint] Running Loop=1
2025-08-09T16:41:10.197Z,1754757670.197 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:E.Waypoint](DEBUG): Initialize WaypointComponent.
2025-08-09T16:41:10.199Z,1754757670.199 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:E.Waypoint](IMPORTANT): Navigating to waypoint: 36.905698,-122.116120
2025-08-09T16:41:10.239Z,1754757670.239 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.296079
2025-08-09T16:41:10.491Z,1754757670.491 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.547947
2025-08-09T16:41:10.600Z,1754757670.600 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:E.Waypoint](INFO): Navigating to waypoint: 36.905698,-122.116120
2025-08-09T16:41:10.601Z,1754757670.601 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange:B] Stopped
2025-08-09T16:41:10.601Z,1754757670.601 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange](INFO): Completed lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange
2025-08-09T16:41:10.602Z,1754757670.602 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange] Stopped
2025-08-09T16:41:10.602Z,1754757670.602 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange](DEBUG): Aggregate::uninitialize lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange
2025-08-09T16:41:10.748Z,1754757670.748 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.804649
2025-08-09T16:41:10.995Z,1754757670.995 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.052094
2025-08-09T16:41:11.031Z,1754757671.031 [lineCaptureHoming:UpdateNumPings_Terminal] Running Loop=1
2025-08-09T16:41:11.032Z,1754757671.032 [lineCaptureHoming:UpdateNumPings_Terminal](DEBUG): Aggregate::initialize lineCaptureHoming:UpdateNumPings_Terminal
2025-08-09T16:41:11.032Z,1754757671.032 [lineCaptureHoming:UpdateNumPings_Terminal] Running Loop=1
2025-08-09T16:41:11.033Z,1754757671.033 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance] Running Loop=1
2025-08-09T16:41:11.033Z,1754757671.033 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance](DEBUG): Aggregate::initialize lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance
2025-08-09T16:41:11.033Z,1754757671.033 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide] Running Loop=1
2025-08-09T16:41:11.033Z,1754757671.033 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide](DEBUG): Aggregate::initialize lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide
2025-08-09T16:41:11.034Z,1754757671.034 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:altitudeControl] Running Loop=1
2025-08-09T16:41:11.034Z,1754757671.034 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:altitudeControl](DEBUG): Aggregate::initialize lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:altitudeControl
2025-08-09T16:41:11.034Z,1754757671.034 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:altitudeControl:A.AltitudeServo] Running Loop=1
2025-08-09T16:41:11.034Z,1754757671.034 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:altitudeControl:A.AltitudeServo](INFO): Initialize.
2025-08-09T16:41:11.034Z,1754757671.034 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:depthControl] Running Loop=1
2025-08-09T16:41:11.038Z,1754757671.038 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:depthControl](DEBUG): Aggregate::initialize lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:depthControl
2025-08-09T16:41:11.038Z,1754757671.038 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:depthControl:A.Pitch] Running Loop=1
2025-08-09T16:41:11.038Z,1754757671.038 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:depthControl:A.Pitch](DEBUG): Initialize.
2025-08-09T16:41:11.039Z,1754757671.039 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:E] Running Loop=1
2025-08-09T16:41:11.039Z,1754757671.039 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:F] Running Loop=1
2025-08-09T16:41:11.039Z,1754757671.039 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:A] Running Loop=1
2025-08-09T16:41:11.039Z,1754757671.039 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance] Running Loop=1
2025-08-09T16:41:11.039Z,1754757671.039 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:F] Running Loop=1
2025-08-09T16:41:11.040Z,1754757671.040 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:E] Running Loop=1
2025-08-09T16:41:11.040Z,1754757671.040 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:depthControl] Stopped
2025-08-09T16:41:11.040Z,1754757671.040 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:depthControl](DEBUG): Aggregate::uninitialize lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:depthControl
2025-08-09T16:41:11.040Z,1754757671.040 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:depthControl:A.Pitch] Stopped
2025-08-09T16:41:11.040Z,1754757671.040 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:altitudeControl] Running Loop=1
2025-08-09T16:41:11.040Z,1754757671.040 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:altitudeControl:A.AltitudeServo] Running Loop=1
2025-08-09T16:41:11.041Z,1754757671.041 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:A](INFO): Terminal guidance.
2025-08-09T16:41:11.041Z,1754757671.041 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:A] Stopped
2025-08-09T16:41:11.041Z,1754757671.041 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture] Running Loop=1
2025-08-09T16:41:11.041Z,1754757671.041 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](DEBUG): Initialize.
2025-08-09T16:41:11.042Z,1754757671.042 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](DEBUG): Initializing internal variables to default values.
2025-08-09T16:41:11.042Z,1754757671.042 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Transitioning guidance mode to: UNINITIALIZED
2025-08-09T16:41:11.047Z,1754757671.047 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Rollout timeout set to 300.00 sec.
2025-08-09T16:41:11.047Z,1754757671.047 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](IMPORTANT): IIR filter is initialized with decay: 0.00.
2025-08-09T16:41:11.048Z,1754757671.048 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Transitioning guidance mode to: TERMINAL_GUIDANCE
2025-08-09T16:41:11.048Z,1754757671.048 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance] Stopped
2025-08-09T16:41:11.048Z,1754757671.048 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance](DEBUG): Aggregate::uninitialize lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance
2025-08-09T16:41:11.048Z,1754757671.048 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide] Stopped
2025-08-09T16:41:11.048Z,1754757671.048 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide](DEBUG): Aggregate::uninitialize lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide
2025-08-09T16:41:11.048Z,1754757671.048 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:C.SetSpeed] Stopped
2025-08-09T16:41:11.048Z,1754757671.048 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:C.SetSpeed](DEBUG): Uninitialize.
2025-08-09T16:41:11.048Z,1754757671.048 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:D.Pitch] Stopped
2025-08-09T16:41:11.048Z,1754757671.048 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:E.Waypoint] Stopped
2025-08-09T16:41:11.048Z,1754757671.048 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:E.Waypoint](DEBUG): Uninitialize WaypointComponent.
2025-08-09T16:41:11.247Z,1754757671.247 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.303946
2025-08-09T16:41:11.421Z,1754757671.421 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 433.299988 m,
      deltaT: nan s,
      deltaX: nan m,
      approachRate: -1.000000 m/s,
      rangeRepo size: 1

2025-08-09T16:41:11.432Z,1754757671.432 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 433.299988 m,
      bearing: 135.754545 deg,
      lat: 36.906105 deg,
      lon: -122.115690 deg,
      deltaT: nan s,
      deltaX: nan m,
      approachRate: -1.000000 m/s,
      posRepo size: 1

2025-08-09T16:41:11.434Z,1754757671.434 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 433.30 m.
2025-08-09T16:41:11.457Z,1754757671.457 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 433.299988 m,
      nav range: 447.357819 m,
      bearing: 135.373155 deg,
      approach rate: nan m/s,
      LOS rate: nan deg/s,
      cmd heading: 282.995446 deg,
      new cmd heading: 135.373155 deg.

2025-08-09T16:41:11.499Z,1754757671.499 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.556093
2025-08-09T16:41:11.504Z,1754757671.504 [HorizontalControl](DEBUG): kpHeading = 0.800000
2025-08-09T16:41:11.505Z,1754757671.505 [HorizontalControl](DEBUG): kiHeading = 0.004000
2025-08-09T16:41:11.755Z,1754757671.755 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.810655
2025-08-09T16:41:11.844Z,1754757671.844 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-09T16:41:11.848Z,1754757671.848 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 433.30 m.
2025-08-09T16:41:11.852Z,1754757671.852 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 433.299988 m,
      nav range: 447.471375 m,
      bearing: 135.365777 deg,
      approach rate: 0.262059 m/s,
      LOS rate: nan deg/s,
      cmd heading: 135.373161 deg,
      new cmd heading: 135.365777 deg.

2025-08-09T16:41:12.003Z,1754757672.003 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.059946
2025-08-09T16:41:12.200Z,1754757672.200 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 433.30 m.
2025-08-09T16:41:12.202Z,1754757672.202 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 433.299988 m,
      nav range: 447.564117 m,
      bearing: 135.359792 deg,
      approach rate: 0.263366 m/s,
      LOS rate: nan deg/s,
      cmd heading: 135.365771 deg,
      new cmd heading: 135.359792 deg.

2025-08-09T16:41:12.244Z,1754757672.244 [DockingStepper](DEBUG): Initializing EZServoServo.
2025-08-09T16:41:12.256Z,1754757672.256 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.312397
2025-08-09T16:41:12.363Z,1754757672.363 [DockingStepper](DEBUG): Initializing DockingStepper.
2025-08-09T16:41:12.507Z,1754757672.507 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.564022
2025-08-09T16:41:12.610Z,1754757672.610 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 433.30 m.
2025-08-09T16:41:12.612Z,1754757672.612 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 433.299988 m,
      nav range: 447.670898 m,
      bearing: 135.352926 deg,
      approach rate: 0.260560 m/s,
      LOS rate: nan deg/s,
      cmd heading: 135.359787 deg,
      new cmd heading: 135.352926 deg.

2025-08-09T16:41:12.762Z,1754757672.762 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.817981
2025-08-09T16:41:13.011Z,1754757673.011 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.068045
2025-08-09T16:41:13.049Z,1754757673.049 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 433.30 m.
2025-08-09T16:41:13.052Z,1754757673.052 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 433.299988 m,
      nav range: 447.779541 m,
      bearing: 135.346080 deg,
      approach rate: 0.247254 m/s,
      LOS rate: nan deg/s,
      cmd heading: 135.352930 deg,
      new cmd heading: 135.346080 deg.

2025-08-09T16:41:13.263Z,1754757673.263 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.319994
2025-08-09T16:41:13.439Z,1754757673.439 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 433.30 m.
2025-08-09T16:41:13.459Z,1754757673.459 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 433.299988 m,
      nav range: 447.874237 m,
      bearing: 135.340141 deg,
      approach rate: 0.242671 m/s,
      LOS rate: nan deg/s,
      cmd heading: 135.346086 deg,
      new cmd heading: 135.340141 deg.

2025-08-09T16:41:13.515Z,1754757673.515 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.572124
2025-08-09T16:41:13.773Z,1754757673.773 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.829535
2025-08-09T16:41:13.904Z,1754757673.904 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-09T16:41:13.906Z,1754757673.906 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 433.30 m.
2025-08-09T16:41:13.908Z,1754757673.908 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 433.299988 m,
      nav range: 447.984955 m,
      bearing: 135.333104 deg,
      approach rate: 0.237282 m/s,
      LOS rate: nan deg/s,
      cmd heading: 135.340144 deg,
      new cmd heading: 135.333104 deg.

2025-08-09T16:41:14.019Z,1754757674.019 [DAT](INFO): Reached modem response timeout
2025-08-09T16:41:14.019Z,1754757674.019 [DAT](DEBUG): Acoustic response timeout
2025-08-09T16:41:14.019Z,1754757674.019 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-09T16:41:14.241Z,1754757674.241 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 433.30 m.
2025-08-09T16:41:14.243Z,1754757674.243 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 433.299988 m,
      nav range: 448.063538 m,
      bearing: 135.328182 deg,
      approach rate: 0.234686 m/s,
      LOS rate: nan deg/s,
      cmd heading: 135.333109 deg,
      new cmd heading: 135.328182 deg.

2025-08-09T16:41:14.272Z,1754757674.272 [DAT](INFO): Reached modem response timeout
2025-08-09T16:41:14.272Z,1754757674.272 [DAT](DEBUG): Acoustic response timeout
2025-08-09T16:41:14.272Z,1754757674.272 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-09T16:41:14.523Z,1754757674.523 [DAT](INFO): Reached modem response timeout
2025-08-09T16:41:14.523Z,1754757674.523 [DAT](DEBUG): Acoustic response timeout
2025-08-09T16:41:14.523Z,1754757674.523 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-09T16:41:14.664Z,1754757674.664 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 433.30 m.
2025-08-09T16:41:14.666Z,1754757674.666 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 433.299988 m,
      nav range: 448.162720 m,
      bearing: 135.321971 deg,
      approach rate: 0.234409 m/s,
      LOS rate: nan deg/s,
      cmd heading: 135.328177 deg,
      new cmd heading: 135.321971 deg.

2025-08-09T16:41:14.777Z,1754757674.777 [DAT](INFO): Reached modem response timeout
2025-08-09T16:41:14.779Z,1754757674.779 [DAT](DEBUG): Acoustic response timeout
2025-08-09T16:41:14.779Z,1754757674.779 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-09T16:41:15.027Z,1754757675.027 [DAT](INFO): Reached modem response timeout
2025-08-09T16:41:15.027Z,1754757675.027 [DAT](DEBUG): Acoustic response timeout
2025-08-09T16:41:15.027Z,1754757675.027 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-09T16:41:15.103Z,1754757675.103 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 433.30 m.
2025-08-09T16:41:15.105Z,1754757675.105 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 433.299988 m,
      nav range: 448.258972 m,
      bearing: 135.316249 deg,
      approach rate: 0.219142 m/s,
      LOS rate: nan deg/s,
      cmd heading: 135.321975 deg,
      new cmd heading: 135.316249 deg.

2025-08-09T16:41:15.279Z,1754757675.279 [DAT](INFO): Reached modem response timeout
2025-08-09T16:41:15.280Z,1754757675.280 [DAT](DEBUG): Acoustic response timeout
2025-08-09T16:41:15.280Z,1754757675.280 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-09T16:41:15.465Z,1754757675.465 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 433.30 m.
2025-08-09T16:41:15.468Z,1754757675.468 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 433.299988 m,
      nav range: 448.338531 m,
      bearing: 135.311580 deg,
      approach rate: 0.220026 m/s,
      LOS rate: nan deg/s,
      cmd heading: 135.316252 deg,
      new cmd heading: 135.311580 deg.

2025-08-09T16:41:15.532Z,1754757675.532 [DAT](INFO): Reached modem response timeout
2025-08-09T16:41:15.532Z,1754757675.532 [DAT](DEBUG): Acoustic response timeout
2025-08-09T16:41:15.532Z,1754757675.532 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-09T16:41:15.785Z,1754757675.785 [DAT](INFO): Reached modem response timeout
2025-08-09T16:41:15.786Z,1754757675.786 [DAT](DEBUG): Acoustic response timeout
2025-08-09T16:41:15.787Z,1754757675.787 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-09T16:41:15.930Z,1754757675.930 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-09T16:41:15.943Z,1754757675.943 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 433.30 m.
2025-08-09T16:41:15.945Z,1754757675.945 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 433.299988 m,
      nav range: 448.442413 m,
      bearing: 135.305740 deg,
      approach rate: 0.219591 m/s,
      LOS rate: nan deg/s,
      cmd heading: 135.311580 deg,
      new cmd heading: 135.305740 deg.

2025-08-09T16:41:16.035Z,1754757676.035 [DAT](INFO): Reached modem response timeout
2025-08-09T16:41:16.035Z,1754757676.035 [DAT](DEBUG): Acoustic response timeout
2025-08-09T16:41:16.035Z,1754757676.035 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-09T16:41:16.263Z,1754757676.263 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 433.30 m.
2025-08-09T16:41:16.266Z,1754757676.266 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 433.299988 m,
      nav range: 448.522064 m,
      bearing: 135.301331 deg,
      approach rate: 0.244602 m/s,
      LOS rate: nan deg/s,
      cmd heading: 135.305733 deg,
      new cmd heading: 135.301331 deg.

2025-08-09T16:41:16.287Z,1754757676.287 [DAT](INFO): DAT read: Response Not Received

2025-08-09T16:41:16.288Z,1754757676.288 [DAT](INFO): response not received
2025-08-09T16:41:16.288Z,1754757676.288 [DAT](INFO): DAT read: user:20>

2025-08-09T16:41:16.289Z,1754757676.289 [DAT](INFO): DAT read: Tx time:16:41:15.7959

2025-08-09T16:41:16.289Z,1754757676.289 [DAT](INFO): Ping request sent.
2025-08-09T16:41:16.289Z,1754757676.289 [DAT](INFO): transmitted an acoustic signal
2025-08-09T16:41:16.289Z,1754757676.289 [DAT](INFO): publishing transmit ping time
2025-08-09T16:41:16.290Z,1754757676.290 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000739
2025-08-09T16:41:16.368Z,1754757676.368 [DockingStepper](INFO): Changing to mode: 1
2025-08-09T16:41:16.543Z,1754757676.543 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.253301
2025-08-09T16:41:16.677Z,1754757676.677 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 433.30 m.
2025-08-09T16:41:16.680Z,1754757676.680 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 433.299988 m,
      nav range: 448.617584 m,
      bearing: 135.296141 deg,
      approach rate: 0.230886 m/s,
      LOS rate: nan deg/s,
      cmd heading: 135.301335 deg,
      new cmd heading: 135.296141 deg.

2025-08-09T16:41:16.793Z,1754757676.793 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.503935
2025-08-09T16:41:17.043Z,1754757677.043 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754086
2025-08-09T16:41:17.191Z,1754757677.191 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 433.30 m.
2025-08-09T16:41:17.193Z,1754757677.193 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 433.299988 m,
      nav range: 448.756958 m,
      bearing: 135.288769 deg,
      approach rate: 0.271443 m/s,
      LOS rate: nan deg/s,
      cmd heading: 135.296144 deg,
      new cmd heading: 135.288769 deg.

2025-08-09T16:41:17.295Z,1754757677.295 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006110
2025-08-09T16:41:17.548Z,1754757677.548 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258404
2025-08-09T16:41:17.549Z,1754757677.549 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 433.30 m.
2025-08-09T16:41:17.552Z,1754757677.552 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 433.299988 m,
      nav range: 448.849884 m,
      bearing: 135.283950 deg,
      approach rate: 0.258853 m/s,
      LOS rate: nan deg/s,
      cmd heading: 135.288767 deg,
      new cmd heading: 135.283950 deg.

2025-08-09T16:41:17.803Z,1754757677.803 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.512351
2025-08-09T16:41:17.988Z,1754757677.988 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-09T16:41:17.990Z,1754757677.990 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 433.30 m.
2025-08-09T16:41:17.992Z,1754757677.992 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 433.299988 m,
      nav range: 448.988892 m,
      bearing: 135.276357 deg,
      approach rate: 0.315618 m/s,
      LOS rate: nan deg/s,
      cmd heading: 135.283945 deg,
      new cmd heading: 135.276357 deg.

2025-08-09T16:41:18.051Z,1754757678.051 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762188
2025-08-09T16:41:18.303Z,1754757678.303 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.013997
2025-08-09T16:41:18.355Z,1754757678.355 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 433.30 m.
2025-08-09T16:41:18.358Z,1754757678.358 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 433.299988 m,
      nav range: 449.100433 m,
      bearing: 135.270381 deg,
      approach rate: 0.305093 m/s,
      LOS rate: nan deg/s,
      cmd heading: 135.276363 deg,
      new cmd heading: 135.270381 deg.

2025-08-09T16:41:18.555Z,1754757678.555 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266014
2025-08-09T16:41:18.746Z,1754757678.746 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 433.30 m.
2025-08-09T16:41:18.748Z,1754757678.748 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 433.299988 m,
      nav range: 449.219757 m,
      bearing: 135.264128 deg,
      approach rate: 0.305813 m/s,
      LOS rate: nan deg/s,
      cmd heading: 135.270380 deg,
      new cmd heading: 135.264128 deg.

2025-08-09T16:41:18.808Z,1754757678.808 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518718
2025-08-09T16:41:19.059Z,1754757679.059 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.769915
2025-08-09T16:41:19.184Z,1754757679.184 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 433.30 m.
2025-08-09T16:41:19.187Z,1754757679.187 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 433.299988 m,
      nav range: 449.369568 m,
      bearing: 135.256367 deg,
      approach rate: 0.341639 m/s,
      LOS rate: nan deg/s,
      cmd heading: 135.264124 deg,
      new cmd heading: 135.256367 deg.

2025-08-09T16:41:19.312Z,1754757679.312 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.022526
2025-08-09T16:41:19.563Z,1754757679.563 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274093
2025-08-09T16:41:19.578Z,1754757679.578 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 433.30 m.
2025-08-09T16:41:19.581Z,1754757679.581 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 433.299988 m,
      nav range: 449.504425 m,
      bearing: 135.249549 deg,
      approach rate: 0.342507 m/s,
      LOS rate: nan deg/s,
      cmd heading: 135.256365 deg,
      new cmd heading: 135.249549 deg.

2025-08-09T16:41:19.816Z,1754757679.816 [DAT](INFO): DAT read: Rx Time:16:41:18.7888

2025-08-09T16:41:19.816Z,1754757679.816 [DAT](INFO): Rx dataTimestamp_ set to:1754757679.816058
2025-08-09T16:41:19.817Z,1754757679.817 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.527670
2025-08-09T16:41:19.991Z,1754757679.991 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-09T16:41:19.993Z,1754757679.993 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 433.30 m.
2025-08-09T16:41:19.996Z,1754757679.996 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 433.299988 m,
      nav range: 449.663483 m,
      bearing: 135.241622 deg,
      approach rate: 0.383243 m/s,
      LOS rate: nan deg/s,
      cmd heading: 135.249548 deg,
      new cmd heading: 135.241622 deg.

2025-08-09T16:41:20.068Z,1754757680.068 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.778274
2025-08-09T16:41:20.322Z,1754757680.322 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.032485
2025-08-09T16:41:20.391Z,1754757680.391 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 433.30 m.
2025-08-09T16:41:20.394Z,1754757680.394 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 433.299988 m,
      nav range: 449.816559 m,
      bearing: 135.234196 deg,
      approach rate: 0.384347 m/s,
      LOS rate: nan deg/s,
      cmd heading: 135.241625 deg,
      new cmd heading: 135.234196 deg.

2025-08-09T16:41:20.578Z,1754757680.578 [DAT](INFO): DAT read: 16:41:18.7888 LVL= 32752, 22657, 26562, 32755, AGC= 70, IDX= 489,-0.30, 1.669,-2.412, 2.756, 2.933, PHS=-1.162, 0.983,-0.221, RAW= 304.1,   4.3, CAL= 301.7,   1.3, ROT= 208.3,  -1.3

2025-08-09T16:41:20.579Z,1754757680.579 [DAT](INFO): got valid direction response:
 16:41:18.7888 LVL= 32752, 22657, 26562, 32755, AGC= 70, IDX= 489,-0.30, 1.669,-2.412, 2.756, 2.933, PHS=-1.162, 0.983,-0.221, RAW= 304.1,   4.3, CAL= 301.7,   1.3, ROT= 208.3,  -1.3

2025-08-09T16:41:20.580Z,1754757680.580 [DAT](INFO): DAT read: Bearing 249.7, -25.8 (Local)

2025-08-09T16:41:20.580Z,1754757680.580 [DAT](INFO): Local bearing/azimuth received:
 Bearing 249.7, -25.8 (Local)

2025-08-09T16:41:20.582Z,1754757680.582 [DAT](INFO): DAT read: Range 11 to 50 : 441.5 m  (Round-trip  588.7 ms) speed -0.4 m/s

2025-08-09T16:41:20.583Z,1754757680.583 [DAT](INFO): DAT read: user:21>

2025-08-09T16:41:20.583Z,1754757680.583 [DAT](INFO): DAT read: Tx time:16:41:19.8944

2025-08-09T16:41:20.584Z,1754757680.584 [DAT](INFO): Ping request sent.
2025-08-09T16:41:20.584Z,1754757680.584 [DAT](INFO): transmitted an acoustic signal
2025-08-09T16:41:20.584Z,1754757680.584 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-09T16:41:20.585Z,1754757680.585 [DAT](INFO): direction in FSK: [-0.880251,-0.473966,0.022687]
2025-08-09T16:41:20.585Z,1754757680.585 [DAT](INFO): publishing transmit ping time
2025-08-09T16:41:20.585Z,1754757680.585 [DAT](INFO): publishing direction and range info
2025-08-09T16:41:20.588Z,1754757680.588 [DAT](INFO): publishing transmit ping time
2025-08-09T16:41:20.589Z,1754757680.589 [DAT](INFO): publishing direction and range info
2025-08-09T16:41:20.801Z,1754757680.801 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 441.500000 m,
      deltaT: 29.230838 s,
      deltaX: 8.200012 m,
      approachRate: 0.280526 m/s,
      rangeRepo size: 2

2025-08-09T16:41:20.820Z,1754757680.820 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 441.500000 m,
      bearing: 136.740687 deg,
      lat: 36.906062 deg,
      lon: -122.115824 deg,
      deltaT: 29.230838 s,
      deltaX: 8.200012 m,
      approachRate: 0.280526 m/s,
      posRepo size: 2

2025-08-09T16:41:20.820Z,1754757680.820 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 441.50 m.
2025-08-09T16:41:20.822Z,1754757680.822 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](ERROR): ProNav REINIT: LOS rate is nan deg/s. Setting heading cmd to target acoustic bearing of 136.740687 deg.
2025-08-09T16:41:21.283Z,1754757681.283 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 441.50 m.
2025-08-09T16:41:21.286Z,1754757681.286 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 441.500000 m,
      nav range: 445.318604 m,
      bearing: 136.730179 deg,
      approach rate: 0.416488 m/s,
      LOS rate: -0.021818 deg/s,
      cmd heading: 136.740688 deg,
      new cmd heading: 136.709177 deg.

2025-08-09T16:41:21.674Z,1754757681.674 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 441.50 m.
2025-08-09T16:41:21.677Z,1754757681.677 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 441.500000 m,
      nav range: 445.480499 m,
      bearing: 136.721703 deg,
      approach rate: 0.413248 m/s,
      LOS rate: -0.021628 deg/s,
      cmd heading: 136.709173 deg,
      new cmd heading: 136.683754 deg.

2025-08-09T16:41:22.097Z,1754757682.097 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-09T16:41:22.099Z,1754757682.099 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 441.50 m.
2025-08-09T16:41:22.102Z,1754757682.102 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 441.500000 m,
      nav range: 445.663727 m,
      bearing: 136.712608 deg,
      approach rate: 0.431409 m/s,
      LOS rate: -0.021406 deg/s,
      cmd heading: 136.683751 deg,
      new cmd heading: 136.656477 deg.

2025-08-09T16:41:22.335Z,1754757682.335 [DAT](INFO): ****** received valid address query ******
2025-08-09T16:41:22.335Z,1754757682.335 [DAT](INFO): ****** received valid ping request ******
2025-08-09T16:41:22.336Z,1754757682.336 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-09T16:41:22.486Z,1754757682.486 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 441.50 m.
2025-08-09T16:41:22.488Z,1754757682.488 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 441.500000 m,
      nav range: 445.831940 m,
      bearing: 136.704530 deg,
      approach rate: 0.434669 m/s,
      LOS rate: -0.020864 deg/s,
      cmd heading: 136.656471 deg,
      new cmd heading: 136.632249 deg.

2025-08-09T16:41:22.588Z,1754757682.588 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.004254
2025-08-09T16:41:22.840Z,1754757682.840 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.256172
2025-08-09T16:41:23.035Z,1754757683.035 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 441.50 m.
2025-08-09T16:41:23.037Z,1754757683.037 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 441.500000 m,
      nav range: 446.076538 m,
      bearing: 136.691799 deg,
      approach rate: 0.445516 m/s,
      LOS rate: -0.023176 deg/s,
      cmd heading: 136.632252 deg,
      new cmd heading: 136.594079 deg.

2025-08-09T16:41:23.091Z,1754757683.091 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.507704
2025-08-09T16:41:23.321Z,1754757683.321 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 441.50 m.
2025-08-09T16:41:23.328Z,1754757683.328 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 441.500000 m,
      nav range: 446.200775 m,
      bearing: 136.685341 deg,
      approach rate: 0.433108 m/s,
      LOS rate: -0.022510 deg/s,
      cmd heading: 136.594085 deg,
      new cmd heading: 136.574714 deg.

2025-08-09T16:41:23.343Z,1754757683.343 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.759754
2025-08-09T16:41:23.596Z,1754757683.596 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.011846
2025-08-09T16:41:23.679Z,1754757683.679 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 441.50 m.
2025-08-09T16:41:23.681Z,1754757683.681 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 441.500000 m,
      nav range: 446.365295 m,
      bearing: 136.677521 deg,
      approach rate: 0.460866 m/s,
      LOS rate: -0.021897 deg/s,
      cmd heading: 136.574714 deg,
      new cmd heading: 136.551264 deg.

2025-08-09T16:41:23.848Z,1754757683.848 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.264512
2025-08-09T16:41:24.099Z,1754757684.099 [DAT](INFO): DAT read: Rx Time:16:41:22.8896

2025-08-09T16:41:24.100Z,1754757684.100 [DAT](INFO): Rx dataTimestamp_ set to:1754757684.099528
2025-08-09T16:41:24.100Z,1754757684.100 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.516691
2025-08-09T16:41:24.112Z,1754757684.112 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-09T16:41:24.115Z,1754757684.115 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 441.50 m.
2025-08-09T16:41:24.117Z,1754757684.117 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 441.500000 m,
      nav range: 446.567200 m,
      bearing: 136.668349 deg,
      approach rate: 0.463076 m/s,
      LOS rate: -0.021027 deg/s,
      cmd heading: 136.551259 deg,
      new cmd heading: 136.523756 deg.

2025-08-09T16:41:24.351Z,1754757684.351 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.767618
2025-08-09T16:41:24.509Z,1754757684.509 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 441.50 m.
2025-08-09T16:41:24.512Z,1754757684.512 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 441.500000 m,
      nav range: 446.750610 m,
      bearing: 136.660024 deg,
      approach rate: 0.464278 m/s,
      LOS rate: -0.021065 deg/s,
      cmd heading: 136.523761 deg,
      new cmd heading: 136.498796 deg.

2025-08-09T16:41:24.611Z,1754757684.611 [DAT](INFO): DAT read: 16:41:22.8896 LVL= 30448, 19121, 26290, 32499, AGC= 75, IDX= 449,-0.11, 0.457, 2.674, 1.529, 1.637, PHS=-1.078, 1.083,-0.151, RAW= 304.7,   1.6, CAL= 302.7,  -2.1, ROT= 207.3,   2.1

2025-08-09T16:41:24.612Z,1754757684.612 [DAT](INFO): got valid direction response:
 16:41:22.8896 LVL= 30448, 19121, 26290, 32499, AGC= 75, IDX= 449,-0.11, 0.457, 2.674, 1.529, 1.637, PHS=-1.078, 1.083,-0.151, RAW= 304.7,   1.6, CAL= 302.7,  -2.1, ROT= 207.3,   2.1

2025-08-09T16:41:24.613Z,1754757684.613 [DAT](INFO): DAT read: Bearing 258.7, -25.8 (Local)

2025-08-09T16:41:24.613Z,1754757684.613 [DAT](INFO): Local bearing/azimuth received:
 Bearing 258.7, -25.8 (Local)

2025-08-09T16:41:24.615Z,1754757684.615 [DAT](INFO): DAT read: Range 11 to 50 : 443.3 m  (Round-trip  591.1 ms) speed -0.5 m/s

2025-08-09T16:41:24.615Z,1754757684.615 [DAT](INFO): DAT read: user:22>

2025-08-09T16:41:24.616Z,1754757684.616 [DAT](INFO): DAT read: Tx time:16:41:23.9944

2025-08-09T16:41:24.616Z,1754757684.616 [DAT](INFO): Ping request sent.
2025-08-09T16:41:24.616Z,1754757684.616 [DAT](INFO): transmitted an acoustic signal
2025-08-09T16:41:24.617Z,1754757684.617 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-09T16:41:24.618Z,1754757684.618 [DAT](INFO): direction in FSK: [-0.888020,-0.458341,-0.036644]
2025-08-09T16:41:24.618Z,1754757684.618 [DAT](INFO): publishing transmit ping time
2025-08-09T16:41:24.619Z,1754757684.619 [DAT](INFO): publishing direction and range info
2025-08-09T16:41:24.622Z,1754757684.622 [DAT](INFO): publishing transmit ping time
2025-08-09T16:41:24.622Z,1754757684.622 [DAT](INFO): publishing direction and range info
2025-08-09T16:41:24.000Z,1754757685.000 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 443.299988 m,
      deltaT: 4.033046 s,
      deltaX: 1.799988 m,
      approachRate: 0.446310 m/s,
      rangeRepo size: 3

2025-08-09T16:41:25.002Z,1754757685.002 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 443.299988 m,
      bearing: 138.189747 deg,
      lat: 36.906020 deg,
      lon: -122.115957 deg,
      deltaT: 4.033046 s,
      deltaX: 1.799988 m,
      approachRate: 0.446310 m/s,
      posRepo size: 3

2025-08-09T16:41:25.007Z,1754757685.007 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 443.30 m.
2025-08-09T16:41:25.009Z,1754757685.009 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 443.299988 m,
      nav range: 442.394928 m,
      bearing: 138.189747 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.021065 deg/s,
      cmd heading: 136.498790 deg,
      new cmd heading: 136.467849 deg.

2025-08-09T16:41:25.453Z,1754757685.453 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 443.30 m.
2025-08-09T16:41:25.456Z,1754757685.456 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 443.299988 m,
      nav range: 442.626923 m,
      bearing: 138.177662 deg,
      approach rate: 0.510905 m/s,
      LOS rate: -0.026601 deg/s,
      cmd heading: 136.467849 deg,
      new cmd heading: 136.431612 deg.

2025-08-09T16:41:25.790Z,1754757685.790 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 443.30 m.
2025-08-09T16:41:25.793Z,1754757685.793 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 443.299988 m,
      nav range: 442.797089 m,
      bearing: 138.169000 deg,
      approach rate: 0.505257 m/s,
      LOS rate: -0.025708 deg/s,
      cmd heading: 136.431608 deg,
      new cmd heading: 136.405633 deg.

2025-08-09T16:41:26.209Z,1754757686.209 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-09T16:41:26.212Z,1754757686.212 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 443.30 m.
2025-08-09T16:41:26.214Z,1754757686.214 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 443.299988 m,
      nav range: 442.998047 m,
      bearing: 138.158645 deg,
      approach rate: 0.476527 m/s,
      LOS rate: -0.024543 deg/s,
      cmd heading: 136.405640 deg,
      new cmd heading: 136.374589 deg.

2025-08-09T16:41:26.367Z,1754757686.367 [DAT](INFO): ****** received valid address query ******
2025-08-09T16:41:26.367Z,1754757686.367 [DAT](INFO): ****** received valid ping request ******
2025-08-09T16:41:26.367Z,1754757686.367 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-09T16:41:26.619Z,1754757686.619 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.002936
2025-08-09T16:41:26.682Z,1754757686.681 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 443.30 m.
2025-08-09T16:41:26.684Z,1754757686.684 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 443.299988 m,
      nav range: 443.220612 m,
      bearing: 138.146716 deg,
      approach rate: 0.473678 m/s,
      LOS rate: -0.025375 deg/s,
      cmd heading: 136.374590 deg,
      new cmd heading: 136.338821 deg.

2025-08-09T16:41:26.872Z,1754757686.872 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.255962
2025-08-09T16:41:27.123Z,1754757687.123 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.506921
2025-08-09T16:41:27.186Z,1754757687.186 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 443.30 m.
2025-08-09T16:41:27.189Z,1754757687.189 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 443.299988 m,
      nav range: 443.474976 m,
      bearing: 138.130638 deg,
      approach rate: 0.504372 m/s,
      LOS rate: -0.031863 deg/s,
      cmd heading: 136.338827 deg,
      new cmd heading: 136.290620 deg.

2025-08-09T16:41:27.376Z,1754757687.376 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.759778
2025-08-09T16:41:27.567Z,1754757687.567 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 443.30 m.
2025-08-09T16:41:27.569Z,1754757687.569 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 443.299988 m,
      nav range: 443.666199 m,
      bearing: 138.118281 deg,
      approach rate: 0.502473 m/s,
      LOS rate: -0.032457 deg/s,
      cmd heading: 136.290619 deg,
      new cmd heading: 136.253564 deg.

2025-08-09T16:41:27.628Z,1754757687.628 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.011605
2025-08-09T16:41:27.879Z,1754757687.879 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.262908
2025-08-09T16:41:28.037Z,1754757688.037 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 443.30 m.
2025-08-09T16:41:28.040Z,1754757688.040 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 443.299988 m,
      nav range: 443.893402 m,
      bearing: 138.103612 deg,
      approach rate: 0.482552 m/s,
      LOS rate: -0.031138 deg/s,
      cmd heading: 136.253559 deg,
      new cmd heading: 136.209576 deg.

2025-08-09T16:41:28.132Z,1754757688.132 [DAT](INFO): DAT read: Rx Time:16:41:27.0115

2025-08-09T16:41:28.132Z,1754757688.132 [DAT](INFO): Rx dataTimestamp_ set to:1754757688.131830
2025-08-09T16:41:28.133Z,1754757688.133 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.516275
2025-08-09T16:41:28.383Z,1754757688.383 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.766957
2025-08-09T16:41:28.412Z,1754757688.412 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-09T16:41:28.420Z,1754757688.420 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 443.30 m.
2025-08-09T16:41:28.432Z,1754757688.432 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 443.299988 m,
      nav range: 444.080963 m,
      bearing: 138.090746 deg,
      approach rate: 0.490959 m/s,
      LOS rate: -0.033665 deg/s,
      cmd heading: 136.209572 deg,
      new cmd heading: 136.170989 deg.

2025-08-09T16:41:28.643Z,1754757688.643 [DAT](INFO): DAT read: 16:41:27.0115 LVL= 26464, 16945, 17394, 22435, AGC= 75, IDX= 145, 0.28,-1.930, 0.017,-1.086,-1.264, PHS=-0.564, 1.326, 0.134, RAW= 308.6, -10.8, CAL= 308.9, -14.8, ROT= 201.1,  14.8

2025-08-09T16:41:28.644Z,1754757688.644 [DAT](INFO): got valid direction response:
 16:41:27.0115 LVL= 26464, 16945, 17394, 22435, AGC= 75, IDX= 145, 0.28,-1.930, 0.017,-1.086,-1.264, PHS=-0.564, 1.326, 0.134, RAW= 308.6, -10.8, CAL= 308.9, -14.8, ROT= 201.1,  14.8

2025-08-09T16:41:28.645Z,1754757688.645 [DAT](INFO): DAT read: Bearing 272.6, -18.6 (Local)

2025-08-09T16:41:28.645Z,1754757688.645 [DAT](INFO): Local bearing/azimuth received:
 Bearing 272.6, -18.6 (Local)

2025-08-09T16:41:28.647Z,1754757688.647 [DAT](INFO): DAT read: Range 11 to 50 : 459.6 m  (Round-trip  612.9 ms) speed -0.4 m/s

2025-08-09T16:41:28.647Z,1754757688.647 [DAT](INFO): DAT read: user:23>

2025-08-09T16:41:28.648Z,1754757688.648 [DAT](INFO): DAT read: Tx time:16:41:28.0944

2025-08-09T16:41:28.648Z,1754757688.648 [DAT](INFO): Ping request sent.
2025-08-09T16:41:28.648Z,1754757688.648 [DAT](INFO): transmitted an acoustic signal
2025-08-09T16:41:28.649Z,1754757688.649 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-09T16:41:28.650Z,1754757688.650 [DAT](INFO): direction in FSK: [-0.902001,-0.348053,-0.255446]
2025-08-09T16:41:28.650Z,1754757688.650 [DAT](INFO): publishing transmit ping time
2025-08-09T16:41:28.651Z,1754757688.651 [DAT](INFO): publishing direction and range info
2025-08-09T16:41:28.654Z,1754757688.654 [DAT](INFO): publishing transmit ping time
2025-08-09T16:41:28.654Z,1754757688.654 [DAT](INFO): publishing direction and range info
2025-08-09T16:41:28.797Z,1754757688.797 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 459.600006 m,
      deltaT: 4.030822 s,
      deltaX: 16.300018 m,
      approachRate: 4.043845 m/s,
      rangeRepo size: 4

2025-08-09T16:41:28.804Z,1754757688.804 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 459.600006 m,
      bearing: 135.046632 deg,
      lat: 36.906105 deg,
      lon: -122.115690 deg,
      deltaT: 4.030822 s,
      deltaX: 16.300018 m,
      approachRate: 4.043845 m/s,
      posRepo size: 4

2025-08-09T16:41:28.805Z,1754757688.805 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 459.60 m.
2025-08-09T16:41:28.812Z,1754757688.812 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 459.600006 m,
      nav range: 453.748444 m,
      bearing: 135.046632 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.033665 deg/s,
      cmd heading: 136.170995 deg,
      new cmd heading: 136.132861 deg.

2025-08-09T16:41:29.190Z,1754757689.190 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 459.60 m.
2025-08-09T16:41:29.193Z,1754757689.193 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 459.600006 m,
      nav range: 453.967834 m,
      bearing: 135.032683 deg,
      approach rate: 0.558188 m/s,
      LOS rate: -0.035474 deg/s,
      cmd heading: 136.132856 deg,
      new cmd heading: 136.091027 deg.

2025-08-09T16:41:29.621Z,1754757689.621 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 459.60 m.
2025-08-09T16:41:29.628Z,1754757689.628 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 459.600006 m,
      nav range: 454.193451 m,
      bearing: 135.017937 deg,
      approach rate: 0.523335 m/s,
      LOS rate: -0.034186 deg/s,
      cmd heading: 136.091027 deg,
      new cmd heading: 136.046813 deg.

2025-08-09T16:41:30.043Z,1754757690.043 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 459.60 m.
2025-08-09T16:41:30.045Z,1754757690.045 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 459.600006 m,
      nav range: 454.390930 m,
      bearing: 135.004671 deg,
      approach rate: 0.473660 m/s,
      LOS rate: -0.031805 deg/s,
      cmd heading: 136.046809 deg,
      new cmd heading: 136.007029 deg.

2025-08-09T16:41:30.421Z,1754757690.421 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-09T16:41:30.424Z,1754757690.424 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 459.60 m.
2025-08-09T16:41:30.426Z,1754757690.426 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 459.600006 m,
      nav range: 454.627716 m,
      bearing: 134.989585 deg,
      approach rate: 0.613958 m/s,
      LOS rate: -0.039096 deg/s,
      cmd heading: 136.007030 deg,
      new cmd heading: 135.961795 deg.

2025-08-09T16:41:30.651Z,1754757690.651 [DAT](INFO): ****** received valid address query ******
2025-08-09T16:41:30.651Z,1754757690.651 [DAT](INFO): ****** received valid ping request ******
2025-08-09T16:41:30.652Z,1754757690.652 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-09T16:41:30.792Z,1754757690.792 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 459.60 m.
2025-08-09T16:41:30.795Z,1754757690.795 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 459.600006 m,
      nav range: 454.827972 m,
      bearing: 134.976492 deg,
      approach rate: 0.543235 m/s,
      LOS rate: -0.035503 deg/s,
      cmd heading: 135.961800 deg,
      new cmd heading: 135.922537 deg.

2025-08-09T16:41:30.904Z,1754757690.904 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.255603
2025-08-09T16:41:31.155Z,1754757691.155 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.506859
2025-08-09T16:41:31.231Z,1754757691.231 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 459.60 m.
2025-08-09T16:41:31.233Z,1754757691.233 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 459.600006 m,
      nav range: 455.055084 m,
      bearing: 134.961705 deg,
      approach rate: 0.521074 m/s,
      LOS rate: -0.033910 deg/s,
      cmd heading: 135.922540 deg,
      new cmd heading: 135.878201 deg.

2025-08-09T16:41:31.408Z,1754757691.408 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.759831
2025-08-09T16:41:31.659Z,1754757691.659 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.010984
2025-08-09T16:41:31.663Z,1754757691.663 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 459.60 m.
2025-08-09T16:41:31.665Z,1754757691.665 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 459.600006 m,
      nav range: 455.297058 m,
      bearing: 134.945475 deg,
      approach rate: 0.557156 m/s,
      LOS rate: -0.037349 deg/s,
      cmd heading: 135.878199 deg,
      new cmd heading: 135.829536 deg.

2025-08-09T16:41:31.913Z,1754757691.913 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.263992
2025-08-09T16:41:32.056Z,1754757692.056 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 459.60 m.
2025-08-09T16:41:32.073Z,1754757692.073 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 459.600006 m,
      nav range: 455.488251 m,
      bearing: 134.932266 deg,
      approach rate: 0.487065 m/s,
      LOS rate: -0.033638 deg/s,
      cmd heading: 135.829540 deg,
      new cmd heading: 135.789928 deg.

2025-08-09T16:41:32.168Z,1754757692.168 [DAT](INFO): DAT read: Rx Time:16:41:31.1045

2025-08-09T16:41:32.169Z,1754757692.169 [DAT](INFO): Rx dataTimestamp_ set to:1754757692.168332
2025-08-09T16:41:32.169Z,1754757692.169 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.520815
2025-08-09T16:41:32.420Z,1754757692.420 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.771657
2025-08-09T16:41:32.472Z,1754757692.472 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-09T16:41:32.474Z,1754757692.474 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 459.60 m.
2025-08-09T16:41:32.477Z,1754757692.477 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 459.600006 m,
      nav range: 455.744324 m,
      bearing: 134.915789 deg,
      approach rate: 0.610820 m/s,
      LOS rate: -0.039280 deg/s,
      cmd heading: 135.789925 deg,
      new cmd heading: 135.740524 deg.

2025-08-09T16:41:32.678Z,1754757692.678 [DAT](INFO): DAT read: 16:41:31.1045 LVL= 32752, 22577, 29506, 32755, AGC= 73, IDX= 362,-0.08,-1.865, 0.243,-0.817,-0.663, PHS=-1.100, 0.951,-0.198, RAW= 304.0,   3.9, CAL= 301.6,   0.5, ROT= 208.4,  -0.5

2025-08-09T16:41:32.679Z,1754757692.679 [DAT](INFO): got valid direction response:
 16:41:31.1045 LVL= 32752, 22577, 29506, 32755, AGC= 73, IDX= 362,-0.08,-1.865, 0.243,-0.817,-0.663, PHS=-1.100, 0.951,-0.198, RAW= 304.0,   3.9, CAL= 301.6,   0.5, ROT= 208.4,  -0.5

2025-08-09T16:41:32.680Z,1754757692.680 [DAT](INFO): DAT read: Bearing 251.9, -30.0 (Local)

2025-08-09T16:41:32.681Z,1754757692.681 [DAT](INFO): Local bearing/azimuth received:
 Bearing 251.9, -30.0 (Local)

2025-08-09T16:41:32.682Z,1754757692.682 [DAT](INFO): DAT read: Range 11 to 50 : 454.5 m  (Round-trip  606.0 ms) speed -0.5 m/s

2025-08-09T16:41:32.683Z,1754757692.683 [DAT](INFO): DAT read: user:24>

2025-08-09T16:41:32.684Z,1754757692.684 [DAT](INFO): DAT read: Tx time:16:41:32.1944

2025-08-09T16:41:32.684Z,1754757692.684 [DAT](INFO): Ping request sent.
2025-08-09T16:41:32.684Z,1754757692.684 [DAT](INFO): transmitted an acoustic signal
2025-08-09T16:41:32.684Z,1754757692.684 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-09T16:41:32.685Z,1754757692.685 [DAT](INFO): direction in FSK: [-0.879615,-0.475606,0.008727]
2025-08-09T16:41:32.686Z,1754757692.686 [DAT](INFO): publishing transmit ping time
2025-08-09T16:41:32.686Z,1754757692.686 [DAT](INFO): publishing direction and range info
2025-08-09T16:41:32.695Z,1754757692.695 [DAT](INFO): publishing transmit ping time
2025-08-09T16:41:32.695Z,1754757692.695 [DAT](INFO): publishing direction and range info
2025-08-09T16:41:32.890Z,1754757692.890 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 454.500000 m,
      deltaT: 4.036452 s,
      deltaX: -5.100006 m,
      approachRate: -1.263487 m/s,
      rangeRepo size: 4

2025-08-09T16:41:32.912Z,1754757692.912 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 454.500000 m,
      bearing: 134.041433 deg,
      lat: 36.906179 deg,
      lon: -122.115676 deg,
      deltaT: 4.036452 s,
      deltaX: -5.100006 m,
      approachRate: -1.263487 m/s,
      posRepo size: 4

2025-08-09T16:41:32.913Z,1754757692.913 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 454.50 m.
2025-08-09T16:41:32.919Z,1754757692.919 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 454.500000 m,
      nav range: 451.028442 m,
      bearing: 134.041433 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.039280 deg/s,
      cmd heading: 135.740529 deg,
      new cmd heading: 135.691724 deg.

2025-08-09T16:41:33.300Z,1754757693.300 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 454.50 m.
2025-08-09T16:41:33.303Z,1754757693.303 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 454.500000 m,
      nav range: 451.282654 m,
      bearing: 134.024769 deg,
      approach rate: 0.617768 m/s,
      LOS rate: -0.040472 deg/s,
      cmd heading: 135.691721 deg,
      new cmd heading: 135.641758 deg.

2025-08-09T16:41:33.745Z,1754757693.745 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 454.50 m.
2025-08-09T16:41:33.748Z,1754757693.748 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 454.500000 m,
      nav range: 451.523621 m,
      bearing: 134.008446 deg,
      approach rate: 0.541210 m/s,
      LOS rate: -0.036643 deg/s,
      cmd heading: 135.641751 deg,
      new cmd heading: 135.592807 deg.

2025-08-09T16:41:34.187Z,1754757694.187 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 454.50 m.
2025-08-09T16:41:34.189Z,1754757694.189 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 454.500000 m,
      nav range: 451.759735 m,
      bearing: 133.992310 deg,
      approach rate: 0.535107 m/s,
      LOS rate: -0.036550 deg/s,
      cmd heading: 135.592806 deg,
      new cmd heading: 135.544424 deg.

2025-08-09T16:41:34.652Z,1754757694.652 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-09T16:41:34.655Z,1754757694.655 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 454.50 m.
2025-08-09T16:41:34.657Z,1754757694.657 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 454.500000 m,
      nav range: 452.012451 m,
      bearing: 133.973823 deg,
      approach rate: 0.539952 m/s,
      LOS rate: -0.039476 deg/s,
      cmd heading: 135.544421 deg,
      new cmd heading: 135.488993 deg.

2025-08-09T16:41:34.687Z,1754757694.687 [DAT](INFO): ****** received valid address query ******
2025-08-09T16:41:34.687Z,1754757694.687 [DAT](INFO): ****** received valid ping request ******
2025-08-09T16:41:34.687Z,1754757694.687 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-09T16:41:34.939Z,1754757694.939 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.255420
2025-08-09T16:41:35.124Z,1754757695.124 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 454.50 m.
2025-08-09T16:41:35.133Z,1754757695.133 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 454.500000 m,
      nav range: 452.228973 m,
      bearing: 133.957430 deg,
      approach rate: 0.467146 m/s,
      LOS rate: -0.035351 deg/s,
      cmd heading: 135.488987 deg,
      new cmd heading: 135.439831 deg.

2025-08-09T16:41:35.191Z,1754757695.191 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.507312
2025-08-09T16:41:35.443Z,1754757695.443 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.759184
2025-08-09T16:41:35.519Z,1754757695.519 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 454.50 m.
2025-08-09T16:41:35.522Z,1754757695.522 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 454.500000 m,
      nav range: 452.474396 m,
      bearing: 133.938667 deg,
      approach rate: 0.611442 m/s,
      LOS rate: -0.046721 deg/s,
      cmd heading: 135.439837 deg,
      new cmd heading: 135.383578 deg.

2025-08-09T16:41:35.695Z,1754757695.695 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.011188
2025-08-09T16:41:35.909Z,1754757695.909 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 454.50 m.
2025-08-09T16:41:35.928Z,1754757695.928 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 454.500000 m,
      nav range: 452.679199 m,
      bearing: 133.922442 deg,
      approach rate: 0.525566 m/s,
      LOS rate: -0.041617 deg/s,
      cmd heading: 135.383584 deg,
      new cmd heading: 135.334932 deg.

2025-08-09T16:41:35.947Z,1754757695.947 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.263419
2025-08-09T16:41:36.199Z,1754757696.199 [DAT](INFO): DAT read: Rx Time:16:41:35.1982

2025-08-09T16:41:36.200Z,1754757696.200 [DAT](INFO): Rx dataTimestamp_ set to:1754757696.199478
2025-08-09T16:41:36.200Z,1754757696.200 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.516261
2025-08-09T16:41:36.451Z,1754757696.451 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.767163
2025-08-09T16:41:36.478Z,1754757696.478 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 454.50 m.
2025-08-09T16:41:36.481Z,1754757696.481 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 454.500000 m,
      nav range: 452.970978 m,
      bearing: 133.898718 deg,
      approach rate: 0.516129 m/s,
      LOS rate: -0.041938 deg/s,
      cmd heading: 135.334925 deg,
      new cmd heading: 135.263800 deg.

2025-08-09T16:41:36.709Z,1754757696.709 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.021420
2025-08-09T16:41:36.961Z,1754757696.961 [DAT](INFO): DAT read: 16:41:35.1982 LVL= 31392, 17777, 23538, 32755, AGC= 72, IDX= 361,-0.30, 1.165,-2.918, 2.333, 2.471, PHS=-1.204, 0.939,-0.182, RAW= 301.5,   4.9, CAL= 299.1,   2.0, ROT= 210.9,  -2.0

2025-08-09T16:41:36.962Z,1754757696.962 [DAT](INFO): got valid direction response:
 16:41:35.1982 LVL= 31392, 17777, 23538, 32755, AGC= 72, IDX= 361,-0.30, 1.165,-2.918, 2.333, 2.471, PHS=-1.204, 0.939,-0.182, RAW= 301.5,   4.9, CAL= 299.1,   2.0, ROT= 210.9,  -2.0

2025-08-09T16:41:36.963Z,1754757696.963 [DAT](INFO): DAT read: Bearing 241.7, -33.8 (Local)

2025-08-09T16:41:36.964Z,1754757696.964 [DAT](INFO): Local bearing/azimuth received:
 Bearing 241.7, -33.8 (Local)

2025-08-09T16:41:36.965Z,1754757696.965 [DAT](INFO): DAT read: Range 11 to 50 : 449.7 m  (Round-trip  599.7 ms) speed -0.4 m/s

2025-08-09T16:41:36.966Z,1754757696.966 [DAT](INFO): DAT read: user:25>

2025-08-09T16:41:36.966Z,1754757696.966 [DAT](INFO): DAT read: Tx time:16:41:36.2944

2025-08-09T16:41:36.967Z,1754757696.967 [DAT](INFO): Ping request sent.
2025-08-09T16:41:36.967Z,1754757696.967 [DAT](INFO): transmitted an acoustic signal
2025-08-09T16:41:36.967Z,1754757696.967 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-09T16:41:36.968Z,1754757696.968 [DAT](INFO): direction in FSK: [-0.857542,-0.513228,0.034899]
2025-08-09T16:41:36.968Z,1754757696.968 [DAT](INFO): publishing transmit ping time
2025-08-09T16:41:36.969Z,1754757696.969 [DAT](INFO): publishing direction and range info
2025-08-09T16:41:36.976Z,1754757696.976 [DAT](INFO): publishing transmit ping time
2025-08-09T16:41:36.976Z,1754757696.976 [DAT](INFO): publishing direction and range info
2025-08-09T16:41:36.997Z,1754757696.997 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 449.700012 m,
      deltaT: 4.283692 s,
      deltaX: -4.799988 m,
      approachRate: -1.120526 m/s,
      rangeRepo size: 4

2025-08-09T16:41:37.004Z,1754757697.004 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 449.700012 m,
      bearing: 133.876220 deg,
      lat: 36.906179 deg,
      lon: -122.115676 deg,
      deltaT: 4.283692 s,
      deltaX: -4.799988 m,
      approachRate: -1.120526 m/s,
      posRepo size: 4

2025-08-09T16:41:37.004Z,1754757697.004 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 449.70 m.
2025-08-09T16:41:37.015Z,1754757697.015 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 449.700012 m,
      nav range: 453.238312 m,
      bearing: 133.876220 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.041938 deg/s,
      cmd heading: 135.263796 deg,
      new cmd heading: 135.198062 deg.

2025-08-09T16:41:37.508Z,1754757697.508 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 449.70 m.
2025-08-09T16:41:37.511Z,1754757697.511 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 449.700012 m,
      nav range: 453.520721 m,
      bearing: 133.849370 deg,
      approach rate: 0.552055 m/s,
      LOS rate: -0.052453 deg/s,
      cmd heading: 135.198062 deg,
      new cmd heading: 135.117564 deg.

2025-08-09T16:41:37.902Z,1754757697.902 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-09T16:41:37.905Z,1754757697.905 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 449.70 m.
2025-08-09T16:41:37.907Z,1754757697.907 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 449.700012 m,
      nav range: 453.720917 m,
      bearing: 133.829680 deg,
      approach rate: 0.505050 m/s,
      LOS rate: -0.049652 deg/s,
      cmd heading: 135.117562 deg,
      new cmd heading: 135.058517 deg.

2025-08-09T16:41:37.964Z,1754757697.964 [DAT](INFO): ****** received valid address query ******
2025-08-09T16:41:37.964Z,1754757697.964 [DAT](INFO): ****** received valid ping request ******
2025-08-09T16:41:37.964Z,1754757697.964 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-09T16:41:38.215Z,1754757698.215 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.248399
2025-08-09T16:41:38.309Z,1754757698.309 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 449.70 m.
2025-08-09T16:41:38.328Z,1754757698.328 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 449.700012 m,
      nav range: 453.931427 m,
      bearing: 133.808686 deg,
      approach rate: 0.520796 m/s,
      LOS rate: -0.051913 deg/s,
      cmd heading: 135.058521 deg,
      new cmd heading: 134.995570 deg.

2025-08-09T16:41:38.467Z,1754757698.467 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.500328
2025-08-09T16:41:38.689Z,1754757698.689 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 449.70 m.
2025-08-09T16:41:38.692Z,1754757698.692 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 449.700012 m,
      nav range: 454.123718 m,
      bearing: 133.788868 deg,
      approach rate: 0.505176 m/s,
      LOS rate: -0.052042 deg/s,
      cmd heading: 134.995574 deg,
      new cmd heading: 134.936146 deg.

2025-08-09T16:41:38.733Z,1754757698.733 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.765610
2025-08-09T16:41:38.986Z,1754757698.986 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.019540
2025-08-09T16:41:39.094Z,1754757699.094 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 449.70 m.
2025-08-09T16:41:39.097Z,1754757699.097 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 449.700012 m,
      nav range: 454.325745 m,
      bearing: 133.767336 deg,
      approach rate: 0.499698 m/s,
      LOS rate: -0.053234 deg/s,
      cmd heading: 134.936152 deg,
      new cmd heading: 134.871584 deg.

2025-08-09T16:41:39.236Z,1754757699.236 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.268944
2025-08-09T16:41:39.487Z,1754757699.487 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.520446
2025-08-09T16:41:39.536Z,1754757699.536 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 449.70 m.
2025-08-09T16:41:39.539Z,1754757699.539 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 449.700012 m,
      nav range: 454.539398 m,
      bearing: 133.742961 deg,
      approach rate: 0.482776 m/s,
      LOS rate: -0.055054 deg/s,
      cmd heading: 134.871579 deg,
      new cmd heading: 134.798487 deg.

2025-08-09T16:41:39.739Z,1754757699.739 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.772387
2025-08-09T16:41:39.929Z,1754757699.929 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-09T16:41:39.931Z,1754757699.931 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 449.70 m.
2025-08-09T16:41:39.934Z,1754757699.934 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 449.700012 m,
      nav range: 454.726959 m,
      bearing: 133.720825 deg,
      approach rate: 0.474881 m/s,
      LOS rate: -0.056021 deg/s,
      cmd heading: 134.798482 deg,
      new cmd heading: 134.732104 deg.

2025-08-09T16:41:39.992Z,1754757699.992 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.025097
2025-08-09T16:41:40.243Z,1754757700.243 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.276338
2025-08-09T16:41:40.359Z,1754757700.359 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 449.70 m.
2025-08-09T16:41:40.362Z,1754757700.362 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 449.700012 m,
      nav range: 454.929596 m,
      bearing: 133.697122 deg,
      approach rate: 0.473698 m/s,
      LOS rate: -0.055385 deg/s,
      cmd heading: 134.732107 deg,
      new cmd heading: 134.661029 deg.

2025-08-09T16:41:40.495Z,1754757700.495 [DAT](INFO): DAT read: Rx Time:16:41:39.3104

2025-08-09T16:41:40.496Z,1754757700.496 [DAT](INFO): Rx dataTimestamp_ set to:1754757700.495531
2025-08-09T16:41:40.496Z,1754757700.496 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.529449
2025-08-09T16:41:40.715Z,1754757700.715 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 449.70 m.
2025-08-09T16:41:40.718Z,1754757700.718 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 449.700012 m,
      nav range: 455.093384 m,
      bearing: 133.676607 deg,
      approach rate: 0.459877 m/s,
      LOS rate: -0.057580 deg/s,
      cmd heading: 134.661032 deg,
      new cmd heading: 134.599509 deg.

2025-08-09T16:41:40.747Z,1754757700.747 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.780476
2025-08-09T16:41:41.005Z,1754757701.005 [DAT](INFO): DAT read: 16:41:39.3104 LVL= 25072, 23473, 27186, 28595, AGC= 74, IDX=  38, 0.44, 2.290,-1.900,-2.541,-2.693, PHS=-1.198, 0.838, 0.109, RAW= 290.7,   2.8, CAL= 289.1,  -2.0, ROT= 220.9,   2.0

2025-08-09T16:41:41.006Z,1754757701.006 [DAT](INFO): got valid direction response:
 16:41:39.3104 LVL= 25072, 23473, 27186, 28595, AGC= 74, IDX=  38, 0.44, 2.290,-1.900,-2.541,-2.693, PHS=-1.198, 0.838, 0.109, RAW= 290.7,   2.8, CAL= 289.1,  -2.0, ROT= 220.9,   2.0

2025-08-09T16:41:41.007Z,1754757701.007 [DAT](INFO): DAT read: Bearing 239.9, -42.6 (Local)

2025-08-09T16:41:41.008Z,1754757701.008 [DAT](INFO): Local bearing/azimuth received:
 Bearing 239.9, -42.6 (Local)

2025-08-09T16:41:41.009Z,1754757701.009 [DAT](INFO): DAT read: Range 11 to 50 : 458.9 m  (Round-trip  611.9 ms) speed -0.4 m/s

2025-08-09T16:41:41.010Z,1754757701.010 [DAT](INFO): DAT read: user:26>

2025-08-09T16:41:41.011Z,1754757701.011 [DAT](INFO): DAT read: Tx time:16:41:40.4444

2025-08-09T16:41:41.011Z,1754757701.011 [DAT](INFO): Ping request sent.
2025-08-09T16:41:41.011Z,1754757701.011 [DAT](INFO): transmitted an acoustic signal
2025-08-09T16:41:41.011Z,1754757701.011 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-09T16:41:41.012Z,1754757701.012 [DAT](INFO): direction in FSK: [-0.755393,-0.654342,-0.034899]
2025-08-09T16:41:41.012Z,1754757701.012 [DAT](INFO): publishing transmit ping time
2025-08-09T16:41:41.013Z,1754757701.013 [DAT](INFO): publishing direction and range info
2025-08-09T16:41:41.020Z,1754757701.020 [DAT](INFO): publishing transmit ping time
2025-08-09T16:41:41.021Z,1754757701.021 [DAT](INFO): publishing direction and range info
2025-08-09T16:41:41.243Z,1754757701.243 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 458.899994 m,
      deltaT: 4.044261 s,
      deltaX: 9.199982 m,
      approachRate: 2.274824 m/s,
      rangeRepo size: 4

2025-08-09T16:41:41.245Z,1754757701.245 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 458.899994 m,
      bearing: 126.157061 deg,
      lat: 36.906600 deg,
      lon: -122.115265 deg,
      deltaT: 4.044261 s,
      deltaX: 9.199982 m,
      approachRate: 2.274824 m/s,
      posRepo size: 4

2025-08-09T16:41:41.246Z,1754757701.246 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 458.90 m.
2025-08-09T16:41:41.254Z,1754757701.254 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 458.899994 m,
      nav range: 453.268768 m,
      bearing: 126.157061 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.057580 deg/s,
      cmd heading: 134.599505 deg,
      new cmd heading: 134.509112 deg.

2025-08-09T16:41:41.610Z,1754757701.610 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 458.90 m.
2025-08-09T16:41:41.613Z,1754757701.613 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 458.899994 m,
      nav range: 453.481018 m,
      bearing: 126.135571 deg,
      approach rate: 0.571653 m/s,
      LOS rate: -0.057851 deg/s,
      cmd heading: 134.509115 deg,
      new cmd heading: 134.444676 deg.

2025-08-09T16:41:41.981Z,1754757701.981 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-09T16:41:41.983Z,1754757701.983 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 458.90 m.
2025-08-09T16:41:41.986Z,1754757701.986 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 458.899994 m,
      nav range: 453.669586 m,
      bearing: 126.115827 deg,
      approach rate: 0.504769 m/s,
      LOS rate: -0.052830 deg/s,
      cmd heading: 134.444679 deg,
      new cmd heading: 134.385471 deg.

2025-08-09T16:41:42.007Z,1754757702.007 [DAT](INFO): ****** received valid address query ******
2025-08-09T16:41:42.007Z,1754757702.007 [DAT](INFO): ****** received valid ping request ******
2025-08-09T16:41:42.007Z,1754757702.007 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-09T16:41:42.262Z,1754757702.262 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.250513
2025-08-09T16:41:42.511Z,1754757702.511 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.500307
2025-08-09T16:41:42.529Z,1754757702.529 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 458.90 m.
2025-08-09T16:41:42.532Z,1754757702.532 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 458.899994 m,
      nav range: 453.942688 m,
      bearing: 126.087554 deg,
      approach rate: 0.500730 m/s,
      LOS rate: -0.051807 deg/s,
      cmd heading: 134.385475 deg,
      new cmd heading: 134.300707 deg.

2025-08-09T16:41:42.763Z,1754757702.763 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.752436
2025-08-09T16:41:42.904Z,1754757702.904 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 458.90 m.
2025-08-09T16:41:42.907Z,1754757702.907 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 458.899994 m,
      nav range: 454.111572 m,
      bearing: 126.068864 deg,
      approach rate: 0.452676 m/s,
      LOS rate: -0.050079 deg/s,
      cmd heading: 134.300712 deg,
      new cmd heading: 134.244661 deg.

2025-08-09T16:41:43.015Z,1754757703.015 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.004295
2025-08-09T16:41:43.267Z,1754757703.267 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.256325
2025-08-09T16:41:43.312Z,1754757703.312 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 458.90 m.
2025-08-09T16:41:43.318Z,1754757703.318 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 458.899994 m,
      nav range: 454.310638 m,
      bearing: 126.046696 deg,
      approach rate: 0.485819 m/s,
      LOS rate: -0.054075 deg/s,
      cmd heading: 134.244663 deg,
      new cmd heading: 134.178191 deg.

2025-08-09T16:41:43.523Z,1754757703.523 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.511429
2025-08-09T16:41:43.639Z,1754757703.639 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 458.90 m.
2025-08-09T16:41:43.641Z,1754757703.641 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 458.899994 m,
      nav range: 454.474213 m,
      bearing: 126.027846 deg,
      approach rate: 0.500522 m/s,
      LOS rate: -0.057660 deg/s,
      cmd heading: 134.178192 deg,
      new cmd heading: 134.121661 deg.

2025-08-09T16:41:43.771Z,1754757703.771 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.760256
2025-08-09T16:41:44.023Z,1754757704.023 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.012320
2025-08-09T16:41:44.059Z,1754757704.059 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-09T16:41:44.061Z,1754757704.061 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 458.90 m.
2025-08-09T16:41:44.068Z,1754757704.068 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 458.899994 m,
      nav range: 454.660767 m,
      bearing: 126.005608 deg,
      approach rate: 0.441708 m/s,
      LOS rate: -0.052632 deg/s,
      cmd heading: 134.121665 deg,
      new cmd heading: 134.054979 deg.

2025-08-09T16:41:44.279Z,1754757704.279 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.267479
2025-08-09T16:41:44.470Z,1754757704.470 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 458.90 m.
2025-08-09T16:41:44.489Z,1754757704.489 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 458.899994 m,
      nav range: 454.851166 m,
      bearing: 125.981693 deg,
      approach rate: 0.465573 m/s,
      LOS rate: -0.058454 deg/s,
      cmd heading: 134.054975 deg,
      new cmd heading: 133.983260 deg.

2025-08-09T16:41:44.527Z,1754757704.527 [DAT](INFO): DAT read: Rx Time:16:41:43.4536

2025-08-09T16:41:44.528Z,1754757704.528 [DAT](INFO): Rx dataTimestamp_ set to:1754757704.527610
2025-08-09T16:41:44.528Z,1754757704.528 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.517415
2025-08-09T16:41:44.779Z,1754757704.779 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.768282
2025-08-09T16:41:44.892Z,1754757704.892 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 458.90 m.
2025-08-09T16:41:44.894Z,1754757704.894 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 458.899994 m,
      nav range: 455.035645 m,
      bearing: 125.958548 deg,
      approach rate: 0.437189 m/s,
      LOS rate: -0.054827 deg/s,
      cmd heading: 133.983258 deg,
      new cmd heading: 133.913852 deg.

2025-08-09T16:41:45.037Z,1754757705.037 [DAT](INFO): DAT read: 16:41:43.4536 LVL= 32752, 24209, 28914, 32403, AGC= 68, IDX= 351, 0.34, 1.032, 2.768, 2.822, 2.271, PHS=-1.137, 0.541, 0.507, RAW= 271.0,   1.1, CAL= 269.1,  -4.4, ROT= 240.9,   4.4

2025-08-09T16:41:45.039Z,1754757705.039 [DAT](INFO): got valid direction response:
 16:41:43.4536 LVL= 32752, 24209, 28914, 32403, AGC= 68, IDX= 351, 0.34, 1.032, 2.768, 2.822, 2.271, PHS=-1.137, 0.541, 0.507, RAW= 271.0,   1.1, CAL= 269.1,  -4.4, ROT= 240.9,   4.4

2025-08-09T16:41:45.040Z,1754757705.040 [DAT](INFO): DAT read: Bearing 245.1, -59.8 (Local)

2025-08-09T16:41:45.040Z,1754757705.040 [DAT](INFO): Local bearing/azimuth received:
 Bearing 245.1, -59.8 (Local)

2025-08-09T16:41:45.042Z,1754757705.042 [DAT](INFO): DAT read: Range 11 to 50 : 453.7 m  (Round-trip  605.0 ms) speed -0.4 m/s

2025-08-09T16:41:45.043Z,1754757705.043 [DAT](INFO): DAT read: user:27>

2025-08-09T16:41:45.043Z,1754757705.043 [DAT](INFO): DAT read: Tx time:16:41:44.5444

2025-08-09T16:41:45.044Z,1754757705.044 [DAT](INFO): Ping request sent.
2025-08-09T16:41:45.044Z,1754757705.044 [DAT](INFO): transmitted an acoustic signal
2025-08-09T16:41:45.044Z,1754757705.044 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-09T16:41:45.045Z,1754757705.045 [DAT](INFO): direction in FSK: [-0.484902,-0.871197,-0.076719]
2025-08-09T16:41:45.045Z,1754757705.045 [DAT](INFO): publishing transmit ping time
2025-08-09T16:41:45.045Z,1754757705.045 [DAT](INFO): publishing direction and range info
2025-08-09T16:41:45.049Z,1754757705.049 [DAT](INFO): publishing transmit ping time
2025-08-09T16:41:45.049Z,1754757705.049 [DAT](INFO): publishing direction and range info
2025-08-09T16:41:45.341Z,1754757705.341 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 453.700012 m,
      deltaT: 4.031695 s,
      deltaX: -5.199982 m,
      approachRate: -1.289776 m/s,
      rangeRepo size: 4

2025-08-09T16:41:45.343Z,1754757705.343 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 453.700012 m,
      bearing: 125.933387 deg,
      lat: 36.906600 deg,
      lon: -122.115265 deg,
      deltaT: 4.031695 s,
      deltaX: -5.199982 m,
      approachRate: -1.289776 m/s,
      posRepo size: 4

2025-08-09T16:41:45.343Z,1754757705.343 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 453.70 m.
2025-08-09T16:41:45.346Z,1754757705.346 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 453.700012 m,
      nav range: 455.222626 m,
      bearing: 125.933387 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.054827 deg/s,
      cmd heading: 133.913850 deg,
      new cmd heading: 133.840133 deg.

2025-08-09T16:41:45.708Z,1754757705.708 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 453.70 m.
2025-08-09T16:41:45.710Z,1754757705.710 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 453.700012 m,
      nav range: 455.376862 m,
      bearing: 125.912659 deg,
      approach rate: 0.419370 m/s,
      LOS rate: -0.056340 deg/s,
      cmd heading: 133.840139 deg,
      new cmd heading: 133.777977 deg.

2025-08-09T16:41:46.165Z,1754757706.165 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-09T16:41:46.167Z,1754757706.167 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 453.70 m.
2025-08-09T16:41:46.169Z,1754757706.169 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 453.700012 m,
      nav range: 455.567474 m,
      bearing: 125.887071 deg,
      approach rate: 0.415116 m/s,
      LOS rate: -0.055703 deg/s,
      cmd heading: 133.777970 deg,
      new cmd heading: 133.701237 deg.

2025-08-09T16:41:46.291Z,1754757706.291 [DAT](INFO): ****** received valid address query ******
2025-08-09T16:41:46.291Z,1754757706.291 [DAT](INFO): ****** received valid ping request ******
2025-08-09T16:41:46.291Z,1754757706.291 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-09T16:41:46.543Z,1754757706.543 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.499617
2025-08-09T16:41:46.544Z,1754757706.544 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 453.70 m.
2025-08-09T16:41:46.551Z,1754757706.551 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 453.700012 m,
      nav range: 455.705444 m,
      bearing: 125.866439 deg,
      approach rate: 0.365528 m/s,
      LOS rate: -0.054643 deg/s,
      cmd heading: 133.701240 deg,
      new cmd heading: 133.639364 deg.

2025-08-09T16:41:46.795Z,1754757706.795 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.751541
2025-08-09T16:41:46.923Z,1754757706.923 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 453.70 m.
2025-08-09T16:41:46.925Z,1754757706.925 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 453.700012 m,
      nav range: 455.853912 m,
      bearing: 125.843502 deg,
      approach rate: 0.392558 m/s,
      LOS rate: -0.060628 deg/s,
      cmd heading: 133.639358 deg,
      new cmd heading: 133.570569 deg.

2025-08-09T16:41:47.047Z,1754757707.047 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.003453
2025-08-09T16:41:47.302Z,1754757707.302 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.257622
2025-08-09T16:41:47.400Z,1754757707.400 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 453.70 m.
2025-08-09T16:41:47.403Z,1754757707.403 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 453.700012 m,
      nav range: 456.033356 m,
      bearing: 125.815831 deg,
      approach rate: 0.375518 m/s,
      LOS rate: -0.057884 deg/s,
      cmd heading: 133.570565 deg,
      new cmd heading: 133.487584 deg.

2025-08-09T16:41:47.551Z,1754757707.551 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.507482
2025-08-09T16:41:47.728Z,1754757707.728 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 453.70 m.
2025-08-09T16:41:47.731Z,1754757707.731 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 453.700012 m,
      nav range: 456.156860 m,
      bearing: 125.796113 deg,
      approach rate: 0.377019 m/s,
      LOS rate: -0.060177 deg/s,
      cmd heading: 133.487578 deg,
      new cmd heading: 133.428439 deg.

2025-08-09T16:41:47.804Z,1754757707.804 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.760312
2025-08-09T16:41:48.055Z,1754757708.055 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.011514
2025-08-09T16:41:48.141Z,1754757708.141 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 453.70 m.
2025-08-09T16:41:48.147Z,1754757708.147 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 453.700012 m,
      nav range: 456.306976 m,
      bearing: 125.771299 deg,
      approach rate: 0.363254 m/s,
      LOS rate: -0.060025 deg/s,
      cmd heading: 133.428442 deg,
      new cmd heading: 133.354026 deg.

2025-08-09T16:41:48.311Z,1754757708.311 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.266111
2025-08-09T16:41:48.559Z,1754757708.559 [DAT](INFO): DAT read: Rx Time:16:41:47.5555

2025-08-09T16:41:48.560Z,1754757708.560 [DAT](INFO): Rx dataTimestamp_ set to:1754757708.559544
2025-08-09T16:41:48.560Z,1754757708.560 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.516632
2025-08-09T16:41:48.600Z,1754757708.600 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-09T16:41:48.602Z,1754757708.602 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 453.70 m.
2025-08-09T16:41:48.609Z,1754757708.609 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 453.700012 m,
      nav range: 456.470062 m,
      bearing: 125.743985 deg,
      approach rate: 0.354034 m/s,
      LOS rate: -0.059274 deg/s,
      cmd heading: 133.354020 deg,
      new cmd heading: 133.272107 deg.

2025-08-09T16:41:48.811Z,1754757708.811 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.767602
2025-08-09T16:41:48.946Z,1754757708.946 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 453.70 m.
2025-08-09T16:41:48.949Z,1754757708.949 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 453.700012 m,
      nav range: 456.599091 m,
      bearing: 125.721577 deg,
      approach rate: 0.374630 m/s,
      LOS rate: -0.065042 deg/s,
      cmd heading: 133.272113 deg,
      new cmd heading: 133.204909 deg.

2025-08-09T16:41:49.069Z,1754757709.069 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.022054
2025-08-09T16:41:49.342Z,1754757709.342 [DAT](INFO): DAT read: 16:41:47.5556 LVL= 29552, 26257, 23714, 32755, AGC= 71, IDX= 468,-0.39, 0.923, 2.490,-3.058, 2.260, PHS=-1.234, 0.276, 0.921, RAW= 253.0,   0.4, CAL= 248.9,  -1.9, ROT= 261.1,   1.9

2025-08-09T16:41:49.343Z,1754757709.343 [DAT](INFO): got valid direction response:
 16:41:47.5556 LVL= 29552, 26257, 23714, 32755, AGC= 71, IDX= 468,-0.39, 0.923, 2.490,-3.058, 2.260, PHS=-1.234, 0.276, 0.921, RAW= 253.0,   0.4, CAL= 248.9,  -1.9, ROT= 261.1,   1.9

2025-08-09T16:41:49.344Z,1754757709.344 [DAT](INFO): DAT read: Bearing 265.5, -76.2 (Local)

2025-08-09T16:41:49.345Z,1754757709.345 [DAT](INFO): Local bearing/azimuth received:
 Bearing 265.5, -76.2 (Local)

2025-08-09T16:41:49.346Z,1754757709.346 [DAT](INFO): DAT read: Range 11 to 50 : 455.2 m  (Round-trip  607.0 ms) speed -0.3 m/s

2025-08-09T16:41:49.347Z,1754757709.347 [DAT](INFO): DAT read: user:28>

2025-08-09T16:41:49.348Z,1754757709.348 [DAT](INFO): DAT read: Tx time:16:41:48.6445

2025-08-09T16:41:49.348Z,1754757709.348 [DAT](INFO): Ping request sent.
2025-08-09T16:41:49.348Z,1754757709.348 [DAT](INFO): transmitted an acoustic signal
2025-08-09T16:41:49.349Z,1754757709.349 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-09T16:41:49.375Z,1754757709.375 [DAT](INFO): direction in FSK: [-0.154625,-0.987417,-0.033155]
2025-08-09T16:41:49.375Z,1754757709.375 [DAT](INFO): publishing transmit ping time
2025-08-09T16:41:49.376Z,1754757709.376 [DAT](INFO): publishing direction and range info
2025-08-09T16:41:49.388Z,1754757709.388 [DAT](INFO): publishing transmit ping time
2025-08-09T16:41:49.388Z,1754757709.388 [DAT](INFO): publishing direction and range info
2025-08-09T16:41:49.529Z,1754757709.529 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 455.200012 m,
      deltaT: 4.286126 s,
      deltaX: 1.500000 m,
      approachRate: 0.349966 m/s,
      rangeRepo size: 4

2025-08-09T16:41:49.532Z,1754757709.532 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 455.200012 m,
      bearing: 125.686390 deg,
      lat: 36.906600 deg,
      lon: -122.115265 deg,
      deltaT: 4.286126 s,
      deltaX: 1.500000 m,
      approachRate: 0.349966 m/s,
      posRepo size: 4

2025-08-09T16:41:49.532Z,1754757709.532 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 455.20 m.
2025-08-09T16:41:49.540Z,1754757709.540 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 455.200012 m,
      nav range: 456.799011 m,
      bearing: 125.686390 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.065042 deg/s,
      cmd heading: 133.204904 deg,
      new cmd heading: 133.091243 deg.

2025-08-09T16:41:49.889Z,1754757709.889 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 455.20 m.
2025-08-09T16:41:49.892Z,1754757709.892 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 455.200012 m,
      nav range: 456.923706 m,
      bearing: 125.663580 deg,
      approach rate: 0.348833 m/s,
      LOS rate: -0.063793 deg/s,
      cmd heading: 133.091236 deg,
      new cmd heading: 133.022825 deg.

2025-08-09T16:41:50.274Z,1754757710.274 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 455.20 m.
2025-08-09T16:41:50.285Z,1754757710.285 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 455.200012 m,
      nav range: 457.063751 m,
      bearing: 125.637996 deg,
      approach rate: 0.361152 m/s,
      LOS rate: -0.065957 deg/s,
      cmd heading: 133.022825 deg,
      new cmd heading: 132.946095 deg.

2025-08-09T16:41:50.698Z,1754757710.698 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-09T16:41:50.700Z,1754757710.700 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 455.20 m.
2025-08-09T16:41:50.707Z,1754757710.707 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 455.200012 m,
      nav range: 457.196442 m,
      bearing: 125.611950 deg,
      approach rate: 0.311205 m/s,
      LOS rate: -0.061068 deg/s,
      cmd heading: 132.946094 deg,
      new cmd heading: 132.867981 deg.

2025-08-09T16:41:50.827Z,1754757710.827 [DAT](INFO): ****** received valid address query ******
2025-08-09T16:41:50.827Z,1754757710.827 [DAT](INFO): ****** received valid ping request ******
2025-08-09T16:41:50.827Z,1754757710.827 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-09T16:41:51.065Z,1754757711.065 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 455.20 m.
2025-08-09T16:41:51.068Z,1754757711.068 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 455.200012 m,
      nav range: 457.318665 m,
      bearing: 125.586957 deg,
      approach rate: 0.335479 m/s,
      LOS rate: -0.068582 deg/s,
      cmd heading: 132.867984 deg,
      new cmd heading: 132.793026 deg.

2025-08-09T16:41:51.079Z,1754757711.079 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.731173
2025-08-09T16:41:51.342Z,1754757711.342 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.993053
2025-08-09T16:41:51.495Z,1754757711.495 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 455.20 m.
2025-08-09T16:41:51.498Z,1754757711.498 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 455.200012 m,
      nav range: 457.453125 m,
      bearing: 125.558960 deg,
      approach rate: 0.312314 m/s,
      LOS rate: -0.065011 deg/s,
      cmd heading: 132.793030 deg,
      new cmd heading: 132.709062 deg.

2025-08-09T16:41:51.591Z,1754757711.591 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.243181
2025-08-09T16:41:51.845Z,1754757711.845 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.496131
2025-08-09T16:41:51.893Z,1754757711.893 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 455.20 m.
2025-08-09T16:41:51.896Z,1754757711.896 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 455.200012 m,
      nav range: 457.573700 m,
      bearing: 125.532727 deg,
      approach rate: 0.303235 m/s,
      LOS rate: -0.065957 deg/s,
      cmd heading: 132.709059 deg,
      new cmd heading: 132.630380 deg.

2025-08-09T16:41:52.095Z,1754757712.095 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.747068
2025-08-09T16:41:52.359Z,1754757712.359 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.010574
2025-08-09T16:41:52.443Z,1754757712.443 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 455.20 m.
2025-08-09T16:41:52.445Z,1754757712.445 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 455.200012 m,
      nav range: 457.726959 m,
      bearing: 125.497166 deg,
      approach rate: 0.287277 m/s,
      LOS rate: -0.066634 deg/s,
      cmd heading: 132.630375 deg,
      new cmd heading: 132.523731 deg.

2025-08-09T16:41:52.601Z,1754757712.601 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.253267
2025-08-09T16:41:52.853Z,1754757712.853 [DAT](INFO): DAT read: Rx Time:16:41:51.6755

2025-08-09T16:41:52.854Z,1754757712.854 [DAT](INFO): Rx dataTimestamp_ set to:1754757712.853063
2025-08-09T16:41:52.855Z,1754757712.855 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.506643
2025-08-09T16:41:52.933Z,1754757712.933 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-09T16:41:52.935Z,1754757712.935 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 455.20 m.
2025-08-09T16:41:52.938Z,1754757712.938 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 455.200012 m,
      nav range: 457.868134 m,
      bearing: 125.462926 deg,
      approach rate: 0.277315 m/s,
      LOS rate: -0.067238 deg/s,
      cmd heading: 132.523729 deg,
      new cmd heading: 132.421041 deg.

2025-08-09T16:41:53.104Z,1754757713.104 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.755655
2025-08-09T16:41:53.380Z,1754757713.380 [DAT](INFO): DAT read: 16:41:51.6755 LVL= 27568, 25297, 20594, 27795, AGC= 68, IDX= 112,-0.18,-1.289,-0.045, 0.643,-0.553, PHS=-0.633, 0.554, 1.152, RAW= 250.8, -13.5, CAL= 250.7, -19.8, ROT= 259.3,  19.8

2025-08-09T16:41:53.397Z,1754757713.397 [DAT](INFO): got valid direction response:
 16:41:51.6755 LVL= 27568, 25297, 20594, 27795, AGC= 68, IDX= 112,-0.18,-1.289,-0.045, 0.643,-0.553, PHS=-0.633, 0.554, 1.152, RAW= 250.8, -13.5, CAL= 250.7, -19.8, ROT= 259.3,  19.8

2025-08-09T16:41:53.408Z,1754757713.408 [DAT](INFO): DAT read: Bearing 268.3, -58.2 (Local)

2025-08-09T16:41:53.408Z,1754757713.408 [DAT](INFO): Local bearing/azimuth received:
 Bearing 268.3, -58.2 (Local)

2025-08-09T16:41:53.409Z,1754757713.409 [DAT](INFO): DAT read: Range 11 to 50 : 470.1 m  (Round-trip  626.9 ms) speed -0.2 m/s

2025-08-09T16:41:53.410Z,1754757713.410 [DAT](INFO): DAT read: user:29>

2025-08-09T16:41:53.419Z,1754757713.419 [DAT](INFO): DAT read: Tx time:16:41:52.7945

2025-08-09T16:41:53.419Z,1754757713.419 [DAT](INFO): Ping request sent.
2025-08-09T16:41:53.419Z,1754757713.419 [DAT](INFO): transmitted an acoustic signal
2025-08-09T16:41:53.420Z,1754757713.420 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-09T16:41:53.421Z,1754757713.421 [DAT](INFO): direction in FSK: [-0.174690,-0.924521,-0.338738]
2025-08-09T16:41:53.421Z,1754757713.421 [DAT](INFO): publishing transmit ping time
2025-08-09T16:41:53.421Z,1754757713.421 [DAT](INFO): publishing direction and range info
2025-08-09T16:41:53.440Z,1754757713.440 [DAT](INFO): publishing transmit ping time
2025-08-09T16:41:53.441Z,1754757713.441 [DAT](INFO): publishing direction and range info
2025-08-09T16:41:53.545Z,1754757713.545 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 470.100006 m,
      deltaT: 4.039611 s,
      deltaX: 14.899994 m,
      approachRate: 3.688473 m/s,
      rangeRepo size: 4

2025-08-09T16:41:53.552Z,1754757713.552 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 470.100006 m,
      bearing: 134.862730 deg,
      lat: 36.906076 deg,
      lon: -122.115803 deg,
      deltaT: 4.039611 s,
      deltaX: 14.899994 m,
      approachRate: 3.688473 m/s,
      posRepo size: 4

2025-08-09T16:41:53.552Z,1754757713.552 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 470.10 m.
2025-08-09T16:41:53.559Z,1754757713.559 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 470.100006 m,
      nav range: 459.064331 m,
      bearing: 134.862730 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.067238 deg/s,
      cmd heading: 132.421044 deg,
      new cmd heading: 132.298133 deg.

2025-08-09T16:41:53.901Z,1754757713.901 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 470.10 m.
2025-08-09T16:41:53.904Z,1754757713.904 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 470.100006 m,
      nav range: 459.117004 m,
      bearing: 134.835165 deg,
      approach rate: 0.147702 m/s,
      LOS rate: -0.077286 deg/s,
      cmd heading: 132.298128 deg,
      new cmd heading: 132.215444 deg.

2025-08-09T16:41:54.311Z,1754757714.311 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 470.10 m.
2025-08-09T16:41:54.314Z,1754757714.314 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 470.100006 m,
      nav range: 459.168823 m,
      bearing: 134.805667 deg,
      approach rate: 0.126375 m/s,
      LOS rate: -0.071933 deg/s,
      cmd heading: 132.215442 deg,
      new cmd heading: 132.126955 deg.

2025-08-09T16:41:54.748Z,1754757714.748 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 470.10 m.
2025-08-09T16:41:54.751Z,1754757714.751 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 470.100006 m,
      nav range: 459.226288 m,
      bearing: 134.774290 deg,
      approach rate: 0.131567 m/s,
      LOS rate: -0.071829 deg/s,
      cmd heading: 132.126950 deg,
      new cmd heading: 132.032832 deg.

2025-08-09T16:41:55.115Z,1754757715.115 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-09T16:41:55.117Z,1754757715.117 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 470.10 m.
2025-08-09T16:41:55.119Z,1754757715.119 [DAT](INFO): ****** received valid address query ******
2025-08-09T16:41:55.119Z,1754757715.119 [DAT](INFO): ****** received valid ping request ******
2025-08-09T16:41:55.119Z,1754757715.119 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-09T16:41:55.139Z,1754757715.139 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 470.100006 m,
      nav range: 459.267120 m,
      bearing: 134.747649 deg,
      approach rate: 0.110814 m/s,
      LOS rate: -0.072294 deg/s,
      cmd heading: 132.032830 deg,
      new cmd heading: 131.952913 deg.

2025-08-09T16:41:55.375Z,1754757715.375 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.955174
2025-08-09T16:41:55.568Z,1754757715.568 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 470.10 m.
2025-08-09T16:41:55.570Z,1754757715.570 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 470.100006 m,
      nav range: 459.315186 m,
      bearing: 134.715147 deg,
      approach rate: 0.106569 m/s,
      LOS rate: -0.072055 deg/s,
      cmd heading: 131.952916 deg,
      new cmd heading: 131.855420 deg.

2025-08-09T16:41:55.624Z,1754757715.624 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.204681
2025-08-09T16:41:55.876Z,1754757715.876 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.456068
2025-08-09T16:41:55.940Z,1754757715.940 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 470.10 m.
2025-08-09T16:41:55.946Z,1754757715.946 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 470.100006 m,
      nav range: 459.345764 m,
      bearing: 134.689398 deg,
      approach rate: 0.082202 m/s,
      LOS rate: -0.069214 deg/s,
      cmd heading: 131.855422 deg,
      new cmd heading: 131.778180 deg.

2025-08-09T16:41:56.127Z,1754757716.127 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.707798
2025-08-09T16:41:56.329Z,1754757716.329 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 470.10 m.
2025-08-09T16:41:56.331Z,1754757716.332 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 470.100006 m,
      nav range: 459.376434 m,
      bearing: 134.659951 deg,
      approach rate: 0.078843 m/s,
      LOS rate: -0.075692 deg/s,
      cmd heading: 131.778186 deg,
      new cmd heading: 131.689854 deg.

2025-08-09T16:41:56.382Z,1754757716.382 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.961981
2025-08-09T16:41:56.631Z,1754757716.631 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.211745
2025-08-09T16:41:56.774Z,1754757716.774 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 470.10 m.
2025-08-09T16:41:56.777Z,1754757716.777 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 470.100006 m,
      nav range: 459.409668 m,
      bearing: 134.627203 deg,
      approach rate: 0.074648 m/s,
      LOS rate: -0.073552 deg/s,
      cmd heading: 131.689858 deg,
      new cmd heading: 131.591621 deg.

2025-08-09T16:41:56.884Z,1754757716.884 [DAT](INFO): DAT read: Rx Time:16:41:55.8170

2025-08-09T16:41:56.885Z,1754757716.885 [DAT](INFO): Rx dataTimestamp_ set to:1754757716.884248
2025-08-09T16:41:56.885Z,1754757716.885 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.465977
2025-08-09T16:41:57.135Z,1754757717.135 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.715868
2025-08-09T16:41:57.154Z,1754757717.154 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-09T16:41:57.156Z,1754757717.156 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 470.10 m.
2025-08-09T16:41:57.165Z,1754757717.165 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 470.100006 m,
      nav range: 459.432709 m,
      bearing: 134.600531 deg,
      approach rate: 0.060278 m/s,
      LOS rate: -0.069775 deg/s,
      cmd heading: 131.591627 deg,
      new cmd heading: 131.511615 deg.

2025-08-09T16:41:57.414Z,1754757717.414 [DAT](INFO): DAT read: 16:41:55.8170 LVL= 25680, 22145, 20466, 24899, AGC= 72, IDX= 251, 0.05, 2.995,-2.293,-1.165,-2.146, PHS=-1.041,-0.102, 0.937, RAW= 238.3,   2.4, CAL= 235.5,   3.0, ROT= 274.5,  -3.0

2025-08-09T16:41:57.417Z,1754757717.417 [DAT](INFO): got valid direction response:
 16:41:55.8170 LVL= 25680, 22145, 20466, 24899, AGC= 72, IDX= 251, 0.05, 2.995,-2.293,-1.165,-2.146, PHS=-1.041,-0.102, 0.937, RAW= 238.3,   2.4, CAL= 235.5,   3.0, ROT= 274.5,  -3.0

2025-08-09T16:41:57.429Z,1754757717.429 [DAT](INFO): DAT read: Bearing 307.5, -81.9 (Local)

2025-08-09T16:41:57.431Z,1754757717.431 [DAT](INFO): Local bearing/azimuth received:
 Bearing 307.5, -81.9 (Local)

2025-08-09T16:41:57.436Z,1754757717.436 [DAT](INFO): DAT read: Range 11 to 50 : 463.8 m  (Round-trip  618.4 ms) speed -0.2 m/s

2025-08-09T16:41:57.439Z,1754757717.439 [DAT](INFO): DAT read: user:30>

2025-08-09T16:41:57.442Z,1754757717.442 [DAT](INFO): DAT read: Tx time:16:41:56.9445

2025-08-09T16:41:57.443Z,1754757717.443 [DAT](INFO): Ping request sent.
2025-08-09T16:41:57.444Z,1754757717.444 [DAT](INFO): transmitted an acoustic signal
2025-08-09T16:41:57.445Z,1754757717.445 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-09T16:41:57.480Z,1754757717.480 [DAT](INFO): direction in FSK: [0.078352,-0.995551,0.052336]
2025-08-09T16:41:57.480Z,1754757717.480 [DAT](INFO): publishing transmit ping time
2025-08-09T16:41:57.480Z,1754757717.480 [DAT](INFO): publishing direction and range info
2025-08-09T16:41:57.491Z,1754757717.491 [DAT](INFO): publishing transmit ping time
2025-08-09T16:41:57.492Z,1754757717.492 [DAT](INFO): publishing direction and range info
2025-08-09T16:41:57.716Z,1754757717.716 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 463.799988 m,
      deltaT: 4.031680 s,
      deltaX: -6.300018 m,
      approachRate: -1.562629 m/s,
      rangeRepo size: 4

2025-08-09T16:41:57.718Z,1754757717.718 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 463.799988 m,
      bearing: 135.492154 deg,
      lat: 36.906030 deg,
      lon: -122.115866 deg,
      deltaT: 4.031680 s,
      deltaX: -6.300018 m,
      approachRate: -1.562629 m/s,
      posRepo size: 4

2025-08-09T16:41:57.721Z,1754757717.721 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 463.80 m.
2025-08-09T16:41:57.724Z,1754757717.724 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 463.799988 m,
      nav range: 459.143921 m,
      bearing: 135.492154 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.069775 deg/s,
      cmd heading: 131.511618 deg,
      new cmd heading: 131.394657 deg.

2025-08-09T16:41:58.256Z,1754757718.256 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 463.80 m.
2025-08-09T16:41:58.259Z,1754757718.259 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 463.799988 m,
      nav range: 459.154724 m,
      bearing: 135.453859 deg,
      approach rate: 0.019966 m/s,
      LOS rate: -0.070773 deg/s,
      cmd heading: 131.394658 deg,
      new cmd heading: 131.279773 deg.

2025-08-09T16:41:58.740Z,1754757718.740 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 463.80 m.
2025-08-09T16:41:58.747Z,1754757718.747 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 463.799988 m,
      nav range: 459.160645 m,
      bearing: 135.418255 deg,
      approach rate: 0.012233 m/s,
      LOS rate: -0.073566 deg/s,
      cmd heading: 131.279774 deg,
      new cmd heading: 131.172966 deg.

2025-08-09T16:41:59.103Z,1754757719.103 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 463.80 m.
2025-08-09T16:41:59.106Z,1754757719.106 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 463.799988 m,
      nav range: 459.161102 m,
      bearing: 135.391266 deg,
      approach rate: 0.001260 m/s,
      LOS rate: -0.074271 deg/s,
      cmd heading: 131.172963 deg,
      new cmd heading: 131.091994 deg.

2025-08-09T16:41:59.542Z,1754757719.542 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-09T16:41:59.544Z,1754757719.544 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 463.80 m.
2025-08-09T16:41:59.547Z,1754757719.547 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 463.799988 m,
      nav range: 459.159698 m,
      bearing: 135.358976 deg,
      approach rate: -0.003185 m/s,
      LOS rate: -0.073265 deg/s,
      cmd heading: 131.091998 deg,
      new cmd heading: 130.995128 deg.

2025-08-09T16:41:59.655Z,1754757719.655 [DAT](INFO): ****** received valid address query ******
2025-08-09T16:41:59.655Z,1754757719.655 [DAT](INFO): ****** received valid ping request ******
2025-08-09T16:41:59.656Z,1754757719.656 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-09T16:41:59.907Z,1754757719.907 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.463799
2025-08-09T16:41:59.942Z,1754757719.942 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 463.80 m.
2025-08-09T16:41:59.945Z,1754757719.945 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 463.799988 m,
      nav range: 459.154266 m,
      bearing: 135.330926 deg,
      approach rate: -0.014215 m/s,
      LOS rate: -0.073405 deg/s,
      cmd heading: 130.995133 deg,
      new cmd heading: 130.910982 deg.

2025-08-09T16:42:00.160Z,1754757720.160 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.716214
2025-08-09T16:42:00.414Z,1754757720.414 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.969890
2025-08-09T16:42:00.417Z,1754757720.417 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 463.80 m.
2025-08-09T16:42:00.420Z,1754757720.420 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 463.799988 m,
      nav range: 459.147583 m,
      bearing: 135.295322 deg,
      approach rate: -0.013625 m/s,
      LOS rate: -0.072582 deg/s,
      cmd heading: 130.910985 deg,
      new cmd heading: 130.804173 deg.

2025-08-09T16:42:00.663Z,1754757720.663 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.219846
2025-08-09T16:42:00.884Z,1754757720.884 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 463.80 m.
2025-08-09T16:42:00.887Z,1754757720.887 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 463.799988 m,
      nav range: 459.127838 m,
      bearing: 135.261453 deg,
      approach rate: -0.042233 m/s,
      LOS rate: -0.072446 deg/s,
      cmd heading: 130.804174 deg,
      new cmd heading: 130.702563 deg.

2025-08-09T16:42:00.916Z,1754757720.916 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.471894
2025-08-09T16:42:01.167Z,1754757721.167 [DAT](INFO): DAT read: Rx Time:16:41:59.9676

2025-08-09T16:42:01.168Z,1754757721.168 [DAT](INFO): Rx dataTimestamp_ set to:1754757721.167456
2025-08-09T16:42:01.168Z,1754757721.168 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.724687
2025-08-09T16:42:01.266Z,1754757721.266 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 463.80 m.
2025-08-09T16:42:01.269Z,1754757721.269 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 463.799988 m,
      nav range: 459.109436 m,
      bearing: 135.236099 deg,
      approach rate: -0.048212 m/s,
      LOS rate: -0.066429 deg/s,
      cmd heading: 130.702568 deg,
      new cmd heading: 130.626502 deg.

2025-08-09T16:42:01.419Z,1754757721.419 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.975656
2025-08-09T16:42:01.677Z,1754757721.677 [DAT](INFO): DAT read: 16:41:59.9676 LVL= 31792, 30705, 20114, 32755, AGC= 70, IDX= 431,-0.19, 0.477, 0.911, 2.197, 0.857, PHS=-0.278, 0.098, 1.296, RAW= 223.2, -15.5, CAL= 222.7, -21.6, ROT= 287.3,  21.6

2025-08-09T16:42:01.679Z,1754757721.679 [DAT](INFO): got valid direction response:
 16:41:59.9676 LVL= 31792, 30705, 20114, 32755, AGC= 70, IDX= 431,-0.19, 0.477, 0.911, 2.197, 0.857, PHS=-0.278, 0.098, 1.296, RAW= 223.2, -15.5, CAL= 222.7, -21.6, ROT= 287.3,  21.6

2025-08-09T16:42:01.680Z,1754757721.680 [DAT](INFO): DAT read: Bearing 292.2, -53.8 (Local)

2025-08-09T16:42:01.680Z,1754757721.680 [DAT](INFO): Local bearing/azimuth received:
 Bearing 292.2, -53.8 (Local)

2025-08-09T16:42:01.681Z,1754757721.681 [DAT](INFO): DAT read: Range 11 to 50 : 464.2 m  (Round-trip  619.0 ms) speed  0.0 m/s

2025-08-09T16:42:01.699Z,1754757721.699 [DAT](INFO): DAT read: user:31>

2025-08-09T16:42:01.700Z,1754757721.700 [DAT](INFO): DAT read: Tx time:16:42:01.0945

2025-08-09T16:42:01.701Z,1754757721.701 [DAT](INFO): Ping request sent.
2025-08-09T16:42:01.701Z,1754757721.701 [DAT](INFO): transmitted an acoustic signal
2025-08-09T16:42:01.701Z,1754757721.701 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-09T16:42:01.702Z,1754757721.702 [DAT](INFO): direction in FSK: [0.276492,-0.887714,-0.368125]
2025-08-09T16:42:01.706Z,1754757721.706 [DAT](INFO): publishing transmit ping time
2025-08-09T16:42:01.707Z,1754757721.707 [DAT](INFO): publishing direction and range info
2025-08-09T16:42:01.710Z,1754757721.710 [DAT](INFO): publishing transmit ping time
2025-08-09T16:42:01.710Z,1754757721.710 [DAT](INFO): publishing direction and range info
2025-08-09T16:42:01.792Z,1754757721.792 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 464.200012 m,
      deltaT: 4.282624 s,
      deltaX: 0.400024 m,
      approachRate: 0.093406 m/s,
      rangeRepo size: 4

2025-08-09T16:42:01.799Z,1754757721.799 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 464.200012 m,
      bearing: 138.260462 deg,
      lat: 36.905920 deg,
      lon: -122.116112 deg,
      deltaT: 4.282624 s,
      deltaX: 0.400024 m,
      approachRate: 0.093406 m/s,
      posRepo size: 4

2025-08-09T16:42:01.799Z,1754757721.799 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 464.20 m.
2025-08-09T16:42:01.802Z,1754757721.802 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 464.200012 m,
      nav range: 452.932404 m,
      bearing: 138.260462 deg,
      approach rate: 532757328938210951168.000000 m/s,
      LOS rate: -0.066429 deg/s,
      cmd heading: 130.626507 deg,
      new cmd heading: 130.521707 deg.

2025-08-09T16:42:02.178Z,1754757722.178 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-09T16:42:02.180Z,1754757722.180 [DAT](INFO): ****** received valid address query ******
2025-08-09T16:42:02.180Z,1754757722.180 [DAT](INFO): ****** received valid ping request ******
2025-08-09T16:42:02.181Z,1754757722.181 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-09T16:42:02.184Z,1754757722.184 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 464.20 m.
2025-08-09T16:42:02.187Z,1754757722.187 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 464.200012 m,
      nav range: 452.887512 m,
      bearing: 138.231011 deg,
      approach rate: -0.114364 m/s,
      LOS rate: -0.075035 deg/s,
      cmd heading: 130.521705 deg,
      new cmd heading: 130.433345 deg.

2025-08-09T16:42:02.432Z,1754757722.432 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.731182
2025-08-09T16:42:02.612Z,1754757722.612 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 464.20 m.
2025-08-09T16:42:02.615Z,1754757722.615 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 464.200012 m,
      nav range: 452.834747 m,
      bearing: 138.201179 deg,
      approach rate: -0.123408 m/s,
      LOS rate: -0.069780 deg/s,
      cmd heading: 130.433350 deg,
      new cmd heading: 130.343843 deg.

2025-08-09T16:42:02.685Z,1754757722.685 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.984755
2025-08-09T16:42:02.940Z,1754757722.940 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.239027
2025-08-09T16:42:02.989Z,1754757722.989 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 464.20 m.
2025-08-09T16:42:02.992Z,1754757722.992 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 464.200012 m,
      nav range: 452.784027 m,
      bearing: 138.174593 deg,
      approach rate: -0.134417 m/s,
      LOS rate: -0.070466 deg/s,
      cmd heading: 130.343847 deg,
      new cmd heading: 130.264079 deg.

2025-08-09T16:42:03.191Z,1754757723.191 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.490710
2025-08-09T16:42:03.404Z,1754757723.404 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 464.20 m.
2025-08-09T16:42:03.409Z,1754757723.409 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 464.200012 m,
      nav range: 452.729095 m,
      bearing: 138.145755 deg,
      approach rate: -0.132578 m/s,
      LOS rate: -0.069610 deg/s,
      cmd heading: 130.264084 deg,
      new cmd heading: 130.177559 deg.

2025-08-09T16:42:03.444Z,1754757723.444 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.743160
2025-08-09T16:42:03.695Z,1754757723.695 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.994606
2025-08-09T16:42:03.890Z,1754757723.890 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 464.20 m.
2025-08-09T16:42:03.893Z,1754757723.893 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 464.200012 m,
      nav range: 452.655334 m,
      bearing: 138.112483 deg,
      approach rate: -0.151644 m/s,
      LOS rate: -0.068415 deg/s,
      cmd heading: 130.177559 deg,
      new cmd heading: 130.077726 deg.

2025-08-09T16:42:03.947Z,1754757723.947 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.246824
2025-08-09T16:42:04.199Z,1754757724.199 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.498647
2025-08-09T16:42:04.261Z,1754757724.261 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-09T16:42:04.264Z,1754757724.264 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 464.20 m.
2025-08-09T16:42:04.267Z,1754757724.267 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 464.200012 m,
      nav range: 452.598846 m,
      bearing: 138.086946 deg,
      approach rate: -0.151034 m/s,
      LOS rate: -0.068286 deg/s,
      cmd heading: 130.077729 deg,
      new cmd heading: 130.001110 deg.

2025-08-09T16:42:04.453Z,1754757724.453 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.751681
2025-08-09T16:42:04.703Z,1754757724.703 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.002713
2025-08-09T16:42:04.761Z,1754757724.761 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 464.20 m.
2025-08-09T16:42:04.768Z,1754757724.768 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 464.200012 m,
      nav range: 452.515259 m,
      bearing: 138.054363 deg,
      approach rate: -0.168198 m/s,
      LOS rate: -0.065576 deg/s,
      cmd heading: 130.001108 deg,
      new cmd heading: 129.903342 deg.

2025-08-09T16:42:04.956Z,1754757724.956 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.255207
2025-08-09T16:42:05.191Z,1754757725.191 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 464.20 m.
2025-08-09T16:42:05.194Z,1754757725.194 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 464.200012 m,
      nav range: 452.436005 m,
      bearing: 138.025352 deg,
      approach rate: -0.184112 m/s,
      LOS rate: -0.067406 deg/s,
      cmd heading: 129.903341 deg,
      new cmd heading: 129.816292 deg.

2025-08-09T16:42:05.207Z,1754757725.207 [DAT](INFO): DAT read: Rx Time:16:42:04.1081

2025-08-09T16:42:05.208Z,1754757725.208 [DAT](INFO): Rx dataTimestamp_ set to:1754757725.207673
2025-08-09T16:42:05.209Z,1754757725.209 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.507860
2025-08-09T16:42:05.459Z,1754757725.459 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.758666
2025-08-09T16:42:05.701Z,1754757725.701 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 464.20 m.
2025-08-09T16:42:05.708Z,1754757725.708 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 464.200012 m,
      nav range: 452.348755 m,
      bearing: 137.992870 deg,
      approach rate: -0.171297 m/s,
      LOS rate: -0.063785 deg/s,
      cmd heading: 129.816297 deg,
      new cmd heading: 129.718831 deg.

2025-08-09T16:42:05.717Z,1754757725.717 [DAT](INFO): DAT read: 16:42:04.1081 LVL= 31088, 31713, 18162, 32755, AGC= 72, IDX= 349, 0.04, 1.585, 1.832,-2.600, 2.310, PHS=-0.623,-0.434, 1.329, RAW= 215.1,  -2.9, CAL= 213.8,  -5.0, ROT= 296.2,   5.0

2025-08-09T16:42:05.718Z,1754757725.718 [DAT](INFO): got valid direction response:
 16:42:04.1081 LVL= 31088, 31713, 18162, 32755, AGC= 72, IDX= 349, 0.04, 1.585, 1.832,-2.600, 2.310, PHS=-0.623,-0.434, 1.329, RAW= 215.1,  -2.9, CAL= 213.8,  -5.0, ROT= 296.2,   5.0

2025-08-09T16:42:05.719Z,1754757725.719 [DAT](INFO): DAT read: Bearing 315.0, -59.7 (Local)

2025-08-09T16:42:05.720Z,1754757725.720 [DAT](INFO): Local bearing/azimuth received:
 Bearing 315.0, -59.7 (Local)

2025-08-09T16:42:05.721Z,1754757725.721 [DAT](INFO): DAT read: Range 11 to 50 : 457.0 m  (Round-trip  609.4 ms) speed  0.0 m/s

2025-08-09T16:42:05.722Z,1754757725.722 [DAT](INFO): DAT read: user:32>

2025-08-09T16:42:05.723Z,1754757725.723 [DAT](INFO): DAT read: Tx time:16:42:05.1945

2025-08-09T16:42:05.723Z,1754757725.723 [DAT](INFO): Ping request sent.
2025-08-09T16:42:05.723Z,1754757725.723 [DAT](INFO): transmitted an acoustic signal
2025-08-09T16:42:05.723Z,1754757725.723 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-09T16:42:05.724Z,1754757725.724 [DAT](INFO): direction in FSK: [0.439826,-0.893844,-0.087156]
2025-08-09T16:42:05.725Z,1754757725.725 [DAT](INFO): publishing transmit ping time
2025-08-09T16:42:05.725Z,1754757725.725 [DAT](INFO): publishing direction and range info
2025-08-09T16:42:05.732Z,1754757725.732 [DAT](INFO): publishing transmit ping time
2025-08-09T16:42:05.732Z,1754757725.732 [DAT](INFO): publishing direction and range info
2025-08-09T16:42:06.036Z,1754757726.036 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 457.000000 m,
      deltaT: 4.040038 s,
      deltaX: -7.200012 m,
      approachRate: -1.782164 m/s,
      rangeRepo size: 4

2025-08-09T16:42:06.038Z,1754757726.038 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 457.000000 m,
      bearing: 137.972165 deg,
      lat: 36.905920 deg,
      lon: -122.116112 deg,
      deltaT: 4.040038 s,
      deltaX: -7.200012 m,
      approachRate: -1.782164 m/s,
      posRepo size: 4

2025-08-09T16:42:06.044Z,1754757726.044 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 457.00 m.
2025-08-09T16:42:06.050Z,1754757726.050 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 457.000000 m,
      nav range: 452.289673 m,
      bearing: 137.972165 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.063785 deg/s,
      cmd heading: 129.718830 deg,
      new cmd heading: 129.654810 deg.

2025-08-09T16:42:06.420Z,1754757726.420 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-09T16:42:06.422Z,1754757726.422 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 457.00 m.
2025-08-09T16:42:06.425Z,1754757726.425 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 457.000000 m,
      nav range: 452.210236 m,
      bearing: 137.945839 deg,
      approach rate: -0.205326 m/s,
      LOS rate: -0.068058 deg/s,
      cmd heading: 129.654804 deg,
      new cmd heading: 129.575812 deg.

2025-08-09T16:42:06.467Z,1754757726.467 [DAT](INFO): ****** received valid address query ******
2025-08-09T16:42:06.468Z,1754757726.468 [DAT](INFO): ****** received valid ping request ******
2025-08-09T16:42:06.468Z,1754757726.468 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-09T16:42:06.719Z,1754757726.719 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.996276
2025-08-09T16:42:06.884Z,1754757726.884 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 457.00 m.
2025-08-09T16:42:06.886Z,1754757726.886 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 457.000000 m,
      nav range: 452.117493 m,
      bearing: 137.916688 deg,
      approach rate: -0.200986 m/s,
      LOS rate: -0.063186 deg/s,
      cmd heading: 129.575806 deg,
      new cmd heading: 129.488336 deg.

2025-08-09T16:42:06.972Z,1754757726.972 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.248561
2025-08-09T16:42:07.223Z,1754757727.223 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.500127
2025-08-09T16:42:07.245Z,1754757727.245 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 457.00 m.
2025-08-09T16:42:07.248Z,1754757727.248 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 457.000000 m,
      nav range: 452.041901 m,
      bearing: 137.894101 deg,
      approach rate: -0.209411 m/s,
      LOS rate: -0.062582 deg/s,
      cmd heading: 129.488338 deg,
      new cmd heading: 129.420566 deg.

2025-08-09T16:42:07.476Z,1754757727.476 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.753468
2025-08-09T16:42:07.664Z,1754757727.664 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 457.00 m.
2025-08-09T16:42:07.667Z,1754757727.667 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 457.000000 m,
      nav range: 451.947815 m,
      bearing: 137.868555 deg,
      approach rate: -0.224251 m/s,
      LOS rate: -0.060901 deg/s,
      cmd heading: 129.420569 deg,
      new cmd heading: 129.343915 deg.

2025-08-09T16:42:07.728Z,1754757727.728 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.004476
2025-08-09T16:42:07.979Z,1754757727.979 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.256244
2025-08-09T16:42:08.043Z,1754757728.043 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 457.00 m.
2025-08-09T16:42:08.046Z,1754757728.046 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 457.000000 m,
      nav range: 451.860199 m,
      bearing: 137.845876 deg,
      approach rate: -0.231047 m/s,
      LOS rate: -0.059818 deg/s,
      cmd heading: 129.343921 deg,
      new cmd heading: 129.275869 deg.

2025-08-09T16:42:08.232Z,1754757728.232 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.508858
2025-08-09T16:42:08.452Z,1754757728.452 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-09T16:42:08.454Z,1754757728.454 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 457.00 m.
2025-08-09T16:42:08.457Z,1754757728.457 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 457.000000 m,
      nav range: 451.764740 m,
      bearing: 137.822243 deg,
      approach rate: -0.232625 m/s,
      LOS rate: -0.057603 deg/s,
      cmd heading: 129.275865 deg,
      new cmd heading: 129.204952 deg.

2025-08-09T16:42:08.483Z,1754757728.483 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.760261
2025-08-09T16:42:08.735Z,1754757728.735 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.012282
2025-08-09T16:42:08.907Z,1754757728.907 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 457.00 m.
2025-08-09T16:42:08.910Z,1754757728.910 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 457.000000 m,
      nav range: 451.650452 m,
      bearing: 137.796023 deg,
      approach rate: -0.252149 m/s,
      LOS rate: -0.057864 deg/s,
      cmd heading: 129.204954 deg,
      new cmd heading: 129.126272 deg.

2025-08-09T16:42:08.988Z,1754757728.988 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.264729
2025-08-09T16:42:09.239Z,1754757729.239 [DAT](INFO): DAT read: Rx Time:16:42:08.2072

2025-08-09T16:42:09.240Z,1754757729.240 [DAT](INFO): Rx dataTimestamp_ set to:1754757729.239622
2025-08-09T16:42:09.240Z,1754757729.240 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.517458
2025-08-09T16:42:09.250Z,1754757729.250 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 457.00 m.
2025-08-09T16:42:09.268Z,1754757729.268 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 457.000000 m,
      nav range: 451.565247 m,
      bearing: 137.777244 deg,
      approach rate: -0.248765 m/s,
      LOS rate: -0.054836 deg/s,
      cmd heading: 129.126270 deg,
      new cmd heading: 129.069924 deg.

2025-08-09T16:42:09.495Z,1754757729.495 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.771043
2025-08-09T16:42:09.764Z,1754757729.764 [DAT](INFO): DAT read: 16:42:08.2072 LVL= 22192, 24865, 16482, 26611, AGC= 68, IDX= 436, 0.04, 1.681, 1.455,-2.851, 2.254, PHS=-0.471,-0.755, 1.134, RAW= 202.0,   1.1, CAL= 201.9,  -1.2, ROT= 308.1,   1.2

2025-08-09T16:42:09.775Z,1754757729.775 [DAT](INFO): got valid direction response:
 16:42:08.2072 LVL= 22192, 24865, 16482, 26611, AGC= 68, IDX= 436, 0.04, 1.681, 1.455,-2.851, 2.254, PHS=-0.471,-0.755, 1.134, RAW= 202.0,   1.1, CAL= 201.9,  -1.2, ROT= 308.1,   1.2

2025-08-09T16:42:09.776Z,1754757729.776 [DAT](INFO): DAT read: Bearing 318.0, -49.5 (Local)

2025-08-09T16:42:09.776Z,1754757729.776 [DAT](INFO): Local bearing/azimuth received:
 Bearing 318.0, -49.5 (Local)

2025-08-09T16:42:09.778Z,1754757729.778 [DAT](INFO): DAT read: Range 11 to 50 : 456.3 m  (Round-trip  608.5 ms) speed  0.2 m/s

2025-08-09T16:42:09.779Z,1754757729.779 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 457.00 m.
2025-08-09T16:42:09.782Z,1754757729.782 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 457.000000 m,
      nav range: 451.445526 m,
      bearing: 137.751913 deg,
      approach rate: -0.226083 m/s,
      LOS rate: -0.047848 deg/s,
      cmd heading: 129.069921 deg,
      new cmd heading: 128.993908 deg.

2025-08-09T16:42:09.787Z,1754757729.787 [DAT](INFO): DAT read: user:33>

2025-08-09T16:42:09.787Z,1754757729.787 [DAT](INFO): DAT read: Tx time:16:42:09.2945

2025-08-09T16:42:09.788Z,1754757729.788 [DAT](INFO): Ping request sent.
2025-08-09T16:42:09.788Z,1754757729.788 [DAT](INFO): transmitted an acoustic signal
2025-08-09T16:42:09.788Z,1754757729.788 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-09T16:42:09.789Z,1754757729.789 [DAT](INFO): direction in FSK: [0.616901,-0.786762,-0.020942]
2025-08-09T16:42:09.789Z,1754757729.789 [DAT](INFO): publishing transmit ping time
2025-08-09T16:42:09.789Z,1754757729.789 [DAT](INFO): publishing direction and range info
2025-08-09T16:42:09.801Z,1754757729.801 [DAT](INFO): publishing transmit ping time
2025-08-09T16:42:09.801Z,1754757729.801 [DAT](INFO): publishing direction and range info
2025-08-09T16:42:10.154Z,1754757730.154 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 456.299988 m,
      deltaT: 4.033793 s,
      deltaX: -0.700012 m,
      approachRate: -0.173537 m/s,
      rangeRepo size: 4

2025-08-09T16:42:10.156Z,1754757730.156 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 456.299988 m,
      bearing: 137.695950 deg,
      lat: 36.905920 deg,
      lon: -122.116109 deg,
      deltaT: 4.033793 s,
      deltaX: -0.700012 m,
      approachRate: -0.173537 m/s,
      posRepo size: 4

2025-08-09T16:42:10.157Z,1754757730.157 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 456.30 m.
2025-08-09T16:42:10.163Z,1754757730.163 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 456.299988 m,
      nav range: 451.560730 m,
      bearing: 137.695950 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.047848 deg/s,
      cmd heading: 128.993914 deg,
      new cmd heading: 128.940230 deg.

2025-08-09T16:42:10.541Z,1754757730.541 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-09T16:42:10.543Z,1754757730.543 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 456.30 m.
2025-08-09T16:42:10.546Z,1754757730.546 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 456.299988 m,
      nav range: 451.447601 m,
      bearing: 137.673785 deg,
      approach rate: -0.289951 m/s,
      LOS rate: -0.056824 deg/s,
      cmd heading: 128.940229 deg,
      new cmd heading: 128.873717 deg.

2025-08-09T16:42:10.751Z,1754757730.751 [DAT](INFO): ****** received valid address query ******
2025-08-09T16:42:10.751Z,1754757730.751 [DAT](INFO): ****** received valid ping request ******
2025-08-09T16:42:10.751Z,1754757730.751 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-09T16:42:10.979Z,1754757730.979 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 456.30 m.
2025-08-09T16:42:10.981Z,1754757730.981 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 456.299988 m,
      nav range: 451.319794 m,
      bearing: 137.650929 deg,
      approach rate: -0.293580 m/s,
      LOS rate: -0.052515 deg/s,
      cmd heading: 128.873717 deg,
      new cmd heading: 128.805131 deg.

2025-08-09T16:42:11.003Z,1754757731.003 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.215622
2025-08-09T16:42:11.256Z,1754757731.256 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.467871
2025-08-09T16:42:11.378Z,1754757731.378 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 456.30 m.
2025-08-09T16:42:11.380Z,1754757731.380 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 456.299988 m,
      nav range: 451.202789 m,
      bearing: 137.629987 deg,
      approach rate: -0.293182 m/s,
      LOS rate: -0.052490 deg/s,
      cmd heading: 128.805128 deg,
      new cmd heading: 128.742284 deg.

2025-08-09T16:42:11.508Z,1754757731.508 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.720146
2025-08-09T16:42:11.764Z,1754757731.764 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.976389
2025-08-09T16:42:11.865Z,1754757731.865 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 456.30 m.
2025-08-09T16:42:11.873Z,1754757731.873 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 456.299988 m,
      nav range: 451.067627 m,
      bearing: 137.607500 deg,
      approach rate: -0.277692 m/s,
      LOS rate: -0.046214 deg/s,
      cmd heading: 128.742290 deg,
      new cmd heading: 128.674809 deg.

2025-08-09T16:42:12.016Z,1754757732.016 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.227825
2025-08-09T16:42:12.190Z,1754757732.190 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 456.30 m.
2025-08-09T16:42:12.192Z,1754757732.192 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 456.299988 m,
      nav range: 450.952881 m,
      bearing: 137.589106 deg,
      approach rate: -0.352823 m/s,
      LOS rate: -0.056570 deg/s,
      cmd heading: 128.674808 deg,
      new cmd heading: 128.619614 deg.

2025-08-09T16:42:12.267Z,1754757732.267 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.479664
2025-08-09T16:42:12.519Z,1754757732.519 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.731542
2025-08-09T16:42:12.666Z,1754757732.666 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-09T16:42:12.673Z,1754757732.673 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 456.30 m.
2025-08-09T16:42:12.680Z,1754757732.680 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 456.299988 m,
      nav range: 450.815735 m,
      bearing: 137.567900 deg,
      approach rate: -0.283435 m/s,
      LOS rate: -0.043839 deg/s,
      cmd heading: 128.619620 deg,
      new cmd heading: 128.555982 deg.

2025-08-09T16:42:12.776Z,1754757732.776 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.988594
2025-08-09T16:42:13.027Z,1754757733.027 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.239641
2025-08-09T16:42:13.066Z,1754757733.066 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 456.30 m.
2025-08-09T16:42:13.073Z,1754757733.073 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 456.299988 m,
      nav range: 450.673828 m,
      bearing: 137.546417 deg,
      approach rate: -0.361605 m/s,
      LOS rate: -0.054761 deg/s,
      cmd heading: 128.555976 deg,
      new cmd heading: 128.491506 deg.

2025-08-09T16:42:13.279Z,1754757733.279 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.491669
2025-08-09T16:42:13.447Z,1754757733.447 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 456.30 m.
2025-08-09T16:42:13.449Z,1754757733.449 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 456.299988 m,
      nav range: 450.544403 m,
      bearing: 137.527537 deg,
      approach rate: -0.343728 m/s,
      LOS rate: -0.050155 deg/s,
      cmd heading: 128.491499 deg,
      new cmd heading: 128.434844 deg.

2025-08-09T16:42:13.532Z,1754757733.532 [DAT](INFO): DAT read: Rx Time:16:42:12.3060

2025-08-09T16:42:13.533Z,1754757733.533 [DAT](INFO): Rx dataTimestamp_ set to:1754757733.532677
2025-08-09T16:42:13.534Z,1754757733.534 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.746111
2025-08-09T16:42:13.784Z,1754757733.784 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.996447
2025-08-09T16:42:13.938Z,1754757733.938 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 456.30 m.
2025-08-09T16:42:13.941Z,1754757733.941 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 456.299988 m,
      nav range: 450.375183 m,
      bearing: 137.502752 deg,
      approach rate: -0.341301 m/s,
      LOS rate: -0.050007 deg/s,
      cmd heading: 128.434850 deg,
      new cmd heading: 128.360468 deg.

2025-08-09T16:42:14.041Z,1754757734.041 [DAT](INFO): DAT read: 16:42:12.3060 LVL= 29280, 32753, 19218, 32755, AGC= 73, IDX= 425,-0.26, 0.754,-0.019, 2.229, 1.119, PHS=-0.263,-1.093, 1.066, RAW= 187.6,   3.1, CAL= 187.7,   0.3, ROT= 322.3,  -0.3

2025-08-09T16:42:14.042Z,1754757734.042 [DAT](INFO): got valid direction response:
 16:42:12.3060 LVL= 29280, 32753, 19218, 32755, AGC= 73, IDX= 425,-0.26, 0.754,-0.019, 2.229, 1.119, PHS=-0.263,-1.093, 1.066, RAW= 187.6,   3.1, CAL= 187.7,   0.3, ROT= 322.3,  -0.3

2025-08-09T16:42:14.043Z,1754757734.043 [DAT](INFO): DAT read: Bearing 314.5, -35.1 (Local)

2025-08-09T16:42:14.043Z,1754757734.043 [DAT](INFO): Local bearing/azimuth received:
 Bearing 314.5, -35.1 (Local)

2025-08-09T16:42:14.045Z,1754757734.045 [DAT](INFO): DAT read: Range 11 to 50 : 455.5 m  (Round-trip  607.4 ms) speed  0.3 m/s

2025-08-09T16:42:14.046Z,1754757734.046 [DAT](INFO): DAT read: user:34>

2025-08-09T16:42:14.046Z,1754757734.046 [DAT](INFO): DAT read: Tx time:16:42:13.3945

2025-08-09T16:42:14.047Z,1754757734.047 [DAT](INFO): Ping request sent.
2025-08-09T16:42:14.047Z,1754757734.047 [DAT](INFO): transmitted an acoustic signal
2025-08-09T16:42:14.047Z,1754757734.047 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-09T16:42:14.048Z,1754757734.048 [DAT](INFO): direction in FSK: [0.791213,-0.611519,0.005236]
2025-08-09T16:42:14.048Z,1754757734.048 [DAT](INFO): publishing transmit ping time
2025-08-09T16:42:14.049Z,1754757734.049 [DAT](INFO): publishing direction and range info
2025-08-09T16:42:14.052Z,1754757734.052 [DAT](INFO): publishing transmit ping time
2025-08-09T16:42:14.052Z,1754757734.052 [DAT](INFO): publishing direction and range info
2025-08-09T16:42:14.273Z,1754757734.273 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 455.500000 m,
      deltaT: 4.290184 s,
      deltaX: -0.799988 m,
      approachRate: -0.186469 m/s,
      rangeRepo size: 4

2025-08-09T16:42:14.275Z,1754757734.275 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 455.500000 m,
      bearing: 137.664552 deg,
      lat: 36.905905 deg,
      lon: -122.116112 deg,
      deltaT: 4.290184 s,
      deltaX: -0.799988 m,
      approachRate: -0.186469 m/s,
      posRepo size: 4

2025-08-09T16:42:14.276Z,1754757734.276 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 455.50 m.
2025-08-09T16:42:14.279Z,1754757734.279 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 455.500000 m,
      nav range: 451.272797 m,
      bearing: 137.664552 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.050007 deg/s,
      cmd heading: 128.360469 deg,
      new cmd heading: 128.310318 deg.

2025-08-09T16:42:14.796Z,1754757734.796 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-09T16:42:14.798Z,1754757734.798 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 455.50 m.
2025-08-09T16:42:14.802Z,1754757734.802 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 455.500000 m,
      nav range: 451.075073 m,
      bearing: 137.639517 deg,
      approach rate: -0.376414 m/s,
      LOS rate: -0.047681 deg/s,
      cmd heading: 128.310322 deg,
      new cmd heading: 128.235184 deg.

2025-08-09T16:42:15.043Z,1754757735.043 [DAT](INFO): ****** received valid address query ******
2025-08-09T16:42:15.043Z,1754757735.043 [DAT](INFO): ****** received valid ping request ******
2025-08-09T16:42:15.044Z,1754757735.044 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-09T16:42:15.121Z,1754757735.121 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 455.50 m.
2025-08-09T16:42:15.124Z,1754757735.124 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 455.500000 m,
      nav range: 450.952209 m,
      bearing: 137.625111 deg,
      approach rate: -0.379904 m/s,
      LOS rate: -0.044555 deg/s,
      cmd heading: 128.235190 deg,
      new cmd heading: 128.191961 deg.

2025-08-09T16:42:15.295Z,1754757735.295 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.248453
2025-08-09T16:42:15.506Z,1754757735.506 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 455.50 m.
2025-08-09T16:42:15.509Z,1754757735.509 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 455.500000 m,
      nav range: 450.797729 m,
      bearing: 137.607656 deg,
      approach rate: -0.401371 m/s,
      LOS rate: -0.045369 deg/s,
      cmd heading: 128.191955 deg,
      new cmd heading: 128.139570 deg.

2025-08-09T16:42:15.547Z,1754757735.547 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.500542
2025-08-09T16:42:15.800Z,1754757735.800 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.753015
2025-08-09T16:42:15.935Z,1754757735.935 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 455.50 m.
2025-08-09T16:42:15.938Z,1754757735.938 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 455.500000 m,
      nav range: 450.631195 m,
      bearing: 137.588820 deg,
      approach rate: -0.389071 m/s,
      LOS rate: -0.044022 deg/s,
      cmd heading: 128.139567 deg,
      new cmd heading: 128.083039 deg.

2025-08-09T16:42:16.052Z,1754757736.052 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.005067
2025-08-09T16:42:16.305Z,1754757736.305 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.257613
2025-08-09T16:42:16.315Z,1754757736.315 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 455.50 m.
2025-08-09T16:42:16.321Z,1754757736.321 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 455.500000 m,
      nav range: 450.484558 m,
      bearing: 137.572824 deg,
      approach rate: -0.384762 m/s,
      LOS rate: -0.041984 deg/s,
      cmd heading: 128.083040 deg,
      new cmd heading: 128.035039 deg.

2025-08-09T16:42:16.556Z,1754757736.556 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.508934
2025-08-09T16:42:16.797Z,1754757736.797 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-09T16:42:16.802Z,1754757736.802 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 455.50 m.
2025-08-09T16:42:16.808Z,1754757736.808 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.760941
2025-08-09T16:42:16.811Z,1754757736.811 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 455.500000 m,
      nav range: 450.289215 m,
      bearing: 137.552413 deg,
      approach rate: -0.401985 m/s,
      LOS rate: -0.042022 deg/s,
      cmd heading: 128.035038 deg,
      new cmd heading: 127.973776 deg.

2025-08-09T16:42:17.060Z,1754757737.060 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.012911
2025-08-09T16:42:17.146Z,1754757737.145 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 455.50 m.
2025-08-09T16:42:17.148Z,1754757737.148 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 455.500000 m,
      nav range: 450.138214 m,
      bearing: 137.537218 deg,
      approach rate: -0.438567 m/s,
      LOS rate: -0.044146 deg/s,
      cmd heading: 127.973771 deg,
      new cmd heading: 127.928172 deg.

2025-08-09T16:42:17.313Z,1754757737.313 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.265999
2025-08-09T16:42:17.553Z,1754757737.553 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 455.50 m.
2025-08-09T16:42:17.556Z,1754757737.556 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 455.500000 m,
      nav range: 449.966522 m,
      bearing: 137.520565 deg,
      approach rate: -0.421195 m/s,
      LOS rate: -0.040870 deg/s,
      cmd heading: 127.928173 deg,
      new cmd heading: 127.878194 deg.

2025-08-09T16:42:17.563Z,1754757737.563 [DAT](INFO): DAT read: Rx Time:16:42:16.4041

2025-08-09T16:42:17.564Z,1754757737.564 [DAT](INFO): Rx dataTimestamp_ set to:1754757737.563662
2025-08-09T16:42:17.564Z,1754757737.564 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.517648
2025-08-09T16:42:17.816Z,1754757737.816 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.768870
2025-08-09T16:42:18.009Z,1754757738.009 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 455.50 m.
2025-08-09T16:42:18.028Z,1754757738.028 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 455.500000 m,
      nav range: 449.768707 m,
      bearing: 137.501915 deg,
      approach rate: -0.434014 m/s,
      LOS rate: -0.040936 deg/s,
      cmd heading: 127.878189 deg,
      new cmd heading: 127.822216 deg.

2025-08-09T16:42:18.077Z,1754757738.077 [DAT](INFO): DAT read: 16:42:16.4041 LVL= 27920, 32433, 24354, 30611, AGC= 73, IDX= 421, 0.43, 1.894, 1.018,-2.773, 2.102, PHS=-0.106,-1.039, 1.365, RAW= 187.4,  -2.1, CAL= 187.6,  -4.7, ROT= 322.4,   4.7

2025-08-09T16:42:18.078Z,1754757738.078 [DAT](INFO): got valid direction response:
 16:42:16.4041 LVL= 27920, 32433, 24354, 30611, AGC= 73, IDX= 421, 0.43, 1.894, 1.018,-2.773, 2.102, PHS=-0.106,-1.039, 1.365, RAW= 187.4,  -2.1, CAL= 187.6,  -4.7, ROT= 322.4,   4.7

2025-08-09T16:42:18.080Z,1754757738.080 [DAT](INFO): DAT read: Bearing 297.7, -32.4 (Local)

2025-08-09T16:42:18.080Z,1754757738.080 [DAT](INFO): Local bearing/azimuth received:
 Bearing 297.7, -32.4 (Local)

2025-08-09T16:42:18.083Z,1754757738.083 [DAT](INFO): DAT read: Range 11 to 50 : 454.1 m  (Round-trip  605.5 ms) speed  0.4 m/s

2025-08-09T16:42:18.084Z,1754757738.084 [DAT](INFO): DAT read: user:35>

2025-08-09T16:42:18.085Z,1754757738.085 [DAT](INFO): DAT read: Tx time:16:42:17.4960

2025-08-09T16:42:18.085Z,1754757738.085 [DAT](INFO): Ping request sent.
2025-08-09T16:42:18.085Z,1754757738.085 [DAT](INFO): transmitted an acoustic signal
2025-08-09T16:42:18.086Z,1754757738.086 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-09T16:42:18.092Z,1754757738.092 [DAT](INFO): direction in FSK: [0.789625,-0.608094,-0.081939]
2025-08-09T16:42:18.092Z,1754757738.092 [DAT](INFO): publishing transmit ping time
2025-08-09T16:42:18.092Z,1754757738.092 [DAT](INFO): publishing direction and range info
2025-08-09T16:42:18.105Z,1754757738.105 [DAT](INFO): publishing transmit ping time
2025-08-09T16:42:18.105Z,1754757738.105 [DAT](INFO): publishing direction and range info
2025-08-09T16:42:18.365Z,1754757738.365 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 454.100006 m,
      deltaT: 4.032900 s,
      deltaX: -1.399994 m,
      approachRate: -0.347143 m/s,
      rangeRepo size: 4

2025-08-09T16:42:18.367Z,1754757738.367 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 454.100006 m,
      bearing: 137.455583 deg,
      lat: 36.905905 deg,
      lon: -122.116109 deg,
      deltaT: 4.032900 s,
      deltaX: -1.399994 m,
      approachRate: -0.347143 m/s,
      posRepo size: 4

2025-08-09T16:42:18.368Z,1754757738.368 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 454.10 m.
2025-08-09T16:42:18.371Z,1754757738.371 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 454.100006 m,
      nav range: 449.846649 m,
      bearing: 137.455583 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.040936 deg/s,
      cmd heading: 127.822223 deg,
      new cmd heading: 127.778584 deg.

2025-08-09T16:42:18.892Z,1754757738.892 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-09T16:42:18.894Z,1754757738.894 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 454.10 m.
2025-08-09T16:42:18.897Z,1754757738.897 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 454.100006 m,
      nav range: 449.617096 m,
      bearing: 137.434834 deg,
      approach rate: -0.433281 m/s,
      LOS rate: -0.039185 deg/s,
      cmd heading: 127.778578 deg,
      new cmd heading: 127.716297 deg.

2025-08-09T16:42:19.075Z,1754757739.075 [DAT](INFO): ****** received valid address query ******
2025-08-09T16:42:19.075Z,1754757739.075 [DAT](INFO): ****** received valid ping request ******
2025-08-09T16:42:19.075Z,1754757739.075 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-09T16:42:19.258Z,1754757739.258 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 454.10 m.
2025-08-09T16:42:19.261Z,1754757739.261 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 454.100006 m,
      nav range: 449.456238 m,
      bearing: 137.420838 deg,
      approach rate: -0.441962 m/s,
      LOS rate: -0.038468 deg/s,
      cmd heading: 127.716300 deg,
      new cmd heading: 127.674297 deg.

2025-08-09T16:42:19.327Z,1754757739.327 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.242234
2025-08-09T16:42:19.580Z,1754757739.580 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.494428
2025-08-09T16:42:19.689Z,1754757739.689 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 454.10 m.
2025-08-09T16:42:19.692Z,1754757739.692 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 454.100006 m,
      nav range: 449.265289 m,
      bearing: 137.404865 deg,
      approach rate: -0.442883 m/s,
      LOS rate: -0.037062 deg/s,
      cmd heading: 127.674295 deg,
      new cmd heading: 127.626357 deg.

2025-08-09T16:42:19.832Z,1754757739.832 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.746478
2025-08-09T16:42:20.083Z,1754757740.083 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.998215
2025-08-09T16:42:20.143Z,1754757740.143 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 454.10 m.
2025-08-09T16:42:20.146Z,1754757740.146 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 454.100006 m,
      nav range: 449.063019 m,
      bearing: 137.388901 deg,
      approach rate: -0.445759 m/s,
      LOS rate: -0.035198 deg/s,
      cmd heading: 127.626360 deg,
      new cmd heading: 127.578446 deg.

2025-08-09T16:42:20.335Z,1754757740.335 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.250154
2025-08-09T16:42:20.493Z,1754757740.493 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 454.10 m.
2025-08-09T16:42:20.496Z,1754757740.496 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 454.100006 m,
      nav range: 448.899170 m,
      bearing: 137.376487 deg,
      approach rate: -0.468128 m/s,
      LOS rate: -0.035481 deg/s,
      cmd heading: 127.578440 deg,
      new cmd heading: 127.541183 deg.

2025-08-09T16:42:20.587Z,1754757740.587 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.502380
2025-08-09T16:42:20.840Z,1754757740.840 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.754630
2025-08-09T16:42:20.925Z,1754757740.925 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-09T16:42:20.927Z,1754757740.927 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 454.10 m.
2025-08-09T16:42:20.930Z,1754757740.930 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 454.100006 m,
      nav range: 448.706970 m,
      bearing: 137.362962 deg,
      approach rate: -0.442594 m/s,
      LOS rate: -0.031158 deg/s,
      cmd heading: 127.541188 deg,
      new cmd heading: 127.500596 deg.

2025-08-09T16:42:21.091Z,1754757741.091 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.006179
2025-08-09T16:42:21.338Z,1754757741.338 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 454.10 m.
2025-08-09T16:42:21.341Z,1754757741.341 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 454.100006 m,
      nav range: 448.528320 m,
      bearing: 137.350942 deg,
      approach rate: -0.439120 m/s,
      LOS rate: -0.029556 deg/s,
      cmd heading: 127.500589 deg,
      new cmd heading: 127.464515 deg.

2025-08-09T16:42:21.343Z,1754757741.343 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.258373
2025-08-09T16:42:21.596Z,1754757741.596 [DAT](INFO): DAT read: Rx Time:16:42:20.5037

2025-08-09T16:42:21.597Z,1754757741.597 [DAT](INFO): Rx dataTimestamp_ set to:1754757741.596462
2025-08-09T16:42:21.598Z,1754757741.598 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.512542
2025-08-09T16:42:21.710Z,1754757741.710 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 454.10 m.
2025-08-09T16:42:21.713Z,1754757741.713 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 454.100006 m,
      nav range: 448.354614 m,
      bearing: 137.339749 deg,
      approach rate: -0.462244 m/s,
      LOS rate: -0.029797 deg/s,
      cmd heading: 127.464512 deg,
      new cmd heading: 127.430920 deg.

2025-08-09T16:42:21.848Z,1754757741.848 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.763059
2025-08-09T16:42:22.105Z,1754757742.105 [DAT](INFO): DAT read: 16:42:20.5038 LVL= 30448, 32753, 19186, 32755, AGC= 70, IDX= 416,-0.02,-2.925, 2.316,-1.840,-2.866, PHS= 0.043,-1.057, 0.982, RAW= 177.4,   0.4, CAL= 177.1,  -2.2, ROT= 332.9,   2.2

2025-08-09T16:42:22.106Z,1754757742.106 [DAT](INFO): got valid direction response:
 16:42:20.5038 LVL= 30448, 32753, 19186, 32755, AGC= 70, IDX= 416,-0.02,-2.925, 2.316,-1.840,-2.866, PHS= 0.043,-1.057, 0.982, RAW= 177.4,   0.4, CAL= 177.1,  -2.2, ROT= 332.9,   2.2

2025-08-09T16:42:22.107Z,1754757742.107 [DAT](INFO): DAT read: Bearing 292.6, -22.0 (Local)

2025-08-09T16:42:22.108Z,1754757742.108 [DAT](INFO): Local bearing/azimuth received:
 Bearing 292.6, -22.0 (Local)

2025-08-09T16:42:22.109Z,1754757742.109 [DAT](INFO): DAT read: Range 11 to 50 : 452.6 m  (Round-trip  603.5 ms) speed  0.4 m/s

2025-08-09T16:42:22.110Z,1754757742.110 [DAT](INFO): DAT read: user:36>

2025-08-09T16:42:22.110Z,1754757742.110 [DAT](INFO): DAT read: Tx time:16:42:21.5946

2025-08-09T16:42:22.111Z,1754757742.111 [DAT](INFO): Ping request sent.
2025-08-09T16:42:22.111Z,1754757742.111 [DAT](INFO): transmitted an acoustic signal
2025-08-09T16:42:22.111Z,1754757742.111 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-09T16:42:22.112Z,1754757742.112 [DAT](INFO): direction in FSK: [0.889557,-0.455209,-0.038388]
2025-08-09T16:42:22.112Z,1754757742.112 [DAT](INFO): publishing transmit ping time
2025-08-09T16:42:22.113Z,1754757742.113 [DAT](INFO): publishing direction and range info
2025-08-09T16:42:22.127Z,1754757742.127 [DAT](INFO): publishing transmit ping time
2025-08-09T16:42:22.127Z,1754757742.127 [DAT](INFO): publishing direction and range info
2025-08-09T16:42:22.238Z,1754757742.238 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 452.600006 m,
      deltaT: 4.031107 s,
      deltaX: -1.500000 m,
      approachRate: -0.372106 m/s,
      rangeRepo size: 4

2025-08-09T16:42:22.251Z,1754757742.251 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 452.600006 m,
      bearing: 135.507372 deg,
      lat: 36.905979 deg,
      lon: -122.115975 deg,
      deltaT: 4.031107 s,
      deltaX: -1.500000 m,
      approachRate: -0.372106 m/s,
      posRepo size: 4

2025-08-09T16:42:22.252Z,1754757742.252 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 452.60 m.
2025-08-09T16:42:22.258Z,1754757742.258 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 452.600006 m,
      nav range: 450.407227 m,
      bearing: 135.507372 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.029797 deg/s,
      cmd heading: 127.430921 deg,
      new cmd heading: 127.383800 deg.

2025-08-09T16:42:22.612Z,1754757742.612 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 452.60 m.
2025-08-09T16:42:22.615Z,1754757742.615 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 452.600006 m,
      nav range: 450.228485 m,
      bearing: 135.496778 deg,
      approach rate: -0.476476 m/s,
      LOS rate: -0.028254 deg/s,
      cmd heading: 127.383793 deg,
      new cmd heading: 127.351996 deg.

2025-08-09T16:42:23.044Z,1754757743.044 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-09T16:42:23.046Z,1754757743.046 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 452.60 m.
2025-08-09T16:42:23.049Z,1754757743.049 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 452.600006 m,
      nav range: 450.036438 m,
      bearing: 135.487221 deg,
      approach rate: -0.442818 m/s,
      LOS rate: -0.022044 deg/s,
      cmd heading: 127.351992 deg,
      new cmd heading: 127.323310 deg.

2025-08-09T16:42:23.108Z,1754757743.108 [DAT](INFO): ****** received valid address query ******
2025-08-09T16:42:23.108Z,1754757743.108 [DAT](INFO): ****** received valid ping request ******
2025-08-09T16:42:23.108Z,1754757743.108 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-09T16:42:23.359Z,1754757743.359 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.248378
2025-08-09T16:42:23.420Z,1754757743.420 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 452.60 m.
2025-08-09T16:42:23.426Z,1754757743.426 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 452.600006 m,
      nav range: 449.869293 m,
      bearing: 135.479338 deg,
      approach rate: -0.447027 m/s,
      LOS rate: -0.021090 deg/s,
      cmd heading: 127.323305 deg,
      new cmd heading: 127.299648 deg.

2025-08-09T16:42:23.615Z,1754757743.615 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.503526
2025-08-09T16:42:23.864Z,1754757743.864 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.753011
2025-08-09T16:42:23.919Z,1754757743.919 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 452.60 m.
2025-08-09T16:42:23.922Z,1754757743.922 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 452.600006 m,
      nav range: 449.644348 m,
      bearing: 135.470508 deg,
      approach rate: -0.450344 m/s,
      LOS rate: -0.017686 deg/s,
      cmd heading: 127.299645 deg,
      new cmd heading: 127.273142 deg.

2025-08-09T16:42:24.115Z,1754757744.115 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.004367
2025-08-09T16:42:24.273Z,1754757744.273 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 452.60 m.
2025-08-09T16:42:24.276Z,1754757744.276 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 452.600006 m,
      nav range: 449.484192 m,
      bearing: 135.464614 deg,
      approach rate: -0.452630 m/s,
      LOS rate: -0.016666 deg/s,
      cmd heading: 127.273144 deg,
      new cmd heading: 127.255453 deg.

2025-08-09T16:42:24.368Z,1754757744.368 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.257294
2025-08-09T16:42:24.620Z,1754757744.620 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.509167
2025-08-09T16:42:24.705Z,1754757744.705 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 452.60 m.
2025-08-09T16:42:24.708Z,1754757744.708 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 452.600006 m,
      nav range: 449.288422 m,
      bearing: 135.457402 deg,
      approach rate: -0.452999 m/s,
      LOS rate: -0.016694 deg/s,
      cmd heading: 127.255454 deg,
      new cmd heading: 127.233810 deg.

2025-08-09T16:42:24.872Z,1754757744.872 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.761463
2025-08-09T16:42:25.111Z,1754757745.111 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-09T16:42:25.113Z,1754757745.113 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 452.60 m.
2025-08-09T16:42:25.116Z,1754757745.116 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 452.600006 m,
      nav range: 449.105255 m,
      bearing: 135.452447 deg,
      approach rate: -0.448747 m/s,
      LOS rate: -0.012145 deg/s,
      cmd heading: 127.233816 deg,
      new cmd heading: 127.218944 deg.

2025-08-09T16:42:25.139Z,1754757745.139 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.028472
2025-08-09T16:42:25.391Z,1754757745.391 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.280373
2025-08-09T16:42:25.488Z,1754757745.488 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 452.60 m.
2025-08-09T16:42:25.491Z,1754757745.491 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 452.600006 m,
      nav range: 448.935883 m,
      bearing: 135.448276 deg,
      approach rate: -0.451694 m/s,
      LOS rate: -0.011127 deg/s,
      cmd heading: 127.218940 deg,
      new cmd heading: 127.206423 deg.

2025-08-09T16:42:25.644Z,1754757745.644 [DAT](INFO): DAT read: Rx Time:16:42:24.6000

2025-08-09T16:42:25.644Z,1754757745.644 [DAT](INFO): Rx dataTimestamp_ set to:1754757745.643688
2025-08-09T16:42:25.645Z,1754757745.645 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.533650
2025-08-09T16:42:25.895Z,1754757745.895 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.784559
2025-08-09T16:42:25.950Z,1754757745.950 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 452.60 m.
2025-08-09T16:42:25.953Z,1754757745.953 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 452.600006 m,
      nav range: 448.728912 m,
      bearing: 135.443935 deg,
      approach rate: -0.448479 m/s,
      LOS rate: -0.009412 deg/s,
      cmd heading: 127.206427 deg,
      new cmd heading: 127.193396 deg.

2025-08-09T16:42:26.168Z,1754757746.168 [DAT](INFO): DAT read: 16:42:24.6000 LVL= 28592, 32753, 25506, 32755, AGC= 72, IDX= 426, 0.39,-1.459,-2.829,-0.914,-1.538, PHS= 0.181,-1.246, 0.580, RAW= 162.0,   5.9, CAL= 161.2,   5.3, ROT= 348.8,  -5.3

2025-08-09T16:42:26.169Z,1754757746.169 [DAT](INFO): got valid direction response:
 16:42:24.6000 LVL= 28592, 32753, 25506, 32755, AGC= 72, IDX= 426, 0.39,-1.459,-2.829,-0.914,-1.538, PHS= 0.181,-1.246, 0.580, RAW= 162.0,   5.9, CAL= 161.2,   5.3, ROT= 348.8,  -5.3

2025-08-09T16:42:26.171Z,1754757746.171 [DAT](INFO): DAT read: Bearing 292.5,  -6.6 (Local)

2025-08-09T16:42:26.171Z,1754757746.171 [DAT](INFO): Local bearing/azimuth received:
 Bearing 292.5,  -6.6 (Local)

2025-08-09T16:42:26.174Z,1754757746.174 [DAT](INFO): DAT read: Range 11 to 50 : 450.9 m  (Round-trip  601.3 ms) speed  0.4 m/s

2025-08-09T16:42:26.175Z,1754757746.175 [DAT](INFO): DAT read: user:37>

2025-08-09T16:42:26.176Z,1754757746.176 [DAT](INFO): DAT read: Tx time:16:42:25.6946

2025-08-09T16:42:26.177Z,1754757746.177 [DAT](INFO): Ping request sent.
2025-08-09T16:42:26.177Z,1754757746.177 [DAT](INFO): transmitted an acoustic signal
2025-08-09T16:42:26.177Z,1754757746.177 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-09T16:42:26.179Z,1754757746.179 [DAT](INFO): direction in FSK: [0.976761,-0.193404,0.092371]
2025-08-09T16:42:26.180Z,1754757746.180 [DAT](INFO): publishing transmit ping time
2025-08-09T16:42:26.180Z,1754757746.180 [DAT](INFO): publishing direction and range info
2025-08-09T16:42:26.183Z,1754757746.183 [DAT](INFO): publishing transmit ping time
2025-08-09T16:42:26.183Z,1754757746.183 [DAT](INFO): publishing direction and range info
2025-08-09T16:42:26.355Z,1754757746.355 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 450.899994 m,
      deltaT: 4.049285 s,
      deltaX: -1.700012 m,
      approachRate: -0.419830 m/s,
      rangeRepo size: 4

2025-08-09T16:42:26.357Z,1754757746.357 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 450.899994 m,
      bearing: 135.558047 deg,
      lat: 36.906023 deg,
      lon: -122.116043 deg,
      deltaT: 4.049285 s,
      deltaX: -1.700012 m,
      approachRate: -0.419830 m/s,
      posRepo size: 4

2025-08-09T16:42:26.358Z,1754757746.358 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 450.90 m.
2025-08-09T16:42:26.373Z,1754757746.373 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 450.899994 m,
      nav range: 440.806580 m,
      bearing: 135.558047 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.009412 deg/s,
      cmd heading: 127.193395 deg,
      new cmd heading: 127.182083 deg.

2025-08-09T16:42:26.720Z,1754757746.720 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 450.90 m.
2025-08-09T16:42:26.723Z,1754757746.723 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 450.899994 m,
      nav range: 440.634583 m,
      bearing: 135.555263 deg,
      approach rate: -0.464969 m/s,
      LOS rate: -0.007530 deg/s,
      cmd heading: 127.182084 deg,
      new cmd heading: 127.173728 deg.

2025-08-09T16:42:27.128Z,1754757747.128 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-09T16:42:27.146Z,1754757747.146 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 450.90 m.
2025-08-09T16:42:27.149Z,1754757747.149 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 450.899994 m,
      nav range: 440.434784 m,
      bearing: 135.552804 deg,
      approach rate: -0.487732 m/s,
      LOS rate: -0.006005 deg/s,
      cmd heading: 127.173724 deg,
      new cmd heading: 127.166344 deg.

2025-08-09T16:42:27.163Z,1754757747.163 [DAT](INFO): ****** received valid address query ******
2025-08-09T16:42:27.163Z,1754757747.163 [DAT](INFO): ****** received valid ping request ******
2025-08-09T16:42:27.164Z,1754757747.164 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-09T16:42:27.415Z,1754757747.415 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.238478
2025-08-09T16:42:27.522Z,1754757747.522 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 450.90 m.
2025-08-09T16:42:27.525Z,1754757747.525 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 450.899994 m,
      nav range: 440.253235 m,
      bearing: 135.551005 deg,
      approach rate: -0.463115 m/s,
      LOS rate: -0.004591 deg/s,
      cmd heading: 127.166347 deg,
      new cmd heading: 127.160948 deg.

2025-08-09T16:42:27.667Z,1754757747.667 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.490542
2025-08-09T16:42:27.919Z,1754757747.919 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.742547
2025-08-09T16:42:27.984Z,1754757747.984 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 450.90 m.
2025-08-09T16:42:27.987Z,1754757747.987 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 450.899994 m,
      nav range: 440.027344 m,
      bearing: 135.548733 deg,
      approach rate: -0.488477 m/s,
      LOS rate: -0.004915 deg/s,
      cmd heading: 127.160951 deg,
      new cmd heading: 127.154132 deg.

2025-08-09T16:42:28.172Z,1754757748.172 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.994967
2025-08-09T16:42:28.423Z,1754757748.423 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.246560
2025-08-09T16:42:28.459Z,1754757748.459 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 450.90 m.
2025-08-09T16:42:28.462Z,1754757748.462 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 450.899994 m,
      nav range: 439.797150 m,
      bearing: 135.546975 deg,
      approach rate: -0.485040 m/s,
      LOS rate: -0.003707 deg/s,
      cmd heading: 127.154135 deg,
      new cmd heading: 127.148856 deg.

2025-08-09T16:42:28.676Z,1754757748.676 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.498816
2025-08-09T16:42:28.927Z,1754757748.927 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.750534
2025-08-09T16:42:29.002Z,1754757749.002 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 450.90 m.
2025-08-09T16:42:29.004Z,1754757749.004 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 450.899994 m,
      nav range: 439.525665 m,
      bearing: 135.544667 deg,
      approach rate: -0.500442 m/s,
      LOS rate: -0.004256 deg/s,
      cmd heading: 127.148862 deg,
      new cmd heading: 127.141935 deg.

2025-08-09T16:42:29.179Z,1754757749.179 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.002438
2025-08-09T16:42:29.431Z,1754757749.431 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.254527
2025-08-09T16:42:29.481Z,1754757749.481 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-09T16:42:29.484Z,1754757749.484 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 450.90 m.
2025-08-09T16:42:29.486Z,1754757749.486 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 450.899994 m,
      nav range: 439.284119 m,
      bearing: 135.544280 deg,
      approach rate: -0.501150 m/s,
      LOS rate: -0.000804 deg/s,
      cmd heading: 127.141936 deg,
      new cmd heading: 127.140774 deg.

2025-08-09T16:42:29.683Z,1754757749.683 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.506565
2025-08-09T16:42:29.966Z,1754757749.966 [DAT](INFO): DAT read: Rx Time:16:42:28.7068

2025-08-09T16:42:29.967Z,1754757749.967 [DAT](INFO): Rx dataTimestamp_ set to:1754757749.966445
2025-08-09T16:42:29.967Z,1754757749.967 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.790522
2025-08-09T16:42:30.001Z,1754757750.001 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 450.90 m.
2025-08-09T16:42:30.015Z,1754757750.015 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 450.899994 m,
      nav range: 439.068085 m,
      bearing: 135.544427 deg,
      approach rate: -0.417871 m/s,
      LOS rate: 0.000283 deg/s,
      cmd heading: 127.140775 deg,
      new cmd heading: 127.141214 deg.

2025-08-09T16:42:30.187Z,1754757750.187 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.010458
2025-08-09T16:42:30.393Z,1754757750.393 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 450.90 m.
2025-08-09T16:42:30.396Z,1754757750.396 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 450.899994 m,
      nav range: 438.819641 m,
      bearing: 135.543660 deg,
      approach rate: -0.632785 m/s,
      LOS rate: -0.001953 deg/s,
      cmd heading: 127.141212 deg,
      new cmd heading: 127.138911 deg.

2025-08-09T16:42:30.448Z,1754757750.448 [DAT](INFO): DAT read: 16:42:28.7068 LVL= 26240, 28657, 26098, 32755, AGC= 69, IDX= 511,-0.14, 0.752,-0.797, 0.888, 0.181, PHS= 0.673,-0.933, 0.663, RAW= 149.7,  -5.1, CAL= 149.5,  -6.3, ROT=   0.5,   6.3

2025-08-09T16:42:30.450Z,1754757750.450 [DAT](INFO): got valid direction response:
 16:42:28.7068 LVL= 26240, 28657, 26098, 32755, AGC= 69, IDX= 511,-0.14, 0.752,-0.797, 0.888, 0.181, PHS= 0.673,-0.933, 0.663, RAW= 149.7,  -5.1, CAL= 149.5,  -6.3, ROT=   0.5,   6.3

2025-08-09T16:42:30.451Z,1754757750.451 [DAT](INFO): DAT read: Bearing 272.4,   7.7 (Local)

2025-08-09T16:42:30.452Z,1754757750.452 [DAT](INFO): Local bearing/azimuth received:
 Bearing 272.4,   7.7 (Local)

2025-08-09T16:42:30.454Z,1754757750.454 [DAT](INFO): DAT read: Range 11 to 50 : 456.0 m  (Round-trip  608.1 ms) speed  0.4 m/s

2025-08-09T16:42:30.466Z,1754757750.466 [DAT](INFO): DAT read: user:38>

2025-08-09T16:42:30.467Z,1754757750.467 [DAT](INFO): DAT read: Tx time:16:42:29.7946

2025-08-09T16:42:30.467Z,1754757750.467 [DAT](INFO): Ping request sent.
2025-08-09T16:42:30.468Z,1754757750.468 [DAT](INFO): transmitted an acoustic signal
2025-08-09T16:42:30.468Z,1754757750.468 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-09T16:42:30.469Z,1754757750.469 [DAT](INFO): direction in FSK: [0.993923,0.008674,-0.109734]
2025-08-09T16:42:30.469Z,1754757750.469 [DAT](INFO): publishing transmit ping time
2025-08-09T16:42:30.469Z,1754757750.469 [DAT](INFO): publishing direction and range info
2025-08-09T16:42:30.512Z,1754757750.512 [DAT](INFO): publishing transmit ping time
2025-08-09T16:42:30.512Z,1754757750.512 [DAT](INFO): publishing direction and range info
2025-08-09T16:42:30.768Z,1754757750.768 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 456.000000 m,
      deltaT: 4.291355 s,
      deltaX: 5.100006 m,
      approachRate: 1.188437 m/s,
      rangeRepo size: 4

2025-08-09T16:42:30.770Z,1754757750.770 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 456.000000 m,
      bearing: 133.670369 deg,
      lat: 36.906023 deg,
      lon: -122.115810 deg,
      deltaT: 4.291355 s,
      deltaX: 5.100006 m,
      approachRate: 1.188437 m/s,
      posRepo size: 4

2025-08-09T16:42:30.771Z,1754757750.771 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 456.00 m.
2025-08-09T16:42:30.777Z,1754757750.777 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 456.000000 m,
      nav range: 453.410309 m,
      bearing: 133.670369 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.001953 deg/s,
      cmd heading: 127.138917 deg,
      new cmd heading: 127.136723 deg.

2025-08-09T16:42:31.189Z,1754757751.189 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 456.00 m.
2025-08-09T16:42:31.192Z,1754757751.192 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 456.000000 m,
      nav range: 453.190338 m,
      bearing: 133.669473 deg,
      approach rate: -0.522100 m/s,
      LOS rate: -0.002126 deg/s,
      cmd heading: 127.136718 deg,
      new cmd heading: 127.134030 deg.

2025-08-09T16:42:31.572Z,1754757751.572 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-09T16:42:31.574Z,1754757751.574 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 456.00 m.
2025-08-09T16:42:31.577Z,1754757751.577 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 456.000000 m,
      nav range: 452.991119 m,
      bearing: 133.669075 deg,
      approach rate: -0.517316 m/s,
      LOS rate: -0.001035 deg/s,
      cmd heading: 127.134027 deg,
      new cmd heading: 127.132831 deg.

2025-08-09T16:42:31.700Z,1754757751.700 [DAT](INFO): ****** received valid address query ******
2025-08-09T16:42:31.700Z,1754757751.700 [DAT](INFO): ****** received valid ping request ******
2025-08-09T16:42:31.700Z,1754757751.700 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-09T16:42:31.954Z,1754757751.954 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.485913
2025-08-09T16:42:32.045Z,1754757752.045 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 456.00 m.
2025-08-09T16:42:32.052Z,1754757752.052 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 456.000000 m,
      nav range: 452.755920 m,
      bearing: 133.668555 deg,
      approach rate: -0.499684 m/s,
      LOS rate: -0.001105 deg/s,
      cmd heading: 127.132838 deg,
      new cmd heading: 127.131278 deg.

2025-08-09T16:42:32.203Z,1754757752.203 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.735628
2025-08-09T16:42:32.390Z,1754757752.390 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 456.00 m.
2025-08-09T16:42:32.393Z,1754757752.393 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 456.000000 m,
      nav range: 452.565369 m,
      bearing: 133.668477 deg,
      approach rate: -0.552135 m/s,
      LOS rate: -0.000228 deg/s,
      cmd heading: 127.131281 deg,
      new cmd heading: 127.131045 deg.

2025-08-09T16:42:32.456Z,1754757752.456 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.987894
2025-08-09T16:42:32.707Z,1754757752.707 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.239615
2025-08-09T16:42:32.800Z,1754757752.800 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 456.00 m.
2025-08-09T16:42:32.808Z,1754757752.808 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 456.000000 m,
      nav range: 452.362274 m,
      bearing: 133.668746 deg,
      approach rate: -0.495547 m/s,
      LOS rate: 0.000657 deg/s,
      cmd heading: 127.131049 deg,
      new cmd heading: 127.131856 deg.

2025-08-09T16:42:32.963Z,1754757752.963 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.494043
2025-08-09T16:42:33.211Z,1754757753.211 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.743722
2025-08-09T16:42:33.214Z,1754757753.214 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 456.00 m.
2025-08-09T16:42:33.217Z,1754757753.217 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 456.000000 m,
      nav range: 452.135773 m,
      bearing: 133.668864 deg,
      approach rate: -0.547036 m/s,
      LOS rate: 0.000285 deg/s,
      cmd heading: 127.131855 deg,
      new cmd heading: 127.132209 deg.

2025-08-09T16:42:33.463Z,1754757753.463 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.995673
2025-08-09T16:42:33.601Z,1754757753.601 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-09T16:42:33.603Z,1754757753.603 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 456.00 m.
2025-08-09T16:42:33.606Z,1754757753.606 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 456.000000 m,
      nav range: 451.931641 m,
      bearing: 133.668970 deg,
      approach rate: -0.523878 m/s,
      LOS rate: 0.000273 deg/s,
      cmd heading: 127.132210 deg,
      new cmd heading: 127.132529 deg.

2025-08-09T16:42:33.715Z,1754757753.715 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.247671
2025-08-09T16:42:33.970Z,1754757753.970 [DAT](INFO): DAT read: Rx Time:16:42:32.7946

2025-08-09T16:42:33.972Z,1754757753.972 [DAT](INFO): Rx dataTimestamp_ set to:1754757753.971310
2025-08-09T16:42:33.974Z,1754757753.974 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.506183
2025-08-09T16:42:34.101Z,1754757754.101 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 456.00 m.
2025-08-09T16:42:34.104Z,1754757754.104 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 456.000000 m,
      nav range: 451.679688 m,
      bearing: 133.669860 deg,
      approach rate: -0.506444 m/s,
      LOS rate: 0.001789 deg/s,
      cmd heading: 127.132524 deg,
      new cmd heading: 127.135194 deg.

2025-08-09T16:42:34.219Z,1754757754.219 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.751660
2025-08-09T16:42:34.477Z,1754757754.477 [DAT](INFO): DAT read: 16:42:32.7946 LVL= 27120, 32641, 31282, 32755, AGC= 75, IDX= 322, 0.13, 0.366,-1.463, 0.296,-0.030, PHS= 0.498,-1.388, 0.282, RAW= 144.0,   6.9, CAL= 143.6,   7.5, ROT=   6.4,  -7.5

2025-08-09T16:42:34.478Z,1754757754.478 [DAT](INFO): got valid direction response:
 16:42:32.7946 LVL= 27120, 32641, 31282, 32755, AGC= 75, IDX= 322, 0.13, 0.366,-1.463, 0.296,-0.030, PHS= 0.498,-1.388, 0.282, RAW= 144.0,   6.9, CAL= 143.6,   7.5, ROT=   6.4,  -7.5

2025-08-09T16:42:34.480Z,1754757754.480 [DAT](INFO): DAT read: Bearing 278.2,  12.1 (Local)

2025-08-09T16:42:34.480Z,1754757754.480 [DAT](INFO): Local bearing/azimuth received:
 Bearing 278.2,  12.1 (Local)

2025-08-09T16:42:34.481Z,1754757754.481 [DAT](INFO): DAT read: Range 11 to 50 : 446.8 m  (Round-trip  595.8 ms) speed  0.4 m/s

2025-08-09T16:42:34.495Z,1754757754.495 [DAT](INFO): DAT read: user:39>

2025-08-09T16:42:34.496Z,1754757754.496 [DAT](INFO): DAT read: Tx time:16:42:33.8946

2025-08-09T16:42:34.496Z,1754757754.496 [DAT](INFO): Ping request sent.
2025-08-09T16:42:34.496Z,1754757754.496 [DAT](INFO): transmitted an acoustic signal
2025-08-09T16:42:34.496Z,1754757754.496 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-09T16:42:34.497Z,1754757754.497 [DAT](INFO): direction in FSK: [0.985266,0.110515,0.130526]
2025-08-09T16:42:34.498Z,1754757754.498 [DAT](INFO): publishing transmit ping time
2025-08-09T16:42:34.498Z,1754757754.498 [DAT](INFO): publishing direction and range info
2025-08-09T16:42:34.501Z,1754757754.501 [DAT](INFO): publishing transmit ping time
2025-08-09T16:42:34.501Z,1754757754.501 [DAT](INFO): publishing direction and range info
2025-08-09T16:42:34.569Z,1754757754.569 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 446.799988 m,
      deltaT: 4.031253 s,
      deltaX: -9.200012 m,
      approachRate: -2.282172 m/s,
      rangeRepo size: 4

2025-08-09T16:42:34.580Z,1754757754.580 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 446.799988 m,
      bearing: 133.657755 deg,
      lat: 36.906024 deg,
      lon: -122.115810 deg,
      deltaT: 4.031253 s,
      deltaX: -9.200012 m,
      approachRate: -2.282172 m/s,
      posRepo size: 4

2025-08-09T16:42:34.581Z,1754757754.581 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 446.80 m.
2025-08-09T16:42:34.591Z,1754757754.591 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 446.799988 m,
      nav range: 451.361877 m,
      bearing: 133.657755 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.001789 deg/s,
      cmd heading: 127.135188 deg,
      new cmd heading: 127.137697 deg.

2025-08-09T16:42:35.097Z,1754757755.097 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 446.80 m.
2025-08-09T16:42:35.100Z,1754757755.100 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 446.799988 m,
      nav range: 451.088409 m,
      bearing: 133.659755 deg,
      approach rate: -0.517021 m/s,
      LOS rate: 0.003783 deg/s,
      cmd heading: 127.137701 deg,
      new cmd heading: 127.143704 deg.

2025-08-09T16:42:35.470Z,1754757755.470 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 446.80 m.
2025-08-09T16:42:35.473Z,1754757755.473 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 446.799988 m,
      nav range: 450.906433 m,
      bearing: 133.661250 deg,
      approach rate: -0.488694 m/s,
      LOS rate: 0.004017 deg/s,
      cmd heading: 127.143698 deg,
      new cmd heading: 127.148185 deg.

2025-08-09T16:42:35.889Z,1754757755.889 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-09T16:42:35.891Z,1754757755.891 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 446.80 m.
2025-08-09T16:42:35.894Z,1754757755.894 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 446.799988 m,
      nav range: 450.700745 m,
      bearing: 133.663106 deg,
      approach rate: -0.487712 m/s,
      LOS rate: 0.004402 deg/s,
      cmd heading: 127.148179 deg,
      new cmd heading: 127.153748 deg.

2025-08-09T16:42:35.986Z,1754757755.986 [DAT](INFO): ****** received valid address query ******
2025-08-09T16:42:35.986Z,1754757755.986 [DAT](INFO): ****** received valid ping request ******
2025-08-09T16:42:35.987Z,1754757755.987 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-09T16:42:36.236Z,1754757756.236 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.739478
2025-08-09T16:42:36.331Z,1754757756.331 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 446.80 m.
2025-08-09T16:42:36.334Z,1754757756.334 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 446.799988 m,
      nav range: 450.487762 m,
      bearing: 133.665882 deg,
      approach rate: -0.484168 m/s,
      LOS rate: 0.006313 deg/s,
      cmd heading: 127.153752 deg,
      new cmd heading: 127.162083 deg.

2025-08-09T16:42:36.487Z,1754757756.487 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.991381
2025-08-09T16:42:36.680Z,1754757756.680 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 446.80 m.
2025-08-09T16:42:36.683Z,1754757756.683 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 446.799988 m,
      nav range: 450.319672 m,
      bearing: 133.668151 deg,
      approach rate: -0.482342 m/s,
      LOS rate: 0.006515 deg/s,
      cmd heading: 127.162085 deg,
      new cmd heading: 127.168896 deg.

2025-08-09T16:42:36.740Z,1754757756.740 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.244046
2025-08-09T16:42:36.994Z,1754757756.994 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.497235
2025-08-09T16:42:37.108Z,1754757757.108 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 446.80 m.
2025-08-09T16:42:37.111Z,1754757757.111 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 446.799988 m,
      nav range: 450.107544 m,
      bearing: 133.672565 deg,
      approach rate: -0.495440 m/s,
      LOS rate: 0.010313 deg/s,
      cmd heading: 127.168902 deg,
      new cmd heading: 127.182149 deg.

2025-08-09T16:42:37.243Z,1754757757.243 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.747410
2025-08-09T16:42:37.484Z,1754757757.484 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 446.80 m.
2025-08-09T16:42:37.486Z,1754757757.486 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 446.799988 m,
      nav range: 449.922058 m,
      bearing: 133.676465 deg,
      approach rate: -0.493868 m/s,
      LOS rate: 0.010390 deg/s,
      cmd heading: 127.182152 deg,
      new cmd heading: 127.193859 deg.

2025-08-09T16:42:37.495Z,1754757757.495 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.999291
2025-08-09T16:42:37.748Z,1754757757.748 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.251482
2025-08-09T16:42:37.899Z,1754757757.899 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-09T16:42:37.901Z,1754757757.901 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 446.80 m.
2025-08-09T16:42:37.904Z,1754757757.904 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 446.799988 m,
      nav range: 449.716156 m,
      bearing: 133.680824 deg,
      approach rate: -0.493200 m/s,
      LOS rate: 0.010444 deg/s,
      cmd heading: 127.193859 deg,
      new cmd heading: 127.206940 deg.

2025-08-09T16:42:38.003Z,1754757758.003 [DAT](INFO): DAT read: Rx Time:16:42:36.8917

2025-08-09T16:42:38.004Z,1754757758.004 [DAT](INFO): Rx dataTimestamp_ set to:1754757758.003270
2025-08-09T16:42:38.006Z,1754757758.006 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.509541
2025-08-09T16:42:38.251Z,1754757758.251 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.755272
2025-08-09T16:42:38.346Z,1754757758.346 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 446.80 m.
2025-08-09T16:42:38.349Z,1754757758.349 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 446.799988 m,
      nav range: 449.496246 m,
      bearing: 133.686267 deg,
      approach rate: -0.494601 m/s,
      LOS rate: 0.012249 deg/s,
      cmd heading: 127.206946 deg,
      new cmd heading: 127.223285 deg.

2025-08-09T16:42:38.509Z,1754757758.509 [DAT](INFO): DAT read: 16:42:36.8917 LVL= 29936, 32753, 32754, 32755, AGC= 69, IDX= 406,-0.24,-0.862,-2.636,-1.075,-1.279, PHS= 0.519,-1.311, 0.161, RAW= 139.4,   7.6, CAL= 139.0,   8.4, ROT=  11.0,  -8.4

2025-08-09T16:42:38.510Z,1754757758.510 [DAT](INFO): got valid direction response:
 16:42:36.8917 LVL= 29936, 32753, 32754, 32755, AGC= 69, IDX= 406,-0.24,-0.862,-2.636,-1.075,-1.279, PHS= 0.519,-1.311, 0.161, RAW= 139.4,   7.6, CAL= 139.0,   8.4, ROT=  11.0,  -8.4

2025-08-09T16:42:38.511Z,1754757758.511 [DAT](INFO): DAT read: Bearing 276.6,  18.1 (Local)

2025-08-09T16:42:38.512Z,1754757758.512 [DAT](INFO): Local bearing/azimuth received:
 Bearing 276.6,  18.1 (Local)

2025-08-09T16:42:38.513Z,1754757758.513 [DAT](INFO): DAT read: Range 11 to 50 : 444.7 m  (Round-trip  593.0 ms) speed  0.4 m/s

2025-08-09T16:42:38.514Z,1754757758.514 [DAT](INFO): DAT read: user:40>

2025-08-09T16:42:38.515Z,1754757758.515 [DAT](INFO): DAT read: Tx time:16:42:37.9946

2025-08-09T16:42:38.515Z,1754757758.515 [DAT](INFO): Ping request sent.
2025-08-09T16:42:38.515Z,1754757758.515 [DAT](INFO): transmitted an acoustic signal
2025-08-09T16:42:38.516Z,1754757758.516 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-09T16:42:38.516Z,1754757758.516 [DAT](INFO): direction in FSK: [0.971097,0.188762,0.146083]
2025-08-09T16:42:38.517Z,1754757758.517 [DAT](INFO): publishing transmit ping time
2025-08-09T16:42:38.517Z,1754757758.517 [DAT](INFO): publishing direction and range info
2025-08-09T16:42:38.520Z,1754757758.520 [DAT](INFO): publishing transmit ping time
2025-08-09T16:42:38.520Z,1754757758.520 [DAT](INFO): publishing direction and range info
2025-08-09T16:42:38.732Z,1754757758.732 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 444.700012 m,
      deltaT: 4.032179 s,
      deltaX: -2.099976 m,
      approachRate: -0.520804 m/s,
      rangeRepo size: 4

2025-08-09T16:42:38.739Z,1754757758.739 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 444.700012 m,
      bearing: 135.595632 deg,
      lat: 36.906023 deg,
      lon: -122.116043 deg,
      deltaT: 4.032179 s,
      deltaX: -2.099976 m,
      approachRate: -0.520804 m/s,
      posRepo size: 4

2025-08-09T16:42:38.739Z,1754757758.739 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 444.70 m.
2025-08-09T16:42:38.742Z,1754757758.742 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 444.700012 m,
      nav range: 434.623688 m,
      bearing: 135.595632 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.012249 deg/s,
      cmd heading: 127.223284 deg,
      new cmd heading: 127.237475 deg.

2025-08-09T16:42:39.140Z,1754757759.140 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 444.70 m.
2025-08-09T16:42:39.143Z,1754757759.143 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 444.700012 m,
      nav range: 434.409515 m,
      bearing: 135.602559 deg,
      approach rate: -0.524913 m/s,
      LOS rate: 0.016985 deg/s,
      cmd heading: 127.237477 deg,
      new cmd heading: 127.258267 deg.

2025-08-09T16:42:39.510Z,1754757759.510 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 444.70 m.
2025-08-09T16:42:39.513Z,1754757759.513 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 444.700012 m,
      nav range: 434.222748 m,
      bearing: 135.608563 deg,
      approach rate: -0.505203 m/s,
      LOS rate: 0.016249 deg/s,
      cmd heading: 127.258268 deg,
      new cmd heading: 127.276289 deg.

2025-08-09T16:42:39.926Z,1754757759.926 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-09T16:42:39.935Z,1754757759.935 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 444.70 m.
2025-08-09T16:42:39.937Z,1754757759.937 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 444.700012 m,
      nav range: 434.019836 m,
      bearing: 135.615022 deg,
      approach rate: -0.477597 m/s,
      LOS rate: 0.015209 deg/s,
      cmd heading: 127.276286 deg,
      new cmd heading: 127.295671 deg.

2025-08-09T16:42:40.016Z,1754757760.016 [DAT](INFO): ****** received valid address query ******
2025-08-09T16:42:40.017Z,1754757760.017 [DAT](INFO): ****** received valid ping request ******
2025-08-09T16:42:40.017Z,1754757760.017 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-09T16:42:40.268Z,1754757760.268 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.752482
2025-08-09T16:42:40.360Z,1754757760.360 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 444.70 m.
2025-08-09T16:42:40.363Z,1754757760.363 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 444.700012 m,
      nav range: 433.785919 m,
      bearing: 135.622517 deg,
      approach rate: -0.549100 m/s,
      LOS rate: 0.017603 deg/s,
      cmd heading: 127.295670 deg,
      new cmd heading: 127.318167 deg.

2025-08-09T16:42:40.519Z,1754757760.519 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.004119
2025-08-09T16:42:40.722Z,1754757760.722 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 444.70 m.
2025-08-09T16:42:40.724Z,1754757760.724 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 444.700012 m,
      nav range: 433.589996 m,
      bearing: 135.628740 deg,
      approach rate: -0.542403 m/s,
      LOS rate: 0.017238 deg/s,
      cmd heading: 127.318169 deg,
      new cmd heading: 127.336848 deg.

2025-08-09T16:42:40.772Z,1754757760.772 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.256986
2025-08-09T16:42:41.023Z,1754757761.023 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.508083
2025-08-09T16:42:41.153Z,1754757761.153 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 444.70 m.
2025-08-09T16:42:41.156Z,1754757761.156 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 444.700012 m,
      nav range: 433.360443 m,
      bearing: 135.635773 deg,
      approach rate: -0.531839 m/s,
      LOS rate: 0.016302 deg/s,
      cmd heading: 127.336842 deg,
      new cmd heading: 127.357951 deg.

2025-08-09T16:42:41.276Z,1754757761.276 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.760717
2025-08-09T16:42:41.527Z,1754757761.527 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.011953
2025-08-09T16:42:41.544Z,1754757761.544 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 444.70 m.
2025-08-09T16:42:41.547Z,1754757761.547 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 444.700012 m,
      nav range: 433.152252 m,
      bearing: 135.642158 deg,
      approach rate: -0.533089 m/s,
      LOS rate: 0.016358 deg/s,
      cmd heading: 127.357948 deg,
      new cmd heading: 127.377113 deg.

2025-08-09T16:42:41.781Z,1754757761.781 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.265112
2025-08-09T16:42:41.929Z,1754757761.929 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-09T16:42:41.931Z,1754757761.931 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 444.70 m.
2025-08-09T16:42:41.934Z,1754757761.934 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 444.700012 m,
      nav range: 432.946259 m,
      bearing: 135.648349 deg,
      approach rate: -0.531263 m/s,
      LOS rate: 0.015975 deg/s,
      cmd heading: 127.377113 deg,
      new cmd heading: 127.395696 deg.

2025-08-09T16:42:42.033Z,1754757762.033 [DAT](INFO): DAT read: Rx Time:16:42:40.9992

2025-08-09T16:42:42.033Z,1754757762.033 [DAT](INFO): Rx dataTimestamp_ set to:1754757762.032920
2025-08-09T16:42:42.034Z,1754757762.034 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.518500
2025-08-09T16:42:42.284Z,1754757762.284 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.768761
2025-08-09T16:42:42.551Z,1754757762.551 [DAT](INFO): DAT read: 16:42:40.9992 LVL= 29552, 32753, 32754, 32755, AGC= 72, IDX= 409, 0.03,-2.227, 2.269,-2.393,-2.634, PHS= 0.509,-1.335, 0.198, RAW= 140.9,   7.4, CAL= 140.5,   8.2, ROT=   9.5,  -8.2

2025-08-09T16:42:42.555Z,1754757762.555 [DAT](INFO): got valid direction response:
 16:42:40.9992 LVL= 29552, 32753, 32754, 32755, AGC= 72, IDX= 409, 0.03,-2.227, 2.269,-2.393,-2.634, PHS= 0.509,-1.335, 0.198, RAW= 140.9,   7.4, CAL= 140.5,   8.2, ROT=   9.5,  -8.2

2025-08-09T16:42:42.557Z,1754757762.557 [DAT](INFO): DAT read: Bearing 276.7,  19.6 (Local)

2025-08-09T16:42:42.567Z,1754757762.567 [DAT](INFO): Local bearing/azimuth received:
 Bearing 276.7,  19.6 (Local)

2025-08-09T16:42:42.568Z,1754757762.568 [DAT](INFO): DAT read: Range 11 to 50 : 450.3 m  (Round-trip  600.4 ms) speed  0.8 m/s

2025-08-09T16:42:42.569Z,1754757762.569 [DAT](INFO): DAT read: user:41>

2025-08-09T16:42:42.570Z,1754757762.570 [DAT](INFO): DAT read: Tx time:16:42:42.0946

2025-08-09T16:42:42.570Z,1754757762.570 [DAT](INFO): Ping request sent.
2025-08-09T16:42:42.570Z,1754757762.570 [DAT](INFO): transmitted an acoustic signal
2025-08-09T16:42:42.571Z,1754757762.571 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-09T16:42:42.572Z,1754757762.572 [DAT](INFO): direction in FSK: [0.976202,0.163360,0.142629]
2025-08-09T16:42:42.572Z,1754757762.572 [DAT](INFO): publishing transmit ping time
2025-08-09T16:42:42.572Z,1754757762.572 [DAT](INFO): publishing direction and range info
2025-08-09T16:42:42.608Z,1754757762.608 [DAT](INFO): publishing transmit ping time
2025-08-09T16:42:42.608Z,1754757762.608 [DAT](INFO): publishing direction and range info
2025-08-09T16:42:42.683Z,1754757762.683 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 450.299988 m,
      deltaT: 4.033012 s,
      deltaX: 5.599976 m,
      approachRate: 1.388534 m/s,
      rangeRepo size: 4

2025-08-09T16:42:42.685Z,1754757762.685 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 450.299988 m,
      bearing: 136.253660 deg,
      lat: 36.905989 deg,
      lon: -122.116073 deg,
      deltaT: 4.033012 s,
      deltaX: 5.599976 m,
      approachRate: 1.388534 m/s,
      posRepo size: 4

2025-08-09T16:42:42.686Z,1754757762.686 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 450.30 m.
2025-08-09T16:42:42.689Z,1754757762.689 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 450.299988 m,
      nav range: 433.431519 m,
      bearing: 136.253660 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.015975 deg/s,
      cmd heading: 127.395691 deg,
      new cmd heading: 127.431059 deg.

2025-08-09T16:42:43.025Z,1754757763.025 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 450.30 m.
2025-08-09T16:42:43.028Z,1754757763.028 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 450.299988 m,
      nav range: 433.217102 m,
      bearing: 136.259575 deg,
      approach rate: -0.603825 m/s,
      LOS rate: 0.016667 deg/s,
      cmd heading: 127.431058 deg,
      new cmd heading: 127.448813 deg.

2025-08-09T16:42:43.541Z,1754757763.541 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 450.30 m.
2025-08-09T16:42:43.545Z,1754757763.545 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 450.299988 m,
      nav range: 432.945404 m,
      bearing: 136.265965 deg,
      approach rate: -0.525704 m/s,
      LOS rate: 0.012372 deg/s,
      cmd heading: 127.448816 deg,
      new cmd heading: 127.467998 deg.

2025-08-09T16:42:43.882Z,1754757763.882 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 450.30 m.
2025-08-09T16:42:43.885Z,1754757763.885 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 450.299988 m,
      nav range: 432.750366 m,
      bearing: 136.270518 deg,
      approach rate: -0.572482 m/s,
      LOS rate: 0.013368 deg/s,
      cmd heading: 127.467996 deg,
      new cmd heading: 127.481659 deg.

2025-08-09T16:42:44.415Z,1754757764.415 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-09T16:42:44.417Z,1754757764.417 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 450.30 m.
2025-08-09T16:42:44.420Z,1754757764.420 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 450.299988 m,
      nav range: 432.456818 m,
      bearing: 136.276455 deg,
      approach rate: -0.548559 m/s,
      LOS rate: 0.011103 deg/s,
      cmd heading: 127.481656 deg,
      new cmd heading: 127.499481 deg.

2025-08-09T16:42:44.551Z,1754757764.551 [DAT](INFO): ****** received valid address query ******
2025-08-09T16:42:44.551Z,1754757764.551 [DAT](INFO): ****** received valid ping request ******
2025-08-09T16:42:44.551Z,1754757764.551 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-09T16:42:44.803Z,1754757764.803 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.232923
2025-08-09T16:42:44.889Z,1754757764.889 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 450.30 m.
2025-08-09T16:42:44.892Z,1754757764.892 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 450.299988 m,
      nav range: 432.199310 m,
      bearing: 136.281638 deg,
      approach rate: -0.546204 m/s,
      LOS rate: 0.011000 deg/s,
      cmd heading: 127.499483 deg,
      new cmd heading: 127.515040 deg.

2025-08-09T16:42:45.056Z,1754757765.056 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.485221
2025-08-09T16:42:45.307Z,1754757765.307 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.736804
2025-08-09T16:42:45.317Z,1754757765.317 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 450.30 m.
2025-08-09T16:42:45.332Z,1754757765.332 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 450.299988 m,
      nav range: 431.980072 m,
      bearing: 136.286262 deg,
      approach rate: -0.512080 m/s,
      LOS rate: 0.010806 deg/s,
      cmd heading: 127.515042 deg,
      new cmd heading: 127.528921 deg.

2025-08-09T16:42:45.560Z,1754757765.560 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.989444
2025-08-09T16:42:45.670Z,1754757765.670 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 450.30 m.
2025-08-09T16:42:45.673Z,1754757765.673 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 450.299988 m,
      nav range: 431.774597 m,
      bearing: 136.290571 deg,
      approach rate: -0.581334 m/s,
      LOS rate: 0.012198 deg/s,
      cmd heading: 127.528921 deg,
      new cmd heading: 127.541855 deg.

2025-08-09T16:42:45.811Z,1754757765.811 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.240729
2025-08-09T16:42:46.064Z,1754757766.064 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.493114
2025-08-09T16:42:46.065Z,1754757766.065 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 450.30 m.
2025-08-09T16:42:46.068Z,1754757766.068 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 450.299988 m,
      nav range: 431.562286 m,
      bearing: 136.294999 deg,
      approach rate: -0.537217 m/s,
      LOS rate: 0.011210 deg/s,
      cmd heading: 127.541857 deg,
      new cmd heading: 127.555148 deg.

2025-08-09T16:42:46.316Z,1754757766.316 [DAT](INFO): DAT read: Rx Time:16:42:45.0961

2025-08-09T16:42:46.316Z,1754757766.316 [DAT](INFO): Rx dataTimestamp_ set to:1754757766.315934
2025-08-09T16:42:46.317Z,1754757766.317 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.746261
2025-08-09T16:42:46.554Z,1754757766.554 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-09T16:42:46.556Z,1754757766.556 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 450.30 m.
2025-08-09T16:42:46.567Z,1754757766.567 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.996641
2025-08-09T16:42:46.575Z,1754757766.575 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 450.299988 m,
      nav range: 431.296021 m,
      bearing: 136.300662 deg,
      approach rate: -0.542944 m/s,
      LOS rate: 0.011554 deg/s,
      cmd heading: 127.555149 deg,
      new cmd heading: 127.572148 deg.

2025-08-09T16:42:46.827Z,1754757766.827 [DAT](INFO): DAT read: 16:42:45.0961 LVL= 30176, 32753, 32754, 32755, AGC= 71, IDX= 418, 0.00,-2.845, 1.917,-2.980, 2.637, PHS= 0.904,-0.675, 0.622, RAW= 140.4, -11.7, CAL= 140.5, -14.0, ROT=   9.5,  14.0

2025-08-09T16:42:46.828Z,1754757766.828 [DAT](INFO): got valid direction response:
 16:42:45.0961 LVL= 30176, 32753, 32754, 32755, AGC= 71, IDX= 418, 0.00,-2.845, 1.917,-2.980, 2.637, PHS= 0.904,-0.675, 0.622, RAW= 140.4, -11.7, CAL= 140.5, -14.0, ROT=   9.5,  14.0

2025-08-09T16:42:46.829Z,1754757766.829 [DAT](INFO): DAT read: Bearing 253.8,  24.2 (Local)

2025-08-09T16:42:46.829Z,1754757766.829 [DAT](INFO): Local bearing/azimuth received:
 Bearing 253.8,  24.2 (Local)

2025-08-09T16:42:46.831Z,1754757766.831 [DAT](INFO): DAT read: Range 11 to 50 : 448.0 m  (Round-trip  597.4 ms) speed  0.5 m/s

2025-08-09T16:42:46.831Z,1754757766.831 [DAT](INFO): DAT read: user:42>

2025-08-09T16:42:46.832Z,1754757766.832 [DAT](INFO): DAT read: Tx time:16:42:46.1946

2025-08-09T16:42:46.832Z,1754757766.832 [DAT](INFO): Ping request sent.
2025-08-09T16:42:46.833Z,1754757766.833 [DAT](INFO): transmitted an acoustic signal
2025-08-09T16:42:46.833Z,1754757766.833 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-09T16:42:46.834Z,1754757766.834 [DAT](INFO): direction in FSK: [0.956989,0.160145,-0.241922]
2025-08-09T16:42:46.837Z,1754757766.837 [DAT](INFO): publishing transmit ping time
2025-08-09T16:42:46.839Z,1754757766.839 [DAT](INFO): publishing direction and range info
2025-08-09T16:42:46.844Z,1754757766.844 [DAT](INFO): publishing transmit ping time
2025-08-09T16:42:46.845Z,1754757766.845 [DAT](INFO): publishing direction and range info
2025-08-09T16:42:47.105Z,1754757767.105 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 448.000000 m,
      deltaT: 4.283226 s,
      deltaX: -2.299988 m,
      approachRate: -0.536976 m/s,
      rangeRepo size: 4

2025-08-09T16:42:47.107Z,1754757767.107 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 448.000000 m,
      bearing: 136.403806 deg,
      lat: 36.905980 deg,
      lon: -122.116073 deg,
      deltaT: 4.283226 s,
      deltaX: -2.299988 m,
      approachRate: -0.536976 m/s,
      posRepo size: 4

2025-08-09T16:42:47.108Z,1754757767.108 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 448.00 m.
2025-08-09T16:42:47.114Z,1754757767.114 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 448.000000 m,
      nav range: 431.770752 m,
      bearing: 136.403806 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.011554 deg/s,
      cmd heading: 127.572142 deg,
      new cmd heading: 127.591124 deg.

2025-08-09T16:42:47.654Z,1754757767.654 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 448.00 m.
2025-08-09T16:42:47.661Z,1754757767.661 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 448.000000 m,
      nav range: 431.480438 m,
      bearing: 136.411063 deg,
      approach rate: -0.527538 m/s,
      LOS rate: 0.013197 deg/s,
      cmd heading: 127.591130 deg,
      new cmd heading: 127.612918 deg.

2025-08-09T16:42:48.012Z,1754757768.012 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 448.00 m.
2025-08-09T16:42:48.015Z,1754757768.015 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 448.000000 m,
      nav range: 431.276337 m,
      bearing: 136.416157 deg,
      approach rate: -0.569088 m/s,
      LOS rate: 0.014210 deg/s,
      cmd heading: 127.612919 deg,
      new cmd heading: 127.628207 deg.

2025-08-09T16:42:48.462Z,1754757768.462 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 448.00 m.
2025-08-09T16:42:48.465Z,1754757768.465 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 448.000000 m,
      nav range: 431.046906 m,
      bearing: 136.422411 deg,
      approach rate: -0.514707 m/s,
      LOS rate: 0.014037 deg/s,
      cmd heading: 127.628204 deg,
      new cmd heading: 127.646976 deg.

2025-08-09T16:42:48.819Z,1754757768.819 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-09T16:42:48.821Z,1754757768.821 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 448.00 m.
2025-08-09T16:42:48.824Z,1754757768.824 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 448.000000 m,
      nav range: 430.840851 m,
      bearing: 136.428014 deg,
      approach rate: -0.567658 m/s,
      LOS rate: 0.015443 deg/s,
      cmd heading: 127.646974 deg,
      new cmd heading: 127.663791 deg.

2025-08-09T16:42:48.835Z,1754757768.835 [DAT](INFO): ****** received valid address query ******
2025-08-09T16:42:48.835Z,1754757768.835 [DAT](INFO): ****** received valid ping request ******
2025-08-09T16:42:48.835Z,1754757768.835 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-09T16:42:49.088Z,1754757769.088 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.254916
2025-08-09T16:42:49.285Z,1754757769.285 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 448.00 m.
2025-08-09T16:42:49.304Z,1754757769.304 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 448.000000 m,
      nav range: 430.588898 m,
      bearing: 136.436135 deg,
      approach rate: -0.543290 m/s,
      LOS rate: 0.017522 deg/s,
      cmd heading: 127.663790 deg,
      new cmd heading: 127.688167 deg.

2025-08-09T16:42:49.340Z,1754757769.340 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.506953
2025-08-09T16:42:49.591Z,1754757769.591 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.758629
2025-08-09T16:42:49.669Z,1754757769.669 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 448.00 m.
2025-08-09T16:42:49.676Z,1754757769.676 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 448.000000 m,
      nav range: 430.384613 m,
      bearing: 136.442686 deg,
      approach rate: -0.531934 m/s,
      LOS rate: 0.017064 deg/s,
      cmd heading: 127.688174 deg,
      new cmd heading: 127.707833 deg.

2025-08-09T16:42:49.844Z,1754757769.844 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.011330
2025-08-09T16:42:50.034Z,1754757770.034 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 448.00 m.
2025-08-09T16:42:50.037Z,1754757770.037 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 448.000000 m,
      nav range: 430.182251 m,
      bearing: 136.449154 deg,
      approach rate: -0.554670 m/s,
      LOS rate: 0.017739 deg/s,
      cmd heading: 127.707831 deg,
      new cmd heading: 127.727246 deg.

2025-08-09T16:42:50.096Z,1754757770.096 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.263174
2025-08-09T16:42:50.347Z,1754757770.347 [DAT](INFO): DAT read: Rx Time:16:42:49.1829

2025-08-09T16:42:50.348Z,1754757770.348 [DAT](INFO): Rx dataTimestamp_ set to:1754757770.347532
2025-08-09T16:42:50.348Z,1754757770.348 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.515758
2025-08-09T16:42:50.468Z,1754757770.468 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 448.00 m.
2025-08-09T16:42:50.471Z,1754757770.471 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 448.000000 m,
      nav range: 429.945312 m,
      bearing: 136.456975 deg,
      approach rate: -0.545565 m/s,
      LOS rate: 0.018019 deg/s,
      cmd heading: 127.727242 deg,
      new cmd heading: 127.750719 deg.

2025-08-09T16:42:50.599Z,1754757770.599 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.766639
2025-08-09T16:42:50.848Z,1754757770.848 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-09T16:42:50.860Z,1754757770.860 [DAT](INFO): DAT read: 16:42:49.1829 LVL= 21088, 28337, 25970, 28659, AGC= 71, IDX= 298, 0.02,-1.432, 3.118,-1.565,-1.924, PHS= 0.595,-1.196, 0.315, RAW= 141.6,   3.5, CAL= 141.4,   4.0, ROT=   8.6,  -4.0

2025-08-09T16:42:50.861Z,1754757770.861 [DAT](INFO): got valid direction response:
 16:42:49.1829 LVL= 21088, 28337, 25970, 28659, AGC= 71, IDX= 298, 0.02,-1.432, 3.118,-1.565,-1.924, PHS= 0.595,-1.196, 0.315, RAW= 141.6,   3.5, CAL= 141.4,   4.0, ROT=   8.6,  -4.0

2025-08-09T16:42:50.863Z,1754757770.863 [DAT](INFO): DAT read: Bearing 273.9,  23.8 (Local)

2025-08-09T16:42:50.863Z,1754757770.863 [DAT](INFO): Local bearing/azimuth received:
 Bearing 273.9,  23.8 (Local)

2025-08-09T16:42:50.865Z,1754757770.865 [DAT](INFO): DAT read: Range 11 to 50 : 438.0 m  (Round-trip  584.1 ms) speed  0.4 m/s

2025-08-09T16:42:50.868Z,1754757770.868 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 448.00 m.
2025-08-09T16:42:50.866Z,1754757770.866 [DAT](INFO): DAT read: user:43>

2025-08-09T16:42:50.871Z,1754757770.871 [DAT](INFO): DAT read: Tx time:16:42:50.2961

2025-08-09T16:42:50.872Z,1754757770.872 [DAT](INFO): Ping request sent.
2025-08-09T16:42:50.872Z,1754757770.872 [DAT](INFO): transmitted an acoustic signal
2025-08-09T16:42:50.872Z,1754757770.872 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-09T16:42:50.874Z,1754757770.874 [DAT](INFO): direction in FSK: [0.986348,0.149171,0.069756]
2025-08-09T16:42:50.876Z,1754757770.876 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 448.000000 m,
      nav range: 429.739349 m,
      bearing: 136.463748 deg,
      approach rate: -0.515935 m/s,
      LOS rate: 0.016973 deg/s,
      cmd heading: 127.750724 deg,
      new cmd heading: 127.771052 deg.

2025-08-09T16:42:50.898Z,1754757770.898 [DAT](INFO): publishing transmit ping time
2025-08-09T16:42:50.899Z,1754757770.899 [DAT](INFO): publishing direction and range info
2025-08-09T16:42:50.902Z,1754757770.902 [DAT](INFO): publishing transmit ping time
2025-08-09T16:42:50.902Z,1754757770.902 [DAT](INFO): publishing direction and range info
2025-08-09T16:42:51.325Z,1754757771.325 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 438.000000 m,
      deltaT: 4.032120 s,
      deltaX: -10.000000 m,
      approachRate: -2.480085 m/s,
      rangeRepo size: 4

2025-08-09T16:42:51.328Z,1754757771.328 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 438.000000 m,
      bearing: 137.386485 deg,
      lat: 36.905980 deg,
      lon: -122.116178 deg,
      deltaT: 4.032120 s,
      deltaX: -10.000000 m,
      approachRate: -2.480085 m/s,
      posRepo size: 4

2025-08-09T16:42:51.329Z,1754757771.329 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 438.00 m.
2025-08-09T16:42:51.332Z,1754757771.332 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 438.000000 m,
      nav range: 423.123657 m,
      bearing: 137.386485 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.016973 deg/s,
      cmd heading: 127.771051 deg,
      new cmd heading: 127.794343 deg.

2025-08-09T16:42:51.693Z,1754757771.693 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 438.00 m.
2025-08-09T16:42:51.696Z,1754757771.696 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 438.000000 m,
      nav range: 422.923920 m,
      bearing: 137.393577 deg,
      approach rate: -0.542780 m/s,
      LOS rate: 0.019282 deg/s,
      cmd heading: 127.794342 deg,
      new cmd heading: 127.815629 deg.

2025-08-09T16:42:52.088Z,1754757772.088 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 438.00 m.
2025-08-09T16:42:52.090Z,1754757772.090 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 438.000000 m,
      nav range: 422.712158 m,
      bearing: 137.401040 deg,
      approach rate: -0.536347 m/s,
      LOS rate: 0.018910 deg/s,
      cmd heading: 127.815625 deg,
      new cmd heading: 127.838023 deg.

2025-08-09T16:42:52.527Z,1754757772.527 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 438.00 m.
2025-08-09T16:42:52.530Z,1754757772.530 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 438.000000 m,
      nav range: 422.473938 m,
      bearing: 137.408636 deg,
      approach rate: -0.542101 m/s,
      LOS rate: 0.017296 deg/s,
      cmd heading: 127.838028 deg,
      new cmd heading: 127.860829 deg.

2025-08-09T16:42:53.012Z,1754757773.012 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-09T16:42:53.014Z,1754757773.014 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 438.00 m.
2025-08-09T16:42:53.017Z,1754757773.017 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 438.000000 m,
      nav range: 422.210388 m,
      bearing: 137.416987 deg,
      approach rate: -0.541373 m/s,
      LOS rate: 0.017166 deg/s,
      cmd heading: 127.860827 deg,
      new cmd heading: 127.885898 deg.

2025-08-09T16:42:53.120Z,1754757773.120 [DAT](INFO): ****** received valid address query ******
2025-08-09T16:42:53.120Z,1754757773.120 [DAT](INFO): ****** received valid ping request ******
2025-08-09T16:42:53.120Z,1754757773.120 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-09T16:42:53.371Z,1754757773.371 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.499152
2025-08-09T16:42:53.449Z,1754757773.449 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 438.00 m.
2025-08-09T16:42:53.452Z,1754757773.452 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 438.000000 m,
      nav range: 421.970154 m,
      bearing: 137.424139 deg,
      approach rate: -0.552249 m/s,
      LOS rate: 0.016450 deg/s,
      cmd heading: 127.885894 deg,
      new cmd heading: 127.907361 deg.

2025-08-09T16:42:53.623Z,1754757773.623 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.751175
2025-08-09T16:42:53.847Z,1754757773.847 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 438.00 m.
2025-08-09T16:42:53.851Z,1754757773.851 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 438.000000 m,
      nav range: 421.756012 m,
      bearing: 137.430503 deg,
      approach rate: -0.538666 m/s,
      LOS rate: 0.016017 deg/s,
      cmd heading: 127.907354 deg,
      new cmd heading: 127.926457 deg.

2025-08-09T16:42:53.880Z,1754757773.880 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.007536
2025-08-09T16:42:54.131Z,1754757774.131 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.259165
2025-08-09T16:42:54.377Z,1754757774.377 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 438.00 m.
2025-08-09T16:42:54.379Z,1754757774.379 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 438.000000 m,
      nav range: 421.453186 m,
      bearing: 137.439105 deg,
      approach rate: -0.571170 m/s,
      LOS rate: 0.016235 deg/s,
      cmd heading: 127.926452 deg,
      new cmd heading: 127.952275 deg.

2025-08-09T16:42:54.383Z,1754757774.383 [DAT](INFO): DAT read: Rx Time:16:42:53.2814

2025-08-09T16:42:54.384Z,1754757774.384 [DAT](INFO): Rx dataTimestamp_ set to:1754757774.383602
2025-08-09T16:42:54.384Z,1754757774.384 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.512360
2025-08-09T16:42:54.636Z,1754757774.636 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.763542
2025-08-09T16:42:54.823Z,1754757774.823 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 438.00 m.
2025-08-09T16:42:54.847Z,1754757774.847 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 438.000000 m,
      nav range: 421.236755 m,
      bearing: 137.445290 deg,
      approach rate: -0.491993 m/s,
      LOS rate: 0.014067 deg/s,
      cmd heading: 127.952270 deg,
      new cmd heading: 127.970835 deg.

2025-08-09T16:42:54.893Z,1754757774.893 [DAT](INFO): DAT read: 16:42:53.2814 LVL= 32752, 32753, 32754, 32755, AGC= 72, IDX= 411, 0.30,-2.897, 1.665,-3.016, 2.861, PHS= 0.627,-1.151, 0.362, RAW= 142.1,   2.0, CAL= 141.8,   2.4, ROT=   8.2,  -2.4

2025-08-09T16:42:54.894Z,1754757774.894 [DAT](INFO): got valid direction response:
 16:42:53.2814 LVL= 32752, 32753, 32754, 32755, AGC= 72, IDX= 411, 0.30,-2.897, 1.665,-3.016, 2.861, PHS= 0.627,-1.151, 0.362, RAW= 142.1,   2.0, CAL= 141.8,   2.4, ROT=   8.2,  -2.4

2025-08-09T16:42:54.895Z,1754757774.895 [DAT](INFO): DAT read: Bearing 272.9,  24.9 (Local)

2025-08-09T16:42:54.896Z,1754757774.896 [DAT](INFO): Local bearing/azimuth received:
 Bearing 272.9,  24.9 (Local)

2025-08-09T16:42:54.897Z,1754757774.897 [DAT](INFO): DAT read: Range 11 to 50 : 435.8 m  (Round-trip  581.1 ms) speed  0.4 m/s

2025-08-09T16:42:54.898Z,1754757774.898 [DAT](INFO): DAT read: user:44>

2025-08-09T16:42:54.899Z,1754757774.899 [DAT](INFO): DAT read: Tx time:16:42:54.3946

2025-08-09T16:42:54.899Z,1754757774.899 [DAT](INFO): Ping request sent.
2025-08-09T16:42:54.899Z,1754757774.899 [DAT](INFO): transmitted an acoustic signal
2025-08-09T16:42:54.899Z,1754757774.899 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-09T16:42:54.900Z,1754757774.900 [DAT](INFO): direction in FSK: [0.988908,0.142504,0.041876]
2025-08-09T16:42:54.900Z,1754757774.900 [DAT](INFO): publishing transmit ping time
2025-08-09T16:42:54.901Z,1754757774.901 [DAT](INFO): publishing direction and range info
2025-08-09T16:42:54.909Z,1754757774.909 [DAT](INFO): publishing transmit ping time
2025-08-09T16:42:54.909Z,1754757774.909 [DAT](INFO): publishing direction and range info
2025-08-09T16:42:55.363Z,1754757775.363 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 435.799988 m,
      deltaT: 4.035554 s,
      deltaX: -2.200012 m,
      approachRate: -0.545157 m/s,
      rangeRepo size: 4

2025-08-09T16:42:55.365Z,1754757775.365 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 435.799988 m,
      bearing: 137.478544 deg,
      lat: 36.905980 deg,
      lon: -122.116180 deg,
      deltaT: 4.035554 s,
      deltaX: -2.200012 m,
      approachRate: -0.545157 m/s,
      posRepo size: 4

2025-08-09T16:42:55.366Z,1754757775.366 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 435.80 m.
2025-08-09T16:42:55.376Z,1754757775.376 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 435.799988 m,
      nav range: 420.744171 m,
      bearing: 137.478544 deg,
      approach rate: -0.000000 m/s,
      LOS rate: 0.014067 deg/s,
      cmd heading: 127.970834 deg,
      new cmd heading: 127.993698 deg.

2025-08-09T16:42:55.670Z,1754757775.670 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-09T16:42:55.672Z,1754757775.672 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 435.80 m.
2025-08-09T16:42:55.675Z,1754757775.675 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 435.799988 m,
      nav range: 420.556641 m,
      bearing: 137.483009 deg,
      approach rate: -0.596716 m/s,
      LOS rate: 0.014213 deg/s,
      cmd heading: 127.993702 deg,
      new cmd heading: 128.007102 deg.

2025-08-09T16:42:55.896Z,1754757775.896 [DAT](INFO): ****** received valid address query ******
2025-08-09T16:42:55.896Z,1754757775.896 [DAT](INFO): ****** received valid ping request ******
2025-08-09T16:42:55.897Z,1754757775.897 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-09T16:42:56.072Z,1754757776.072 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 435.80 m.
2025-08-09T16:42:56.075Z,1754757776.075 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 435.799988 m,
      nav range: 420.331665 m,
      bearing: 137.488394 deg,
      approach rate: -0.563251 m/s,
      LOS rate: 0.013490 deg/s,
      cmd heading: 128.007102 deg,
      new cmd heading: 128.023267 deg.

2025-08-09T16:42:56.148Z,1754757776.148 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.248313
2025-08-09T16:42:56.399Z,1754757776.399 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.500314
2025-08-09T16:42:56.522Z,1754757776.522 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 435.80 m.
2025-08-09T16:42:56.525Z,1754757776.525 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 435.799988 m,
      nav range: 420.072754 m,
      bearing: 137.494361 deg,
      approach rate: -0.575004 m/s,
      LOS rate: 0.013260 deg/s,
      cmd heading: 128.023263 deg,
      new cmd heading: 128.041174 deg.

2025-08-09T16:42:56.651Z,1754757776.651 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.752329
2025-08-09T16:42:56.892Z,1754757776.892 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 435.80 m.
2025-08-09T16:42:56.895Z,1754757776.895 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 435.799988 m,
      nav range: 419.860077 m,
      bearing: 137.499293 deg,
      approach rate: -0.574584 m/s,
      LOS rate: 0.013332 deg/s,
      cmd heading: 128.041171 deg,
      new cmd heading: 128.055975 deg.

2025-08-09T16:42:56.903Z,1754757776.903 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.004442
2025-08-09T16:42:57.155Z,1754757777.155 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.256305
2025-08-09T16:42:57.353Z,1754757777.353 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 435.80 m.
2025-08-09T16:42:57.356Z,1754757777.356 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 435.799988 m,
      nav range: 419.608246 m,
      bearing: 137.505163 deg,
      approach rate: -0.550151 m/s,
      LOS rate: 0.012831 deg/s,
      cmd heading: 128.055979 deg,
      new cmd heading: 128.073599 deg.

2025-08-09T16:42:57.408Z,1754757777.408 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.509392
2025-08-09T16:42:57.659Z,1754757777.659 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.760402
2025-08-09T16:42:57.732Z,1754757777.732 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-09T16:42:57.736Z,1754757777.736 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 435.80 m.
2025-08-09T16:42:57.753Z,1754757777.753 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 435.799988 m,
      nav range: 419.378906 m,
      bearing: 137.509859 deg,
      approach rate: -0.595057 m/s,
      LOS rate: 0.012191 deg/s,
      cmd heading: 128.073601 deg,
      new cmd heading: 128.087697 deg.

2025-08-09T16:42:57.911Z,1754757777.911 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.012195
2025-08-09T16:42:58.163Z,1754757778.163 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.264251
2025-08-09T16:42:58.173Z,1754757778.173 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 435.80 m.
2025-08-09T16:42:58.176Z,1754757778.176 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 435.799988 m,
      nav range: 419.133179 m,
      bearing: 137.514905 deg,
      approach rate: -0.586462 m/s,
      LOS rate: 0.012050 deg/s,
      cmd heading: 128.087699 deg,
      new cmd heading: 128.102846 deg.

2025-08-09T16:42:58.416Z,1754757778.416 [DAT](INFO): DAT read: Rx Time:16:42:57.3767

2025-08-09T16:42:58.416Z,1754757778.416 [DAT](INFO): Rx dataTimestamp_ set to:1754757778.416111
2025-08-09T16:42:58.417Z,1754757778.417 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.518106
2025-08-09T16:42:58.549Z,1754757778.549 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 435.80 m.
2025-08-09T16:42:58.553Z,1754757778.553 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 435.799988 m,
      nav range: 418.902191 m,
      bearing: 137.519851 deg,
      approach rate: -0.584847 m/s,
      LOS rate: 0.012530 deg/s,
      cmd heading: 128.102848 deg,
      new cmd heading: 128.117695 deg.

2025-08-09T16:42:58.670Z,1754757778.670 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.770499
2025-08-09T16:42:58.938Z,1754757778.938 [DAT](INFO): DAT read: 16:42:57.3767 LVL= 32752, 32753, 32754, 32755, AGC= 71, IDX= 412,-0.28, 1.113,-0.639, 0.943, 0.600, PHS= 0.614,-1.194, 0.298, RAW= 140.6,   3.4, CAL= 140.4,   4.0, ROT=   9.6,  -4.0

2025-08-09T16:42:58.944Z,1754757778.944 [DAT](INFO): got valid direction response:
 16:42:57.3767 LVL= 32752, 32753, 32754, 32755, AGC= 71, IDX= 412,-0.28, 1.113,-0.639, 0.943, 0.600, PHS= 0.614,-1.194, 0.298, RAW= 140.6,   3.4, CAL= 140.4,   4.0, ROT=   9.6,  -4.0

2025-08-09T16:42:58.946Z,1754757778.946 [DAT](INFO): DAT read: Bearing 274.8,  24.3 (Local)

2025-08-09T16:42:58.946Z,1754757778.946 [DAT](INFO): Local bearing/azimuth received:
 Bearing 274.8,  24.3 (Local)

2025-08-09T16:42:58.952Z,1754757778.952 [DAT](INFO): DAT read: Range 11 to 50 : 433.5 m  (Round-trip  578.0 ms) speed  0.4 m/s

2025-08-09T16:42:58.952Z,1754757778.952 [DAT](INFO): DAT read: user:45>

2025-08-09T16:42:58.953Z,1754757778.953 [DAT](INFO): DAT read: Tx time:16:42:58.4946

2025-08-09T16:42:58.953Z,1754757778.953 [DAT](INFO): Ping request sent.
2025-08-09T16:42:58.954Z,1754757778.954 [DAT](INFO): transmitted an acoustic signal
2025-08-09T16:42:58.954Z,1754757778.954 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-09T16:42:59.004Z,1754757779.004 [DAT](INFO): direction in FSK: [0.983594,0.166363,0.069756]
2025-08-09T16:42:59.004Z,1754757779.004 [DAT](INFO): publishing transmit ping time
2025-08-09T16:42:59.004Z,1754757779.004 [DAT](INFO): publishing direction and range info
2025-08-09T16:42:59.008Z,1754757779.008 [DAT](INFO): publishing transmit ping time
2025-08-09T16:42:59.008Z,1754757779.008 [DAT](INFO): publishing direction and range info
2025-08-09T16:42:59.045Z,1754757779.045 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 433.500000 m,
      deltaT: 4.034331 s,
      deltaX: -2.299988 m,
      approachRate: -0.570104 m/s,
      rangeRepo size: 4

2025-08-09T16:42:59.051Z,1754757779.051 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 433.500000 m,
      bearing: 137.525619 deg,
      lat: 36.905980 deg,
      lon: -122.116180 deg,
      deltaT: 4.034331 s,
      deltaX: -2.299988 m,
      approachRate: -0.570104 m/s,
      posRepo size: 4

2025-08-09T16:42:59.052Z,1754757779.052 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 433.50 m.
2025-08-09T16:42:59.058Z,1754757779.058 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 433.500000 m,
      nav range: 418.633392 m,
      bearing: 137.525619 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.012530 deg/s,
      cmd heading: 128.117697 deg,
      new cmd heading: 128.136285 deg.

2025-08-09T16:42:59.441Z,1754757779.441 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 433.50 m.
2025-08-09T16:42:59.444Z,1754757779.444 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 433.500000 m,
      nav range: 418.374268 m,
      bearing: 137.531049 deg,
      approach rate: -0.652979 m/s,
      LOS rate: 0.013692 deg/s,
      cmd heading: 128.136289 deg,
      new cmd heading: 128.152589 deg.

2025-08-09T16:42:59.789Z,1754757779.789 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-09T16:42:59.791Z,1754757779.791 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 433.50 m.
2025-08-09T16:42:59.794Z,1754757779.794 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 433.500000 m,
      nav range: 418.162872 m,
      bearing: 137.535491 deg,
      approach rate: -0.603108 m/s,
      LOS rate: 0.012678 deg/s,
      cmd heading: 128.152585 deg,
      new cmd heading: 128.165916 deg.

2025-08-09T16:42:59.927Z,1754757779.927 [DAT](INFO): ****** received valid address query ******
2025-08-09T16:42:59.927Z,1754757779.927 [DAT](INFO): ****** received valid ping request ******
2025-08-09T16:42:59.928Z,1754757779.928 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-09T16:43:00.179Z,1754757780.179 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.225771
2025-08-09T16:43:00.188Z,1754757780.188 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 433.50 m.
2025-08-09T16:43:00.191Z,1754757780.191 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 433.500000 m,
      nav range: 417.923035 m,
      bearing: 137.540539 deg,
      approach rate: -0.603964 m/s,
      LOS rate: 0.012720 deg/s,
      cmd heading: 128.165918 deg,
      new cmd heading: 128.181071 deg.

2025-08-09T16:43:00.432Z,1754757780.432 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.478018
2025-08-09T16:43:00.616Z,1754757780.616 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 433.50 m.
2025-08-09T16:43:00.631Z,1754757780.631 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 433.500000 m,
      nav range: 417.671906 m,
      bearing: 137.545807 deg,
      approach rate: -0.587545 m/s,
      LOS rate: 0.012332 deg/s,
      cmd heading: 128.181067 deg,
      new cmd heading: 128.196880 deg.

2025-08-09T16:43:00.685Z,1754757780.685 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.731416
2025-08-09T16:43:00.935Z,1754757780.935 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.981671
2025-08-09T16:43:00.995Z,1754757780.995 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 433.50 m.
2025-08-09T16:43:00.998Z,1754757780.998 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 433.500000 m,
      nav range: 417.448608 m,
      bearing: 137.550507 deg,
      approach rate: -0.588502 m/s,
      LOS rate: 0.012394 deg/s,
      cmd heading: 128.196886 deg,
      new cmd heading: 128.210994 deg.

2025-08-09T16:43:01.187Z,1754757781.187 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.233646
2025-08-09T16:43:01.437Z,1754757781.437 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 433.50 m.
2025-08-09T16:43:01.447Z,1754757781.447 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.493695
2025-08-09T16:43:01.460Z,1754757781.460 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 433.500000 m,
      nav range: 417.186584 m,
      bearing: 137.556739 deg,
      approach rate: -0.592518 m/s,
      LOS rate: 0.014101 deg/s,
      cmd heading: 128.210997 deg,
      new cmd heading: 128.229704 deg.

2025-08-09T16:43:01.700Z,1754757781.700 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.746168
2025-08-09T16:43:01.804Z,1754757781.804 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-09T16:43:01.806Z,1754757781.806 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 433.50 m.
2025-08-09T16:43:01.821Z,1754757781.821 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 433.500000 m,
      nav range: 416.968506 m,
      bearing: 137.561955 deg,
      approach rate: -0.591798 m/s,
      LOS rate: 0.014163 deg/s,
      cmd heading: 128.229698 deg,
      new cmd heading: 128.245356 deg.

2025-08-09T16:43:01.952Z,1754757781.952 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.998203
2025-08-09T16:43:02.203Z,1754757782.203 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.249794
2025-08-09T16:43:02.209Z,1754757782.209 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 433.50 m.
2025-08-09T16:43:02.212Z,1754757782.212 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 433.500000 m,
      nav range: 416.729889 m,
      bearing: 137.567698 deg,
      approach rate: -0.591579 m/s,
      LOS rate: 0.014246 deg/s,
      cmd heading: 128.245353 deg,
      new cmd heading: 128.262592 deg.

2025-08-09T16:43:02.455Z,1754757782.455 [DAT](INFO): DAT read: Rx Time:16:43:01.4736

2025-08-09T16:43:02.456Z,1754757782.456 [DAT](INFO): Rx dataTimestamp_ set to:1754757782.455426
2025-08-09T16:43:02.456Z,1754757782.456 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.502659
2025-08-09T16:43:02.649Z,1754757782.649 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 433.50 m.
2025-08-09T16:43:02.656Z,1754757782.656 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 433.500000 m,
      nav range: 416.482513 m,
      bearing: 137.574029 deg,
      approach rate: -0.562383 m/s,
      LOS rate: 0.014402 deg/s,
      cmd heading: 128.262592 deg,
      new cmd heading: 128.281597 deg.

2025-08-09T16:43:02.708Z,1754757782.708 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.753947
2025-08-09T16:43:02.960Z,1754757782.960 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.006280
2025-08-09T16:43:03.064Z,1754757783.064 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 433.50 m.
2025-08-09T16:43:03.067Z,1754757783.067 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 433.500000 m,
      nav range: 416.231842 m,
      bearing: 137.580479 deg,
      approach rate: -0.604708 m/s,
      LOS rate: 0.015569 deg/s,
      cmd heading: 128.281594 deg,
      new cmd heading: 128.300955 deg.

2025-08-09T16:43:03.221Z,1754757783.221 [DAT](INFO): DAT read: 16:43:01.4736 LVL= 28304, 32753, 32754, 32755, AGC= 73, IDX= 410, 0.05,-1.436, 2.991,-1.628,-1.907, PHS= 0.573,-1.340, 0.235, RAW= 140.5,   6.1, CAL= 140.2,   6.8, ROT=   9.8,  -6.8

2025-08-09T16:43:03.223Z,1754757783.223 [DAT](INFO): got valid direction response:
 16:43:01.4736 LVL= 28304, 32753, 32754, 32755, AGC= 73, IDX= 410, 0.05,-1.436, 2.991,-1.628,-1.907, PHS= 0.573,-1.340, 0.235, RAW= 140.5,   6.1, CAL= 140.2,   6.8, ROT=   9.8,  -6.8

2025-08-09T16:43:03.225Z,1754757783.225 [DAT](INFO): DAT read: Bearing 278.1,  21.3 (Local)

2025-08-09T16:43:03.225Z,1754757783.225 [DAT](INFO): Local bearing/azimuth received:
 Bearing 278.1,  21.3 (Local)

2025-08-09T16:43:03.228Z,1754757783.228 [DAT](INFO): DAT read: Range 11 to 50 : 431.1 m  (Round-trip  574.8 ms) speed  0.6 m/s

2025-08-09T16:43:03.229Z,1754757783.229 [DAT](INFO): DAT read: user:46>

2025-08-09T16:43:03.231Z,1754757783.231 [DAT](INFO): DAT read: Tx time:16:43:02.5947

2025-08-09T16:43:03.231Z,1754757783.231 [DAT](INFO): Ping request sent.
2025-08-09T16:43:03.231Z,1754757783.231 [DAT](INFO): transmitted an acoustic signal
2025-08-09T16:43:03.232Z,1754757783.232 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-09T16:43:03.234Z,1754757783.234 [DAT](INFO): direction in FSK: [0.978476,0.169012,0.118404]
2025-08-09T16:43:03.235Z,1754757783.235 [DAT](INFO): publishing transmit ping time
2025-08-09T16:43:03.236Z,1754757783.236 [DAT](INFO): publishing direction and range info
2025-08-09T16:43:03.249Z,1754757783.249 [DAT](INFO): publishing transmit ping time
2025-08-09T16:43:03.249Z,1754757783.249 [DAT](INFO): publishing direction and range info
2025-08-09T16:43:03.533Z,1754757783.533 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 431.100006 m,
      deltaT: 4.289577 s,
      deltaX: -2.399994 m,
      approachRate: -0.559494 m/s,
      rangeRepo size: 4

2025-08-09T16:43:03.536Z,1754757783.536 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 431.100006 m,
      bearing: 138.060772 deg,
      lat: 36.905978 deg,
      lon: -122.116230 deg,
      deltaT: 4.289577 s,
      deltaX: -2.399994 m,
      approachRate: -0.559494 m/s,
      posRepo size: 4

2025-08-09T16:43:03.537Z,1754757783.537 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 431.10 m.
2025-08-09T16:43:03.548Z,1754757783.548 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 431.100006 m,
      nav range: 413.177948 m,
      bearing: 138.060772 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.015569 deg/s,
      cmd heading: 128.300951 deg,
      new cmd heading: 128.322822 deg.

2025-08-09T16:43:03.914Z,1754757783.914 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-09T16:43:03.916Z,1754757783.916 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 431.10 m.
2025-08-09T16:43:03.919Z,1754757783.919 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 431.100006 m,
      nav range: 412.954681 m,
      bearing: 138.067493 deg,
      approach rate: -0.581534 m/s,
      LOS rate: 0.017516 deg/s,
      cmd heading: 128.322821 deg,
      new cmd heading: 128.342996 deg.

2025-08-09T16:43:03.968Z,1754757783.968 [DAT](INFO): ****** received valid address query ******
2025-08-09T16:43:03.968Z,1754757783.968 [DAT](INFO): ****** received valid ping request ******
2025-08-09T16:43:03.968Z,1754757783.968 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-09T16:43:04.220Z,1754757784.220 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.988348
2025-08-09T16:43:04.303Z,1754757784.303 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 431.10 m.
2025-08-09T16:43:04.305Z,1754757784.305 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 431.100006 m,
      nav range: 412.740417 m,
      bearing: 138.073991 deg,
      approach rate: -0.560097 m/s,
      LOS rate: 0.016994 deg/s,
      cmd heading: 128.342997 deg,
      new cmd heading: 128.362501 deg.

2025-08-09T16:43:04.471Z,1754757784.471 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.239943
2025-08-09T16:43:04.725Z,1754757784.725 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.493104
2025-08-09T16:43:04.750Z,1754757784.750 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 431.10 m.
2025-08-09T16:43:04.780Z,1754757784.780 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 431.100006 m,
      nav range: 412.483398 m,
      bearing: 138.082321 deg,
      approach rate: -0.569472 m/s,
      LOS rate: 0.018469 deg/s,
      cmd heading: 128.362504 deg,
      new cmd heading: 128.387511 deg.

2025-08-09T16:43:04.978Z,1754757784.978 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.746706
2025-08-09T16:43:05.131Z,1754757785.131 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 431.10 m.
2025-08-09T16:43:05.134Z,1754757785.134 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 431.100006 m,
      nav range: 412.276917 m,
      bearing: 138.089076 deg,
      approach rate: -0.541558 m/s,
      LOS rate: 0.017724 deg/s,
      cmd heading: 128.387517 deg,
      new cmd heading: 128.407790 deg.

2025-08-09T16:43:05.228Z,1754757785.228 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.996546
2025-08-09T16:43:05.479Z,1754757785.479 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.247833
2025-08-09T16:43:05.569Z,1754757785.569 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 431.10 m.
2025-08-09T16:43:05.572Z,1754757785.572 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 431.100006 m,
      nav range: 412.027100 m,
      bearing: 138.098017 deg,
      approach rate: -0.570069 m/s,
      LOS rate: 0.020417 deg/s,
      cmd heading: 128.407789 deg,
      new cmd heading: 128.434630 deg.

2025-08-09T16:43:05.732Z,1754757785.732 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.500464
2025-08-09T16:43:05.916Z,1754757785.916 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-09T16:43:05.919Z,1754757785.919 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 431.10 m.
2025-08-09T16:43:05.921Z,1754757785.921 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 431.100006 m,
      nav range: 411.827484 m,
      bearing: 138.105180 deg,
      approach rate: -0.571786 m/s,
      LOS rate: 0.020525 deg/s,
      cmd heading: 128.434631 deg,
      new cmd heading: 128.456128 deg.

2025-08-09T16:43:05.984Z,1754757785.984 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.752914
2025-08-09T16:43:06.236Z,1754757786.236 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.004476
2025-08-09T16:43:06.330Z,1754757786.330 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 431.10 m.
2025-08-09T16:43:06.337Z,1754757786.337 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 431.100006 m,
      nav range: 411.601532 m,
      bearing: 138.113292 deg,
      approach rate: -0.549106 m/s,
      LOS rate: 0.019725 deg/s,
      cmd heading: 128.456133 deg,
      new cmd heading: 128.480482 deg.

2025-08-09T16:43:06.488Z,1754757786.488 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.256172
2025-08-09T16:43:06.745Z,1754757786.745 [DAT](INFO): DAT read: 16:43:05.5705 LVL= 32752, 32753, 32754, 32755, AGC= 69, IDX= 410, 0.31,-0.528,-2.319,-0.719,-0.987, PHS= 0.561,-1.287, 0.224, RAW= 140.1,   5.9, CAL= 139.9,   6.7, ROT=  10.1,  -6.7

2025-08-09T16:43:06.746Z,1754757786.746 [DAT](INFO): got valid direction response:
 16:43:05.5705 LVL= 32752, 32753, 32754, 32755, AGC= 69, IDX= 410, 0.31,-0.528,-2.319,-0.719,-0.987, PHS= 0.561,-1.287, 0.224, RAW= 140.1,   5.9, CAL= 139.9,   6.7, ROT=  10.1,  -6.7

2025-08-09T16:43:06.747Z,1754757786.747 [DAT](INFO): DAT read: Rx Time:16:43:05.5705

2025-08-09T16:43:06.747Z,1754757786.747 [DAT](INFO): Rx dataTimestamp_ set to:1754757786.747025
2025-08-09T16:43:06.748Z,1754757786.748 [DAT](INFO): DAT read: $Low SNR acquisition

2025-08-09T16:43:06.748Z,1754757786.748 [DAT](INFO): Received low SNR in chirp
2025-08-09T16:43:06.763Z,1754757786.763 [DAT](INFO): #Rx 1: Read direction message, but no range.
2025-08-09T16:43:06.764Z,1754757786.764 [DAT](INFO): direction in FSK: [0.977780,0.174169,0.116671]
2025-08-09T16:43:06.795Z,1754757786.795 [DAT](INFO): ****** received valid address query ******
2025-08-09T16:43:06.795Z,1754757786.795 [DAT](INFO): ****** received valid ping request ******
2025-08-09T16:43:06.795Z,1754757786.795 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-09T16:43:06.822Z,1754757786.822 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 431.10 m.
2025-08-09T16:43:06.825Z,1754757786.825 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 431.100006 m,
      nav range: 411.319641 m,
      bearing: 138.124587 deg,
      approach rate: -0.572727 m/s,
      LOS rate: 0.022964 deg/s,
      cmd heading: 128.480475 deg,
      new cmd heading: 128.514384 deg.

2025-08-09T16:43:06.991Z,1754757786.991 [DAT](INFO): ****** received valid address query ******
2025-08-09T16:43:06.991Z,1754757786.991 [DAT](INFO): ****** received valid ping request ******
2025-08-09T16:43:06.991Z,1754757786.991 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-09T16:43:07.161Z,1754757787.161 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 431.10 m.
2025-08-09T16:43:07.163Z,1754757787.163 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 431.100006 m,
      nav range: 411.120758 m,
      bearing: 138.132564 deg,
      approach rate: -0.587461 m/s,
      LOS rate: 0.023575 deg/s,
      cmd heading: 128.514381 deg,
      new cmd heading: 128.538324 deg.

2025-08-09T16:43:07.244Z,1754757787.244 [DAT](INFO): ****** received valid address query ******
2025-08-09T16:43:07.244Z,1754757787.244 [DAT](INFO): ****** received valid ping request ******
2025-08-09T16:43:07.244Z,1754757787.244 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-09T16:43:07.495Z,1754757787.495 [DAT](INFO): ****** received valid address query ******
2025-08-09T16:43:07.495Z,1754757787.495 [DAT](INFO): ****** received valid ping request ******
2025-08-09T16:43:07.495Z,1754757787.495 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-09T16:43:07.589Z,1754757787.589 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 431.10 m.
2025-08-09T16:43:07.592Z,1754757787.592 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 431.100006 m,
      nav range: 410.880676 m,
      bearing: 138.142406 deg,
      approach rate: -0.559968 m/s,
      LOS rate: 0.022970 deg/s,
      cmd heading: 128.538327 deg,
      new cmd heading: 128.567872 deg.

2025-08-09T16:43:07.747Z,1754757787.747 [DAT](INFO): ****** received valid address query ******
2025-08-09T16:43:07.747Z,1754757787.747 [DAT](INFO): ****** received valid ping request ******
2025-08-09T16:43:07.747Z,1754757787.747 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-09T16:43:07.999Z,1754757787.999 [DAT](INFO): ****** received valid address query ******
2025-08-09T16:43:07.999Z,1754757787.999 [DAT](INFO): ****** received valid ping request ******
2025-08-09T16:43:07.999Z,1754757787.999 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-09T16:43:08.017Z,1754757788.017 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-09T16:43:08.020Z,1754757788.020 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 431.10 m.
2025-08-09T16:43:08.023Z,1754757788.023 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 431.100006 m,
      nav range: 410.639984 m,
      bearing: 138.152277 deg,
      approach rate: -0.559248 m/s,
      LOS rate: 0.022947 deg/s,
      cmd heading: 128.567875 deg,
      new cmd heading: 128.597502 deg.

2025-08-09T16:43:08.251Z,1754757788.251 [DAT](INFO): ****** received valid address query ******
2025-08-09T16:43:08.251Z,1754757788.251 [DAT](INFO): ****** received valid ping request ******
2025-08-09T16:43:08.251Z,1754757788.251 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-09T16:43:08.378Z,1754757788.378 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 431.10 m.
2025-08-09T16:43:08.396Z,1754757788.396 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 431.100006 m,
      nav range: 410.438660 m,
      bearing: 138.160527 deg,
      approach rate: -0.562434 m/s,
      LOS rate: 0.023061 deg/s,
      cmd heading: 128.597504 deg,
      new cmd heading: 128.622268 deg.

2025-08-09T16:43:08.505Z,1754757788.505 [DAT](INFO): ****** received valid address query ******
2025-08-09T16:43:08.506Z,1754757788.506 [DAT](INFO): ****** received valid ping request ******
2025-08-09T16:43:08.506Z,1754757788.506 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-09T16:43:08.755Z,1754757788.755 [DAT](INFO): ****** received valid address query ******
2025-08-09T16:43:08.755Z,1754757788.755 [DAT](INFO): ****** received valid ping request ******
2025-08-09T16:43:08.755Z,1754757788.755 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-09T16:43:08.835Z,1754757788.835 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 431.10 m.
2025-08-09T16:43:08.837Z,1754757788.837 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 431.100006 m,
      nav range: 410.183441 m,
      bearing: 138.170893 deg,
      approach rate: -0.563702 m/s,
      LOS rate: 0.022910 deg/s,
      cmd heading: 128.622270 deg,
      new cmd heading: 128.653387 deg.

2025-08-09T16:43:08.843Z,1754757788.843 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:altitudeControl:A.AltitudeServo](INFO): Reached init depth of 57.545536 m.
2025-08-09T16:43:09.007Z,1754757789.007 [DAT](INFO): ****** received valid address query ******
2025-08-09T16:43:09.007Z,1754757789.007 [DAT](INFO): ****** received valid ping request ******
2025-08-09T16:43:09.007Z,1754757789.007 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-09T16:43:09.195Z,1754757789.195 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 431.10 m.
2025-08-09T16:43:09.198Z,1754757789.198 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 431.100006 m,
      nav range: 409.978271 m,
      bearing: 138.179221 deg,
      approach rate: -0.562257 m/s,
      LOS rate: 0.022834 deg/s,
      cmd heading: 128.653389 deg,
      new cmd heading: 128.678386 deg.

2025-08-09T16:43:09.260Z,1754757789.260 [DAT](INFO): ****** received valid address query ******
2025-08-09T16:43:09.260Z,1754757789.260 [DAT](INFO): ****** received valid ping request ******
2025-08-09T16:43:09.260Z,1754757789.260 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-09T16:43:09.511Z,1754757789.511 [DAT](INFO): ****** received valid address query ******
2025-08-09T16:43:09.512Z,1754757789.512 [DAT](INFO): ****** received valid ping request ******
2025-08-09T16:43:09.512Z,1754757789.512 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-09T16:43:09.626Z,1754757789.626 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 431.10 m.
2025-08-09T16:43:09.628Z,1754757789.628 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 431.100006 m,
      nav range: 409.711609 m,
      bearing: 138.189784 deg,
      approach rate: -0.619754 m/s,
      LOS rate: 0.024564 deg/s,
      cmd heading: 128.678387 deg,
      new cmd heading: 128.710095 deg.

2025-08-09T16:43:09.763Z,1754757789.763 [DAT](INFO): ****** received valid address query ******
2025-08-09T16:43:09.763Z,1754757789.763 [DAT](INFO): ****** received valid ping request ******
2025-08-09T16:43:09.763Z,1754757789.763 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-09T16:43:10.015Z,1754757790.015 [DAT](INFO): ****** received valid address query ******
2025-08-09T16:43:10.015Z,1754757790.015 [DAT](INFO): ****** received valid ping request ******
2025-08-09T16:43:10.015Z,1754757790.015 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-09T16:43:10.037Z,1754757790.037 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-09T16:43:10.048Z,1754757790.048 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 431.10 m.
2025-08-09T16:43:10.059Z,1754757790.059 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 431.100006 m,
      nav range: 409.478394 m,
      bearing: 138.198982 deg,
      approach rate: -0.552673 m/s,
      LOS rate: 0.021811 deg/s,
      cmd heading: 128.710093 deg,
      new cmd heading: 128.737704 deg.

2025-08-09T16:43:10.267Z,1754757790.267 [DAT](INFO): ****** received valid address query ******
2025-08-09T16:43:10.267Z,1754757790.267 [DAT](INFO): ****** received valid ping request ******
2025-08-09T16:43:10.267Z,1754757790.267 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-09T16:43:10.522Z,1754757790.522 [DAT](INFO): ****** received valid address query ******
2025-08-09T16:43:10.522Z,1754757790.522 [DAT](INFO): ****** received valid ping request ******
2025-08-09T16:43:10.523Z,1754757790.523 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-09T16:43:10.575Z,1754757790.575 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 431.10 m.
2025-08-09T16:43:10.577Z,1754757790.577 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 431.100006 m,
      nav range: 409.150726 m,
      bearing: 138.211888 deg,
      approach rate: -0.626837 m/s,
      LOS rate: 0.024710 deg/s,
      cmd heading: 128.737700 deg,
      new cmd heading: 128.776450 deg.

2025-08-09T16:43:10.771Z,1754757790.771 [DAT](INFO): ****** received valid address query ******
2025-08-09T16:43:10.771Z,1754757790.771 [DAT](INFO): ****** received valid ping request ******
2025-08-09T16:43:10.771Z,1754757790.771 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-09T16:43:10.900Z,1754757790.900 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 431.10 m.
2025-08-09T16:43:10.903Z,1754757790.903 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 431.100006 m,
      nav range: 408.947144 m,
      bearing: 138.218795 deg,
      approach rate: -0.616839 m/s,
      LOS rate: 0.020939 deg/s,
      cmd heading: 128.776455 deg,
      new cmd heading: 128.797187 deg.

2025-08-09T16:43:11.023Z,1754757791.023 [DAT](INFO): ****** received valid address query ******
2025-08-09T16:43:11.023Z,1754757791.023 [DAT](INFO): ****** received valid ping request ******
2025-08-09T16:43:11.023Z,1754757791.023 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-09T16:43:11.275Z,1754757791.275 [DAT](INFO): ****** received valid address query ******
2025-08-09T16:43:11.275Z,1754757791.275 [DAT](INFO): ****** received valid ping request ******
2025-08-09T16:43:11.275Z,1754757791.275 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-09T16:43:11.311Z,1754757791.311 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 431.10 m.
2025-08-09T16:43:11.313Z,1754757791.313 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 431.100006 m,
      nav range: 408.710022 m,
      bearing: 138.226832 deg,
      approach rate: -0.584078 m/s,
      LOS rate: 0.019807 deg/s,
      cmd heading: 128.797191 deg,
      new cmd heading: 128.821315 deg.

2025-08-09T16:43:11.529Z,1754757791.529 [DAT](INFO): ****** received valid address query ******
2025-08-09T16:43:11.530Z,1754757791.530 [DAT](INFO): ****** received valid ping request ******
2025-08-09T16:43:11.530Z,1754757791.530 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-09T16:43:11.745Z,1754757791.745 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 431.10 m.
2025-08-09T16:43:11.748Z,1754757791.748 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 431.100006 m,
      nav range: 408.433746 m,
      bearing: 138.234879 deg,
      approach rate: -0.629744 m/s,
      LOS rate: 0.018356 deg/s,
      cmd heading: 128.821316 deg,
      new cmd heading: 128.845474 deg.

2025-08-09T16:43:11.780Z,1754757791.780 [DAT](INFO): ****** received valid address query ******
2025-08-09T16:43:11.780Z,1754757791.780 [DAT](INFO): ****** received valid ping request ******
2025-08-09T16:43:11.780Z,1754757791.780 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-09T16:43:12.031Z,1754757792.031 [DAT](INFO): ****** received valid address query ******
2025-08-09T16:43:12.031Z,1754757792.031 [DAT](INFO): ****** received valid ping request ******
2025-08-09T16:43:12.031Z,1754757792.031 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-09T16:43:12.216Z,1754757792.216 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-09T16:43:12.220Z,1754757792.220 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 431.10 m.
2025-08-09T16:43:12.225Z,1754757792.225 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 431.100006 m,
      nav range: 408.147278 m,
      bearing: 138.243224 deg,
      approach rate: -0.603471 m/s,
      LOS rate: 0.017591 deg/s,
      cmd heading: 128.845481 deg,
      new cmd heading: 128.870532 deg.

2025-08-09T16:43:12.284Z,1754757792.284 [DAT](INFO): ****** received valid address query ******
2025-08-09T16:43:12.284Z,1754757792.284 [DAT](INFO): ****** received valid ping request ******
2025-08-09T16:43:12.284Z,1754757792.284 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-09T16:43:12.538Z,1754757792.538 [DAT](INFO): ****** received valid address query ******
2025-08-09T16:43:12.539Z,1754757792.539 [DAT](INFO): ****** received valid ping request ******
2025-08-09T16:43:12.539Z,1754757792.539 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-09T16:43:12.787Z,1754757792.787 [DAT](INFO): ****** received valid address query ******
2025-08-09T16:43:12.787Z,1754757792.787 [DAT](INFO): ****** received valid ping request ******
2025-08-09T16:43:12.787Z,1754757792.787 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-09T16:43:12.867Z,1754757792.867 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 431.10 m.
2025-08-09T16:43:12.875Z,1754757792.875 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 431.100006 m,
      nav range: 407.772705 m,
      bearing: 138.252197 deg,
      approach rate: -0.582760 m/s,
      LOS rate: 0.013972 deg/s,
      cmd heading: 128.870534 deg,
      new cmd heading: 128.897477 deg.

2025-08-09T16:43:13.039Z,1754757793.039 [DAT](INFO): ****** received valid address query ******
2025-08-09T16:43:13.039Z,1754757793.039 [DAT](INFO): ****** received valid ping request ******
2025-08-09T16:43:13.039Z,1754757793.039 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-09T16:43:13.257Z,1754757793.257 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 431.10 m.
2025-08-09T16:43:13.264Z,1754757793.264 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 431.100006 m,
      nav range: 407.515472 m,
      bearing: 138.258376 deg,
      approach rate: -0.651991 m/s,
      LOS rate: 0.015671 deg/s,
      cmd heading: 128.897472 deg,
      new cmd heading: 128.916021 deg.

2025-08-09T16:43:13.294Z,1754757793.294 [DAT](INFO): Reached modem response timeout
2025-08-09T16:43:13.294Z,1754757793.294 [DAT](DEBUG): Acoustic response timeout
2025-08-09T16:43:13.294Z,1754757793.294 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-09T16:43:13.545Z,1754757793.545 [DAT](INFO): Reached modem response timeout
2025-08-09T16:43:13.546Z,1754757793.546 [DAT](DEBUG): Acoustic response timeout
2025-08-09T16:43:13.546Z,1754757793.546 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-09T16:43:13.665Z,1754757793.665 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 431.10 m.
2025-08-09T16:43:13.684Z,1754757793.684 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 431.100006 m,
      nav range: 407.253937 m,
      bearing: 138.264059 deg,
      approach rate: -0.640647 m/s,
      LOS rate: 0.013932 deg/s,
      cmd heading: 128.916023 deg,
      new cmd heading: 128.933085 deg.

2025-08-09T16:43:13.795Z,1754757793.795 [DAT](INFO): Reached modem response timeout
2025-08-09T16:43:13.795Z,1754757793.795 [DAT](DEBUG): Acoustic response timeout
2025-08-09T16:43:13.796Z,1754757793.796 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-09T16:43:14.039Z,1754757794.039 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 431.10 m.
2025-08-09T16:43:14.042Z,1754757794.042 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 431.100006 m,
      nav range: 407.025482 m,
      bearing: 138.269040 deg,
      approach rate: -0.611194 m/s,
      LOS rate: 0.013332 deg/s,
      cmd heading: 128.933085 deg,
      new cmd heading: 128.948035 deg.

2025-08-09T16:43:14.047Z,1754757794.047 [DAT](INFO): Reached modem response timeout
2025-08-09T16:43:14.047Z,1754757794.047 [DAT](DEBUG): Acoustic response timeout
2025-08-09T16:43:14.048Z,1754757794.048 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-09T16:43:14.299Z,1754757794.299 [DAT](INFO): Reached modem response timeout
2025-08-09T16:43:14.300Z,1754757794.300 [DAT](DEBUG): Acoustic response timeout
2025-08-09T16:43:14.300Z,1754757794.300 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-09T16:43:14.422Z,1754757794.422 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-09T16:43:14.424Z,1754757794.424 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 431.10 m.
2025-08-09T16:43:14.427Z,1754757794.427 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 431.100006 m,
      nav range: 406.790588 m,
      bearing: 138.274180 deg,
      approach rate: -0.610467 m/s,
      LOS rate: 0.013366 deg/s,
      cmd heading: 128.948029 deg,
      new cmd heading: 128.963458 deg.

2025-08-09T16:43:14.553Z,1754757794.553 [DAT](INFO): Reached modem response timeout
2025-08-09T16:43:14.553Z,1754757794.553 [DAT](DEBUG): Acoustic response timeout
2025-08-09T16:43:14.555Z,1754757794.555 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-09T16:43:14.803Z,1754757794.803 [DAT](INFO): Reached modem response timeout
2025-08-09T16:43:14.803Z,1754757794.803 [DAT](DEBUG): Acoustic response timeout
2025-08-09T16:43:14.803Z,1754757794.803 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-09T16:43:14.894Z,1754757794.894 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 431.10 m.
2025-08-09T16:43:14.900Z,1754757794.900 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 431.100006 m,
      nav range: 406.506104 m,
      bearing: 138.279296 deg,
      approach rate: -0.605708 m/s,
      LOS rate: 0.010901 deg/s,
      cmd heading: 128.963452 deg,
      new cmd heading: 128.978811 deg.

2025-08-09T16:43:15.055Z,1754757795.055 [DAT](INFO): Reached modem response timeout
2025-08-09T16:43:15.055Z,1754757795.055 [DAT](DEBUG): Acoustic response timeout
2025-08-09T16:43:15.055Z,1754757795.055 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-09T16:43:15.253Z,1754757795.253 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 431.10 m.
2025-08-09T16:43:15.255Z,1754757795.255 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 431.100006 m,
      nav range: 406.284607 m,
      bearing: 138.283304 deg,
      approach rate: -0.616994 m/s,
      LOS rate: 0.011169 deg/s,
      cmd heading: 128.978806 deg,
      new cmd heading: 128.990835 deg.

2025-08-09T16:43:15.307Z,1754757795.307 [DAT](INFO): Reached modem response timeout
2025-08-09T16:43:15.308Z,1754757795.308 [DAT](DEBUG): Acoustic response timeout
2025-08-09T16:43:15.308Z,1754757795.308 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-09T16:43:15.563Z,1754757795.563 [DAT](INFO): DAT read: Response Not Received

2025-08-09T16:43:15.563Z,1754757795.563 [DAT](INFO): response not received
2025-08-09T16:43:15.565Z,1754757795.565 [DAT](INFO): DAT read: user:48>

2025-08-09T16:43:15.567Z,1754757795.567 [DAT](INFO): DAT read: Tx time:16:43:15.0447

2025-08-09T16:43:15.568Z,1754757795.568 [DAT](INFO): Ping request sent.
2025-08-09T16:43:15.569Z,1754757795.569 [DAT](INFO): transmitted an acoustic signal
2025-08-09T16:43:15.569Z,1754757795.569 [DAT](INFO): publishing transmit ping time
2025-08-09T16:43:15.572Z,1754757795.572 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.002847
2025-08-09T16:43:15.733Z,1754757795.733 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 431.10 m.
2025-08-09T16:43:15.740Z,1754757795.740 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 431.100006 m,
      nav range: 405.992828 m,
      bearing: 138.289032 deg,
      approach rate: -0.606811 m/s,
      LOS rate: 0.011922 deg/s,
      cmd heading: 128.990841 deg,
      new cmd heading: 129.008039 deg.

2025-08-09T16:43:15.812Z,1754757795.812 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.243410
2025-08-09T16:43:16.057Z,1754757796.057 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 431.10 m.
2025-08-09T16:43:16.063Z,1754757796.063 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.494816
2025-08-09T16:43:16.072Z,1754757796.072 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 431.100006 m,
      nav range: 405.786987 m,
      bearing: 138.293090 deg,
      approach rate: -0.636489 m/s,
      LOS rate: 0.012553 deg/s,
      cmd heading: 129.008039 deg,
      new cmd heading: 129.020218 deg.

2025-08-09T16:43:16.316Z,1754757796.316 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.747416
2025-08-09T16:43:16.464Z,1754757796.464 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-09T16:43:16.467Z,1754757796.467 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 431.10 m.
2025-08-09T16:43:16.469Z,1754757796.469 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 431.100006 m,
      nav range: 405.534210 m,
      bearing: 138.298092 deg,
      approach rate: -0.616967 m/s,
      LOS rate: 0.012217 deg/s,
      cmd heading: 129.020224 deg,
      new cmd heading: 129.035241 deg.

2025-08-09T16:43:16.571Z,1754757796.571 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.002316
2025-08-09T16:43:16.819Z,1754757796.819 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.250730
2025-08-09T16:43:16.924Z,1754757796.924 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 431.10 m.
2025-08-09T16:43:16.927Z,1754757796.927 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 431.100006 m,
      nav range: 405.255096 m,
      bearing: 138.304280 deg,
      approach rate: -0.609946 m/s,
      LOS rate: 0.013531 deg/s,
      cmd heading: 129.035237 deg,
      new cmd heading: 129.053813 deg.

2025-08-09T16:43:17.071Z,1754757797.071 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.502647
2025-08-09T16:43:17.282Z,1754757797.282 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 431.10 m.
2025-08-09T16:43:17.285Z,1754757797.285 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 431.100006 m,
      nav range: 405.037231 m,
      bearing: 138.309116 deg,
      approach rate: -0.608932 m/s,
      LOS rate: 0.013524 deg/s,
      cmd heading: 129.053815 deg,
      new cmd heading: 129.068332 deg.

2025-08-09T16:43:17.324Z,1754757797.324 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.755330
2025-08-09T16:43:17.578Z,1754757797.578 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.008763
2025-08-09T16:43:17.734Z,1754757797.734 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 431.10 m.
2025-08-09T16:43:17.737Z,1754757797.737 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 431.100006 m,
      nav range: 404.776611 m,
      bearing: 138.315984 deg,
      approach rate: -0.581479 m/s,
      LOS rate: 0.015334 deg/s,
      cmd heading: 129.068336 deg,
      new cmd heading: 129.088954 deg.

2025-08-09T16:43:17.828Z,1754757797.828 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.259230
2025-08-09T16:43:18.079Z,1754757798.079 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.510888
2025-08-09T16:43:18.080Z,1754757798.080 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 431.10 m.
2025-08-09T16:43:18.083Z,1754757798.083 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 431.100006 m,
      nav range: 404.564178 m,
      bearing: 138.321588 deg,
      approach rate: -0.609821 m/s,
      LOS rate: 0.016096 deg/s,
      cmd heading: 129.088950 deg,
      new cmd heading: 129.105772 deg.

2025-08-09T16:43:18.332Z,1754757798.332 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.763290
2025-08-09T16:43:18.496Z,1754757798.496 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-09T16:43:18.498Z,1754757798.498 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 431.10 m.
2025-08-09T16:43:18.500Z,1754757798.500 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 431.100006 m,
      nav range: 404.321930 m,
      bearing: 138.327981 deg,
      approach rate: -0.577935 m/s,
      LOS rate: 0.015261 deg/s,
      cmd heading: 129.105766 deg,
      new cmd heading: 129.124956 deg.

2025-08-09T16:43:18.585Z,1754757798.585 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.016176
2025-08-09T16:43:18.835Z,1754757798.835 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.266829
2025-08-09T16:43:18.923Z,1754757798.923 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 431.10 m.
2025-08-09T16:43:18.925Z,1754757798.925 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 431.100006 m,
      nav range: 404.059235 m,
      bearing: 138.336323 deg,
      approach rate: -0.618226 m/s,
      LOS rate: 0.019644 deg/s,
      cmd heading: 129.124958 deg,
      new cmd heading: 129.150000 deg.

2025-08-09T16:43:19.090Z,1754757799.090 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.521592
2025-08-09T16:43:19.290Z,1754757799.290 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 431.10 m.
2025-08-09T16:43:19.293Z,1754757799.293 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 431.100006 m,
      nav range: 403.838013 m,
      bearing: 138.343347 deg,
      approach rate: -0.602323 m/s,
      LOS rate: 0.019136 deg/s,
      cmd heading: 129.149998 deg,
      new cmd heading: 129.171083 deg.

2025-08-09T16:43:19.340Z,1754757799.340 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.771058
2025-08-09T16:43:19.591Z,1754757799.591 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.022743
2025-08-09T16:43:19.751Z,1754757799.751 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 431.10 m.
2025-08-09T16:43:19.754Z,1754757799.754 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 431.100006 m,
      nav range: 403.564392 m,
      bearing: 138.353489 deg,
      approach rate: -0.593322 m/s,
      LOS rate: 0.022007 deg/s,
      cmd heading: 129.171076 deg,
      new cmd heading: 129.201523 deg.

2025-08-09T16:43:19.844Z,1754757799.844 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.275384
2025-08-09T16:43:20.095Z,1754757800.095 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.526797
2025-08-09T16:43:20.111Z,1754757800.111 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 431.10 m.
2025-08-09T16:43:20.114Z,1754757800.114 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 431.100006 m,
      nav range: 403.359253 m,
      bearing: 138.361079 deg,
      approach rate: -0.569434 m/s,
      LOS rate: 0.021079 deg/s,
      cmd heading: 129.201525 deg,
      new cmd heading: 129.224306 deg.

2025-08-09T16:43:20.347Z,1754757800.347 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.778811
2025-08-09T16:43:20.499Z,1754757800.499 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-09T16:43:20.501Z,1754757800.501 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 431.10 m.
2025-08-09T16:43:20.504Z,1754757800.504 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 431.100006 m,
      nav range: 403.117859 m,
      bearing: 138.369984 deg,
      approach rate: -0.618477 m/s,
      LOS rate: 0.022829 deg/s,
      cmd heading: 129.224310 deg,
      new cmd heading: 129.251041 deg.

2025-08-09T16:43:20.599Z,1754757800.599 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.030820
2025-08-09T16:43:20.852Z,1754757800.852 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.282965
2025-08-09T16:43:20.939Z,1754757800.939 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 431.10 m.
2025-08-09T16:43:20.942Z,1754757800.942 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 431.100006 m,
      nav range: 402.860779 m,
      bearing: 138.380907 deg,
      approach rate: -0.588575 m/s,
      LOS rate: 0.025025 deg/s,
      cmd heading: 129.251044 deg,
      new cmd heading: 129.283835 deg.

2025-08-09T16:43:21.103Z,1754757801.103 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.534771
2025-08-09T16:43:21.308Z,1754757801.308 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 431.10 m.
2025-08-09T16:43:21.311Z,1754757801.311 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 431.100006 m,
      nav range: 402.642944 m,
      bearing: 138.390138 deg,
      approach rate: -0.588403 m/s,
      LOS rate: 0.024948 deg/s,
      cmd heading: 129.283829 deg,
      new cmd heading: 129.311537 deg.

2025-08-09T16:43:21.356Z,1754757801.356 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.787414
2025-08-09T16:43:21.607Z,1754757801.607 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.038702
2025-08-09T16:43:21.756Z,1754757801.756 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 431.10 m.
2025-08-09T16:43:21.758Z,1754757801.758 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 431.100006 m,
      nav range: 402.382172 m,
      bearing: 138.399844 deg,
      approach rate: -0.583337 m/s,
      LOS rate: 0.021726 deg/s,
      cmd heading: 129.311532 deg,
      new cmd heading: 129.340668 deg.

2025-08-09T16:43:21.862Z,1754757801.862 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.293582
2025-08-09T16:43:22.111Z,1754757802.111 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.542805
2025-08-09T16:43:22.119Z,1754757802.119 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 431.10 m.
2025-08-09T16:43:22.121Z,1754757802.121 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 431.100006 m,
      nav range: 402.171143 m,
      bearing: 138.407677 deg,
      approach rate: -0.581415 m/s,
      LOS rate: 0.021592 deg/s,
      cmd heading: 129.340670 deg,
      new cmd heading: 129.364181 deg.

2025-08-09T16:43:22.364Z,1754757802.364 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.795690
2025-08-09T16:43:22.518Z,1754757802.518 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-09T16:43:22.520Z,1754757802.520 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 431.10 m.
2025-08-09T16:43:22.523Z,1754757802.523 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 431.100006 m,
      nav range: 401.935852 m,
      bearing: 138.416389 deg,
      approach rate: -0.585489 m/s,
      LOS rate: 0.021690 deg/s,
      cmd heading: 129.364179 deg,
      new cmd heading: 129.390329 deg.

2025-08-09T16:43:22.616Z,1754757802.616 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.046952
2025-08-09T16:43:22.868Z,1754757802.868 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.299275
2025-08-09T16:43:22.966Z,1754757802.966 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 431.10 m.
2025-08-09T16:43:22.969Z,1754757802.969 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 431.100006 m,
      nav range: 401.670654 m,
      bearing: 138.426601 deg,
      approach rate: -0.594937 m/s,
      LOS rate: 0.022925 deg/s,
      cmd heading: 129.390325 deg,
      new cmd heading: 129.420982 deg.

2025-08-09T16:43:23.119Z,1754757803.119 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.550706
2025-08-09T16:43:23.353Z,1754757803.353 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 431.10 m.
2025-08-09T16:43:23.371Z,1754757803.371 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.802734
2025-08-09T16:43:23.380Z,1754757803.380 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 431.100006 m,
      nav range: 401.445038 m,
      bearing: 138.435260 deg,
      approach rate: -0.582597 m/s,
      LOS rate: 0.022371 deg/s,
      cmd heading: 129.420979 deg,
      new cmd heading: 129.446969 deg.

2025-08-09T16:43:23.623Z,1754757803.623 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.054656
2025-08-09T16:43:23.783Z,1754757803.783 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 431.10 m.
2025-08-09T16:43:23.785Z,1754757803.785 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 431.100006 m,
      nav range: 401.187347 m,
      bearing: 138.444984 deg,
      approach rate: -0.600601 m/s,
      LOS rate: 0.022678 deg/s,
      cmd heading: 129.446975 deg,
      new cmd heading: 129.476165 deg.

2025-08-09T16:43:23.876Z,1754757803.876 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.307514
2025-08-09T16:43:24.128Z,1754757804.128 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.558987
2025-08-09T16:43:24.157Z,1754757804.157 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 431.10 m.
2025-08-09T16:43:24.160Z,1754757804.160 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 431.100006 m,
      nav range: 400.966248 m,
      bearing: 138.453337 deg,
      approach rate: -0.589538 m/s,
      LOS rate: 0.022286 deg/s,
      cmd heading: 129.476167 deg,
      new cmd heading: 129.501241 deg.

2025-08-09T16:43:24.380Z,1754757804.380 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.810982
2025-08-09T16:43:24.539Z,1754757804.539 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-09T16:43:24.541Z,1754757804.541 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 431.10 m.
2025-08-09T16:43:24.544Z,1754757804.544 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 431.100006 m,
      nav range: 400.740448 m,
      bearing: 138.461833 deg,
      approach rate: -0.588868 m/s,
      LOS rate: 0.022170 deg/s,
      cmd heading: 129.501247 deg,
      new cmd heading: 129.526750 deg.

2025-08-09T16:43:24.633Z,1754757804.633 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.063940
2025-08-09T16:43:24.883Z,1754757804.883 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.314782
2025-08-09T16:43:24.989Z,1754757804.989 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 431.10 m.
2025-08-09T16:43:24.992Z,1754757804.992 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 431.100006 m,
      nav range: 400.476715 m,
      bearing: 138.470616 deg,
      approach rate: -0.588608 m/s,
      LOS rate: 0.019613 deg/s,
      cmd heading: 129.526751 deg,
      new cmd heading: 129.553115 deg.

2025-08-09T16:43:25.135Z,1754757805.135 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.566642
2025-08-09T16:43:25.366Z,1754757805.366 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 431.10 m.
2025-08-09T16:43:25.369Z,1754757805.369 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 431.100006 m,
      nav range: 400.254883 m,
      bearing: 138.478012 deg,
      approach rate: -0.588432 m/s,
      LOS rate: 0.019629 deg/s,
      cmd heading: 129.553116 deg,
      new cmd heading: 129.575316 deg.

2025-08-09T16:43:25.387Z,1754757805.387 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.818928
2025-08-09T16:43:25.639Z,1754757805.639 [DAT](INFO): Reached modem response timeout
2025-08-09T16:43:25.639Z,1754757805.639 [DAT](DEBUG): Acoustic response timeout
2025-08-09T16:43:25.639Z,1754757805.639 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-09T16:43:25.799Z,1754757805.799 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 431.10 m.
2025-08-09T16:43:25.802Z,1754757805.802 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 431.100006 m,
      nav range: 399.990845 m,
      bearing: 138.485353 deg,
      approach rate: -0.609388 m/s,
      LOS rate: 0.016955 deg/s,
      cmd heading: 129.575314 deg,
      new cmd heading: 129.597352 deg.

2025-08-09T16:43:25.892Z,1754757805.892 [DAT](INFO): Reached modem response timeout
2025-08-09T16:43:25.893Z,1754757805.893 [DAT](DEBUG): Acoustic response timeout
2025-08-09T16:43:25.895Z,1754757805.895 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-09T16:43:26.143Z,1754757806.143 [DAT](INFO): Reached modem response timeout
2025-08-09T16:43:26.143Z,1754757806.143 [DAT](DEBUG): Acoustic response timeout
2025-08-09T16:43:26.144Z,1754757806.144 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-09T16:43:26.162Z,1754757806.162 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 431.10 m.
2025-08-09T16:43:26.165Z,1754757806.165 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 431.100006 m,
      nav range: 399.768707 m,
      bearing: 138.491516 deg,
      approach rate: -0.612091 m/s,
      LOS rate: 0.016992 deg/s,
      cmd heading: 129.597348 deg,
      new cmd heading: 129.615848 deg.

2025-08-09T16:43:26.395Z,1754757806.395 [DAT](INFO): Reached modem response timeout
2025-08-09T16:43:26.396Z,1754757806.396 [DAT](DEBUG): Acoustic response timeout
2025-08-09T16:43:26.396Z,1754757806.396 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-09T16:43:26.621Z,1754757806.621 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-09T16:43:26.623Z,1754757806.623 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 431.10 m.
2025-08-09T16:43:26.626Z,1754757806.626 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 431.100006 m,
      nav range: 399.487488 m,
      bearing: 138.499313 deg,
      approach rate: -0.610386 m/s,
      LOS rate: 0.016934 deg/s,
      cmd heading: 129.615844 deg,
      new cmd heading: 129.639251 deg.

2025-08-09T16:43:26.647Z,1754757806.647 [DAT](INFO): Reached modem response timeout
2025-08-09T16:43:26.647Z,1754757806.647 [DAT](DEBUG): Acoustic response timeout
2025-08-09T16:43:26.647Z,1754757806.647 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-09T16:43:26.900Z,1754757806.900 [DAT](INFO): Reached modem response timeout
2025-08-09T16:43:26.900Z,1754757806.900 [DAT](DEBUG): Acoustic response timeout
2025-08-09T16:43:26.901Z,1754757806.901 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-09T16:43:27.054Z,1754757807.054 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 431.10 m.
2025-08-09T16:43:27.056Z,1754757807.056 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 431.100006 m,
      nav range: 399.226990 m,
      bearing: 138.506178 deg,
      approach rate: -0.604735 m/s,
      LOS rate: 0.015949 deg/s,
      cmd heading: 129.639244 deg,
      new cmd heading: 129.659855 deg.

2025-08-09T16:43:27.151Z,1754757807.151 [DAT](INFO): Reached modem response timeout
2025-08-09T16:43:27.151Z,1754757807.151 [DAT](DEBUG): Acoustic response timeout
2025-08-09T16:43:27.152Z,1754757807.152 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-09T16:43:27.391Z,1754757807.391 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 431.10 m.
2025-08-09T16:43:27.394Z,1754757807.394 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 431.100006 m,
      nav range: 399.023376 m,
      bearing: 138.511547 deg,
      approach rate: -0.604551 m/s,
      LOS rate: 0.015948 deg/s,
      cmd heading: 129.659858 deg,
      new cmd heading: 129.675971 deg.

2025-08-09T16:43:27.403Z,1754757807.403 [DAT](INFO): Reached modem response timeout
2025-08-09T16:43:27.403Z,1754757807.403 [DAT](DEBUG): Acoustic response timeout
2025-08-09T16:43:27.403Z,1754757807.403 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-09T16:43:27.655Z,1754757807.655 [DAT](INFO): Reached modem response timeout
2025-08-09T16:43:27.655Z,1754757807.655 [DAT](DEBUG): Acoustic response timeout
2025-08-09T16:43:27.655Z,1754757807.655 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-09T16:43:27.851Z,1754757807.851 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 431.10 m.
2025-08-09T16:43:27.855Z,1754757807.855 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 431.100006 m,
      nav range: 398.739502 m,
      bearing: 138.518443 deg,
      approach rate: -0.617235 m/s,
      LOS rate: 0.015004 deg/s,
      cmd heading: 129.675977 deg,
      new cmd heading: 129.696679 deg.

2025-08-09T16:43:27.908Z,1754757807.908 [DAT](INFO): DAT read: Response Not Received

2025-08-09T16:43:27.908Z,1754757807.908 [DAT](INFO): response not received
2025-08-09T16:43:27.909Z,1754757807.909 [DAT](INFO): DAT read: user:49>

2025-08-09T16:43:27.909Z,1754757807.909 [DAT](ERROR): No response from remote modem.
2025-08-09T16:43:27.909Z,1754757807.909 [DAT](DEBUG): Acoustic response timeout
2025-08-09T16:43:27.910Z,1754757807.910 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-09T16:43:28.159Z,1754757808.159 [DAT](INFO): DAT read: Tx time:16:43:27.4947

2025-08-09T16:43:28.160Z,1754757808.160 [DAT](INFO): Ping request sent.
2025-08-09T16:43:28.160Z,1754757808.160 [DAT](INFO): transmitted an acoustic signal
2025-08-09T16:43:28.160Z,1754757808.160 [DAT](INFO): publishing transmit ping time
2025-08-09T16:43:28.161Z,1754757808.161 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000751
2025-08-09T16:43:28.262Z,1754757808.262 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 431.10 m.
2025-08-09T16:43:28.265Z,1754757808.265 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 431.100006 m,
      nav range: 398.480286 m,
      bearing: 138.524731 deg,
      approach rate: -0.629834 m/s,
      LOS rate: 0.015288 deg/s,
      cmd heading: 129.696673 deg,
      new cmd heading: 129.715549 deg.

2025-08-09T16:43:28.411Z,1754757808.411 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251461
2025-08-09T16:43:28.632Z,1754757808.632 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 431.10 m.
2025-08-09T16:43:28.635Z,1754757808.635 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 431.100006 m,
      nav range: 398.259766 m,
      bearing: 138.530081 deg,
      approach rate: -0.596311 m/s,
      LOS rate: 0.014475 deg/s,
      cmd heading: 129.715551 deg,
      new cmd heading: 129.731610 deg.

2025-08-09T16:43:28.666Z,1754757808.666 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.505814
2025-08-09T16:43:28.915Z,1754757808.915 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.755481
2025-08-09T16:43:29.056Z,1754757809.056 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-09T16:43:29.063Z,1754757809.063 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 431.10 m.
2025-08-09T16:43:29.065Z,1754757809.065 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 431.100006 m,
      nav range: 397.998535 m,
      bearing: 138.536603 deg,
      approach rate: -0.612271 m/s,
      LOS rate: 0.015297 deg/s,
      cmd heading: 129.731616 deg,
      new cmd heading: 129.751195 deg.

2025-08-09T16:43:29.171Z,1754757809.171 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.011041
2025-08-09T16:43:29.419Z,1754757809.419 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.259666
2025-08-09T16:43:29.449Z,1754757809.449 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 431.10 m.
2025-08-09T16:43:29.452Z,1754757809.452 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 431.100006 m,
      nav range: 397.757629 m,
      bearing: 138.542619 deg,
      approach rate: -0.615995 m/s,
      LOS rate: 0.015394 deg/s,
      cmd heading: 129.751191 deg,
      new cmd heading: 129.769252 deg.

2025-08-09T16:43:29.672Z,1754757809.672 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.512631
2025-08-09T16:43:29.875Z,1754757809.875 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 431.10 m.
2025-08-09T16:43:29.878Z,1754757809.878 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 431.100006 m,
      nav range: 397.482300 m,
      bearing: 138.549924 deg,
      approach rate: -0.647770 m/s,
      LOS rate: 0.017198 deg/s,
      cmd heading: 129.769250 deg,
      new cmd heading: 129.791179 deg.

2025-08-09T16:43:29.924Z,1754757809.924 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.763744
2025-08-09T16:43:30.176Z,1754757810.176 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.015946
2025-08-09T16:43:30.244Z,1754757810.244 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 431.10 m.
2025-08-09T16:43:30.251Z,1754757810.251 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 431.100006 m,
      nav range: 397.260590 m,
      bearing: 138.555797 deg,
      approach rate: -0.599648 m/s,
      LOS rate: 0.015894 deg/s,
      cmd heading: 129.791175 deg,
      new cmd heading: 129.808805 deg.

2025-08-09T16:43:30.427Z,1754757810.427 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.267492
2025-08-09T16:43:30.642Z,1754757810.642 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 431.10 m.
2025-08-09T16:43:30.645Z,1754757810.645 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 431.100006 m,
      nav range: 397.004120 m,
      bearing: 138.562581 deg,
      approach rate: -0.644878 m/s,
      LOS rate: 0.017068 deg/s,
      cmd heading: 129.808811 deg,
      new cmd heading: 129.829174 deg.

2025-08-09T16:43:30.681Z,1754757810.681 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.520798
2025-08-09T16:43:30.931Z,1754757810.931 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.771602
2025-08-09T16:43:31.067Z,1754757811.067 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-09T16:43:31.069Z,1754757811.069 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 431.10 m.
2025-08-09T16:43:31.072Z,1754757811.072 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 431.100006 m,
      nav range: 396.744537 m,
      bearing: 138.569808 deg,
      approach rate: -0.608061 m/s,
      LOS rate: 0.016940 deg/s,
      cmd heading: 129.829178 deg,
      new cmd heading: 129.850874 deg.

2025-08-09T16:43:31.184Z,1754757811.184 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.023873
2025-08-09T16:43:31.435Z,1754757811.435 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.275624
2025-08-09T16:43:31.463Z,1754757811.463 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 431.10 m.
2025-08-09T16:43:31.466Z,1754757811.466 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 431.100006 m,
      nav range: 396.518707 m,
      bearing: 138.576094 deg,
      approach rate: -0.572290 m/s,
      LOS rate: 0.015939 deg/s,
      cmd heading: 129.850871 deg,
      new cmd heading: 129.869740 deg.

2025-08-09T16:43:31.693Z,1754757811.693 [DAT](INFO): DAT read: Rx Time:16:43:30.4737

2025-08-09T16:43:31.695Z,1754757811.695 [DAT](INFO): Rx dataTimestamp_ set to:1754757811.693415
2025-08-09T16:43:31.695Z,1754757811.695 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.535606
2025-08-09T16:43:31.909Z,1754757811.909 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 431.10 m.
2025-08-09T16:43:31.912Z,1754757811.912 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 431.100006 m,
      nav range: 396.240021 m,
      bearing: 138.584706 deg,
      approach rate: -0.625558 m/s,
      LOS rate: 0.019346 deg/s,
      cmd heading: 129.869736 deg,
      new cmd heading: 129.895591 deg.

2025-08-09T16:43:31.939Z,1754757811.939 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.779389
2025-08-09T16:43:32.198Z,1754757812.198 [DAT](INFO): DAT read: 16:43:30.4737 LVL= 22304, 32753, 25586, 32755, AGC= 70, IDX= 443,-0.03, 0.774,-0.951, 0.633, 0.194, PHS= 0.681,-1.101, 0.395, RAW= 141.4,   0.3, CAL= 141.3,   0.7, ROT=   8.7,  -0.7

2025-08-09T16:43:32.199Z,1754757812.199 [DAT](INFO): got valid direction response:
 16:43:30.4737 LVL= 22304, 32753, 25586, 32755, AGC= 70, IDX= 443,-0.03, 0.774,-0.951, 0.633, 0.194, PHS= 0.681,-1.101, 0.395, RAW= 141.4,   0.3, CAL= 141.3,   0.7, ROT=   8.7,  -0.7

2025-08-09T16:43:32.200Z,1754757812.200 [DAT](INFO): DAT read: Bearing 270.8,   8.2 (Local)

2025-08-09T16:43:32.200Z,1754757812.200 [DAT](INFO): Local bearing/azimuth received:
 Bearing 270.8,   8.2 (Local)

2025-08-09T16:43:32.202Z,1754757812.202 [DAT](INFO): DAT read: Range 11 to 50 : 431.1 m  (Round-trip  574.9 ms) speed  0.5 m/s

2025-08-09T16:43:32.203Z,1754757812.203 [DAT](INFO): DAT read: user:50>

2025-08-09T16:43:32.203Z,1754757812.203 [DAT](INFO): DAT read: Tx time:16:43:31.5947

2025-08-09T16:43:32.204Z,1754757812.204 [DAT](INFO): Ping request sent.
2025-08-09T16:43:32.204Z,1754757812.204 [DAT](INFO): transmitted an acoustic signal
2025-08-09T16:43:32.204Z,1754757812.204 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-09T16:43:32.205Z,1754757812.205 [DAT](INFO): direction in FSK: [0.988420,0.151250,0.012217]
2025-08-09T16:43:32.205Z,1754757812.205 [DAT](INFO): publishing transmit ping time
2025-08-09T16:43:32.205Z,1754757812.205 [DAT](INFO): publishing direction and range info
2025-08-09T16:43:32.209Z,1754757812.209 [DAT](INFO): publishing transmit ping time
2025-08-09T16:43:32.209Z,1754757812.209 [DAT](INFO): publishing direction and range info
2025-08-09T16:43:32.323Z,1754757812.323 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 431.100006 m,
      deltaT: 28.980572 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-08-09T16:43:32.325Z,1754757812.325 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 431.100006 m,
      bearing: 138.591983 deg,
      lat: 36.905978 deg,
      lon: -122.116230 deg,
      deltaT: 28.980572 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      posRepo size: 4

2025-08-09T16:43:32.326Z,1754757812.326 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 431.10 m.
2025-08-09T16:43:32.329Z,1754757812.329 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 431.100006 m,
      nav range: 396.005310 m,
      bearing: 138.591983 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.019346 deg/s,
      cmd heading: 129.895595 deg,
      new cmd heading: 129.919327 deg.

2025-08-09T16:43:32.714Z,1754757812.714 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 431.10 m.
2025-08-09T16:43:32.721Z,1754757812.721 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 431.100006 m,
      nav range: 395.768188 m,
      bearing: 138.599345 deg,
      approach rate: -0.598972 m/s,
      LOS rate: 0.018608 deg/s,
      cmd heading: 129.919323 deg,
      new cmd heading: 129.941423 deg.

2025-08-09T16:43:33.132Z,1754757813.132 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-09T16:43:33.139Z,1754757813.139 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 431.10 m.
2025-08-09T16:43:33.141Z,1754757813.141 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 431.100006 m,
      nav range: 395.513275 m,
      bearing: 138.608110 deg,
      approach rate: -0.606019 m/s,
      LOS rate: 0.020851 deg/s,
      cmd heading: 129.941426 deg,
      new cmd heading: 129.967738 deg.

2025-08-09T16:43:33.199Z,1754757813.199 [DAT](INFO): ****** received valid address query ******
2025-08-09T16:43:33.199Z,1754757813.199 [DAT](INFO): ****** received valid ping request ******
2025-08-09T16:43:33.200Z,1754757813.200 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-09T16:43:33.451Z,1754757813.451 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.247487
2025-08-09T16:43:33.537Z,1754757813.537 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 431.10 m.
2025-08-09T16:43:33.540Z,1754757813.540 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 431.100006 m,
      nav range: 395.264343 m,
      bearing: 138.616662 deg,
      approach rate: -0.617591 m/s,
      LOS rate: 0.021230 deg/s,
      cmd heading: 129.967736 deg,
      new cmd heading: 129.993407 deg.

2025-08-09T16:43:33.704Z,1754757813.704 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.499985
2025-08-09T16:43:33.953Z,1754757813.953 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 431.10 m.
2025-08-09T16:43:33.955Z,1754757813.955 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.751701
2025-08-09T16:43:33.957Z,1754757813.957 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 431.100006 m,
      nav range: 395.014404 m,
      bearing: 138.625494 deg,
      approach rate: -0.602142 m/s,
      LOS rate: 0.021292 deg/s,
      cmd heading: 129.993403 deg,
      new cmd heading: 130.019917 deg.

2025-08-09T16:43:34.207Z,1754757814.207 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.003714
2025-08-09T16:43:34.329Z,1754757814.329 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 431.10 m.
2025-08-09T16:43:34.337Z,1754757814.337 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 431.100006 m,
      nav range: 394.800934 m,
      bearing: 138.633040 deg,
      approach rate: -0.567131 m/s,
      LOS rate: 0.020057 deg/s,
      cmd heading: 130.019918 deg,
      new cmd heading: 130.042567 deg.

2025-08-09T16:43:34.460Z,1754757814.460 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.255776
2025-08-09T16:43:34.711Z,1754757814.711 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.507654
2025-08-09T16:43:34.754Z,1754757814.754 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 431.10 m.
2025-08-09T16:43:34.757Z,1754757814.757 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 431.100006 m,
      nav range: 394.531189 m,
      bearing: 138.642587 deg,
      approach rate: -0.634361 m/s,
      LOS rate: 0.022467 deg/s,
      cmd heading: 130.042567 deg,
      new cmd heading: 130.071227 deg.

2025-08-09T16:43:34.963Z,1754757814.963 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.759517
2025-08-09T16:43:35.177Z,1754757815.177 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-09T16:43:35.185Z,1754757815.185 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 431.10 m.
2025-08-09T16:43:35.192Z,1754757815.192 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 431.100006 m,
      nav range: 394.295715 m,
      bearing: 138.650849 deg,
      approach rate: -0.546622 m/s,
      LOS rate: 0.019192 deg/s,
      cmd heading: 130.071227 deg,
      new cmd heading: 130.096029 deg.

2025-08-09T16:43:35.215Z,1754757815.215 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.011683
2025-08-09T16:43:35.467Z,1754757815.467 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.263551
2025-08-09T16:43:35.551Z,1754757815.551 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 431.10 m.
2025-08-09T16:43:35.554Z,1754757815.554 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 431.100006 m,
      nav range: 394.061951 m,
      bearing: 138.659061 deg,
      approach rate: -0.637872 m/s,
      LOS rate: 0.022420 deg/s,
      cmd heading: 130.096034 deg,
      new cmd heading: 130.120683 deg.

2025-08-09T16:43:35.719Z,1754757815.719 [DAT](INFO): DAT read: Rx Time:16:43:34.5704

2025-08-09T16:43:35.720Z,1754757815.720 [DAT](INFO): Rx dataTimestamp_ set to:1754757815.719556
2025-08-09T16:43:35.720Z,1754757815.720 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.516648
2025-08-09T16:43:35.972Z,1754757815.972 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.767875
2025-08-09T16:43:35.977Z,1754757815.977 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 431.10 m.
2025-08-09T16:43:35.980Z,1754757815.980 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 431.100006 m,
      nav range: 393.816864 m,
      bearing: 138.667973 deg,
      approach rate: -0.575567 m/s,
      LOS rate: 0.020943 deg/s,
      cmd heading: 130.120677 deg,
      new cmd heading: 130.147431 deg.

2025-08-09T16:43:36.230Z,1754757816.230 [DAT](INFO): DAT read: 16:43:34.5704 LVL= 13968, 15729, 15970, 21795, AGC= 70, IDX= 289,-0.23,-2.310, 2.001,-2.564,-2.795, PHS= 0.588,-1.442, 0.187, RAW= 139.3,   7.2, CAL= 139.0,   8.1, ROT=  11.0,  -8.1

2025-08-09T16:43:36.231Z,1754757816.231 [DAT](INFO): got valid direction response:
 16:43:34.5704 LVL= 13968, 15729, 15970, 21795, AGC= 70, IDX= 289,-0.23,-2.310, 2.001,-2.564,-2.795, PHS= 0.588,-1.442, 0.187, RAW= 139.3,   7.2, CAL= 139.0,   8.1, ROT=  11.0,  -8.1

2025-08-09T16:43:36.232Z,1754757816.232 [DAT](INFO): DAT read: Bearing 279.0,   8.7 (Local)

2025-08-09T16:43:36.232Z,1754757816.232 [DAT](INFO): Local bearing/azimuth received:
 Bearing 279.0,   8.7 (Local)

2025-08-09T16:43:36.233Z,1754757816.233 [DAT](INFO): DAT read: Range 11 to 50 : 428.6 m  (Round-trip  571.5 ms) speed  0.4 m/s

2025-08-09T16:43:36.234Z,1754757816.234 [DAT](INFO): DAT read: user:51>

2025-08-09T16:43:36.235Z,1754757816.235 [DAT](INFO): DAT read: Tx time:16:43:35.6947

2025-08-09T16:43:36.235Z,1754757816.235 [DAT](INFO): Ping request sent.
2025-08-09T16:43:36.236Z,1754757816.236 [DAT](INFO): transmitted an acoustic signal
2025-08-09T16:43:36.236Z,1754757816.236 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-09T16:43:36.237Z,1754757816.237 [DAT](INFO): direction in FSK: [0.971834,0.188905,0.140901]
2025-08-09T16:43:36.237Z,1754757816.237 [DAT](INFO): publishing transmit ping time
2025-08-09T16:43:36.237Z,1754757816.237 [DAT](INFO): publishing direction and range info
2025-08-09T16:43:36.240Z,1754757816.240 [DAT](INFO): publishing transmit ping time
2025-08-09T16:43:36.241Z,1754757816.241 [DAT](INFO): publishing direction and range info
2025-08-09T16:43:36.377Z,1754757816.377 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 428.600006 m,
      deltaT: 4.031461 s,
      deltaX: -2.500000 m,
      approachRate: -0.620123 m/s,
      rangeRepo size: 4

2025-08-09T16:43:36.383Z,1754757816.383 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 428.600006 m,
      bearing: 138.257804 deg,
      lat: 36.905972 deg,
      lon: -122.116180 deg,
      deltaT: 4.031461 s,
      deltaX: -2.500000 m,
      approachRate: -0.620123 m/s,
      posRepo size: 4

2025-08-09T16:43:36.384Z,1754757816.384 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 428.60 m.
2025-08-09T16:43:36.386Z,1754757816.386 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 428.600006 m,
      nav range: 396.998596 m,
      bearing: 138.257804 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.020943 deg/s,
      cmd heading: 130.147438 deg,
      new cmd heading: 130.172485 deg.

2025-08-09T16:43:36.768Z,1754757816.768 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 428.60 m.
2025-08-09T16:43:36.771Z,1754757816.771 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 428.600006 m,
      nav range: 396.767609 m,
      bearing: 138.265843 deg,
      approach rate: -0.588715 m/s,
      LOS rate: 0.020499 deg/s,
      cmd heading: 130.172491 deg,
      new cmd heading: 130.196620 deg.

2025-08-09T16:43:37.202Z,1754757817.202 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-09T16:43:37.205Z,1754757817.205 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 428.60 m.
2025-08-09T16:43:37.212Z,1754757817.212 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 428.600006 m,
      nav range: 396.499695 m,
      bearing: 138.274297 deg,
      approach rate: -0.614076 m/s,
      LOS rate: 0.019392 deg/s,
      cmd heading: 130.196615 deg,
      new cmd heading: 130.221996 deg.

2025-08-09T16:43:37.231Z,1754757817.231 [DAT](INFO): ****** received valid address query ******
2025-08-09T16:43:37.231Z,1754757817.231 [DAT](INFO): ****** received valid ping request ******
2025-08-09T16:43:37.231Z,1754757817.231 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-09T16:43:37.484Z,1754757817.484 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.248319
2025-08-09T16:43:37.575Z,1754757817.575 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 428.60 m.
2025-08-09T16:43:37.578Z,1754757817.578 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 428.600006 m,
      nav range: 396.276215 m,
      bearing: 138.281344 deg,
      approach rate: -0.603282 m/s,
      LOS rate: 0.019032 deg/s,
      cmd heading: 130.221996 deg,
      new cmd heading: 130.243147 deg.

2025-08-09T16:43:37.735Z,1754757817.735 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.499750
2025-08-09T16:43:37.987Z,1754757817.987 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.751729
2025-08-09T16:43:37.992Z,1754757817.992 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 428.60 m.
2025-08-09T16:43:37.995Z,1754757817.995 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 428.600006 m,
      nav range: 396.026855 m,
      bearing: 138.288460 deg,
      approach rate: -0.597657 m/s,
      LOS rate: 0.017066 deg/s,
      cmd heading: 130.243142 deg,
      new cmd heading: 130.264504 deg.

2025-08-09T16:43:38.240Z,1754757818.240 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.003971
2025-08-09T16:43:38.374Z,1754757818.374 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 428.60 m.
2025-08-09T16:43:38.377Z,1754757818.377 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 428.600006 m,
      nav range: 395.797028 m,
      bearing: 138.294995 deg,
      approach rate: -0.602364 m/s,
      LOS rate: 0.017140 deg/s,
      cmd heading: 130.264507 deg,
      new cmd heading: 130.284126 deg.

2025-08-09T16:43:38.491Z,1754757818.491 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.255845
2025-08-09T16:43:38.743Z,1754757818.743 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.507794
2025-08-09T16:43:38.769Z,1754757818.769 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 428.60 m.
2025-08-09T16:43:38.772Z,1754757818.772 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 428.600006 m,
      nav range: 395.559784 m,
      bearing: 138.301713 deg,
      approach rate: -0.599973 m/s,
      LOS rate: 0.016999 deg/s,
      cmd heading: 130.284124 deg,
      new cmd heading: 130.304289 deg.

2025-08-09T16:43:38.995Z,1754757818.995 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.759726
2025-08-09T16:43:39.208Z,1754757819.208 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-09T16:43:39.210Z,1754757819.210 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 428.60 m.
2025-08-09T16:43:39.213Z,1754757819.213 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 428.600006 m,
      nav range: 395.280304 m,
      bearing: 138.309067 deg,
      approach rate: -0.633836 m/s,
      LOS rate: 0.016689 deg/s,
      cmd heading: 130.304286 deg,
      new cmd heading: 130.326362 deg.

2025-08-09T16:43:39.247Z,1754757819.247 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.011901
2025-08-09T16:43:39.499Z,1754757819.499 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.263735
2025-08-09T16:43:39.586Z,1754757819.586 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 428.60 m.
2025-08-09T16:43:39.588Z,1754757819.588 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 428.600006 m,
      nav range: 395.041718 m,
      bearing: 138.315310 deg,
      approach rate: -0.635468 m/s,
      LOS rate: 0.016638 deg/s,
      cmd heading: 130.326361 deg,
      new cmd heading: 130.345102 deg.

2025-08-09T16:43:39.751Z,1754757819.751 [DAT](INFO): DAT read: Rx Time:16:43:38.6675

2025-08-09T16:43:39.752Z,1754757819.752 [DAT](INFO): Rx dataTimestamp_ set to:1754757819.751480
2025-08-09T16:43:39.752Z,1754757819.752 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.516770
2025-08-09T16:43:40.003Z,1754757820.003 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.767870
2025-08-09T16:43:40.012Z,1754757820.012 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 428.60 m.
2025-08-09T16:43:40.015Z,1754757820.015 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 428.600006 m,
      nav range: 394.771240 m,
      bearing: 138.322373 deg,
      approach rate: -0.633724 m/s,
      LOS rate: 0.016560 deg/s,
      cmd heading: 130.345103 deg,
      new cmd heading: 130.366307 deg.

2025-08-09T16:43:40.262Z,1754757820.262 [DAT](INFO): DAT read: 16:43:38.6675 LVL= 32752, 32753, 32754, 32755, AGC= 71, IDX= 411, 0.20, 1.708,-0.115, 1.664, 1.188, PHS= 0.622,-1.258, 0.432, RAW= 144.7,   2.3, CAL= 144.2,   2.5, ROT=   5.8,  -2.5

2025-08-09T16:43:40.268Z,1754757820.268 [DAT](INFO): got valid direction response:
 16:43:38.6675 LVL= 32752, 32753, 32754, 32755, AGC= 71, IDX= 411, 0.20, 1.708,-0.115, 1.664, 1.188, PHS= 0.622,-1.258, 0.432, RAW= 144.7,   2.3, CAL= 144.2,   2.5, ROT=   5.8,  -2.5

2025-08-09T16:43:40.269Z,1754757820.269 [DAT](INFO): DAT read: Bearing 273.5,   3.4 (Local)

2025-08-09T16:43:40.269Z,1754757820.269 [DAT](INFO): Local bearing/azimuth received:
 Bearing 273.5,   3.4 (Local)

2025-08-09T16:43:40.276Z,1754757820.276 [DAT](INFO): DAT read: Range 11 to 50 : 426.4 m  (Round-trip  568.6 ms) speed  0.5 m/s

2025-08-09T16:43:40.277Z,1754757820.277 [DAT](INFO): DAT read: user:52>

2025-08-09T16:43:40.278Z,1754757820.278 [DAT](INFO): DAT read: Tx time:16:43:39.7948

2025-08-09T16:43:40.278Z,1754757820.278 [DAT](INFO): Ping request sent.
2025-08-09T16:43:40.278Z,1754757820.278 [DAT](INFO): transmitted an acoustic signal
2025-08-09T16:43:40.279Z,1754757820.279 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-09T16:43:40.280Z,1754757820.280 [DAT](INFO): direction in FSK: [0.993934,0.100960,0.043619]
2025-08-09T16:43:40.280Z,1754757820.280 [DAT](INFO): publishing transmit ping time
2025-08-09T16:43:40.280Z,1754757820.280 [DAT](INFO): publishing direction and range info
2025-08-09T16:43:40.296Z,1754757820.296 [DAT](INFO): publishing transmit ping time
2025-08-09T16:43:40.296Z,1754757820.296 [DAT](INFO): publishing direction and range info
2025-08-09T16:43:40.421Z,1754757820.421 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 426.399994 m,
      deltaT: 4.032231 s,
      deltaX: -2.200012 m,
      approachRate: -0.545607 m/s,
      rangeRepo size: 4

2025-08-09T16:43:40.427Z,1754757820.427 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 426.399994 m,
      bearing: 137.860775 deg,
      lat: 36.905921 deg,
      lon: -122.116073 deg,
      deltaT: 4.032231 s,
      deltaX: -2.200012 m,
      approachRate: -0.545607 m/s,
      posRepo size: 4

2025-08-09T16:43:40.428Z,1754757820.428 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 426.40 m.
2025-08-09T16:43:40.435Z,1754757820.435 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 426.399994 m,
      nav range: 405.118317 m,
      bearing: 137.860775 deg,
      approach rate: -35689938944.000000 m/s,
      LOS rate: 0.016560 deg/s,
      cmd heading: 130.366304 deg,
      new cmd heading: 130.386569 deg.

2025-08-09T16:43:40.792Z,1754757820.792 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 426.40 m.
2025-08-09T16:43:40.795Z,1754757820.795 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 426.399994 m,
      nav range: 404.871887 m,
      bearing: 137.866684 deg,
      approach rate: -0.662657 m/s,
      LOS rate: 0.015898 deg/s,
      cmd heading: 130.386563 deg,
      new cmd heading: 130.404299 deg.

2025-08-09T16:43:41.221Z,1754757821.221 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-09T16:43:41.223Z,1754757821.223 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 426.40 m.
2025-08-09T16:43:41.226Z,1754757821.226 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 426.399994 m,
      nav range: 404.589874 m,
      bearing: 137.872888 deg,
      approach rate: -0.653993 m/s,
      LOS rate: 0.014398 deg/s,
      cmd heading: 130.404294 deg,
      new cmd heading: 130.422920 deg.

2025-08-09T16:43:41.264Z,1754757821.264 [DAT](INFO): ****** received valid address query ******
2025-08-09T16:43:41.264Z,1754757821.264 [DAT](INFO): ****** received valid ping request ******
2025-08-09T16:43:41.264Z,1754757821.264 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-09T16:43:41.515Z,1754757821.515 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.237207
2025-08-09T16:43:41.609Z,1754757821.609 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 426.40 m.
2025-08-09T16:43:41.612Z,1754757821.612 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 426.399994 m,
      nav range: 404.337067 m,
      bearing: 137.878412 deg,
      approach rate: -0.655023 m/s,
      LOS rate: 0.014321 deg/s,
      cmd heading: 130.422927 deg,
      new cmd heading: 130.439508 deg.

2025-08-09T16:43:41.767Z,1754757821.767 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.489162
2025-08-09T16:43:42.025Z,1754757822.025 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.746565
2025-08-09T16:43:42.043Z,1754757822.043 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 426.40 m.
2025-08-09T16:43:42.046Z,1754757822.046 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 426.399994 m,
      nav range: 404.057312 m,
      bearing: 137.884720 deg,
      approach rate: -0.644681 m/s,
      LOS rate: 0.014546 deg/s,
      cmd heading: 130.439510 deg,
      new cmd heading: 130.458447 deg.

2025-08-09T16:43:42.275Z,1754757822.275 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.997203
2025-08-09T16:43:42.404Z,1754757822.404 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 426.40 m.
2025-08-09T16:43:42.430Z,1754757822.430 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 426.399994 m,
      nav range: 403.824799 m,
      bearing: 137.889917 deg,
      approach rate: -0.644903 m/s,
      LOS rate: 0.014424 deg/s,
      cmd heading: 130.458444 deg,
      new cmd heading: 130.474045 deg.

2025-08-09T16:43:42.528Z,1754757822.528 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.249505
2025-08-09T16:43:42.780Z,1754757822.780 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.501432
2025-08-09T16:43:42.810Z,1754757822.810 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 426.40 m.
2025-08-09T16:43:42.813Z,1754757822.813 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 426.399994 m,
      nav range: 403.562958 m,
      bearing: 137.895732 deg,
      approach rate: -0.644179 m/s,
      LOS rate: 0.014314 deg/s,
      cmd heading: 130.474044 deg,
      new cmd heading: 130.491498 deg.

2025-08-09T16:43:43.032Z,1754757823.032 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.753823
2025-08-09T16:43:43.241Z,1754757823.241 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-09T16:43:43.244Z,1754757823.244 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 426.40 m.
2025-08-09T16:43:43.247Z,1754757823.247 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 426.399994 m,
      nav range: 403.285492 m,
      bearing: 137.902322 deg,
      approach rate: -0.639523 m/s,
      LOS rate: 0.015199 deg/s,
      cmd heading: 130.491502 deg,
      new cmd heading: 130.511285 deg.

2025-08-09T16:43:43.284Z,1754757823.284 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.005777
2025-08-09T16:43:43.535Z,1754757823.535 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.257044
2025-08-09T16:43:43.624Z,1754757823.624 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 426.40 m.
2025-08-09T16:43:43.627Z,1754757823.627 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 426.399994 m,
      nav range: 403.041565 m,
      bearing: 137.908093 deg,
      approach rate: -0.641538 m/s,
      LOS rate: 0.015187 deg/s,
      cmd heading: 130.511282 deg,
      new cmd heading: 130.528605 deg.

2025-08-09T16:43:43.787Z,1754757823.787 [DAT](INFO): DAT read: Rx Time:16:43:42.7641

2025-08-09T16:43:43.788Z,1754757823.788 [DAT](INFO): Rx dataTimestamp_ set to:1754757823.787602
2025-08-09T16:43:43.788Z,1754757823.788 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.510283
2025-08-09T16:43:44.039Z,1754757824.039 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.761148
2025-08-09T16:43:44.074Z,1754757824.074 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 426.40 m.
2025-08-09T16:43:44.077Z,1754757824.077 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 426.399994 m,
      nav range: 402.764984 m,
      bearing: 137.915083 deg,
      approach rate: -0.615172 m/s,
      LOS rate: 0.015558 deg/s,
      cmd heading: 130.528603 deg,
      new cmd heading: 130.549588 deg.

2025-08-09T16:43:44.296Z,1754757824.296 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.016803
2025-08-09T16:43:44.447Z,1754757824.447 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 426.40 m.
2025-08-09T16:43:44.450Z,1754757824.450 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 426.399994 m,
      nav range: 402.535034 m,
      bearing: 137.920902 deg,
      approach rate: -0.615908 m/s,
      LOS rate: 0.015595 deg/s,
      cmd heading: 130.549586 deg,
      new cmd heading: 130.567053 deg.

2025-08-09T16:43:44.549Z,1754757824.549 [DAT](INFO): DAT read: 16:43:42.7641 LVL= 29456, 32753, 32754, 32755, AGC= 71, IDX= 408,-0.11, 1.802, 0.031, 1.737, 1.279, PHS= 0.625,-1.202, 0.414, RAW= 144.0,   1.9, CAL= 143.5,   2.2, ROT=   6.5,  -2.2

2025-08-09T16:43:44.551Z,1754757824.551 [DAT](INFO): got valid direction response:
 16:43:42.7641 LVL= 29456, 32753, 32754, 32755, AGC= 71, IDX= 408,-0.11, 1.802, 0.031, 1.737, 1.279, PHS= 0.625,-1.202, 0.414, RAW= 144.0,   1.9, CAL= 143.5,   2.2, ROT=   6.5,  -2.2

2025-08-09T16:43:44.551Z,1754757824.551 [DAT](INFO): DAT read: $Error in header

2025-08-09T16:43:44.551Z,1754757824.551 [DAT](INFO): Received a bad header
2025-08-09T16:43:44.563Z,1754757824.563 [DAT](INFO): #Rx 1: Read direction message, but no range.
2025-08-09T16:43:44.564Z,1754757824.564 [DAT](INFO): direction in FSK: [0.992840,0.113120,0.038388]
2025-08-09T16:43:44.567Z,1754757824.567 [DAT](INFO): ****** received valid address query ******
2025-08-09T16:43:44.567Z,1754757824.567 [DAT](INFO): ****** received valid ping request ******
2025-08-09T16:43:44.567Z,1754757824.567 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-09T16:43:44.795Z,1754757824.795 [DAT](INFO): ****** received valid address query ******
2025-08-09T16:43:44.795Z,1754757824.795 [DAT](INFO): ****** received valid ping request ******
2025-08-09T16:43:44.795Z,1754757824.795 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-09T16:43:44.846Z,1754757824.846 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 426.40 m.
2025-08-09T16:43:44.851Z,1754757824.851 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 426.399994 m,
      nav range: 402.291382 m,
      bearing: 137.927093 deg,
      approach rate: -0.611517 m/s,
      LOS rate: 0.015547 deg/s,
      cmd heading: 130.567057 deg,
      new cmd heading: 130.585641 deg.

2025-08-09T16:43:45.049Z,1754757825.049 [DAT](INFO): ****** received valid address query ******
2025-08-09T16:43:45.050Z,1754757825.050 [DAT](INFO): ****** received valid ping request ******
2025-08-09T16:43:45.050Z,1754757825.050 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-09T16:43:45.256Z,1754757825.256 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-09T16:43:45.258Z,1754757825.258 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 426.40 m.
2025-08-09T16:43:45.260Z,1754757825.260 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 426.399994 m,
      nav range: 402.044525 m,
      bearing: 137.933321 deg,
      approach rate: -0.599449 m/s,
      LOS rate: 0.015133 deg/s,
      cmd heading: 130.585635 deg,
      new cmd heading: 130.604331 deg.

2025-08-09T16:43:45.299Z,1754757825.299 [DAT](INFO): ****** received valid address query ******
2025-08-09T16:43:45.299Z,1754757825.299 [DAT](INFO): ****** received valid ping request ******
2025-08-09T16:43:45.299Z,1754757825.299 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-09T16:43:45.551Z,1754757825.551 [DAT](INFO): ****** received valid address query ******
2025-08-09T16:43:45.551Z,1754757825.551 [DAT](INFO): ****** received valid ping request ******
2025-08-09T16:43:45.551Z,1754757825.551 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-09T16:43:45.664Z,1754757825.664 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 426.40 m.
2025-08-09T16:43:45.667Z,1754757825.667 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 426.399994 m,
      nav range: 401.809814 m,
      bearing: 137.939258 deg,
      approach rate: -0.578905 m/s,
      LOS rate: 0.014652 deg/s,
      cmd heading: 130.604336 deg,
      new cmd heading: 130.622158 deg.

2025-08-09T16:43:45.803Z,1754757825.803 [DAT](INFO): ****** received valid address query ******
2025-08-09T16:43:45.803Z,1754757825.803 [DAT](INFO): ****** received valid ping request ******
2025-08-09T16:43:45.803Z,1754757825.803 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-09T16:43:46.058Z,1754757826.058 [DAT](INFO): ****** received valid address query ******
2025-08-09T16:43:46.058Z,1754757826.058 [DAT](INFO): ****** received valid ping request ******
2025-08-09T16:43:46.058Z,1754757826.058 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-09T16:43:46.187Z,1754757826.187 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 426.40 m.
2025-08-09T16:43:46.190Z,1754757826.190 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 426.399994 m,
      nav range: 401.501434 m,
      bearing: 137.947737 deg,
      approach rate: -0.588447 m/s,
      LOS rate: 0.016192 deg/s,
      cmd heading: 130.622163 deg,
      new cmd heading: 130.647620 deg.

2025-08-09T16:43:46.311Z,1754757826.311 [DAT](INFO): ****** received valid address query ******
2025-08-09T16:43:46.311Z,1754757826.311 [DAT](INFO): ****** received valid ping request ******
2025-08-09T16:43:46.311Z,1754757826.311 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-09T16:43:46.515Z,1754757826.515 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 426.40 m.
2025-08-09T16:43:46.518Z,1754757826.518 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 426.399994 m,
      nav range: 401.317078 m,
      bearing: 137.952814 deg,
      approach rate: -0.561931 m/s,
      LOS rate: 0.015482 deg/s,
      cmd heading: 130.647626 deg,
      new cmd heading: 130.662864 deg.

2025-08-09T16:43:46.563Z,1754757826.563 [DAT](INFO): ****** received valid address query ******
2025-08-09T16:43:46.564Z,1754757826.564 [DAT](INFO): ****** received valid ping request ******
2025-08-09T16:43:46.564Z,1754757826.564 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-09T16:43:46.815Z,1754757826.815 [DAT](INFO): ****** received valid address query ******
2025-08-09T16:43:46.815Z,1754757826.815 [DAT](INFO): ****** received valid ping request ******
2025-08-09T16:43:46.815Z,1754757826.815 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-09T16:43:46.932Z,1754757826.932 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 426.40 m.
2025-08-09T16:43:46.935Z,1754757826.935 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 426.399994 m,
      nav range: 401.073029 m,
      bearing: 137.959524 deg,
      approach rate: -0.586131 m/s,
      LOS rate: 0.016126 deg/s,
      cmd heading: 130.662858 deg,
      new cmd heading: 130.683001 deg.

2025-08-09T16:43:47.070Z,1754757827.070 [DAT](INFO): ****** received valid address query ******
2025-08-09T16:43:47.070Z,1754757827.070 [DAT](INFO): ****** received valid ping request ******
2025-08-09T16:43:47.070Z,1754757827.070 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-09T16:43:47.319Z,1754757827.319 [DAT](INFO): ****** received valid address query ******
2025-08-09T16:43:47.319Z,1754757827.319 [DAT](INFO): ****** received valid ping request ******
2025-08-09T16:43:47.319Z,1754757827.319 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-09T16:43:47.339Z,1754757827.339 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-09T16:43:47.341Z,1754757827.341 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 426.40 m.
2025-08-09T16:43:47.345Z,1754757827.345 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 426.399994 m,
      nav range: 400.833740 m,
      bearing: 137.966419 deg,
      approach rate: -0.583805 m/s,
      LOS rate: 0.016831 deg/s,
      cmd heading: 130.683007 deg,
      new cmd heading: 130.703702 deg.

2025-08-09T16:43:47.572Z,1754757827.572 [DAT](INFO): ****** received valid address query ******
2025-08-09T16:43:47.572Z,1754757827.572 [DAT](INFO): ****** received valid ping request ******
2025-08-09T16:43:47.572Z,1754757827.572 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-09T16:43:47.719Z,1754757827.719 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 426.40 m.
2025-08-09T16:43:47.722Z,1754757827.722 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 426.399994 m,
      nav range: 400.612885 m,
      bearing: 137.972775 deg,
      approach rate: -0.585106 m/s,
      LOS rate: 0.016848 deg/s,
      cmd heading: 130.703702 deg,
      new cmd heading: 130.722781 deg.

2025-08-09T16:43:47.823Z,1754757827.823 [DAT](INFO): ****** received valid address query ******
2025-08-09T16:43:47.823Z,1754757827.823 [DAT](INFO): ****** received valid ping request ******
2025-08-09T16:43:47.823Z,1754757827.823 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-09T16:43:48.079Z,1754757828.079 [DAT](INFO): ****** received valid address query ******
2025-08-09T16:43:48.079Z,1754757828.079 [DAT](INFO): ****** received valid ping request ******
2025-08-09T16:43:48.079Z,1754757828.079 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-09T16:43:48.187Z,1754757828.187 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 426.40 m.
2025-08-09T16:43:48.190Z,1754757828.190 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 426.399994 m,
      nav range: 400.348236 m,
      bearing: 137.980961 deg,
      approach rate: -0.564824 m/s,
      LOS rate: 0.017482 deg/s,
      cmd heading: 130.722786 deg,
      new cmd heading: 130.747359 deg.

2025-08-09T16:43:48.327Z,1754757828.327 [DAT](INFO): ****** received valid address query ******
2025-08-09T16:43:48.327Z,1754757828.327 [DAT](INFO): ****** received valid ping request ******
2025-08-09T16:43:48.327Z,1754757828.327 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-09T16:43:48.529Z,1754757828.529 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 426.40 m.
2025-08-09T16:43:48.536Z,1754757828.536 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 426.399994 m,
      nav range: 400.147614 m,
      bearing: 137.987144 deg,
      approach rate: -0.587802 m/s,
      LOS rate: 0.018124 deg/s,
      cmd heading: 130.747361 deg,
      new cmd heading: 130.765919 deg.

2025-08-09T16:43:48.579Z,1754757828.579 [DAT](INFO): ****** received valid address query ******
2025-08-09T16:43:48.579Z,1754757828.579 [DAT](INFO): ****** received valid ping request ******
2025-08-09T16:43:48.579Z,1754757828.579 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-09T16:43:48.831Z,1754757828.831 [DAT](INFO): ****** received valid address query ******
2025-08-09T16:43:48.831Z,1754757828.831 [DAT](INFO): ****** received valid ping request ******
2025-08-09T16:43:48.832Z,1754757828.832 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-09T16:43:48.930Z,1754757828.930 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 426.40 m.
2025-08-09T16:43:48.933Z,1754757828.933 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 426.399994 m,
      nav range: 399.906586 m,
      bearing: 137.994557 deg,
      approach rate: -0.600604 m/s,
      LOS rate: 0.018485 deg/s,
      cmd heading: 130.765925 deg,
      new cmd heading: 130.788180 deg.

2025-08-09T16:43:49.086Z,1754757829.086 [DAT](INFO): ****** received valid address query ******
2025-08-09T16:43:49.086Z,1754757829.086 [DAT](INFO): ****** received valid ping request ******
2025-08-09T16:43:49.087Z,1754757829.087 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-09T16:43:49.335Z,1754757829.335 [DAT](INFO): ****** received valid address query ******
2025-08-09T16:43:49.335Z,1754757829.335 [DAT](INFO): ****** received valid ping request ******
2025-08-09T16:43:49.335Z,1754757829.335 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-09T16:43:49.355Z,1754757829.355 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-09T16:43:49.357Z,1754757829.357 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 426.40 m.
2025-08-09T16:43:49.360Z,1754757829.360 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 426.399994 m,
      nav range: 399.652985 m,
      bearing: 138.002358 deg,
      approach rate: -0.594197 m/s,
      LOS rate: 0.018290 deg/s,
      cmd heading: 130.788178 deg,
      new cmd heading: 130.811596 deg.

2025-08-09T16:43:49.587Z,1754757829.587 [DAT](INFO): ****** received valid address query ******
2025-08-09T16:43:49.587Z,1754757829.587 [DAT](INFO): ****** received valid ping request ******
2025-08-09T16:43:49.587Z,1754757829.587 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-09T16:43:49.758Z,1754757829.758 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 426.40 m.
2025-08-09T16:43:49.764Z,1754757829.764 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 426.399994 m,
      nav range: 399.419037 m,
      bearing: 138.009521 deg,
      approach rate: -0.583698 m/s,
      LOS rate: 0.017881 deg/s,
      cmd heading: 130.811592 deg,
      new cmd heading: 130.833093 deg.

2025-08-09T16:43:49.840Z,1754757829.840 [DAT](INFO): ****** received valid address query ******
2025-08-09T16:43:49.840Z,1754757829.840 [DAT](INFO): ****** received valid ping request ******
2025-08-09T16:43:49.840Z,1754757829.840 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-09T16:43:50.093Z,1754757830.093 [DAT](INFO): ****** received valid address query ******
2025-08-09T16:43:50.094Z,1754757830.094 [DAT](INFO): ****** received valid ping request ******
2025-08-09T16:43:50.094Z,1754757830.094 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-09T16:43:50.206Z,1754757830.206 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 426.40 m.
2025-08-09T16:43:50.209Z,1754757830.209 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 426.399994 m,
      nav range: 399.139191 m,
      bearing: 138.017437 deg,
      approach rate: -0.624161 m/s,
      LOS rate: 0.017667 deg/s,
      cmd heading: 130.833093 deg,
      new cmd heading: 130.856856 deg.

2025-08-09T16:43:50.343Z,1754757830.343 [DAT](INFO): Reached modem response timeout
2025-08-09T16:43:50.343Z,1754757830.343 [DAT](DEBUG): Acoustic response timeout
2025-08-09T16:43:50.343Z,1754757830.343 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-09T16:43:50.541Z,1754757830.541 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 426.40 m.
2025-08-09T16:43:50.560Z,1754757830.560 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 426.399994 m,
      nav range: 398.932617 m,
      bearing: 138.023236 deg,
      approach rate: -0.617079 m/s,
      LOS rate: 0.017333 deg/s,
      cmd heading: 130.856862 deg,
      new cmd heading: 130.874270 deg.

2025-08-09T16:43:50.595Z,1754757830.595 [DAT](INFO): Reached modem response timeout
2025-08-09T16:43:50.595Z,1754757830.595 [DAT](DEBUG): Acoustic response timeout
2025-08-09T16:43:50.596Z,1754757830.596 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-09T16:43:50.847Z,1754757830.847 [DAT](INFO): Reached modem response timeout
2025-08-09T16:43:50.848Z,1754757830.848 [DAT](DEBUG): Acoustic response timeout
2025-08-09T16:43:50.848Z,1754757830.848 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-09T16:43:50.946Z,1754757830.946 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 426.40 m.
2025-08-09T16:43:50.949Z,1754757830.949 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 426.399994 m,
      nav range: 398.683472 m,
      bearing: 138.030179 deg,
      approach rate: -0.615203 m/s,
      LOS rate: 0.017154 deg/s,
      cmd heading: 130.874266 deg,
      new cmd heading: 130.895107 deg.

2025-08-09T16:43:51.101Z,1754757831.101 [DAT](INFO): Reached modem response timeout
2025-08-09T16:43:51.101Z,1754757831.101 [DAT](DEBUG): Acoustic response timeout
2025-08-09T16:43:51.102Z,1754757831.102 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-09T16:43:51.351Z,1754757831.351 [DAT](INFO): Reached modem response timeout
2025-08-09T16:43:51.351Z,1754757831.351 [DAT](DEBUG): Acoustic response timeout
2025-08-09T16:43:51.352Z,1754757831.352 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-09T16:43:51.386Z,1754757831.386 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-09T16:43:51.388Z,1754757831.388 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 426.40 m.
2025-08-09T16:43:51.391Z,1754757831.391 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 426.399994 m,
      nav range: 398.409027 m,
      bearing: 138.038251 deg,
      approach rate: -0.620629 m/s,
      LOS rate: 0.018267 deg/s,
      cmd heading: 130.895111 deg,
      new cmd heading: 130.919345 deg.

2025-08-09T16:43:51.603Z,1754757831.603 [DAT](INFO): Reached modem response timeout
2025-08-09T16:43:51.604Z,1754757831.604 [DAT](DEBUG): Acoustic response timeout
2025-08-09T16:43:51.604Z,1754757831.604 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-09T16:43:51.762Z,1754757831.762 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 426.40 m.
2025-08-09T16:43:51.765Z,1754757831.765 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 426.399994 m,
      nav range: 398.175995 m,
      bearing: 138.045063 deg,
      approach rate: -0.622813 m/s,
      LOS rate: 0.018216 deg/s,
      cmd heading: 130.919345 deg,
      new cmd heading: 130.939792 deg.

2025-08-09T16:43:51.856Z,1754757831.856 [DAT](INFO): Reached modem response timeout
2025-08-09T16:43:51.856Z,1754757831.856 [DAT](DEBUG): Acoustic response timeout
2025-08-09T16:43:51.857Z,1754757831.857 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-09T16:43:52.109Z,1754757832.109 [DAT](INFO): Reached modem response timeout
2025-08-09T16:43:52.110Z,1754757832.110 [DAT](DEBUG): Acoustic response timeout
2025-08-09T16:43:52.110Z,1754757832.110 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-09T16:43:52.224Z,1754757832.224 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 426.40 m.
2025-08-09T16:43:52.231Z,1754757832.231 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 426.399994 m,
      nav range: 397.893158 m,
      bearing: 138.052681 deg,
      approach rate: -0.612242 m/s,
      LOS rate: 0.016503 deg/s,
      cmd heading: 130.939794 deg,
      new cmd heading: 130.962666 deg.

2025-08-09T16:43:52.359Z,1754757832.359 [DAT](INFO): Reached modem response timeout
2025-08-09T16:43:52.359Z,1754757832.359 [DAT](DEBUG): Acoustic response timeout
2025-08-09T16:43:52.359Z,1754757832.359 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-09T16:43:52.575Z,1754757832.575 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 426.40 m.
2025-08-09T16:43:52.577Z,1754757832.577 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 426.399994 m,
      nav range: 397.670593 m,
      bearing: 138.058637 deg,
      approach rate: -0.665576 m/s,
      LOS rate: 0.017821 deg/s,
      cmd heading: 130.962662 deg,
      new cmd heading: 130.980540 deg.

2025-08-09T16:43:52.611Z,1754757832.611 [DAT](INFO): Reached modem response timeout
2025-08-09T16:43:52.612Z,1754757832.612 [DAT](DEBUG): Acoustic response timeout
2025-08-09T16:43:52.612Z,1754757832.612 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-09T16:43:52.864Z,1754757832.864 [DAT](INFO): DAT read: Response Not Received

2025-08-09T16:43:52.865Z,1754757832.865 [DAT](INFO): response not received
2025-08-09T16:43:52.865Z,1754757832.865 [DAT](INFO): DAT read: user:54>

2025-08-09T16:43:52.866Z,1754757832.866 [DAT](INFO): DAT read: Tx time:16:43:52.2448

2025-08-09T16:43:52.867Z,1754757832.867 [DAT](INFO): Ping request sent.
2025-08-09T16:43:52.867Z,1754757832.867 [DAT](INFO): transmitted an acoustic signal
2025-08-09T16:43:52.867Z,1754757832.867 [DAT](INFO): publishing transmit ping time
2025-08-09T16:43:52.868Z,1754757832.868 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.001297
2025-08-09T16:43:52.983Z,1754757832.983 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 426.40 m.
2025-08-09T16:43:52.986Z,1754757832.986 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 426.399994 m,
      nav range: 397.400818 m,
      bearing: 138.065797 deg,
      approach rate: -0.634797 m/s,
      LOS rate: 0.016859 deg/s,
      cmd heading: 130.980543 deg,
      new cmd heading: 131.002038 deg.

2025-08-09T16:43:53.124Z,1754757833.124 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.256572
2025-08-09T16:43:53.367Z,1754757833.367 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.500617
2025-08-09T16:43:53.408Z,1754757833.408 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-09T16:43:53.410Z,1754757833.410 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 426.40 m.
2025-08-09T16:43:53.413Z,1754757833.413 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 426.399994 m,
      nav range: 397.128418 m,
      bearing: 138.071648 deg,
      approach rate: -0.638498 m/s,
      LOS rate: 0.013723 deg/s,
      cmd heading: 131.002031 deg,
      new cmd heading: 131.019595 deg.

2025-08-09T16:43:53.621Z,1754757833.621 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754168
2025-08-09T16:43:53.778Z,1754757833.778 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 426.40 m.
2025-08-09T16:43:53.781Z,1754757833.781 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 426.399994 m,
      nav range: 396.892853 m,
      bearing: 138.076619 deg,
      approach rate: -0.640368 m/s,
      LOS rate: 0.013522 deg/s,
      cmd heading: 131.019598 deg,
      new cmd heading: 131.034521 deg.

2025-08-09T16:43:53.872Z,1754757833.872 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.005635
2025-08-09T16:43:54.127Z,1754757834.127 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.259239
2025-08-09T16:43:54.235Z,1754757834.235 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 426.40 m.
2025-08-09T16:43:54.238Z,1754757834.238 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 426.399994 m,
      nav range: 396.597931 m,
      bearing: 138.082381 deg,
      approach rate: -0.644735 m/s,
      LOS rate: 0.012605 deg/s,
      cmd heading: 131.034515 deg,
      new cmd heading: 131.051813 deg.

2025-08-09T16:43:54.375Z,1754757834.375 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.508757
2025-08-09T16:43:54.598Z,1754757834.598 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 426.40 m.
2025-08-09T16:43:54.601Z,1754757834.601 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 426.399994 m,
      nav range: 396.376251 m,
      bearing: 138.086699 deg,
      approach rate: -0.611115 m/s,
      LOS rate: 0.011910 deg/s,
      cmd heading: 131.051809 deg,
      new cmd heading: 131.064771 deg.

2025-08-09T16:43:54.633Z,1754757834.633 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.766181
2025-08-09T16:43:54.883Z,1754757834.883 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.016921
2025-08-09T16:43:55.040Z,1754757835.040 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 426.40 m.
2025-08-09T16:43:55.043Z,1754757835.043 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 426.399994 m,
      nav range: 396.078705 m,
      bearing: 138.092467 deg,
      approach rate: -0.672906 m/s,
      LOS rate: 0.013056 deg/s,
      cmd heading: 131.064773 deg,
      new cmd heading: 131.082093 deg.

2025-08-09T16:43:55.139Z,1754757835.139 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.271363
2025-08-09T16:43:55.387Z,1754757835.387 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.520673
2025-08-09T16:43:55.477Z,1754757835.477 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-09T16:43:55.479Z,1754757835.479 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 426.40 m.
2025-08-09T16:43:55.482Z,1754757835.482 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 426.399994 m,
      nav range: 395.804077 m,
      bearing: 138.096661 deg,
      approach rate: -0.625740 m/s,
      LOS rate: 0.009562 deg/s,
      cmd heading: 131.082095 deg,
      new cmd heading: 131.094684 deg.

2025-08-09T16:43:55.640Z,1754757835.640 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.773582
2025-08-09T16:43:55.892Z,1754757835.892 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.025072
2025-08-09T16:43:55.957Z,1754757835.957 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 426.40 m.
2025-08-09T16:43:55.960Z,1754757835.960 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 426.399994 m,
      nav range: 395.504120 m,
      bearing: 138.101187 deg,
      approach rate: -0.627499 m/s,
      LOS rate: 0.009475 deg/s,
      cmd heading: 131.094689 deg,
      new cmd heading: 131.108277 deg.

2025-08-09T16:43:56.147Z,1754757836.147 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.279885
2025-08-09T16:43:56.383Z,1754757836.383 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 426.40 m.
2025-08-09T16:43:56.386Z,1754757836.386 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 426.399994 m,
      nav range: 395.244415 m,
      bearing: 138.105168 deg,
      approach rate: -0.609369 m/s,
      LOS rate: 0.009347 deg/s,
      cmd heading: 131.108281 deg,
      new cmd heading: 131.120233 deg.

2025-08-09T16:43:56.396Z,1754757836.396 [DAT](INFO): DAT read: Rx Time:16:43:55.2041

2025-08-09T16:43:56.396Z,1754757836.396 [DAT](INFO): Rx dataTimestamp_ set to:1754757836.395840
2025-08-09T16:43:56.397Z,1754757836.397 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.530118
2025-08-09T16:43:56.647Z,1754757836.647 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.780809
2025-08-09T16:43:56.809Z,1754757836.809 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 426.40 m.
2025-08-09T16:43:56.816Z,1754757836.816 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 426.399994 m,
      nav range: 394.985321 m,
      bearing: 138.109146 deg,
      approach rate: -0.609014 m/s,
      LOS rate: 0.009357 deg/s,
      cmd heading: 131.120234 deg,
      new cmd heading: 131.132177 deg.

2025-08-09T16:43:56.906Z,1754757836.906 [DAT](INFO): DAT read: 16:43:55.2041 LVL= 24560, 30849, 29170, 32755, AGC= 76, IDX= 354, 0.33, 1.582,-0.189, 1.543, 0.967, PHS= 0.717,-1.111, 0.532, RAW= 144.7,  -1.6, CAL= 144.3,  -1.9, ROT=   5.7,   1.9

2025-08-09T16:43:56.908Z,1754757836.908 [DAT](INFO): got valid direction response:
 16:43:55.2041 LVL= 24560, 30849, 29170, 32755, AGC= 76, IDX= 354, 0.33, 1.582,-0.189, 1.543, 0.967, PHS= 0.717,-1.111, 0.532, RAW= 144.7,  -1.6, CAL= 144.3,  -1.9, ROT=   5.7,   1.9

2025-08-09T16:43:56.909Z,1754757836.909 [DAT](INFO): DAT read: Bearing 277.7,   2.4 (Local)

2025-08-09T16:43:56.909Z,1754757836.909 [DAT](INFO): Local bearing/azimuth received:
 Bearing 277.7,   2.4 (Local)

2025-08-09T16:43:56.911Z,1754757836.911 [DAT](INFO): DAT read: Range 11 to 50 : 416.4 m  (Round-trip  555.2 ms) speed  0.4 m/s

2025-08-09T16:43:56.912Z,1754757836.912 [DAT](INFO): DAT read: user:55>

2025-08-09T16:43:56.913Z,1754757836.913 [DAT](INFO): DAT read: Tx time:16:43:56.2948

2025-08-09T16:43:56.919Z,1754757836.919 [DAT](INFO): Ping request sent.
2025-08-09T16:43:56.919Z,1754757836.919 [DAT](INFO): transmitted an acoustic signal
2025-08-09T16:43:56.919Z,1754757836.919 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-09T16:43:56.920Z,1754757836.920 [DAT](INFO): direction in FSK: [0.994509,0.099265,-0.033155]
2025-08-09T16:43:56.920Z,1754757836.920 [DAT](INFO): publishing transmit ping time
2025-08-09T16:43:56.921Z,1754757836.921 [DAT](INFO): publishing direction and range info
2025-08-09T16:43:56.928Z,1754757836.928 [DAT](INFO): publishing transmit ping time
2025-08-09T16:43:56.928Z,1754757836.928 [DAT](INFO): publishing direction and range info
2025-08-09T16:43:57.257Z,1754757837.257 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 416.399994 m,
      deltaT: 16.643906 s,
      deltaX: -10.000000 m,
      approachRate: -0.600820 m/s,
      rangeRepo size: 4

2025-08-09T16:43:57.264Z,1754757837.264 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 416.399994 m,
      bearing: 136.677389 deg,
      lat: 36.905871 deg,
      lon: -122.115862 deg,
      deltaT: 16.643906 s,
      deltaX: -10.000000 m,
      approachRate: -0.600820 m/s,
      posRepo size: 4

2025-08-09T16:43:57.264Z,1754757837.264 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 416.40 m.
2025-08-09T16:43:57.271Z,1754757837.271 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 416.399994 m,
      nav range: 411.494324 m,
      bearing: 136.677389 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.009357 deg/s,
      cmd heading: 131.132173 deg,
      new cmd heading: 131.144746 deg.

2025-08-09T16:43:57.692Z,1754757837.692 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-09T16:43:57.714Z,1754757837.714 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 416.40 m.
2025-08-09T16:43:57.717Z,1754757837.717 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 416.399994 m,
      nav range: 411.181213 m,
      bearing: 136.680673 deg,
      approach rate: -0.715661 m/s,
      LOS rate: 0.007510 deg/s,
      cmd heading: 131.144741 deg,
      new cmd heading: 131.154598 deg.

2025-08-09T16:43:57.911Z,1754757837.911 [DAT](INFO): ****** received valid address query ******
2025-08-09T16:43:57.911Z,1754757837.911 [DAT](INFO): ****** received valid ping request ******
2025-08-09T16:43:57.912Z,1754757837.912 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-09T16:43:58.055Z,1754757838.055 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 416.40 m.
2025-08-09T16:43:58.057Z,1754757838.057 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 416.399994 m,
      nav range: 410.956573 m,
      bearing: 136.683021 deg,
      approach rate: -0.622904 m/s,
      LOS rate: 0.006515 deg/s,
      cmd heading: 131.154604 deg,
      new cmd heading: 131.161652 deg.

2025-08-09T16:43:58.164Z,1754757838.164 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.249344
2025-08-09T16:43:58.416Z,1754757838.416 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.501730
2025-08-09T16:43:58.580Z,1754757838.580 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 416.40 m.
2025-08-09T16:43:58.583Z,1754757838.583 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 416.399994 m,
      nav range: 410.633575 m,
      bearing: 136.687038 deg,
      approach rate: -0.614816 m/s,
      LOS rate: 0.007653 deg/s,
      cmd heading: 131.161653 deg,
      new cmd heading: 131.173714 deg.

2025-08-09T16:43:58.667Z,1754757838.667 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.753195
2025-08-09T16:43:58.920Z,1754757838.920 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.005761
2025-08-09T16:43:59.052Z,1754757839.052 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 416.40 m.
2025-08-09T16:43:59.054Z,1754757839.054 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 416.399994 m,
      nav range: 410.343964 m,
      bearing: 136.690625 deg,
      approach rate: -0.614182 m/s,
      LOS rate: 0.007612 deg/s,
      cmd heading: 131.173715 deg,
      new cmd heading: 131.184482 deg.

2025-08-09T16:43:59.171Z,1754757839.171 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.257083
2025-08-09T16:43:59.424Z,1754757839.424 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.510056
2025-08-09T16:43:59.577Z,1754757839.577 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 416.40 m.
2025-08-09T16:43:59.581Z,1754757839.581 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 416.399994 m,
      nav range: 410.026611 m,
      bearing: 136.696005 deg,
      approach rate: -0.603603 m/s,
      LOS rate: 0.010241 deg/s,
      cmd heading: 131.184479 deg,
      new cmd heading: 131.200632 deg.

2025-08-09T16:43:59.678Z,1754757839.678 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.763469
2025-08-09T16:43:59.933Z,1754757839.933 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.018326
2025-08-09T16:43:59.942Z,1754757839.942 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-09T16:43:59.944Z,1754757839.944 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 416.40 m.
2025-08-09T16:43:59.959Z,1754757839.959 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 416.399994 m,
      nav range: 409.805023 m,
      bearing: 136.699759 deg,
      approach rate: -0.603901 m/s,
      LOS rate: 0.010237 deg/s,
      cmd heading: 131.200626 deg,
      new cmd heading: 131.211894 deg.

2025-08-09T16:44:00.184Z,1754757840.184 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.270185
2025-08-09T16:44:00.361Z,1754757840.361 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 416.40 m.
2025-08-09T16:44:00.371Z,1754757840.371 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 416.399994 m,
      nav range: 409.563721 m,
      bearing: 136.704395 deg,
      approach rate: -0.578774 m/s,
      LOS rate: 0.011125 deg/s,
      cmd heading: 131.211895 deg,
      new cmd heading: 131.225810 deg.

2025-08-09T16:44:00.436Z,1754757840.436 [DAT](INFO): DAT read: Rx Time:16:43:59.2507

2025-08-09T16:44:00.437Z,1754757840.437 [DAT](INFO): Rx dataTimestamp_ set to:1754757840.436597
2025-08-09T16:44:00.437Z,1754757840.437 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.523258
2025-08-09T16:44:00.687Z,1754757840.687 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.773248
2025-08-09T16:44:00.740Z,1754757840.740 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 416.40 m.
2025-08-09T16:44:00.742Z,1754757840.742 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 416.399994 m,
      nav range: 409.329559 m,
      bearing: 136.708873 deg,
      approach rate: -0.619099 m/s,
      LOS rate: 0.011847 deg/s,
      cmd heading: 131.225815 deg,
      new cmd heading: 131.239258 deg.

2025-08-09T16:44:00.945Z,1754757840.945 [DAT](INFO): DAT read: 16:43:59.2507 LVL= 27984, 32753, 30994, 32755, AGC= 74, IDX= 396, 0.17,-2.216, 2.211,-2.249,-2.752, PHS= 0.638,-1.276, 0.459, RAW= 145.1,   2.0, CAL= 144.6,   2.1, ROT=   5.4,  -2.1

2025-08-09T16:44:00.949Z,1754757840.949 [DAT](INFO): got valid direction response:
 16:43:59.2507 LVL= 27984, 32753, 30994, 32755, AGC= 74, IDX= 396, 0.17,-2.216, 2.211,-2.249,-2.752, PHS= 0.638,-1.276, 0.459, RAW= 145.1,   2.0, CAL= 144.6,   2.1, ROT=   5.4,  -2.1

2025-08-09T16:44:00.972Z,1754757840.972 [DAT](INFO): DAT read: Bearing 283.7,   2.0 (Local)

2025-08-09T16:44:00.973Z,1754757840.973 [DAT](INFO): Local bearing/azimuth received:
 Bearing 283.7,   2.0 (Local)

2025-08-09T16:44:00.974Z,1754757840.974 [DAT](INFO): DAT read: Range 11 to 50 : 413.8 m  (Round-trip  551.8 ms) speed  0.4 m/s

2025-08-09T16:44:00.975Z,1754757840.975 [DAT](INFO): DAT read: user:56>

2025-08-09T16:44:00.976Z,1754757840.976 [DAT](INFO): DAT read: Tx time:16:44:00.3448

2025-08-09T16:44:00.976Z,1754757840.976 [DAT](INFO): Ping request sent.
2025-08-09T16:44:00.976Z,1754757840.976 [DAT](INFO): transmitted an acoustic signal
2025-08-09T16:44:00.977Z,1754757840.977 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-09T16:44:00.977Z,1754757840.977 [DAT](INFO): direction in FSK: [0.994893,0.094045,0.036644]
2025-08-09T16:44:00.978Z,1754757840.978 [DAT](INFO): publishing transmit ping time
2025-08-09T16:44:00.978Z,1754757840.978 [DAT](INFO): publishing direction and range info
2025-08-09T16:44:00.983Z,1754757840.983 [DAT](INFO): publishing transmit ping time
2025-08-09T16:44:00.983Z,1754757840.983 [DAT](INFO): publishing direction and range info
2025-08-09T16:44:01.154Z,1754757841.154 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 413.799988 m,
      deltaT: 4.039848 s,
      deltaX: -2.600006 m,
      approachRate: -0.643590 m/s,
      rangeRepo size: 4

2025-08-09T16:44:01.160Z,1754757841.160 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 413.799988 m,
      bearing: 136.687991 deg,
      lat: 36.905844 deg,
      lon: -122.115827 deg,
      deltaT: 4.039848 s,
      deltaX: -2.600006 m,
      approachRate: -0.643590 m/s,
      posRepo size: 4

2025-08-09T16:44:01.161Z,1754757841.161 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 413.80 m.
2025-08-09T16:44:01.168Z,1754757841.168 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 413.799988 m,
      nav range: 413.494537 m,
      bearing: 136.687991 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.011847 deg/s,
      cmd heading: 131.239257 deg,
      new cmd heading: 131.253964 deg.

2025-08-09T16:44:01.540Z,1754757841.540 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 413.80 m.
2025-08-09T16:44:01.543Z,1754757841.543 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 413.799988 m,
      nav range: 413.235565 m,
      bearing: 136.693776 deg,
      approach rate: -0.670145 m/s,
      LOS rate: 0.014979 deg/s,
      cmd heading: 131.253969 deg,
      new cmd heading: 131.271335 deg.

2025-08-09T16:44:01.923Z,1754757841.923 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 413.80 m.
2025-08-09T16:44:01.926Z,1754757841.926 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 413.799988 m,
      nav range: 412.987488 m,
      bearing: 136.699283 deg,
      approach rate: -0.647091 m/s,
      LOS rate: 0.014375 deg/s,
      cmd heading: 131.271332 deg,
      new cmd heading: 131.287865 deg.

2025-08-09T16:44:02.431Z,1754757842.431 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-09T16:44:02.433Z,1754757842.433 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 413.80 m.
2025-08-09T16:44:02.436Z,1754757842.436 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 413.799988 m,
      nav range: 412.671387 m,
      bearing: 136.706625 deg,
      approach rate: -0.620251 m/s,
      LOS rate: 0.014416 deg/s,
      cmd heading: 131.287861 deg,
      new cmd heading: 131.309902 deg.

2025-08-09T16:44:02.454Z,1754757842.454 [DAT](INFO): ****** received valid address query ******
2025-08-09T16:44:02.454Z,1754757842.454 [DAT](INFO): ****** received valid ping request ******
2025-08-09T16:44:02.454Z,1754757842.454 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-09T16:44:02.703Z,1754757842.703 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.727148
2025-08-09T16:44:02.772Z,1754757842.772 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 413.80 m.
2025-08-09T16:44:02.775Z,1754757842.775 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 413.799988 m,
      nav range: 412.460175 m,
      bearing: 136.711463 deg,
      approach rate: -0.622400 m/s,
      LOS rate: 0.014266 deg/s,
      cmd heading: 131.309909 deg,
      new cmd heading: 131.324432 deg.

2025-08-09T16:44:02.955Z,1754757842.955 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.978975
2025-08-09T16:44:03.171Z,1754757843.171 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 413.80 m.
2025-08-09T16:44:03.173Z,1754757843.173 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 413.799988 m,
      nav range: 412.212738 m,
      bearing: 136.717099 deg,
      approach rate: -0.621450 m/s,
      LOS rate: 0.014162 deg/s,
      cmd heading: 131.324430 deg,
      new cmd heading: 131.341346 deg.

2025-08-09T16:44:03.208Z,1754757843.208 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.231697
2025-08-09T16:44:03.459Z,1754757843.459 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.483039
2025-08-09T16:44:03.585Z,1754757843.585 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 413.80 m.
2025-08-09T16:44:03.605Z,1754757843.605 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 413.799988 m,
      nav range: 411.959412 m,
      bearing: 136.723012 deg,
      approach rate: -0.611521 m/s,
      LOS rate: 0.014284 deg/s,
      cmd heading: 131.341341 deg,
      new cmd heading: 131.359093 deg.

2025-08-09T16:44:03.712Z,1754757843.712 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.736064
2025-08-09T16:44:03.963Z,1754757843.963 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.987113
2025-08-09T16:44:03.975Z,1754757843.975 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 413.80 m.
2025-08-09T16:44:03.978Z,1754757843.978 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 413.799988 m,
      nav range: 411.720459 m,
      bearing: 136.728567 deg,
      approach rate: -0.612045 m/s,
      LOS rate: 0.014235 deg/s,
      cmd heading: 131.359086 deg,
      new cmd heading: 131.375759 deg.

2025-08-09T16:44:04.215Z,1754757844.216 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.239218
2025-08-09T16:44:04.442Z,1754757844.442 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-09T16:44:04.448Z,1754757844.448 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 413.80 m.
2025-08-09T16:44:04.455Z,1754757844.455 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 413.799988 m,
      nav range: 411.448944 m,
      bearing: 136.734765 deg,
      approach rate: -0.573843 m/s,
      LOS rate: 0.013109 deg/s,
      cmd heading: 131.375765 deg,
      new cmd heading: 131.394373 deg.

2025-08-09T16:44:04.467Z,1754757844.467 [DAT](INFO): DAT read: Rx Time:16:44:03.2978

2025-08-09T16:44:04.468Z,1754757844.468 [DAT](INFO): Rx dataTimestamp_ set to:1754757844.467557
2025-08-09T16:44:04.468Z,1754757844.468 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.492137
2025-08-09T16:44:04.719Z,1754757844.719 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.743190
2025-08-09T16:44:04.891Z,1754757844.891 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 413.80 m.
2025-08-09T16:44:04.893Z,1754757844.893 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 413.799988 m,
      nav range: 411.179108 m,
      bearing: 136.740935 deg,
      approach rate: -0.615650 m/s,
      LOS rate: 0.014085 deg/s,
      cmd heading: 131.394371 deg,
      new cmd heading: 131.412891 deg.

2025-08-09T16:44:04.977Z,1754757844.977 [DAT](INFO): DAT read: 16:44:03.2978 LVL= 31888, 32753, 32754, 32755, AGC= 73, IDX= 417,-0.05, 2.733, 1.009, 2.680, 2.252, PHS= 0.583,-1.199, 0.383, RAW= 144.1,   2.8, CAL= 143.7,   3.1, ROT=   6.3,  -3.1

2025-08-09T16:44:04.978Z,1754757844.978 [DAT](INFO): got valid direction response:
 16:44:03.2978 LVL= 31888, 32753, 32754, 32755, AGC= 73, IDX= 417,-0.05, 2.733, 1.009, 2.680, 2.252, PHS= 0.583,-1.199, 0.383, RAW= 144.1,   2.8, CAL= 143.7,   3.1, ROT=   6.3,  -3.1

2025-08-09T16:44:04.979Z,1754757844.979 [DAT](INFO): DAT read: Bearing 286.9,   3.0 (Local)

2025-08-09T16:44:04.979Z,1754757844.979 [DAT](INFO): Local bearing/azimuth received:
 Bearing 286.9,   3.0 (Local)

2025-08-09T16:44:04.981Z,1754757844.981 [DAT](INFO): DAT read: Range 11 to 50 : 411.6 m  (Round-trip  548.9 ms) speed  0.4 m/s

2025-08-09T16:44:04.982Z,1754757844.982 [DAT](INFO): DAT read: user:57>

2025-08-09T16:44:04.982Z,1754757844.982 [DAT](INFO): DAT read: Tx time:16:44:04.3948

2025-08-09T16:44:04.983Z,1754757844.983 [DAT](INFO): Ping request sent.
2025-08-09T16:44:04.983Z,1754757844.983 [DAT](INFO): transmitted an acoustic signal
2025-08-09T16:44:04.983Z,1754757844.983 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-09T16:44:04.984Z,1754757844.984 [DAT](INFO): direction in FSK: [0.992506,0.109574,0.054079]
2025-08-09T16:44:04.984Z,1754757844.984 [DAT](INFO): publishing transmit ping time
2025-08-09T16:44:04.984Z,1754757844.984 [DAT](INFO): publishing direction and range info
2025-08-09T16:44:04.988Z,1754757844.988 [DAT](INFO): publishing transmit ping time
2025-08-09T16:44:04.988Z,1754757844.988 [DAT](INFO): publishing direction and range info
2025-08-09T16:44:05.376Z,1754757845.376 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 411.600006 m,
      deltaT: 4.031998 s,
      deltaX: -2.199982 m,
      approachRate: -0.545631 m/s,
      rangeRepo size: 4

2025-08-09T16:44:05.378Z,1754757845.378 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 411.600006 m,
      bearing: 136.747517 deg,
      lat: 36.905844 deg,
      lon: -122.115827 deg,
      deltaT: 4.031998 s,
      deltaX: -2.199982 m,
      approachRate: -0.545631 m/s,
      posRepo size: 4

2025-08-09T16:44:05.379Z,1754757845.379 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 411.60 m.
2025-08-09T16:44:05.381Z,1754757845.381 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 411.600006 m,
      nav range: 410.890503 m,
      bearing: 136.747517 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.014085 deg/s,
      cmd heading: 131.412894 deg,
      new cmd heading: 131.433539 deg.

2025-08-09T16:44:05.723Z,1754757845.723 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 411.60 m.
2025-08-09T16:44:05.725Z,1754757845.725 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 411.600006 m,
      nav range: 410.676270 m,
      bearing: 136.751829 deg,
      approach rate: -0.617055 m/s,
      LOS rate: 0.012427 deg/s,
      cmd heading: 131.433535 deg,
      new cmd heading: 131.446479 deg.

2025-08-09T16:44:06.107Z,1754757846.107 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 411.60 m.
2025-08-09T16:44:06.111Z,1754757846.111 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 411.600006 m,
      nav range: 410.452942 m,
      bearing: 136.756336 deg,
      approach rate: -0.581127 m/s,
      LOS rate: 0.011734 deg/s,
      cmd heading: 131.446485 deg,
      new cmd heading: 131.460013 deg.

2025-08-09T16:44:06.529Z,1754757846.529 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-09T16:44:06.531Z,1754757846.531 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 411.60 m.
2025-08-09T16:44:06.534Z,1754757846.533 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 411.600006 m,
      nav range: 410.195770 m,
      bearing: 136.760891 deg,
      approach rate: -0.605882 m/s,
      LOS rate: 0.010738 deg/s,
      cmd heading: 131.460009 deg,
      new cmd heading: 131.473682 deg.

2025-08-09T16:44:06.743Z,1754757846.743 [DAT](INFO): ****** received valid address query ******
2025-08-09T16:44:06.743Z,1754757846.743 [DAT](INFO): ****** received valid ping request ******
2025-08-09T16:44:06.743Z,1754757846.743 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-09T16:44:06.928Z,1754757846.928 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 411.60 m.
2025-08-09T16:44:06.931Z,1754757846.931 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 411.600006 m,
      nav range: 409.958984 m,
      bearing: 136.765090 deg,
      approach rate: -0.596459 m/s,
      LOS rate: 0.010582 deg/s,
      cmd heading: 131.473683 deg,
      new cmd heading: 131.486286 deg.

2025-08-09T16:44:06.987Z,1754757846.987 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.004606
2025-08-09T16:44:07.239Z,1754757847.239 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.256535
2025-08-09T16:44:07.388Z,1754757847.388 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 411.60 m.
2025-08-09T16:44:07.395Z,1754757847.395 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 411.600006 m,
      nav range: 409.706146 m,
      bearing: 136.769593 deg,
      approach rate: -0.549113 m/s,
      LOS rate: 0.009786 deg/s,
      cmd heading: 131.486291 deg,
      new cmd heading: 131.499810 deg.

2025-08-09T16:44:07.491Z,1754757847.491 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.508528
2025-08-09T16:44:07.743Z,1754757847.743 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.760582
2025-08-09T16:44:07.768Z,1754757847.768 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 411.60 m.
2025-08-09T16:44:07.787Z,1754757847.787 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 411.600006 m,
      nav range: 409.452881 m,
      bearing: 136.773078 deg,
      approach rate: -0.666907 m/s,
      LOS rate: 0.009183 deg/s,
      cmd heading: 131.499815 deg,
      new cmd heading: 131.510277 deg.

2025-08-09T16:44:07.996Z,1754757847.996 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.013671
2025-08-09T16:44:08.241Z,1754757848.241 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 411.60 m.
2025-08-09T16:44:08.243Z,1754757848.243 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 411.600006 m,
      nav range: 409.167816 m,
      bearing: 136.777003 deg,
      approach rate: -0.603467 m/s,
      LOS rate: 0.008316 deg/s,
      cmd heading: 131.510279 deg,
      new cmd heading: 131.522063 deg.

2025-08-09T16:44:08.247Z,1754757848.247 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.264607
2025-08-09T16:44:08.500Z,1754757848.500 [DAT](INFO): DAT read: Rx Time:16:44:07.3440

2025-08-09T16:44:08.500Z,1754757848.500 [DAT](INFO): Rx dataTimestamp_ set to:1754757848.500196
2025-08-09T16:44:08.501Z,1754757848.501 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.518613
2025-08-09T16:44:08.687Z,1754757848.687 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-09T16:44:08.689Z,1754757848.689 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 411.60 m.
2025-08-09T16:44:08.692Z,1754757848.692 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 411.600006 m,
      nav range: 408.897217 m,
      bearing: 136.780735 deg,
      approach rate: -0.602785 m/s,
      LOS rate: 0.008317 deg/s,
      cmd heading: 131.522068 deg,
      new cmd heading: 131.533269 deg.

2025-08-09T16:44:08.751Z,1754757848.751 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.768515
2025-08-09T16:44:09.012Z,1754757849.012 [DAT](INFO): DAT read: 16:44:07.3440 LVL= 24464, 32337, 28946, 32755, AGC= 71, IDX= 410,-0.37,-0.825,-2.570,-0.880,-1.380, PHS= 0.657,-1.145, 0.456, RAW= 144.2,   0.4, CAL= 143.7,   0.5, ROT=   6.3,  -0.5

2025-08-09T16:44:09.013Z,1754757849.013 [DAT](INFO): got valid direction response:
 16:44:07.3440 LVL= 24464, 32337, 28946, 32755, AGC= 71, IDX= 410,-0.37,-0.825,-2.570,-0.880,-1.380, PHS= 0.657,-1.145, 0.456, RAW= 144.2,   0.4, CAL= 143.7,   0.5, ROT=   6.3,  -0.5

2025-08-09T16:44:09.014Z,1754757849.014 [DAT](INFO): DAT read: Bearing 285.8,   4.0 (Local)

2025-08-09T16:44:09.014Z,1754757849.014 [DAT](INFO): Local bearing/azimuth received:
 Bearing 285.8,   4.0 (Local)

2025-08-09T16:44:09.016Z,1754757849.016 [DAT](INFO): DAT read: Range 11 to 50 : 408.8 m  (Round-trip  545.1 ms) speed  0.8 m/s

2025-08-09T16:44:09.017Z,1754757849.017 [DAT](INFO): DAT read: user:58>

2025-08-09T16:44:09.019Z,1754757849.019 [DAT](INFO): DAT read: Tx time:16:44:08.4448

2025-08-09T16:44:09.019Z,1754757849.019 [DAT](INFO): Ping request sent.
2025-08-09T16:44:09.020Z,1754757849.020 [DAT](INFO): transmitted an acoustic signal
2025-08-09T16:44:09.020Z,1754757849.020 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-09T16:44:09.021Z,1754757849.021 [DAT](INFO): direction in FSK: [0.993923,0.109730,0.008727]
2025-08-09T16:44:09.021Z,1754757849.021 [DAT](INFO): publishing transmit ping time
2025-08-09T16:44:09.022Z,1754757849.022 [DAT](INFO): publishing direction and range info
2025-08-09T16:44:09.025Z,1754757849.025 [DAT](INFO): publishing transmit ping time
2025-08-09T16:44:09.026Z,1754757849.026 [DAT](INFO): publishing direction and range info
2025-08-09T16:44:09.195Z,1754757849.195 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 408.799988 m,
      deltaT: 4.033937 s,
      deltaX: -2.800018 m,
      approachRate: -0.694116 m/s,
      rangeRepo size: 4

2025-08-09T16:44:09.197Z,1754757849.197 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 408.799988 m,
      bearing: 136.784758 deg,
      lat: 36.905844 deg,
      lon: -122.115827 deg,
      deltaT: 4.033937 s,
      deltaX: -2.800018 m,
      approachRate: -0.694116 m/s,
      posRepo size: 4

2025-08-09T16:44:09.198Z,1754757849.198 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 408.80 m.
2025-08-09T16:44:09.205Z,1754757849.205 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 408.799988 m,
      nav range: 408.604340 m,
      bearing: 136.784758 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.008317 deg/s,
      cmd heading: 131.533270 deg,
      new cmd heading: 131.545762 deg.

2025-08-09T16:44:09.586Z,1754757849.586 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 408.80 m.
2025-08-09T16:44:09.591Z,1754757849.591 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 408.799988 m,
      nav range: 408.350098 m,
      bearing: 136.787251 deg,
      approach rate: -0.642502 m/s,
      LOS rate: 0.006303 deg/s,
      cmd heading: 131.545769 deg,
      new cmd heading: 131.553252 deg.

2025-08-09T16:44:09.980Z,1754757849.980 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 408.80 m.
2025-08-09T16:44:09.983Z,1754757849.983 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 408.799988 m,
      nav range: 408.115173 m,
      bearing: 136.789557 deg,
      approach rate: -0.617677 m/s,
      LOS rate: 0.006066 deg/s,
      cmd heading: 131.553255 deg,
      new cmd heading: 131.560176 deg.

2025-08-09T16:44:10.455Z,1754757850.455 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 408.80 m.
2025-08-09T16:44:10.458Z,1754757850.458 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 408.799988 m,
      nav range: 407.816162 m,
      bearing: 136.791967 deg,
      approach rate: -0.611633 m/s,
      LOS rate: 0.004933 deg/s,
      cmd heading: 131.560180 deg,
      new cmd heading: 131.567415 deg.

2025-08-09T16:44:10.781Z,1754757850.781 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-09T16:44:10.783Z,1754757850.783 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 408.80 m.
2025-08-09T16:44:10.785Z,1754757850.785 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 408.799988 m,
      nav range: 407.615051 m,
      bearing: 136.793589 deg,
      approach rate: -0.614073 m/s,
      LOS rate: 0.004957 deg/s,
      cmd heading: 131.567420 deg,
      new cmd heading: 131.572291 deg.

2025-08-09T16:44:11.023Z,1754757851.023 [DAT](INFO): ****** received valid address query ******
2025-08-09T16:44:11.023Z,1754757851.023 [DAT](INFO): ****** received valid ping request ******
2025-08-09T16:44:11.023Z,1754757851.023 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-09T16:44:11.167Z,1754757851.167 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 408.80 m.
2025-08-09T16:44:11.170Z,1754757851.170 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 408.799988 m,
      nav range: 407.379547 m,
      bearing: 136.795475 deg,
      approach rate: -0.613500 m/s,
      LOS rate: 0.004915 deg/s,
      cmd heading: 131.572297 deg,
      new cmd heading: 131.577958 deg.

2025-08-09T16:44:11.275Z,1754757851.275 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.255742
2025-08-09T16:44:11.527Z,1754757851.527 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.507734
2025-08-09T16:44:11.634Z,1754757851.634 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 408.80 m.
2025-08-09T16:44:11.637Z,1754757851.637 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 408.799988 m,
      nav range: 407.090027 m,
      bearing: 136.797931 deg,
      approach rate: -0.624428 m/s,
      LOS rate: 0.005302 deg/s,
      cmd heading: 131.577953 deg,
      new cmd heading: 131.585327 deg.

2025-08-09T16:44:11.779Z,1754757851.779 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.759774
2025-08-09T16:44:11.974Z,1754757851.974 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 408.80 m.
2025-08-09T16:44:11.976Z,1754757851.976 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 408.799988 m,
      nav range: 406.866516 m,
      bearing: 136.799818 deg,
      approach rate: -0.650614 m/s,
      LOS rate: 0.005494 deg/s,
      cmd heading: 131.585329 deg,
      new cmd heading: 131.590991 deg.

2025-08-09T16:44:12.032Z,1754757852.032 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.011942
2025-08-09T16:44:12.283Z,1754757852.283 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.263626
2025-08-09T16:44:12.514Z,1754757852.514 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 408.80 m.
2025-08-09T16:44:12.535Z,1754757852.535 [DAT](INFO): DAT read: Rx Time:16:44:11.3911

2025-08-09T16:44:12.536Z,1754757852.536 [DAT](INFO): Rx dataTimestamp_ set to:1754757852.535475
2025-08-09T16:44:12.536Z,1754757852.536 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.516746
2025-08-09T16:44:12.556Z,1754757852.556 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 408.799988 m,
      nav range: 406.531219 m,
      bearing: 136.803741 deg,
      approach rate: -0.620881 m/s,
      LOS rate: 0.007271 deg/s,
      cmd heading: 131.590998 deg,
      new cmd heading: 131.602778 deg.

2025-08-09T16:44:12.788Z,1754757852.788 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.768110
2025-08-09T16:44:13.045Z,1754757853.045 [DAT](INFO): DAT read: 16:44:11.3911 LVL= 28896, 32753, 32754, 32755, AGC= 75, IDX= 412, 0.29,-1.277,-3.012,-1.312,-1.800, PHS= 0.625,-1.168, 0.444, RAW= 144.7,   1.2, CAL= 144.2,   1.3, ROT=   5.8,  -1.3

2025-08-09T16:44:13.047Z,1754757853.047 [DAT](INFO): got valid direction response:
 16:44:11.3911 LVL= 28896, 32753, 32754, 32755, AGC= 75, IDX= 412, 0.29,-1.277,-3.012,-1.312,-1.800, PHS= 0.625,-1.168, 0.444, RAW= 144.7,   1.2, CAL= 144.2,   1.3, ROT=   5.8,  -1.3

2025-08-09T16:44:13.048Z,1754757853.048 [DAT](INFO): DAT read: Bearing 287.7,   4.8 (Local)

2025-08-09T16:44:13.048Z,1754757853.048 [DAT](INFO): Local bearing/azimuth received:
 Bearing 287.7,   4.8 (Local)

2025-08-09T16:44:13.049Z,1754757853.049 [DAT](INFO): DAT read: Range 11 to 50 : 406.5 m  (Round-trip  542.1 ms) speed  0.2 m/s

2025-08-09T16:44:13.050Z,1754757853.050 [DAT](INFO): DAT read: user:59>

2025-08-09T16:44:13.052Z,1754757853.052 [DAT](INFO): DAT read: Tx time:16:44:12.4948

2025-08-09T16:44:13.052Z,1754757853.052 [DAT](INFO): Ping request sent.
2025-08-09T16:44:13.052Z,1754757853.052 [DAT](INFO): transmitted an acoustic signal
2025-08-09T16:44:13.052Z,1754757853.052 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-09T16:44:13.053Z,1754757853.053 [DAT](INFO): direction in FSK: [0.994625,0.101030,0.022687]
2025-08-09T16:44:13.054Z,1754757853.054 [DAT](INFO): publishing transmit ping time
2025-08-09T16:44:13.062Z,1754757853.062 [DAT](INFO): publishing direction and range info
2025-08-09T16:44:13.065Z,1754757853.065 [DAT](INFO): publishing transmit ping time
2025-08-09T16:44:13.066Z,1754757853.066 [DAT](INFO): publishing direction and range info
2025-08-09T16:44:13.149Z,1754757853.149 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 406.500000 m,
      deltaT: 4.034171 s,
      deltaX: -2.299988 m,
      approachRate: -0.570126 m/s,
      rangeRepo size: 4

2025-08-09T16:44:13.155Z,1754757853.155 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 406.500000 m,
      bearing: 137.716831 deg,
      lat: 36.905802 deg,
      lon: -122.115878 deg,
      deltaT: 4.034171 s,
      deltaX: -2.299988 m,
      approachRate: -0.570126 m/s,
      posRepo size: 4

2025-08-09T16:44:13.156Z,1754757853.156 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 406.50 m.
2025-08-09T16:44:13.163Z,1754757853.163 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 406.500000 m,
      nav range: 406.489624 m,
      bearing: 137.716831 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.007271 deg/s,
      cmd heading: 131.602774 deg,
      new cmd heading: 131.616615 deg.

2025-08-09T16:44:13.659Z,1754757853.659 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-09T16:44:13.661Z,1754757853.661 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 406.50 m.
2025-08-09T16:44:13.684Z,1754757853.684 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 406.500000 m,
      nav range: 406.151306 m,
      bearing: 137.721795 deg,
      approach rate: -0.659167 m/s,
      LOS rate: 0.009680 deg/s,
      cmd heading: 131.616611 deg,
      new cmd heading: 131.631517 deg.

2025-08-09T16:44:13.795Z,1754757853.795 [DAT](INFO): ****** received valid address query ******
2025-08-09T16:44:13.800Z,1754757853.800 [DAT](INFO): ****** received valid ping request ******
2025-08-09T16:44:13.801Z,1754757853.801 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-09T16:44:14.023Z,1754757854.023 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 406.50 m.
2025-08-09T16:44:14.026Z,1754757854.026 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 406.500000 m,
      nav range: 405.922424 m,
      bearing: 137.725143 deg,
      approach rate: -0.632781 m/s,
      LOS rate: 0.009260 deg/s,
      cmd heading: 131.631515 deg,
      new cmd heading: 131.641564 deg.

2025-08-09T16:44:14.047Z,1754757854.047 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.995281
2025-08-09T16:44:14.300Z,1754757854.300 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.247587
2025-08-09T16:44:14.489Z,1754757854.489 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 406.50 m.
2025-08-09T16:44:14.496Z,1754757854.496 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 406.500000 m,
      nav range: 405.633667 m,
      bearing: 137.729357 deg,
      approach rate: -0.620336 m/s,
      LOS rate: 0.009060 deg/s,
      cmd heading: 131.641569 deg,
      new cmd heading: 131.654221 deg.

2025-08-09T16:44:14.551Z,1754757854.551 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.499239
2025-08-09T16:44:14.803Z,1754757854.803 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.751234
2025-08-09T16:44:14.892Z,1754757854.892 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 406.50 m.
2025-08-09T16:44:14.895Z,1754757854.895 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 406.500000 m,
      nav range: 405.379608 m,
      bearing: 137.734021 deg,
      approach rate: -0.629310 m/s,
      LOS rate: 0.011561 deg/s,
      cmd heading: 131.654219 deg,
      new cmd heading: 131.668220 deg.

2025-08-09T16:44:15.055Z,1754757855.055 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.003157
2025-08-09T16:44:15.255Z,1754757855.255 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 406.50 m.
2025-08-09T16:44:15.258Z,1754757855.258 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 406.500000 m,
      nav range: 405.165466 m,
      bearing: 137.737945 deg,
      approach rate: -0.589854 m/s,
      LOS rate: 0.010815 deg/s,
      cmd heading: 131.668220 deg,
      new cmd heading: 131.679999 deg.

2025-08-09T16:44:15.308Z,1754757855.308 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.255662
2025-08-09T16:44:15.559Z,1754757855.559 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.507228
2025-08-09T16:44:15.681Z,1754757855.681 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-09T16:44:15.687Z,1754757855.687 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 406.50 m.
2025-08-09T16:44:15.690Z,1754757855.690 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 406.500000 m,
      nav range: 404.907562 m,
      bearing: 137.742471 deg,
      approach rate: -0.597277 m/s,
      LOS rate: 0.010488 deg/s,
      cmd heading: 131.679996 deg,
      new cmd heading: 131.693582 deg.

2025-08-09T16:44:15.812Z,1754757855.812 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.759597
2025-08-09T16:44:16.063Z,1754757856.063 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.011284
2025-08-09T16:44:16.065Z,1754757856.065 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 406.50 m.
2025-08-09T16:44:16.068Z,1754757856.068 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 406.500000 m,
      nav range: 404.673187 m,
      bearing: 137.746582 deg,
      approach rate: -0.620572 m/s,
      LOS rate: 0.010890 deg/s,
      cmd heading: 131.693588 deg,
      new cmd heading: 131.705927 deg.

2025-08-09T16:44:16.315Z,1754757856.315 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.263211
2025-08-09T16:44:16.519Z,1754757856.519 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 406.50 m.
2025-08-09T16:44:16.521Z,1754757856.521 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 406.500000 m,
      nav range: 404.390686 m,
      bearing: 137.751550 deg,
      approach rate: -0.634209 m/s,
      LOS rate: 0.011161 deg/s,
      cmd heading: 131.705923 deg,
      new cmd heading: 131.720838 deg.

2025-08-09T16:44:16.569Z,1754757856.569 [DAT](INFO): DAT read: Rx Time:16:44:15.4380

2025-08-09T16:44:16.569Z,1754757856.569 [DAT](INFO): Rx dataTimestamp_ set to:1754757856.569087
2025-08-09T16:44:16.570Z,1754757856.570 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.517843
2025-08-09T16:44:16.819Z,1754757856.819 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.767181
2025-08-09T16:44:16.927Z,1754757856.927 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 406.50 m.
2025-08-09T16:44:16.930Z,1754757856.930 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 406.500000 m,
      nav range: 404.156860 m,
      bearing: 137.755773 deg,
      approach rate: -0.560960 m/s,
      LOS rate: 0.010137 deg/s,
      cmd heading: 131.720840 deg,
      new cmd heading: 131.733516 deg.

2025-08-09T16:44:17.081Z,1754757857.081 [DAT](INFO): DAT read: 16:44:15.4380 LVL= 30064, 32753, 29058, 32755, AGC= 69, IDX= 413,-0.09, 1.572,-0.131, 1.548, 0.976, PHS= 0.698,-1.062, 0.528, RAW= 145.0,  -2.0, CAL= 144.6,  -2.3, ROT=   5.4,   2.3

2025-08-09T16:44:17.084Z,1754757857.084 [DAT](INFO): got valid direction response:
 16:44:15.4380 LVL= 30064, 32753, 29058, 32755, AGC= 69, IDX= 413,-0.09, 1.572,-0.131, 1.548, 0.976, PHS= 0.698,-1.062, 0.528, RAW= 145.0,  -2.0, CAL= 144.6,  -2.3, ROT=   5.4,   2.3

2025-08-09T16:44:17.085Z,1754757857.085 [DAT](INFO): DAT read: Bearing 284.5,   6.7 (Local)

2025-08-09T16:44:17.086Z,1754757857.086 [DAT](INFO): Local bearing/azimuth received:
 Bearing 284.5,   6.7 (Local)

2025-08-09T16:44:17.106Z,1754757857.106 [DAT](INFO): DAT read: Range 11 to 50 : 404.3 m  (Round-trip  539.1 ms) speed  0.7 m/s

2025-08-09T16:44:17.111Z,1754757857.111 [DAT](INFO): DAT read: user:60>

2025-08-09T16:44:17.112Z,1754757857.112 [DAT](INFO): DAT read: Tx time:16:44:16.5448

2025-08-09T16:44:17.112Z,1754757857.112 [DAT](INFO): Ping request sent.
2025-08-09T16:44:17.112Z,1754757857.112 [DAT](INFO): transmitted an acoustic signal
2025-08-09T16:44:17.112Z,1754757857.112 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-09T16:44:17.113Z,1754757857.113 [DAT](INFO): direction in FSK: [0.994760,0.094033,-0.040132]
2025-08-09T16:44:17.114Z,1754757857.114 [DAT](INFO): publishing transmit ping time
2025-08-09T16:44:17.114Z,1754757857.114 [DAT](INFO): publishing direction and range info
2025-08-09T16:44:17.133Z,1754757857.133 [DAT](INFO): publishing transmit ping time
2025-08-09T16:44:17.133Z,1754757857.133 [DAT](INFO): publishing direction and range info
2025-08-09T16:44:17.333Z,1754757857.333 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 404.299988 m,
      deltaT: 4.032026 s,
      deltaX: -2.200012 m,
      approachRate: -0.545634 m/s,
      rangeRepo size: 4

2025-08-09T16:44:17.340Z,1754757857.340 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 404.299988 m,
      bearing: 137.760305 deg,
      lat: 36.905802 deg,
      lon: -122.115878 deg,
      deltaT: 4.032026 s,
      deltaX: -2.200012 m,
      approachRate: -0.545634 m/s,
      posRepo size: 4

2025-08-09T16:44:17.340Z,1754757857.340 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 404.30 m.
2025-08-09T16:44:17.347Z,1754757857.347 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 404.299988 m,
      nav range: 403.907074 m,
      bearing: 137.760305 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.010137 deg/s,
      cmd heading: 131.733517 deg,
      new cmd heading: 131.745848 deg.

2025-08-09T16:44:17.734Z,1754757857.734 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-09T16:44:17.752Z,1754757857.752 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 404.30 m.
2025-08-09T16:44:17.759Z,1754757857.759 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 404.299988 m,
      nav range: 403.647675 m,
      bearing: 137.766045 deg,
      approach rate: -0.618226 m/s,
      LOS rate: 0.013690 deg/s,
      cmd heading: 131.745852 deg,
      new cmd heading: 131.763085 deg.

2025-08-09T16:44:17.828Z,1754757857.828 [DAT](INFO): ****** received valid address query ******
2025-08-09T16:44:17.828Z,1754757857.828 [DAT](INFO): ****** received valid ping request ******
2025-08-09T16:44:17.828Z,1754757857.828 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-09T16:44:18.080Z,1754757858.080 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.967957
2025-08-09T16:44:18.131Z,1754757858.131 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 404.30 m.
2025-08-09T16:44:18.134Z,1754757858.134 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 404.299988 m,
      nav range: 403.405579 m,
      bearing: 137.771396 deg,
      approach rate: -0.639066 m/s,
      LOS rate: 0.014134 deg/s,
      cmd heading: 131.763092 deg,
      new cmd heading: 131.779154 deg.

2025-08-09T16:44:18.332Z,1754757858.332 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.219459
2025-08-09T16:44:18.580Z,1754757858.580 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 404.30 m.
2025-08-09T16:44:18.584Z,1754757858.584 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.471901
2025-08-09T16:44:18.603Z,1754757858.603 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 404.299988 m,
      nav range: 403.130249 m,
      bearing: 137.777427 deg,
      approach rate: -0.614297 m/s,
      LOS rate: 0.013465 deg/s,
      cmd heading: 131.779156 deg,
      new cmd heading: 131.797261 deg.

2025-08-09T16:44:18.835Z,1754757858.835 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.723123
2025-08-09T16:44:18.932Z,1754757858.932 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 404.30 m.
2025-08-09T16:44:18.935Z,1754757858.935 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 404.299988 m,
      nav range: 402.908051 m,
      bearing: 137.782274 deg,
      approach rate: -0.629757 m/s,
      LOS rate: 0.013745 deg/s,
      cmd heading: 131.797256 deg,
      new cmd heading: 131.811806 deg.

2025-08-09T16:44:19.088Z,1754757859.088 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.975421
2025-08-09T16:44:19.331Z,1754757859.331 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 404.30 m.
2025-08-09T16:44:19.334Z,1754757859.334 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 404.299988 m,
      nav range: 402.660217 m,
      bearing: 137.787669 deg,
      approach rate: -0.620564 m/s,
      LOS rate: 0.013518 deg/s,
      cmd heading: 131.811805 deg,
      new cmd heading: 131.828000 deg.

2025-08-09T16:44:19.347Z,1754757859.347 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.235278
2025-08-09T16:44:19.600Z,1754757859.600 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.487249
2025-08-09T16:44:19.772Z,1754757859.772 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-09T16:44:19.795Z,1754757859.795 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 404.30 m.
2025-08-09T16:44:19.798Z,1754757859.798 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 404.299988 m,
      nav range: 402.389954 m,
      bearing: 137.794541 deg,
      approach rate: -0.610284 m/s,
      LOS rate: 0.015528 deg/s,
      cmd heading: 131.828006 deg,
      new cmd heading: 131.848635 deg.

2025-08-09T16:44:19.852Z,1754757859.852 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.740049
2025-08-09T16:44:20.103Z,1754757860.103 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.991270
2025-08-09T16:44:20.160Z,1754757860.160 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 404.30 m.
2025-08-09T16:44:20.163Z,1754757860.163 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 404.299988 m,
      nav range: 402.162872 m,
      bearing: 137.800315 deg,
      approach rate: -0.588432 m/s,
      LOS rate: 0.014969 deg/s,
      cmd heading: 131.848633 deg,
      new cmd heading: 131.865963 deg.

2025-08-09T16:44:20.356Z,1754757860.356 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.243736
2025-08-09T16:44:20.608Z,1754757860.608 [DAT](INFO): DAT read: Rx Time:16:44:19.4843

2025-08-09T16:44:20.608Z,1754757860.608 [DAT](INFO): Rx dataTimestamp_ set to:1754757860.607873
2025-08-09T16:44:20.609Z,1754757860.609 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.496612
2025-08-09T16:44:20.637Z,1754757860.637 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 404.30 m.
2025-08-09T16:44:20.648Z,1754757860.648 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 404.299988 m,
      nav range: 401.869202 m,
      bearing: 137.806743 deg,
      approach rate: -0.616149 m/s,
      LOS rate: 0.013498 deg/s,
      cmd heading: 131.865968 deg,
      new cmd heading: 131.885269 deg.

2025-08-09T16:44:20.860Z,1754757860.860 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.747563
2025-08-09T16:44:20.965Z,1754757860.965 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 404.30 m.
2025-08-09T16:44:20.967Z,1754757860.967 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 404.299988 m,
      nav range: 401.647766 m,
      bearing: 137.811590 deg,
      approach rate: -0.675465 m/s,
      LOS rate: 0.014791 deg/s,
      cmd heading: 131.885270 deg,
      new cmd heading: 131.899817 deg.

2025-08-09T16:44:21.120Z,1754757861.120 [DAT](INFO): DAT read: 16:44:19.4843 LVL= 24272, 30017, 25762, 32755, AGC= 70, IDX= 280,-0.12, 1.669,-0.085, 1.629, 1.293, PHS= 0.478,-1.334, 0.292, RAW= 144.6,   6.6, CAL= 144.2,   7.2, ROT=   5.8,  -7.2

2025-08-09T16:44:21.122Z,1754757861.122 [DAT](INFO): got valid direction response:
 16:44:19.4843 LVL= 24272, 30017, 25762, 32755, AGC= 70, IDX= 280,-0.12, 1.669,-0.085, 1.629, 1.293, PHS= 0.478,-1.334, 0.292, RAW= 144.6,   6.6, CAL= 144.2,   7.2, ROT=   5.8,  -7.2

2025-08-09T16:44:21.123Z,1754757861.123 [DAT](INFO): DAT read: Bearing 294.2,   7.4 (Local)

2025-08-09T16:44:21.123Z,1754757861.123 [DAT](INFO): Local bearing/azimuth received:
 Bearing 294.2,   7.4 (Local)

2025-08-09T16:44:21.125Z,1754757861.125 [DAT](INFO): DAT read: Range 11 to 50 : 401.5 m  (Round-trip  535.4 ms) speed  0.5 m/s

2025-08-09T16:44:21.125Z,1754757861.125 [DAT](INFO): DAT read: user:61>

2025-08-09T16:44:21.126Z,1754757861.126 [DAT](INFO): DAT read: Tx time:16:44:20.5948

2025-08-09T16:44:21.127Z,1754757861.127 [DAT](INFO): Ping request sent.
2025-08-09T16:44:21.127Z,1754757861.127 [DAT](INFO): transmitted an acoustic signal
2025-08-09T16:44:21.128Z,1754757861.128 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-09T16:44:21.128Z,1754757861.128 [DAT](INFO): direction in FSK: [0.987036,0.100259,0.125333]
2025-08-09T16:44:21.129Z,1754757861.129 [DAT](INFO): publishing transmit ping time
2025-08-09T16:44:21.129Z,1754757861.129 [DAT](INFO): publishing direction and range info
2025-08-09T16:44:21.132Z,1754757861.132 [DAT](INFO): publishing transmit ping time
2025-08-09T16:44:21.132Z,1754757861.132 [DAT](INFO): publishing direction and range info
2025-08-09T16:44:21.373Z,1754757861.373 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 401.500000 m,
      deltaT: 4.040674 s,
      deltaX: -2.799988 m,
      approachRate: -0.692951 m/s,
      rangeRepo size: 4

2025-08-09T16:44:21.375Z,1754757861.375 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 401.500000 m,
      bearing: 138.070694 deg,
      lat: 36.905795 deg,
      lon: -122.115897 deg,
      deltaT: 4.040674 s,
      deltaX: -2.799988 m,
      approachRate: -0.692951 m/s,
      posRepo size: 4

2025-08-09T16:44:21.376Z,1754757861.376 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 401.50 m.
2025-08-09T16:44:21.379Z,1754757861.379 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 401.500000 m,
      nav range: 400.841949 m,
      bearing: 138.070694 deg,
      approach rate: 329584572719326030426284228608 m/s,
      LOS rate: 0.014791 deg/s,
      cmd heading: 131.899818 deg,
      new cmd heading: 131.917907 deg.

2025-08-09T16:44:21.828Z,1754757861.828 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-09T16:44:21.830Z,1754757861.830 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 401.50 m.
2025-08-09T16:44:21.833Z,1754757861.833 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 401.500000 m,
      nav range: 400.567719 m,
      bearing: 138.076776 deg,
      approach rate: -0.599123 m/s,
      LOS rate: 0.013297 deg/s,
      cmd heading: 131.917905 deg,
      new cmd heading: 131.936163 deg.

2025-08-09T16:44:21.868Z,1754757861.868 [DAT](INFO): ****** received valid address query ******
2025-08-09T16:44:21.868Z,1754757861.868 [DAT](INFO): ****** received valid ping request ******
2025-08-09T16:44:21.868Z,1754757861.868 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-09T16:44:22.119Z,1754757862.119 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.992094
2025-08-09T16:44:22.175Z,1754757862.175 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 401.50 m.
2025-08-09T16:44:22.177Z,1754757862.177 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 401.500000 m,
      nav range: 400.346222 m,
      bearing: 138.081634 deg,
      approach rate: -0.642287 m/s,
      LOS rate: 0.014095 deg/s,
      cmd heading: 131.936169 deg,
      new cmd heading: 131.950751 deg.

2025-08-09T16:44:22.372Z,1754757862.372 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.244800
2025-08-09T16:44:22.623Z,1754757862.623 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.496107
2025-08-09T16:44:22.657Z,1754757862.657 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 401.50 m.
2025-08-09T16:44:22.680Z,1754757862.680 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 401.500000 m,
      nav range: 400.049500 m,
      bearing: 138.087436 deg,
      approach rate: -0.615041 m/s,
      LOS rate: 0.012036 deg/s,
      cmd heading: 131.950744 deg,
      new cmd heading: 131.968164 deg.

2025-08-09T16:44:22.876Z,1754757862.876 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.748337
2025-08-09T16:44:23.045Z,1754757863.045 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 401.50 m.
2025-08-09T16:44:23.048Z,1754757863.048 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 401.500000 m,
      nav range: 399.810699 m,
      bearing: 138.092089 deg,
      approach rate: -0.615378 m/s,
      LOS rate: 0.011996 deg/s,
      cmd heading: 131.968161 deg,
      new cmd heading: 131.982126 deg.

2025-08-09T16:44:23.127Z,1754757863.127 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.000231
2025-08-09T16:44:23.380Z,1754757863.380 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.252287
2025-08-09T16:44:23.483Z,1754757863.483 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 401.50 m.
2025-08-09T16:44:23.486Z,1754757863.486 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 401.500000 m,
      nav range: 399.541229 m,
      bearing: 138.097327 deg,
      approach rate: -0.615048 m/s,
      LOS rate: 0.011965 deg/s,
      cmd heading: 131.982122 deg,
      new cmd heading: 131.997849 deg.

2025-08-09T16:44:23.632Z,1754757863.632 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.504346
2025-08-09T16:44:23.883Z,1754757863.883 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.756171
2025-08-09T16:44:23.939Z,1754757863.939 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-09T16:44:23.941Z,1754757863.941 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 401.50 m.
2025-08-09T16:44:23.957Z,1754757863.957 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 401.500000 m,
      nav range: 399.272003 m,
      bearing: 138.102005 deg,
      approach rate: -0.588943 m/s,
      LOS rate: 0.010239 deg/s,
      cmd heading: 131.997845 deg,
      new cmd heading: 132.011888 deg.

2025-08-09T16:44:24.135Z,1754757864.135 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.008039
2025-08-09T16:44:24.308Z,1754757864.308 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 401.50 m.
2025-08-09T16:44:24.315Z,1754757864.315 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 401.500000 m,
      nav range: 399.049194 m,
      bearing: 138.105860 deg,
      approach rate: -0.605915 m/s,
      LOS rate: 0.010489 deg/s,
      cmd heading: 132.011888 deg,
      new cmd heading: 132.023459 deg.

2025-08-09T16:44:24.388Z,1754757864.388 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.260648
2025-08-09T16:44:24.639Z,1754757864.639 [DAT](INFO): DAT read: Rx Time:16:44:23.5191

2025-08-09T16:44:24.640Z,1754757864.640 [DAT](INFO): Rx dataTimestamp_ set to:1754757864.639680
2025-08-09T16:44:24.641Z,1754757864.641 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.513293
2025-08-09T16:44:24.768Z,1754757864.768 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 401.50 m.
2025-08-09T16:44:24.771Z,1754757864.771 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 401.500000 m,
      nav range: 398.758179 m,
      bearing: 138.110578 deg,
      approach rate: -0.632894 m/s,
      LOS rate: 0.010268 deg/s,
      cmd heading: 132.023459 deg,
      new cmd heading: 132.037623 deg.

2025-08-09T16:44:24.891Z,1754757864.891 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.764020
2025-08-09T16:44:25.131Z,1754757865.131 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 401.50 m.
2025-08-09T16:44:25.134Z,1754757865.134 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 401.500000 m,
      nav range: 398.538361 m,
      bearing: 138.114114 deg,
      approach rate: -0.605353 m/s,
      LOS rate: 0.009744 deg/s,
      cmd heading: 132.037624 deg,
      new cmd heading: 132.048239 deg.

2025-08-09T16:44:25.150Z,1754757865.150 [DAT](INFO): DAT read: 16:44:23.5191 LVL= 22000, 28209, 27314, 32755, AGC= 72, IDX= 283,-0.02,-2.682, 1.958,-2.733, 2.939, PHS= 0.764,-0.936, 0.568, RAW= 143.9,  -5.0, CAL= 143.9,  -5.9, ROT=   6.1,   5.9

2025-08-09T16:44:25.151Z,1754757865.151 [DAT](INFO): got valid direction response:
 16:44:23.5191 LVL= 22000, 28209, 27314, 32755, AGC= 72, IDX= 283,-0.02,-2.682, 1.958,-2.733, 2.939, PHS= 0.764,-0.936, 0.568, RAW= 143.9,  -5.0, CAL= 143.9,  -5.9, ROT=   6.1,   5.9

2025-08-09T16:44:25.152Z,1754757865.152 [DAT](INFO): DAT read: Bearing 281.2,  10.8 (Local)

2025-08-09T16:44:25.153Z,1754757865.153 [DAT](INFO): Local bearing/azimuth received:
 Bearing 281.2,  10.8 (Local)

2025-08-09T16:44:25.159Z,1754757865.159 [DAT](INFO): DAT read: Range 11 to 50 : 390.1 m  (Round-trip  520.2 ms) speed  0.4 m/s

2025-08-09T16:44:25.159Z,1754757865.159 [DAT](INFO): DAT read: user:62>

2025-08-09T16:44:25.160Z,1754757865.160 [DAT](INFO): DAT read: Tx time:16:44:24.6448

2025-08-09T16:44:25.160Z,1754757865.160 [DAT](INFO): Ping request sent.
2025-08-09T16:44:25.160Z,1754757865.160 [DAT](INFO): transmitted an acoustic signal
2025-08-09T16:44:25.161Z,1754757865.161 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-09T16:44:25.162Z,1754757865.162 [DAT](INFO): direction in FSK: [0.989071,0.105701,-0.102793]
2025-08-09T16:44:25.162Z,1754757865.162 [DAT](INFO): publishing transmit ping time
2025-08-09T16:44:25.183Z,1754757865.183 [DAT](INFO): publishing direction and range info
2025-08-09T16:44:25.185Z,1754757865.185 [DAT](INFO): publishing transmit ping time
2025-08-09T16:44:25.186Z,1754757865.186 [DAT](INFO): publishing direction and range info
2025-08-09T16:44:25.531Z,1754757865.531 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 390.100006 m,
      deltaT: 4.031293 s,
      deltaX: -11.399994 m,
      approachRate: -2.827875 m/s,
      rangeRepo size: 4

2025-08-09T16:44:25.533Z,1754757865.533 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 390.100006 m,
      bearing: 138.043083 deg,
      lat: 36.905802 deg,
      lon: -122.115897 deg,
      deltaT: 4.031293 s,
      deltaX: -11.399994 m,
      approachRate: -2.827875 m/s,
      posRepo size: 4

2025-08-09T16:44:25.533Z,1754757865.533 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 390.10 m.
2025-08-09T16:44:25.536Z,1754757865.536 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 390.100006 m,
      nav range: 397.719818 m,
      bearing: 138.043083 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.009744 deg/s,
      cmd heading: 132.048238 deg,
      new cmd heading: 132.059885 deg.

2025-08-09T16:44:26.016Z,1754757866.016 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-09T16:44:26.019Z,1754757866.019 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 390.10 m.
2025-08-09T16:44:26.021Z,1754757866.021 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 390.100006 m,
      nav range: 397.424133 m,
      bearing: 138.046589 deg,
      approach rate: -0.605119 m/s,
      LOS rate: 0.007179 deg/s,
      cmd heading: 132.059891 deg,
      new cmd heading: 132.070415 deg.

2025-08-09T16:44:26.151Z,1754757866.151 [DAT](INFO): ****** received valid address query ******
2025-08-09T16:44:26.151Z,1754757866.151 [DAT](INFO): ****** received valid ping request ******
2025-08-09T16:44:26.151Z,1754757866.151 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-09T16:44:26.343Z,1754757866.343 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 390.10 m.
2025-08-09T16:44:26.346Z,1754757866.346 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 390.100006 m,
      nav range: 397.229004 m,
      bearing: 138.048885 deg,
      approach rate: -0.600938 m/s,
      LOS rate: 0.007077 deg/s,
      cmd heading: 132.070409 deg,
      new cmd heading: 132.077303 deg.

2025-08-09T16:44:26.404Z,1754757866.404 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.243798
2025-08-09T16:44:26.656Z,1754757866.656 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.495165
2025-08-09T16:44:26.775Z,1754757866.775 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 390.10 m.
2025-08-09T16:44:26.777Z,1754757866.777 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 390.100006 m,
      nav range: 396.964417 m,
      bearing: 138.051914 deg,
      approach rate: -0.613348 m/s,
      LOS rate: 0.007025 deg/s,
      cmd heading: 132.077308 deg,
      new cmd heading: 132.086400 deg.

2025-08-09T16:44:26.908Z,1754757866.908 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.747309
2025-08-09T16:44:27.161Z,1754757867.161 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.000134
2025-08-09T16:44:27.178Z,1754757867.178 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 390.10 m.
2025-08-09T16:44:27.181Z,1754757867.181 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 390.100006 m,
      nav range: 396.730194 m,
      bearing: 138.054597 deg,
      approach rate: -0.603913 m/s,
      LOS rate: 0.006921 deg/s,
      cmd heading: 132.086406 deg,
      new cmd heading: 132.094459 deg.

2025-08-09T16:44:27.412Z,1754757867.412 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.251743
2025-08-09T16:44:27.577Z,1754757867.577 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 390.10 m.
2025-08-09T16:44:27.582Z,1754757867.582 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 390.100006 m,
      nav range: 396.476532 m,
      bearing: 138.057506 deg,
      approach rate: -0.612203 m/s,
      LOS rate: 0.007025 deg/s,
      cmd heading: 132.094465 deg,
      new cmd heading: 132.103197 deg.

2025-08-09T16:44:27.666Z,1754757867.666 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.505120
2025-08-09T16:44:27.916Z,1754757867.916 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.755231
2025-08-09T16:44:28.027Z,1754757868.027 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-09T16:44:28.029Z,1754757868.029 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 390.10 m.
2025-08-09T16:44:28.032Z,1754757868.032 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 390.100006 m,
      nav range: 396.200348 m,
      bearing: 138.060513 deg,
      approach rate: -0.610697 m/s,
      LOS rate: 0.006653 deg/s,
      cmd heading: 132.103194 deg,
      new cmd heading: 132.112221 deg.

2025-08-09T16:44:28.167Z,1754757868.167 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.006858
2025-08-09T16:44:28.396Z,1754757868.396 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 390.10 m.
2025-08-09T16:44:28.399Z,1754757868.399 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 390.100006 m,
      nav range: 395.979034 m,
      bearing: 138.062915 deg,
      approach rate: -0.602450 m/s,
      LOS rate: 0.006543 deg/s,
      cmd heading: 132.112224 deg,
      new cmd heading: 132.119434 deg.

2025-08-09T16:44:28.436Z,1754757868.436 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.275649
2025-08-09T16:44:28.687Z,1754757868.687 [DAT](INFO): DAT read: Rx Time:16:44:27.5654

2025-08-09T16:44:28.688Z,1754757868.688 [DAT](INFO): Rx dataTimestamp_ set to:1754757868.687505
2025-08-09T16:44:28.688Z,1754757868.688 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.527941
2025-08-09T16:44:28.821Z,1754757868.821 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 390.10 m.
2025-08-09T16:44:28.824Z,1754757868.824 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 390.100006 m,
      nav range: 395.711670 m,
      bearing: 138.065714 deg,
      approach rate: -0.629398 m/s,
      LOS rate: 0.006595 deg/s,
      cmd heading: 132.119436 deg,
      new cmd heading: 132.127841 deg.

2025-08-09T16:44:28.939Z,1754757868.939 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.778949
2025-08-09T16:44:29.197Z,1754757869.197 [DAT](INFO): DAT read: 16:44:27.5654 LVL= 28272, 32753, 31026, 30899, AGC= 73, IDX= 406,-0.38,-0.526,-2.265,-0.527,-0.838, PHS= 0.414,-1.382, 0.267, RAW= 145.8,   8.2, CAL= 145.3,   8.9, ROT=   4.7,  -8.9

2025-08-09T16:44:29.198Z,1754757869.198 [DAT](INFO): got valid direction response:
 16:44:27.5654 LVL= 28272, 32753, 31026, 30899, AGC= 73, IDX= 406,-0.38,-0.526,-2.265,-0.527,-0.838, PHS= 0.414,-1.382, 0.267, RAW= 145.8,   8.2, CAL= 145.3,   8.9, ROT=   4.7,  -8.9

2025-08-09T16:44:29.199Z,1754757869.199 [DAT](INFO): DAT read: Bearing 296.1,   9.4 (Local)

2025-08-09T16:44:29.199Z,1754757869.199 [DAT](INFO): Local bearing/azimuth received:
 Bearing 296.1,   9.4 (Local)

2025-08-09T16:44:29.201Z,1754757869.201 [DAT](INFO): DAT read: Range 11 to 50 : 387.3 m  (Round-trip  516.5 ms) speed  0.4 m/s

2025-08-09T16:44:29.202Z,1754757869.202 [DAT](INFO): DAT read: user:63>

2025-08-09T16:44:29.202Z,1754757869.202 [DAT](INFO): DAT read: Tx time:16:44:28.6948

2025-08-09T16:44:29.203Z,1754757869.203 [DAT](INFO): Ping request sent.
2025-08-09T16:44:29.203Z,1754757869.203 [DAT](INFO): transmitted an acoustic signal
2025-08-09T16:44:29.203Z,1754757869.203 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-09T16:44:29.204Z,1754757869.204 [DAT](INFO): direction in FSK: [0.984638,0.080952,0.154710]
2025-08-09T16:44:29.204Z,1754757869.204 [DAT](INFO): publishing transmit ping time
2025-08-09T16:44:29.205Z,1754757869.205 [DAT](INFO): publishing direction and range info
2025-08-09T16:44:29.208Z,1754757869.208 [DAT](INFO): publishing transmit ping time
2025-08-09T16:44:29.208Z,1754757869.208 [DAT](INFO): publishing direction and range info
2025-08-09T16:44:29.269Z,1754757869.269 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 387.299988 m,
      deltaT: 4.047941 s,
      deltaX: -2.800018 m,
      approachRate: -0.691714 m/s,
      rangeRepo size: 4

2025-08-09T16:44:29.276Z,1754757869.276 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 387.299988 m,
      bearing: 138.267012 deg,
      lat: 36.905832 deg,
      lon: -122.115951 deg,
      deltaT: 4.047941 s,
      deltaX: -2.800018 m,
      approachRate: -0.691714 m/s,
      posRepo size: 4

2025-08-09T16:44:29.276Z,1754757869.276 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 387.30 m.
2025-08-09T16:44:29.288Z,1754757869.288 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 387.299988 m,
      nav range: 389.733093 m,
      bearing: 138.267012 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.006595 deg/s,
      cmd heading: 132.127837 deg,
      new cmd heading: 132.136690 deg.

2025-08-09T16:44:29.681Z,1754757869.681 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 387.30 m.
2025-08-09T16:44:29.721Z,1754757869.721 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 387.299988 m,
      nav range: 389.470825 m,
      bearing: 138.269951 deg,
      approach rate: -0.637182 m/s,
      LOS rate: 0.007145 deg/s,
      cmd heading: 132.136689 deg,
      new cmd heading: 132.145512 deg.

2025-08-09T16:44:30.140Z,1754757870.140 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-09T16:44:30.142Z,1754757870.142 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 387.30 m.
2025-08-09T16:44:30.144Z,1754757870.144 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 387.299988 m,
      nav range: 389.162781 m,
      bearing: 138.274360 deg,
      approach rate: -0.667410 m/s,
      LOS rate: 0.009559 deg/s,
      cmd heading: 132.145514 deg,
      new cmd heading: 132.158750 deg.

2025-08-09T16:44:30.200Z,1754757870.200 [DAT](INFO): ****** received valid address query ******
2025-08-09T16:44:30.200Z,1754757870.200 [DAT](INFO): ****** received valid ping request ******
2025-08-09T16:44:30.200Z,1754757870.200 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-09T16:44:30.451Z,1754757870.451 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.248741
2025-08-09T16:44:30.540Z,1754757870.540 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 387.30 m.
2025-08-09T16:44:30.543Z,1754757870.543 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 387.299988 m,
      nav range: 388.916046 m,
      bearing: 138.277887 deg,
      approach rate: -0.619182 m/s,
      LOS rate: 0.008857 deg/s,
      cmd heading: 132.158751 deg,
      new cmd heading: 132.169340 deg.

2025-08-09T16:44:30.707Z,1754757870.707 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.503102
2025-08-09T16:44:30.955Z,1754757870.955 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.752638
2025-08-09T16:44:30.965Z,1754757870.965 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 387.30 m.
2025-08-09T16:44:30.967Z,1754757870.967 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 387.299988 m,
      nav range: 388.652008 m,
      bearing: 138.281994 deg,
      approach rate: -0.621980 m/s,
      LOS rate: 0.009680 deg/s,
      cmd heading: 132.169338 deg,
      new cmd heading: 132.181665 deg.

2025-08-09T16:44:31.207Z,1754757871.207 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.004537
2025-08-09T16:44:31.335Z,1754757871.335 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 387.30 m.
2025-08-09T16:44:31.337Z,1754757871.337 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 387.299988 m,
      nav range: 388.422668 m,
      bearing: 138.285560 deg,
      approach rate: -0.620281 m/s,
      LOS rate: 0.009651 deg/s,
      cmd heading: 132.181659 deg,
      new cmd heading: 132.192364 deg.

2025-08-09T16:44:31.459Z,1754757871.459 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.256584
2025-08-09T16:44:31.715Z,1754757871.715 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.511041
2025-08-09T16:44:31.795Z,1754757871.795 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 387.30 m.
2025-08-09T16:44:31.798Z,1754757871.798 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 387.299988 m,
      nav range: 388.136566 m,
      bearing: 138.290109 deg,
      approach rate: -0.620942 m/s,
      LOS rate: 0.009881 deg/s,
      cmd heading: 132.192369 deg,
      new cmd heading: 132.206028 deg.

2025-08-09T16:44:31.965Z,1754757871.965 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.762569
2025-08-09T16:44:32.141Z,1754757872.141 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-09T16:44:32.143Z,1754757872.143 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 387.30 m.
2025-08-09T16:44:32.146Z,1754757872.146 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 387.299988 m,
      nav range: 387.919800 m,
      bearing: 138.293539 deg,
      approach rate: -0.622261 m/s,
      LOS rate: 0.009850 deg/s,
      cmd heading: 132.206029 deg,
      new cmd heading: 132.216324 deg.

2025-08-09T16:44:32.216Z,1754757872.216 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.013625
2025-08-09T16:44:32.467Z,1754757872.467 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.264498
2025-08-09T16:44:32.578Z,1754757872.578 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 387.30 m.
2025-08-09T16:44:32.585Z,1754757872.585 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 387.299988 m,
      nav range: 387.664825 m,
      bearing: 138.297561 deg,
      approach rate: -0.586868 m/s,
      LOS rate: 0.009264 deg/s,
      cmd heading: 132.216329 deg,
      new cmd heading: 132.228404 deg.

2025-08-09T16:44:32.729Z,1754757872.729 [DAT](INFO): DAT read: Rx Time:16:44:31.6123

2025-08-09T16:44:32.731Z,1754757872.731 [DAT](INFO): Rx dataTimestamp_ set to:1754757872.729795
2025-08-09T16:44:32.733Z,1754757872.733 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.529435
2025-08-09T16:44:32.971Z,1754757872.971 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.768597
2025-08-09T16:44:33.107Z,1754757873.107 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 387.30 m.
2025-08-09T16:44:33.110Z,1754757873.110 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 387.299988 m,
      nav range: 387.316681 m,
      bearing: 138.304129 deg,
      approach rate: -0.657779 m/s,
      LOS rate: 0.012422 deg/s,
      cmd heading: 132.228405 deg,
      new cmd heading: 132.248129 deg.

2025-08-09T16:44:33.229Z,1754757873.229 [DAT](INFO): DAT read: 16:44:31.6123 LVL= 28080, 32753, 32594, 32755, AGC= 72, IDX= 272,-0.08,-0.852,-2.602,-0.880,-1.189, PHS= 0.439,-1.368, 0.265, RAW= 145.0,   7.8, CAL= 144.5,   8.4, ROT=   5.5,  -8.4

2025-08-09T16:44:33.230Z,1754757873.230 [DAT](INFO): got valid direction response:
 16:44:31.6123 LVL= 28080, 32753, 32594, 32755, AGC= 72, IDX= 272,-0.08,-0.852,-2.602,-0.880,-1.189, PHS= 0.439,-1.368, 0.265, RAW= 145.0,   7.8, CAL= 144.5,   8.4, ROT=   5.5,  -8.4

2025-08-09T16:44:33.231Z,1754757873.231 [DAT](INFO): DAT read: Bearing 296.0,  11.8 (Local)

2025-08-09T16:44:33.231Z,1754757873.231 [DAT](INFO): Local bearing/azimuth received:
 Bearing 296.0,  11.8 (Local)

2025-08-09T16:44:33.233Z,1754757873.233 [DAT](INFO): DAT read: Range 11 to 50 : 384.9 m  (Round-trip  513.3 ms) speed  0.4 m/s

2025-08-09T16:44:33.234Z,1754757873.234 [DAT](INFO): DAT read: user:64>

2025-08-09T16:44:33.234Z,1754757873.234 [DAT](INFO): DAT read: Tx time:16:44:32.6948

2025-08-09T16:44:33.235Z,1754757873.235 [DAT](INFO): Ping request sent.
2025-08-09T16:44:33.235Z,1754757873.235 [DAT](INFO): transmitted an acoustic signal
2025-08-09T16:44:33.235Z,1754757873.235 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-09T16:44:33.236Z,1754757873.236 [DAT](INFO): direction in FSK: [0.984718,0.094818,0.146083]
2025-08-09T16:44:33.236Z,1754757873.236 [DAT](INFO): publishing transmit ping time
2025-08-09T16:44:33.237Z,1754757873.237 [DAT](INFO): publishing direction and range info
2025-08-09T16:44:33.240Z,1754757873.240 [DAT](INFO): publishing transmit ping time
2025-08-09T16:44:33.240Z,1754757873.240 [DAT](INFO): publishing direction and range info
2025-08-09T16:44:33.643Z,1754757873.643 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 384.899994 m,
      deltaT: 4.032001 s,
      deltaX: -2.399994 m,
      approachRate: -0.595236 m/s,
      rangeRepo size: 4

2025-08-09T16:44:33.645Z,1754757873.645 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 384.899994 m,
      bearing: 138.281356 deg,
      lat: 36.905860 deg,
      lon: -122.115979 deg,
      deltaT: 4.032001 s,
      deltaX: -2.399994 m,
      approachRate: -0.595236 m/s,
      posRepo size: 4

2025-08-09T16:44:33.645Z,1754757873.645 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 384.90 m.
2025-08-09T16:44:33.652Z,1754757873.652 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 384.899994 m,
      nav range: 383.075806 m,
      bearing: 138.281356 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.012422 deg/s,
      cmd heading: 132.248131 deg,
      new cmd heading: 132.267899 deg.

2025-08-09T16:44:34.077Z,1754757874.077 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 384.90 m.
2025-08-09T16:44:34.080Z,1754757874.080 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 384.899994 m,
      nav range: 382.799194 m,
      bearing: 138.286484 deg,
      approach rate: -0.630259 m/s,
      LOS rate: 0.011693 deg/s,
      cmd heading: 132.267897 deg,
      new cmd heading: 132.283293 deg.

2025-08-09T16:44:34.443Z,1754757874.443 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-09T16:44:34.445Z,1754757874.445 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 384.90 m.
2025-08-09T16:44:34.464Z,1754757874.464 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 384.899994 m,
      nav range: 382.570374 m,
      bearing: 138.290757 deg,
      approach rate: -0.621294 m/s,
      LOS rate: 0.011609 deg/s,
      cmd heading: 132.283293 deg,
      new cmd heading: 132.296119 deg.

2025-08-09T16:44:34.483Z,1754757874.483 [DAT](INFO): ****** received valid address query ******
2025-08-09T16:44:34.483Z,1754757874.483 [DAT](INFO): ****** received valid ping request ******
2025-08-09T16:44:34.484Z,1754757874.484 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-09T16:44:34.740Z,1754757874.740 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.504804
2025-08-09T16:44:34.863Z,1754757874.863 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error. Device response is::TS,00021420314317,35.0,  +9.9,   0.0,1489.:0, 104.84, 122.65, 106.37
2025-08-09T16:44:34.887Z,1754757874.887 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 384.90 m.
2025-08-09T16:44:34.890Z,1754757874.890 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 384.899994 m,
      nav range: 382.302582 m,
      bearing: 138.295764 deg,
      approach rate: -0.605250 m/s,
      LOS rate: 0.011325 deg/s,
      cmd heading: 132.296120 deg,
      new cmd heading: 132.311152 deg.

2025-08-09T16:44:34.987Z,1754757874.987 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.752441
2025-08-09T16:44:35.239Z,1754757875.239 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.004466
2025-08-09T16:44:35.369Z,1754757875.369 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 384.90 m.
2025-08-09T16:44:35.372Z,1754757875.372 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 384.899994 m,
      nav range: 382.004883 m,
      bearing: 138.301355 deg,
      approach rate: -0.617684 m/s,
      LOS rate: 0.011608 deg/s,
      cmd heading: 132.311146 deg,
      new cmd heading: 132.327930 deg.

2025-08-09T16:44:35.492Z,1754757875.492 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.257595
2025-08-09T16:44:35.746Z,1754757875.746 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.510678
2025-08-09T16:44:35.849Z,1754757875.849 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 384.90 m.
2025-08-09T16:44:35.881Z,1754757875.881 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 384.899994 m,
      nav range: 381.708618 m,
      bearing: 138.307185 deg,
      approach rate: -0.617647 m/s,
      LOS rate: 0.012164 deg/s,
      cmd heading: 132.327935 deg,
      new cmd heading: 132.345439 deg.

2025-08-09T16:44:35.995Z,1754757875.995 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.760624
2025-08-09T16:44:36.247Z,1754757876.247 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.012476
2025-08-09T16:44:36.268Z,1754757876.268 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 384.90 m.
2025-08-09T16:44:36.271Z,1754757876.271 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 384.899994 m,
      nav range: 381.445587 m,
      bearing: 138.312403 deg,
      approach rate: -0.627618 m/s,
      LOS rate: 0.012460 deg/s,
      cmd heading: 132.345434 deg,
      new cmd heading: 132.361099 deg.

2025-08-09T16:44:36.500Z,1754757876.500 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.265059
2025-08-09T16:44:36.669Z,1754757876.669 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-09T16:44:36.671Z,1754757876.671 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 384.90 m.
2025-08-09T16:44:36.674Z,1754757876.674 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 384.899994 m,
      nav range: 381.194641 m,
      bearing: 138.317417 deg,
      approach rate: -0.622791 m/s,
      LOS rate: 0.012451 deg/s,
      cmd heading: 132.361102 deg,
      new cmd heading: 132.376153 deg.

2025-08-09T16:44:36.755Z,1754757876.755 [DAT](INFO): DAT read: Rx Time:16:44:35.6090

2025-08-09T16:44:36.757Z,1754757876.757 [DAT](INFO): Rx dataTimestamp_ set to:1754757876.755801
2025-08-09T16:44:36.760Z,1754757876.760 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.523102
2025-08-09T16:44:37.003Z,1754757877.003 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.768414
2025-08-09T16:44:37.178Z,1754757877.178 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 384.90 m.
2025-08-09T16:44:37.181Z,1754757877.181 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 384.899994 m,
      nav range: 380.904968 m,
      bearing: 138.322840 deg,
      approach rate: -0.575549 m/s,
      LOS rate: 0.010783 deg/s,
      cmd heading: 132.376156 deg,
      new cmd heading: 132.392437 deg.

2025-08-09T16:44:37.262Z,1754757877.262 [DAT](INFO): DAT read: 16:44:35.6090 LVL= 31168, 32753, 32754, 32755, AGC= 74, IDX= 404, 0.18, 0.790,-1.005, 0.746, 0.420, PHS= 0.472,-1.380, 0.282, RAW= 144.7,   7.1, CAL= 144.2,   7.8, ROT=   5.8,  -7.8

2025-08-09T16:44:37.263Z,1754757877.263 [DAT](INFO): got valid direction response:
 16:44:35.6090 LVL= 31168, 32753, 32754, 32755, AGC= 74, IDX= 404, 0.18, 0.790,-1.005, 0.746, 0.420, PHS= 0.472,-1.380, 0.282, RAW= 144.7,   7.1, CAL= 144.2,   7.8, ROT=   5.8,  -7.8

2025-08-09T16:44:37.264Z,1754757877.264 [DAT](INFO): DAT read: Bearing 295.2,  11.8 (Local)

2025-08-09T16:44:37.265Z,1754757877.265 [DAT](INFO): Local bearing/azimuth received:
 Bearing 295.2,  11.8 (Local)

2025-08-09T16:44:37.266Z,1754757877.266 [DAT](INFO): DAT read: Range 11 to 50 : 382.5 m  (Round-trip  510.1 ms) speed  0.4 m/s

2025-08-09T16:44:37.267Z,1754757877.267 [DAT](INFO): DAT read: user:65>

2025-08-09T16:44:37.267Z,1754757877.267 [DAT](INFO): DAT read: Tx time:16:44:36.6948

2025-08-09T16:44:37.268Z,1754757877.268 [DAT](INFO): Ping request sent.
2025-08-09T16:44:37.268Z,1754757877.268 [DAT](INFO): transmitted an acoustic signal
2025-08-09T16:44:37.268Z,1754757877.268 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-09T16:44:37.269Z,1754757877.269 [DAT](INFO): direction in FSK: [0.985676,0.100121,0.135716]
2025-08-09T16:44:37.269Z,1754757877.269 [DAT](INFO): publishing transmit ping time
2025-08-09T16:44:37.270Z,1754757877.270 [DAT](INFO): publishing direction and range info
2025-08-09T16:44:37.273Z,1754757877.273 [DAT](INFO): publishing transmit ping time
2025-08-09T16:44:37.273Z,1754757877.273 [DAT](INFO): publishing direction and range info
2025-08-09T16:44:37.536Z,1754757877.536 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 382.500000 m,
      deltaT: 4.032708 s,
      deltaX: -2.399994 m,
      approachRate: -0.595132 m/s,
      rangeRepo size: 4

2025-08-09T16:44:37.541Z,1754757877.541 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 382.500000 m,
      bearing: 139.265646 deg,
      lat: 36.905869 deg,
      lon: -122.116081 deg,
      deltaT: 4.032708 s,
      deltaX: -2.399994 m,
      approachRate: -0.595132 m/s,
      posRepo size: 4

2025-08-09T16:44:37.543Z,1754757877.543 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 382.50 m.
2025-08-09T16:44:37.548Z,1754757877.548 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 382.500000 m,
      nav range: 373.902710 m,
      bearing: 139.265646 deg,
      approach rate: 2536456227290873856.000000 m/s,
      LOS rate: 0.010783 deg/s,
      cmd heading: 132.392439 deg,
      new cmd heading: 132.404087 deg.

2025-08-09T16:44:37.955Z,1754757877.955 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 382.50 m.
2025-08-09T16:44:37.958Z,1754757877.958 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 382.500000 m,
      nav range: 373.654877 m,
      bearing: 139.272151 deg,
      approach rate: -0.588731 m/s,
      LOS rate: 0.015463 deg/s,
      cmd heading: 132.404091 deg,
      new cmd heading: 132.423619 deg.

2025-08-09T16:44:38.335Z,1754757878.335 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 382.50 m.
2025-08-09T16:44:38.338Z,1754757878.338 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 382.500000 m,
      nav range: 373.432922 m,
      bearing: 139.278053 deg,
      approach rate: -0.584109 m/s,
      LOS rate: 0.015540 deg/s,
      cmd heading: 132.423626 deg,
      new cmd heading: 132.441340 deg.

2025-08-09T16:44:38.883Z,1754757878.883 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-09T16:44:38.885Z,1754757878.885 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 382.50 m.
2025-08-09T16:44:38.888Z,1754757878.888 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 382.500000 m,
      nav range: 373.114380 m,
      bearing: 139.285333 deg,
      approach rate: -0.579704 m/s,
      LOS rate: 0.013260 deg/s,
      cmd heading: 132.441343 deg,
      new cmd heading: 132.463202 deg.

2025-08-09T16:44:39.019Z,1754757879.019 [DAT](INFO): ****** received valid address query ******
2025-08-09T16:44:39.019Z,1754757879.019 [DAT](INFO): ****** received valid ping request ******
2025-08-09T16:44:39.019Z,1754757879.019 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-09T16:44:39.217Z,1754757879.217 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 382.50 m.
2025-08-09T16:44:39.220Z,1754757879.220 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 382.500000 m,
      nav range: 372.915314 m,
      bearing: 139.290020 deg,
      approach rate: -0.598598 m/s,
      LOS rate: 0.014102 deg/s,
      cmd heading: 132.463200 deg,
      new cmd heading: 132.477269 deg.

2025-08-09T16:44:39.272Z,1754757879.272 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.003860
2025-08-09T16:44:39.523Z,1754757879.523 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.255359
2025-08-09T16:44:39.636Z,1754757879.636 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 382.50 m.
2025-08-09T16:44:39.639Z,1754757879.639 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 382.500000 m,
      nav range: 372.669952 m,
      bearing: 139.295881 deg,
      approach rate: -0.586273 m/s,
      LOS rate: 0.014014 deg/s,
      cmd heading: 132.477270 deg,
      new cmd heading: 132.494865 deg.

2025-08-09T16:44:39.775Z,1754757879.775 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.507439
2025-08-09T16:44:40.027Z,1754757880.027 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.759428
2025-08-09T16:44:40.193Z,1754757880.193 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 382.50 m.
2025-08-09T16:44:40.200Z,1754757880.200 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 382.500000 m,
      nav range: 372.346924 m,
      bearing: 139.303670 deg,
      approach rate: -0.579768 m/s,
      LOS rate: 0.013992 deg/s,
      cmd heading: 132.494865 deg,
      new cmd heading: 132.518252 deg.

2025-08-09T16:44:40.280Z,1754757880.280 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.011856
2025-08-09T16:44:40.487Z,1754757880.487 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 382.50 m.
2025-08-09T16:44:40.490Z,1754757880.490 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 382.500000 m,
      nav range: 372.161560 m,
      bearing: 139.308198 deg,
      approach rate: -0.629440 m/s,
      LOS rate: 0.015384 deg/s,
      cmd heading: 132.518251 deg,
      new cmd heading: 132.531843 deg.

2025-08-09T16:44:40.535Z,1754757880.535 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.267237
2025-08-09T16:44:40.787Z,1754757880.787 [DAT](INFO): DAT read: Rx Time:16:44:39.6058

2025-08-09T16:44:40.788Z,1754757880.788 [DAT](INFO): Rx dataTimestamp_ set to:1754757880.787490
2025-08-09T16:44:40.788Z,1754757880.788 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.520442
2025-08-09T16:44:40.937Z,1754757880.937 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-09T16:44:40.959Z,1754757880.959 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 382.50 m.
2025-08-09T16:44:40.962Z,1754757880.962 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 382.500000 m,
      nav range: 371.891907 m,
      bearing: 139.314590 deg,
      approach rate: -0.571525 m/s,
      LOS rate: 0.013557 deg/s,
      cmd heading: 132.531843 deg,
      new cmd heading: 132.551032 deg.

2025-08-09T16:44:41.040Z,1754757881.040 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.771709
2025-08-09T16:44:41.297Z,1754757881.297 [DAT](INFO): DAT read: 16:44:39.6058 LVL= 32752, 32753, 32754, 32755, AGC= 71, IDX= 404,-0.49,-0.418,-2.186,-0.415,-0.735, PHS= 0.420,-1.405, 0.276, RAW= 146.0,   8.1, CAL= 145.5,   8.8, ROT=   4.5,  -8.8

2025-08-09T16:44:41.298Z,1754757881.298 [DAT](INFO): got valid direction response:
 16:44:39.6058 LVL= 32752, 32753, 32754, 32755, AGC= 71, IDX= 404,-0.49,-0.418,-2.186,-0.415,-0.735, PHS= 0.420,-1.405, 0.276, RAW= 146.0,   8.1, CAL= 145.5,   8.8, ROT=   4.5,  -8.8

2025-08-09T16:44:41.299Z,1754757881.299 [DAT](INFO): DAT read: Bearing 295.5,   8.4 (Local)

2025-08-09T16:44:41.300Z,1754757881.300 [DAT](INFO): Local bearing/azimuth received:
 Bearing 295.5,   8.4 (Local)

2025-08-09T16:44:41.301Z,1754757881.301 [DAT](INFO): DAT read: Range 11 to 50 : 380.1 m  (Round-trip  506.9 ms) speed  0.5 m/s

2025-08-09T16:44:41.302Z,1754757881.302 [DAT](INFO): DAT read: user:66>

2025-08-09T16:44:41.302Z,1754757881.302 [DAT](INFO): DAT read: Tx time:16:44:40.6948

2025-08-09T16:44:41.303Z,1754757881.303 [DAT](INFO): Ping request sent.
2025-08-09T16:44:41.303Z,1754757881.303 [DAT](INFO): transmitted an acoustic signal
2025-08-09T16:44:41.303Z,1754757881.303 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-09T16:44:41.304Z,1754757881.304 [DAT](INFO): direction in FSK: [0.985182,0.077536,0.152986]
2025-08-09T16:44:41.304Z,1754757881.304 [DAT](INFO): publishing transmit ping time
2025-08-09T16:44:41.305Z,1754757881.305 [DAT](INFO): publishing direction and range info
2025-08-09T16:44:41.316Z,1754757881.316 [DAT](INFO): publishing transmit ping time
2025-08-09T16:44:41.316Z,1754757881.316 [DAT](INFO): publishing direction and range info
2025-08-09T16:44:41.399Z,1754757881.399 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 380.100006 m,
      deltaT: 4.035369 s,
      deltaX: -2.399994 m,
      approachRate: -0.594740 m/s,
      rangeRepo size: 4

2025-08-09T16:44:41.401Z,1754757881.401 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 380.100006 m,
      bearing: 139.193903 deg,
      lat: 36.905880 deg,
      lon: -122.116081 deg,
      deltaT: 4.035369 s,
      deltaX: -2.399994 m,
      approachRate: -0.594740 m/s,
      posRepo size: 4

2025-08-09T16:44:41.402Z,1754757881.402 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 380.10 m.
2025-08-09T16:44:41.413Z,1754757881.413 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 380.100006 m,
      nav range: 370.669708 m,
      bearing: 139.193903 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.013557 deg/s,
      cmd heading: 132.551036 deg,
      new cmd heading: 132.568853 deg.

2025-08-09T16:44:41.767Z,1754757881.767 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 380.10 m.
2025-08-09T16:44:41.770Z,1754757881.770 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 380.100006 m,
      nav range: 370.450531 m,
      bearing: 139.199164 deg,
      approach rate: -0.592416 m/s,
      LOS rate: 0.014227 deg/s,
      cmd heading: 132.568849 deg,
      new cmd heading: 132.584640 deg.

2025-08-09T16:44:42.184Z,1754757882.184 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 380.10 m.
2025-08-09T16:44:42.187Z,1754757882.187 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 380.100006 m,
      nav range: 370.179871 m,
      bearing: 139.206822 deg,
      approach rate: -0.649027 m/s,
      LOS rate: 0.018377 deg/s,
      cmd heading: 132.584641 deg,
      new cmd heading: 132.607632 deg.

2025-08-09T16:44:42.591Z,1754757882.591 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 380.10 m.
2025-08-09T16:44:42.593Z,1754757882.593 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 380.100006 m,
      nav range: 369.933716 m,
      bearing: 139.213796 deg,
      approach rate: -0.625311 m/s,
      LOS rate: 0.017729 deg/s,
      cmd heading: 132.607631 deg,
      new cmd heading: 132.628568 deg.

2025-08-09T16:44:42.984Z,1754757882.984 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-09T16:44:42.987Z,1754757882.987 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 380.10 m.
2025-08-09T16:44:42.989Z,1754757882.989 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 380.100006 m,
      nav range: 369.670776 m,
      bearing: 139.220644 deg,
      approach rate: -0.643924 m/s,
      LOS rate: 0.016782 deg/s,
      cmd heading: 132.628572 deg,
      new cmd heading: 132.649131 deg.

2025-08-09T16:44:43.056Z,1754757883.056 [DAT](INFO): ****** received valid address query ******
2025-08-09T16:44:43.056Z,1754757883.056 [DAT](INFO): ****** received valid ping request ******
2025-08-09T16:44:43.057Z,1754757883.057 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-09T16:44:43.307Z,1754757883.307 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.004421
2025-08-09T16:44:43.384Z,1754757883.384 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 380.10 m.
2025-08-09T16:44:43.391Z,1754757883.391 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 380.100006 m,
      nav range: 369.416626 m,
      bearing: 139.227315 deg,
      approach rate: -0.639134 m/s,
      LOS rate: 0.016788 deg/s,
      cmd heading: 132.649131 deg,
      new cmd heading: 132.669158 deg.

2025-08-09T16:44:43.559Z,1754757883.559 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.256479
2025-08-09T16:44:43.763Z,1754757883.763 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 380.10 m.
2025-08-09T16:44:43.766Z,1754757883.766 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 380.100006 m,
      nav range: 369.170044 m,
      bearing: 139.233797 deg,
      approach rate: -0.651642 m/s,
      LOS rate: 0.017141 deg/s,
      cmd heading: 132.669157 deg,
      new cmd heading: 132.688616 deg.

2025-08-09T16:44:43.811Z,1754757883.811 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.508552
2025-08-09T16:44:44.063Z,1754757884.063 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.760350
2025-08-09T16:44:44.215Z,1754757884.215 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 380.10 m.
2025-08-09T16:44:44.217Z,1754757884.217 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 380.100006 m,
      nav range: 368.881042 m,
      bearing: 139.241368 deg,
      approach rate: -0.645120 m/s,
      LOS rate: 0.016912 deg/s,
      cmd heading: 132.688610 deg,
      new cmd heading: 132.711339 deg.

2025-08-09T16:44:44.315Z,1754757884.315 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.012372
2025-08-09T16:44:44.567Z,1754757884.567 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.264434
2025-08-09T16:44:44.602Z,1754757884.602 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 380.10 m.
2025-08-09T16:44:44.608Z,1754757884.608 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 380.100006 m,
      nav range: 368.628448 m,
      bearing: 139.247973 deg,
      approach rate: -0.645743 m/s,
      LOS rate: 0.016899 deg/s,
      cmd heading: 132.711341 deg,
      new cmd heading: 132.731171 deg.

2025-08-09T16:44:44.820Z,1754757884.820 [DAT](INFO): DAT read: Rx Time:16:44:43.6026

2025-08-09T16:44:44.820Z,1754757884.820 [DAT](INFO): Rx dataTimestamp_ set to:1754757884.819731
2025-08-09T16:44:44.821Z,1754757884.821 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.517660
2025-08-09T16:44:45.001Z,1754757885.001 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-09T16:44:45.003Z,1754757885.003 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 380.10 m.
2025-08-09T16:44:45.006Z,1754757885.006 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 380.100006 m,
      nav range: 368.350861 m,
      bearing: 139.254927 deg,
      approach rate: -0.691573 m/s,
      LOS rate: 0.017337 deg/s,
      cmd heading: 132.731175 deg,
      new cmd heading: 132.752052 deg.

2025-08-09T16:44:45.072Z,1754757885.072 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.768655
2025-08-09T16:44:45.329Z,1754757885.329 [DAT](INFO): DAT read: 16:44:43.6026 LVL= 30400, 32753, 31474, 32755, AGC= 72, IDX= 402, 0.34,-2.251, 2.168,-2.314,-2.657, PHS= 0.508,-1.414, 0.298, RAW= 144.3,   6.7, CAL= 143.9,   7.3, ROT=   6.1,  -7.3

2025-08-09T16:44:45.330Z,1754757885.330 [DAT](INFO): got valid direction response:
 16:44:43.6026 LVL= 30400, 32753, 31474, 32755, AGC= 72, IDX= 402, 0.34,-2.251, 2.168,-2.314,-2.657, PHS= 0.508,-1.414, 0.298, RAW= 144.3,   6.7, CAL= 143.9,   7.3, ROT=   6.1,  -7.3

2025-08-09T16:44:45.335Z,1754757885.335 [DAT](INFO): DAT read: Bearing 293.4,   8.4 (Local)

2025-08-09T16:44:45.335Z,1754757885.335 [DAT](INFO): Local bearing/azimuth received:
 Bearing 293.4,   8.4 (Local)

2025-08-09T16:44:45.341Z,1754757885.341 [DAT](INFO): DAT read: Range 11 to 50 : 377.7 m  (Round-trip  503.7 ms) speed  0.5 m/s

2025-08-09T16:44:45.343Z,1754757885.343 [DAT](INFO): DAT read: user:67>

2025-08-09T16:44:45.344Z,1754757885.344 [DAT](INFO): DAT read: Tx time:16:44:44.6948

2025-08-09T16:44:45.344Z,1754757885.344 [DAT](INFO): Ping request sent.
2025-08-09T16:44:45.344Z,1754757885.344 [DAT](INFO): transmitted an acoustic signal
2025-08-09T16:44:45.344Z,1754757885.344 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-09T16:44:45.345Z,1754757885.345 [DAT](INFO): direction in FSK: [0.986278,0.105403,0.127065]
2025-08-09T16:44:45.346Z,1754757885.346 [DAT](INFO): publishing transmit ping time
2025-08-09T16:44:45.346Z,1754757885.346 [DAT](INFO): publishing direction and range info
2025-08-09T16:44:45.385Z,1754757885.385 [DAT](INFO): publishing transmit ping time
2025-08-09T16:44:45.385Z,1754757885.385 [DAT](INFO): publishing direction and range info
2025-08-09T16:44:45.469Z,1754757885.469 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 377.700012 m,
      deltaT: 4.031840 s,
      deltaX: -2.399994 m,
      approachRate: -0.595260 m/s,
      rangeRepo size: 4

2025-08-09T16:44:45.480Z,1754757885.480 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 377.700012 m,
      bearing: 139.227189 deg,
      lat: 36.905883 deg,
      lon: -122.116081 deg,
      deltaT: 4.031840 s,
      deltaX: -2.399994 m,
      approachRate: -0.595260 m/s,
      posRepo size: 4

2025-08-09T16:44:45.480Z,1754757885.480 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 377.70 m.
2025-08-09T16:44:45.487Z,1754757885.487 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 377.700012 m,
      nav range: 367.793701 m,
      bearing: 139.227189 deg,
      approach rate: -0.000000 m/s,
      LOS rate: 0.017337 deg/s,
      cmd heading: 132.752048 deg,
      new cmd heading: 132.776260 deg.

2025-08-09T16:44:45.804Z,1754757885.804 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 377.70 m.
2025-08-09T16:44:45.807Z,1754757885.807 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 377.700012 m,
      nav range: 367.562958 m,
      bearing: 139.232911 deg,
      approach rate: -0.687803 m/s,
      LOS rate: 0.017068 deg/s,
      cmd heading: 132.776255 deg,
      new cmd heading: 132.793433 deg.

2025-08-09T16:44:46.225Z,1754757886.225 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 377.70 m.
2025-08-09T16:44:46.228Z,1754757886.228 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 377.700012 m,
      nav range: 367.289062 m,
      bearing: 139.239197 deg,
      approach rate: -0.650900 m/s,
      LOS rate: 0.014949 deg/s,
      cmd heading: 132.793439 deg,
      new cmd heading: 132.812311 deg.

2025-08-09T16:44:46.610Z,1754757886.610 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 377.70 m.
2025-08-09T16:44:46.613Z,1754757886.613 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 377.700012 m,
      nav range: 367.037506 m,
      bearing: 139.244952 deg,
      approach rate: -0.653364 m/s,
      LOS rate: 0.014958 deg/s,
      cmd heading: 132.812304 deg,
      new cmd heading: 132.829582 deg.

2025-08-09T16:44:47.044Z,1754757887.044 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-09T16:44:47.063Z,1754757887.063 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 377.70 m.
2025-08-09T16:44:47.066Z,1754757887.066 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 377.700012 m,
      nav range: 366.757568 m,
      bearing: 139.251076 deg,
      approach rate: -0.617441 m/s,
      LOS rate: 0.013517 deg/s,
      cmd heading: 132.829585 deg,
      new cmd heading: 132.847969 deg.

2025-08-09T16:44:47.087Z,1754757887.087 [DAT](INFO): ****** received valid address query ******
2025-08-09T16:44:47.087Z,1754757887.087 [DAT](INFO): ****** received valid ping request ******
2025-08-09T16:44:47.088Z,1754757887.088 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-09T16:44:47.343Z,1754757887.343 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.998565
2025-08-09T16:44:47.420Z,1754757887.420 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 377.70 m.
2025-08-09T16:44:47.423Z,1754757887.423 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 377.700012 m,
      nav range: 366.510437 m,
      bearing: 139.256485 deg,
      approach rate: -0.692489 m/s,
      LOS rate: 0.015168 deg/s,
      cmd heading: 132.847972 deg,
      new cmd heading: 132.864211 deg.

2025-08-09T16:44:47.591Z,1754757887.591 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.247168
2025-08-09T16:44:47.832Z,1754757887.832 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 377.70 m.
2025-08-09T16:44:47.844Z,1754757887.844 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.499867
2025-08-09T16:44:47.845Z,1754757887.845 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 377.700012 m,
      nav range: 366.252411 m,
      bearing: 139.262146 deg,
      approach rate: -0.626450 m/s,
      LOS rate: 0.013753 deg/s,
      cmd heading: 132.864214 deg,
      new cmd heading: 132.881208 deg.

2025-08-09T16:44:48.096Z,1754757888.096 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.752126
2025-08-09T16:44:48.256Z,1754757888.256 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 377.70 m.
2025-08-09T16:44:48.259Z,1754757888.259 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 377.700012 m,
      nav range: 365.973297 m,
      bearing: 139.267844 deg,
      approach rate: -0.657608 m/s,
      LOS rate: 0.013434 deg/s,
      cmd heading: 132.881207 deg,
      new cmd heading: 132.898313 deg.

2025-08-09T16:44:48.348Z,1754757888.348 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.003563
2025-08-09T16:44:48.599Z,1754757888.599 [DAT](INFO): DAT read: Rx Time:16:44:47.5995

2025-08-09T16:44:48.600Z,1754757888.600 [DAT](INFO): Rx dataTimestamp_ set to:1754757888.599639
2025-08-09T16:44:48.600Z,1754757888.600 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.256328
2025-08-09T16:44:48.643Z,1754757888.643 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 377.70 m.
2025-08-09T16:44:48.646Z,1754757888.646 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 377.700012 m,
      nav range: 365.727173 m,
      bearing: 139.272864 deg,
      approach rate: -0.636233 m/s,
      LOS rate: 0.012986 deg/s,
      cmd heading: 132.898310 deg,
      new cmd heading: 132.913381 deg.

2025-08-09T16:44:48.852Z,1754757888.852 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.507898
2025-08-09T16:44:49.070Z,1754757889.070 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-09T16:44:49.072Z,1754757889.072 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 377.70 m.
2025-08-09T16:44:49.075Z,1754757889.075 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 377.700012 m,
      nav range: 365.465942 m,
      bearing: 139.277743 deg,
      approach rate: -0.608990 m/s,
      LOS rate: 0.011383 deg/s,
      cmd heading: 132.913378 deg,
      new cmd heading: 132.928026 deg.

2025-08-09T16:44:49.107Z,1754757889.107 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.762618
2025-08-09T16:44:49.362Z,1754757889.362 [DAT](INFO): DAT read: 16:44:47.5995 LVL= 32752, 32753, 32754, 32755, AGC= 73, IDX= 402,-0.08,-1.376,-3.018,-1.396,-1.953, PHS= 0.679,-1.020, 0.513, RAW= 144.9,  -2.1, CAL= 144.6,  -2.6, ROT=   5.4,   2.6

2025-08-09T16:44:49.363Z,1754757889.363 [DAT](INFO): got valid direction response:
 16:44:47.5995 LVL= 32752, 32753, 32754, 32755, AGC= 73, IDX= 402,-0.08,-1.376,-3.018,-1.396,-1.953, PHS= 0.679,-1.020, 0.513, RAW= 144.9,  -2.1, CAL= 144.6,  -2.6, ROT=   5.4,   2.6

2025-08-09T16:44:49.364Z,1754757889.364 [DAT](INFO): DAT read: Bearing 283.6,   7.8 (Local)

2025-08-09T16:44:49.364Z,1754757889.364 [DAT](INFO): Local bearing/azimuth received:
 Bearing 283.6,   7.8 (Local)

2025-08-09T16:44:49.366Z,1754757889.366 [DAT](INFO): DAT read: Range 11 to 50 : 375.3 m  (Round-trip  500.5 ms) speed  0.5 m/s

2025-08-09T16:44:49.366Z,1754757889.366 [DAT](INFO): DAT read: user:68>

2025-08-09T16:44:49.367Z,1754757889.367 [DAT](INFO): DAT read: Tx time:16:44:48.6948

2025-08-09T16:44:49.367Z,1754757889.367 [DAT](INFO): Ping request sent.
2025-08-09T16:44:49.367Z,1754757889.367 [DAT](INFO): transmitted an acoustic signal
2025-08-09T16:44:49.368Z,1754757889.368 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-09T16:44:49.369Z,1754757889.369 [DAT](INFO): direction in FSK: [0.994537,0.094011,-0.045363]
2025-08-09T16:44:49.369Z,1754757889.369 [DAT](INFO): publishing transmit ping time
2025-08-09T16:44:49.369Z,1754757889.369 [DAT](INFO): publishing direction and range info
2025-08-09T16:44:49.393Z,1754757889.393 [DAT](INFO): publishing transmit ping time
2025-08-09T16:44:49.393Z,1754757889.393 [DAT](INFO): publishing direction and range info
2025-08-09T16:44:49.483Z,1754757889.483 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 375.299988 m,
      deltaT: 4.032379 s,
      deltaX: -2.400024 m,
      approachRate: -0.595188 m/s,
      rangeRepo size: 4

2025-08-09T16:44:49.485Z,1754757889.485 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 375.299988 m,
      bearing: 138.349718 deg,
      lat: 36.905883 deg,
      lon: -122.115992 deg,
      deltaT: 4.032379 s,
      deltaX: -2.400024 m,
      approachRate: -0.595188 m/s,
      posRepo size: 4

2025-08-09T16:44:49.486Z,1754757889.486 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 375.30 m.
2025-08-09T16:44:49.493Z,1754757889.493 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 375.299988 m,
      nav range: 370.465393 m,
      bearing: 138.349718 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.011383 deg/s,
      cmd heading: 132.928021 deg,
      new cmd heading: 132.941885 deg.

2025-08-09T16:44:49.839Z,1754757889.839 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 375.30 m.
2025-08-09T16:44:49.843Z,1754757889.843 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 375.299988 m,
      nav range: 370.235504 m,
      bearing: 138.353343 deg,
      approach rate: -0.638173 m/s,
      LOS rate: 0.010071 deg/s,
      cmd heading: 132.941887 deg,
      new cmd heading: 132.952770 deg.

2025-08-09T16:44:50.284Z,1754757890.284 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 375.30 m.
2025-08-09T16:44:50.287Z,1754757890.287 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 375.299988 m,
      nav range: 369.962738 m,
      bearing: 138.357996 deg,
      approach rate: -0.612223 m/s,
      LOS rate: 0.010452 deg/s,
      cmd heading: 132.952774 deg,
      new cmd heading: 132.966744 deg.

2025-08-09T16:44:50.646Z,1754757890.646 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 375.30 m.
2025-08-09T16:44:50.649Z,1754757890.649 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 375.299988 m,
      nav range: 369.731964 m,
      bearing: 138.361920 deg,
      approach rate: -0.637360 m/s,
      LOS rate: 0.010843 deg/s,
      cmd heading: 132.966749 deg,
      new cmd heading: 132.978527 deg.

2025-08-09T16:44:51.083Z,1754757891.083 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-09T16:44:51.085Z,1754757891.085 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 375.30 m.
2025-08-09T16:44:51.088Z,1754757891.088 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 375.299988 m,
      nav range: 369.459229 m,
      bearing: 138.367293 deg,
      approach rate: -0.620990 m/s,
      LOS rate: 0.012243 deg/s,
      cmd heading: 132.978524 deg,
      new cmd heading: 132.994656 deg.

2025-08-09T16:44:51.120Z,1754757891.120 [DAT](INFO): ****** received valid address query ******
2025-08-09T16:44:51.120Z,1754757891.120 [DAT](INFO): ****** received valid ping request ******
2025-08-09T16:44:51.120Z,1754757891.120 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-09T16:44:51.371Z,1754757891.371 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.003701
2025-08-09T16:44:51.465Z,1754757891.465 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 375.30 m.
2025-08-09T16:44:51.468Z,1754757891.468 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 375.299988 m,
      nav range: 369.223053 m,
      bearing: 138.371966 deg,
      approach rate: -0.621780 m/s,
      LOS rate: 0.012309 deg/s,
      cmd heading: 132.994657 deg,
      new cmd heading: 133.008683 deg.

2025-08-09T16:44:51.623Z,1754757891.623 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.255724
2025-08-09T16:44:51.880Z,1754757891.880 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.512940
2025-08-09T16:44:51.948Z,1754757891.948 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 375.30 m.
2025-08-09T16:44:51.951Z,1754757891.951 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 375.299988 m,
      nav range: 368.936676 m,
      bearing: 138.377656 deg,
      approach rate: -0.620952 m/s,
      LOS rate: 0.012348 deg/s,
      cmd heading: 133.008686 deg,
      new cmd heading: 133.025771 deg.

2025-08-09T16:44:52.131Z,1754757892.131 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.763706
2025-08-09T16:44:52.325Z,1754757892.325 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 375.30 m.
2025-08-09T16:44:52.332Z,1754757892.332 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 375.299988 m,
      nav range: 368.701843 m,
      bearing: 138.383585 deg,
      approach rate: -0.588291 m/s,
      LOS rate: 0.014862 deg/s,
      cmd heading: 133.025775 deg,
      new cmd heading: 133.043573 deg.

2025-08-09T16:44:52.386Z,1754757892.386 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.018684
2025-08-09T16:44:52.635Z,1754757892.635 [DAT](INFO): DAT read: Rx Time:16:44:51.6101

2025-08-09T16:44:52.636Z,1754757892.636 [DAT](INFO): Rx dataTimestamp_ set to:1754757892.635517
2025-08-09T16:44:52.636Z,1754757892.636 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.268840
2025-08-09T16:44:52.725Z,1754757892.725 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 375.30 m.
2025-08-09T16:44:52.732Z,1754757892.732 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 375.299988 m,
      nav range: 368.442139 m,
      bearing: 138.390130 deg,
      approach rate: -0.650426 m/s,
      LOS rate: 0.016403 deg/s,
      cmd heading: 133.043575 deg,
      new cmd heading: 133.063223 deg.

2025-08-09T16:44:52.887Z,1754757892.887 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.519734
2025-08-09T16:44:53.142Z,1754757893.142 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.774340
2025-08-09T16:44:53.172Z,1754757893.172 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-09T16:44:53.175Z,1754757893.175 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 375.30 m.
2025-08-09T16:44:53.178Z,1754757893.178 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 375.299988 m,
      nav range: 368.189514 m,
      bearing: 138.397480 deg,
      approach rate: -0.561704 m/s,
      LOS rate: 0.016354 deg/s,
      cmd heading: 133.063218 deg,
      new cmd heading: 133.085284 deg.

2025-08-09T16:44:53.407Z,1754757893.407 [DAT](INFO): DAT read: 16:44:51.6101 LVL= 25520, 32561, 28658, 28515, AGC= 74, IDX=  31, 0.13,-1.748, 2.833,-1.801,-2.347, PHS= 0.701,-1.058, 0.502, RAW= 144.1,  -1.8, CAL= 143.8,  -2.0, ROT=   6.2,   2.0

2025-08-09T16:44:53.409Z,1754757893.409 [DAT](INFO): got valid direction response:
 16:44:51.6101 LVL= 25520, 32561, 28658, 28515, AGC= 74, IDX=  31, 0.13,-1.748, 2.833,-1.801,-2.347, PHS= 0.701,-1.058, 0.502, RAW= 144.1,  -1.8, CAL= 143.8,  -2.0, ROT=   6.2,   2.0

2025-08-09T16:44:53.410Z,1754757893.410 [DAT](INFO): DAT read: Bearing 284.7,   7.3 (Local)

2025-08-09T16:44:53.411Z,1754757893.411 [DAT](INFO): Local bearing/azimuth received:
 Bearing 284.7,   7.3 (Local)

2025-08-09T16:44:53.412Z,1754757893.412 [DAT](INFO): DAT read: Range 11 to 50 : 383.4 m  (Round-trip  511.2 ms) speed  0.6 m/s

2025-08-09T16:44:53.413Z,1754757893.413 [DAT](INFO): DAT read: user:69>

2025-08-09T16:44:53.414Z,1754757893.414 [DAT](INFO): DAT read: Tx time:16:44:52.6948

2025-08-09T16:44:53.414Z,1754757893.414 [DAT](INFO): Ping request sent.
2025-08-09T16:44:53.414Z,1754757893.414 [DAT](INFO): transmitted an acoustic signal
2025-08-09T16:44:53.415Z,1754757893.415 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-09T16:44:53.416Z,1754757893.416 [DAT](INFO): direction in FSK: [0.993545,0.107934,-0.034899]
2025-08-09T16:44:53.416Z,1754757893.416 [DAT](INFO): publishing transmit ping time
2025-08-09T16:44:53.416Z,1754757893.416 [DAT](INFO): publishing direction and range info
2025-08-09T16:44:53.424Z,1754757893.424 [DAT](INFO): publishing transmit ping time
2025-08-09T16:44:53.424Z,1754757893.424 [DAT](INFO): publishing direction and range info
2025-08-09T16:44:53.579Z,1754757893.579 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 383.399994 m,
      deltaT: 4.037703 s,
      deltaX: 8.100006 m,
      approachRate: 2.006093 m/s,
      rangeRepo size: 4

2025-08-09T16:44:53.587Z,1754757893.587 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 383.399994 m,
      bearing: 138.153407 deg,
      lat: 36.905883 deg,
      lon: -122.115967 deg,
      deltaT: 4.037703 s,
      deltaX: 8.100006 m,
      approachRate: 2.006093 m/s,
      posRepo size: 4

2025-08-09T16:44:53.588Z,1754757893.588 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 383.40 m.
2025-08-09T16:44:53.595Z,1754757893.595 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 383.399994 m,
      nav range: 369.369537 m,
      bearing: 138.153407 deg,
      approach rate: -0.000000 m/s,
      LOS rate: 0.016354 deg/s,
      cmd heading: 133.085280 deg,
      new cmd heading: 133.104706 deg.

2025-08-09T16:44:53.935Z,1754757893.935 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 383.40 m.
2025-08-09T16:44:53.938Z,1754757893.938 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 383.399994 m,
      nav range: 369.134521 m,
      bearing: 138.159998 deg,
      approach rate: -0.644561 m/s,
      LOS rate: 0.018090 deg/s,
      cmd heading: 133.104705 deg,
      new cmd heading: 133.124492 deg.

2025-08-09T16:44:54.352Z,1754757894.352 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 383.40 m.
2025-08-09T16:44:54.355Z,1754757894.355 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 383.399994 m,
      nav range: 368.880127 m,
      bearing: 138.168273 deg,
      approach rate: -0.610218 m/s,
      LOS rate: 0.019864 deg/s,
      cmd heading: 133.124499 deg,
      new cmd heading: 133.149342 deg.

2025-08-09T16:44:54.761Z,1754757894.761 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 383.40 m.
2025-08-09T16:44:54.780Z,1754757894.780 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 383.399994 m,
      nav range: 368.630554 m,
      bearing: 138.176390 deg,
      approach rate: -0.609764 m/s,
      LOS rate: 0.019843 deg/s,
      cmd heading: 133.149347 deg,
      new cmd heading: 133.173712 deg.

2025-08-09T16:44:55.173Z,1754757895.173 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 383.40 m.
2025-08-09T16:44:55.176Z,1754757895.176 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 383.399994 m,
      nav range: 368.392792 m,
      bearing: 138.184453 deg,
      approach rate: -0.577754 m/s,
      LOS rate: 0.019606 deg/s,
      cmd heading: 133.173717 deg,
      new cmd heading: 133.197923 deg.

2025-08-09T16:44:55.551Z,1754757895.551 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-09T16:44:55.553Z,1754757895.553 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 383.40 m.
2025-08-09T16:44:55.556Z,1754757895.556 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 383.399994 m,
      nav range: 368.151764 m,
      bearing: 138.192641 deg,
      approach rate: -0.633967 m/s,
      LOS rate: 0.021550 deg/s,
      cmd heading: 133.197923 deg,
      new cmd heading: 133.222502 deg.

2025-08-09T16:44:55.659Z,1754757895.659 [DAT](INFO): ****** received valid address query ******
2025-08-09T16:44:55.659Z,1754757895.659 [DAT](INFO): ****** received valid ping request ******
2025-08-09T16:44:55.659Z,1754757895.659 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-09T16:44:55.911Z,1754757895.911 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.496909
2025-08-09T16:44:55.944Z,1754757895.944 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 383.40 m.
2025-08-09T16:44:55.947Z,1754757895.947 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 383.399994 m,
      nav range: 367.914673 m,
      bearing: 138.200699 deg,
      approach rate: -0.605736 m/s,
      LOS rate: 0.020602 deg/s,
      cmd heading: 133.222498 deg,
      new cmd heading: 133.246689 deg.

2025-08-09T16:44:56.164Z,1754757896.164 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.749469
2025-08-09T16:44:56.379Z,1754757896.379 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 383.40 m.
2025-08-09T16:44:56.381Z,1754757896.381 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 383.399994 m,
      nav range: 367.655670 m,
      bearing: 138.209139 deg,
      approach rate: -0.596838 m/s,
      LOS rate: 0.019462 deg/s,
      cmd heading: 133.246691 deg,
      new cmd heading: 133.272028 deg.

2025-08-09T16:44:56.415Z,1754757896.415 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.001147
2025-08-09T16:44:56.668Z,1754757896.668 [DAT](INFO): DAT read: Rx Time:16:44:55.6067

2025-08-09T16:44:56.669Z,1754757896.669 [DAT](INFO): Rx dataTimestamp_ set to:1754757896.668282
2025-08-09T16:44:56.669Z,1754757896.669 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.254836
2025-08-09T16:44:56.773Z,1754757896.773 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 383.40 m.
2025-08-09T16:44:56.780Z,1754757896.780 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 383.399994 m,
      nav range: 367.423950 m,
      bearing: 138.216712 deg,
      approach rate: -0.586269 m/s,
      LOS rate: 0.019172 deg/s,
      cmd heading: 133.272031 deg,
      new cmd heading: 133.294764 deg.

2025-08-09T16:44:56.919Z,1754757896.919 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.504979
2025-08-09T16:44:57.177Z,1754757897.177 [DAT](INFO): DAT read: 16:44:55.6067 LVL= 26560, 32753, 29778, 32755, AGC= 69, IDX= 412, 0.16,-2.100, 2.504,-2.153,-2.697, PHS= 0.699,-1.036, 0.500, RAW= 144.0,  -2.0, CAL= 143.7,  -2.3, ROT=   6.3,   2.3

2025-08-09T16:44:57.178Z,1754757897.178 [DAT](INFO): got valid direction response:
 16:44:55.6067 LVL= 26560, 32753, 29778, 32755, AGC= 69, IDX= 412, 0.16,-2.100, 2.504,-2.153,-2.697, PHS= 0.699,-1.036, 0.500, RAW= 144.0,  -2.0, CAL= 143.7,  -2.3, ROT=   6.3,   2.3

2025-08-09T16:44:57.179Z,1754757897.179 [DAT](INFO): DAT read: Bearing 284.6,   6.9 (Local)

2025-08-09T16:44:57.180Z,1754757897.180 [DAT](INFO): Local bearing/azimuth received:
 Bearing 284.6,   6.9 (Local)

2025-08-09T16:44:57.181Z,1754757897.181 [DAT](INFO): DAT read: Range 11 to 50 : 380.8 m  (Round-trip  507.8 ms) speed  0.5 m/s

2025-08-09T16:44:57.182Z,1754757897.182 [DAT](INFO): DAT read: user:70>

2025-08-09T16:44:57.183Z,1754757897.183 [DAT](INFO): DAT read: Tx time:16:44:56.6948

2025-08-09T16:44:57.183Z,1754757897.183 [DAT](INFO): Ping request sent.
2025-08-09T16:44:57.183Z,1754757897.183 [DAT](INFO): transmitted an acoustic signal
2025-08-09T16:44:57.183Z,1754757897.183 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-09T16:44:57.184Z,1754757897.184 [DAT](INFO): direction in FSK: [0.993160,0.109646,-0.040132]
2025-08-09T16:44:57.185Z,1754757897.185 [DAT](INFO): publishing transmit ping time
2025-08-09T16:44:57.190Z,1754757897.190 [DAT](INFO): publishing direction and range info
2025-08-09T16:44:57.194Z,1754757897.194 [DAT](INFO): publishing transmit ping time
2025-08-09T16:44:57.194Z,1754757897.194 [DAT](INFO): publishing direction and range info
2025-08-09T16:44:57.283Z,1754757897.283 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 380.799988 m,
      deltaT: 3.778095 s,
      deltaX: -2.600006 m,
      approachRate: -0.688179 m/s,
      rangeRepo size: 4

2025-08-09T16:44:57.285Z,1754757897.285 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 380.799988 m,
      bearing: 137.137059 deg,
      lat: 36.905883 deg,
      lon: -122.115860 deg,
      deltaT: 3.778095 s,
      deltaX: -2.600006 m,
      approachRate: -0.688179 m/s,
      posRepo size: 4

2025-08-09T16:44:57.286Z,1754757897.286 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 380.80 m.
2025-08-09T16:44:57.292Z,1754757897.292 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 380.799988 m,
      nav range: 373.547272 m,
      bearing: 137.137059 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.019172 deg/s,
      cmd heading: 133.294762 deg,
      new cmd heading: 133.323778 deg.

2025-08-09T16:44:57.581Z,1754757897.581 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-09T16:44:57.595Z,1754757897.595 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 380.80 m.
2025-08-09T16:44:57.598Z,1754757897.598 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 380.799988 m,
      nav range: 373.362976 m,
      bearing: 137.142932 deg,
      approach rate: -0.580989 m/s,
      LOS rate: 0.018523 deg/s,
      cmd heading: 133.323776 deg,
      new cmd heading: 133.341404 deg.

2025-08-09T16:44:57.676Z,1754757897.676 [DAT](INFO): ****** received valid address query ******
2025-08-09T16:44:57.676Z,1754757897.676 [DAT](INFO): ****** received valid ping request ******
2025-08-09T16:44:57.676Z,1754757897.676 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-09T16:44:57.927Z,1754757897.927 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.744280
2025-08-09T16:44:58.018Z,1754757898.018 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 380.80 m.
2025-08-09T16:44:58.045Z,1754757898.045 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 380.799988 m,
      nav range: 373.110504 m,
      bearing: 137.150988 deg,
      approach rate: -0.598519 m/s,
      LOS rate: 0.019111 deg/s,
      cmd heading: 133.341398 deg,
      new cmd heading: 133.365583 deg.

2025-08-09T16:44:58.179Z,1754757898.179 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.996295
2025-08-09T16:44:58.423Z,1754757898.423 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 380.80 m.
2025-08-09T16:44:58.425Z,1754757898.425 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 380.799988 m,
      nav range: 372.871948 m,
      bearing: 137.157495 deg,
      approach rate: -0.588275 m/s,
      LOS rate: 0.016057 deg/s,
      cmd heading: 133.365577 deg,
      new cmd heading: 133.385111 deg.

2025-08-09T16:44:58.432Z,1754757898.432 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.248711
2025-08-09T16:44:58.684Z,1754757898.684 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.501510
2025-08-09T16:44:58.800Z,1754757898.800 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 380.80 m.
2025-08-09T16:44:58.803Z,1754757898.803 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 380.799988 m,
      nav range: 372.638092 m,
      bearing: 137.163917 deg,
      approach rate: -0.619705 m/s,
      LOS rate: 0.017030 deg/s,
      cmd heading: 133.385111 deg,
      new cmd heading: 133.404391 deg.

2025-08-09T16:44:58.935Z,1754757898.935 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.752455
2025-08-09T16:44:59.191Z,1754757899.191 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.007489
2025-08-09T16:44:59.320Z,1754757899.320 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 380.80 m.
2025-08-09T16:44:59.323Z,1754757899.323 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 380.799988 m,
      nav range: 372.308350 m,
      bearing: 137.171370 deg,
      approach rate: -0.633761 m/s,
      LOS rate: 0.014336 deg/s,
      cmd heading: 133.404386 deg,
      new cmd heading: 133.426763 deg.

2025-08-09T16:44:59.440Z,1754757899.440 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.256753
2025-08-09T16:44:59.691Z,1754757899.691 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.508416
2025-08-09T16:44:59.697Z,1754757899.697 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-09T16:44:59.700Z,1754757899.700 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 380.80 m.
2025-08-09T16:44:59.702Z,1754757899.702 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 380.799988 m,
      nav range: 372.072083 m,
      bearing: 137.176734 deg,
      approach rate: -0.622578 m/s,
      LOS rate: 0.014143 deg/s,
      cmd heading: 133.426762 deg,
      new cmd heading: 133.442864 deg.

2025-08-09T16:44:59.943Z,1754757899.943 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.760322
2025-08-09T16:45:00.195Z,1754757900.195 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.012446
2025-08-09T16:45:00.215Z,1754757900.215 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 380.80 m.
2025-08-09T16:45:00.218Z,1754757900.218 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 380.799988 m,
      nav range: 371.741180 m,
      bearing: 137.183253 deg,
      approach rate: -0.643118 m/s,
      LOS rate: 0.012682 deg/s,
      cmd heading: 133.442867 deg,
      new cmd heading: 133.462443 deg.

2025-08-09T16:45:00.448Z,1754757900.448 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.265070
2025-08-09T16:45:00.577Z,1754757900.577 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 380.80 m.
2025-08-09T16:45:00.584Z,1754757900.584 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 380.799988 m,
      nav range: 371.516815 m,
      bearing: 137.187644 deg,
      approach rate: -0.618713 m/s,
      LOS rate: 0.012114 deg/s,
      cmd heading: 133.462443 deg,
      new cmd heading: 133.475622 deg.

2025-08-09T16:45:00.708Z,1754757900.708 [DAT](INFO): DAT read: 16:44:59.6033 LVL= 30688, 32753, 32754, 32755, AGC= 73, IDX= 409, 0.14,-0.158,-1.938,-0.200,-0.785, PHS= 0.729,-1.108, 0.541, RAW= 144.7,  -1.9, CAL= 144.3,  -2.2, ROT=   5.7,   2.2

2025-08-09T16:45:00.709Z,1754757900.709 [DAT](INFO): got valid direction response:
 16:44:59.6033 LVL= 30688, 32753, 32754, 32755, AGC= 73, IDX= 409, 0.14,-0.158,-1.938,-0.200,-0.785, PHS= 0.729,-1.108, 0.541, RAW= 144.7,  -1.9, CAL= 144.3,  -2.2, ROT=   5.7,   2.2

2025-08-09T16:45:00.710Z,1754757900.710 [DAT](INFO): DAT read: Rx Time:16:44:59.6033

2025-08-09T16:45:00.712Z,1754757900.712 [DAT](INFO): Rx dataTimestamp_ set to:1754757900.711089
2025-08-09T16:45:00.713Z,1754757900.713 [DAT](INFO): DAT read: $Low SNR acquisition

2025-08-09T16:45:00.713Z,1754757900.713 [DAT](INFO): Received low SNR in chirp
2025-08-09T16:45:00.730Z,1754757900.730 [DAT](INFO): #Rx 1: Read direction message, but no range.
2025-08-09T16:45:00.743Z,1754757900.743 [DAT](INFO): direction in FSK: [0.994322,0.099247,-0.038388]
2025-08-09T16:45:00.765Z,1754757900.765 [DAT](INFO): ****** received valid address query ******
2025-08-09T16:45:00.765Z,1754757900.765 [DAT](INFO): ****** received valid ping request ******
2025-08-09T16:45:00.765Z,1754757900.765 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-09T16:45:00.951Z,1754757900.951 [DAT](INFO): ****** received valid address query ******
2025-08-09T16:45:00.951Z,1754757900.951 [DAT](INFO): ****** received valid ping request ******
2025-08-09T16:45:00.951Z,1754757900.951 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-09T16:45:00.986Z,1754757900.986 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 380.80 m.
2025-08-09T16:45:00.995Z,1754757900.995 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 380.799988 m,
      nav range: 371.247498 m,
      bearing: 137.192876 deg,
      approach rate: -0.658705 m/s,
      LOS rate: 0.012807 deg/s,
      cmd heading: 133.475625 deg,
      new cmd heading: 133.491334 deg.

2025-08-09T16:45:01.203Z,1754757901.203 [DAT](INFO): ****** received valid address query ******
2025-08-09T16:45:01.203Z,1754757901.203 [DAT](INFO): ****** received valid ping request ******
2025-08-09T16:45:01.203Z,1754757901.203 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-09T16:45:01.394Z,1754757901.394 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 380.80 m.
2025-08-09T16:45:01.397Z,1754757901.397 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 380.799988 m,
      nav range: 370.977417 m,
      bearing: 137.197128 deg,
      approach rate: -0.661579 m/s,
      LOS rate: 0.010423 deg/s,
      cmd heading: 133.491334 deg,
      new cmd heading: 133.504100 deg.

2025-08-09T16:45:01.456Z,1754757901.456 [DAT](INFO): ****** received valid address query ******
2025-08-09T16:45:01.456Z,1754757901.456 [DAT](INFO): ****** received valid ping request ******
2025-08-09T16:45:01.456Z,1754757901.456 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-09T16:45:01.707Z,1754757901.707 [DAT](INFO): ****** received valid address query ******
2025-08-09T16:45:01.707Z,1754757901.707 [DAT](INFO): ****** received valid ping request ******
2025-08-09T16:45:01.707Z,1754757901.707 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-09T16:45:01.787Z,1754757901.787 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-09T16:45:01.789Z,1754757901.789 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 380.80 m.
2025-08-09T16:45:01.804Z,1754757901.804 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 380.799988 m,
      nav range: 370.716125 m,
      bearing: 137.201193 deg,
      approach rate: -0.661642 m/s,
      LOS rate: 0.010301 deg/s,
      cmd heading: 133.504093 deg,
      new cmd heading: 133.516297 deg.

2025-08-09T16:45:01.959Z,1754757901.959 [DAT](INFO): ****** received valid address query ******
2025-08-09T16:45:01.959Z,1754757901.959 [DAT](INFO): ****** received valid ping request ******
2025-08-09T16:45:01.959Z,1754757901.959 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-09T16:45:02.211Z,1754757902.211 [DAT](INFO): ****** received valid address query ******
2025-08-09T16:45:02.211Z,1754757902.211 [DAT](INFO): ****** received valid ping request ******
2025-08-09T16:45:02.211Z,1754757902.211 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-09T16:45:02.257Z,1754757902.257 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 380.80 m.
2025-08-09T16:45:02.260Z,1754757902.260 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 380.799988 m,
      nav range: 370.402740 m,
      bearing: 137.205093 deg,
      approach rate: -0.669706 m/s,
      LOS rate: 0.008342 deg/s,
      cmd heading: 133.516292 deg,
      new cmd heading: 133.528003 deg.

2025-08-09T16:45:02.463Z,1754757902.463 [DAT](INFO): ****** received valid address query ******
2025-08-09T16:45:02.463Z,1754757902.463 [DAT](INFO): ****** received valid ping request ******
2025-08-09T16:45:02.463Z,1754757902.463 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-09T16:45:02.583Z,1754757902.583 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 380.80 m.
2025-08-09T16:45:02.586Z,1754757902.586 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 380.799988 m,
      nav range: 370.184082 m,
      bearing: 137.207730 deg,
      approach rate: -0.669503 m/s,
      LOS rate: 0.008079 deg/s,
      cmd heading: 133.527999 deg,
      new cmd heading: 133.535915 deg.

2025-08-09T16:45:02.715Z,1754757902.715 [DAT](INFO): ****** received valid address query ******
2025-08-09T16:45:02.715Z,1754757902.715 [DAT](INFO): ****** received valid ping request ******
2025-08-09T16:45:02.715Z,1754757902.715 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-09T16:45:02.967Z,1754757902.967 [DAT](INFO): ****** received valid address query ******
2025-08-09T16:45:02.967Z,1754757902.967 [DAT](INFO): ****** received valid ping request ******
2025-08-09T16:45:02.967Z,1754757902.967 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-09T16:45:03.041Z,1754757903.041 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 380.80 m.
2025-08-09T16:45:03.048Z,1754757903.048 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 380.799988 m,
      nav range: 369.891388 m,
      bearing: 137.211205 deg,
      approach rate: -0.640145 m/s,
      LOS rate: 0.007605 deg/s,
      cmd heading: 133.535908 deg,
      new cmd heading: 133.546340 deg.

2025-08-09T16:45:03.220Z,1754757903.220 [DAT](INFO): ****** received valid address query ******
2025-08-09T16:45:03.220Z,1754757903.220 [DAT](INFO): ****** received valid ping request ******
2025-08-09T16:45:03.220Z,1754757903.220 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-09T16:45:03.471Z,1754757903.471 [DAT](INFO): ****** received valid address query ******
2025-08-09T16:45:03.471Z,1754757903.471 [DAT](INFO): ****** received valid ping request ******
2025-08-09T16:45:03.471Z,1754757903.471 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-09T16:45:03.587Z,1754757903.587 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 380.80 m.
2025-08-09T16:45:03.589Z,1754757903.589 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 380.799988 m,
      nav range: 369.514587 m,
      bearing: 137.215710 deg,
      approach rate: -0.690260 m/s,
      LOS rate: 0.008261 deg/s,
      cmd heading: 133.546345 deg,
      new cmd heading: 133.559874 deg.

2025-08-09T16:45:03.723Z,1754757903.723 [DAT](INFO): ****** received valid address query ******
2025-08-09T16:45:03.723Z,1754757903.723 [DAT](INFO): ****** received valid ping request ******
2025-08-09T16:45:03.723Z,1754757903.723 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-09T16:45:03.975Z,1754757903.975 [DAT](INFO): ****** received valid address query ******
2025-08-09T16:45:03.975Z,1754757903.975 [DAT](INFO): ****** received valid ping request ******
2025-08-09T16:45:03.975Z,1754757903.975 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-09T16:45:04.092Z,1754757904.092 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-09T16:45:04.095Z,1754757904.095 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 380.80 m.
2025-08-09T16:45:04.097Z,1754757904.097 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 380.799988 m,
      nav range: 369.187347 m,
      bearing: 137.219553 deg,
      approach rate: -0.644249 m/s,
      LOS rate: 0.007573 deg/s,
      cmd heading: 133.559869 deg,
      new cmd heading: 133.571409 deg.

2025-08-09T16:45:04.232Z,1754757904.232 [DAT](INFO): ****** received valid address query ******
2025-08-09T16:45:04.232Z,1754757904.232 [DAT](INFO): ****** received valid ping request ******
2025-08-09T16:45:04.232Z,1754757904.232 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-09T16:45:04.483Z,1754757904.483 [DAT](INFO): ****** received valid address query ******
2025-08-09T16:45:04.483Z,1754757904.483 [DAT](INFO): ****** received valid ping request ******
2025-08-09T16:45:04.483Z,1754757904.483 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-09T16:45:04.567Z,1754757904.567 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 380.80 m.
2025-08-09T16:45:04.570Z,1754757904.570 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 380.799988 m,
      nav range: 368.859161 m,
      bearing: 137.223398 deg,
      approach rate: -0.694233 m/s,
      LOS rate: 0.008140 deg/s,
      cmd heading: 133.571412 deg,
      new cmd heading: 133.582956 deg.

2025-08-09T16:45:04.736Z,1754757904.736 [DAT](INFO): ****** received valid address query ******
2025-08-09T16:45:04.736Z,1754757904.736 [DAT](INFO): ****** received valid ping request ******
2025-08-09T16:45:04.736Z,1754757904.736 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-09T16:45:04.980Z,1754757904.980 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 380.80 m.
2025-08-09T16:45:04.984Z,1754757904.984 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 380.799988 m,
      nav range: 368.581909 m,
      bearing: 137.226635 deg,
      approach rate: -0.670918 m/s,
      LOS rate: 0.007838 deg/s,
      cmd heading: 133.582955 deg,
      new cmd heading: 133.592672 deg.

2025-08-09T16:45:04.988Z,1754757904.988 [DAT](INFO): ****** received valid address query ******
2025-08-09T16:45:04.989Z,1754757904.989 [DAT](INFO): ****** received valid ping request ******
2025-08-09T16:45:04.989Z,1754757904.989 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-09T16:45:05.239Z,1754757905.239 [DAT](INFO): ****** received valid address query ******
2025-08-09T16:45:05.239Z,1754757905.239 [DAT](INFO): ****** received valid ping request ******
2025-08-09T16:45:05.239Z,1754757905.239 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-09T16:45:05.387Z,1754757905.387 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 380.80 m.
2025-08-09T16:45:05.389Z,1754757905.389 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 380.799988 m,
      nav range: 368.316895 m,
      bearing: 137.230725 deg,
      approach rate: -0.652725 m/s,
      LOS rate: 0.010081 deg/s,
      cmd heading: 133.592667 deg,
      new cmd heading: 133.604947 deg.

2025-08-09T16:45:05.493Z,1754757905.493 [DAT](INFO): ****** received valid address query ******
2025-08-09T16:45:05.493Z,1754757905.493 [DAT](INFO): ****** received valid ping request ******
2025-08-09T16:45:05.493Z,1754757905.493 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-09T16:45:05.743Z,1754757905.743 [DAT](INFO): ****** received valid address query ******
2025-08-09T16:45:05.743Z,1754757905.743 [DAT](INFO): ****** received valid ping request ******
2025-08-09T16:45:05.743Z,1754757905.743 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-09T16:45:05.771Z,1754757905.771 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 380.80 m.
2025-08-09T16:45:05.774Z,1754757905.774 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 380.799988 m,
      nav range: 368.065491 m,
      bearing: 137.234600 deg,
      approach rate: -0.653111 m/s,
      LOS rate: 0.010075 deg/s,
      cmd heading: 133.604948 deg,
      new cmd heading: 133.616583 deg.

2025-08-09T16:45:05.999Z,1754757905.999 [DAT](INFO): ****** received valid address query ******
2025-08-09T16:45:05.999Z,1754757905.999 [DAT](INFO): ****** received valid ping request ******
2025-08-09T16:45:05.999Z,1754757905.999 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-09T16:45:06.153Z,1754757906.153 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-09T16:45:06.155Z,1754757906.155 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 380.80 m.
2025-08-09T16:45:06.158Z,1754757906.158 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 380.799988 m,
      nav range: 367.815552 m,
      bearing: 137.238440 deg,
      approach rate: -0.652233 m/s,
      LOS rate: 0.010027 deg/s,
      cmd heading: 133.616587 deg,
      new cmd heading: 133.628114 deg.

2025-08-09T16:45:06.249Z,1754757906.249 [DAT](INFO): ****** received valid address query ******
2025-08-09T16:45:06.250Z,1754757906.250 [DAT](INFO): ****** received valid ping request ******
2025-08-09T16:45:06.250Z,1754757906.250 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-09T16:45:06.500Z,1754757906.500 [DAT](INFO): ****** received valid address query ******
2025-08-09T16:45:06.500Z,1754757906.500 [DAT](INFO): ****** received valid ping request ******
2025-08-09T16:45:06.500Z,1754757906.500 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-09T16:45:06.579Z,1754757906.579 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 380.80 m.
2025-08-09T16:45:06.582Z,1754757906.582 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 380.799988 m,
      nav range: 367.537628 m,
      bearing: 137.243314 deg,
      approach rate: -0.654555 m/s,
      LOS rate: 0.011487 deg/s,
      cmd heading: 133.628116 deg,
      new cmd heading: 133.642747 deg.

2025-08-09T16:45:06.752Z,1754757906.752 [DAT](INFO): ****** received valid address query ******
2025-08-09T16:45:06.752Z,1754757906.752 [DAT](INFO): ****** received valid ping request ******
2025-08-09T16:45:06.752Z,1754757906.752 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-09T16:45:06.962Z,1754757906.962 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 380.80 m.
2025-08-09T16:45:06.964Z,1754757906.964 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 380.799988 m,
      nav range: 367.286316 m,
      bearing: 137.247727 deg,
      approach rate: -0.657117 m/s,
      LOS rate: 0.011547 deg/s,
      cmd heading: 133.642746 deg,
      new cmd heading: 133.655995 deg.

2025-08-09T16:45:07.004Z,1754757907.004 [DAT](INFO): ****** received valid address query ******
2025-08-09T16:45:07.004Z,1754757907.004 [DAT](INFO): ****** received valid ping request ******
2025-08-09T16:45:07.004Z,1754757907.004 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-09T16:45:07.255Z,1754757907.255 [DAT](INFO): Reached modem response timeout
2025-08-09T16:45:07.255Z,1754757907.255 [DAT](DEBUG): Acoustic response timeout
2025-08-09T16:45:07.255Z,1754757907.255 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-09T16:45:07.391Z,1754757907.391 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 380.80 m.
2025-08-09T16:45:07.393Z,1754757907.393 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 380.799988 m,
      nav range: 367.010284 m,
      bearing: 137.253631 deg,
      approach rate: -0.644068 m/s,
      LOS rate: 0.013786 deg/s,
      cmd heading: 133.655997 deg,
      new cmd heading: 133.673721 deg.

2025-08-09T16:45:07.508Z,1754757907.508 [DAT](INFO): Reached modem response timeout
2025-08-09T16:45:07.508Z,1754757907.508 [DAT](DEBUG): Acoustic response timeout
2025-08-09T16:45:07.509Z,1754757907.509 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-09T16:45:07.757Z,1754757907.757 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 380.80 m.
2025-08-09T16:45:07.759Z,1754757907.759 [DAT](INFO): Reached modem response timeout
2025-08-09T16:45:07.759Z,1754757907.759 [DAT](DEBUG): Acoustic response timeout
2025-08-09T16:45:07.760Z,1754757907.760 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-09T16:45:07.763Z,1754757907.763 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 380.799988 m,
      nav range: 366.774048 m,
      bearing: 137.258654 deg,
      approach rate: -0.644830 m/s,
      LOS rate: 0.013719 deg/s,
      cmd heading: 133.673728 deg,
      new cmd heading: 133.688806 deg.

2025-08-09T16:45:08.011Z,1754757908.011 [DAT](INFO): Reached modem response timeout
2025-08-09T16:45:08.012Z,1754757908.012 [DAT](DEBUG): Acoustic response timeout
2025-08-09T16:45:08.012Z,1754757908.012 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-09T16:45:08.163Z,1754757908.163 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-09T16:45:08.165Z,1754757908.165 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 380.80 m.
2025-08-09T16:45:08.168Z,1754757908.168 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 380.799988 m,
      nav range: 366.510681 m,
      bearing: 137.264248 deg,
      approach rate: -0.644059 m/s,
      LOS rate: 0.013691 deg/s,
      cmd heading: 133.688809 deg,
      new cmd heading: 133.705604 deg.

2025-08-09T16:45:08.265Z,1754757908.265 [DAT](INFO): Reached modem response timeout
2025-08-09T16:45:08.266Z,1754757908.266 [DAT](DEBUG): Acoustic response timeout
2025-08-09T16:45:08.267Z,1754757908.267 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-09T16:45:08.515Z,1754757908.515 [DAT](INFO): Reached modem response timeout
2025-08-09T16:45:08.515Z,1754757908.515 [DAT](DEBUG): Acoustic response timeout
2025-08-09T16:45:08.515Z,1754757908.515 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-09T16:45:08.595Z,1754757908.595 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 380.80 m.
2025-08-09T16:45:08.598Z,1754757908.598 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 380.799988 m,
      nav range: 366.238373 m,
      bearing: 137.270489 deg,
      approach rate: -0.633552 m/s,
      LOS rate: 0.014531 deg/s,
      cmd heading: 133.705598 deg,
      new cmd heading: 133.724335 deg.

2025-08-09T16:45:08.767Z,1754757908.767 [DAT](INFO): Reached modem response timeout
2025-08-09T16:45:08.767Z,1754757908.767 [DAT](DEBUG): Acoustic response timeout
2025-08-09T16:45:08.767Z,1754757908.767 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-09T16:45:08.968Z,1754757908.968 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 380.80 m.
2025-08-09T16:45:08.971Z,1754757908.971 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 380.799988 m,
      nav range: 366.002716 m,
      bearing: 137.275864 deg,
      approach rate: -0.632763 m/s,
      LOS rate: 0.014443 deg/s,
      cmd heading: 133.724340 deg,
      new cmd heading: 133.740476 deg.

2025-08-09T16:45:09.020Z,1754757909.020 [DAT](INFO): Reached modem response timeout
2025-08-09T16:45:09.021Z,1754757909.021 [DAT](DEBUG): Acoustic response timeout
2025-08-09T16:45:09.021Z,1754757909.021 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-09T16:45:09.273Z,1754757909.273 [DAT](INFO): Reached modem response timeout
2025-08-09T16:45:09.274Z,1754757909.274 [DAT](DEBUG): Acoustic response timeout
2025-08-09T16:45:09.275Z,1754757909.275 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-09T16:45:09.412Z,1754757909.412 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 380.80 m.
2025-08-09T16:45:09.414Z,1754757909.414 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 380.799988 m,
      nav range: 365.726196 m,
      bearing: 137.282414 deg,
      approach rate: -0.622993 m/s,
      LOS rate: 0.014767 deg/s,
      cmd heading: 133.740472 deg,
      new cmd heading: 133.760136 deg.

2025-08-09T16:45:09.523Z,1754757909.523 [DAT](INFO): Reached modem response timeout
2025-08-09T16:45:09.523Z,1754757909.523 [DAT](DEBUG): Acoustic response timeout
2025-08-09T16:45:09.523Z,1754757909.523 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-09T16:45:09.775Z,1754757909.775 [DAT](INFO): DAT read: Response Not Received

2025-08-09T16:45:09.776Z,1754757909.776 [DAT](INFO): response not received
2025-08-09T16:45:09.776Z,1754757909.776 [DAT](INFO): DAT read: user:72>

2025-08-09T16:45:09.777Z,1754757909.777 [DAT](INFO): DAT read: Tx time:16:45:09.1448

2025-08-09T16:45:09.777Z,1754757909.777 [DAT](INFO): Ping request sent.
2025-08-09T16:45:09.777Z,1754757909.777 [DAT](INFO): transmitted an acoustic signal
2025-08-09T16:45:09.777Z,1754757909.777 [DAT](INFO): publishing transmit ping time
2025-08-09T16:45:09.778Z,1754757909.778 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000734
2025-08-09T16:45:09.874Z,1754757909.874 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 380.80 m.
2025-08-09T16:45:09.878Z,1754757909.878 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 380.799988 m,
      nav range: 365.451721 m,
      bearing: 137.288844 deg,
      approach rate: -0.599127 m/s,
      LOS rate: 0.014045 deg/s,
      cmd heading: 133.760130 deg,
      new cmd heading: 133.779434 deg.

2025-08-09T16:45:10.027Z,1754757910.027 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250154
2025-08-09T16:45:10.283Z,1754757910.283 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.505120
2025-08-09T16:45:10.388Z,1754757910.388 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-09T16:45:10.390Z,1754757910.390 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 380.80 m.
2025-08-09T16:45:10.393Z,1754757910.393 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 380.799988 m,
      nav range: 365.113403 m,
      bearing: 137.296835 deg,
      approach rate: -0.650216 m/s,
      LOS rate: 0.015372 deg/s,
      cmd heading: 133.779432 deg,
      new cmd heading: 133.803427 deg.

2025-08-09T16:45:10.532Z,1754757910.532 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754449
2025-08-09T16:45:10.785Z,1754757910.785 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.007946
2025-08-09T16:45:10.908Z,1754757910.908 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 380.80 m.
2025-08-09T16:45:10.915Z,1754757910.915 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 380.799988 m,
      nav range: 364.794495 m,
      bearing: 137.304273 deg,
      approach rate: -0.615793 m/s,
      LOS rate: 0.014376 deg/s,
      cmd heading: 133.803433 deg,
      new cmd heading: 133.825768 deg.

2025-08-09T16:45:11.035Z,1754757911.035 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258149
2025-08-09T16:45:11.292Z,1754757911.292 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.514572
2025-08-09T16:45:11.491Z,1754757911.491 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 380.80 m.
2025-08-09T16:45:11.500Z,1754757911.500 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 380.799988 m,
      nav range: 364.443909 m,
      bearing: 137.312360 deg,
      approach rate: -0.606893 m/s,
      LOS rate: 0.014012 deg/s,
      cmd heading: 133.825768 deg,
      new cmd heading: 133.850051 deg.

2025-08-09T16:45:11.539Z,1754757911.539 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762301
2025-08-09T16:45:11.792Z,1754757911.792 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014648
2025-08-09T16:45:11.964Z,1754757911.964 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 380.80 m.
2025-08-09T16:45:11.967Z,1754757911.967 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 380.799988 m,
      nav range: 364.127502 m,
      bearing: 137.319616 deg,
      approach rate: -0.660697 m/s,
      LOS rate: 0.015165 deg/s,
      cmd heading: 133.850056 deg,
      new cmd heading: 133.871844 deg.

2025-08-09T16:45:12.044Z,1754757912.044 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.267008
2025-08-09T16:45:12.298Z,1754757912.298 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.520550
2025-08-09T16:45:12.419Z,1754757912.419 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-09T16:45:12.421Z,1754757912.421 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 380.80 m.
2025-08-09T16:45:12.424Z,1754757912.424 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 380.799988 m,
      nav range: 363.859467 m,
      bearing: 137.324835 deg,
      approach rate: -0.587624 m/s,
      LOS rate: 0.011451 deg/s,
      cmd heading: 133.871844 deg,
      new cmd heading: 133.887514 deg.

2025-08-09T16:45:12.547Z,1754757912.547 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770149
2025-08-09T16:45:12.770Z,1754757912.770 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 380.80 m.
2025-08-09T16:45:12.773Z,1754757912.773 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 380.799988 m,
      nav range: 363.625061 m,
      bearing: 137.329359 deg,
      approach rate: -0.670633 m/s,
      LOS rate: 0.012949 deg/s,
      cmd heading: 133.887513 deg,
      new cmd heading: 133.901091 deg.

2025-08-09T16:45:12.799Z,1754757912.799 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.022369
2025-08-09T16:45:13.051Z,1754757913.051 [DAT](INFO): DAT read: Rx Time:16:45:12.0291

2025-08-09T16:45:13.052Z,1754757913.052 [DAT](INFO): Rx dataTimestamp_ set to:1754757913.051532
2025-08-09T16:45:13.052Z,1754757913.052 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.275291
2025-08-09T16:45:13.182Z,1754757913.182 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 380.80 m.
2025-08-09T16:45:13.185Z,1754757913.185 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 380.799988 m,
      nav range: 363.368256 m,
      bearing: 137.334267 deg,
      approach rate: -0.623705 m/s,
      LOS rate: 0.011928 deg/s,
      cmd heading: 133.901091 deg,
      new cmd heading: 133.915825 deg.

2025-08-09T16:45:13.306Z,1754757913.306 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.528537
2025-08-09T16:45:13.558Z,1754757913.558 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.780380
2025-08-09T16:45:13.644Z,1754757913.644 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 380.80 m.
2025-08-09T16:45:13.667Z,1754757913.667 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 380.799988 m,
      nav range: 363.083832 m,
      bearing: 137.339436 deg,
      approach rate: -0.615685 m/s,
      LOS rate: 0.011199 deg/s,
      cmd heading: 133.915831 deg,
      new cmd heading: 133.931351 deg.

2025-08-09T16:45:13.813Z,1754757913.813 [DAT](INFO): DAT read: 16:45:12.0291 LVL= 28800, 32753, 32018, 32755, AGC= 75, IDX= 193, 0.41,-1.160,-3.029,-1.211,-1.542, PHS= 0.484,-1.441, 0.287, RAW= 144.7,   7.4, CAL= 144.2,   8.0, ROT=   5.8,  -8.0

2025-08-09T16:45:13.814Z,1754757913.814 [DAT](INFO): got valid direction response:
 16:45:12.0291 LVL= 28800, 32753, 32018, 32755, AGC= 75, IDX= 193, 0.41,-1.160,-3.029,-1.211,-1.542, PHS= 0.484,-1.441, 0.287, RAW= 144.7,   7.4, CAL= 144.2,   8.0, ROT=   5.8,  -8.0

2025-08-09T16:45:13.815Z,1754757913.815 [DAT](INFO): DAT read: Bearing 296.6,   0.9 (Local)

2025-08-09T16:45:13.815Z,1754757913.815 [DAT](INFO): Local bearing/azimuth received:
 Bearing 296.6,   0.9 (Local)

2025-08-09T16:45:13.817Z,1754757913.817 [DAT](INFO): DAT read: Range 11 to 50 : 360.0 m  (Round-trip  480.1 ms) speed  0.5 m/s

2025-08-09T16:45:13.817Z,1754757913.817 [DAT](INFO): DAT read: user:73>

2025-08-09T16:45:13.818Z,1754757913.818 [DAT](INFO): DAT read: Tx time:16:45:13.1448

2025-08-09T16:45:13.818Z,1754757913.818 [DAT](INFO): Ping request sent.
2025-08-09T16:45:13.819Z,1754757913.819 [DAT](INFO): transmitted an acoustic signal
2025-08-09T16:45:13.819Z,1754757913.819 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-09T16:45:13.820Z,1754757913.820 [DAT](INFO): direction in FSK: [0.985199,0.100073,0.139173]
2025-08-09T16:45:13.820Z,1754757913.820 [DAT](INFO): publishing transmit ping time
2025-08-09T16:45:13.820Z,1754757913.820 [DAT](INFO): publishing direction and range info
2025-08-09T16:45:13.824Z,1754757913.824 [DAT](INFO): publishing transmit ping time
2025-08-09T16:45:13.824Z,1754757913.824 [DAT](INFO): publishing direction and range info
2025-08-09T16:45:14.052Z,1754757914.052 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 360.000000 m,
      deltaT: 16.635851 s,
      deltaX: -20.799988 m,
      approachRate: -1.250311 m/s,
      rangeRepo size: 4

2025-08-09T16:45:14.054Z,1754757914.054 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 360.000000 m,
      bearing: 138.166090 deg,
      lat: 36.905813 deg,
      lon: -122.115860 deg,
      deltaT: 16.635851 s,
      deltaX: -20.799988 m,
      approachRate: -1.250311 m/s,
      posRepo size: 4

2025-08-09T16:45:14.063Z,1754757914.063 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 360.00 m.
2025-08-09T16:45:14.066Z,1754757914.066 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 360.000000 m,
      nav range: 368.628906 m,
      bearing: 138.166090 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.011199 deg/s,
      cmd heading: 133.931349 deg,
      new cmd heading: 133.945027 deg.

2025-08-09T16:45:14.444Z,1754757914.444 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-09T16:45:14.447Z,1754757914.447 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 360.00 m.
2025-08-09T16:45:14.449Z,1754757914.449 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 360.000000 m,
      nav range: 368.371307 m,
      bearing: 138.170895 deg,
      approach rate: -0.651507 m/s,
      LOS rate: 0.012163 deg/s,
      cmd heading: 133.945023 deg,
      new cmd heading: 133.959450 deg.

2025-08-09T16:45:14.563Z,1754757914.563 [DAT](INFO): ****** received valid address query ******
2025-08-09T16:45:14.563Z,1754757914.563 [DAT](INFO): ****** received valid ping request ******
2025-08-09T16:45:14.563Z,1754757914.563 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-09T16:45:14.801Z,1754757914.801 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 360.00 m.
2025-08-09T16:45:14.817Z,1754757914.817 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.998189
2025-08-09T16:45:14.823Z,1754757914.823 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 360.000000 m,
      nav range: 368.152740 m,
      bearing: 138.174938 deg,
      approach rate: -0.615746 m/s,
      LOS rate: 0.011396 deg/s,
      cmd heading: 133.959448 deg,
      new cmd heading: 133.971584 deg.

2025-08-09T16:45:15.068Z,1754757915.068 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.249407
2025-08-09T16:45:15.198Z,1754757915.198 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 360.00 m.
2025-08-09T16:45:15.201Z,1754757915.201 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 360.000000 m,
      nav range: 367.908203 m,
      bearing: 138.179433 deg,
      approach rate: -0.616140 m/s,
      LOS rate: 0.011332 deg/s,
      cmd heading: 133.971579 deg,
      new cmd heading: 133.985072 deg.

2025-08-09T16:45:15.325Z,1754757915.325 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.506063
2025-08-09T16:45:15.571Z,1754757915.571 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.752594
2025-08-09T16:45:15.641Z,1754757915.641 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 360.00 m.
2025-08-09T16:45:15.656Z,1754757915.656 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 360.000000 m,
      nav range: 367.643005 m,
      bearing: 138.183668 deg,
      approach rate: -0.598966 m/s,
      LOS rate: 0.009573 deg/s,
      cmd heading: 133.985075 deg,
      new cmd heading: 133.997790 deg.

2025-08-09T16:45:15.824Z,1754757915.824 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.004902
2025-08-09T16:45:16.025Z,1754757916.025 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 360.00 m.
2025-08-09T16:45:16.029Z,1754757916.029 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 360.000000 m,
      nav range: 367.412201 m,
      bearing: 138.187313 deg,
      approach rate: -0.601572 m/s,
      LOS rate: 0.009506 deg/s,
      cmd heading: 133.997793 deg,
      new cmd heading: 134.008734 deg.

2025-08-09T16:45:16.075Z,1754757916.075 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.256852
2025-08-09T16:45:16.328Z,1754757916.328 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.509263
2025-08-09T16:45:16.492Z,1754757916.492 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-09T16:45:16.496Z,1754757916.496 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 360.00 m.
2025-08-09T16:45:16.499Z,1754757916.499 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 360.000000 m,
      nav range: 367.132416 m,
      bearing: 138.192092 deg,
      approach rate: -0.592979 m/s,
      LOS rate: 0.010137 deg/s,
      cmd heading: 134.008735 deg,
      new cmd heading: 134.023083 deg.

2025-08-09T16:45:16.579Z,1754757916.579 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.760844
2025-08-09T16:45:16.832Z,1754757916.832 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.012923
2025-08-09T16:45:16.892Z,1754757916.892 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 360.00 m.
2025-08-09T16:45:16.898Z,1754757916.898 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 360.000000 m,
      nav range: 366.913910 m,
      bearing: 138.195785 deg,
      approach rate: -0.552995 m/s,
      LOS rate: 0.009352 deg/s,
      cmd heading: 134.023078 deg,
      new cmd heading: 134.034165 deg.

2025-08-09T16:45:17.084Z,1754757917.084 [DAT](INFO): DAT read: Rx Time:16:45:16.0261

2025-08-09T16:45:17.085Z,1754757917.085 [DAT](INFO): Rx dataTimestamp_ set to:1754757917.084482
2025-08-09T16:45:17.086Z,1754757917.086 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.267019
2025-08-09T16:45:17.340Z,1754757917.340 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.519307
2025-08-09T16:45:17.465Z,1754757917.465 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 360.00 m.
2025-08-09T16:45:17.490Z,1754757917.490 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 360.000000 m,
      nav range: 366.535675 m,
      bearing: 138.203359 deg,
      approach rate: -0.660508 m/s,
      LOS rate: 0.013240 deg/s,
      cmd heading: 134.034171 deg,
      new cmd heading: 134.056915 deg.

2025-08-09T16:45:17.597Z,1754757917.597 [DAT](INFO): DAT read: 16:45:16.0261 LVL= 23280, 28897, 27538, 32755, AGC= 74, IDX= 419,-0.15, 1.565,-0.328, 1.535, 1.192, PHS= 0.476,-1.474, 0.299, RAW= 145.3,   7.5, CAL= 144.8,   8.2, ROT=   5.2,  -8.2

2025-08-09T16:45:17.598Z,1754757917.598 [DAT](INFO): got valid direction response:
 16:45:16.0261 LVL= 23280, 28897, 27538, 32755, AGC= 74, IDX= 419,-0.15, 1.565,-0.328, 1.535, 1.192, PHS= 0.476,-1.474, 0.299, RAW= 145.3,   7.5, CAL= 144.8,   8.2, ROT=   5.2,  -8.2

2025-08-09T16:45:17.599Z,1754757917.599 [DAT](INFO): DAT read: Bearing 298.4,   0.5 (Local)

2025-08-09T16:45:17.599Z,1754757917.599 [DAT](INFO): Local bearing/azimuth received:
 Bearing 298.4,   0.5 (Local)

2025-08-09T16:45:17.601Z,1754757917.601 [DAT](INFO): DAT read: Range 11 to 50 : 357.9 m  (Round-trip  477.2 ms) speed  0.5 m/s

2025-08-09T16:45:17.601Z,1754757917.601 [DAT](INFO): DAT read: user:74>

2025-08-09T16:45:17.607Z,1754757917.607 [DAT](INFO): DAT read: Tx time:16:45:17.1448

2025-08-09T16:45:17.609Z,1754757917.609 [DAT](INFO): Ping request sent.
2025-08-09T16:45:17.609Z,1754757917.609 [DAT](INFO): transmitted an acoustic signal
2025-08-09T16:45:17.615Z,1754757917.615 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-09T16:45:17.616Z,1754757917.616 [DAT](INFO): direction in FSK: [0.985703,0.089706,0.142629]
2025-08-09T16:45:17.616Z,1754757917.616 [DAT](INFO): publishing transmit ping time
2025-08-09T16:45:17.616Z,1754757917.616 [DAT](INFO): publishing direction and range info
2025-08-09T16:45:17.623Z,1754757917.624 [DAT](INFO): publishing transmit ping time
2025-08-09T16:45:17.624Z,1754757917.624 [DAT](INFO): publishing direction and range info
2025-08-09T16:45:18.058Z,1754757918.058 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 357.899994 m,
      deltaT: 3.780170 s,
      deltaX: -2.100006 m,
      approachRate: -0.555532 m/s,
      rangeRepo size: 4

2025-08-09T16:45:18.060Z,1754757918.060 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 357.899994 m,
      bearing: 138.230947 deg,
      lat: 36.905811 deg,
      lon: -122.115860 deg,
      deltaT: 3.780170 s,
      deltaX: -2.100006 m,
      approachRate: -0.555532 m/s,
      posRepo size: 4

2025-08-09T16:45:18.061Z,1754757918.061 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 357.90 m.
2025-08-09T16:45:18.063Z,1754757918.063 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 357.899994 m,
      nav range: 366.326538 m,
      bearing: 138.230947 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.013240 deg/s,
      cmd heading: 134.056915 deg,
      new cmd heading: 134.080465 deg.

2025-08-09T16:45:18.563Z,1754757918.563 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-09T16:45:18.565Z,1754757918.565 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 357.90 m.
2025-08-09T16:45:18.584Z,1754757918.584 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 357.899994 m,
      nav range: 366.004639 m,
      bearing: 138.237626 deg,
      approach rate: -0.634207 m/s,
      LOS rate: 0.013170 deg/s,
      cmd heading: 134.080466 deg,
      new cmd heading: 134.100519 deg.

2025-08-09T16:45:18.595Z,1754757918.595 [DAT](INFO): ****** received valid address query ******
2025-08-09T16:45:18.595Z,1754757918.595 [DAT](INFO): ****** received valid ping request ******
2025-08-09T16:45:18.595Z,1754757918.595 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-09T16:45:18.849Z,1754757918.849 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.240622
2025-08-09T16:45:18.943Z,1754757918.943 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 357.90 m.
2025-08-09T16:45:18.946Z,1754757918.946 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 357.899994 m,
      nav range: 365.772583 m,
      bearing: 138.242288 deg,
      approach rate: -0.612931 m/s,
      LOS rate: 0.012323 deg/s,
      cmd heading: 134.100519 deg,
      new cmd heading: 134.114515 deg.

2025-08-09T16:45:19.099Z,1754757919.099 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.490870
2025-08-09T16:45:19.335Z,1754757919.335 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 357.90 m.
2025-08-09T16:45:19.337Z,1754757919.337 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 357.899994 m,
      nav range: 365.533356 m,
      bearing: 138.247034 deg,
      approach rate: -0.611871 m/s,
      LOS rate: 0.012146 deg/s,
      cmd heading: 134.114521 deg,
      new cmd heading: 134.128767 deg.

2025-08-09T16:45:19.353Z,1754757919.353 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.744566
2025-08-09T16:45:19.608Z,1754757919.608 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.998821
2025-08-09T16:45:19.777Z,1754757919.777 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 357.90 m.
2025-08-09T16:45:19.784Z,1754757919.784 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 357.899994 m,
      nav range: 365.275879 m,
      bearing: 138.252211 deg,
      approach rate: -0.581949 m/s,
      LOS rate: 0.011711 deg/s,
      cmd heading: 134.128769 deg,
      new cmd heading: 134.144313 deg.

2025-08-09T16:45:19.860Z,1754757919.860 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.251127
2025-08-09T16:45:20.111Z,1754757920.111 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.502804
2025-08-09T16:45:20.151Z,1754757920.151 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 357.90 m.
2025-08-09T16:45:20.153Z,1754757920.153 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 357.899994 m,
      nav range: 365.015961 m,
      bearing: 138.257392 deg,
      approach rate: -0.703217 m/s,
      LOS rate: 0.014028 deg/s,
      cmd heading: 134.144314 deg,
      new cmd heading: 134.159869 deg.

2025-08-09T16:45:20.363Z,1754757920.363 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.754693
2025-08-09T16:45:20.561Z,1754757920.561 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 357.90 m.
2025-08-09T16:45:20.564Z,1754757920.564 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 357.899994 m,
      nav range: 364.738129 m,
      bearing: 138.262690 deg,
      approach rate: -0.669583 m/s,
      LOS rate: 0.012777 deg/s,
      cmd heading: 134.159873 deg,
      new cmd heading: 134.175778 deg.

2025-08-09T16:45:20.616Z,1754757920.616 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.007732
2025-08-09T16:45:20.868Z,1754757920.868 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.259372
2025-08-09T16:45:20.931Z,1754757920.931 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-09T16:45:20.933Z,1754757920.933 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 357.90 m.
2025-08-09T16:45:20.936Z,1754757920.936 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 357.899994 m,
      nav range: 364.493469 m,
      bearing: 138.267293 deg,
      approach rate: -0.657379 m/s,
      LOS rate: 0.012376 deg/s,
      cmd heading: 134.175774 deg,
      new cmd heading: 134.189592 deg.

2025-08-09T16:45:21.119Z,1754757921.119 [DAT](INFO): DAT read: Rx Time:16:45:20.0367

2025-08-09T16:45:21.120Z,1754757921.120 [DAT](INFO): Rx dataTimestamp_ set to:1754757921.119678
2025-08-09T16:45:21.121Z,1754757921.121 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.511996
2025-08-09T16:45:21.332Z,1754757921.332 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 357.90 m.
2025-08-09T16:45:21.335Z,1754757921.335 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 357.899994 m,
      nav range: 364.231293 m,
      bearing: 138.272213 deg,
      approach rate: -0.657816 m/s,
      LOS rate: 0.012355 deg/s,
      cmd heading: 134.189598 deg,
      new cmd heading: 134.204370 deg.

2025-08-09T16:45:21.372Z,1754757921.372 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.763256
2025-08-09T16:45:21.629Z,1754757921.629 [DAT](INFO): DAT read: 16:45:20.0367 LVL= 19984, 21681, 21586, 24403, AGC= 73, IDX=  31,-0.38,-0.029,-1.725, 0.008,-0.576, PHS= 0.649,-1.104, 0.540, RAW= 146.8,  -1.0, CAL= 146.2,  -1.4, ROT=   3.8,   1.4

2025-08-09T16:45:21.630Z,1754757921.630 [DAT](INFO): got valid direction response:
 16:45:20.0367 LVL= 19984, 21681, 21586, 24403, AGC= 73, IDX=  31,-0.38,-0.029,-1.725, 0.008,-0.576, PHS= 0.649,-1.104, 0.540, RAW= 146.8,  -1.0, CAL= 146.2,  -1.4, ROT=   3.8,   1.4

2025-08-09T16:45:21.631Z,1754757921.631 [DAT](INFO): DAT read: Bearing 290.7,   1.4 (Local)

2025-08-09T16:45:21.631Z,1754757921.631 [DAT](INFO): Local bearing/azimuth received:
 Bearing 290.7,   1.4 (Local)

2025-08-09T16:45:21.633Z,1754757921.633 [DAT](INFO): DAT read: Range 11 to 50 : 365.7 m  (Round-trip  487.7 ms) speed  0.8 m/s

2025-08-09T16:45:21.633Z,1754757921.633 [DAT](INFO): DAT read: user:75>

2025-08-09T16:45:21.651Z,1754757921.651 [DAT](INFO): DAT read: Tx time:16:45:21.1448

2025-08-09T16:45:21.651Z,1754757921.651 [DAT](INFO): Ping request sent.
2025-08-09T16:45:21.652Z,1754757921.652 [DAT](INFO): transmitted an acoustic signal
2025-08-09T16:45:21.652Z,1754757921.652 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-09T16:45:21.653Z,1754757921.653 [DAT](INFO): direction in FSK: [0.997504,0.066254,-0.024432]
2025-08-09T16:45:21.653Z,1754757921.653 [DAT](INFO): publishing transmit ping time
2025-08-09T16:45:21.653Z,1754757921.653 [DAT](INFO): publishing direction and range info
2025-08-09T16:45:21.656Z,1754757921.656 [DAT](INFO): publishing transmit ping time
2025-08-09T16:45:21.657Z,1754757921.657 [DAT](INFO): publishing direction and range info
2025-08-09T16:45:21.829Z,1754757921.829 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 365.700012 m,
      deltaT: 4.035849 s,
      deltaX: 7.800018 m,
      approachRate: 1.932683 m/s,
      rangeRepo size: 4

2025-08-09T16:45:21.835Z,1754757921.835 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 365.700012 m,
      bearing: 138.236379 deg,
      lat: 36.905811 deg,
      lon: -122.115855 deg,
      deltaT: 4.035849 s,
      deltaX: 7.800018 m,
      approachRate: 1.932683 m/s,
      posRepo size: 4

2025-08-09T16:45:21.836Z,1754757921.836 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 365.70 m.
2025-08-09T16:45:21.842Z,1754757921.842 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 365.700012 m,
      nav range: 364.264709 m,
      bearing: 138.236379 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.012355 deg/s,
      cmd heading: 134.204365 deg,
      new cmd heading: 134.222745 deg.

2025-08-09T16:45:22.200Z,1754757922.200 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 365.70 m.
2025-08-09T16:45:22.203Z,1754757922.203 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 365.700012 m,
      nav range: 364.013702 m,
      bearing: 138.241082 deg,
      approach rate: -0.674774 m/s,
      LOS rate: 0.012652 deg/s,
      cmd heading: 134.222752 deg,
      new cmd heading: 134.236871 deg.

2025-08-09T16:45:22.634Z,1754757922.634 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 365.70 m.
2025-08-09T16:45:22.636Z,1754757922.636 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 365.700012 m,
      nav range: 363.739349 m,
      bearing: 138.246176 deg,
      approach rate: -0.632632 m/s,
      LOS rate: 0.011757 deg/s,
      cmd heading: 134.236877 deg,
      new cmd heading: 134.252172 deg.

2025-08-09T16:45:23.005Z,1754757923.005 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-09T16:45:23.008Z,1754757923.008 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 365.70 m.
2025-08-09T16:45:23.011Z,1754757923.011 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 365.700012 m,
      nav range: 363.471405 m,
      bearing: 138.251197 deg,
      approach rate: -0.716132 m/s,
      LOS rate: 0.013429 deg/s,
      cmd heading: 134.252177 deg,
      new cmd heading: 134.267250 deg.

2025-08-09T16:45:23.135Z,1754757923.135 [DAT](INFO): ****** received valid address query ******
2025-08-09T16:45:23.135Z,1754757923.135 [DAT](INFO): ****** received valid ping request ******
2025-08-09T16:45:23.135Z,1754757923.135 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-09T16:45:23.387Z,1754757923.387 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.735690
2025-08-09T16:45:23.498Z,1754757923.498 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 365.70 m.
2025-08-09T16:45:23.508Z,1754757923.508 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 365.700012 m,
      nav range: 363.189697 m,
      bearing: 138.256531 deg,
      approach rate: -0.575012 m/s,
      LOS rate: 0.010895 deg/s,
      cmd heading: 134.267244 deg,
      new cmd heading: 134.283257 deg.

2025-08-09T16:45:23.639Z,1754757923.639 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.987698
2025-08-09T16:45:23.891Z,1754757923.891 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.239607
2025-08-09T16:45:24.063Z,1754757924.063 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 365.70 m.
2025-08-09T16:45:24.065Z,1754757924.065 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 365.700012 m,
      nav range: 362.780273 m,
      bearing: 138.262778 deg,
      approach rate: -0.746050 m/s,
      LOS rate: 0.011397 deg/s,
      cmd heading: 134.283254 deg,
      new cmd heading: 134.302017 deg.

2025-08-09T16:45:24.144Z,1754757924.144 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.492368
2025-08-09T16:45:24.395Z,1754757924.395 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.743778
2025-08-09T16:45:24.432Z,1754757924.432 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 365.70 m.
2025-08-09T16:45:24.434Z,1754757924.434 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 365.700012 m,
      nav range: 362.525757 m,
      bearing: 138.266724 deg,
      approach rate: -0.660789 m/s,
      LOS rate: 0.010253 deg/s,
      cmd heading: 134.302023 deg,
      new cmd heading: 134.313870 deg.

2025-08-09T16:45:24.648Z,1754757924.648 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.996191
2025-08-09T16:45:24.900Z,1754757924.900 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.248197
2025-08-09T16:45:25.008Z,1754757925.008 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-09T16:45:25.010Z,1754757925.010 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 365.70 m.
2025-08-09T16:45:25.013Z,1754757925.013 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 365.700012 m,
      nav range: 362.147461 m,
      bearing: 138.271953 deg,
      approach rate: -0.654134 m/s,
      LOS rate: 0.009050 deg/s,
      cmd heading: 134.313867 deg,
      new cmd heading: 134.329569 deg.

2025-08-09T16:45:25.151Z,1754757925.151 [DAT](INFO): DAT read: Rx Time:16:45:24.0196

2025-08-09T16:45:25.152Z,1754757925.152 [DAT](INFO): Rx dataTimestamp_ set to:1754757925.151457
2025-08-09T16:45:25.152Z,1754757925.152 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.500697
2025-08-09T16:45:25.356Z,1754757925.356 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 365.70 m.
2025-08-09T16:45:25.359Z,1754757925.359 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 365.700012 m,
      nav range: 361.920166 m,
      bearing: 138.275151 deg,
      approach rate: -0.657159 m/s,
      LOS rate: 0.009253 deg/s,
      cmd heading: 134.329563 deg,
      new cmd heading: 134.339163 deg.

2025-08-09T16:45:25.404Z,1754757925.404 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.751891
2025-08-09T16:45:25.661Z,1754757925.661 [DAT](INFO): DAT read: 16:45:24.0196 LVL= 29552, 30385, 30898, 30323, AGC= 74, IDX= 419, 0.39, 2.563, 0.884, 2.590, 1.916, PHS= 0.749,-0.987, 0.630, RAW= 146.5,  -4.7, CAL= 146.3,  -5.7, ROT=   3.7,   5.7

2025-08-09T16:45:25.662Z,1754757925.662 [DAT](INFO): got valid direction response:
 16:45:24.0196 LVL= 29552, 30385, 30898, 30323, AGC= 74, IDX= 419, 0.39, 2.563, 0.884, 2.590, 1.916, PHS= 0.749,-0.987, 0.630, RAW= 146.5,  -4.7, CAL= 146.3,  -5.7, ROT=   3.7,   5.7

2025-08-09T16:45:25.663Z,1754757925.663 [DAT](INFO): DAT read: Bearing 286.8,   3.1 (Local)

2025-08-09T16:45:25.663Z,1754757925.663 [DAT](INFO): Local bearing/azimuth received:
 Bearing 286.8,   3.1 (Local)

2025-08-09T16:45:25.665Z,1754757925.665 [DAT](INFO): DAT read: Range 11 to 50 : 353.0 m  (Round-trip  470.7 ms) speed  0.4 m/s

2025-08-09T16:45:25.666Z,1754757925.666 [DAT](INFO): DAT read: user:76>

2025-08-09T16:45:25.666Z,1754757925.666 [DAT](INFO): DAT read: Tx time:16:45:25.1448

2025-08-09T16:45:25.667Z,1754757925.667 [DAT](INFO): Ping request sent.
2025-08-09T16:45:25.667Z,1754757925.667 [DAT](INFO): transmitted an acoustic signal
2025-08-09T16:45:25.667Z,1754757925.667 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-09T16:45:25.668Z,1754757925.668 [DAT](INFO): direction in FSK: [0.992981,0.064213,-0.099320]
2025-08-09T16:45:25.668Z,1754757925.668 [DAT](INFO): publishing transmit ping time
2025-08-09T16:45:25.669Z,1754757925.669 [DAT](INFO): publishing direction and range info
2025-08-09T16:45:25.672Z,1754757925.672 [DAT](INFO): publishing transmit ping time
2025-08-09T16:45:25.672Z,1754757925.672 [DAT](INFO): publishing direction and range info
2025-08-09T16:45:25.848Z,1754757925.848 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 353.000000 m,
      deltaT: 4.032022 s,
      deltaX: -12.700012 m,
      approachRate: -3.149787 m/s,
      rangeRepo size: 4

2025-08-09T16:45:25.860Z,1754757925.860 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 353.000000 m,
      bearing: 138.474367 deg,
      lat: 36.905811 deg,
      lon: -122.115875 deg,
      deltaT: 4.032022 s,
      deltaX: -12.700012 m,
      approachRate: -3.149787 m/s,
      posRepo size: 4

2025-08-09T16:45:25.861Z,1754757925.861 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 353.00 m.
2025-08-09T16:45:25.869Z,1754757925.869 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 353.000000 m,
      nav range: 360.413086 m,
      bearing: 138.474367 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.009253 deg/s,
      cmd heading: 134.339166 deg,
      new cmd heading: 134.352636 deg.

2025-08-09T16:45:26.180Z,1754757926.180 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 353.00 m.
2025-08-09T16:45:26.187Z,1754757926.187 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 353.000000 m,
      nav range: 360.194946 m,
      bearing: 138.476900 deg,
      approach rate: -0.643685 m/s,
      LOS rate: 0.007480 deg/s,
      cmd heading: 134.352635 deg,
      new cmd heading: 134.360239 deg.

2025-08-09T16:45:26.620Z,1754757926.620 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 353.00 m.
2025-08-09T16:45:26.626Z,1754757926.626 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 353.000000 m,
      nav range: 359.921539 m,
      bearing: 138.480386 deg,
      approach rate: -0.622010 m/s,
      LOS rate: 0.007936 deg/s,
      cmd heading: 134.360244 deg,
      new cmd heading: 134.370709 deg.

2025-08-09T16:45:27.010Z,1754757927.010 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 353.00 m.
2025-08-09T16:45:27.019Z,1754757927.019 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 353.000000 m,
      nav range: 359.678802 m,
      bearing: 138.483535 deg,
      approach rate: -0.622372 m/s,
      LOS rate: 0.008081 deg/s,
      cmd heading: 134.370708 deg,
      new cmd heading: 134.380162 deg.

2025-08-09T16:45:27.375Z,1754757927.375 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-09T16:45:27.377Z,1754757927.377 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 353.00 m.
2025-08-09T16:45:27.380Z,1754757927.380 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 353.000000 m,
      nav range: 359.433289 m,
      bearing: 138.486771 deg,
      approach rate: -0.667185 m/s,
      LOS rate: 0.008799 deg/s,
      cmd heading: 134.380161 deg,
      new cmd heading: 134.389874 deg.

2025-08-09T16:45:27.429Z,1754757927.429 [DAT](INFO): ****** received valid address query ******
2025-08-09T16:45:27.429Z,1754757927.429 [DAT](INFO): ****** received valid ping request ******
2025-08-09T16:45:27.429Z,1754757927.429 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-09T16:45:27.679Z,1754757927.679 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.012494
2025-08-09T16:45:27.805Z,1754757927.805 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 353.00 m.
2025-08-09T16:45:27.808Z,1754757927.808 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 353.000000 m,
      nav range: 359.163239 m,
      bearing: 138.490485 deg,
      approach rate: -0.632113 m/s,
      LOS rate: 0.008701 deg/s,
      cmd heading: 134.389873 deg,
      new cmd heading: 134.401024 deg.

2025-08-09T16:45:27.931Z,1754757927.931 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.264555
2025-08-09T16:45:28.183Z,1754757928.183 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.516624
2025-08-09T16:45:28.191Z,1754757928.191 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 353.00 m.
2025-08-09T16:45:28.193Z,1754757928.193 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 353.000000 m,
      nav range: 358.920349 m,
      bearing: 138.493859 deg,
      approach rate: -0.629130 m/s,
      LOS rate: 0.008744 deg/s,
      cmd heading: 134.401020 deg,
      new cmd heading: 134.411147 deg.

2025-08-09T16:45:28.436Z,1754757928.436 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.768851
2025-08-09T16:45:28.627Z,1754757928.627 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 353.00 m.
2025-08-09T16:45:28.629Z,1754757928.629 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 353.000000 m,
      nav range: 358.654358 m,
      bearing: 138.497791 deg,
      approach rate: -0.610395 m/s,
      LOS rate: 0.009031 deg/s,
      cmd heading: 134.411142 deg,
      new cmd heading: 134.422949 deg.

2025-08-09T16:45:28.689Z,1754757928.689 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.021689
2025-08-09T16:45:28.940Z,1754757928.940 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.273164
2025-08-09T16:45:29.010Z,1754757929.010 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 353.00 m.
2025-08-09T16:45:29.013Z,1754757929.013 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 353.000000 m,
      nav range: 358.420929 m,
      bearing: 138.501247 deg,
      approach rate: -0.608803 m/s,
      LOS rate: 0.009020 deg/s,
      cmd heading: 134.422945 deg,
      new cmd heading: 134.433320 deg.

2025-08-09T16:45:29.191Z,1754757929.191 [DAT](INFO): DAT read: Rx Time:16:45:28.0159

2025-08-09T16:45:29.192Z,1754757929.192 [DAT](INFO): Rx dataTimestamp_ set to:1754757929.191440
2025-08-09T16:45:29.192Z,1754757929.192 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.525491
2025-08-09T16:45:29.401Z,1754757929.401 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-09T16:45:29.419Z,1754757929.419 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 353.00 m.
2025-08-09T16:45:29.433Z,1754757929.433 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 353.000000 m,
      nav range: 358.181732 m,
      bearing: 138.504810 deg,
      approach rate: -0.584112 m/s,
      LOS rate: 0.008706 deg/s,
      cmd heading: 134.433313 deg,
      new cmd heading: 134.444009 deg.

2025-08-09T16:45:29.445Z,1754757929.445 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.777886
2025-08-09T16:45:29.701Z,1754757929.701 [DAT](INFO): DAT read: 16:45:28.0159 LVL= 26352, 32753, 31314, 32755, AGC= 73, IDX= 410, 0.36,-2.314, 2.162,-2.252,-2.647, PHS= 0.435,-1.429, 0.351, RAW= 147.7,   7.1, CAL= 147.2,   7.6, ROT=   2.8,  -7.6

2025-08-09T16:45:29.702Z,1754757929.702 [DAT](INFO): got valid direction response:
 16:45:28.0159 LVL= 26352, 32753, 31314, 32755, AGC= 73, IDX= 410, 0.36,-2.314, 2.162,-2.252,-2.647, PHS= 0.435,-1.429, 0.351, RAW= 147.7,   7.1, CAL= 147.2,   7.6, ROT=   2.8,  -7.6

2025-08-09T16:45:29.703Z,1754757929.703 [DAT](INFO): DAT read: Bearing 299.7,   1.8 (Local)

2025-08-09T16:45:29.703Z,1754757929.703 [DAT](INFO): Local bearing/azimuth received:
 Bearing 299.7,   1.8 (Local)

2025-08-09T16:45:29.705Z,1754757929.705 [DAT](INFO): DAT read: Range 11 to 50 : 350.1 m  (Round-trip  466.9 ms) speed  0.5 m/s

2025-08-09T16:45:29.706Z,1754757929.706 [DAT](INFO): DAT read: user:77>

2025-08-09T16:45:29.706Z,1754757929.706 [DAT](INFO): DAT read: Tx time:16:45:29.1448

2025-08-09T16:45:29.707Z,1754757929.707 [DAT](INFO): Ping request sent.
2025-08-09T16:45:29.707Z,1754757929.707 [DAT](INFO): transmitted an acoustic signal
2025-08-09T16:45:29.707Z,1754757929.707 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-09T16:45:29.708Z,1754757929.708 [DAT](INFO): direction in FSK: [0.990032,0.048421,0.132256]
2025-08-09T16:45:29.708Z,1754757929.708 [DAT](INFO): publishing transmit ping time
2025-08-09T16:45:29.709Z,1754757929.709 [DAT](INFO): publishing direction and range info
2025-08-09T16:45:29.712Z,1754757929.712 [DAT](INFO): publishing transmit ping time
2025-08-09T16:45:29.712Z,1754757929.712 [DAT](INFO): publishing direction and range info
2025-08-09T16:45:29.942Z,1754757929.942 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 350.100006 m,
      deltaT: 4.039988 s,
      deltaX: -2.899994 m,
      approachRate: -0.717822 m/s,
      rangeRepo size: 4

2025-08-09T16:45:29.955Z,1754757929.955 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 350.100006 m,
      bearing: 138.718106 deg,
      lat: 36.905813 deg,
      lon: -122.115896 deg,
      deltaT: 4.039988 s,
      deltaX: -2.899994 m,
      approachRate: -0.717822 m/s,
      posRepo size: 4

2025-08-09T16:45:29.957Z,1754757929.957 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 350.10 m.
2025-08-09T16:45:29.965Z,1754757929.965 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 350.100006 m,
      nav range: 356.465912 m,
      bearing: 138.718106 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.008706 deg/s,
      cmd heading: 134.444009 deg,
      new cmd heading: 134.457591 deg.

2025-08-09T16:45:30.288Z,1754757930.288 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 350.10 m.
2025-08-09T16:45:30.308Z,1754757930.308 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 350.100006 m,
      nav range: 356.235443 m,
      bearing: 138.722920 deg,
      approach rate: -0.660681 m/s,
      LOS rate: 0.013808 deg/s,
      cmd heading: 134.457588 deg,
      new cmd heading: 134.472038 deg.

2025-08-09T16:45:30.723Z,1754757930.723 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 350.10 m.
2025-08-09T16:45:30.726Z,1754757930.726 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 350.100006 m,
      nav range: 355.968597 m,
      bearing: 138.728788 deg,
      approach rate: -0.614986 m/s,
      LOS rate: 0.013534 deg/s,
      cmd heading: 134.472040 deg,
      new cmd heading: 134.489658 deg.

2025-08-09T16:45:31.155Z,1754757931.155 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 350.10 m.
2025-08-09T16:45:31.157Z,1754757931.157 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 350.100006 m,
      nav range: 355.702545 m,
      bearing: 138.734617 deg,
      approach rate: -0.615488 m/s,
      LOS rate: 0.013494 deg/s,
      cmd heading: 134.489662 deg,
      new cmd heading: 134.507161 deg.

2025-08-09T16:45:31.524Z,1754757931.524 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-09T16:45:31.527Z,1754757931.527 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 350.10 m.
2025-08-09T16:45:31.533Z,1754757931.533 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 350.100006 m,
      nav range: 355.477020 m,
      bearing: 138.739537 deg,
      approach rate: -0.606795 m/s,
      LOS rate: 0.013247 deg/s,
      cmd heading: 134.507161 deg,
      new cmd heading: 134.521932 deg.

2025-08-09T16:45:31.711Z,1754757931.711 [DAT](INFO): ****** received valid address query ******
2025-08-09T16:45:31.711Z,1754757931.711 [DAT](INFO): ****** received valid ping request ******
2025-08-09T16:45:31.711Z,1754757931.711 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-09T16:45:31.964Z,1754757931.964 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.257077
2025-08-09T16:45:31.978Z,1754757931.978 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 350.10 m.
2025-08-09T16:45:31.981Z,1754757931.981 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 350.100006 m,
      nav range: 355.213165 m,
      bearing: 138.746099 deg,
      approach rate: -0.611145 m/s,
      LOS rate: 0.015211 deg/s,
      cmd heading: 134.521928 deg,
      new cmd heading: 134.541630 deg.

2025-08-09T16:45:32.218Z,1754757932.218 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.511200
2025-08-09T16:45:32.373Z,1754757932.373 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 350.10 m.
2025-08-09T16:45:32.376Z,1754757932.376 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 350.100006 m,
      nav range: 354.965912 m,
      bearing: 138.752189 deg,
      approach rate: -0.595915 m/s,
      LOS rate: 0.014686 deg/s,
      cmd heading: 134.541626 deg,
      new cmd heading: 134.559907 deg.

2025-08-09T16:45:32.468Z,1754757932.468 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.761158
2025-08-09T16:45:32.719Z,1754757932.719 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.012373
2025-08-09T16:45:32.771Z,1754757932.771 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 350.10 m.
2025-08-09T16:45:32.773Z,1754757932.773 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 350.100006 m,
      nav range: 354.708923 m,
      bearing: 138.758911 deg,
      approach rate: -0.646431 m/s,
      LOS rate: 0.016922 deg/s,
      cmd heading: 134.559904 deg,
      new cmd heading: 134.580086 deg.

2025-08-09T16:45:32.972Z,1754757932.972 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.264864
2025-08-09T16:45:33.178Z,1754757933.178 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 350.10 m.
2025-08-09T16:45:33.181Z,1754757933.181 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 350.100006 m,
      nav range: 354.456451 m,
      bearing: 138.765476 deg,
      approach rate: -0.618978 m/s,
      LOS rate: 0.016106 deg/s,
      cmd heading: 134.580080 deg,
      new cmd heading: 134.599789 deg.

2025-08-09T16:45:33.228Z,1754757933.228 [DAT](INFO): DAT read: Rx Time:16:45:32.0130

2025-08-09T16:45:33.229Z,1754757933.229 [DAT](INFO): Rx dataTimestamp_ set to:1754757933.228921
2025-08-09T16:45:33.230Z,1754757933.230 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.523277
2025-08-09T16:45:33.475Z,1754757933.475 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.768461
2025-08-09T16:45:33.695Z,1754757933.695 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-09T16:45:33.697Z,1754757933.697 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 350.10 m.
2025-08-09T16:45:33.700Z,1754757933.700 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 350.100006 m,
      nav range: 354.130402 m,
      bearing: 138.774661 deg,
      approach rate: -0.628250 m/s,
      LOS rate: 0.017715 deg/s,
      cmd heading: 134.599792 deg,
      new cmd heading: 134.627373 deg.

2025-08-09T16:45:33.749Z,1754757933.749 [DAT](INFO): DAT read: 16:45:32.0130 LVL= 27856, 32753, 30690, 32755, AGC= 70, IDX= 413,-0.15, 1.480,-0.136, 1.548, 0.925, PHS= 0.658,-1.016, 0.580, RAW= 147.6,  -2.7, CAL= 147.2,  -3.5, ROT=   2.8,   3.5

2025-08-09T16:45:33.751Z,1754757933.751 [DAT](INFO): got valid direction response:
 16:45:32.0130 LVL= 27856, 32753, 30690, 32755, AGC= 70, IDX= 413,-0.15, 1.480,-0.136, 1.548, 0.925, PHS= 0.658,-1.016, 0.580, RAW= 147.6,  -2.7, CAL= 147.2,  -3.5, ROT=   2.8,   3.5

2025-08-09T16:45:33.752Z,1754757933.752 [DAT](INFO): DAT read: Bearing 289.0,   4.1 (Local)

2025-08-09T16:45:33.752Z,1754757933.752 [DAT](INFO): Local bearing/azimuth received:
 Bearing 289.0,   4.1 (Local)

2025-08-09T16:45:33.754Z,1754757933.754 [DAT](INFO): DAT read: Range 11 to 50 : 348.0 m  (Round-trip  464.1 ms) speed  0.5 m/s

2025-08-09T16:45:33.763Z,1754757933.763 [DAT](INFO): DAT read: user:78>

2025-08-09T16:45:33.764Z,1754757933.764 [DAT](INFO): DAT read: Tx time:16:45:33.1448

2025-08-09T16:45:33.764Z,1754757933.764 [DAT](INFO): Ping request sent.
2025-08-09T16:45:33.764Z,1754757933.764 [DAT](INFO): transmitted an acoustic signal
2025-08-09T16:45:33.764Z,1754757933.764 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-09T16:45:33.765Z,1754757933.765 [DAT](INFO): direction in FSK: [0.996943,0.048759,-0.061049]
2025-08-09T16:45:33.765Z,1754757933.765 [DAT](INFO): publishing transmit ping time
2025-08-09T16:45:33.766Z,1754757933.766 [DAT](INFO): publishing direction and range info
2025-08-09T16:45:33.789Z,1754757933.789 [DAT](INFO): publishing transmit ping time
2025-08-09T16:45:33.789Z,1754757933.789 [DAT](INFO): publishing direction and range info
2025-08-09T16:45:34.104Z,1754757934.104 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 348.000000 m,
      deltaT: 4.048463 s,
      deltaX: -2.100006 m,
      approachRate: -0.518717 m/s,
      rangeRepo size: 4

2025-08-09T16:45:34.106Z,1754757934.106 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 348.000000 m,
      bearing: 137.217826 deg,
      lat: 36.905923 deg,
      lon: -122.115875 deg,
      deltaT: 4.048463 s,
      deltaX: -2.100006 m,
      approachRate: -0.518717 m/s,
      posRepo size: 4

2025-08-09T16:45:34.107Z,1754757934.107 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 348.00 m.
2025-08-09T16:45:34.110Z,1754757934.110 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 348.000000 m,
      nav range: 346.094513 m,
      bearing: 137.217826 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.017715 deg/s,
      cmd heading: 134.627373 deg,
      new cmd heading: 134.648962 deg.

2025-08-09T16:45:34.547Z,1754757934.547 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 348.00 m.
2025-08-09T16:45:34.550Z,1754757934.550 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 348.000000 m,
      nav range: 345.813904 m,
      bearing: 137.224459 deg,
      approach rate: -0.632038 m/s,
      LOS rate: 0.014952 deg/s,
      cmd heading: 134.648956 deg,
      new cmd heading: 134.668870 deg.

2025-08-09T16:45:35.014Z,1754757935.014 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 348.00 m.
2025-08-09T16:45:35.022Z,1754757935.022 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 348.000000 m,
      nav range: 345.535522 m,
      bearing: 137.231083 deg,
      approach rate: -0.597334 m/s,
      LOS rate: 0.014225 deg/s,
      cmd heading: 134.668873 deg,
      new cmd heading: 134.688761 deg.

2025-08-09T16:45:35.351Z,1754757935.351 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 348.00 m.
2025-08-09T16:45:35.354Z,1754757935.354 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 348.000000 m,
      nav range: 345.312469 m,
      bearing: 137.236387 deg,
      approach rate: -0.660518 m/s,
      LOS rate: 0.015716 deg/s,
      cmd heading: 134.688762 deg,
      new cmd heading: 134.704684 deg.

2025-08-09T16:45:35.779Z,1754757935.779 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-09T16:45:35.781Z,1754757935.781 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 348.00 m.
2025-08-09T16:45:35.784Z,1754757935.784 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 348.000000 m,
      nav range: 345.044037 m,
      bearing: 137.242555 deg,
      approach rate: -0.623991 m/s,
      LOS rate: 0.014350 deg/s,
      cmd heading: 134.704690 deg,
      new cmd heading: 134.723210 deg.

2025-08-09T16:45:36.011Z,1754757936.011 [DAT](INFO): ****** received valid address query ******
2025-08-09T16:45:36.011Z,1754757936.011 [DAT](INFO): ****** received valid ping request ******
2025-08-09T16:45:36.011Z,1754757936.011 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-09T16:45:36.164Z,1754757936.164 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 348.00 m.
2025-08-09T16:45:36.167Z,1754757936.167 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 348.000000 m,
      nav range: 344.804321 m,
      bearing: 137.248035 deg,
      approach rate: -0.625703 m/s,
      LOS rate: 0.014314 deg/s,
      cmd heading: 134.723214 deg,
      new cmd heading: 134.739666 deg.

2025-08-09T16:45:36.264Z,1754757936.264 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.499726
2025-08-09T16:45:36.515Z,1754757936.515 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.751280
2025-08-09T16:45:36.592Z,1754757936.592 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 348.00 m.
2025-08-09T16:45:36.599Z,1754757936.599 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 348.000000 m,
      nav range: 344.549683 m,
      bearing: 137.253826 deg,
      approach rate: -0.596025 m/s,
      LOS rate: 0.013565 deg/s,
      cmd heading: 134.739661 deg,
      new cmd heading: 134.757047 deg.

2025-08-09T16:45:36.767Z,1754757936.767 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.003268
2025-08-09T16:45:37.004Z,1754757937.004 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 348.00 m.
2025-08-09T16:45:37.007Z,1754757937.007 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 348.000000 m,
      nav range: 344.273041 m,
      bearing: 137.260379 deg,
      approach rate: -0.670575 m/s,
      LOS rate: 0.015896 deg/s,
      cmd heading: 134.757051 deg,
      new cmd heading: 134.776724 deg.

2025-08-09T16:45:37.020Z,1754757937.020 [DAT](INFO): DAT read: Rx Time:16:45:36.0238

2025-08-09T16:45:37.020Z,1754757937.020 [DAT](INFO): Rx dataTimestamp_ set to:1754757937.019731
2025-08-09T16:45:37.021Z,1754757937.021 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.256567
2025-08-09T16:45:37.271Z,1754757937.271 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.507298
2025-08-09T16:45:37.372Z,1754757937.372 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 348.00 m.
2025-08-09T16:45:37.375Z,1754757937.375 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 348.000000 m,
      nav range: 344.037506 m,
      bearing: 137.265931 deg,
      approach rate: -0.640320 m/s,
      LOS rate: 0.015104 deg/s,
      cmd heading: 134.776721 deg,
      new cmd heading: 134.793389 deg.

2025-08-09T16:45:37.526Z,1754757937.526 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.761623
2025-08-09T16:45:37.781Z,1754757937.781 [DAT](INFO): DAT read: 16:45:36.0238 LVL= 24224, 29201, 27506, 30195, AGC= 73, IDX=  43, 0.23, 1.419,-0.186, 1.469, 0.794, PHS= 0.727,-0.936, 0.631, RAW= 147.0,  -5.3, CAL= 146.9,  -6.4, ROT=   3.1,   6.4

2025-08-09T16:45:37.783Z,1754757937.783 [DAT](INFO): got valid direction response:
 16:45:36.0238 LVL= 24224, 29201, 27506, 30195, AGC= 73, IDX=  43, 0.23, 1.419,-0.186, 1.469, 0.794, PHS= 0.727,-0.936, 0.631, RAW= 147.0,  -5.3, CAL= 146.9,  -6.4, ROT=   3.1,   6.4

2025-08-09T16:45:37.784Z,1754757937.784 [DAT](INFO): DAT read: Bearing 286.6,   6.2 (Local)

2025-08-09T16:45:37.784Z,1754757937.784 [DAT](INFO): Local bearing/azimuth received:
 Bearing 286.6,   6.2 (Local)

2025-08-09T16:45:37.785Z,1754757937.785 [DAT](INFO): DAT read: Range 11 to 50 : 356.1 m  (Round-trip  474.9 ms) speed  0.6 m/s

2025-08-09T16:45:37.786Z,1754757937.786 [DAT](INFO): DAT read: user:79>

2025-08-09T16:45:37.787Z,1754757937.787 [DAT](INFO): DAT read: Tx time:16:45:37.1448

2025-08-09T16:45:37.787Z,1754757937.787 [DAT](INFO): Ping request sent.
2025-08-09T16:45:37.787Z,1754757937.787 [DAT](INFO): transmitted an acoustic signal
2025-08-09T16:45:37.788Z,1754757937.788 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-09T16:45:37.788Z,1754757937.788 [DAT](INFO): direction in FSK: [0.992314,0.053742,-0.111469]
2025-08-09T16:45:37.789Z,1754757937.789 [DAT](INFO): publishing transmit ping time
2025-08-09T16:45:37.789Z,1754757937.789 [DAT](INFO): publishing direction and range info
2025-08-09T16:45:37.833Z,1754757937.833 [DAT](INFO): publishing transmit ping time
2025-08-09T16:45:37.833Z,1754757937.833 [DAT](INFO): publishing direction and range info
2025-08-09T16:45:37.956Z,1754757937.956 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 356.100006 m,
      deltaT: 4.031836 s,
      deltaX: 8.100006 m,
      approachRate: 2.009012 m/s,
      rangeRepo size: 4

2025-08-09T16:45:37.962Z,1754757937.962 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 356.100006 m,
      bearing: 137.062977 deg,
      lat: 36.905923 deg,
      lon: -122.115855 deg,
      deltaT: 4.031836 s,
      deltaX: 8.100006 m,
      approachRate: 2.009012 m/s,
      posRepo size: 4

2025-08-09T16:45:37.963Z,1754757937.963 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 356.10 m.
2025-08-09T16:45:37.966Z,1754757937.966 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 356.100006 m,
      nav range: 344.906921 m,
      bearing: 137.062977 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.015104 deg/s,
      cmd heading: 134.793387 deg,
      new cmd heading: 134.819411 deg.

2025-08-09T16:45:38.304Z,1754757938.304 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-09T16:45:38.307Z,1754757938.307 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 356.10 m.
2025-08-09T16:45:38.309Z,1754757938.309 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 356.100006 m,
      nav range: 344.616791 m,
      bearing: 137.069815 deg,
      approach rate: -0.806131 m/s,
      LOS rate: 0.019018 deg/s,
      cmd heading: 134.819410 deg,
      new cmd heading: 134.839944 deg.

2025-08-09T16:45:38.532Z,1754757938.532 [DAT](INFO): ****** received valid address query ******
2025-08-09T16:45:38.532Z,1754757938.532 [DAT](INFO): ****** received valid ping request ******
2025-08-09T16:45:38.532Z,1754757938.532 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-09T16:45:38.740Z,1754757938.740 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 356.10 m.
2025-08-09T16:45:38.759Z,1754757938.759 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 356.100006 m,
      nav range: 344.341522 m,
      bearing: 137.076183 deg,
      approach rate: -0.634905 m/s,
      LOS rate: 0.014699 deg/s,
      cmd heading: 134.839942 deg,
      new cmd heading: 134.859060 deg.

2025-08-09T16:45:38.783Z,1754757938.783 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.996126
2025-08-09T16:45:39.036Z,1754757939.036 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.248341
2025-08-09T16:45:39.148Z,1754757939.148 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 356.10 m.
2025-08-09T16:45:39.154Z,1754757939.154 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 356.100006 m,
      nav range: 344.085541 m,
      bearing: 137.081566 deg,
      approach rate: -0.627855 m/s,
      LOS rate: 0.013212 deg/s,
      cmd heading: 134.859066 deg,
      new cmd heading: 134.875226 deg.

2025-08-09T16:45:39.287Z,1754757939.287 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.500181
2025-08-09T16:45:39.508Z,1754757939.508 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 356.10 m.
2025-08-09T16:45:39.511Z,1754757939.511 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 356.100006 m,
      nav range: 343.849670 m,
      bearing: 137.086434 deg,
      approach rate: -0.654452 m/s,
      LOS rate: 0.013518 deg/s,
      cmd heading: 134.875226 deg,
      new cmd heading: 134.889842 deg.

2025-08-09T16:45:39.540Z,1754757939.540 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.752331
2025-08-09T16:45:39.795Z,1754757939.795 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.008028
2025-08-09T16:45:40.047Z,1754757940.047 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.259955
2025-08-09T16:45:40.078Z,1754757940.078 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 356.10 m.
2025-08-09T16:45:40.081Z,1754757940.081 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 356.100006 m,
      nav range: 343.529419 m,
      bearing: 137.092450 deg,
      approach rate: -0.577864 m/s,
      LOS rate: 0.010866 deg/s,
      cmd heading: 134.889843 deg,
      new cmd heading: 134.907908 deg.

2025-08-09T16:45:40.300Z,1754757940.300 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.512351
2025-08-09T16:45:40.551Z,1754757940.551 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.764052
2025-08-09T16:45:40.569Z,1754757940.569 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-09T16:45:40.571Z,1754757940.571 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 356.10 m.
2025-08-09T16:45:40.574Z,1754757940.574 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 356.100006 m,
      nav range: 343.162567 m,
      bearing: 137.099207 deg,
      approach rate: -0.720613 m/s,
      LOS rate: 0.013287 deg/s,
      cmd heading: 134.907902 deg,
      new cmd heading: 134.928195 deg.

2025-08-09T16:45:40.804Z,1754757940.804 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.016319
2025-08-09T16:45:41.040Z,1754757941.040 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 356.10 m.
2025-08-09T16:45:41.043Z,1754757941.043 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 356.100006 m,
      nav range: 342.862976 m,
      bearing: 137.103726 deg,
      approach rate: -0.639184 m/s,
      LOS rate: 0.009650 deg/s,
      cmd heading: 134.928201 deg,
      new cmd heading: 134.941770 deg.

2025-08-09T16:45:41.055Z,1754757941.055 [DAT](INFO): DAT read: Rx Time:16:45:40.0062

2025-08-09T16:45:41.056Z,1754757941.056 [DAT](INFO): Rx dataTimestamp_ set to:1754757941.055630
2025-08-09T16:45:41.056Z,1754757941.056 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.269174
2025-08-09T16:45:41.307Z,1754757941.307 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.519970
2025-08-09T16:45:41.409Z,1754757941.409 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 356.10 m.
2025-08-09T16:45:41.411Z,1754757941.411 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 356.100006 m,
      nav range: 342.627533 m,
      bearing: 137.107276 deg,
      approach rate: -0.638741 m/s,
      LOS rate: 0.009637 deg/s,
      cmd heading: 134.941766 deg,
      new cmd heading: 134.952423 deg.

2025-08-09T16:45:41.571Z,1754757941.571 [DAT](INFO): DAT read: 16:45:40.0062 LVL= 27280, 32753, 32402, 32755, AGC= 68, IDX= 263, 0.25,-1.690,-3.108,-1.673,-2.155, PHS= 0.567,-0.908, 0.438, RAW= 145.5,  -1.4, CAL= 145.0,  -1.7, ROT=   5.0,   1.7

2025-08-09T16:45:41.572Z,1754757941.572 [DAT](INFO): got valid direction response:
 16:45:40.0062 LVL= 27280, 32753, 32402, 32755, AGC= 68, IDX= 263, 0.25,-1.690,-3.108,-1.673,-2.155, PHS= 0.567,-0.908, 0.438, RAW= 145.5,  -1.4, CAL= 145.0,  -1.7, ROT=   5.0,   1.7

2025-08-09T16:45:41.573Z,1754757941.573 [DAT](INFO): DAT read: Bearing 292.1,   9.3 (Local)

2025-08-09T16:45:41.574Z,1754757941.574 [DAT](INFO): Local bearing/azimuth received:
 Bearing 292.1,   9.3 (Local)

2025-08-09T16:45:41.587Z,1754757941.587 [DAT](INFO): DAT read: Range 11 to 50 : 342.9 m  (Round-trip  457.3 ms) speed  0.4 m/s

2025-08-09T16:45:41.588Z,1754757941.588 [DAT](INFO): DAT read: user:80>

2025-08-09T16:45:41.589Z,1754757941.589 [DAT](INFO): DAT read: Tx time:16:45:41.0948

2025-08-09T16:45:41.589Z,1754757941.589 [DAT](INFO): Ping request sent.
2025-08-09T16:45:41.589Z,1754757941.589 [DAT](INFO): transmitted an acoustic signal
2025-08-09T16:45:41.589Z,1754757941.589 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-09T16:45:41.596Z,1754757941.596 [DAT](INFO): direction in FSK: [0.995756,0.087117,-0.029666]
2025-08-09T16:45:41.597Z,1754757941.597 [DAT](INFO): publishing transmit ping time
2025-08-09T16:45:41.608Z,1754757941.608 [DAT](INFO): publishing direction and range info
2025-08-09T16:45:41.629Z,1754757941.629 [DAT](INFO): publishing transmit ping time
2025-08-09T16:45:41.629Z,1754757941.629 [DAT](INFO): publishing direction and range info
2025-08-09T16:45:41.876Z,1754757941.876 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 342.899994 m,
      deltaT: 3.785454 s,
      deltaX: -13.200012 m,
      approachRate: -3.487036 m/s,
      rangeRepo size: 4

2025-08-09T16:45:41.886Z,1754757941.886 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 342.899994 m,
      bearing: 137.322121 deg,
      lat: 36.905923 deg,
      lon: -122.115875 deg,
      deltaT: 3.785454 s,
      deltaX: -13.200012 m,
      approachRate: -3.487036 m/s,
      posRepo size: 4

2025-08-09T16:45:41.888Z,1754757941.888 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 342.90 m.
2025-08-09T16:45:41.900Z,1754757941.900 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 342.899994 m,
      nav range: 341.169220 m,
      bearing: 137.322121 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.009637 deg/s,
      cmd heading: 134.952421 deg,
      new cmd heading: 134.965773 deg.

2025-08-09T16:45:42.252Z,1754757942.252 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 342.90 m.
2025-08-09T16:45:42.255Z,1754757942.255 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 342.899994 m,
      nav range: 340.911316 m,
      bearing: 137.324809 deg,
      approach rate: -0.676019 m/s,
      LOS rate: 0.007049 deg/s,
      cmd heading: 134.965767 deg,
      new cmd heading: 134.973835 deg.

2025-08-09T16:45:42.668Z,1754757942.668 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-09T16:45:42.670Z,1754757942.670 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 342.90 m.
2025-08-09T16:45:42.673Z,1754757942.673 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 342.899994 m,
      nav range: 340.640930 m,
      bearing: 137.327605 deg,
      approach rate: -0.646441 m/s,
      LOS rate: 0.006692 deg/s,
      cmd heading: 134.973841 deg,
      new cmd heading: 134.982238 deg.

2025-08-09T16:45:42.819Z,1754757942.819 [DAT](INFO): ****** received valid address query ******
2025-08-09T16:45:42.819Z,1754757942.819 [DAT](INFO): ****** received valid ping request ******
2025-08-09T16:45:42.819Z,1754757942.819 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-09T16:45:43.071Z,1754757943.071 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.482244
2025-08-09T16:45:43.107Z,1754757943.107 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 342.90 m.
2025-08-09T16:45:43.110Z,1754757943.110 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 342.899994 m,
      nav range: 340.370667 m,
      bearing: 137.329448 deg,
      approach rate: -0.618411 m/s,
      LOS rate: 0.004219 deg/s,
      cmd heading: 134.982242 deg,
      new cmd heading: 134.987773 deg.

2025-08-09T16:45:43.323Z,1754757943.323 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.734166
2025-08-09T16:45:43.472Z,1754757943.472 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 342.90 m.
2025-08-09T16:45:43.475Z,1754757943.475 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 342.899994 m,
      nav range: 340.133484 m,
      bearing: 137.331079 deg,
      approach rate: -0.649837 m/s,
      LOS rate: 0.004472 deg/s,
      cmd heading: 134.987774 deg,
      new cmd heading: 134.992671 deg.

2025-08-09T16:45:43.575Z,1754757943.575 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.986268
2025-08-09T16:45:43.828Z,1754757943.828 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.238632
2025-08-09T16:45:43.923Z,1754757943.923 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 342.90 m.
2025-08-09T16:45:43.928Z,1754757943.928 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 342.899994 m,
      nav range: 339.854950 m,
      bearing: 137.332499 deg,
      approach rate: -0.618474 m/s,
      LOS rate: 0.003156 deg/s,
      cmd heading: 134.992665 deg,
      new cmd heading: 134.996928 deg.

2025-08-09T16:45:44.079Z,1754757944.079 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.490152
2025-08-09T16:45:44.331Z,1754757944.331 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.742080
2025-08-09T16:45:44.353Z,1754757944.353 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 342.90 m.
2025-08-09T16:45:44.356Z,1754757944.356 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 342.899994 m,
      nav range: 339.568420 m,
      bearing: 137.333955 deg,
      approach rate: -0.665761 m/s,
      LOS rate: 0.003385 deg/s,
      cmd heading: 134.996927 deg,
      new cmd heading: 135.001297 deg.

2025-08-09T16:45:44.583Z,1754757944.583 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.994324
2025-08-09T16:45:44.796Z,1754757944.796 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-09T16:45:44.823Z,1754757944.823 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 342.90 m.
2025-08-09T16:45:44.825Z,1754757944.825 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 342.899994 m,
      nav range: 339.310425 m,
      bearing: 137.335260 deg,
      approach rate: -0.548894 m/s,
      LOS rate: 0.002779 deg/s,
      cmd heading: 135.001298 deg,
      new cmd heading: 135.005216 deg.

2025-08-09T16:45:44.839Z,1754757944.839 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.250035
2025-08-09T16:45:45.087Z,1754757945.087 [DAT](INFO): DAT read: Rx Time:16:45:43.9376

2025-08-09T16:45:45.088Z,1754757945.088 [DAT](INFO): Rx dataTimestamp_ set to:1754757945.087425
2025-08-09T16:45:45.088Z,1754757945.088 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.499103
2025-08-09T16:45:45.221Z,1754757945.221 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 342.90 m.
2025-08-09T16:45:45.224Z,1754757945.224 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 342.899994 m,
      nav range: 339.011902 m,
      bearing: 137.336763 deg,
      approach rate: -0.749835 m/s,
      LOS rate: 0.003778 deg/s,
      cmd heading: 135.005219 deg,
      new cmd heading: 135.009731 deg.

2025-08-09T16:45:45.340Z,1754757945.340 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.750391
2025-08-09T16:45:45.597Z,1754757945.597 [DAT](INFO): DAT read: 16:45:43.9376 LVL= 32752, 32753, 30194, 32755, AGC= 74, IDX= 249, 0.25,-0.238,-2.001,-0.146,-0.559, PHS= 0.423,-1.397, 0.368, RAW= 148.5,   6.8, CAL= 147.9,   7.3, ROT=   2.1,  -7.3

2025-08-09T16:45:45.598Z,1754757945.598 [DAT](INFO): got valid direction response:
 16:45:43.9376 LVL= 32752, 32753, 30194, 32755, AGC= 74, IDX= 249, 0.25,-0.238,-2.001,-0.146,-0.559, PHS= 0.423,-1.397, 0.368, RAW= 148.5,   6.8, CAL= 147.9,   7.3, ROT=   2.1,  -7.3

2025-08-09T16:45:45.599Z,1754757945.599 [DAT](INFO): DAT read: Bearing 300.8,   7.0 (Local)

2025-08-09T16:45:45.600Z,1754757945.600 [DAT](INFO): Local bearing/azimuth received:
 Bearing 300.8,   7.0 (Local)

2025-08-09T16:45:45.601Z,1754757945.601 [DAT](INFO): DAT read: Range 11 to 50 : 329.0 m  (Round-trip  438.7 ms) speed  0.2 m/s

2025-08-09T16:45:45.602Z,1754757945.602 [DAT](INFO): DAT read: user:81>

2025-08-09T16:45:45.603Z,1754757945.603 [DAT](INFO): DAT read: Tx time:16:45:45.0448

2025-08-09T16:45:45.603Z,1754757945.603 [DAT](INFO): Ping request sent.
2025-08-09T16:45:45.603Z,1754757945.603 [DAT](INFO): transmitted an acoustic signal
2025-08-09T16:45:45.603Z,1754757945.603 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-09T16:45:45.604Z,1754757945.604 [DAT](INFO): direction in FSK: [0.991228,0.036347,0.127065]
2025-08-09T16:45:45.604Z,1754757945.604 [DAT](INFO): publishing transmit ping time
2025-08-09T16:45:45.605Z,1754757945.605 [DAT](INFO): publishing direction and range info
2025-08-09T16:45:45.613Z,1754757945.613 [DAT](INFO): publishing transmit ping time
2025-08-09T16:45:45.613Z,1754757945.613 [DAT](INFO): publishing direction and range info
2025-08-09T16:45:45.673Z,1754757945.673 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 329.000000 m,
      deltaT: 4.030340 s,
      deltaX: -13.899994 m,
      approachRate: -3.448839 m/s,
      rangeRepo size: 4

2025-08-09T16:45:45.680Z,1754757945.680 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 329.000000 m,
      bearing: 137.574295 deg,
      lat: 36.905923 deg,
      lon: -122.115896 deg,
      deltaT: 4.030340 s,
      deltaX: -13.899994 m,
      approachRate: -3.448839 m/s,
      posRepo size: 4

2025-08-09T16:45:45.680Z,1754757945.680 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 329.00 m.
2025-08-09T16:45:45.691Z,1754757945.691 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 329.000000 m,
      nav range: 337.477417 m,
      bearing: 137.574295 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.003778 deg/s,
      cmd heading: 135.009727 deg,
      new cmd heading: 135.014843 deg.

2025-08-09T16:45:46.075Z,1754757946.075 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 329.00 m.
2025-08-09T16:45:46.077Z,1754757946.077 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 329.000000 m,
      nav range: 337.195496 m,
      bearing: 137.575479 deg,
      approach rate: -0.708427 m/s,
      LOS rate: 0.002977 deg/s,
      cmd heading: 135.014849 deg,
      new cmd heading: 135.018403 deg.

2025-08-09T16:45:46.428Z,1754757946.428 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 329.00 m.
2025-08-09T16:45:46.433Z,1754757946.433 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 329.000000 m,
      nav range: 336.967804 m,
      bearing: 137.576396 deg,
      approach rate: -0.637995 m/s,
      LOS rate: 0.002571 deg/s,
      cmd heading: 135.018401 deg,
      new cmd heading: 135.021154 deg.

2025-08-09T16:45:46.902Z,1754757946.902 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-09T16:45:46.904Z,1754757946.904 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 329.00 m.
2025-08-09T16:45:46.908Z,1754757946.908 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 329.000000 m,
      nav range: 336.647888 m,
      bearing: 137.579029 deg,
      approach rate: -0.671318 m/s,
      LOS rate: 0.005531 deg/s,
      cmd heading: 135.021160 deg,
      new cmd heading: 135.029067 deg.

2025-08-09T16:45:47.103Z,1754757947.103 [DAT](INFO): ****** received valid address query ******
2025-08-09T16:45:47.103Z,1754757947.103 [DAT](INFO): ****** received valid ping request ******
2025-08-09T16:45:47.103Z,1754757947.103 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-09T16:45:47.247Z,1754757947.247 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 329.00 m.
2025-08-09T16:45:47.250Z,1754757947.250 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 329.000000 m,
      nav range: 336.423492 m,
      bearing: 137.580879 deg,
      approach rate: -0.653158 m/s,
      LOS rate: 0.005389 deg/s,
      cmd heading: 135.029070 deg,
      new cmd heading: 135.034624 deg.

2025-08-09T16:45:47.355Z,1754757947.355 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.752432
2025-08-09T16:45:47.607Z,1754757947.607 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.004285
2025-08-09T16:45:47.629Z,1754757947.629 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 329.00 m.
2025-08-09T16:45:47.632Z,1754757947.632 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 329.000000 m,
      nav range: 336.167572 m,
      bearing: 137.582868 deg,
      approach rate: -0.671117 m/s,
      LOS rate: 0.005219 deg/s,
      cmd heading: 135.034629 deg,
      new cmd heading: 135.040600 deg.

2025-08-09T16:45:47.860Z,1754757947.860 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.256723
2025-08-09T16:45:48.062Z,1754757948.062 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 329.00 m.
2025-08-09T16:45:48.065Z,1754757948.065 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 329.000000 m,
      nav range: 335.888794 m,
      bearing: 137.585835 deg,
      approach rate: -0.643907 m/s,
      LOS rate: 0.006859 deg/s,
      cmd heading: 135.040599 deg,
      new cmd heading: 135.049508 deg.

2025-08-09T16:45:48.112Z,1754757948.112 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.509249
2025-08-09T16:45:48.363Z,1754757948.363 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.760352
2025-08-09T16:45:48.479Z,1754757948.479 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 329.00 m.
2025-08-09T16:45:48.482Z,1754757948.482 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 329.000000 m,
      nav range: 335.630859 m,
      bearing: 137.588531 deg,
      approach rate: -0.643906 m/s,
      LOS rate: 0.006735 deg/s,
      cmd heading: 135.049506 deg,
      new cmd heading: 135.057599 deg.

2025-08-09T16:45:48.615Z,1754757948.615 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.012373
2025-08-09T16:45:48.870Z,1754757948.870 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.266137
2025-08-09T16:45:48.908Z,1754757948.908 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 329.00 m.
2025-08-09T16:45:48.920Z,1754757948.920 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 329.000000 m,
      nav range: 335.354767 m,
      bearing: 137.591421 deg,
      approach rate: -0.620491 m/s,
      LOS rate: 0.006501 deg/s,
      cmd heading: 135.057592 deg,
      new cmd heading: 135.066270 deg.

2025-08-09T16:45:49.125Z,1754757949.125 [DAT](INFO): DAT read: 16:45:47.9148 LVL= 27264, 32753, 32754, 32755, AGC= 72, IDX= 207,-0.37,-2.716, 2.116,-2.669, 2.863, PHS= 0.806,-0.701, 0.707, RAW= 146.6, -11.1, CAL= 147.3, -13.1, ROT=   2.7,  13.1

2025-08-09T16:45:49.126Z,1754757949.126 [DAT](INFO): got valid direction response:
 16:45:47.9148 LVL= 27264, 32753, 32754, 32755, AGC= 72, IDX= 207,-0.37,-2.716, 2.116,-2.669, 2.863, PHS= 0.806,-0.701, 0.707, RAW= 146.6, -11.1, CAL= 147.3, -13.1, ROT=   2.7,  13.1

2025-08-09T16:45:49.127Z,1754757949.127 [DAT](INFO): DAT read: Rx Time:16:45:47.9148

2025-08-09T16:45:49.127Z,1754757949.127 [DAT](INFO): Rx dataTimestamp_ set to:1754757949.126742
2025-08-09T16:45:49.128Z,1754757949.128 [DAT](INFO): DAT read: $Low SNR acquisition

2025-08-09T16:45:49.128Z,1754757949.128 [DAT](INFO): Received low SNR in chirp
2025-08-09T16:45:49.142Z,1754757949.142 [DAT](INFO): #Rx 1: Read direction message, but no range.
2025-08-09T16:45:49.143Z,1754757949.143 [DAT](INFO): direction in FSK: [0.972895,0.045881,-0.226651]
2025-08-09T16:45:49.146Z,1754757949.146 [DAT](INFO): ****** received valid address query ******
2025-08-09T16:45:49.147Z,1754757949.147 [DAT](INFO): ****** received valid ping request ******
2025-08-09T16:45:49.147Z,1754757949.147 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-09T16:45:49.348Z,1754757949.348 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-09T16:45:49.350Z,1754757949.350 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 329.00 m.
2025-08-09T16:45:49.352Z,1754757949.352 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 329.000000 m,
      nav range: 335.059814 m,
      bearing: 137.596400 deg,
      approach rate: -0.666671 m/s,
      LOS rate: 0.011264 deg/s,
      cmd heading: 135.066267 deg,
      new cmd heading: 135.081217 deg.

2025-08-09T16:45:49.371Z,1754757949.371 [DAT](INFO): ****** received valid address query ******
2025-08-09T16:45:49.372Z,1754757949.372 [DAT](INFO): ****** received valid ping request ******
2025-08-09T16:45:49.372Z,1754757949.372 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-09T16:45:49.623Z,1754757949.623 [DAT](INFO): ****** received valid address query ******
2025-08-09T16:45:49.623Z,1754757949.623 [DAT](INFO): ****** received valid ping request ******
2025-08-09T16:45:49.623Z,1754757949.623 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-09T16:45:49.720Z,1754757949.720 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 329.00 m.
2025-08-09T16:45:49.727Z,1754757949.727 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 329.000000 m,
      nav range: 334.826630 m,
      bearing: 137.600319 deg,
      approach rate: -0.629865 m/s,
      LOS rate: 0.010594 deg/s,
      cmd heading: 135.081211 deg,
      new cmd heading: 135.092977 deg.

2025-08-09T16:45:49.878Z,1754757949.878 [DAT](INFO): ****** received valid address query ******
2025-08-09T16:45:49.878Z,1754757949.878 [DAT](INFO): ****** received valid ping request ******
2025-08-09T16:45:49.879Z,1754757949.879 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-09T16:45:50.126Z,1754757950.126 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 329.00 m.
2025-08-09T16:45:50.127Z,1754757950.127 [DAT](INFO): ****** received valid address query ******
2025-08-09T16:45:50.127Z,1754757950.127 [DAT](INFO): ****** received valid ping request ******
2025-08-09T16:45:50.127Z,1754757950.127 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-09T16:45:50.146Z,1754757950.146 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 329.000000 m,
      nav range: 334.569183 m,
      bearing: 137.605342 deg,
      approach rate: -0.634195 m/s,
      LOS rate: 0.012382 deg/s,
      cmd heading: 135.092973 deg,
      new cmd heading: 135.108052 deg.

2025-08-09T16:45:50.379Z,1754757950.379 [DAT](INFO): ****** received valid address query ******
2025-08-09T16:45:50.379Z,1754757950.379 [DAT](INFO): ****** received valid ping request ******
2025-08-09T16:45:50.380Z,1754757950.380 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-09T16:45:50.522Z,1754757950.522 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 329.00 m.
2025-08-09T16:45:50.525Z,1754757950.525 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 329.000000 m,
      nav range: 334.334137 m,
      bearing: 137.609939 deg,
      approach rate: -0.593216 m/s,
      LOS rate: 0.011610 deg/s,
      cmd heading: 135.108054 deg,
      new cmd heading: 135.121855 deg.

2025-08-09T16:45:50.631Z,1754757950.631 [DAT](INFO): ****** received valid address query ******
2025-08-09T16:45:50.631Z,1754757950.631 [DAT](INFO): ****** received valid ping request ******
2025-08-09T16:45:50.631Z,1754757950.631 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-09T16:45:50.885Z,1754757950.885 [DAT](INFO): ****** received valid address query ******
2025-08-09T16:45:50.885Z,1754757950.885 [DAT](INFO): ****** received valid ping request ******
2025-08-09T16:45:50.886Z,1754757950.886 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-09T16:45:50.990Z,1754757950.990 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 329.00 m.
2025-08-09T16:45:50.992Z,1754757950.992 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 329.000000 m,
      nav range: 334.043213 m,
      bearing: 137.616148 deg,
      approach rate: -0.622259 m/s,
      LOS rate: 0.013292 deg/s,
      cmd heading: 135.121851 deg,
      new cmd heading: 135.140494 deg.

2025-08-09T16:45:51.135Z,1754757951.135 [DAT](INFO): ****** received valid address query ******
2025-08-09T16:45:51.135Z,1754757951.135 [DAT](INFO): ****** received valid ping request ******
2025-08-09T16:45:51.135Z,1754757951.135 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-09T16:45:51.316Z,1754757951.316 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 329.00 m.
2025-08-09T16:45:51.318Z,1754757951.318 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 329.000000 m,
      nav range: 333.847717 m,
      bearing: 137.620343 deg,
      approach rate: -0.599718 m/s,
      LOS rate: 0.012876 deg/s,
      cmd heading: 135.140497 deg,
      new cmd heading: 135.153089 deg.

2025-08-09T16:45:51.388Z,1754757951.388 [DAT](INFO): ****** received valid address query ******
2025-08-09T16:45:51.388Z,1754757951.388 [DAT](INFO): ****** received valid ping request ******
2025-08-09T16:45:51.389Z,1754757951.389 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-09T16:45:51.639Z,1754757951.639 [DAT](INFO): ****** received valid address query ******
2025-08-09T16:45:51.639Z,1754757951.639 [DAT](INFO): ****** received valid ping request ******
2025-08-09T16:45:51.639Z,1754757951.639 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-09T16:45:51.745Z,1754757951.745 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-09T16:45:51.751Z,1754757951.751 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 329.00 m.
2025-08-09T16:45:51.759Z,1754757951.759 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 329.000000 m,
      nav range: 333.596466 m,
      bearing: 137.625755 deg,
      approach rate: -0.576272 m/s,
      LOS rate: 0.012425 deg/s,
      cmd heading: 135.153092 deg,
      new cmd heading: 135.169343 deg.

2025-08-09T16:45:51.893Z,1754757951.893 [DAT](INFO): ****** received valid address query ******
2025-08-09T16:45:51.894Z,1754757951.894 [DAT](INFO): ****** received valid ping request ******
2025-08-09T16:45:51.894Z,1754757951.894 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-09T16:45:52.143Z,1754757952.143 [DAT](INFO): ****** received valid address query ******
2025-08-09T16:45:52.143Z,1754757952.143 [DAT](INFO): ****** received valid ping request ******
2025-08-09T16:45:52.143Z,1754757952.143 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-09T16:45:52.148Z,1754757952.148 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 329.00 m.
2025-08-09T16:45:52.151Z,1754757952.151 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 329.000000 m,
      nav range: 333.349030 m,
      bearing: 137.630843 deg,
      approach rate: -0.624044 m/s,
      LOS rate: 0.012839 deg/s,
      cmd heading: 135.169348 deg,
      new cmd heading: 135.184621 deg.

2025-08-09T16:45:52.395Z,1754757952.395 [DAT](INFO): ****** received valid address query ******
2025-08-09T16:45:52.395Z,1754757952.395 [DAT](INFO): ****** received valid ping request ******
2025-08-09T16:45:52.395Z,1754757952.395 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-09T16:45:52.647Z,1754757952.647 [DAT](INFO): ****** received valid address query ******
2025-08-09T16:45:52.647Z,1754757952.647 [DAT](INFO): ****** received valid ping request ******
2025-08-09T16:45:52.647Z,1754757952.647 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-09T16:45:52.649Z,1754757952.649 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 329.00 m.
2025-08-09T16:45:52.652Z,1754757952.652 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 329.000000 m,
      nav range: 333.046753 m,
      bearing: 137.637097 deg,
      approach rate: -0.603007 m/s,
      LOS rate: 0.012489 deg/s,
      cmd heading: 135.184620 deg,
      new cmd heading: 135.203402 deg.

2025-08-09T16:45:52.908Z,1754757952.908 [DAT](INFO): ****** received valid address query ******
2025-08-09T16:45:52.909Z,1754757952.909 [DAT](INFO): ****** received valid ping request ******
2025-08-09T16:45:52.909Z,1754757952.909 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-09T16:45:53.151Z,1754757953.151 [DAT](INFO): ****** received valid address query ******
2025-08-09T16:45:53.151Z,1754757953.151 [DAT](INFO): ****** received valid ping request ******
2025-08-09T16:45:53.151Z,1754757953.151 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-09T16:45:53.215Z,1754757953.215 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 329.00 m.
2025-08-09T16:45:53.218Z,1754757953.218 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 329.000000 m,
      nav range: 332.714081 m,
      bearing: 137.643062 deg,
      approach rate: -0.601785 m/s,
      LOS rate: 0.010801 deg/s,
      cmd heading: 135.203403 deg,
      new cmd heading: 135.221316 deg.

2025-08-09T16:45:53.404Z,1754757953.404 [DAT](INFO): ****** received valid address query ******
2025-08-09T16:45:53.404Z,1754757953.404 [DAT](INFO): ****** received valid ping request ******
2025-08-09T16:45:53.404Z,1754757953.404 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-09T16:45:53.655Z,1754757953.655 [DAT](INFO): ****** received valid address query ******
2025-08-09T16:45:53.655Z,1754757953.655 [DAT](INFO): ****** received valid ping request ******
2025-08-09T16:45:53.655Z,1754757953.655 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-09T16:45:53.723Z,1754757953.723 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 329.00 m.
2025-08-09T16:45:53.726Z,1754757953.726 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 329.000000 m,
      nav range: 332.406677 m,
      bearing: 137.648644 deg,
      approach rate: -0.590152 m/s,
      LOS rate: 0.010725 deg/s,
      cmd heading: 135.221312 deg,
      new cmd heading: 135.238072 deg.

2025-08-09T16:45:53.910Z,1754757953.910 [DAT](INFO): ****** received valid address query ******
2025-08-09T16:45:53.910Z,1754757953.910 [DAT](INFO): ****** received valid ping request ******
2025-08-09T16:45:53.911Z,1754757953.911 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-09T16:45:54.112Z,1754757954.112 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-09T16:45:54.115Z,1754757954.115 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 329.00 m.
2025-08-09T16:45:54.117Z,1754757954.117 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 329.000000 m,
      nav range: 332.160400 m,
      bearing: 137.652466 deg,
      approach rate: -0.629343 m/s,
      LOS rate: 0.009774 deg/s,
      cmd heading: 135.238073 deg,
      new cmd heading: 135.249548 deg.

2025-08-09T16:45:54.159Z,1754757954.159 [DAT](INFO): ****** received valid address query ******
2025-08-09T16:45:54.160Z,1754757954.160 [DAT](INFO): ****** received valid ping request ******
2025-08-09T16:45:54.160Z,1754757954.160 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-09T16:45:54.412Z,1754757954.412 [DAT](INFO): ****** received valid address query ******
2025-08-09T16:45:54.412Z,1754757954.412 [DAT](INFO): ****** received valid ping request ******
2025-08-09T16:45:54.412Z,1754757954.412 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-09T16:45:54.499Z,1754757954.499 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 329.00 m.
2025-08-09T16:45:54.501Z,1754757954.501 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 329.000000 m,
      nav range: 331.925171 m,
      bearing: 137.656088 deg,
      approach rate: -0.612401 m/s,
      LOS rate: 0.009436 deg/s,
      cmd heading: 135.249548 deg,
      new cmd heading: 135.260422 deg.

2025-08-09T16:45:54.663Z,1754757954.663 [DAT](INFO): ****** received valid address query ******
2025-08-09T16:45:54.663Z,1754757954.663 [DAT](INFO): ****** received valid ping request ******
2025-08-09T16:45:54.663Z,1754757954.663 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-09T16:45:54.918Z,1754757954.918 [DAT](INFO): ****** received valid address query ******
2025-08-09T16:45:54.918Z,1754757954.918 [DAT](INFO): ****** received valid ping request ******
2025-08-09T16:45:54.919Z,1754757954.919 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-09T16:45:54.971Z,1754757954.971 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 329.00 m.
2025-08-09T16:45:54.974Z,1754757954.974 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 329.000000 m,
      nav range: 331.674866 m,
      bearing: 137.659954 deg,
      approach rate: -0.529468 m/s,
      LOS rate: 0.008184 deg/s,
      cmd heading: 135.260422 deg,
      new cmd heading: 135.272029 deg.

2025-08-09T16:45:55.170Z,1754757955.170 [DAT](INFO): ****** received valid address query ******
2025-08-09T16:45:55.170Z,1754757955.170 [DAT](INFO): ****** received valid ping request ******
2025-08-09T16:45:55.170Z,1754757955.170 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-09T16:45:55.346Z,1754757955.346 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 329.00 m.
2025-08-09T16:45:55.349Z,1754757955.349 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 329.000000 m,
      nav range: 331.402954 m,
      bearing: 137.664267 deg,
      approach rate: -0.725254 m/s,
      LOS rate: 0.011514 deg/s,
      cmd heading: 135.272033 deg,
      new cmd heading: 135.284983 deg.

2025-08-09T16:45:55.422Z,1754757955.422 [DAT](INFO): ****** received valid address query ******
2025-08-09T16:45:55.423Z,1754757955.423 [DAT](INFO): ****** received valid ping request ******
2025-08-09T16:45:55.423Z,1754757955.423 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-09T16:45:55.671Z,1754757955.671 [DAT](INFO): Reached modem response timeout
2025-08-09T16:45:55.671Z,1754757955.671 [DAT](DEBUG): Acoustic response timeout
2025-08-09T16:45:55.671Z,1754757955.671 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-09T16:45:55.722Z,1754757955.722 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 329.00 m.
2025-08-09T16:45:55.736Z,1754757955.736 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 329.000000 m,
      nav range: 331.179688 m,
      bearing: 137.667815 deg,
      approach rate: -0.594471 m/s,
      LOS rate: 0.009453 deg/s,
      cmd heading: 135.284983 deg,
      new cmd heading: 135.295634 deg.

2025-08-09T16:45:55.925Z,1754757955.925 [DAT](INFO): Reached modem response timeout
2025-08-09T16:45:55.925Z,1754757955.925 [DAT](DEBUG): Acoustic response timeout
2025-08-09T16:45:55.926Z,1754757955.926 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-09T16:45:56.132Z,1754757956.132 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-09T16:45:56.135Z,1754757956.135 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 329.00 m.
2025-08-09T16:45:56.138Z,1754757956.138 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 329.000000 m,
      nav range: 330.902496 m,
      bearing: 137.672080 deg,
      approach rate: -0.671987 m/s,
      LOS rate: 0.010349 deg/s,
      cmd heading: 135.295638 deg,
      new cmd heading: 135.308445 deg.

2025-08-09T16:45:56.175Z,1754757956.175 [DAT](INFO): Reached modem response timeout
2025-08-09T16:45:56.175Z,1754757956.175 [DAT](DEBUG): Acoustic response timeout
2025-08-09T16:45:56.176Z,1754757956.176 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-09T16:45:56.427Z,1754757956.427 [DAT](INFO): Reached modem response timeout
2025-08-09T16:45:56.427Z,1754757956.427 [DAT](DEBUG): Acoustic response timeout
2025-08-09T16:45:56.427Z,1754757956.427 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-09T16:45:56.541Z,1754757956.541 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 329.00 m.
2025-08-09T16:45:56.544Z,1754757956.544 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 329.000000 m,
      nav range: 330.638947 m,
      bearing: 137.676142 deg,
      approach rate: -0.648172 m/s,
      LOS rate: 0.009998 deg/s,
      cmd heading: 135.308452 deg,
      new cmd heading: 135.320648 deg.

2025-08-09T16:45:56.679Z,1754757956.679 [DAT](INFO): Reached modem response timeout
2025-08-09T16:45:56.680Z,1754757956.680 [DAT](DEBUG): Acoustic response timeout
2025-08-09T16:45:56.680Z,1754757956.680 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-09T16:45:56.931Z,1754757956.931 [DAT](INFO): Reached modem response timeout
2025-08-09T16:45:56.932Z,1754757956.932 [DAT](DEBUG): Acoustic response timeout
2025-08-09T16:45:56.933Z,1754757956.933 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-09T16:45:56.971Z,1754757956.971 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 329.00 m.
2025-08-09T16:45:56.989Z,1754757956.989 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 329.000000 m,
      nav range: 330.385010 m,
      bearing: 137.680087 deg,
      approach rate: -0.627835 m/s,
      LOS rate: 0.009762 deg/s,
      cmd heading: 135.320650 deg,
      new cmd heading: 135.332495 deg.

2025-08-09T16:45:57.183Z,1754757957.183 [DAT](INFO): Reached modem response timeout
2025-08-09T16:45:57.183Z,1754757957.183 [DAT](DEBUG): Acoustic response timeout
2025-08-09T16:45:57.183Z,1754757957.183 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-09T16:45:57.378Z,1754757957.378 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 329.00 m.
2025-08-09T16:45:57.381Z,1754757957.381 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 329.000000 m,
      nav range: 330.090942 m,
      bearing: 137.684155 deg,
      approach rate: -0.679824 m/s,
      LOS rate: 0.009411 deg/s,
      cmd heading: 135.332494 deg,
      new cmd heading: 135.344706 deg.

2025-08-09T16:45:57.436Z,1754757957.436 [DAT](INFO): Reached modem response timeout
2025-08-09T16:45:57.436Z,1754757957.436 [DAT](DEBUG): Acoustic response timeout
2025-08-09T16:45:57.437Z,1754757957.437 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-09T16:45:57.687Z,1754757957.687 [DAT](INFO): Reached modem response timeout
2025-08-09T16:45:57.687Z,1754757957.687 [DAT](DEBUG): Acoustic response timeout
2025-08-09T16:45:57.688Z,1754757957.688 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-09T16:45:57.759Z,1754757957.759 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 329.00 m.
2025-08-09T16:45:57.761Z,1754757957.761 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 329.000000 m,
      nav range: 329.852173 m,
      bearing: 137.687454 deg,
      approach rate: -0.626585 m/s,
      LOS rate: 0.008664 deg/s,
      cmd heading: 135.344706 deg,
      new cmd heading: 135.354611 deg.

2025-08-09T16:45:57.944Z,1754757957.944 [DAT](INFO): DAT read: Response Not Received

2025-08-09T16:45:57.944Z,1754757957.944 [DAT](INFO): response not received
2025-08-09T16:45:57.946Z,1754757957.946 [DAT](INFO): DAT read: user:83>

2025-08-09T16:45:57.948Z,1754757957.948 [DAT](INFO): DAT read: Tx time:16:45:57.4948

2025-08-09T16:45:57.949Z,1754757957.949 [DAT](INFO): Ping request sent.
2025-08-09T16:45:57.950Z,1754757957.950 [DAT](INFO): transmitted an acoustic signal
2025-08-09T16:45:57.950Z,1754757957.950 [DAT](INFO): publishing transmit ping time
2025-08-09T16:45:57.952Z,1754757957.952 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.002228
2025-08-09T16:45:58.178Z,1754757958.178 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-09T16:45:58.181Z,1754757958.181 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 329.00 m.
2025-08-09T16:45:58.187Z,1754757958.187 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 329.000000 m,
      nav range: 329.572601 m,
      bearing: 137.691592 deg,
      approach rate: -0.663017 m/s,
      LOS rate: 0.009822 deg/s,
      cmd heading: 135.354610 deg,
      new cmd heading: 135.367035 deg.

2025-08-09T16:45:58.191Z,1754757958.191 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.242171
2025-08-09T16:45:58.447Z,1754757958.447 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.497432
2025-08-09T16:45:58.551Z,1754757958.551 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 329.00 m.
2025-08-09T16:45:58.554Z,1754757958.554 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 329.000000 m,
      nav range: 329.318298 m,
      bearing: 137.695344 deg,
      approach rate: -0.686382 m/s,
      LOS rate: 0.010135 deg/s,
      cmd heading: 135.367041 deg,
      new cmd heading: 135.378306 deg.

2025-08-09T16:45:58.695Z,1754757958.695 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.746025
2025-08-09T16:45:58.950Z,1754757958.950 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.000404
2025-08-09T16:45:58.983Z,1754757958.983 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 329.00 m.
2025-08-09T16:45:59.001Z,1754757959.001 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 329.000000 m,
      nav range: 329.055176 m,
      bearing: 137.699234 deg,
      approach rate: -0.616846 m/s,
      LOS rate: 0.009127 deg/s,
      cmd heading: 135.378311 deg,
      new cmd heading: 135.389991 deg.

2025-08-09T16:45:59.199Z,1754757959.199 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.250078
2025-08-09T16:45:59.381Z,1754757959.381 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 329.00 m.
2025-08-09T16:45:59.387Z,1754757959.387 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 329.000000 m,
      nav range: 328.773560 m,
      bearing: 137.703641 deg,
      approach rate: -0.697830 m/s,
      LOS rate: 0.010929 deg/s,
      cmd heading: 135.389990 deg,
      new cmd heading: 135.403222 deg.

2025-08-09T16:45:59.451Z,1754757959.451 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.502163
2025-08-09T16:45:59.703Z,1754757959.703 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.754066
2025-08-09T16:45:59.769Z,1754757959.769 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 329.00 m.
2025-08-09T16:45:59.772Z,1754757959.772 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 329.000000 m,
      nav range: 328.520844 m,
      bearing: 137.707629 deg,
      approach rate: -0.650745 m/s,
      LOS rate: 0.010278 deg/s,
      cmd heading: 135.403227 deg,
      new cmd heading: 135.415202 deg.

2025-08-09T16:45:59.955Z,1754757959.955 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.006147
2025-08-09T16:46:00.185Z,1754757960.185 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-09T16:46:00.188Z,1754757960.188 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 329.00 m.
2025-08-09T16:46:00.190Z,1754757960.190 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 329.000000 m,
      nav range: 328.251129 m,
      bearing: 137.712169 deg,
      approach rate: -0.645245 m/s,
      LOS rate: 0.010870 deg/s,
      cmd heading: 135.415208 deg,
      new cmd heading: 135.428838 deg.

2025-08-09T16:46:00.224Z,1754757960.224 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.274838
2025-08-09T16:46:00.475Z,1754757960.475 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.526128
2025-08-09T16:46:00.590Z,1754757960.590 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 329.00 m.
2025-08-09T16:46:00.593Z,1754757960.593 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 329.000000 m,
      nav range: 328.003052 m,
      bearing: 137.716378 deg,
      approach rate: -0.616487 m/s,
      LOS rate: 0.010468 deg/s,
      cmd heading: 135.428841 deg,
      new cmd heading: 135.441477 deg.

2025-08-09T16:46:00.727Z,1754757960.727 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.778047
2025-08-09T16:46:00.981Z,1754757960.981 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.031990
2025-08-09T16:46:01.061Z,1754757961.061 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 329.00 m.
2025-08-09T16:46:01.068Z,1754757961.068 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 329.000000 m,
      nav range: 327.734406 m,
      bearing: 137.720943 deg,
      approach rate: -0.570846 m/s,
      LOS rate: 0.009708 deg/s,
      cmd heading: 135.441476 deg,
      new cmd heading: 135.455183 deg.

2025-08-09T16:46:01.231Z,1754757961.231 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.282024
2025-08-09T16:46:01.425Z,1754757961.425 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 329.00 m.
2025-08-09T16:46:01.444Z,1754757961.444 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 329.000000 m,
      nav range: 327.459778 m,
      bearing: 137.725144 deg,
      approach rate: -0.753786 m/s,
      LOS rate: 0.011541 deg/s,
      cmd heading: 135.455178 deg,
      new cmd heading: 135.467792 deg.

2025-08-09T16:46:01.483Z,1754757961.483 [DAT](INFO): DAT read: Rx Time:16:46:00.3552

2025-08-09T16:46:01.484Z,1754757961.484 [DAT](INFO): Rx dataTimestamp_ set to:1754757961.483604
2025-08-09T16:46:01.484Z,1754757961.484 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.535228
2025-08-09T16:46:01.735Z,1754757961.735 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.785978
2025-08-09T16:46:01.799Z,1754757961.799 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 329.00 m.
2025-08-09T16:46:01.802Z,1754757961.802 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 329.000000 m,
      nav range: 327.221588 m,
      bearing: 137.728850 deg,
      approach rate: -0.635917 m/s,
      LOS rate: 0.009900 deg/s,
      cmd heading: 135.467786 deg,
      new cmd heading: 135.478911 deg.

2025-08-09T16:46:01.996Z,1754757961.996 [DAT](INFO): DAT read: 16:46:00.3552 LVL= 28816, 32753, 31858, 32755, AGC= 71, IDX= 351,-0.17, 0.449,-0.840, 0.474,-0.134, PHS= 0.685,-0.662, 0.563, RAW= 145.3,  -9.1, CAL= 145.6, -10.9, ROT=   4.4,  10.9

2025-08-09T16:46:01.999Z,1754757961.999 [DAT](INFO): got valid direction response:
 16:46:00.3552 LVL= 28816, 32753, 31858, 32755, AGC= 71, IDX= 351,-0.17, 0.449,-0.840, 0.474,-0.134, PHS= 0.685,-0.662, 0.563, RAW= 145.3,  -9.1, CAL= 145.6, -10.9, ROT=   4.4,  10.9

2025-08-09T16:46:02.002Z,1754757962.002 [DAT](INFO): DAT read: Bearing 282.0,  16.3 (Local)

2025-08-09T16:46:02.004Z,1754757962.004 [DAT](INFO): Local bearing/azimuth received:
 Bearing 282.0,  16.3 (Local)

2025-08-09T16:46:02.008Z,1754757962.008 [DAT](INFO): DAT read: Range 11 to 50 : 342.2 m  (Round-trip  456.3 ms) speed  0.0 m/s

2025-08-09T16:46:02.011Z,1754757962.011 [DAT](INFO): DAT read: user:84>

2025-08-09T16:46:02.014Z,1754757962.014 [DAT](INFO): DAT read: Tx time:16:46:01.4448

2025-08-09T16:46:02.017Z,1754757962.017 [DAT](INFO): Ping request sent.
2025-08-09T16:46:02.017Z,1754757962.017 [DAT](INFO): transmitted an acoustic signal
2025-08-09T16:46:02.019Z,1754757962.019 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-09T16:46:02.060Z,1754757962.060 [DAT](INFO): direction in FSK: [0.979065,0.075335,-0.189095]
2025-08-09T16:46:02.060Z,1754757962.060 [DAT](INFO): publishing transmit ping time
2025-08-09T16:46:02.061Z,1754757962.061 [DAT](INFO): publishing direction and range info
2025-08-09T16:46:02.069Z,1754757962.069 [DAT](INFO): publishing transmit ping time
2025-08-09T16:46:02.069Z,1754757962.069 [DAT](INFO): publishing direction and range info
2025-08-09T16:46:02.270Z,1754757962.270 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 342.200012 m,
      deltaT: 16.395885 s,
      deltaX: 13.200012 m,
      approachRate: 0.805081 m/s,
      rangeRepo size: 4

2025-08-09T16:46:02.272Z,1754757962.272 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 342.200012 m,
      bearing: 137.803777 deg,
      lat: 36.905864 deg,
      lon: -122.115835 deg,
      deltaT: 16.395885 s,
      deltaX: 13.200012 m,
      approachRate: 0.805081 m/s,
      posRepo size: 4

2025-08-09T16:46:02.273Z,1754757962.273 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 342.20 m.
2025-08-09T16:46:02.281Z,1754757962.281 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 342.200012 m,
      nav range: 335.418060 m,
      bearing: 137.803777 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.009900 deg/s,
      cmd heading: 135.478906 deg,
      new cmd heading: 135.492749 deg.

2025-08-09T16:46:02.611Z,1754757962.611 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-09T16:46:02.613Z,1754757962.613 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 342.20 m.
2025-08-09T16:46:02.615Z,1754757962.615 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 342.200012 m,
      nav range: 335.188721 m,
      bearing: 137.808473 deg,
      approach rate: -0.660624 m/s,
      LOS rate: 0.013535 deg/s,
      cmd heading: 135.492744 deg,
      new cmd heading: 135.506840 deg.

2025-08-09T16:46:02.743Z,1754757962.743 [DAT](INFO): ****** received valid address query ******
2025-08-09T16:46:02.743Z,1754757962.743 [DAT](INFO): ****** received valid ping request ******
2025-08-09T16:46:02.743Z,1754757962.743 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-09T16:46:02.995Z,1754757962.995 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.978613
2025-08-09T16:46:03.051Z,1754757963.051 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 342.20 m.
2025-08-09T16:46:03.069Z,1754757963.069 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 342.200012 m,
      nav range: 334.941986 m,
      bearing: 137.813588 deg,
      approach rate: -0.570865 m/s,
      LOS rate: 0.011843 deg/s,
      cmd heading: 135.506841 deg,
      new cmd heading: 135.522197 deg.

2025-08-09T16:46:03.247Z,1754757963.247 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.230477
2025-08-09T16:46:03.475Z,1754757963.475 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 342.20 m.
2025-08-09T16:46:03.478Z,1754757963.478 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 342.200012 m,
      nav range: 334.665710 m,
      bearing: 137.818939 deg,
      approach rate: -0.641581 m/s,
      LOS rate: 0.012438 deg/s,
      cmd heading: 135.522196 deg,
      new cmd heading: 135.538263 deg.

2025-08-09T16:46:03.499Z,1754757963.499 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.482556
2025-08-09T16:46:03.751Z,1754757963.751 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.734492
2025-08-09T16:46:03.875Z,1754757963.875 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 342.20 m.
2025-08-09T16:46:03.892Z,1754757963.892 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 342.200012 m,
      nav range: 334.430206 m,
      bearing: 137.823500 deg,
      approach rate: -0.590279 m/s,
      LOS rate: 0.011439 deg/s,
      cmd heading: 135.538260 deg,
      new cmd heading: 135.551951 deg.

2025-08-09T16:46:04.004Z,1754757964.004 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.986880
2025-08-09T16:46:04.255Z,1754757964.255 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.238547
2025-08-09T16:46:04.303Z,1754757964.303 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 342.20 m.
2025-08-09T16:46:04.305Z,1754757964.305 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 342.200012 m,
      nav range: 334.179108 m,
      bearing: 137.828660 deg,
      approach rate: -0.592060 m/s,
      LOS rate: 0.012176 deg/s,
      cmd heading: 135.551948 deg,
      new cmd heading: 135.567440 deg.

2025-08-09T16:46:04.511Z,1754757964.511 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.493772
2025-08-09T16:46:04.657Z,1754757964.657 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-09T16:46:04.675Z,1754757964.675 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 342.20 m.
2025-08-09T16:46:04.682Z,1754757964.682 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 342.200012 m,
      nav range: 333.945038 m,
      bearing: 137.833500 deg,
      approach rate: -0.620946 m/s,
      LOS rate: 0.012850 deg/s,
      cmd heading: 135.567439 deg,
      new cmd heading: 135.581970 deg.

2025-08-09T16:46:04.760Z,1754757964.760 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.743050
2025-08-09T16:46:05.011Z,1754757965.011 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.994521
2025-08-09T16:46:05.128Z,1754757965.128 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 342.20 m.
2025-08-09T16:46:05.131Z,1754757965.131 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 342.200012 m,
      nav range: 333.656586 m,
      bearing: 137.839472 deg,
      approach rate: -0.637138 m/s,
      LOS rate: 0.013202 deg/s,
      cmd heading: 135.581973 deg,
      new cmd heading: 135.599904 deg.

2025-08-09T16:46:05.263Z,1754757965.263 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.246600
2025-08-09T16:46:05.499Z,1754757965.499 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 342.20 m.
2025-08-09T16:46:05.501Z,1754757965.501 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 342.200012 m,
      nav range: 333.427734 m,
      bearing: 137.844150 deg,
      approach rate: -0.617938 m/s,
      LOS rate: 0.012640 deg/s,
      cmd heading: 135.599910 deg,
      new cmd heading: 135.613953 deg.

2025-08-09T16:46:05.515Z,1754757965.515 [DAT](INFO): DAT read: Rx Time:16:46:04.3025

2025-08-09T16:46:05.516Z,1754757965.516 [DAT](INFO): Rx dataTimestamp_ set to:1754757965.515552
2025-08-09T16:46:05.516Z,1754757965.516 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.499614
2025-08-09T16:46:05.767Z,1754757965.767 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.750590
2025-08-09T16:46:05.918Z,1754757965.918 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 342.20 m.
2025-08-09T16:46:05.920Z,1754757965.920 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 342.200012 m,
      nav range: 333.168579 m,
      bearing: 137.849433 deg,
      approach rate: -0.618409 m/s,
      LOS rate: 0.012617 deg/s,
      cmd heading: 135.613952 deg,
      new cmd heading: 135.629815 deg.

2025-08-09T16:46:06.026Z,1754757966.026 [DAT](INFO): DAT read: 16:46:04.3025 LVL= 19552, 19265, 17394, 21491, AGC= 70, IDX= 252,-0.28, 3.034, 1.264, 3.025, 2.628, PHS= 0.508,-1.319, 0.353, RAW= 145.6,   5.3, CAL= 145.1,   5.7, ROT=   4.9,  -5.7

2025-08-09T16:46:06.027Z,1754757966.027 [DAT](INFO): got valid direction response:
 16:46:04.3025 LVL= 19552, 19265, 17394, 21491, AGC= 70, IDX= 252,-0.28, 3.034, 1.264, 3.025, 2.628, PHS= 0.508,-1.319, 0.353, RAW= 145.6,   5.3, CAL= 145.1,   5.7, ROT=   4.9,  -5.7

2025-08-09T16:46:06.028Z,1754757966.028 [DAT](INFO): DAT read: Bearing 299.0,  15.1 (Local)

2025-08-09T16:46:06.028Z,1754757966.028 [DAT](INFO): Local bearing/azimuth received:
 Bearing 299.0,  15.1 (Local)

2025-08-09T16:46:06.029Z,1754757966.029 [DAT](INFO): DAT read: Range 11 to 50 : 340.2 m  (Round-trip  453.6 ms) speed  0.4 m/s

2025-08-09T16:46:06.030Z,1754757966.030 [DAT](INFO): DAT read: user:85>

2025-08-09T16:46:06.031Z,1754757966.031 [DAT](INFO): DAT read: Tx time:16:46:05.3963

2025-08-09T16:46:06.031Z,1754757966.031 [DAT](INFO): Ping request sent.
2025-08-09T16:46:06.032Z,1754757966.032 [DAT](INFO): transmitted an acoustic signal
2025-08-09T16:46:06.032Z,1754757966.032 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-09T16:46:06.033Z,1754757966.033 [DAT](INFO): direction in FSK: [0.991419,0.084995,0.099320]
2025-08-09T16:46:06.033Z,1754757966.033 [DAT](INFO): publishing transmit ping time
2025-08-09T16:46:06.033Z,1754757966.033 [DAT](INFO): publishing direction and range info
2025-08-09T16:46:06.039Z,1754757966.039 [DAT](INFO): publishing transmit ping time
2025-08-09T16:46:06.040Z,1754757966.040 [DAT](INFO): publishing direction and range info
2025-08-09T16:46:06.319Z,1754757966.319 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 340.200012 m,
      deltaT: 4.032155 s,
      deltaX: -2.000000 m,
      approachRate: -0.496013 m/s,
      rangeRepo size: 4

2025-08-09T16:46:06.321Z,1754757966.321 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 340.200012 m,
      bearing: 140.461051 deg,
      lat: 36.905813 deg,
      lon: -122.116004 deg,
      deltaT: 4.032155 s,
      deltaX: -2.000000 m,
      approachRate: -0.496013 m/s,
      posRepo size: 4

2025-08-09T16:46:06.322Z,1754757966.322 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 340.20 m.
2025-08-09T16:46:06.324Z,1754757966.324 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 340.200012 m,
      nav range: 327.372192 m,
      bearing: 140.461051 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.012617 deg/s,
      cmd heading: 135.629812 deg,
      new cmd heading: 135.644825 deg.

2025-08-09T16:46:06.677Z,1754757966.677 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-09T16:46:06.680Z,1754757966.680 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 340.20 m.
2025-08-09T16:46:06.683Z,1754757966.683 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 340.200012 m,
      nav range: 327.144806 m,
      bearing: 140.467712 deg,
      approach rate: -0.621990 m/s,
      LOS rate: 0.018231 deg/s,
      cmd heading: 135.644825 deg,
      new cmd heading: 135.664820 deg.

2025-08-09T16:46:06.780Z,1754757966.780 [DAT](INFO): ****** received valid address query ******
2025-08-09T16:46:06.780Z,1754757966.780 [DAT](INFO): ****** received valid ping request ******
2025-08-09T16:46:06.781Z,1754757966.781 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-09T16:46:07.031Z,1754757967.031 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.999641
2025-08-09T16:46:07.159Z,1754757967.159 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 340.20 m.
2025-08-09T16:46:07.162Z,1754757967.162 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 340.200012 m,
      nav range: 326.870789 m,
      bearing: 140.475710 deg,
      approach rate: -0.571659 m/s,
      LOS rate: 0.016701 deg/s,
      cmd heading: 135.664824 deg,
      new cmd heading: 135.688839 deg.

2025-08-09T16:46:07.283Z,1754757967.283 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.251833
2025-08-09T16:46:07.535Z,1754757967.535 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.503792
2025-08-09T16:46:07.536Z,1754757967.536 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 340.20 m.
2025-08-09T16:46:07.539Z,1754757967.539 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 340.200012 m,
      nav range: 326.625641 m,
      bearing: 140.482573 deg,
      approach rate: -0.660952 m/s,
      LOS rate: 0.018516 deg/s,
      cmd heading: 135.688839 deg,
      new cmd heading: 135.709441 deg.

2025-08-09T16:46:07.788Z,1754757967.788 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.756435
2025-08-09T16:46:07.939Z,1754757967.939 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 340.20 m.
2025-08-09T16:46:07.941Z,1754757967.941 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 340.200012 m,
      nav range: 326.354797 m,
      bearing: 140.490117 deg,
      approach rate: -0.663153 m/s,
      LOS rate: 0.018486 deg/s,
      cmd heading: 135.709438 deg,
      new cmd heading: 135.732088 deg.

2025-08-09T16:46:08.039Z,1754757968.039 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.007750
2025-08-09T16:46:08.291Z,1754757968.291 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.259793
2025-08-09T16:46:08.336Z,1754757968.336 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 340.20 m.
2025-08-09T16:46:08.339Z,1754757968.339 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 340.200012 m,
      nav range: 326.110046 m,
      bearing: 140.496573 deg,
      approach rate: -0.615949 m/s,
      LOS rate: 0.016262 deg/s,
      cmd heading: 135.732087 deg,
      new cmd heading: 135.751472 deg.

2025-08-09T16:46:08.543Z,1754757968.543 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.511671
2025-08-09T16:46:08.693Z,1754757968.693 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-09T16:46:08.696Z,1754757968.696 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 340.20 m.
2025-08-09T16:46:08.699Z,1754757968.699 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 340.200012 m,
      nav range: 325.884003 m,
      bearing: 140.502494 deg,
      approach rate: -0.628084 m/s,
      LOS rate: 0.016464 deg/s,
      cmd heading: 135.751471 deg,
      new cmd heading: 135.769247 deg.

2025-08-09T16:46:08.796Z,1754757968.796 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.764454
2025-08-09T16:46:09.047Z,1754757969.047 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.015718
2025-08-09T16:46:09.116Z,1754757969.116 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 340.20 m.
2025-08-09T16:46:09.127Z,1754757969.127 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 340.200012 m,
      nav range: 325.624512 m,
      bearing: 140.509277 deg,
      approach rate: -0.619615 m/s,
      LOS rate: 0.016209 deg/s,
      cmd heading: 135.769244 deg,
      new cmd heading: 135.789608 deg.

2025-08-09T16:46:09.300Z,1754757969.300 [DAT](INFO): DAT read: Rx Time:16:46:08.2345

2025-08-09T16:46:09.301Z,1754757969.301 [DAT](INFO): Rx dataTimestamp_ set to:1754757969.300406
2025-08-09T16:46:09.302Z,1754757969.302 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.269985
2025-08-09T16:46:09.529Z,1754757969.529 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 340.20 m.
2025-08-09T16:46:09.532Z,1754757969.532 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 340.200012 m,
      nav range: 325.374176 m,
      bearing: 140.516085 deg,
      approach rate: -0.603627 m/s,
      LOS rate: 0.016428 deg/s,
      cmd heading: 135.789611 deg,
      new cmd heading: 135.810050 deg.

2025-08-09T16:46:09.552Z,1754757969.552 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.520290
2025-08-09T16:46:09.810Z,1754757969.810 [DAT](INFO): DAT read: 16:46:08.2345 LVL= 24240, 31985, 27122, 32739, AGC= 68, IDX= 249, 0.17,-1.057,-2.792,-1.038,-1.482, PHS= 0.526,-1.265, 0.400, RAW= 146.4,   4.0, CAL= 145.8,   4.2, ROT=   4.2,  -4.2

2025-08-09T16:46:09.811Z,1754757969.811 [DAT](INFO): got valid direction response:
 16:46:08.2345 LVL= 24240, 31985, 27122, 32739, AGC= 68, IDX= 249, 0.17,-1.057,-2.792,-1.038,-1.482, PHS= 0.526,-1.265, 0.400, RAW= 146.4,   4.0, CAL= 145.8,   4.2, ROT=   4.2,  -4.2

2025-08-09T16:46:09.812Z,1754757969.812 [DAT](INFO): DAT read: Bearing 297.9,  15.1 (Local)

2025-08-09T16:46:09.812Z,1754757969.812 [DAT](INFO): Local bearing/azimuth received:
 Bearing 297.9,  15.1 (Local)

2025-08-09T16:46:09.813Z,1754757969.813 [DAT](INFO): DAT read: Range 11 to 50 : 325.5 m  (Round-trip  434.0 ms) spem/s

2025-08-09T16:46:09.814Z,1754757969.814 [DAT](INFO): DAT read: user:86>

2025-08-09T16:46:09.815Z,1754757969.815 [DAT](INFO): DAT read: Tx time:16:46:09.3448

2025-08-09T16:46:09.815Z,1754757969.815 [DAT](INFO): Ping request sent.
2025-08-09T16:46:09.815Z,1754757969.815 [DAT](INFO): transmitted an acoustic signal
2025-08-09T16:46:09.816Z,1754757969.816 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-09T16:46:09.816Z,1754757969.816 [DAT](INFO): direction in FSK: [0.994636,0.073042,0.073238]
2025-08-09T16:46:09.817Z,1754757969.817 [DAT](INFO): publishing transmit ping time
2025-08-09T16:46:09.817Z,1754757969.817 [DAT](INFO): publishing direction and range info
2025-08-09T16:46:09.820Z,1754757969.820 [DAT](INFO): publishing transmit ping time
2025-08-09T16:46:09.820Z,1754757969.820 [DAT](INFO): publishing direction and range info
2025-08-09T16:46:09.980Z,1754757969.980 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 325.500000 m,
      deltaT: 3.784761 s,
      deltaX: -14.700012 m,
      approachRate: -3.884000 m/s,
      rangeRepo size: 4

2025-08-09T16:46:09.984Z,1754757969.984 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 325.500000 m,
      bearing: 140.735589 deg,
      lat: 36.905813 deg,
      lon: -122.116021 deg,
      deltaT: 3.784761 s,
      deltaX: -14.700012 m,
      approachRate: -3.884000 m/s,
      posRepo size: 4

2025-08-09T16:46:09.985Z,1754757969.985 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 325.50 m.
2025-08-09T16:46:09.988Z,1754757969.988 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 325.500000 m,
      nav range: 324.133911 m,
      bearing: 140.735589 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.016428 deg/s,
      cmd heading: 135.810047 deg,
      new cmd heading: 135.832240 deg.

2025-08-09T16:46:10.396Z,1754757970.396 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 325.50 m.
2025-08-09T16:46:10.403Z,1754757970.403 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 325.500000 m,
      nav range: 323.876587 m,
      bearing: 140.742390 deg,
      approach rate: -0.618115 m/s,
      LOS rate: 0.016349 deg/s,
      cmd heading: 135.832245 deg,
      new cmd heading: 135.852663 deg.

2025-08-09T16:46:10.910Z,1754757970.910 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-09T16:46:10.912Z,1754757970.912 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 325.50 m.
2025-08-09T16:46:10.915Z,1754757970.915 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 325.500000 m,
      nav range: 323.544373 m,
      bearing: 140.751071 deg,
      approach rate: -0.643774 m/s,
      LOS rate: 0.016840 deg/s,
      cmd heading: 135.852667 deg,
      new cmd heading: 135.878737 deg.

2025-08-09T16:46:11.063Z,1754757971.063 [DAT](INFO): ****** received valid address query ******
2025-08-09T16:46:11.063Z,1754757971.063 [DAT](INFO): ****** received valid ping request ******
2025-08-09T16:46:11.064Z,1754757971.064 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-09T16:46:11.307Z,1754757971.307 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 325.50 m.
2025-08-09T16:46:11.309Z,1754757971.309 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 325.500000 m,
      nav range: 323.302216 m,
      bearing: 140.756880 deg,
      approach rate: -0.614030 m/s,
      LOS rate: 0.014742 deg/s,
      cmd heading: 135.878731 deg,
      new cmd heading: 135.896173 deg.

2025-08-09T16:46:11.315Z,1754757971.315 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.500140
2025-08-09T16:46:11.567Z,1754757971.567 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.751954
2025-08-09T16:46:11.793Z,1754757971.793 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 325.50 m.
2025-08-09T16:46:11.801Z,1754757971.801 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 325.500000 m,
      nav range: 323.003937 m,
      bearing: 140.763999 deg,
      approach rate: -0.612792 m/s,
      LOS rate: 0.014639 deg/s,
      cmd heading: 135.896176 deg,
      new cmd heading: 135.917552 deg.

2025-08-09T16:46:11.820Z,1754757971.820 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.004582
2025-08-09T16:46:12.071Z,1754757972.071 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.256049
2025-08-09T16:46:12.250Z,1754757972.250 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 325.50 m.
2025-08-09T16:46:12.253Z,1754757972.253 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 325.500000 m,
      nav range: 322.722931 m,
      bearing: 140.770668 deg,
      approach rate: -0.615407 m/s,
      LOS rate: 0.014618 deg/s,
      cmd heading: 135.917554 deg,
      new cmd heading: 135.937579 deg.

2025-08-09T16:46:12.324Z,1754757972.324 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.508829
2025-08-09T16:46:12.575Z,1754757972.575 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.759887
2025-08-09T16:46:12.617Z,1754757972.617 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 325.50 m.
2025-08-09T16:46:12.624Z,1754757972.624 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 325.500000 m,
      nav range: 322.509613 m,
      bearing: 140.775709 deg,
      approach rate: -0.581225 m/s,
      LOS rate: 0.013744 deg/s,
      cmd heading: 135.937580 deg,
      new cmd heading: 135.952713 deg.

2025-08-09T16:46:12.827Z,1754757972.827 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.012013
2025-08-09T16:46:13.056Z,1754757973.056 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-09T16:46:13.062Z,1754757973.062 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 325.50 m.
2025-08-09T16:46:13.065Z,1754757973.065 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 325.500000 m,
      nav range: 322.246643 m,
      bearing: 140.781933 deg,
      approach rate: -0.595685 m/s,
      LOS rate: 0.014109 deg/s,
      cmd heading: 135.952716 deg,
      new cmd heading: 135.971402 deg.

2025-08-09T16:46:13.079Z,1754757973.079 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.264123
2025-08-09T16:46:13.332Z,1754757973.332 [DAT](INFO): DAT read: Rx Time:16:46:12.1802

2025-08-09T16:46:13.332Z,1754757973.332 [DAT](INFO): Rx dataTimestamp_ set to:1754757973.331710
2025-08-09T16:46:13.333Z,1754757973.333 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.517287
2025-08-09T16:46:13.484Z,1754757973.484 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 325.50 m.
2025-08-09T16:46:13.487Z,1754757973.487 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 325.500000 m,
      nav range: 321.974182 m,
      bearing: 140.788772 deg,
      approach rate: -0.639319 m/s,
      LOS rate: 0.016062 deg/s,
      cmd heading: 135.971404 deg,
      new cmd heading: 135.991939 deg.

2025-08-09T16:46:13.583Z,1754757973.583 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.768084
2025-08-09T16:46:13.807Z,1754757973.807 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 325.50 m.
2025-08-09T16:46:13.810Z,1754757973.810 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 325.500000 m,
      nav range: 321.761688 m,
      bearing: 140.794114 deg,
      approach rate: -0.657656 m/s,
      LOS rate: 0.016543 deg/s,
      cmd heading: 135.991935 deg,
      new cmd heading: 136.007971 deg.

2025-08-09T16:46:13.844Z,1754757973.844 [DAT](INFO): DAT read: 16:46:12.1802 LVL= 25488, 32753, 32242, 32755, AGC= 69, IDX= 243, 0.05, 2.520, 0.856, 2.579, 2.148, PHS= 0.474,-1.247, 0.387, RAW= 147.4,   4.7, CAL= 146.8,   4.9, ROT=   3.2,  -4.9

2025-08-09T16:46:13.845Z,1754757973.845 [DAT](INFO): got valid direction response:
 16:46:12.1802 LVL= 25488, 32753, 32242, 32755, AGC= 69, IDX= 243, 0.05, 2.520, 0.856, 2.579, 2.148, PHS= 0.474,-1.247, 0.387, RAW= 147.4,   4.7, CAL= 146.8,   4.9, ROT=   3.2,  -4.9

2025-08-09T16:46:13.847Z,1754757973.847 [DAT](INFO): DAT read: Bearing 299.4,  14.5 (Local)

2025-08-09T16:46:13.847Z,1754757973.847 [DAT](INFO): Local bearing/azimuth received:
 Bearing 299.4,  14.5 (Local)

2025-08-09T16:46:13.849Z,1754757973.849 [DAT](INFO): DAT read: Range 11 to 50 : 323.4 m  (Round-trip  431.3 ms) speed  0.4 m/s

2025-08-09T16:46:13.850Z,1754757973.850 [DAT](INFO): DAT read: user:87>

2025-08-09T16:46:13.851Z,1754757973.851 [DAT](INFO): DAT read: Tx time:16:46:13.2948

2025-08-09T16:46:13.852Z,1754757973.852 [DAT](INFO): Ping request sent.
2025-08-09T16:46:13.852Z,1754757973.852 [DAT](INFO): transmitted an acoustic signal
2025-08-09T16:46:13.852Z,1754757973.852 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-09T16:46:13.854Z,1754757973.854 [DAT](INFO): direction in FSK: [0.994792,0.055617,0.085417]
2025-08-09T16:46:13.867Z,1754757973.867 [DAT](INFO): publishing transmit ping time
2025-08-09T16:46:13.867Z,1754757973.867 [DAT](INFO): publishing direction and range info
2025-08-09T16:46:13.880Z,1754757973.880 [DAT](INFO): publishing transmit ping time
2025-08-09T16:46:13.881Z,1754757973.881 [DAT](INFO): publishing direction and range info
2025-08-09T16:46:14.288Z,1754757974.288 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 323.399994 m,
      deltaT: 4.031135 s,
      deltaX: -2.100006 m,
      approachRate: -0.520947 m/s,
      rangeRepo size: 4

2025-08-09T16:46:14.290Z,1754757974.290 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 323.399994 m,
      bearing: 140.268077 deg,
      lat: 36.905885 deg,
      lon: -122.116052 deg,
      deltaT: 4.031135 s,
      deltaX: -2.100006 m,
      approachRate: -0.520947 m/s,
      posRepo size: 4

2025-08-09T16:46:14.291Z,1754757974.291 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 323.40 m.
2025-08-09T16:46:14.294Z,1754757974.294 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 323.399994 m,
      nav range: 313.605865 m,
      bearing: 140.268077 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.016543 deg/s,
      cmd heading: 136.007972 deg,
      new cmd heading: 136.031798 deg.

2025-08-09T16:46:14.620Z,1754757974.620 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 323.40 m.
2025-08-09T16:46:14.629Z,1754757974.629 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 323.399994 m,
      nav range: 313.391754 m,
      bearing: 140.273414 deg,
      approach rate: -0.644124 m/s,
      LOS rate: 0.016068 deg/s,
      cmd heading: 136.031796 deg,
      new cmd heading: 136.047819 deg.

2025-08-09T16:46:15.025Z,1754757975.025 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 323.40 m.
2025-08-09T16:46:15.034Z,1754757975.034 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 323.399994 m,
      nav range: 313.133820 m,
      bearing: 140.279837 deg,
      approach rate: -0.636602 m/s,
      LOS rate: 0.015865 deg/s,
      cmd heading: 136.047820 deg,
      new cmd heading: 136.067104 deg.

2025-08-09T16:46:15.464Z,1754757975.464 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-09T16:46:15.466Z,1754757975.466 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 323.40 m.
2025-08-09T16:46:15.469Z,1754757975.469 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 323.399994 m,
      nav range: 312.853333 m,
      bearing: 140.288489 deg,
      approach rate: -0.636335 m/s,
      LOS rate: 0.019646 deg/s,
      cmd heading: 136.067108 deg,
      new cmd heading: 136.093087 deg.

2025-08-09T16:46:15.607Z,1754757975.607 [DAT](INFO): ****** received valid address query ******
2025-08-09T16:46:15.607Z,1754757975.607 [DAT](INFO): ****** received valid ping request ******
2025-08-09T16:46:15.607Z,1754757975.607 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-09T16:46:15.851Z,1754757975.851 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 323.40 m.
2025-08-09T16:46:15.857Z,1754757975.857 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 323.399994 m,
      nav range: 312.610077 m,
      bearing: 140.296005 deg,
      approach rate: -0.631130 m/s,
      LOS rate: 0.019516 deg/s,
      cmd heading: 136.093090 deg,
      new cmd heading: 136.115657 deg.

2025-08-09T16:46:15.861Z,1754757975.861 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.008839
2025-08-09T16:46:16.111Z,1754757976.111 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.259431
2025-08-09T16:46:16.322Z,1754757976.322 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 323.40 m.
2025-08-09T16:46:16.325Z,1754757976.325 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 323.399994 m,
      nav range: 312.308380 m,
      bearing: 140.304852 deg,
      approach rate: -0.641181 m/s,
      LOS rate: 0.018820 deg/s,
      cmd heading: 136.115657 deg,
      new cmd heading: 136.142223 deg.

2025-08-09T16:46:16.364Z,1754757976.364 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.512325
2025-08-09T16:46:16.615Z,1754757976.615 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.763393
2025-08-09T16:46:16.681Z,1754757976.681 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 323.40 m.
2025-08-09T16:46:16.700Z,1754757976.700 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 323.399994 m,
      nav range: 312.092896 m,
      bearing: 140.311167 deg,
      approach rate: -0.600042 m/s,
      LOS rate: 0.017597 deg/s,
      cmd heading: 136.142227 deg,
      new cmd heading: 136.161185 deg.

2025-08-09T16:46:16.873Z,1754757976.873 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.021223
2025-08-09T16:46:17.119Z,1754757977.119 [DAT](INFO): DAT read: Rx Time:16:46:16.1271

2025-08-09T16:46:17.120Z,1754757977.120 [DAT](INFO): Rx dataTimestamp_ set to:1754757977.119513
2025-08-09T16:46:17.120Z,1754757977.120 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.268499
2025-08-09T16:46:17.190Z,1754757977.190 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 323.40 m.
2025-08-09T16:46:17.197Z,1754757977.197 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 323.399994 m,
      nav range: 311.763977 m,
      bearing: 140.320820 deg,
      approach rate: -0.646392 m/s,
      LOS rate: 0.018990 deg/s,
      cmd heading: 136.161187 deg,
      new cmd heading: 136.190177 deg.

2025-08-09T16:46:17.373Z,1754757977.373 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.521078
2025-08-09T16:46:17.623Z,1754757977.623 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.771455
2025-08-09T16:46:17.696Z,1754757977.696 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-09T16:46:17.703Z,1754757977.703 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 323.40 m.
2025-08-09T16:46:17.705Z,1754757977.705 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 323.399994 m,
      nav range: 311.462494 m,
      bearing: 140.329693 deg,
      approach rate: -0.592618 m/s,
      LOS rate: 0.017460 deg/s,
      cmd heading: 136.190174 deg,
      new cmd heading: 136.216821 deg.

2025-08-09T16:46:17.885Z,1754757977.885 [DAT](INFO): DAT read: 16:46:16.1271 LVL= 32752, 32753, 32754, 32755, AGC= 69, IDX= 415, 0.29, 2.136, 0.465, 2.093, 0.926, PHS= 1.312,-0.416, 1.123, RAW= 144.3, -23.5, CAL= 145.4, -25.4, ROT=   4.6,  25.4

2025-08-09T16:46:17.888Z,1754757977.888 [DAT](INFO): got valid direction response:
 16:46:16.1271 LVL= 32752, 32753, 32754, 32755, AGC= 69, IDX= 415, 0.29, 2.136, 0.465, 2.093, 0.926, PHS= 1.312,-0.416, 1.123, RAW= 144.3, -23.5, CAL= 145.4, -25.4, ROT=   4.6,  25.4

2025-08-09T16:46:17.889Z,1754757977.889 [DAT](INFO): DAT read: Bearing 268.3,  17.5 (Local)

2025-08-09T16:46:17.889Z,1754757977.889 [DAT](INFO): Local bearing/azimuth received:
 Bearing 268.3,  17.5 (Local)

2025-08-09T16:46:17.892Z,1754757977.892 [DAT](INFO): DAT read: Range 11 to 50 : 321.1 m  (Round-trip  428.2 ms) speed  0.7 m/s

2025-08-09T16:46:17.893Z,1754757977.893 [DAT](INFO): DAT read: user:88>

2025-08-09T16:46:17.895Z,1754757977.895 [DAT](INFO): DAT read: Tx time:16:46:17.2448

2025-08-09T16:46:17.895Z,1754757977.895 [DAT](INFO): Ping request sent.
2025-08-09T16:46:17.896Z,1754757977.896 [DAT](INFO): transmitted an acoustic signal
2025-08-09T16:46:17.896Z,1754757977.896 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-09T16:46:17.897Z,1754757977.897 [DAT](INFO): direction in FSK: [0.900426,0.072447,-0.428935]
2025-08-09T16:46:17.898Z,1754757977.898 [DAT](INFO): publishing transmit ping time
2025-08-09T16:46:17.901Z,1754757977.901 [DAT](INFO): publishing direction and range info
2025-08-09T16:46:17.907Z,1754757977.907 [DAT](INFO): publishing transmit ping time
2025-08-09T16:46:17.907Z,1754757977.907 [DAT](INFO): publishing direction and range info
2025-08-09T16:46:18.154Z,1754757978.154 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 321.100006 m,
      deltaT: 4.040700 s,
      deltaX: -2.299988 m,
      approachRate: -0.569205 m/s,
      rangeRepo size: 4

2025-08-09T16:46:18.156Z,1754757978.156 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 321.100006 m,
      bearing: 139.957549 deg,
      lat: 36.905885 deg,
      lon: -122.116021 deg,
      deltaT: 4.040700 s,
      deltaX: -2.299988 m,
      approachRate: -0.569205 m/s,
      posRepo size: 4

2025-08-09T16:46:18.157Z,1754757978.157 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 321.10 m.
2025-08-09T16:46:18.160Z,1754757978.160 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 321.100006 m,
      nav range: 312.874786 m,
      bearing: 139.957549 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.017460 deg/s,
      cmd heading: 136.216826 deg,
      new cmd heading: 136.240657 deg.

2025-08-09T16:46:18.568Z,1754757978.568 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 321.10 m.
2025-08-09T16:46:18.570Z,1754757978.570 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 321.100006 m,
      nav range: 312.612274 m,
      bearing: 139.964888 deg,
      approach rate: -0.634075 m/s,
      LOS rate: 0.017741 deg/s,
      cmd heading: 136.240663 deg,
      new cmd heading: 136.262698 deg.

2025-08-09T16:46:18.953Z,1754757978.953 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 321.10 m.
2025-08-09T16:46:18.956Z,1754757978.956 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 321.100006 m,
      nav range: 312.369812 m,
      bearing: 139.971671 deg,
      approach rate: -0.628706 m/s,
      LOS rate: 0.017602 deg/s,
      cmd heading: 136.262697 deg,
      new cmd heading: 136.283062 deg.

2025-08-09T16:46:19.421Z,1754757979.421 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 321.10 m.
2025-08-09T16:46:19.424Z,1754757979.424 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 321.100006 m,
      nav range: 312.091675 m,
      bearing: 139.979941 deg,
      approach rate: -0.593931 m/s,
      LOS rate: 0.017676 deg/s,
      cmd heading: 136.283065 deg,
      new cmd heading: 136.307898 deg.

2025-08-09T16:46:19.757Z,1754757979.757 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-09T16:46:19.759Z,1754757979.759 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 321.10 m.
2025-08-09T16:46:19.762Z,1754757979.762 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 321.100006 m,
      nav range: 311.874756 m,
      bearing: 139.986408 deg,
      approach rate: -0.642293 m/s,
      LOS rate: 0.019162 deg/s,
      cmd heading: 136.307900 deg,
      new cmd heading: 136.327314 deg.

2025-08-09T16:46:19.891Z,1754757979.891 [DAT](INFO): ****** received valid address query ******
2025-08-09T16:46:19.891Z,1754757979.891 [DAT](INFO): ****** received valid ping request ******
2025-08-09T16:46:19.891Z,1754757979.891 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-09T16:46:20.143Z,1754757980.143 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.247585
2025-08-09T16:46:20.170Z,1754757980.170 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 321.10 m.
2025-08-09T16:46:20.172Z,1754757980.172 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 321.100006 m,
      nav range: 311.622192 m,
      bearing: 139.993978 deg,
      approach rate: -0.615411 m/s,
      LOS rate: 0.018460 deg/s,
      cmd heading: 136.327311 deg,
      new cmd heading: 136.350039 deg.

2025-08-09T16:46:20.395Z,1754757980.395 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.499714
2025-08-09T16:46:20.600Z,1754757980.600 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 321.10 m.
2025-08-09T16:46:20.603Z,1754757980.603 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 321.100006 m,
      nav range: 311.362823 m,
      bearing: 140.001890 deg,
      approach rate: -0.602413 m/s,
      LOS rate: 0.018391 deg/s,
      cmd heading: 136.350042 deg,
      new cmd heading: 136.373797 deg.

2025-08-09T16:46:20.648Z,1754757980.648 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.751924
2025-08-09T16:46:20.901Z,1754757980.901 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.005898
2025-08-09T16:46:20.985Z,1754757980.985 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 321.10 m.
2025-08-09T16:46:20.988Z,1754757980.988 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 321.100006 m,
      nav range: 311.130768 m,
      bearing: 140.008968 deg,
      approach rate: -0.602841 m/s,
      LOS rate: 0.018401 deg/s,
      cmd heading: 136.373797 deg,
      new cmd heading: 136.395047 deg.

2025-08-09T16:46:21.155Z,1754757981.155 [DAT](INFO): DAT read: Rx Time:16:46:20.0739

2025-08-09T16:46:21.156Z,1754757981.156 [DAT](INFO): Rx dataTimestamp_ set to:1754757981.155555
2025-08-09T16:46:21.156Z,1754757981.156 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.260814
2025-08-09T16:46:21.407Z,1754757981.407 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.511889
2025-08-09T16:46:21.423Z,1754757981.423 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 321.10 m.
2025-08-09T16:46:21.426Z,1754757981.426 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 321.100006 m,
      nav range: 310.866516 m,
      bearing: 140.015492 deg,
      approach rate: -0.603153 m/s,
      LOS rate: 0.014905 deg/s,
      cmd heading: 136.395053 deg,
      new cmd heading: 136.414643 deg.

2025-08-09T16:46:21.668Z,1754757981.668 [DAT](INFO): DAT read: 16:46:20.0739 LVL= 30192, 32753, 31522, 32755, AGC= 68, IDX= 239, 0.11,-1.573, 3.037,-1.504,-1.940, PHS= 0.468,-1.262, 0.392, RAW= 147.8,   4.8, CAL= 147.1,   5.1, ROT=   2.9,  -5.1

2025-08-09T16:46:21.670Z,1754757981.670 [DAT](INFO): got valid direction response:
 16:46:20.0739 LVL= 30192, 32753, 31522, 32755, AGC= 68, IDX= 239, 0.11,-1.573, 3.037,-1.504,-1.940, PHS= 0.468,-1.262, 0.392, RAW= 147.8,   4.8, CAL= 147.1,   5.1, ROT=   2.9,  -5.1

2025-08-09T16:46:21.677Z,1754757981.677 [DAT](INFO): DAT read: Bearing 300.4,  12.6 (Local)

2025-08-09T16:46:21.677Z,1754757981.677 [DAT](INFO): Local bearing/azimuth received:
 Bearing 300.4,  12.6 (Local)

2025-08-09T16:46:21.679Z,1754757981.679 [DAT](INFO): DAT read: Range 11 to 50 : 318.7 m  (Round-trip  425.0 ms) speed  0.4 m/s

2025-08-09T16:46:21.680Z,1754757981.680 [DAT](INFO): DAT read: user:89>

2025-08-09T16:46:21.681Z,1754757981.681 [DAT](INFO): DAT read: Tx time:16:46:21.1948

2025-08-09T16:46:21.681Z,1754757981.681 [DAT](INFO): Ping request sent.
2025-08-09T16:46:21.681Z,1754757981.681 [DAT](INFO): transmitted an acoustic signal
2025-08-09T16:46:21.681Z,1754757981.681 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-09T16:46:21.682Z,1754757981.682 [DAT](INFO): direction in FSK: [0.994765,0.050393,0.088894]
2025-08-09T16:46:21.683Z,1754757981.683 [DAT](INFO): publishing transmit ping time
2025-08-09T16:46:21.683Z,1754757981.683 [DAT](INFO): publishing direction and range info
2025-08-09T16:46:21.686Z,1754757981.686 [DAT](INFO): publishing transmit ping time
2025-08-09T16:46:21.687Z,1754757981.687 [DAT](INFO): publishing direction and range info
2025-08-09T16:46:21.834Z,1754757981.834 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 318.700012 m,
      deltaT: 3.784504 s,
      deltaX: -2.399994 m,
      approachRate: -0.634163 m/s,
      rangeRepo size: 4

2025-08-09T16:46:21.841Z,1754757981.841 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 318.700012 m,
      bearing: 139.723539 deg,
      lat: 36.905907 deg,
      lon: -122.116021 deg,
      deltaT: 3.784504 s,
      deltaX: -2.399994 m,
      approachRate: -0.634163 m/s,
      posRepo size: 4

2025-08-09T16:46:21.843Z,1754757981.843 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 318.70 m.
2025-08-09T16:46:21.850Z,1754757981.850 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 318.700012 m,
      nav range: 308.721680 m,
      bearing: 139.723539 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.014905 deg/s,
      cmd heading: 136.414642 deg,
      new cmd heading: 136.432964 deg.

2025-08-09T16:46:22.190Z,1754757982.190 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-09T16:46:22.193Z,1754757982.193 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 318.70 m.
2025-08-09T16:46:22.196Z,1754757982.196 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 318.700012 m,
      nav range: 308.492981 m,
      bearing: 139.729043 deg,
      approach rate: -0.635318 m/s,
      LOS rate: 0.015301 deg/s,
      cmd heading: 136.432960 deg,
      new cmd heading: 136.449484 deg.

2025-08-09T16:46:22.415Z,1754757982.415 [DAT](INFO): ****** received valid address query ******
2025-08-09T16:46:22.415Z,1754757982.415 [DAT](INFO): ****** received valid ping request ******
2025-08-09T16:46:22.415Z,1754757982.415 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-09T16:46:22.629Z,1754757982.629 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 318.70 m.
2025-08-09T16:46:22.632Z,1754757982.632 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 318.700012 m,
      nav range: 308.223663 m,
      bearing: 139.735835 deg,
      approach rate: -0.617078 m/s,
      LOS rate: 0.015577 deg/s,
      cmd heading: 136.449489 deg,
      new cmd heading: 136.469884 deg.

2025-08-09T16:46:22.668Z,1754757982.668 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.986680
2025-08-09T16:46:22.919Z,1754757982.919 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.238165
2025-08-09T16:46:23.015Z,1754757983.015 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 318.70 m.
2025-08-09T16:46:23.022Z,1754757983.022 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 318.700012 m,
      nav range: 307.990112 m,
      bearing: 139.741711 deg,
      approach rate: -0.604868 m/s,
      LOS rate: 0.015230 deg/s,
      cmd heading: 136.469884 deg,
      new cmd heading: 136.487526 deg.

2025-08-09T16:46:23.171Z,1754757983.171 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.490248
2025-08-09T16:46:23.423Z,1754757983.423 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.742348
2025-08-09T16:46:23.468Z,1754757983.468 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 318.70 m.
2025-08-09T16:46:23.471Z,1754757983.471 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 318.700012 m,
      nav range: 307.720032 m,
      bearing: 139.747378 deg,
      approach rate: -0.597102 m/s,
      LOS rate: 0.012540 deg/s,
      cmd heading: 136.487520 deg,
      new cmd heading: 136.504536 deg.

2025-08-09T16:46:23.679Z,1754757983.679 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.997489
2025-08-09T16:46:23.804Z,1754757983.804 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 318.70 m.
2025-08-09T16:46:23.806Z,1754757983.806 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 318.700012 m,
      nav range: 307.494110 m,
      bearing: 139.752145 deg,
      approach rate: -0.672626 m/s,
      LOS rate: 0.014202 deg/s,
      cmd heading: 136.504541 deg,
      new cmd heading: 136.518851 deg.

2025-08-09T16:46:23.928Z,1754757983.928 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.246664
2025-08-09T16:46:24.182Z,1754757984.182 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.500475
2025-08-09T16:46:24.219Z,1754757984.219 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-09T16:46:24.221Z,1754757984.221 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 318.70 m.
2025-08-09T16:46:24.224Z,1754757984.224 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 318.700012 m,
      nav range: 307.241547 m,
      bearing: 139.757468 deg,
      approach rate: -0.604598 m/s,
      LOS rate: 0.012754 deg/s,
      cmd heading: 136.518857 deg,
      new cmd heading: 136.534840 deg.

2025-08-09T16:46:24.437Z,1754757984.437 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.755259
2025-08-09T16:46:24.688Z,1754757984.688 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.006562
2025-08-09T16:46:24.724Z,1754757984.724 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 318.70 m.
2025-08-09T16:46:24.746Z,1754757984.746 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 318.700012 m,
      nav range: 306.919586 m,
      bearing: 139.764058 deg,
      approach rate: -0.641186 m/s,
      LOS rate: 0.013137 deg/s,
      cmd heading: 136.534839 deg,
      new cmd heading: 136.554629 deg.

2025-08-09T16:46:24.939Z,1754757984.939 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.258311
2025-08-09T16:46:25.112Z,1754757985.112 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 318.70 m.
2025-08-09T16:46:25.115Z,1754757985.115 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 318.700012 m,
      nav range: 306.676666 m,
      bearing: 139.768996 deg,
      approach rate: -0.625233 m/s,
      LOS rate: 0.012720 deg/s,
      cmd heading: 136.554633 deg,
      new cmd heading: 136.569459 deg.

2025-08-09T16:46:25.191Z,1754757985.191 [DAT](INFO): DAT read: Rx Time:16:46:24.0035

2025-08-09T16:46:25.192Z,1754757985.192 [DAT](INFO): Rx dataTimestamp_ set to:1754757985.191575
2025-08-09T16:46:25.192Z,1754757985.192 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.511398
2025-08-09T16:46:25.444Z,1754757985.444 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.762495
2025-08-09T16:46:25.605Z,1754757985.605 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 318.70 m.
2025-08-09T16:46:25.612Z,1754757985.612 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 318.700012 m,
      nav range: 306.369080 m,
      bearing: 139.774592 deg,
      approach rate: -0.623924 m/s,
      LOS rate: 0.011363 deg/s,
      cmd heading: 136.569455 deg,
      new cmd heading: 136.586260 deg.

2025-08-09T16:46:25.704Z,1754757985.704 [DAT](INFO): DAT read: 16:46:24.0035 LVL= 26704, 32753, 32754, 32755, AGC= 69, IDX= 236,-0.44, 0.182,-1.583, 0.244,-0.221, PHS= 0.505,-1.317, 0.421, RAW= 147.7,   4.4, CAL= 147.0,   4.7, ROT=   3.0,  -4.7

2025-08-09T16:46:25.705Z,1754757985.705 [DAT](INFO): got valid direction response:
 16:46:24.0035 LVL= 26704, 32753, 32754, 32755, AGC= 69, IDX= 236,-0.44, 0.182,-1.583, 0.244,-0.221, PHS= 0.505,-1.317, 0.421, RAW= 147.7,   4.4, CAL= 147.0,   4.7, ROT=   3.0,  -4.7

2025-08-09T16:46:25.706Z,1754757985.706 [DAT](INFO): DAT read: Bearing 300.7,  11.9 (Local)

2025-08-09T16:46:25.706Z,1754757985.706 [DAT](INFO): Local bearing/azimuth received:
 Bearing 300.7,  11.9 (Local)

2025-08-09T16:46:25.708Z,1754757985.708 [DAT](INFO): DAT read: Range 11 to 50 : 303.3 m  (Round-trip  404.5 ms) speed  0.4 m/s

2025-08-09T16:46:25.709Z,1754757985.709 [DAT](INFO): DAT read: user:90>

2025-08-09T16:46:25.709Z,1754757985.709 [DAT](INFO): DAT read: Tx time:16:46:25.0948

2025-08-09T16:46:25.710Z,1754757985.710 [DAT](INFO): Ping request sent.
2025-08-09T16:46:25.710Z,1754757985.710 [DAT](INFO): transmitted an acoustic signal
2025-08-09T16:46:25.710Z,1754757985.710 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-09T16:46:25.716Z,1754757985.716 [DAT](INFO): direction in FSK: [0.995272,0.052160,0.081939]
2025-08-09T16:46:25.717Z,1754757985.717 [DAT](INFO): publishing transmit ping time
2025-08-09T16:46:25.717Z,1754757985.717 [DAT](INFO): publishing direction and range info
2025-08-09T16:46:25.720Z,1754757985.720 [DAT](INFO): publishing transmit ping time
2025-08-09T16:46:25.720Z,1754757985.720 [DAT](INFO): publishing direction and range info
2025-08-09T16:46:25.917Z,1754757985.917 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 303.299988 m,
      deltaT: 4.035120 s,
      deltaX: -15.400024 m,
      approachRate: -3.816497 m/s,
      rangeRepo size: 4

2025-08-09T16:46:25.919Z,1754757985.919 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 303.299988 m,
      bearing: 140.127266 deg,
      lat: 36.905910 deg,
      lon: -122.116052 deg,
      deltaT: 4.035120 s,
      deltaX: -15.400024 m,
      approachRate: -3.816497 m/s,
      posRepo size: 4

2025-08-09T16:46:25.920Z,1754757985.920 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 303.30 m.
2025-08-09T16:46:25.922Z,1754757985.922 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 303.299988 m,
      nav range: 304.174072 m,
      bearing: 140.127266 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.011363 deg/s,
      cmd heading: 136.586257 deg,
      new cmd heading: 136.596860 deg.

2025-08-09T16:46:26.309Z,1754757986.309 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-09T16:46:26.327Z,1754757986.327 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 303.30 m.
2025-08-09T16:46:26.329Z,1754757986.329 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 303.299988 m,
      nav range: 303.921906 m,
      bearing: 140.132112 deg,
      approach rate: -0.639183 m/s,
      LOS rate: 0.012293 deg/s,
      cmd heading: 136.596858 deg,
      new cmd heading: 136.611407 deg.

2025-08-09T16:46:26.451Z,1754757986.451 [DAT](INFO): ****** received valid address query ******
2025-08-09T16:46:26.451Z,1754757986.451 [DAT](INFO): ****** received valid ping request ******
2025-08-09T16:46:26.452Z,1754757986.452 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-09T16:46:26.703Z,1754757986.703 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.993598
2025-08-09T16:46:26.800Z,1754757986.800 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 303.30 m.
2025-08-09T16:46:26.804Z,1754757986.804 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 303.299988 m,
      nav range: 303.597504 m,
      bearing: 140.139313 deg,
      approach rate: -0.662238 m/s,
      LOS rate: 0.014716 deg/s,
      cmd heading: 136.611406 deg,
      new cmd heading: 136.633032 deg.

2025-08-09T16:46:26.956Z,1754757986.956 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.246745
2025-08-09T16:46:27.207Z,1754757987.207 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.497476
2025-08-09T16:46:27.273Z,1754757987.273 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 303.30 m.
2025-08-09T16:46:27.276Z,1754757987.276 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 303.299988 m,
      nav range: 303.284668 m,
      bearing: 140.146271 deg,
      approach rate: -0.662117 m/s,
      LOS rate: 0.014744 deg/s,
      cmd heading: 136.633030 deg,
      new cmd heading: 136.653928 deg.

2025-08-09T16:46:27.460Z,1754757987.460 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.750207
2025-08-09T16:46:27.711Z,1754757987.711 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.001495
2025-08-09T16:46:27.770Z,1754757987.770 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 303.30 m.
2025-08-09T16:46:27.773Z,1754757987.773 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 303.299988 m,
      nav range: 302.964508 m,
      bearing: 140.154096 deg,
      approach rate: -0.649000 m/s,
      LOS rate: 0.015878 deg/s,
      cmd heading: 136.653931 deg,
      new cmd heading: 136.677430 deg.

2025-08-09T16:46:27.964Z,1754757987.964 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.253976
2025-08-09T16:46:28.128Z,1754757988.128 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 303.30 m.
2025-08-09T16:46:28.131Z,1754757988.131 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 303.299988 m,
      nav range: 302.717041 m,
      bearing: 140.160145 deg,
      approach rate: -0.683384 m/s,
      LOS rate: 0.016718 deg/s,
      cmd heading: 136.677426 deg,
      new cmd heading: 136.695588 deg.

2025-08-09T16:46:28.216Z,1754757988.216 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.505794
2025-08-09T16:46:28.468Z,1754757988.468 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.757797
2025-08-09T16:46:28.557Z,1754757988.557 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-09T16:46:28.559Z,1754757988.559 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 303.30 m.
2025-08-09T16:46:28.561Z,1754757988.561 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 303.299988 m,
      nav range: 302.429443 m,
      bearing: 140.167341 deg,
      approach rate: -0.668173 m/s,
      LOS rate: 0.016735 deg/s,
      cmd heading: 136.695595 deg,
      new cmd heading: 136.717204 deg.

2025-08-09T16:46:28.720Z,1754757988.720 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.009760
2025-08-09T16:46:28.922Z,1754757988.922 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 303.30 m.
2025-08-09T16:46:28.941Z,1754757988.941 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 303.299988 m,
      nav range: 302.195343 m,
      bearing: 140.173233 deg,
      approach rate: -0.644970 m/s,
      LOS rate: 0.016244 deg/s,
      cmd heading: 136.717206 deg,
      new cmd heading: 136.734894 deg.

2025-08-09T16:46:28.972Z,1754757988.972 [DAT](INFO): DAT read: Rx Time:16:46:27.9001

2025-08-09T16:46:28.972Z,1754757988.972 [DAT](INFO): Rx dataTimestamp_ set to:1754757988.971690
2025-08-09T16:46:28.973Z,1754757988.973 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.262810
2025-08-09T16:46:29.223Z,1754757989.223 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.513567
2025-08-09T16:46:29.326Z,1754757989.326 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 303.30 m.
2025-08-09T16:46:29.337Z,1754757989.337 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 303.299988 m,
      nav range: 301.935120 m,
      bearing: 140.179812 deg,
      approach rate: -0.644127 m/s,
      LOS rate: 0.016299 deg/s,
      cmd heading: 136.734896 deg,
      new cmd heading: 136.754649 deg.

2025-08-09T16:46:29.484Z,1754757989.484 [DAT](INFO): DAT read: 16:46:27.9001 LVL= 31696, 32753, 32754, 32755, AGC= 68, IDX= 410,-0.49,-2.856, 1.633,-2.813, 2.999, PHS= 0.531,-1.321, 0.428, RAW= 147.2,   4.1, CAL= 146.5,   4.3, ROT=   3.5,  -4.3

2025-08-09T16:46:29.485Z,1754757989.485 [DAT](INFO): got valid direction response:
 16:46:27.9001 LVL= 31696, 32753, 32754, 32755, AGC= 68, IDX= 410,-0.49,-2.856, 1.633,-2.813, 2.999, PHS= 0.531,-1.321, 0.428, RAW= 147.2,   4.1, CAL= 146.5,   4.3, ROT=   3.5,  -4.3

2025-08-09T16:46:29.487Z,1754757989.487 [DAT](INFO): DAT read: Bearing 300.8,  11.0 (Local)

2025-08-09T16:46:29.487Z,1754757989.487 [DAT](INFO): Local bearing/azimuth received:
 Bearing 300.8,  11.0 (Local)

2025-08-09T16:46:29.488Z,1754757989.488 [DAT](INFO): DAT read: Range 11 to 50 : 300.9 m  (Round-trip  401.2 ms) speed  0.4 m/s

2025-08-09T16:46:29.489Z,1754757989.489 [DAT](INFO): DAT read: user:91>

2025-08-09T16:46:29.490Z,1754757989.490 [DAT](INFO): DAT read: Tx time:16:46:28.9948

2025-08-09T16:46:29.490Z,1754757989.490 [DAT](INFO): Ping request sent.
2025-08-09T16:46:29.490Z,1754757989.490 [DAT](INFO): transmitted an acoustic signal
2025-08-09T16:46:29.491Z,1754757989.491 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-09T16:46:29.492Z,1754757989.492 [DAT](INFO): direction in FSK: [0.995325,0.060877,0.074979]
2025-08-09T16:46:29.492Z,1754757989.492 [DAT](INFO): publishing transmit ping time
2025-08-09T16:46:29.492Z,1754757989.492 [DAT](INFO): publishing direction and range info
2025-08-09T16:46:29.495Z,1754757989.495 [DAT](INFO): publishing transmit ping time
2025-08-09T16:46:29.495Z,1754757989.495 [DAT](INFO): publishing direction and range info
2025-08-09T16:46:29.500Z,1754757989.500 [DockingStepper](ERROR): getADC uart error serial timeout
2025-08-09T16:46:29.500Z,1754757989.500 [DockingStepper](FAULT): uart error - getPosition..serial timeout
2025-08-09T16:46:29.500Z,1754757989.500 [DockingStepper] Communications Fault, FailCount= 1
2025-08-09T16:46:29.500Z,1754757989.500 [DockingStepper](ERROR): Communications Fault
2025-08-09T16:46:29.654Z,1754757989.654 [CBIT](ERROR): Communications Fault in component: DockingStepper
2025-08-09T16:46:29.766Z,1754757989.766 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 300.899994 m,
      deltaT: 3.780991 s,
      deltaX: -2.399994 m,
      approachRate: -0.634753 m/s,
      rangeRepo size: 4

2025-08-09T16:46:29.768Z,1754757989.768 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 300.899994 m,
      bearing: 139.658292 deg,
      lat: 36.905949 deg,
      lon: -122.116052 deg,
      deltaT: 3.780991 s,
      deltaX: -2.399994 m,
      approachRate: -0.634753 m/s,
      posRepo size: 4

2025-08-09T16:46:29.769Z,1754757989.769 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 300.90 m.
2025-08-09T16:46:29.771Z,1754757989.771 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 300.899994 m,
      nav range: 298.362000 m,
      bearing: 139.658292 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.016299 deg/s,
      cmd heading: 136.754649 deg,
      new cmd heading: 136.776126 deg.

2025-08-09T16:46:29.838Z,1754757989.838 [DockingStepper](DEBUG): Uninitialize Docking Stepper.
2025-08-09T16:46:29.843Z,1754757989.843 [DockingStepper](INFO): Powering down
2025-08-09T16:46:30.142Z,1754757990.142 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 300.90 m.
2025-08-09T16:46:30.144Z,1754757990.144 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 300.899994 m,
      nav range: 298.115814 m,
      bearing: 139.664449 deg,
      approach rate: -0.653590 m/s,
      LOS rate: 0.016361 deg/s,
      cmd heading: 136.776123 deg,
      new cmd heading: 136.794610 deg.

2025-08-09T16:46:30.573Z,1754757990.573 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-09T16:46:30.575Z,1754757990.575 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 300.90 m.
2025-08-09T16:46:30.578Z,1754757990.578 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 300.899994 m,
      nav range: 297.839325 m,
      bearing: 139.671106 deg,
      approach rate: -0.637861 m/s,
      LOS rate: 0.015370 deg/s,
      cmd heading: 136.794605 deg,
      new cmd heading: 136.814592 deg.

2025-08-09T16:46:30.736Z,1754757990.736 [DAT](INFO): ****** received valid address query ******
2025-08-09T16:46:30.736Z,1754757990.736 [DAT](INFO): ****** received valid ping request ******
2025-08-09T16:46:30.736Z,1754757990.736 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-09T16:46:30.959Z,1754757990.959 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 300.90 m.
2025-08-09T16:46:30.961Z,1754757990.961 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 300.899994 m,
      nav range: 297.594086 m,
      bearing: 139.677019 deg,
      approach rate: -0.640378 m/s,
      LOS rate: 0.015455 deg/s,
      cmd heading: 136.814590 deg,
      new cmd heading: 136.832346 deg.

2025-08-09T16:46:30.988Z,1754757990.988 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.497456
2025-08-09T16:46:31.239Z,1754757991.239 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.749179
2025-08-09T16:46:31.365Z,1754757991.365 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 300.90 m.
2025-08-09T16:46:31.368Z,1754757991.368 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 300.899994 m,
      nav range: 297.334259 m,
      bearing: 139.683344 deg,
      approach rate: -0.638683 m/s,
      LOS rate: 0.015561 deg/s,
      cmd heading: 136.832349 deg,
      new cmd heading: 136.851340 deg.

2025-08-09T16:46:31.494Z,1754757991.494 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.003445
2025-08-09T16:46:31.743Z,1754757991.743 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.253293
2025-08-09T16:46:31.778Z,1754757991.778 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 300.90 m.
2025-08-09T16:46:31.781Z,1754757991.781 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 300.899994 m,
      nav range: 297.074158 m,
      bearing: 139.689735 deg,
      approach rate: -0.629633 m/s,
      LOS rate: 0.015483 deg/s,
      cmd heading: 136.851337 deg,
      new cmd heading: 136.870525 deg.

2025-08-09T16:46:31.995Z,1754757991.995 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.505158
2025-08-09T16:46:32.159Z,1754757992.159 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 300.90 m.
2025-08-09T16:46:32.161Z,1754757992.161 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 300.899994 m,
      nav range: 296.834747 m,
      bearing: 139.695619 deg,
      approach rate: -0.629152 m/s,
      LOS rate: 0.015476 deg/s,
      cmd heading: 136.870530 deg,
      new cmd heading: 136.888196 deg.

2025-08-09T16:46:32.247Z,1754757992.247 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.757152
2025-08-09T16:46:32.502Z,1754757992.502 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.011239
2025-08-09T16:46:32.595Z,1754757992.595 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-09T16:46:32.597Z,1754757992.597 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 300.90 m.
2025-08-09T16:46:32.616Z,1754757992.616 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 300.899994 m,
      nav range: 296.552551 m,
      bearing: 139.701274 deg,
      approach rate: -0.642977 m/s,
      LOS rate: 0.012897 deg/s,
      cmd heading: 136.888192 deg,
      new cmd heading: 136.905174 deg.

2025-08-09T16:46:32.751Z,1754757992.751 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.261134
2025-08-09T16:46:32.961Z,1754757992.961 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 300.90 m.
2025-08-09T16:46:32.964Z,1754757992.964 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 300.899994 m,
      nav range: 296.318329 m,
      bearing: 139.705975 deg,
      approach rate: -0.644258 m/s,
      LOS rate: 0.012939 deg/s,
      cmd heading: 136.905172 deg,
      new cmd heading: 136.919284 deg.

2025-08-09T16:46:33.003Z,1754757993.003 [DAT](INFO): DAT read: Rx Time:16:46:31.8145

2025-08-09T16:46:33.004Z,1754757993.004 [DAT](INFO): Rx dataTimestamp_ set to:1754757993.003595
2025-08-09T16:46:33.004Z,1754757993.004 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.514334
2025-08-09T16:46:33.255Z,1754757993.255 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.765209
2025-08-09T16:46:33.421Z,1754757993.421 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 300.90 m.
2025-08-09T16:46:33.423Z,1754757993.423 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 300.899994 m,
      nav range: 296.035217 m,
      bearing: 139.711655 deg,
      approach rate: -0.615907 m/s,
      LOS rate: 0.012370 deg/s,
      cmd heading: 136.919283 deg,
      new cmd heading: 136.936342 deg.

2025-08-09T16:46:33.555Z,1754757993.555 [DAT](INFO): DAT read: 16:46:31.8145 LVL= 18144, 20465, 17122, 18227, AGC= 70, IDX=  76, 0.16,-1.637,-2.925,-1.546,-2.156, PHS= 0.621,-0.725, 0.566, RAW= 147.9,  -7.1, CAL= 148.0,  -8.5, ROT=   2.0,   8.5

2025-08-09T16:46:33.556Z,1754757993.556 [DAT](INFO): got valid direction response:
 16:46:31.8145 LVL= 18144, 20465, 17122, 18227, AGC= 70, IDX=  76, 0.16,-1.637,-2.925,-1.546,-2.156, PHS= 0.621,-0.725, 0.566, RAW= 147.9,  -7.1, CAL= 148.0,  -8.5, ROT=   2.0,   8.5

2025-08-09T16:46:33.558Z,1754757993.558 [DAT](INFO): DAT read: Bearing 287.8,   9.5 (Local)

2025-08-09T16:46:33.564Z,1754757993.564 [DAT](INFO): Local bearing/azimuth received:
 Bearing 287.8,   9.5 (Local)

2025-08-09T16:46:33.573Z,1754757993.573 [DAT](INFO): DAT read: Range 11 to 50 : 311.7 m  (Round-trip  415.6 ms) speed  0.1 m/s

2025-08-09T16:46:33.579Z,1754757993.579 [DAT](INFO): DAT read: user:92>

2025-08-09T16:46:33.580Z,1754757993.580 [DAT](INFO): DAT read: Tx time:16:46:32.9448

2025-08-09T16:46:33.581Z,1754757993.581 [DAT](INFO): Ping request sent.
2025-08-09T16:46:33.581Z,1754757993.581 [DAT](INFO): transmitted an acoustic signal
2025-08-09T16:46:33.581Z,1754757993.581 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-09T16:46:33.587Z,1754757993.587 [DAT](INFO): direction in FSK: [0.988413,0.034516,-0.147809]
2025-08-09T16:46:33.587Z,1754757993.587 [DAT](INFO): publishing transmit ping time
2025-08-09T16:46:33.587Z,1754757993.587 [DAT](INFO): publishing direction and range info
2025-08-09T16:46:33.594Z,1754757993.594 [DAT](INFO): publishing transmit ping time
2025-08-09T16:46:33.599Z,1754757993.599 [DAT](INFO): publishing direction and range info
2025-08-09T16:46:33.803Z,1754757993.803 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 311.700012 m,
      deltaT: 4.032411 s,
      deltaX: 10.800018 m,
      approachRate: 2.678303 m/s,
      rangeRepo size: 4

2025-08-09T16:46:33.805Z,1754757993.805 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 311.700012 m,
      bearing: 139.303954 deg,
      lat: 36.905949 deg,
      lon: -122.116020 deg,
      deltaT: 4.032411 s,
      deltaX: 10.800018 m,
      approachRate: 2.678303 m/s,
      posRepo size: 4

2025-08-09T16:46:33.806Z,1754757993.806 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 311.70 m.
2025-08-09T16:46:33.809Z,1754757993.809 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 311.700012 m,
      nav range: 297.603973 m,
      bearing: 139.303954 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.012370 deg/s,
      cmd heading: 136.936345 deg,
      new cmd heading: 136.950507 deg.

2025-08-09T16:46:34.173Z,1754757994.173 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 311.70 m.
2025-08-09T16:46:34.175Z,1754757994.175 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 311.700012 m,
      nav range: 297.362488 m,
      bearing: 139.308306 deg,
      approach rate: -0.651987 m/s,
      LOS rate: 0.011759 deg/s,
      cmd heading: 136.950511 deg,
      new cmd heading: 136.963577 deg.

2025-08-09T16:46:34.612Z,1754757994.612 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-09T16:46:34.615Z,1754757994.615 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 311.70 m.
2025-08-09T16:46:34.617Z,1754757994.617 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 311.700012 m,
      nav range: 297.075623 m,
      bearing: 139.312766 deg,
      approach rate: -0.649140 m/s,
      LOS rate: 0.010103 deg/s,
      cmd heading: 136.963570 deg,
      new cmd heading: 136.976965 deg.

2025-08-09T16:46:34.768Z,1754757994.768 [DAT](INFO): ****** received valid address query ******
2025-08-09T16:46:34.768Z,1754757994.768 [DAT](INFO): ****** received valid ping request ******
2025-08-09T16:46:34.768Z,1754757994.768 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-09T16:46:34.986Z,1754757994.986 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 311.70 m.
2025-08-09T16:46:34.989Z,1754757994.989 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 311.700012 m,
      nav range: 296.833832 m,
      bearing: 139.316523 deg,
      approach rate: -0.651074 m/s,
      LOS rate: 0.010124 deg/s,
      cmd heading: 136.976971 deg,
      new cmd heading: 136.988251 deg.

2025-08-09T16:46:35.019Z,1754757995.019 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.438406
2025-08-09T16:46:35.272Z,1754757995.272 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.690637
2025-08-09T16:46:35.388Z,1754757995.388 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 311.70 m.
2025-08-09T16:46:35.391Z,1754757995.391 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 311.700012 m,
      nav range: 296.572540 m,
      bearing: 139.320592 deg,
      approach rate: -0.649906 m/s,
      LOS rate: 0.010129 deg/s,
      cmd heading: 136.988255 deg,
      new cmd heading: 137.000472 deg.

2025-08-09T16:46:35.526Z,1754757995.526 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.944738
2025-08-09T16:46:35.775Z,1754757995.775 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.194400
2025-08-09T16:46:35.825Z,1754757995.825 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 311.70 m.
2025-08-09T16:46:35.830Z,1754757995.830 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 311.700012 m,
      nav range: 296.288239 m,
      bearing: 139.326458 deg,
      approach rate: -0.650231 m/s,
      LOS rate: 0.013431 deg/s,
      cmd heading: 137.000467 deg,
      new cmd heading: 137.018085 deg.

2025-08-09T16:46:36.027Z,1754757996.027 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.446324
2025-08-09T16:46:36.196Z,1754757996.196 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 311.70 m.
2025-08-09T16:46:36.199Z,1754757996.199 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 311.700012 m,
      nav range: 296.039703 m,
      bearing: 139.331633 deg,
      approach rate: -0.670714 m/s,
      LOS rate: 0.013976 deg/s,
      cmd heading: 137.018089 deg,
      new cmd heading: 137.033626 deg.

2025-08-09T16:46:36.279Z,1754757996.279 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.698482
2025-08-09T16:46:36.534Z,1754757996.534 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.952476
2025-08-09T16:46:36.634Z,1754757996.634 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-09T16:46:36.636Z,1754757996.636 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 311.70 m.
2025-08-09T16:46:36.639Z,1754757996.639 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 311.700012 m,
      nav range: 295.759583 m,
      bearing: 139.337666 deg,
      approach rate: -0.636090 m/s,
      LOS rate: 0.013712 deg/s,
      cmd heading: 137.033621 deg,
      new cmd heading: 137.051736 deg.

2025-08-09T16:46:36.784Z,1754757996.784 [DAT](INFO): DAT read: Rx Time:16:46:35.7614

2025-08-09T16:46:36.784Z,1754757996.784 [DAT](INFO): Rx dataTimestamp_ set to:1754757996.783758
2025-08-09T16:46:36.785Z,1754757996.785 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.203704
2025-08-09T16:46:37.001Z,1754757997.001 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 311.70 m.
2025-08-09T16:46:37.004Z,1754757997.004 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 311.700012 m,
      nav range: 295.527283 m,
      bearing: 139.342721 deg,
      approach rate: -0.636891 m/s,
      LOS rate: 0.013872 deg/s,
      cmd heading: 137.051735 deg,
      new cmd heading: 137.066913 deg.

2025-08-09T16:46:37.036Z,1754757997.036 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.454673
2025-08-09T16:46:37.292Z,1754757997.292 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.709856
2025-08-09T16:46:37.420Z,1754757997.420 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 311.70 m.
2025-08-09T16:46:37.423Z,1754757997.423 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 311.700012 m,
      nav range: 295.262360 m,
      bearing: 139.348491 deg,
      approach rate: -0.631322 m/s,
      LOS rate: 0.013762 deg/s,
      cmd heading: 137.066911 deg,
      new cmd heading: 137.084236 deg.

2025-08-09T16:46:37.562Z,1754757997.562 [DAT](INFO): DAT read: 16:46:35.7614 LVL= 23792, 29025, 28802, 32755, AGC= 71, IDX= 415, 0.20, 1.569, 0.037, 1.588, 0.707, PHS= 0.963,-0.625, 0.837, RAW= 145.9, -15.2, CAL= 147.0, -17.9, ROT=   3.0,  17.9

2025-08-09T16:46:37.566Z,1754757997.566 [DAT](INFO): got valid direction response:
 16:46:35.7614 LVL= 23792, 29025, 28802, 32755, AGC= 71, IDX= 415, 0.20, 1.569, 0.037, 1.588, 0.707, PHS= 0.963,-0.625, 0.837, RAW= 145.9, -15.2, CAL= 147.0, -17.9, ROT=   3.0,  17.9

2025-08-09T16:46:37.568Z,1754757997.568 [DAT](INFO): DAT read: $Error in header

2025-08-09T16:46:37.569Z,1754757997.569 [DAT](INFO): Received a bad header
2025-08-09T16:46:37.588Z,1754757997.588 [DAT](INFO): #Rx 1: Read direction message, but no range.
2025-08-09T16:46:37.591Z,1754757997.591 [DAT](INFO): direction in FSK: [0.950290,0.049803,-0.307357]
2025-08-09T16:46:37.625Z,1754757997.625 [DAT](INFO): ****** received valid address query ******
2025-08-09T16:46:37.625Z,1754757997.625 [DAT](INFO): ****** received valid ping request ******
2025-08-09T16:46:37.625Z,1754757997.625 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-09T16:46:37.792Z,1754757997.792 [DAT](INFO): ****** received valid address query ******
2025-08-09T16:46:37.792Z,1754757997.792 [DAT](INFO): ****** received valid ping request ******
2025-08-09T16:46:37.792Z,1754757997.792 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-09T16:46:37.887Z,1754757997.887 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 311.70 m.
2025-08-09T16:46:37.890Z,1754757997.890 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 311.700012 m,
      nav range: 294.977600 m,
      bearing: 139.357737 deg,
      approach rate: -0.609881 m/s,
      LOS rate: 0.019822 deg/s,
      cmd heading: 137.084233 deg,
      new cmd heading: 137.111997 deg.

2025-08-09T16:46:38.044Z,1754757998.044 [DAT](INFO): ****** received valid address query ******
2025-08-09T16:46:38.044Z,1754757998.044 [DAT](INFO): ****** received valid ping request ******
2025-08-09T16:46:38.044Z,1754757998.044 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-09T16:46:38.215Z,1754757998.215 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 311.70 m.
2025-08-09T16:46:38.217Z,1754757998.217 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 311.700012 m,
      nav range: 294.764862 m,
      bearing: 139.364655 deg,
      approach rate: -0.650470 m/s,
      LOS rate: 0.021169 deg/s,
      cmd heading: 137.112004 deg,
      new cmd heading: 137.132774 deg.

2025-08-09T16:46:38.295Z,1754757998.295 [DAT](INFO): ****** received valid address query ******
2025-08-09T16:46:38.295Z,1754757998.295 [DAT](INFO): ****** received valid ping request ******
2025-08-09T16:46:38.295Z,1754757998.295 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-09T16:46:38.549Z,1754757998.549 [DAT](INFO): ****** received valid address query ******
2025-08-09T16:46:38.549Z,1754757998.549 [DAT](INFO): ****** received valid ping request ******
2025-08-09T16:46:38.550Z,1754757998.550 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-09T16:46:38.662Z,1754757998.662 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-09T16:46:38.665Z,1754757998.665 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 311.70 m.
2025-08-09T16:46:38.680Z,1754757998.680 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 311.700012 m,
      nav range: 294.484802 m,
      bearing: 139.372913 deg,
      approach rate: -0.621869 m/s,
      LOS rate: 0.018353 deg/s,
      cmd heading: 137.132768 deg,
      new cmd heading: 137.157564 deg.

2025-08-09T16:46:38.799Z,1754757998.799 [DAT](INFO): ****** received valid address query ******
2025-08-09T16:46:38.799Z,1754757998.799 [DAT](INFO): ****** received valid ping request ******
2025-08-09T16:46:38.799Z,1754757998.799 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-09T16:46:39.025Z,1754757999.025 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 311.70 m.
2025-08-09T16:46:39.028Z,1754757999.028 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 311.700012 m,
      nav range: 294.258850 m,
      bearing: 139.379539 deg,
      approach rate: -0.626592 m/s,
      LOS rate: 0.018390 deg/s,
      cmd heading: 137.157561 deg,
      new cmd heading: 137.177456 deg.

2025-08-09T16:46:39.051Z,1754757999.051 [DAT](INFO): ****** received valid address query ******
2025-08-09T16:46:39.051Z,1754757999.051 [DAT](INFO): ****** received valid ping request ******
2025-08-09T16:46:39.052Z,1754757999.052 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-09T16:46:39.303Z,1754757999.303 [DAT](INFO): ****** received valid address query ******
2025-08-09T16:46:39.303Z,1754757999.303 [DAT](INFO): ****** received valid ping request ******
2025-08-09T16:46:39.303Z,1754757999.303 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-09T16:46:39.443Z,1754757999.443 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 311.70 m.
2025-08-09T16:46:39.446Z,1754757999.446 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 311.700012 m,
      nav range: 294.010559 m,
      bearing: 139.386820 deg,
      approach rate: -0.594174 m/s,
      LOS rate: 0.017439 deg/s,
      cmd heading: 137.177451 deg,
      new cmd heading: 137.199312 deg.

2025-08-09T16:46:39.555Z,1754757999.555 [DAT](INFO): ****** received valid address query ******
2025-08-09T16:46:39.555Z,1754757999.555 [DAT](INFO): ****** received valid ping request ******
2025-08-09T16:46:39.555Z,1754757999.555 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-09T16:46:39.807Z,1754757999.807 [DAT](INFO): ****** received valid address query ******
2025-08-09T16:46:39.807Z,1754757999.807 [DAT](INFO): ****** received valid ping request ******
2025-08-09T16:46:39.807Z,1754757999.807 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-09T16:46:39.949Z,1754757999.949 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 311.70 m.
2025-08-09T16:46:39.951Z,1754757999.951 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 311.700012 m,
      nav range: 293.687103 m,
      bearing: 139.397069 deg,
      approach rate: -0.640121 m/s,
      LOS rate: 0.020306 deg/s,
      cmd heading: 137.199308 deg,
      new cmd heading: 137.230089 deg.

2025-08-09T16:46:40.059Z,1754758000.059 [DAT](INFO): ****** received valid address query ******
2025-08-09T16:46:40.059Z,1754758000.059 [DAT](INFO): ****** received valid ping request ******
2025-08-09T16:46:40.059Z,1754758000.059 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-09T16:46:40.312Z,1754758000.312 [DAT](INFO): ****** received valid address query ******
2025-08-09T16:46:40.313Z,1754758000.313 [DAT](INFO): ****** received valid ping request ******
2025-08-09T16:46:40.313Z,1754758000.313 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-09T16:46:40.321Z,1754758000.321 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 311.70 m.
2025-08-09T16:46:40.335Z,1754758000.335 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 311.700012 m,
      nav range: 293.452850 m,
      bearing: 139.404458 deg,
      approach rate: -0.629900 m/s,
      LOS rate: 0.019884 deg/s,
      cmd heading: 137.230084 deg,
      new cmd heading: 137.252268 deg.

2025-08-09T16:46:40.565Z,1754758000.565 [DAT](INFO): ****** received valid address query ******
2025-08-09T16:46:40.566Z,1754758000.566 [DAT](INFO): ****** received valid ping request ******
2025-08-09T16:46:40.566Z,1754758000.566 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-09T16:46:40.789Z,1754758000.789 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-09T16:46:40.791Z,1754758000.791 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 311.70 m.
2025-08-09T16:46:40.794Z,1754758000.794 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 311.700012 m,
      nav range: 293.152374 m,
      bearing: 139.413460 deg,
      approach rate: -0.638214 m/s,
      LOS rate: 0.019140 deg/s,
      cmd heading: 137.252269 deg,
      new cmd heading: 137.279303 deg.

2025-08-09T16:46:40.816Z,1754758000.816 [DAT](INFO): ****** received valid address query ******
2025-08-09T16:46:40.816Z,1754758000.816 [DAT](INFO): ****** received valid ping request ******
2025-08-09T16:46:40.816Z,1754758000.816 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-09T16:46:41.067Z,1754758001.067 [DAT](INFO): ****** received valid address query ******
2025-08-09T16:46:41.067Z,1754758001.067 [DAT](INFO): ****** received valid ping request ******
2025-08-09T16:46:41.067Z,1754758001.067 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-09T16:46:41.171Z,1754758001.171 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 311.70 m.
2025-08-09T16:46:41.173Z,1754758001.173 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 311.700012 m,
      nav range: 292.918976 m,
      bearing: 139.420457 deg,
      approach rate: -0.614973 m/s,
      LOS rate: 0.018451 deg/s,
      cmd heading: 137.279303 deg,
      new cmd heading: 137.300311 deg.

2025-08-09T16:46:41.320Z,1754758001.320 [DAT](INFO): ****** received valid address query ******
2025-08-09T16:46:41.320Z,1754758001.320 [DAT](INFO): ****** received valid ping request ******
2025-08-09T16:46:41.320Z,1754758001.320 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-09T16:46:41.571Z,1754758001.571 [DAT](INFO): ****** received valid address query ******
2025-08-09T16:46:41.571Z,1754758001.571 [DAT](INFO): ****** received valid ping request ******
2025-08-09T16:46:41.571Z,1754758001.571 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-09T16:46:41.573Z,1754758001.573 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 311.70 m.
2025-08-09T16:46:41.577Z,1754758001.577 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 311.700012 m,
      nav range: 292.672119 m,
      bearing: 139.427890 deg,
      approach rate: -0.613450 m/s,
      LOS rate: 0.018486 deg/s,
      cmd heading: 137.300312 deg,
      new cmd heading: 137.322629 deg.

2025-08-09T16:46:41.824Z,1754758001.824 [DAT](INFO): ****** received valid address query ******
2025-08-09T16:46:41.824Z,1754758001.824 [DAT](INFO): ****** received valid ping request ******
2025-08-09T16:46:41.824Z,1754758001.824 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-09T16:46:42.023Z,1754758002.023 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 311.70 m.
2025-08-09T16:46:42.025Z,1754758002.025 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 311.700012 m,
      nav range: 292.385803 m,
      bearing: 139.437162 deg,
      approach rate: -0.637294 m/s,
      LOS rate: 0.020658 deg/s,
      cmd heading: 137.322633 deg,
      new cmd heading: 137.350476 deg.

2025-08-09T16:46:42.075Z,1754758002.075 [DAT](INFO): ****** received valid address query ******
2025-08-09T16:46:42.075Z,1754758002.075 [DAT](INFO): ****** received valid ping request ******
2025-08-09T16:46:42.075Z,1754758002.075 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-09T16:46:42.328Z,1754758002.328 [DAT](INFO): ****** received valid address query ******
2025-08-09T16:46:42.328Z,1754758002.328 [DAT](INFO): ****** received valid ping request ******
2025-08-09T16:46:42.328Z,1754758002.328 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-09T16:46:42.397Z,1754758002.397 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 311.70 m.
2025-08-09T16:46:42.400Z,1754758002.400 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 311.700012 m,
      nav range: 292.147736 m,
      bearing: 139.444900 deg,
      approach rate: -0.634878 m/s,
      LOS rate: 0.020653 deg/s,
      cmd heading: 137.350473 deg,
      new cmd heading: 137.373707 deg.

2025-08-09T16:46:42.581Z,1754758002.581 [DAT](INFO): ****** received valid address query ******
2025-08-09T16:46:42.581Z,1754758002.581 [DAT](INFO): ****** received valid ping request ******
2025-08-09T16:46:42.581Z,1754758002.581 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-09T16:46:42.816Z,1754758002.816 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-09T16:46:42.820Z,1754758002.820 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 311.70 m.
2025-08-09T16:46:42.825Z,1754758002.825 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 311.700012 m,
      nav range: 291.884216 m,
      bearing: 139.452990 deg,
      approach rate: -0.624202 m/s,
      LOS rate: 0.019181 deg/s,
      cmd heading: 137.373710 deg,
      new cmd heading: 137.398003 deg.

2025-08-09T16:46:42.832Z,1754758002.832 [DAT](INFO): ****** received valid address query ******
2025-08-09T16:46:42.833Z,1754758002.833 [DAT](INFO): ****** received valid ping request ******
2025-08-09T16:46:42.833Z,1754758002.833 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-09T16:46:43.083Z,1754758003.083 [DAT](INFO): ****** received valid address query ******
2025-08-09T16:46:43.083Z,1754758003.083 [DAT](INFO): ****** received valid ping request ******
2025-08-09T16:46:43.083Z,1754758003.083 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-09T16:46:43.188Z,1754758003.188 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 311.70 m.
2025-08-09T16:46:43.191Z,1754758003.191 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 311.700012 m,
      nav range: 291.643616 m,
      bearing: 139.460381 deg,
      approach rate: -0.653412 m/s,
      LOS rate: 0.020087 deg/s,
      cmd heading: 137.397998 deg,
      new cmd heading: 137.420187 deg.

2025-08-09T16:46:43.335Z,1754758003.335 [DAT](INFO): ****** received valid address query ******
2025-08-09T16:46:43.335Z,1754758003.335 [DAT](INFO): ****** received valid ping request ******
2025-08-09T16:46:43.335Z,1754758003.335 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-09T16:46:43.587Z,1754758003.587 [DAT](INFO): Reached modem response timeout
2025-08-09T16:46:43.588Z,1754758003.588 [DAT](DEBUG): Acoustic response timeout
2025-08-09T16:46:43.588Z,1754758003.588 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-09T16:46:43.597Z,1754758003.597 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 311.70 m.
2025-08-09T16:46:43.600Z,1754758003.600 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 311.700012 m,
      nav range: 291.385223 m,
      bearing: 139.468332 deg,
      approach rate: -0.632015 m/s,
      LOS rate: 0.019466 deg/s,
      cmd heading: 137.420182 deg,
      new cmd heading: 137.444058 deg.

2025-08-09T16:46:43.839Z,1754758003.839 [DAT](INFO): Reached modem response timeout
2025-08-09T16:46:43.840Z,1754758003.840 [DAT](DEBUG): Acoustic response timeout
2025-08-09T16:46:43.840Z,1754758003.840 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-09T16:46:44.024Z,1754758004.024 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 311.70 m.
2025-08-09T16:46:44.027Z,1754758004.027 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 311.700012 m,
      nav range: 291.105011 m,
      bearing: 139.475873 deg,
      approach rate: -0.655376 m/s,
      LOS rate: 0.017655 deg/s,
      cmd heading: 137.444061 deg,
      new cmd heading: 137.466706 deg.

2025-08-09T16:46:44.091Z,1754758004.091 [DAT](INFO): Reached modem response timeout
2025-08-09T16:46:44.091Z,1754758004.091 [DAT](DEBUG): Acoustic response timeout
2025-08-09T16:46:44.091Z,1754758004.091 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-09T16:46:44.343Z,1754758004.343 [DAT](INFO): Reached modem response timeout
2025-08-09T16:46:44.343Z,1754758004.343 [DAT](DEBUG): Acoustic response timeout
2025-08-09T16:46:44.343Z,1754758004.343 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-09T16:46:44.402Z,1754758004.402 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 311.70 m.
2025-08-09T16:46:44.405Z,1754758004.405 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 311.700012 m,
      nav range: 290.859406 m,
      bearing: 139.482508 deg,
      approach rate: -0.649819 m/s,
      LOS rate: 0.017570 deg/s,
      cmd heading: 137.466709 deg,
      new cmd heading: 137.486632 deg.

2025-08-09T16:46:44.595Z,1754758004.595 [DAT](INFO): Reached modem response timeout
2025-08-09T16:46:44.595Z,1754758004.595 [DAT](DEBUG): Acoustic response timeout
2025-08-09T16:46:44.595Z,1754758004.595 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-09T16:46:44.847Z,1754758004.847 [DAT](INFO): Reached modem response timeout
2025-08-09T16:46:44.848Z,1754758004.848 [DAT](DEBUG): Acoustic response timeout
2025-08-09T16:46:44.848Z,1754758004.848 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-09T16:46:44.884Z,1754758004.884 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-09T16:46:44.886Z,1754758004.886 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 311.70 m.
2025-08-09T16:46:44.889Z,1754758004.889 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 311.700012 m,
      nav range: 290.542816 m,
      bearing: 139.490999 deg,
      approach rate: -0.654609 m/s,
      LOS rate: 0.017575 deg/s,
      cmd heading: 137.486626 deg,
      new cmd heading: 137.512126 deg.

2025-08-09T16:46:45.099Z,1754758005.099 [DAT](INFO): Reached modem response timeout
2025-08-09T16:46:45.100Z,1754758005.100 [DAT](DEBUG): Acoustic response timeout
2025-08-09T16:46:45.100Z,1754758005.100 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-09T16:46:45.218Z,1754758005.218 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 311.70 m.
2025-08-09T16:46:45.220Z,1754758005.220 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 311.700012 m,
      nav range: 290.324738 m,
      bearing: 139.496871 deg,
      approach rate: -0.657255 m/s,
      LOS rate: 0.017708 deg/s,
      cmd heading: 137.512130 deg,
      new cmd heading: 137.529757 deg.

2025-08-09T16:46:45.353Z,1754758005.353 [DAT](INFO): Reached modem response timeout
2025-08-09T16:46:45.354Z,1754758005.354 [DAT](DEBUG): Acoustic response timeout
2025-08-09T16:46:45.359Z,1754758005.359 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-09T16:46:45.603Z,1754758005.603 [DAT](INFO): Reached modem response timeout
2025-08-09T16:46:45.603Z,1754758005.603 [DAT](DEBUG): Acoustic response timeout
2025-08-09T16:46:45.603Z,1754758005.603 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-09T16:46:45.673Z,1754758005.673 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 311.70 m.
2025-08-09T16:46:45.695Z,1754758005.695 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 311.700012 m,
      nav range: 290.060089 m,
      bearing: 139.504034 deg,
      approach rate: -0.583288 m/s,
      LOS rate: 0.015803 deg/s,
      cmd heading: 137.529752 deg,
      new cmd heading: 137.551263 deg.

2025-08-09T16:46:45.856Z,1754758005.856 [DAT](INFO): DAT read: Response Not Received

2025-08-09T16:46:45.856Z,1754758005.856 [DAT](INFO): response not received
2025-08-09T16:46:45.857Z,1754758005.857 [DAT](INFO): DAT read: user:94>

2025-08-09T16:46:45.858Z,1754758005.858 [DAT](INFO): DAT read: Tx time:16:46:45.3948

2025-08-09T16:46:45.858Z,1754758005.858 [DAT](INFO): Ping request sent.
2025-08-09T16:46:45.859Z,1754758005.859 [DAT](INFO): transmitted an acoustic signal
2025-08-09T16:46:45.859Z,1754758005.859 [DAT](INFO): publishing transmit ping time
2025-08-09T16:46:45.860Z,1754758005.860 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.001084
2025-08-09T16:46:46.056Z,1754758006.056 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 311.70 m.
2025-08-09T16:46:46.059Z,1754758006.059 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 311.700012 m,
      nav range: 289.778229 m,
      bearing: 139.510939 deg,
      approach rate: -0.732653 m/s,
      LOS rate: 0.017965 deg/s,
      cmd heading: 137.551267 deg,
      new cmd heading: 137.572001 deg.

2025-08-09T16:46:46.107Z,1754758006.107 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.248827
2025-08-09T16:46:46.359Z,1754758006.359 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.500681
2025-08-09T16:46:46.435Z,1754758006.435 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 311.70 m.
2025-08-09T16:46:46.437Z,1754758006.437 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 311.700012 m,
      nav range: 289.533081 m,
      bearing: 139.516928 deg,
      approach rate: -0.648445 m/s,
      LOS rate: 0.015855 deg/s,
      cmd heading: 137.572004 deg,
      new cmd heading: 137.589986 deg.

2025-08-09T16:46:46.612Z,1754758006.612 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.752915
2025-08-09T16:46:46.865Z,1754758006.865 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.005764
2025-08-09T16:46:46.910Z,1754758006.910 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-09T16:46:46.912Z,1754758006.912 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 311.70 m.
2025-08-09T16:46:46.923Z,1754758006.923 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 311.700012 m,
      nav range: 289.244446 m,
      bearing: 139.524063 deg,
      approach rate: -0.603525 m/s,
      LOS rate: 0.014935 deg/s,
      cmd heading: 137.589981 deg,
      new cmd heading: 137.611409 deg.

2025-08-09T16:46:47.115Z,1754758007.115 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.256731
2025-08-09T16:46:47.240Z,1754758007.240 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 311.70 m.
2025-08-09T16:46:47.243Z,1754758007.243 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 311.700012 m,
      nav range: 289.004425 m,
      bearing: 139.529994 deg,
      approach rate: -0.731945 m/s,
      LOS rate: 0.018101 deg/s,
      cmd heading: 137.611414 deg,
      new cmd heading: 137.629221 deg.

2025-08-09T16:46:47.367Z,1754758007.367 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.508690
2025-08-09T16:46:47.619Z,1754758007.619 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.760732
2025-08-09T16:46:47.656Z,1754758007.656 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 311.70 m.
2025-08-09T16:46:47.662Z,1754758007.662 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 311.700012 m,
      nav range: 288.731659 m,
      bearing: 139.536702 deg,
      approach rate: -0.656774 m/s,
      LOS rate: 0.016166 deg/s,
      cmd heading: 137.629227 deg,
      new cmd heading: 137.649369 deg.

2025-08-09T16:46:47.872Z,1754758007.872 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.013065
2025-08-09T16:46:48.081Z,1754758008.081 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 311.70 m.
2025-08-09T16:46:48.083Z,1754758008.083 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 311.700012 m,
      nav range: 288.457764 m,
      bearing: 139.542948 deg,
      approach rate: -0.644601 m/s,
      LOS rate: 0.014715 deg/s,
      cmd heading: 137.649376 deg,
      new cmd heading: 137.668133 deg.

2025-08-09T16:46:48.124Z,1754758008.124 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.265149
2025-08-09T16:46:48.375Z,1754758008.375 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.516733
2025-08-09T16:46:48.452Z,1754758008.452 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 311.70 m.
2025-08-09T16:46:48.459Z,1754758008.459 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 311.700012 m,
      nav range: 288.218323 m,
      bearing: 139.548366 deg,
      approach rate: -0.643984 m/s,
      LOS rate: 0.014585 deg/s,
      cmd heading: 137.668132 deg,
      new cmd heading: 137.684400 deg.

2025-08-09T16:46:48.628Z,1754758008.628 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.769586
2025-08-09T16:46:48.879Z,1754758008.879 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.020780
2025-08-09T16:46:48.891Z,1754758008.891 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 311.70 m.
2025-08-09T16:46:48.894Z,1754758008.894 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 311.700012 m,
      nav range: 287.939972 m,
      bearing: 139.554321 deg,
      approach rate: -0.633983 m/s,
      LOS rate: 0.013575 deg/s,
      cmd heading: 137.684401 deg,
      new cmd heading: 137.702282 deg.

2025-08-09T16:46:49.131Z,1754758009.131 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.272770
2025-08-09T16:46:49.260Z,1754758009.260 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-09T16:46:49.263Z,1754758009.263 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 311.70 m.
2025-08-09T16:46:49.265Z,1754758009.265 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 311.700012 m,
      nav range: 287.704865 m,
      bearing: 139.559303 deg,
      approach rate: -0.633672 m/s,
      LOS rate: 0.013439 deg/s,
      cmd heading: 137.702283 deg,
      new cmd heading: 137.717241 deg.

2025-08-09T16:46:49.383Z,1754758009.383 [DAT](INFO): DAT read: Rx Time:16:46:48.2010

2025-08-09T16:46:49.384Z,1754758009.384 [DAT](INFO): Rx dataTimestamp_ set to:1754758009.383550
2025-08-09T16:46:49.384Z,1754758009.384 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.525826
2025-08-09T16:46:49.635Z,1754758009.635 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.776866
2025-08-09T16:46:49.661Z,1754758009.661 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 311.70 m.
2025-08-09T16:46:49.684Z,1754758009.684 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 311.700012 m,
      nav range: 287.451752 m,
      bearing: 139.564632 deg,
      approach rate: -0.634961 m/s,
      LOS rate: 0.013379 deg/s,
      cmd heading: 137.717241 deg,
      new cmd heading: 137.733240 deg.

2025-08-09T16:46:49.895Z,1754758009.895 [DAT](INFO): DAT read: 16:46:48.2010 LVL= 19568, 25969, 21746, 25539, AGC= 70, IDX= 338,-0.34,-2.749, 1.947,-2.604, 2.911, PHS= 0.725,-0.919, 0.725, RAW= 150.0,  -6.5, CAL= 150.0,  -7.9, ROT=   0.0,   7.9

2025-08-09T16:46:49.897Z,1754758009.897 [DAT](INFO): got valid direction response:
 16:46:48.2010 LVL= 19568, 25969, 21746, 25539, AGC= 70, IDX= 338,-0.34,-2.749, 1.947,-2.604, 2.911, PHS= 0.725,-0.919, 0.725, RAW= 150.0,  -6.5, CAL= 150.0,  -7.9, ROT=   0.0,   7.9

2025-08-09T16:46:49.898Z,1754758009.898 [DAT](INFO): DAT read: Bearing 288.1,   0.1 (Local)

2025-08-09T16:46:49.899Z,1754758009.899 [DAT](INFO): Local bearing/azimuth received:
 Bearing 288.1,   0.1 (Local)

2025-08-09T16:46:49.901Z,1754758009.901 [DAT](INFO): DAT read: Range 11 to 50 : 301.5 m  (Round-trip  402.1 ms) speed  0.2 m/s

2025-08-09T16:46:49.902Z,1754758009.902 [DAT](INFO): DAT read: user:95>

2025-08-09T16:46:49.932Z,1754758009.932 [DAT](INFO): DAT read: Tx time:16:46:49.2948

2025-08-09T16:46:49.932Z,1754758009.932 [DAT](INFO): Ping request sent.
2025-08-09T16:46:49.932Z,1754758009.932 [DAT](INFO): transmitted an acoustic signal
2025-08-09T16:46:49.932Z,1754758009.932 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-09T16:46:49.933Z,1754758009.933 [DAT](INFO): direction in FSK: [0.990509,0.000000,-0.137445]
2025-08-09T16:46:49.934Z,1754758009.934 [DAT](INFO): publishing transmit ping time
2025-08-09T16:46:49.934Z,1754758009.934 [DAT](INFO): publishing direction and range info
2025-08-09T16:46:49.937Z,1754758009.937 [DAT](INFO): publishing transmit ping time
2025-08-09T16:46:49.937Z,1754758009.937 [DAT](INFO): publishing direction and range info
2025-08-09T16:46:50.112Z,1754758010.112 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 301.500000 m,
      deltaT: 16.378554 s,
      deltaX: -10.200012 m,
      approachRate: -0.622766 m/s,
      rangeRepo size: 4

2025-08-09T16:46:50.115Z,1754758010.115 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 301.500000 m,
      bearing: 139.570865 deg,
      lat: 36.905949 deg,
      lon: -122.116020 deg,
      deltaT: 16.378554 s,
      deltaX: -10.200012 m,
      approachRate: -0.622766 m/s,
      posRepo size: 4

2025-08-09T16:46:50.115Z,1754758010.115 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 301.50 m.
2025-08-09T16:46:50.118Z,1754758010.118 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 301.500000 m,
      nav range: 287.182709 m,
      bearing: 139.570865 deg,
      approach rate: 0.000210 m/s,
      LOS rate: 0.013379 deg/s,
      cmd heading: 137.733237 deg,
      new cmd heading: 137.751320 deg.

2025-08-09T16:46:50.474Z,1754758010.474 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 301.50 m.
2025-08-09T16:46:50.477Z,1754758010.477 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 301.500000 m,
      nav range: 286.959747 m,
      bearing: 139.575957 deg,
      approach rate: -0.614957 m/s,
      LOS rate: 0.014058 deg/s,
      cmd heading: 137.751323 deg,
      new cmd heading: 137.766614 deg.

2025-08-09T16:46:50.566Z,1754758010.566 [CBIT](INFO): Clearing failed state for component DockingStepper
2025-08-09T16:46:50.566Z,1754758010.566 [DockingStepper] No Fault, FailCount= 1
2025-08-09T16:46:50.916Z,1754758010.916 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 301.50 m.
2025-08-09T16:46:50.919Z,1754758010.919 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 301.500000 m,
      nav range: 286.680420 m,
      bearing: 139.582899 deg,
      approach rate: -0.631977 m/s,
      LOS rate: 0.015720 deg/s,
      cmd heading: 137.766609 deg,
      new cmd heading: 137.787454 deg.

2025-08-09T16:46:50.956Z,1754758010.956 [DockingStepper](DEBUG): Initializing EZServoServo.
2025-08-09T16:46:51.075Z,1754758011.075 [DockingStepper](DEBUG): Initializing DockingStepper.
2025-08-09T16:46:51.273Z,1754758011.273 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-09T16:46:51.275Z,1754758011.275 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 301.50 m.
2025-08-09T16:46:51.278Z,1754758011.278 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 301.500000 m,
      nav range: 286.456024 m,
      bearing: 139.588451 deg,
      approach rate: -0.624364 m/s,
      LOS rate: 0.015462 deg/s,
      cmd heading: 137.787455 deg,
      new cmd heading: 137.804126 deg.

2025-08-09T16:46:51.399Z,1754758011.399 [DAT](INFO): ****** received valid address query ******
2025-08-09T16:46:51.399Z,1754758011.399 [DAT](INFO): ****** received valid ping request ******
2025-08-09T16:46:51.400Z,1754758011.400 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-09T16:46:51.653Z,1754758011.653 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.721186
2025-08-09T16:46:51.729Z,1754758011.729 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 301.50 m.
2025-08-09T16:46:51.736Z,1754758011.736 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 301.500000 m,
      nav range: 286.186829 m,
      bearing: 139.595124 deg,
      approach rate: -0.594731 m/s,
      LOS rate: 0.014756 deg/s,
      cmd heading: 137.804121 deg,
      new cmd heading: 137.824157 deg.

2025-08-09T16:46:51.907Z,1754758011.907 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.975268
2025-08-09T16:46:52.138Z,1754758012.138 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 301.50 m.
2025-08-09T16:46:52.141Z,1754758012.141 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 301.500000 m,
      nav range: 285.936066 m,
      bearing: 139.600691 deg,
      approach rate: -0.642786 m/s,
      LOS rate: 0.014284 deg/s,
      cmd heading: 137.824161 deg,
      new cmd heading: 137.840878 deg.

2025-08-09T16:46:52.159Z,1754758012.159 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.227253
2025-08-09T16:46:52.412Z,1754758012.412 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.479424
2025-08-09T16:46:52.517Z,1754758012.517 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 301.50 m.
2025-08-09T16:46:52.536Z,1754758012.536 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 301.500000 m,
      nav range: 285.693604 m,
      bearing: 139.606069 deg,
      approach rate: -0.608107 m/s,
      LOS rate: 0.013499 deg/s,
      cmd heading: 137.840881 deg,
      new cmd heading: 137.857027 deg.

2025-08-09T16:46:52.664Z,1754758012.664 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.731434
2025-08-09T16:46:52.915Z,1754758012.915 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.983261
2025-08-09T16:46:52.948Z,1754758012.948 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 301.50 m.
2025-08-09T16:46:52.951Z,1754758012.951 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 301.500000 m,
      nav range: 285.434204 m,
      bearing: 139.612469 deg,
      approach rate: -0.601506 m/s,
      LOS rate: 0.014854 deg/s,
      cmd heading: 137.857027 deg,
      new cmd heading: 137.876244 deg.

2025-08-09T16:46:53.171Z,1754758013.171 [DAT](INFO): DAT read: Rx Time:16:46:52.0980

2025-08-09T16:46:53.171Z,1754758013.171 [DAT](INFO): Rx dataTimestamp_ set to:1754758013.171144
2025-08-09T16:46:53.172Z,1754758013.172 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.240191
2025-08-09T16:46:53.350Z,1754758013.350 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-09T16:46:53.352Z,1754758013.352 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 301.50 m.
2025-08-09T16:46:53.355Z,1754758013.355 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 301.500000 m,
      nav range: 285.191315 m,
      bearing: 139.618472 deg,
      approach rate: -0.601540 m/s,
      LOS rate: 0.014880 deg/s,
      cmd heading: 137.876248 deg,
      new cmd heading: 137.894273 deg.

2025-08-09T16:46:53.419Z,1754758013.419 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.487310
2025-08-09T16:46:53.677Z,1754758013.677 [DAT](INFO): DAT read: 16:46:52.0980 LVL= 28432, 32753, 32754, 32755, AGC= 70, IDX= 403,-0.43, 2.867, 1.189, 2.986, 2.261, PHS= 0.707,-1.027, 0.681, RAW= 149.2,  -4.2, CAL= 148.9,  -5.3, ROT=   1.1,   5.3

2025-08-09T16:46:53.678Z,1754758013.678 [DAT](INFO): got valid direction response:
 16:46:52.0980 LVL= 28432, 32753, 32754, 32755, AGC= 70, IDX= 403,-0.43, 2.867, 1.189, 2.986, 2.261, PHS= 0.707,-1.027, 0.681, RAW= 149.2,  -4.2, CAL= 148.9,  -5.3, ROT=   1.1,   5.3

2025-08-09T16:46:53.679Z,1754758013.679 [DAT](INFO): DAT read: Bearing 291.4,  -0.7 (Local)

2025-08-09T16:46:53.679Z,1754758013.679 [DAT](INFO): Local bearing/azimuth received:
 Bearing 291.4,  -0.7 (Local)

2025-08-09T16:46:53.681Z,1754758013.681 [DAT](INFO): DAT read: Range 11 to 50 : 299.3 m  (Round-trip  399.1 ms) speed  0.1 m/s

2025-08-09T16:46:53.682Z,1754758013.682 [DAT](INFO): DAT read: user:96>

2025-08-09T16:46:53.682Z,1754758013.682 [DAT](INFO): DAT read: Tx time:16:46:53.1948

2025-08-09T16:46:53.683Z,1754758013.683 [DAT](INFO): Ping request sent.
2025-08-09T16:46:53.683Z,1754758013.683 [DAT](INFO): transmitted an acoustic signal
2025-08-09T16:46:53.683Z,1754758013.683 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-09T16:46:53.684Z,1754758013.684 [DAT](INFO): direction in FSK: [0.995541,0.019115,-0.092371]
2025-08-09T16:46:53.684Z,1754758013.684 [DAT](INFO): publishing transmit ping time
2025-08-09T16:46:53.684Z,1754758013.684 [DAT](INFO): publishing direction and range info
2025-08-09T16:46:53.688Z,1754758013.688 [DAT](INFO): publishing transmit ping time
2025-08-09T16:46:53.688Z,1754758013.688 [DAT](INFO): publishing direction and range info
2025-08-09T16:46:53.901Z,1754758013.901 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 299.299988 m,
      deltaT: 3.783683 s,
      deltaX: -2.200012 m,
      approachRate: -0.581447 m/s,
      rangeRepo size: 4

2025-08-09T16:46:53.908Z,1754758013.908 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 299.299988 m,
      bearing: 137.303376 deg,
      lat: 36.905949 deg,
      lon: -122.115844 deg,
      deltaT: 3.783683 s,
      deltaX: -2.200012 m,
      approachRate: -0.581447 m/s,
      posRepo size: 4

2025-08-09T16:46:53.908Z,1754758013.908 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 299.30 m.
2025-08-09T16:46:53.915Z,1754758013.915 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 299.299988 m,
      nav range: 295.324677 m,
      bearing: 137.303376 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.014880 deg/s,
      cmd heading: 137.894279 deg,
      new cmd heading: 137.918742 deg.

2025-08-09T16:46:54.262Z,1754758014.262 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 299.30 m.
2025-08-09T16:46:54.265Z,1754758014.265 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 299.299988 m,
      nav range: 295.054199 m,
      bearing: 137.307529 deg,
      approach rate: -0.747584 m/s,
      LOS rate: 0.011488 deg/s,
      cmd heading: 137.918745 deg,
      new cmd heading: 137.931214 deg.

2025-08-09T16:46:54.622Z,1754758014.622 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 299.30 m.
2025-08-09T16:46:54.624Z,1754758014.624 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 299.299988 m,
      nav range: 294.827881 m,
      bearing: 137.310950 deg,
      approach rate: -0.629092 m/s,
      LOS rate: 0.009517 deg/s,
      cmd heading: 137.931217 deg,
      new cmd heading: 137.941488 deg.

2025-08-09T16:46:54.639Z,1754758014.639 [DockingStepper](INFO): Changing to mode: 1
2025-08-09T16:46:55.058Z,1754758015.058 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 299.30 m.
2025-08-09T16:46:55.072Z,1754758015.072 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 299.299988 m,
      nav range: 294.563232 m,
      bearing: 137.314154 deg,
      approach rate: -0.606933 m/s,
      LOS rate: 0.007354 deg/s,
      cmd heading: 137.941490 deg,
      new cmd heading: 137.951110 deg.

2025-08-09T16:46:55.423Z,1754758015.423 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-09T16:46:55.425Z,1754758015.425 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 299.30 m.
2025-08-09T16:46:55.428Z,1754758015.428 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 299.299988 m,
      nav range: 294.316925 m,
      bearing: 137.317109 deg,
      approach rate: -0.670715 m/s,
      LOS rate: 0.008056 deg/s,
      cmd heading: 137.951107 deg,
      new cmd heading: 137.959981 deg.

2025-08-09T16:46:55.435Z,1754758015.435 [DAT](INFO): ****** received valid address query ******
2025-08-09T16:46:55.435Z,1754758015.435 [DAT](INFO): ****** received valid ping request ******
2025-08-09T16:46:55.435Z,1754758015.435 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-09T16:46:55.688Z,1754758015.688 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.004795
2025-08-09T16:46:55.914Z,1754758015.914 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 299.30 m.
2025-08-09T16:46:55.916Z,1754758015.916 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 299.299988 m,
      nav range: 293.999908 m,
      bearing: 137.321377 deg,
      approach rate: -0.648731 m/s,
      LOS rate: 0.008743 deg/s,
      cmd heading: 137.959986 deg,
      new cmd heading: 137.972803 deg.

2025-08-09T16:46:55.939Z,1754758015.939 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.256702
2025-08-09T16:46:56.192Z,1754758016.192 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.509426
2025-08-09T16:46:56.316Z,1754758016.316 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 299.30 m.
2025-08-09T16:46:56.322Z,1754758016.322 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 299.299988 m,
      nav range: 293.752197 m,
      bearing: 137.324692 deg,
      approach rate: -0.616005 m/s,
      LOS rate: 0.008250 deg/s,
      cmd heading: 137.972799 deg,
      new cmd heading: 137.982752 deg.

2025-08-09T16:46:56.443Z,1754758016.443 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.760630
2025-08-09T16:46:56.681Z,1754758016.681 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 299.30 m.
2025-08-09T16:46:56.684Z,1754758016.684 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 299.299988 m,
      nav range: 293.504364 m,
      bearing: 137.327975 deg,
      approach rate: -0.683340 m/s,
      LOS rate: 0.009060 deg/s,
      cmd heading: 137.982758 deg,
      new cmd heading: 137.992615 deg.

2025-08-09T16:46:56.695Z,1754758016.695 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.012507
2025-08-09T16:46:56.948Z,1754758016.948 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.264781
2025-08-09T16:46:57.153Z,1754758017.153 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 299.30 m.
2025-08-09T16:46:57.176Z,1754758017.176 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 299.299988 m,
      nav range: 293.196594 m,
      bearing: 137.331646 deg,
      approach rate: -0.648569 m/s,
      LOS rate: 0.007744 deg/s,
      cmd heading: 137.992620 deg,
      new cmd heading: 138.003645 deg.

2025-08-09T16:46:57.199Z,1754758017.199 [DAT](INFO): DAT read: Rx Time:16:46:55.9952

2025-08-09T16:46:57.200Z,1754758017.200 [DAT](INFO): Rx dataTimestamp_ set to:1754758017.199483
2025-08-09T16:46:57.200Z,1754758017.200 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.517600
2025-08-09T16:46:57.451Z,1754758017.451 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.768662
2025-08-09T16:46:57.572Z,1754758017.572 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-09T16:46:57.574Z,1754758017.574 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 299.30 m.
2025-08-09T16:46:57.580Z,1754758017.580 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 299.299988 m,
      nav range: 292.924408 m,
      bearing: 137.334853 deg,
      approach rate: -0.646874 m/s,
      LOS rate: 0.007629 deg/s,
      cmd heading: 138.003644 deg,
      new cmd heading: 138.013274 deg.

2025-08-09T16:46:57.713Z,1754758017.713 [DAT](INFO): DAT read: 16:46:55.9952 LVL= 23632, 28049, 26930, 32755, AGC= 73, IDX= 406, 0.31,-0.374,-2.177,-0.206,-0.662, PHS= 0.390,-1.469, 0.412, RAW= 150.6,   7.2, CAL= 150.0,   7.6, ROT=   0.0,  -7.6

2025-08-09T16:46:57.714Z,1754758017.714 [DAT](INFO): got valid direction response:
 16:46:55.9952 LVL= 23632, 28049, 26930, 32755, AGC= 73, IDX= 406, 0.31,-0.374,-2.177,-0.206,-0.662, PHS= 0.390,-1.469, 0.412, RAW= 150.6,   7.2, CAL= 150.0,   7.6, ROT=   0.0,  -7.6

2025-08-09T16:46:57.715Z,1754758017.715 [DAT](INFO): DAT read: Bearing 304.4,  -4.3 (Local)

2025-08-09T16:46:57.716Z,1754758017.716 [DAT](INFO): Local bearing/azimuth received:
 Bearing 304.4,  -4.3 (Local)

2025-08-09T16:46:57.717Z,1754758017.717 [DAT](INFO): DAT read: Range 11 to 50 : 297.1 m  (Round-trip  396.2 ms) speed  0.8 m/s

2025-08-09T16:46:57.718Z,1754758017.718 [DAT](INFO): DAT read: user:97>

2025-08-09T16:46:57.719Z,1754758017.719 [DAT](INFO): DAT read: Tx time:16:46:57.0948

2025-08-09T16:46:57.719Z,1754758017.719 [DAT](INFO): Ping request sent.
2025-08-09T16:46:57.719Z,1754758017.719 [DAT](INFO): transmitted an acoustic signal
2025-08-09T16:46:57.720Z,1754758017.720 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-09T16:46:57.720Z,1754758017.720 [DAT](INFO): direction in FSK: [0.991216,0.000000,0.132256]
2025-08-09T16:46:57.721Z,1754758017.721 [DAT](INFO): publishing transmit ping time
2025-08-09T16:46:57.721Z,1754758017.721 [DAT](INFO): publishing direction and range info
2025-08-09T16:46:57.724Z,1754758017.724 [DAT](INFO): publishing transmit ping time
2025-08-09T16:46:57.724Z,1754758017.724 [DAT](INFO): publishing direction and range info
2025-08-09T16:46:58.004Z,1754758018.004 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 297.100006 m,
      deltaT: 4.031948 s,
      deltaX: -2.199982 m,
      approachRate: -0.545637 m/s,
      rangeRepo size: 4

2025-08-09T16:46:58.006Z,1754758018.006 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 297.100006 m,
      bearing: 137.478761 deg,
      lat: 36.905939 deg,
      lon: -122.115844 deg,
      deltaT: 4.031948 s,
      deltaX: -2.199982 m,
      approachRate: -0.545637 m/s,
      posRepo size: 4

2025-08-09T16:46:58.011Z,1754758018.011 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 297.10 m.
2025-08-09T16:46:58.013Z,1754758018.013 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 297.100006 m,
      nav range: 293.423859 m,
      bearing: 137.478761 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.007629 deg/s,
      cmd heading: 138.013275 deg,
      new cmd heading: 138.023107 deg.

2025-08-09T16:46:58.330Z,1754758018.330 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 297.10 m.
2025-08-09T16:46:58.332Z,1754758018.332 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 297.100006 m,
      nav range: 293.191010 m,
      bearing: 137.480026 deg,
      approach rate: -0.713484 m/s,
      LOS rate: 0.003877 deg/s,
      cmd heading: 138.023110 deg,
      new cmd heading: 138.026907 deg.

2025-08-09T16:46:58.714Z,1754758018.714 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 297.10 m.
2025-08-09T16:46:58.717Z,1754758018.717 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 297.100006 m,
      nav range: 292.929443 m,
      bearing: 137.481407 deg,
      approach rate: -0.680007 m/s,
      LOS rate: 0.003593 deg/s,
      cmd heading: 138.026908 deg,
      new cmd heading: 138.031054 deg.

2025-08-09T16:46:59.146Z,1754758019.146 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 297.10 m.
2025-08-09T16:46:59.149Z,1754758019.149 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 297.100006 m,
      nav range: 292.643463 m,
      bearing: 137.483389 deg,
      approach rate: -0.662143 m/s,
      LOS rate: 0.004594 deg/s,
      cmd heading: 138.031061 deg,
      new cmd heading: 138.037013 deg.

2025-08-09T16:46:59.528Z,1754758019.528 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 297.10 m.
2025-08-09T16:46:59.532Z,1754758019.532 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 297.100006 m,
      nav range: 292.391052 m,
      bearing: 137.485117 deg,
      approach rate: -0.660288 m/s,
      LOS rate: 0.004525 deg/s,
      cmd heading: 138.037017 deg,
      new cmd heading: 138.042206 deg.

2025-08-09T16:46:59.971Z,1754758019.971 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-09T16:46:59.973Z,1754758019.973 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 297.10 m.
2025-08-09T16:46:59.975Z,1754758019.975 [DAT](INFO): ****** received valid address query ******
2025-08-09T16:46:59.975Z,1754758019.975 [DAT](INFO): ****** received valid ping request ******
2025-08-09T16:46:59.975Z,1754758019.975 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-09T16:46:59.996Z,1754758019.996 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 297.100006 m,
      nav range: 292.096497 m,
      bearing: 137.487743 deg,
      approach rate: -0.661914 m/s,
      LOS rate: 0.005906 deg/s,
      cmd heading: 138.042208 deg,
      new cmd heading: 138.050093 deg.

2025-08-09T16:47:00.227Z,1754758020.227 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.508052
2025-08-09T16:47:00.344Z,1754758020.344 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 297.10 m.
2025-08-09T16:47:00.356Z,1754758020.356 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 297.100006 m,
      nav range: 291.850616 m,
      bearing: 137.489949 deg,
      approach rate: -0.662805 m/s,
      LOS rate: 0.005952 deg/s,
      cmd heading: 138.050090 deg,
      new cmd heading: 138.056714 deg.

2025-08-09T16:47:00.479Z,1754758020.479 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.760182
2025-08-09T16:47:00.731Z,1754758020.731 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.011909
2025-08-09T16:47:00.750Z,1754758020.750 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 297.10 m.
2025-08-09T16:47:00.753Z,1754758020.753 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 297.100006 m,
      nav range: 291.595764 m,
      bearing: 137.492231 deg,
      approach rate: -0.628410 m/s,
      LOS rate: 0.005631 deg/s,
      cmd heading: 138.056715 deg,
      new cmd heading: 138.063566 deg.

2025-08-09T16:47:00.983Z,1754758020.983 [DAT](INFO): DAT read: Rx Time:16:46:59.9107

2025-08-09T16:47:00.984Z,1754758020.984 [DAT](INFO): Rx dataTimestamp_ set to:1754758020.983530
2025-08-09T16:47:00.984Z,1754758020.984 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.265137
2025-08-09T16:47:01.167Z,1754758021.167 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 297.10 m.
2025-08-09T16:47:01.170Z,1754758021.170 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 297.100006 m,
      nav range: 291.326202 m,
      bearing: 137.496459 deg,
      approach rate: -0.647016 m/s,
      LOS rate: 0.010157 deg/s,
      cmd heading: 138.063572 deg,
      new cmd heading: 138.076268 deg.

2025-08-09T16:47:01.236Z,1754758021.236 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.516328
2025-08-09T16:47:01.493Z,1754758021.493 [DAT](INFO): DAT read: 16:46:59.9107 LVL= 20464, 29985, 23218, 21971, AGC= 76, IDX=  85,-0.21,-2.715, 2.034,-2.581, 3.030, PHS= 0.640,-0.951, 0.628, RAW= 149.6,  -4.1, CAL= 149.2,  -5.1, ROT=   0.8,   5.1

2025-08-09T16:47:01.494Z,1754758021.494 [DAT](INFO): got valid direction response:
 16:46:59.9107 LVL= 20464, 29985, 23218, 21971, AGC= 76, IDX=  85,-0.21,-2.715, 2.034,-2.581, 3.030, PHS= 0.640,-0.951, 0.628, RAW= 149.6,  -4.1, CAL= 149.2,  -5.1, ROT=   0.8,   5.1

2025-08-09T16:47:01.495Z,1754758021.495 [DAT](INFO): DAT read: Bearing 292.0,  -3.0 (Local)

2025-08-09T16:47:01.495Z,1754758021.495 [DAT](INFO): Local bearing/azimuth received:
 Bearing 292.0,  -3.0 (Local)

2025-08-09T16:47:01.497Z,1754758021.497 [DAT](INFO): DAT read: Range 11 to 50 : 308.8 m  (Round-trip  411.8 ms) speed  0.2 m/s

2025-08-09T16:47:01.498Z,1754758021.498 [DAT](INFO): DAT read: user:98>

2025-08-09T16:47:01.498Z,1754758021.498 [DAT](INFO): DAT read: Tx time:16:47:00.9948

2025-08-09T16:47:01.499Z,1754758021.499 [DAT](INFO): Ping request sent.
2025-08-09T16:47:01.499Z,1754758021.499 [DAT](INFO): transmitted an acoustic signal
2025-08-09T16:47:01.499Z,1754758021.499 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-09T16:47:01.500Z,1754758021.500 [DAT](INFO): direction in FSK: [0.995944,0.013907,-0.088894]
2025-08-09T16:47:01.500Z,1754758021.500 [DAT](INFO): publishing transmit ping time
2025-08-09T16:47:01.500Z,1754758021.500 [DAT](INFO): publishing direction and range info
2025-08-09T16:47:01.525Z,1754758021.525 [DAT](INFO): publishing transmit ping time
2025-08-09T16:47:01.525Z,1754758021.525 [DAT](INFO): publishing direction and range info
2025-08-09T16:47:01.619Z,1754758021.619 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 308.799988 m,
      deltaT: 3.784007 s,
      deltaX: 11.699982 m,
      approachRate: 3.091956 m/s,
      rangeRepo size: 4

2025-08-09T16:47:01.621Z,1754758021.621 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 308.799988 m,
      bearing: 137.419953 deg,
      lat: 36.905926 deg,
      lon: -122.115822 deg,
      deltaT: 3.784007 s,
      deltaX: 11.699982 m,
      approachRate: 3.091956 m/s,
      posRepo size: 4

2025-08-09T16:47:01.621Z,1754758021.621 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 308.80 m.
2025-08-09T16:47:01.628Z,1754758021.628 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 308.799988 m,
      nav range: 293.457214 m,
      bearing: 137.419953 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.010157 deg/s,
      cmd heading: 138.076263 deg,
      new cmd heading: 138.089888 deg.

2025-08-09T16:47:02.009Z,1754758022.009 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-09T16:47:02.027Z,1754758022.027 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 308.80 m.
2025-08-09T16:47:02.030Z,1754758022.030 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 308.799988 m,
      nav range: 293.211548 m,
      bearing: 137.424988 deg,
      approach rate: -0.593963 m/s,
      LOS rate: 0.012183 deg/s,
      cmd heading: 138.089882 deg,
      new cmd heading: 138.104999 deg.

2025-08-09T16:47:02.243Z,1754758022.243 [DAT](INFO): ****** received valid address query ******
2025-08-09T16:47:02.243Z,1754758022.243 [DAT](INFO): ****** received valid ping request ******
2025-08-09T16:47:02.243Z,1754758022.243 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-09T16:47:02.396Z,1754758022.396 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 308.80 m.
2025-08-09T16:47:02.399Z,1754758022.399 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 308.799988 m,
      nav range: 292.982635 m,
      bearing: 137.429701 deg,
      approach rate: -0.620382 m/s,
      LOS rate: 0.012784 deg/s,
      cmd heading: 138.105004 deg,
      new cmd heading: 138.119155 deg.

2025-08-09T16:47:02.495Z,1754758022.495 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.996542
2025-08-09T16:47:02.747Z,1754758022.747 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.248565
2025-08-09T16:47:02.829Z,1754758022.829 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 308.80 m.
2025-08-09T16:47:02.836Z,1754758022.836 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 308.799988 m,
      nav range: 292.727570 m,
      bearing: 137.434982 deg,
      approach rate: -0.589759 m/s,
      LOS rate: 0.012220 deg/s,
      cmd heading: 138.119156 deg,
      new cmd heading: 138.135012 deg.

2025-08-09T16:47:02.999Z,1754758022.999 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.500477
2025-08-09T16:47:03.233Z,1754758023.233 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 308.80 m.
2025-08-09T16:47:03.240Z,1754758023.240 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 308.799988 m,
      nav range: 292.488495 m,
      bearing: 137.440556 deg,
      approach rate: -0.591674 m/s,
      LOS rate: 0.013807 deg/s,
      cmd heading: 138.135016 deg,
      new cmd heading: 138.151753 deg.

2025-08-09T16:47:03.251Z,1754758023.251 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.752638
2025-08-09T16:47:03.504Z,1754758023.504 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.004977
2025-08-09T16:47:03.598Z,1754758023.598 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 308.80 m.
2025-08-09T16:47:03.601Z,1754758023.601 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 308.799988 m,
      nav range: 292.251770 m,
      bearing: 137.446103 deg,
      approach rate: -0.648935 m/s,
      LOS rate: 0.015219 deg/s,
      cmd heading: 138.151750 deg,
      new cmd heading: 138.168405 deg.

2025-08-09T16:47:03.755Z,1754758023.755 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.256607
2025-08-09T16:47:04.008Z,1754758024.008 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.508856
2025-08-09T16:47:04.035Z,1754758024.035 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-09T16:47:04.037Z,1754758024.037 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 308.80 m.
2025-08-09T16:47:04.060Z,1754758024.060 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 308.799988 m,
      nav range: 291.987213 m,
      bearing: 137.453899 deg,
      approach rate: -0.601655 m/s,
      LOS rate: 0.017745 deg/s,
      cmd heading: 138.168402 deg,
      new cmd heading: 138.191811 deg.

2025-08-09T16:47:04.260Z,1754758024.260 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.761156
2025-08-09T16:47:04.415Z,1754758024.415 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 308.80 m.
2025-08-09T16:47:04.418Z,1754758024.418 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 308.799988 m,
      nav range: 291.766907 m,
      bearing: 137.460404 deg,
      approach rate: -0.583051 m/s,
      LOS rate: 0.017228 deg/s,
      cmd heading: 138.191816 deg,
      new cmd heading: 138.211345 deg.

2025-08-09T16:47:04.512Z,1754758024.512 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.013116
2025-08-09T16:47:04.765Z,1754758024.765 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.265649
2025-08-09T16:47:04.882Z,1754758024.882 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 308.80 m.
2025-08-09T16:47:04.885Z,1754758024.885 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 308.799988 m,
      nav range: 291.508026 m,
      bearing: 137.468061 deg,
      approach rate: -0.559333 m/s,
      LOS rate: 0.016560 deg/s,
      cmd heading: 138.211350 deg,
      new cmd heading: 138.234344 deg.

2025-08-09T16:47:05.015Z,1754758025.015 [DAT](INFO): DAT read: Rx Time:16:47:03.8077

2025-08-09T16:47:05.016Z,1754758025.016 [DAT](INFO): Rx dataTimestamp_ set to:1754758025.015548
2025-08-09T16:47:05.016Z,1754758025.016 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.517631
2025-08-09T16:47:05.237Z,1754758025.237 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 308.80 m.
2025-08-09T16:47:05.240Z,1754758025.240 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 308.799988 m,
      nav range: 291.268097 m,
      bearing: 137.474614 deg,
      approach rate: -0.668563 m/s,
      LOS rate: 0.018274 deg/s,
      cmd heading: 138.234341 deg,
      new cmd heading: 138.254015 deg.

2025-08-09T16:47:05.269Z,1754758025.269 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.769650
2025-08-09T16:47:05.530Z,1754758025.530 [DAT](INFO): DAT read: 16:47:03.8077 LVL= 25248, 29857, 26674, 32755, AGC= 71, IDX= 406, 0.34, 1.834, 0.217, 1.917, 1.249, PHS= 0.688,-0.987, 0.624, RAW= 148.1,  -4.0, CAL= 147.7,  -5.0, ROT=   2.3,   5.0

2025-08-09T16:47:05.531Z,1754758025.531 [DAT](INFO): got valid direction response:
 16:47:03.8077 LVL= 25248, 29857, 26674, 32755, AGC= 71, IDX= 406, 0.34, 1.834, 0.217, 1.917, 1.249, PHS= 0.688,-0.987, 0.624, RAW= 148.1,  -4.0, CAL= 147.7,  -5.0, ROT=   2.3,   5.0

2025-08-09T16:47:05.532Z,1754758025.532 [DAT](INFO): DAT read: Bearing 292.0,  -2.2 (Local)

2025-08-09T16:47:05.532Z,1754758025.532 [DAT](INFO): Local bearing/azimuth received:
 Bearing 292.0,  -2.2 (Local)

2025-08-09T16:47:05.534Z,1754758025.534 [DAT](INFO): DAT read: Range 11 to 50 : 306.5 m  (Round-trip  408.7 ms) speed  0.4 m/s

2025-08-09T16:47:05.543Z,1754758025.543 [DAT](INFO): DAT read: user:99>

2025-08-09T16:47:05.544Z,1754758025.544 [DAT](INFO): DAT read: Tx time:16:47:04.8948

2025-08-09T16:47:05.544Z,1754758025.544 [DAT](INFO): Ping request sent.
2025-08-09T16:47:05.544Z,1754758025.544 [DAT](INFO): transmitted an acoustic signal
2025-08-09T16:47:05.545Z,1754758025.545 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-09T16:47:05.546Z,1754758025.546 [DAT](INFO): direction in FSK: [0.995392,0.039979,-0.087156]
2025-08-09T16:47:05.546Z,1754758025.546 [DAT](INFO): publishing transmit ping time
2025-08-09T16:47:05.546Z,1754758025.546 [DAT](INFO): publishing direction and range info
2025-08-09T16:47:05.549Z,1754758025.549 [DAT](INFO): publishing transmit ping time
2025-08-09T16:47:05.549Z,1754758025.549 [DAT](INFO): publishing direction and range info
2025-08-09T16:47:05.655Z,1754758025.655 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 306.500000 m,
      deltaT: 4.032018 s,
      deltaX: -2.299988 m,
      approachRate: -0.570431 m/s,
      rangeRepo size: 4

2025-08-09T16:47:05.657Z,1754758025.657 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 306.500000 m,
      bearing: 137.963772 deg,
      lat: 36.905895 deg,
      lon: -122.115824 deg,
      deltaT: 4.032018 s,
      deltaX: -2.299988 m,
      approachRate: -0.570431 m/s,
      posRepo size: 4

2025-08-09T16:47:05.662Z,1754758025.662 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 306.50 m.
2025-08-09T16:47:05.665Z,1754758025.665 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 306.500000 m,
      nav range: 293.426086 m,
      bearing: 137.963772 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.018274 deg/s,
      cmd heading: 138.254012 deg,
      new cmd heading: 138.276688 deg.

2025-08-09T16:47:06.079Z,1754758026.079 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-09T16:47:06.081Z,1754758026.081 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 306.50 m.
2025-08-09T16:47:06.084Z,1754758026.084 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 306.500000 m,
      nav range: 293.153015 m,
      bearing: 137.970588 deg,
      approach rate: -0.634582 m/s,
      LOS rate: 0.015853 deg/s,
      cmd heading: 138.276688 deg,
      new cmd heading: 138.297154 deg.

2025-08-09T16:47:06.276Z,1754758026.276 [DAT](INFO): ****** received valid address query ******
2025-08-09T16:47:06.276Z,1754758026.276 [DAT](INFO): ****** received valid ping request ******
2025-08-09T16:47:06.277Z,1754758026.277 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-09T16:47:06.423Z,1754758026.423 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 306.50 m.
2025-08-09T16:47:06.426Z,1754758026.426 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 306.500000 m,
      nav range: 292.943665 m,
      bearing: 137.975802 deg,
      approach rate: -0.611146 m/s,
      LOS rate: 0.015233 deg/s,
      cmd heading: 138.297151 deg,
      new cmd heading: 138.312805 deg.

2025-08-09T16:47:06.528Z,1754758026.528 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.983226
2025-08-09T16:47:06.780Z,1754758026.780 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.234976
2025-08-09T16:47:06.847Z,1754758026.847 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 306.50 m.
2025-08-09T16:47:06.851Z,1754758026.851 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 306.500000 m,
      nav range: 292.688324 m,
      bearing: 137.982142 deg,
      approach rate: -0.603822 m/s,
      LOS rate: 0.015005 deg/s,
      cmd heading: 138.312806 deg,
      new cmd heading: 138.331842 deg.

2025-08-09T16:47:07.032Z,1754758027.032 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.487125
2025-08-09T16:47:07.268Z,1754758027.268 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 306.50 m.
2025-08-09T16:47:07.277Z,1754758027.277 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 306.500000 m,
      nav range: 292.441223 m,
      bearing: 137.986982 deg,
      approach rate: -0.586176 m/s,
      LOS rate: 0.011490 deg/s,
      cmd heading: 138.331849 deg,
      new cmd heading: 138.346380 deg.

2025-08-09T16:47:07.285Z,1754758027.285 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.740159
2025-08-09T16:47:07.535Z,1754758027.535 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.990922
2025-08-09T16:47:07.637Z,1754758027.637 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 306.50 m.
2025-08-09T16:47:07.639Z,1754758027.639 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 306.500000 m,
      nav range: 292.207672 m,
      bearing: 137.991541 deg,
      approach rate: -0.633185 m/s,
      LOS rate: 0.012371 deg/s,
      cmd heading: 138.346383 deg,
      new cmd heading: 138.360073 deg.

2025-08-09T16:47:07.788Z,1754758027.788 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.243799
2025-08-09T16:47:08.047Z,1754758028.047 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.502626
2025-08-09T16:47:08.089Z,1754758028.089 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-09T16:47:08.112Z,1754758028.112 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 306.50 m.
2025-08-09T16:47:08.120Z,1754758028.120 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 306.500000 m,
      nav range: 291.910675 m,
      bearing: 137.994416 deg,
      approach rate: -0.625154 m/s,
      LOS rate: 0.006058 deg/s,
      cmd heading: 138.360071 deg,
      new cmd heading: 138.368705 deg.

2025-08-09T16:47:08.295Z,1754758028.295 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.750788
2025-08-09T16:47:08.450Z,1754758028.450 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 306.50 m.
2025-08-09T16:47:08.453Z,1754758028.453 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 306.500000 m,
      nav range: 291.676208 m,
      bearing: 137.996648 deg,
      approach rate: -0.693270 m/s,
      LOS rate: 0.006605 deg/s,
      cmd heading: 138.368704 deg,
      new cmd heading: 138.375406 deg.

2025-08-09T16:47:08.548Z,1754758028.548 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.003362
2025-08-09T16:47:08.799Z,1754758028.799 [DAT](INFO): DAT read: Rx Time:16:47:07.6855

2025-08-09T16:47:08.800Z,1754758028.800 [DAT](INFO): Rx dataTimestamp_ set to:1754758028.799545
2025-08-09T16:47:08.800Z,1754758028.800 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.255978
2025-08-09T16:47:08.882Z,1754758028.882 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 306.50 m.
2025-08-09T16:47:08.885Z,1754758028.885 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 306.500000 m,
      nav range: 291.411957 m,
      bearing: 137.999125 deg,
      approach rate: -0.617240 m/s,
      LOS rate: 0.005790 deg/s,
      cmd heading: 138.375412 deg,
      new cmd heading: 138.382848 deg.

2025-08-09T16:47:09.051Z,1754758029.051 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.506981
2025-08-09T16:47:09.309Z,1754758029.309 [DAT](INFO): DAT read: 16:47:07.6855 LVL= 22416, 26353, 24418, 29395, AGC= 72, IDX= 211,-0.38,-1.077,-2.791,-0.818,-1.278, PHS= 0.303,-1.468, 0.416, RAW= 153.1,   8.2, CAL= 152.6,   8.8, ROT= 357.4,  -8.8

2025-08-09T16:47:09.310Z,1754758029.310 [DAT](INFO): got valid direction response:
 16:47:07.6855 LVL= 22416, 26353, 24418, 29395, AGC= 72, IDX= 211,-0.38,-1.077,-2.791,-0.818,-1.278, PHS= 0.303,-1.468, 0.416, RAW= 153.1,   8.2, CAL= 152.6,   8.8, ROT= 357.4,  -8.8

2025-08-09T16:47:09.311Z,1754758029.311 [DAT](INFO): DAT read: Bearing 305.0,  -9.2 (Local)

2025-08-09T16:47:09.312Z,1754758029.312 [DAT](INFO): Local bearing/azimuth received:
 Bearing 305.0,  -9.2 (Local)

2025-08-09T16:47:09.313Z,1754758029.313 [DAT](INFO): DAT read: Range 11 to 50 : 289.9 m  (Round-trip  386.6 ms) speed  0.3 m/s

2025-08-09T16:47:09.314Z,1754758029.314 [DAT](INFO): DAT read: user:100>

2025-08-09T16:47:09.315Z,1754758029.315 [DAT](INFO): DAT read: Tx time:16:47:08.7948

2025-08-09T16:47:09.315Z,1754758029.315 [DAT](INFO): Ping request sent.
2025-08-09T16:47:09.315Z,1754758029.315 [DAT](INFO): transmitted an acoustic signal
2025-08-09T16:47:09.316Z,1754758029.316 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-09T16:47:09.317Z,1754758029.317 [DAT](INFO): direction in FSK: [0.987211,-0.044829,0.152986]
2025-08-09T16:47:09.317Z,1754758029.317 [DAT](INFO): publishing transmit ping time
2025-08-09T16:47:09.317Z,1754758029.317 [DAT](INFO): publishing direction and range info
2025-08-09T16:47:09.328Z,1754758029.328 [DAT](INFO): publishing transmit ping time
2025-08-09T16:47:09.328Z,1754758029.328 [DAT](INFO): publishing direction and range info
2025-08-09T16:47:09.364Z,1754758029.364 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 289.899994 m,
      deltaT: 3.784146 s,
      deltaX: -16.600006 m,
      approachRate: -4.386724 m/s,
      rangeRepo size: 4

2025-08-09T16:47:09.371Z,1754758029.371 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 289.899994 m,
      bearing: 138.001012 deg,
      lat: 36.905895 deg,
      lon: -122.115824 deg,
      deltaT: 3.784146 s,
      deltaX: -16.600006 m,
      approachRate: -4.386724 m/s,
      posRepo size: 4

2025-08-09T16:47:09.371Z,1754758029.371 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 289.90 m.
2025-08-09T16:47:09.374Z,1754758029.374 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 289.899994 m,
      nav range: 291.114380 m,
      bearing: 138.001012 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.005790 deg/s,
      cmd heading: 138.382843 deg,
      new cmd heading: 138.391277 deg.

2025-08-09T16:47:09.702Z,1754758029.702 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 289.90 m.
2025-08-09T16:47:09.705Z,1754758029.705 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 289.899994 m,
      nav range: 290.857727 m,
      bearing: 138.002605 deg,
      approach rate: -0.758058 m/s,
      LOS rate: 0.004709 deg/s,
      cmd heading: 138.391271 deg,
      new cmd heading: 138.396054 deg.

2025-08-09T16:47:10.144Z,1754758030.144 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-09T16:47:10.146Z,1754758030.146 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 289.90 m.
2025-08-09T16:47:10.148Z,1754758030.148 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 289.899994 m,
      nav range: 290.564209 m,
      bearing: 138.002780 deg,
      approach rate: -0.662028 m/s,
      LOS rate: 0.000395 deg/s,
      cmd heading: 138.396052 deg,
      new cmd heading: 138.396577 deg.

2025-08-09T16:47:10.315Z,1754758030.315 [DAT](INFO): ****** received valid address query ******
2025-08-09T16:47:10.315Z,1754758030.315 [DAT](INFO): ****** received valid ping request ******
2025-08-09T16:47:10.315Z,1754758030.315 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-09T16:47:10.511Z,1754758030.511 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 289.90 m.
2025-08-09T16:47:10.514Z,1754758030.514 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 289.899994 m,
      nav range: 290.321472 m,
      bearing: 138.002890 deg,
      approach rate: -0.663827 m/s,
      LOS rate: 0.000301 deg/s,
      cmd heading: 138.396571 deg,
      new cmd heading: 138.396901 deg.

2025-08-09T16:47:10.568Z,1754758030.568 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.252520
2025-08-09T16:47:10.819Z,1754758030.819 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.503843
2025-08-09T16:47:10.949Z,1754758030.949 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 289.90 m.
2025-08-09T16:47:10.951Z,1754758030.951 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 289.899994 m,
      nav range: 290.031677 m,
      bearing: 138.002997 deg,
      approach rate: -0.662590 m/s,
      LOS rate: 0.000246 deg/s,
      cmd heading: 138.396899 deg,
      new cmd heading: 138.397222 deg.

2025-08-09T16:47:11.074Z,1754758031.074 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.758267
2025-08-09T16:47:11.327Z,1754758031.327 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.011167
2025-08-09T16:47:11.395Z,1754758031.395 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 289.90 m.
2025-08-09T16:47:11.398Z,1754758031.398 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 289.899994 m,
      nav range: 289.750122 m,
      bearing: 138.002505 deg,
      approach rate: -0.630240 m/s,
      LOS rate: -0.001103 deg/s,
      cmd heading: 138.397227 deg,
      new cmd heading: 138.395749 deg.

2025-08-09T16:47:11.576Z,1754758031.576 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.260566
2025-08-09T16:47:11.827Z,1754758031.827 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.511966
2025-08-09T16:47:11.884Z,1754758031.884 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 289.90 m.
2025-08-09T16:47:11.891Z,1754758031.891 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 289.899994 m,
      nav range: 289.436096 m,
      bearing: 138.001976 deg,
      approach rate: -0.642174 m/s,
      LOS rate: -0.001084 deg/s,
      cmd heading: 138.395752 deg,
      new cmd heading: 138.394162 deg.

2025-08-09T16:47:12.082Z,1754758032.082 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.766222
2025-08-09T16:47:12.305Z,1754758032.305 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-09T16:47:12.307Z,1754758032.307 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 289.90 m.
2025-08-09T16:47:12.310Z,1754758032.310 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 289.899994 m,
      nav range: 289.147766 m,
      bearing: 138.002292 deg,
      approach rate: -0.681501 m/s,
      LOS rate: 0.000749 deg/s,
      cmd heading: 138.394167 deg,
      new cmd heading: 138.395118 deg.

2025-08-09T16:47:12.331Z,1754758032.331 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.015954
2025-08-09T16:47:12.583Z,1754758032.583 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.267966
2025-08-09T16:47:12.682Z,1754758032.682 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 289.90 m.
2025-08-09T16:47:12.685Z,1754758032.685 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 289.899994 m,
      nav range: 288.916290 m,
      bearing: 138.002557 deg,
      approach rate: -0.618252 m/s,
      LOS rate: 0.000707 deg/s,
      cmd heading: 138.395123 deg,
      new cmd heading: 138.395917 deg.

2025-08-09T16:47:12.836Z,1754758032.836 [DAT](INFO): DAT read: Rx Time:16:47:11.6011

2025-08-09T16:47:12.836Z,1754758032.836 [DAT](INFO): Rx dataTimestamp_ set to:1754758032.835948
2025-08-09T16:47:12.837Z,1754758032.837 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.521431
2025-08-09T16:47:13.089Z,1754758033.089 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.773693
2025-08-09T16:47:13.176Z,1754758033.176 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 289.90 m.
2025-08-09T16:47:13.185Z,1754758033.185 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 289.899994 m,
      nav range: 288.607147 m,
      bearing: 138.002912 deg,
      approach rate: -0.625325 m/s,
      LOS rate: 0.000720 deg/s,
      cmd heading: 138.395916 deg,
      new cmd heading: 138.396983 deg.

2025-08-09T16:47:13.345Z,1754758033.345 [DAT](INFO): DAT read: 16:47:11.6011 LVL= 24768, 30945, 27090, 25251, AGC= 68, IDX=  83, 0.24, 0.825,-0.820, 0.949, 0.239, PHS= 0.687,-1.015, 0.665, RAW= 149.4,  -4.0, CAL= 149.0,  -5.1, ROT=   1.0,   5.1

2025-08-09T16:47:13.346Z,1754758033.346 [DAT](INFO): got valid direction response:
 16:47:11.6011 LVL= 24768, 30945, 27090, 25251, AGC= 68, IDX=  83, 0.24, 0.825,-0.820, 0.949, 0.239, PHS= 0.687,-1.015, 0.665, RAW= 149.4,  -4.0, CAL= 149.0,  -5.1, ROT=   1.0,   5.1

2025-08-09T16:47:13.347Z,1754758033.347 [DAT](INFO): DAT read: Bearing 291.0,  -4.4 (Local)

2025-08-09T16:47:13.347Z,1754758033.347 [DAT](INFO): Local bearing/azimuth received:
 Bearing 291.0,  -4.4 (Local)

2025-08-09T16:47:13.349Z,1754758033.349 [DAT](INFO): DAT read: Range 11 to 50 : 301.6 m  (Round-trip  402.2 ms) speed  0.5 m/s

2025-08-09T16:47:13.349Z,1754758033.349 [DAT](INFO): DAT read: user:101>

2025-08-09T16:47:13.351Z,1754758033.351 [DAT](INFO): DAT read: Tx time:16:47:12.6948

2025-08-09T16:47:13.351Z,1754758033.351 [DAT](INFO): Ping request sent.
2025-08-09T16:47:13.351Z,1754758033.351 [DAT](INFO): transmitted an acoustic signal
2025-08-09T16:47:13.351Z,1754758033.351 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-09T16:47:13.352Z,1754758033.352 [DAT](INFO): direction in FSK: [0.995889,0.017383,-0.088894]
2025-08-09T16:47:13.353Z,1754758033.353 [DAT](INFO): publishing transmit ping time
2025-08-09T16:47:13.353Z,1754758033.353 [DAT](INFO): publishing direction and range info
2025-08-09T16:47:13.375Z,1754758033.375 [DAT](INFO): publishing transmit ping time
2025-08-09T16:47:13.376Z,1754758033.376 [DAT](INFO): publishing direction and range info
2025-08-09T16:47:13.546Z,1754758033.546 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 301.600006 m,
      deltaT: 4.035897 s,
      deltaX: 11.700012 m,
      approachRate: 2.898987 m/s,
      rangeRepo size: 4

2025-08-09T16:47:13.548Z,1754758033.548 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 301.600006 m,
      bearing: 138.291240 deg,
      lat: 36.905841 deg,
      lon: -122.115786 deg,
      deltaT: 4.035897 s,
      deltaX: 11.700012 m,
      approachRate: 2.898987 m/s,
      posRepo size: 4

2025-08-09T16:47:13.549Z,1754758033.549 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 301.60 m.
2025-08-09T16:47:13.564Z,1754758033.564 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 301.600006 m,
      nav range: 295.051544 m,
      bearing: 138.291240 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.000720 deg/s,
      cmd heading: 138.396981 deg,
      new cmd heading: 138.397770 deg.

2025-08-09T16:47:13.908Z,1754758033.908 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 301.60 m.
2025-08-09T16:47:13.915Z,1754758033.915 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 301.600006 m,
      nav range: 294.820892 m,
      bearing: 138.291465 deg,
      approach rate: -0.628356 m/s,
      LOS rate: 0.000615 deg/s,
      cmd heading: 138.397774 deg,
      new cmd heading: 138.398450 deg.

2025-08-09T16:47:14.313Z,1754758034.313 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-09T16:47:14.316Z,1754758034.316 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 301.60 m.
2025-08-09T16:47:14.319Z,1754758034.319 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 301.600006 m,
      nav range: 294.553406 m,
      bearing: 138.293800 deg,
      approach rate: -0.656886 m/s,
      LOS rate: 0.005738 deg/s,
      cmd heading: 138.398457 deg,
      new cmd heading: 138.405466 deg.

2025-08-09T16:47:14.347Z,1754758034.347 [DAT](INFO): ****** received valid address query ******
2025-08-09T16:47:14.347Z,1754758034.347 [DAT](INFO): ****** received valid ping request ******
2025-08-09T16:47:14.347Z,1754758034.347 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-09T16:47:14.599Z,1754758034.599 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.248116
2025-08-09T16:47:14.688Z,1754758034.688 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 301.60 m.
2025-08-09T16:47:14.691Z,1754758034.691 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 301.600006 m,
      nav range: 294.319702 m,
      bearing: 138.295818 deg,
      approach rate: -0.627766 m/s,
      LOS rate: 0.005425 deg/s,
      cmd heading: 138.405464 deg,
      new cmd heading: 138.411523 deg.

2025-08-09T16:47:14.852Z,1754758034.852 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.501148
2025-08-09T16:47:15.106Z,1754758035.106 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.754216
2025-08-09T16:47:15.155Z,1754758035.155 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 301.60 m.
2025-08-09T16:47:15.158Z,1754758035.158 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 301.600006 m,
      nav range: 294.044189 m,
      bearing: 138.298155 deg,
      approach rate: -0.589409 m/s,
      LOS rate: 0.005004 deg/s,
      cmd heading: 138.411530 deg,
      new cmd heading: 138.418547 deg.

2025-08-09T16:47:15.355Z,1754758035.355 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.004128
2025-08-09T16:47:15.512Z,1754758035.512 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 301.60 m.
2025-08-09T16:47:15.515Z,1754758035.515 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 301.600006 m,
      nav range: 293.808533 m,
      bearing: 138.301324 deg,
      approach rate: -0.661192 m/s,
      LOS rate: 0.008899 deg/s,
      cmd heading: 138.418551 deg,
      new cmd heading: 138.428066 deg.

2025-08-09T16:47:15.608Z,1754758035.608 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.256640
2025-08-09T16:47:15.860Z,1754758035.860 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.508380
2025-08-09T16:47:15.908Z,1754758035.908 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 301.60 m.
2025-08-09T16:47:15.911Z,1754758035.911 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 301.600006 m,
      nav range: 293.565338 m,
      bearing: 138.304552 deg,
      approach rate: -0.613556 m/s,
      LOS rate: 0.008151 deg/s,
      cmd heading: 138.428072 deg,
      new cmd heading: 138.437764 deg.

2025-08-09T16:47:16.117Z,1754758036.117 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.765092
2025-08-09T16:47:16.323Z,1754758036.323 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-09T16:47:16.325Z,1754758036.325 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 301.60 m.
2025-08-09T16:47:16.328Z,1754758036.328 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 301.600006 m,
      nav range: 293.321228 m,
      bearing: 138.309889 deg,
      approach rate: -0.585392 m/s,
      LOS rate: 0.012809 deg/s,
      cmd heading: 138.437771 deg,
      new cmd heading: 138.453796 deg.

2025-08-09T16:47:16.368Z,1754758036.368 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.016687
2025-08-09T16:47:16.619Z,1754758036.619 [DAT](INFO): DAT read: Rx Time:16:47:15.4981

2025-08-09T16:47:16.620Z,1754758036.620 [DAT](INFO): Rx dataTimestamp_ set to:1754758036.619440
2025-08-09T16:47:16.620Z,1754758036.620 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.269145
2025-08-09T16:47:16.708Z,1754758036.708 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 301.60 m.
2025-08-09T16:47:16.711Z,1754758036.711 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 301.600006 m,
      nav range: 293.096649 m,
      bearing: 138.314740 deg,
      approach rate: -0.587130 m/s,
      LOS rate: 0.012691 deg/s,
      cmd heading: 138.453795 deg,
      new cmd heading: 138.468358 deg.

2025-08-09T16:47:16.872Z,1754758036.872 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.521149
2025-08-09T16:47:17.159Z,1754758037.159 [DAT](INFO): DAT read: 16:47:15.4981 LVL= 23904, 28721, 23634, 32691, AGC= 70, IDX= 404,-0.37,-0.946,-2.580,-0.819,-1.504, PHS= 0.660,-1.031, 0.641, RAW= 149.4,  -3.3, CAL= 148.9,  -4.2, ROT=   1.1,   4.2

2025-08-09T16:47:17.170Z,1754758037.170 [DAT](INFO): got valid direction response:
 16:47:15.4981 LVL= 23904, 28721, 23634, 32691, AGC= 70, IDX= 404,-0.37,-0.946,-2.580,-0.819,-1.504, PHS= 0.660,-1.031, 0.641, RAW= 149.4,  -3.3, CAL= 148.9,  -4.2, ROT=   1.1,   4.2

2025-08-09T16:47:17.171Z,1754758037.171 [DAT](INFO): DAT read: Bearing 291.8,  -4.4 (Local)

2025-08-09T16:47:17.172Z,1754758037.172 [DAT](INFO): Local bearing/azimuth received:
 Bearing 291.8,  -4.4 (Local)

2025-08-09T16:47:17.173Z,1754758037.173 [DAT](INFO): DAT read: Range 11 to 50 : 299.4 m  (Round-trip  399.2 ms) speed  0.3 m/s

2025-08-09T16:47:17.174Z,1754758037.174 [DAT](INFO): DAT read: user:102>

2025-08-09T16:47:17.176Z,1754758037.176 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 301.60 m.
2025-08-09T16:47:17.183Z,1754758037.183 [DAT](INFO): DAT read: Tx time:16:47:16.5948

2025-08-09T16:47:17.183Z,1754758037.183 [DAT](INFO): Ping request sent.
2025-08-09T16:47:17.183Z,1754758037.183 [DAT](INFO): transmitted an acoustic signal
2025-08-09T16:47:17.184Z,1754758037.184 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-09T16:47:17.185Z,1754758037.185 [DAT](INFO): direction in FSK: [0.997131,0.019146,-0.073238]
2025-08-09T16:47:17.185Z,1754758037.185 [DAT](INFO): publishing transmit ping time
2025-08-09T16:47:17.185Z,1754758037.185 [DAT](INFO): publishing direction and range info
2025-08-09T16:47:17.187Z,1754758037.187 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 301.600006 m,
      nav range: 292.862396 m,
      bearing: 138.319766 deg,
      approach rate: -0.500519 m/s,
      LOS rate: 0.010748 deg/s,
      cmd heading: 138.468357 deg,
      new cmd heading: 138.483447 deg.

2025-08-09T16:47:17.196Z,1754758037.196 [DAT](INFO): publishing transmit ping time
2025-08-09T16:47:17.196Z,1754758037.196 [DAT](INFO): publishing direction and range info
2025-08-09T16:47:17.559Z,1754758037.559 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 299.399994 m,
      deltaT: 3.785383 s,
      deltaX: -2.200012 m,
      approachRate: -0.581186 m/s,
      rangeRepo size: 4

2025-08-09T16:47:17.561Z,1754758037.561 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 299.399994 m,
      bearing: 138.426600 deg,
      lat: 36.905834 deg,
      lon: -122.115786 deg,
      deltaT: 3.785383 s,
      deltaX: -2.200012 m,
      approachRate: -0.581186 m/s,
      posRepo size: 4

2025-08-09T16:47:17.561Z,1754758037.561 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 299.40 m.
2025-08-09T16:47:17.565Z,1754758037.565 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 299.399994 m,
      nav range: 293.180267 m,
      bearing: 138.426600 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.010748 deg/s,
      cmd heading: 138.483451 deg,
      new cmd heading: 138.495256 deg.

2025-08-09T16:47:17.941Z,1754758037.941 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 299.40 m.
2025-08-09T16:47:17.944Z,1754758037.944 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 299.399994 m,
      nav range: 292.938019 m,
      bearing: 138.432735 deg,
      approach rate: -0.607027 m/s,
      LOS rate: 0.015386 deg/s,
      cmd heading: 138.495254 deg,
      new cmd heading: 138.513675 deg.

2025-08-09T16:47:18.348Z,1754758038.348 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-09T16:47:18.350Z,1754758038.350 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 299.40 m.
2025-08-09T16:47:18.353Z,1754758038.353 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 299.399994 m,
      nav range: 292.697693 m,
      bearing: 138.440956 deg,
      approach rate: -0.587390 m/s,
      LOS rate: 0.020108 deg/s,
      cmd heading: 138.513668 deg,
      new cmd heading: 138.538350 deg.

2025-08-09T16:47:18.384Z,1754758038.384 [DAT](INFO): ****** received valid address query ******
2025-08-09T16:47:18.384Z,1754758038.384 [DAT](INFO): ****** received valid ping request ******
2025-08-09T16:47:18.384Z,1754758038.384 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-09T16:47:18.635Z,1754758038.635 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.451969
2025-08-09T16:47:18.734Z,1754758038.734 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 299.40 m.
2025-08-09T16:47:18.736Z,1754758038.736 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 299.399994 m,
      nav range: 292.471527 m,
      bearing: 138.448700 deg,
      approach rate: -0.589692 m/s,
      LOS rate: 0.020207 deg/s,
      cmd heading: 138.538353 deg,
      new cmd heading: 138.561603 deg.

2025-08-09T16:47:18.887Z,1754758038.887 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.703915
2025-08-09T16:47:19.142Z,1754758039.142 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.958138
2025-08-09T16:47:19.177Z,1754758039.177 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 299.40 m.
2025-08-09T16:47:19.199Z,1754758039.199 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 299.399994 m,
      nav range: 292.235077 m,
      bearing: 138.456787 deg,
      approach rate: -0.535194 m/s,
      LOS rate: 0.018320 deg/s,
      cmd heading: 138.561602 deg,
      new cmd heading: 138.585884 deg.

2025-08-09T16:47:19.391Z,1754758039.391 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.207918
2025-08-09T16:47:19.561Z,1754758039.561 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 299.40 m.
2025-08-09T16:47:19.563Z,1754758039.563 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 299.399994 m,
      nav range: 291.969971 m,
      bearing: 138.465281 deg,
      approach rate: -0.688110 m/s,
      LOS rate: 0.022068 deg/s,
      cmd heading: 138.585877 deg,
      new cmd heading: 138.611383 deg.

2025-08-09T16:47:19.644Z,1754758039.644 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.460486
2025-08-09T16:47:19.896Z,1754758039.896 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.712189
2025-08-09T16:47:19.949Z,1754758039.949 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 299.40 m.
2025-08-09T16:47:19.952Z,1754758039.952 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 299.399994 m,
      nav range: 291.726959 m,
      bearing: 138.473051 deg,
      approach rate: -0.626065 m/s,
      LOS rate: 0.020034 deg/s,
      cmd heading: 138.611381 deg,
      new cmd heading: 138.634710 deg.

2025-08-09T16:47:20.150Z,1754758040.150 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.966480
2025-08-09T16:47:20.366Z,1754758040.366 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-09T16:47:20.368Z,1754758040.368 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 299.40 m.
2025-08-09T16:47:20.371Z,1754758040.371 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 299.399994 m,
      nav range: 291.466705 m,
      bearing: 138.480893 deg,
      approach rate: -0.620357 m/s,
      LOS rate: 0.018708 deg/s,
      cmd heading: 138.634713 deg,
      new cmd heading: 138.658258 deg.

2025-08-09T16:47:20.399Z,1754758040.399 [DAT](INFO): DAT read: Rx Time:16:47:19.3957

2025-08-09T16:47:20.400Z,1754758040.400 [DAT](INFO): Rx dataTimestamp_ set to:1754758040.399536
2025-08-09T16:47:20.401Z,1754758040.401 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.217357
2025-08-09T16:47:20.651Z,1754758040.651 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.467910
2025-08-09T16:47:20.775Z,1754758040.775 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 299.40 m.
2025-08-09T16:47:20.777Z,1754758040.777 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 299.399994 m,
      nav range: 291.227875 m,
      bearing: 138.488068 deg,
      approach rate: -0.612532 m/s,
      LOS rate: 0.018419 deg/s,
      cmd heading: 138.658263 deg,
      new cmd heading: 138.679808 deg.

2025-08-09T16:47:20.906Z,1754758040.906 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.722088
2025-08-09T16:47:21.161Z,1754758041.161 [DAT](INFO): DAT read: 16:47:19.3957 LVL= 25744, 32753, 29410, 32755, AGC= 68, IDX= 410, 0.25,-0.217,-1.787,-0.058,-0.783, PHS= 0.668,-0.959, 0.681, RAW= 150.4,  -4.8, CAL= 150.1,  -6.0, ROT= 359.9,   6.0

2025-08-09T16:47:21.164Z,1754758041.164 [DAT](INFO): got valid direction response:
 16:47:19.3957 LVL= 25744, 32753, 29410, 32755, AGC= 68, IDX= 410, 0.25,-0.217,-1.787,-0.058,-0.783, PHS= 0.668,-0.959, 0.681, RAW= 150.4,  -4.8, CAL= 150.1,  -6.0, ROT= 359.9,   6.0

2025-08-09T16:47:21.168Z,1754758041.168 [DAT](INFO): DAT read: Bearing 290.1,  -5.4 (Local)

2025-08-09T16:47:21.169Z,1754758041.169 [DAT](INFO): Local bearing/azimuth received:
 Bearing 290.1,  -5.4 (Local)

2025-08-09T16:47:21.173Z,1754758041.173 [DAT](INFO): DAT read: Range 11 to 50 : 297.5 m  (Round-trip  396.7 ms) speed  0.6 m/s

2025-08-09T16:47:21.176Z,1754758041.176 [DAT](INFO): DAT read: user:103>

2025-08-09T16:47:21.200Z,1754758041.200 [DAT](INFO): DAT read: Tx time:16:47:20.4948

2025-08-09T16:47:21.201Z,1754758041.201 [DAT](INFO): Ping request sent.
2025-08-09T16:47:21.201Z,1754758041.201 [DAT](INFO): transmitted an acoustic signal
2025-08-09T16:47:21.211Z,1754758041.211 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-09T16:47:21.214Z,1754758041.214 [DAT](INFO): direction in FSK: [0.994520,-0.001736,-0.104528]
2025-08-09T16:47:21.225Z,1754758041.225 [DAT](INFO): publishing transmit ping time
2025-08-09T16:47:21.226Z,1754758041.226 [DAT](INFO): publishing direction and range info
2025-08-09T16:47:21.229Z,1754758041.229 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 299.40 m.
2025-08-09T16:47:21.248Z,1754758041.248 [DAT](INFO): publishing transmit ping time
2025-08-09T16:47:21.249Z,1754758041.249 [DAT](INFO): publishing direction and range info
2025-08-09T16:47:21.251Z,1754758041.251 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 299.399994 m,
      nav range: 290.980103 m,
      bearing: 138.495476 deg,
      approach rate: -0.526021 m/s,
      LOS rate: 0.015741 deg/s,
      cmd heading: 138.679806 deg,
      new cmd heading: 138.702049 deg.

2025-08-09T16:47:21.631Z,1754758041.631 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 297.500000 m,
      deltaT: 4.030458 s,
      deltaX: -1.899994 m,
      approachRate: -0.471409 m/s,
      rangeRepo size: 4

2025-08-09T16:47:21.633Z,1754758041.633 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 297.500000 m,
      bearing: 138.502945 deg,
      lat: 36.905834 deg,
      lon: -122.115786 deg,
      deltaT: 4.030458 s,
      deltaX: -1.899994 m,
      approachRate: -0.471409 m/s,
      posRepo size: 4

2025-08-09T16:47:21.634Z,1754758041.634 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 297.50 m.
2025-08-09T16:47:21.642Z,1754758041.642 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 297.500000 m,
      nav range: 290.695007 m,
      bearing: 138.502945 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.015741 deg/s,
      cmd heading: 138.702045 deg,
      new cmd heading: 138.720799 deg.

2025-08-09T16:47:22.004Z,1754758042.004 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 297.50 m.
2025-08-09T16:47:22.007Z,1754758042.007 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 297.500000 m,
      nav range: 290.446564 m,
      bearing: 138.509419 deg,
      approach rate: -0.658303 m/s,
      LOS rate: 0.017168 deg/s,
      cmd heading: 138.720801 deg,
      new cmd heading: 138.740239 deg.

2025-08-09T16:47:22.419Z,1754758042.419 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-09T16:47:22.421Z,1754758042.421 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 297.50 m.
2025-08-09T16:47:22.424Z,1754758042.424 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 297.500000 m,
      nav range: 290.168152 m,
      bearing: 138.514870 deg,
      approach rate: -0.667232 m/s,
      LOS rate: 0.013075 deg/s,
      cmd heading: 138.740239 deg,
      new cmd heading: 138.756606 deg.

2025-08-09T16:47:22.668Z,1754758042.668 [DAT](INFO): ****** received valid address query ******
2025-08-09T16:47:22.668Z,1754758042.668 [DAT](INFO): ****** received valid ping request ******
2025-08-09T16:47:22.668Z,1754758042.668 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-09T16:47:22.802Z,1754758042.802 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 297.50 m.
2025-08-09T16:47:22.805Z,1754758042.805 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 297.500000 m,
      nav range: 289.911896 m,
      bearing: 138.519861 deg,
      approach rate: -0.672382 m/s,
      LOS rate: 0.013109 deg/s,
      cmd heading: 138.756604 deg,
      new cmd heading: 138.771593 deg.

2025-08-09T16:47:22.919Z,1754758042.919 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.718467
2025-08-09T16:47:23.171Z,1754758043.171 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.970376
2025-08-09T16:47:23.283Z,1754758043.283 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 297.50 m.
2025-08-09T16:47:23.286Z,1754758043.286 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 297.500000 m,
      nav range: 289.595215 m,
      bearing: 138.526000 deg,
      approach rate: -0.658680 m/s,
      LOS rate: 0.012783 deg/s,
      cmd heading: 138.771590 deg,
      new cmd heading: 138.790027 deg.

2025-08-09T16:47:23.423Z,1754758043.423 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.222374
2025-08-09T16:47:23.667Z,1754758043.667 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 297.50 m.
2025-08-09T16:47:23.670Z,1754758043.670 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 297.500000 m,
      nav range: 289.338257 m,
      bearing: 138.529115 deg,
      approach rate: -0.670324 m/s,
      LOS rate: 0.008132 deg/s,
      cmd heading: 138.790031 deg,
      new cmd heading: 138.799383 deg.

2025-08-09T16:47:23.676Z,1754758043.676 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.474770
2025-08-09T16:47:23.928Z,1754758043.928 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.726743
2025-08-09T16:47:24.057Z,1754758044.057 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 297.50 m.
2025-08-09T16:47:24.060Z,1754758044.060 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 297.500000 m,
      nav range: 289.093079 m,
      bearing: 138.532081 deg,
      approach rate: -0.626846 m/s,
      LOS rate: 0.007591 deg/s,
      cmd heading: 138.799389 deg,
      new cmd heading: 138.808296 deg.

2025-08-09T16:47:24.179Z,1754758044.179 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.978354
2025-08-09T16:47:24.431Z,1754758044.431 [DAT](INFO): DAT read: Rx Time:16:47:23.2920

2025-08-09T16:47:24.432Z,1754758044.432 [DAT](INFO): Rx dataTimestamp_ set to:1754758044.431594
2025-08-09T16:47:24.432Z,1754758044.432 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.231554
2025-08-09T16:47:24.500Z,1754758044.500 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-09T16:47:24.502Z,1754758044.502 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 297.50 m.
2025-08-09T16:47:24.509Z,1754758044.509 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 297.500000 m,
      nav range: 288.784912 m,
      bearing: 138.533655 deg,
      approach rate: -0.693458 m/s,
      LOS rate: 0.003546 deg/s,
      cmd heading: 138.808295 deg,
      new cmd heading: 138.813022 deg.

2025-08-09T16:47:24.683Z,1754758044.683 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.482449
2025-08-09T16:47:24.913Z,1754758044.913 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 297.50 m.
2025-08-09T16:47:24.916Z,1754758044.916 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 297.500000 m,
      nav range: 288.499786 m,
      bearing: 138.535121 deg,
      approach rate: -0.693419 m/s,
      LOS rate: 0.003569 deg/s,
      cmd heading: 138.813022 deg,
      new cmd heading: 138.817424 deg.

2025-08-09T16:47:24.945Z,1754758044.945 [DAT](INFO): DAT read: 16:47:23.2920 LVL= 29296, 32753, 31074, 32755, AGC= 69, IDX= 406, 0.41, 0.923,-0.701, 0.988, 0.362, PHS= 0.663,-1.018, 0.582, RAW= 147.5,  -2.8, CAL= 147.1,  -3.5, ROT=   2.9,   3.5

2025-08-09T16:47:24.946Z,1754758044.946 [DAT](INFO): got valid direction response:
 16:47:23.2920 LVL= 29296, 32753, 31074, 32755, AGC= 69, IDX= 406, 0.41, 0.923,-0.701, 0.988, 0.362, PHS= 0.663,-1.018, 0.582, RAW= 147.5,  -2.8, CAL= 147.1,  -3.5, ROT=   2.9,   3.5

2025-08-09T16:47:24.947Z,1754758044.947 [DAT](INFO): DAT read: Bearing 293.1,  -2.9 (Local)

2025-08-09T16:47:24.948Z,1754758044.948 [DAT](INFO): Local bearing/azimuth received:
 Bearing 293.1,  -2.9 (Local)

2025-08-09T16:47:24.949Z,1754758044.949 [DAT](INFO): DAT read: Range 11 to 50 : 294.8 m  (Round-trip  393.1 ms) speed  0.4 m/s

2025-08-09T16:47:24.950Z,1754758044.950 [DAT](INFO): DAT read: user:104>

2025-08-09T16:47:24.951Z,1754758044.951 [DAT](INFO): DAT read: Tx time:16:47:24.3948

2025-08-09T16:47:24.951Z,1754758044.951 [DAT](INFO): Ping request sent.
2025-08-09T16:47:24.951Z,1754758044.951 [DAT](INFO): transmitted an acoustic signal
2025-08-09T16:47:24.951Z,1754758044.951 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-09T16:47:24.952Z,1754758044.952 [DAT](INFO): direction in FSK: [0.996857,0.050499,-0.061049]
2025-08-09T16:47:24.952Z,1754758044.952 [DAT](INFO): publishing transmit ping time
2025-08-09T16:47:24.953Z,1754758044.953 [DAT](INFO): publishing direction and range info
2025-08-09T16:47:24.956Z,1754758044.956 [DAT](INFO): publishing transmit ping time
2025-08-09T16:47:24.956Z,1754758044.956 [DAT](INFO): publishing direction and range info
2025-08-09T16:47:25.332Z,1754758045.332 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 294.799988 m,
      deltaT: 3.781758 s,
      deltaX: -2.700012 m,
      approachRate: -0.713957 m/s,
      rangeRepo size: 4

2025-08-09T16:47:25.336Z,1754758045.336 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 294.799988 m,
      bearing: 138.535965 deg,
      lat: 36.905834 deg,
      lon: -122.115786 deg,
      deltaT: 3.781758 s,
      deltaX: -2.700012 m,
      approachRate: -0.713957 m/s,
      posRepo size: 4

2025-08-09T16:47:25.340Z,1754758045.340 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 294.80 m.
2025-08-09T16:47:25.343Z,1754758045.343 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 294.799988 m,
      nav range: 288.229065 m,
      bearing: 138.535965 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.003569 deg/s,
      cmd heading: 138.817420 deg,
      new cmd heading: 138.821903 deg.

2025-08-09T16:47:25.657Z,1754758045.657 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 294.80 m.
2025-08-09T16:47:25.660Z,1754758045.660 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 294.799988 m,
      nav range: 288.013824 m,
      bearing: 138.536678 deg,
      approach rate: -0.661507 m/s,
      LOS rate: 0.002193 deg/s,
      cmd heading: 138.821901 deg,
      new cmd heading: 138.824041 deg.

2025-08-09T16:47:26.060Z,1754758046.060 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 294.80 m.
2025-08-09T16:47:26.063Z,1754758046.063 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 294.799988 m,
      nav range: 287.750397 m,
      bearing: 138.537616 deg,
      approach rate: -0.653093 m/s,
      LOS rate: 0.002329 deg/s,
      cmd heading: 138.824046 deg,
      new cmd heading: 138.826864 deg.

2025-08-09T16:47:26.551Z,1754758046.551 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-09T16:47:26.553Z,1754758046.553 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 294.80 m.
2025-08-09T16:47:26.568Z,1754758046.568 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 294.799988 m,
      nav range: 287.433716 m,
      bearing: 138.536761 deg,
      approach rate: -0.642511 m/s,
      LOS rate: -0.001737 deg/s,
      cmd heading: 138.826860 deg,
      new cmd heading: 138.824291 deg.

2025-08-09T16:47:26.699Z,1754758046.699 [DAT](INFO): ****** received valid address query ******
2025-08-09T16:47:26.699Z,1754758046.699 [DAT](INFO): ****** received valid ping request ******
2025-08-09T16:47:26.699Z,1754758046.699 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-09T16:47:26.953Z,1754758046.953 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.001375
2025-08-09T16:47:27.033Z,1754758047.033 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 294.80 m.
2025-08-09T16:47:27.036Z,1754758047.036 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 294.799988 m,
      nav range: 287.125336 m,
      bearing: 138.536062 deg,
      approach rate: -0.643259 m/s,
      LOS rate: -0.001460 deg/s,
      cmd heading: 138.824292 deg,
      new cmd heading: 138.822192 deg.

2025-08-09T16:47:27.203Z,1754758047.203 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.252222
2025-08-09T16:47:27.445Z,1754758047.445 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 294.80 m.
2025-08-09T16:47:27.448Z,1754758047.448 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 294.799988 m,
      nav range: 286.855927 m,
      bearing: 138.535752 deg,
      approach rate: -0.653609 m/s,
      LOS rate: -0.000752 deg/s,
      cmd heading: 138.822188 deg,
      new cmd heading: 138.821258 deg.

2025-08-09T16:47:27.455Z,1754758047.455 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.504434
2025-08-09T16:47:27.707Z,1754758047.707 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.756372
2025-08-09T16:47:27.828Z,1754758047.828 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 294.80 m.
2025-08-09T16:47:27.831Z,1754758047.831 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 294.799988 m,
      nav range: 286.605804 m,
      bearing: 138.535498 deg,
      approach rate: -0.653270 m/s,
      LOS rate: -0.000666 deg/s,
      cmd heading: 138.821259 deg,
      new cmd heading: 138.820494 deg.

2025-08-09T16:47:27.959Z,1754758047.959 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.008231
2025-08-09T16:47:28.211Z,1754758048.211 [DAT](INFO): DAT read: Rx Time:16:47:27.1892

2025-08-09T16:47:28.212Z,1754758048.212 [DAT](INFO): Rx dataTimestamp_ set to:1754758048.211561
2025-08-09T16:47:28.212Z,1754758048.212 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.261438
2025-08-09T16:47:28.273Z,1754758048.273 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 294.80 m.
2025-08-09T16:47:28.279Z,1754758048.279 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 294.799988 m,
      nav range: 286.338745 m,
      bearing: 138.535236 deg,
      approach rate: -0.600261 m/s,
      LOS rate: -0.000589 deg/s,
      cmd heading: 138.820494 deg,
      new cmd heading: 138.819708 deg.

2025-08-09T16:47:28.463Z,1754758048.463 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.512339
2025-08-09T16:47:28.677Z,1754758048.677 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-09T16:47:28.683Z,1754758048.683 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 294.80 m.
2025-08-09T16:47:28.700Z,1754758048.700 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 294.799988 m,
      nav range: 286.080017 m,
      bearing: 138.534903 deg,
      approach rate: -0.637459 m/s,
      LOS rate: -0.000821 deg/s,
      cmd heading: 138.819702 deg,
      new cmd heading: 138.818702 deg.

2025-08-09T16:47:28.720Z,1754758048.720 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.767782
2025-08-09T16:47:28.974Z,1754758048.974 [DAT](INFO): DAT read: 16:47:27.1891 LVL= 29888, 32753, 31586, 32755, AGC= 73, IDX= 409,-0.22,-0.807,-2.368,-0.528,-1.387, PHS= 0.682,-0.936, 0.815, RAW= 153.9,  -6.7, CAL= 154.0,  -8.2, ROT= 356.0,   8.2

2025-08-09T16:47:28.975Z,1754758048.975 [DAT](INFO): got valid direction response:
 16:47:27.1891 LVL= 29888, 32753, 31586, 32755, AGC= 73, IDX= 409,-0.22,-0.807,-2.368,-0.528,-1.387, PHS= 0.682,-0.936, 0.815, RAW= 153.9,  -6.7, CAL= 154.0,  -8.2, ROT= 356.0,   8.2

2025-08-09T16:47:28.976Z,1754758048.976 [DAT](INFO): DAT read: Bearing 287.2,  -9.0 (Local)

2025-08-09T16:47:28.976Z,1754758048.976 [DAT](INFO): Local bearing/azimuth received:
 Bearing 287.2,  -9.0 (Local)

2025-08-09T16:47:28.978Z,1754758048.978 [DAT](INFO): DAT read: Range 11 to 50 : 292.7 m  (Round-trip  390.3 ms) speed  0.5 m/s

2025-08-09T16:47:28.980Z,1754758048.980 [DAT](INFO): DAT read: user:105>

2025-08-09T16:47:28.981Z,1754758048.981 [DAT](INFO): DAT read: Tx time:16:47:28.2947

2025-08-09T16:47:28.981Z,1754758048.981 [DAT](INFO): Ping request sent.
2025-08-09T16:47:28.982Z,1754758048.982 [DAT](INFO): transmitted an acoustic signal
2025-08-09T16:47:28.982Z,1754758048.982 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-09T16:47:28.983Z,1754758048.983 [DAT](INFO): direction in FSK: [0.987365,-0.069043,-0.142629]
2025-08-09T16:47:28.983Z,1754758048.983 [DAT](INFO): publishing transmit ping time
2025-08-09T16:47:28.983Z,1754758048.983 [DAT](INFO): publishing direction and range info
2025-08-09T16:47:28.987Z,1754758048.987 [DAT](INFO): publishing transmit ping time
2025-08-09T16:47:28.987Z,1754758048.987 [DAT](INFO): publishing direction and range info
2025-08-09T16:47:29.109Z,1754758049.109 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 292.700012 m,
      deltaT: 4.030648 s,
      deltaX: -2.099976 m,
      approachRate: -0.521002 m/s,
      rangeRepo size: 4

2025-08-09T16:47:29.116Z,1754758049.116 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 292.700012 m,
      bearing: 138.534551 deg,
      lat: 36.905834 deg,
      lon: -122.115786 deg,
      deltaT: 4.030648 s,
      deltaX: -2.099976 m,
      approachRate: -0.521002 m/s,
      posRepo size: 4

2025-08-09T16:47:29.116Z,1754758049.116 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 292.70 m.
2025-08-09T16:47:29.127Z,1754758049.127 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 292.700012 m,
      nav range: 285.813110 m,
      bearing: 138.534551 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.000821 deg/s,
      cmd heading: 138.818704 deg,
      new cmd heading: 138.817645 deg.

2025-08-09T16:47:29.524Z,1754758049.524 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 292.70 m.
2025-08-09T16:47:29.527Z,1754758049.527 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 292.700012 m,
      nav range: 285.552582 m,
      bearing: 138.535882 deg,
      approach rate: -0.626852 m/s,
      LOS rate: 0.003204 deg/s,
      cmd heading: 138.817639 deg,
      new cmd heading: 138.821634 deg.

2025-08-09T16:47:29.930Z,1754758049.930 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 292.70 m.
2025-08-09T16:47:29.933Z,1754758049.933 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 292.700012 m,
      nav range: 285.307648 m,
      bearing: 138.537131 deg,
      approach rate: -0.603930 m/s,
      LOS rate: 0.003083 deg/s,
      cmd heading: 138.821628 deg,
      new cmd heading: 138.825379 deg.

2025-08-09T16:47:30.282Z,1754758050.282 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 292.70 m.
2025-08-09T16:47:30.308Z,1754758050.308 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 292.700012 m,
      nav range: 285.095612 m,
      bearing: 138.538192 deg,
      approach rate: -0.602574 m/s,
      LOS rate: 0.003016 deg/s,
      cmd heading: 138.825384 deg,
      new cmd heading: 138.828568 deg.

2025-08-09T16:47:30.761Z,1754758050.761 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-09T16:47:30.767Z,1754758050.767 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 292.70 m.
2025-08-09T16:47:30.770Z,1754758050.770 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 292.700012 m,
      nav range: 284.801453 m,
      bearing: 138.541958 deg,
      approach rate: -0.606182 m/s,
      LOS rate: 0.007770 deg/s,
      cmd heading: 138.828567 deg,
      new cmd heading: 138.839879 deg.

2025-08-09T16:47:30.983Z,1754758050.983 [DAT](INFO): ****** received valid address query ******
2025-08-09T16:47:30.983Z,1754758050.983 [DAT](INFO): ****** received valid ping request ******
2025-08-09T16:47:30.983Z,1754758050.983 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-09T16:47:31.115Z,1754758051.115 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 292.70 m.
2025-08-09T16:47:31.118Z,1754758051.118 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 292.700012 m,
      nav range: 284.577332 m,
      bearing: 138.544780 deg,
      approach rate: -0.644087 m/s,
      LOS rate: 0.008114 deg/s,
      cmd heading: 138.839878 deg,
      new cmd heading: 138.848348 deg.

2025-08-09T16:47:31.237Z,1754758051.237 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.254883
2025-08-09T16:47:31.487Z,1754758051.487 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.505832
2025-08-09T16:47:31.554Z,1754758051.554 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 292.70 m.
2025-08-09T16:47:31.556Z,1754758051.556 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 292.700012 m,
      nav range: 284.302826 m,
      bearing: 138.549865 deg,
      approach rate: -0.625901 m/s,
      LOS rate: 0.011606 deg/s,
      cmd heading: 138.848347 deg,
      new cmd heading: 138.863618 deg.

2025-08-09T16:47:31.740Z,1754758051.740 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.758593
2025-08-09T16:47:31.931Z,1754758051.931 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 292.70 m.
2025-08-09T16:47:31.933Z,1754758051.933 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 292.700012 m,
      nav range: 284.066986 m,
      bearing: 138.554241 deg,
      approach rate: -0.625605 m/s,
      LOS rate: 0.011618 deg/s,
      cmd heading: 138.863620 deg,
      new cmd heading: 138.876759 deg.

2025-08-09T16:47:31.992Z,1754758051.992 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.010545
2025-08-09T16:47:32.244Z,1754758052.244 [DAT](INFO): DAT read: Rx Time:16:47:31.0462

2025-08-09T16:47:32.245Z,1754758052.245 [DAT](INFO): Rx dataTimestamp_ set to:1754758052.244101
2025-08-09T16:47:32.246Z,1754758052.246 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.264152
2025-08-09T16:47:32.333Z,1754758052.333 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 292.70 m.
2025-08-09T16:47:32.352Z,1754758052.352 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 292.700012 m,
      nav range: 283.818298 m,
      bearing: 138.558675 deg,
      approach rate: -0.618119 m/s,
      LOS rate: 0.011029 deg/s,
      cmd heading: 138.876761 deg,
      new cmd heading: 138.890073 deg.

2025-08-09T16:47:32.496Z,1754758052.496 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.514203
2025-08-09T16:47:32.753Z,1754758052.753 [DAT](INFO): DAT read: 16:47:31.0462 LVL= 26608, 32753, 30322, 32755, AGC= 70, IDX=   2, 0.21, 0.109,-1.500, 0.500,-0.003, PHS= 0.215,-1.452, 0.459, RAW= 156.8,   8.7, CAL= 156.4,   9.2, ROT= 353.6,  -9.2

2025-08-09T16:47:32.754Z,1754758052.754 [DAT](INFO): got valid direction response:
 16:47:31.0462 LVL= 26608, 32753, 30322, 32755, AGC= 70, IDX=   2, 0.21, 0.109,-1.500, 0.500,-0.003, PHS= 0.215,-1.452, 0.459, RAW= 156.8,   8.7, CAL= 156.4,   9.2, ROT= 353.6,  -9.2

2025-08-09T16:47:32.755Z,1754758052.755 [DAT](INFO): DAT read: Bearing 305.5, -13.0 (Local)

2025-08-09T16:47:32.756Z,1754758052.756 [DAT](INFO): Local bearing/azimuth received:
 Bearing 305.5, -13.0 (Local)

2025-08-09T16:47:32.757Z,1754758052.757 [DAT](INFO): DAT read: Range 11 to 50 : 260.5 m  (Round-trip  347.4 ms) speed  0.4 m/s

2025-08-09T16:47:32.758Z,1754758052.758 [DAT](INFO): DAT read: user:106>

2025-08-09T16:47:32.758Z,1754758052.758 [DAT](INFO): DAT read: Tx time:16:47:32.1447

2025-08-09T16:47:32.759Z,1754758052.759 [DAT](INFO): Ping request sent.
2025-08-09T16:47:32.759Z,1754758052.759 [DAT](INFO): transmitted an acoustic signal
2025-08-09T16:47:32.759Z,1754758052.759 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-09T16:47:32.760Z,1754758052.760 [DAT](INFO): direction in FSK: [0.980984,-0.110035,0.159881]
2025-08-09T16:47:32.760Z,1754758052.760 [DAT](INFO): publishing transmit ping time
2025-08-09T16:47:32.761Z,1754758052.761 [DAT](INFO): publishing direction and range info
2025-08-09T16:47:32.784Z,1754758052.784 [DAT](INFO): publishing transmit ping time
2025-08-09T16:47:32.784Z,1754758052.784 [DAT](INFO): publishing direction and range info
2025-08-09T16:47:32.851Z,1754758052.851 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](ERROR): addTargetRange::Rejecting new target range. Approach rate out of bounds.
 range: 260.500000 m,
 deltaT: 3.779840 s,
 deltaX: -32.200012 m,
 approachRate: -8.518883 m/s,
 rangeRepo size: 4
2025-08-09T16:47:32.852Z,1754758052.852 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 292.70 m.
2025-08-09T16:47:32.860Z,1754758052.860 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 292.700012 m,
      nav range: 283.513916 m,
      bearing: 138.564681 deg,
      approach rate: -0.593823 m/s,
      LOS rate: 0.011730 deg/s,
      cmd heading: 138.890066 deg,
      new cmd heading: 138.908104 deg.

2025-08-09T16:47:33.195Z,1754758053.195 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-09T16:47:33.197Z,1754758053.197 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 292.70 m.
2025-08-09T16:47:33.217Z,1754758053.217 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 292.700012 m,
      nav range: 283.276245 m,
      bearing: 138.569329 deg,
      approach rate: -0.676508 m/s,
      LOS rate: 0.013242 deg/s,
      cmd heading: 138.908098 deg,
      new cmd heading: 138.922054 deg.

2025-08-09T16:47:33.251Z,1754758053.251 [DAT](INFO): ****** received valid address query ******
2025-08-09T16:47:33.251Z,1754758053.251 [DAT](INFO): ****** received valid ping request ******
2025-08-09T16:47:33.251Z,1754758053.251 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-09T16:47:33.504Z,1754758053.504 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.744579
2025-08-09T16:47:33.626Z,1754758053.626 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 292.70 m.
2025-08-09T16:47:33.628Z,1754758053.628 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 292.700012 m,
      nav range: 283.008820 m,
      bearing: 138.575583 deg,
      approach rate: -0.623641 m/s,
      LOS rate: 0.014598 deg/s,
      cmd heading: 138.922059 deg,
      new cmd heading: 138.940838 deg.

2025-08-09T16:47:33.756Z,1754758053.756 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.996865
2025-08-09T16:47:34.003Z,1754758054.003 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 292.70 m.
2025-08-09T16:47:34.006Z,1754758054.006 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 292.700012 m,
      nav range: 282.773590 m,
      bearing: 138.581058 deg,
      approach rate: -0.623149 m/s,
      LOS rate: 0.014516 deg/s,
      cmd heading: 138.940842 deg,
      new cmd heading: 138.957280 deg.

2025-08-09T16:47:34.007Z,1754758054.007 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.248473
2025-08-09T16:47:34.259Z,1754758054.259 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.500375
2025-08-09T16:47:34.479Z,1754758054.479 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 292.70 m.
2025-08-09T16:47:34.481Z,1754758054.481 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 292.700012 m,
      nav range: 282.470032 m,
      bearing: 138.588489 deg,
      approach rate: -0.638581 m/s,
      LOS rate: 0.015649 deg/s,
      cmd heading: 138.957275 deg,
      new cmd heading: 138.979592 deg.

2025-08-09T16:47:34.512Z,1754758054.512 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.752950
2025-08-09T16:47:34.763Z,1754758054.763 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.004333
2025-08-09T16:47:34.830Z,1754758054.830 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 292.70 m.
2025-08-09T16:47:34.833Z,1754758054.833 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 292.700012 m,
      nav range: 282.245483 m,
      bearing: 138.593997 deg,
      approach rate: -0.638404 m/s,
      LOS rate: 0.015673 deg/s,
      cmd heading: 138.979596 deg,
      new cmd heading: 138.996134 deg.

2025-08-09T16:47:35.015Z,1754758055.015 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.256356
2025-08-09T16:47:35.241Z,1754758055.241 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-09T16:47:35.247Z,1754758055.247 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 292.70 m.
2025-08-09T16:47:35.252Z,1754758055.252 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 292.700012 m,
      nav range: 281.999664 m,
      bearing: 138.600007 deg,
      approach rate: -0.588966 m/s,
      LOS rate: 0.014414 deg/s,
      cmd heading: 138.996139 deg,
      new cmd heading: 139.014187 deg.

2025-08-09T16:47:35.267Z,1754758055.267 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.508558
2025-08-09T16:47:35.519Z,1754758055.519 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.760366
2025-08-09T16:47:35.667Z,1754758055.667 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 292.70 m.
2025-08-09T16:47:35.669Z,1754758055.669 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 292.700012 m,
      nav range: 281.720093 m,
      bearing: 138.606551 deg,
      approach rate: -0.673964 m/s,
      LOS rate: 0.015789 deg/s,
      cmd heading: 139.014184 deg,
      new cmd heading: 139.033834 deg.

2025-08-09T16:47:35.772Z,1754758055.772 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.012639
2025-08-09T16:47:36.024Z,1754758056.024 [DAT](INFO): DAT read: Rx Time:16:47:34.8930

2025-08-09T16:47:36.024Z,1754758056.024 [DAT](INFO): Rx dataTimestamp_ set to:1754758056.023823
2025-08-09T16:47:36.025Z,1754758056.025 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.265757
2025-08-09T16:47:36.033Z,1754758056.033 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 292.70 m.
2025-08-09T16:47:36.036Z,1754758056.036 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 292.700012 m,
      nav range: 281.476318 m,
      bearing: 138.612274 deg,
      approach rate: -0.657795 m/s,
      LOS rate: 0.015458 deg/s,
      cmd heading: 139.033828 deg,
      new cmd heading: 139.051014 deg.

2025-08-09T16:47:36.275Z,1754758056.275 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.516322
2025-08-09T16:47:36.507Z,1754758056.507 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 292.70 m.
2025-08-09T16:47:36.510Z,1754758056.510 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 292.700012 m,
      nav range: 281.176514 m,
      bearing: 138.618510 deg,
      approach rate: -0.632055 m/s,
      LOS rate: 0.013160 deg/s,
      cmd heading: 139.051013 deg,
      new cmd heading: 139.069740 deg.

2025-08-09T16:47:36.533Z,1754758056.533 [DAT](INFO): DAT read: 16:47:34.8930 LVL= 32144, 32753, 29890, 32755, AGC= 72, IDX= 401, 0.01,-1.409,-3.061,-1.092,-1.538, PHS= 0.231,-1.478, 0.402, RAW= 154.7,   9.4, CAL= 154.4,  10.1, ROT= 355.6, -10.1

2025-08-09T16:47:36.534Z,1754758056.534 [DAT](INFO): got valid direction response:
 16:47:34.8930 LVL= 32144, 32753, 29890, 32755, AGC= 72, IDX= 401, 0.01,-1.409,-3.061,-1.092,-1.538, PHS= 0.231,-1.478, 0.402, RAW= 154.7,   9.4, CAL= 154.4,  10.1, ROT= 355.6, -10.1

2025-08-09T16:47:36.535Z,1754758056.535 [DAT](INFO): DAT read: Bearing 307.0, -10.2 (Local)

2025-08-09T16:47:36.536Z,1754758056.536 [DAT](INFO): Local bearing/azimuth received:
 Bearing 307.0, -10.2 (Local)

2025-08-09T16:47:36.537Z,1754758056.537 [DAT](INFO): DAT read: Range 11 to 50 : 258.1 m  (Round-trip  344.2 ms) speed  0.5 m/s

2025-08-09T16:47:36.538Z,1754758056.538 [DAT](INFO): DAT read: user:107>

2025-08-09T16:47:36.539Z,1754758056.539 [DAT](INFO): DAT read: Tx time:16:47:35.9947

2025-08-09T16:47:36.539Z,1754758056.539 [DAT](INFO): Ping request sent.
2025-08-09T16:47:36.539Z,1754758056.539 [DAT](INFO): transmitted an acoustic signal
2025-08-09T16:47:36.539Z,1754758056.539 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-09T16:47:36.540Z,1754758056.540 [DAT](INFO): direction in FSK: [0.981602,-0.075530,0.175367]
2025-08-09T16:47:36.540Z,1754758056.540 [DAT](INFO): publishing transmit ping time
2025-08-09T16:47:36.541Z,1754758056.541 [DAT](INFO): publishing direction and range info
2025-08-09T16:47:36.544Z,1754758056.544 [DAT](INFO): publishing transmit ping time
2025-08-09T16:47:36.544Z,1754758056.544 [DAT](INFO): publishing direction and range info
2025-08-09T16:47:36.888Z,1754758056.888 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 258.100006 m,
      deltaT: 7.559872 s,
      deltaX: -34.600006 m,
      approachRate: -4.576798 m/s,
      rangeRepo size: 4

2025-08-09T16:47:36.891Z,1754758056.891 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 258.100006 m,
      bearing: 136.161279 deg,
      lat: 36.905998 deg,
      lon: -122.115795 deg,
      deltaT: 7.559872 s,
      deltaX: -34.600006 m,
      approachRate: -4.576798 m/s,
      posRepo size: 4

2025-08-09T16:47:36.892Z,1754758056.892 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 258.10 m.
2025-08-09T16:47:36.910Z,1754758056.910 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 258.100006 m,
      nav range: 267.044250 m,
      bearing: 136.161279 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.013160 deg/s,
      cmd heading: 139.069741 deg,
      new cmd heading: 139.084767 deg.

2025-08-09T16:47:37.289Z,1754758057.289 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-09T16:47:37.311Z,1754758057.311 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 258.10 m.
2025-08-09T16:47:37.313Z,1754758057.313 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 258.100006 m,
      nav range: 266.788177 m,
      bearing: 136.164545 deg,
      approach rate: -0.605409 m/s,
      LOS rate: 0.007728 deg/s,
      cmd heading: 139.084768 deg,
      new cmd heading: 139.094574 deg.

2025-08-09T16:47:37.535Z,1754758057.535 [DAT](INFO): ****** received valid address query ******
2025-08-09T16:47:37.535Z,1754758057.535 [DAT](INFO): ****** received valid ping request ******
2025-08-09T16:47:37.536Z,1754758057.536 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-09T16:47:37.705Z,1754758057.705 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 258.10 m.
2025-08-09T16:47:37.731Z,1754758057.731 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 258.100006 m,
      nav range: 266.534821 m,
      bearing: 136.167010 deg,
      approach rate: -0.643258 m/s,
      LOS rate: 0.006265 deg/s,
      cmd heading: 139.094576 deg,
      new cmd heading: 139.101979 deg.

2025-08-09T16:47:37.789Z,1754758057.789 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.249279
2025-08-09T16:47:38.039Z,1754758058.039 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.500360
2025-08-09T16:47:38.095Z,1754758058.095 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 258.10 m.
2025-08-09T16:47:38.098Z,1754758058.098 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 258.100006 m,
      nav range: 266.295227 m,
      bearing: 136.169359 deg,
      approach rate: -0.613648 m/s,
      LOS rate: 0.006020 deg/s,
      cmd heading: 139.101980 deg,
      new cmd heading: 139.109031 deg.

2025-08-09T16:47:38.291Z,1754758058.291 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.752476
2025-08-09T16:47:38.543Z,1754758058.543 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.004486
2025-08-09T16:47:38.576Z,1754758058.576 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 258.10 m.
2025-08-09T16:47:38.583Z,1754758058.583 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 258.100006 m,
      nav range: 266.014923 m,
      bearing: 136.170929 deg,
      approach rate: -0.582530 m/s,
      LOS rate: 0.003267 deg/s,
      cmd heading: 139.109028 deg,
      new cmd heading: 139.113745 deg.

2025-08-09T16:47:38.796Z,1754758058.796 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.256983
2025-08-09T16:47:39.047Z,1754758059.047 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.508496
2025-08-09T16:47:39.056Z,1754758059.056 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 258.10 m.
2025-08-09T16:47:39.059Z,1754758059.059 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 258.100006 m,
      nav range: 265.687134 m,
      bearing: 136.172885 deg,
      approach rate: -0.682808 m/s,
      LOS rate: 0.004078 deg/s,
      cmd heading: 139.113741 deg,
      new cmd heading: 139.119615 deg.

2025-08-09T16:47:39.302Z,1754758059.302 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.763443
2025-08-09T16:47:39.507Z,1754758059.507 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-09T16:47:39.509Z,1754758059.509 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 258.10 m.
2025-08-09T16:47:39.528Z,1754758059.528 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 258.100006 m,
      nav range: 265.401184 m,
      bearing: 136.174638 deg,
      approach rate: -0.631587 m/s,
      LOS rate: 0.003878 deg/s,
      cmd heading: 139.119615 deg,
      new cmd heading: 139.124882 deg.

2025-08-09T16:47:39.552Z,1754758059.552 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.012893
2025-08-09T16:47:39.803Z,1754758059.803 [DAT](INFO): DAT read: Rx Time:16:47:38.7796

2025-08-09T16:47:39.804Z,1754758059.804 [DAT](INFO): Rx dataTimestamp_ set to:1754758059.803630
2025-08-09T16:47:39.804Z,1754758059.804 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.265543
2025-08-09T16:47:39.991Z,1754758059.991 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 258.10 m.
2025-08-09T16:47:39.994Z,1754758059.994 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 258.100006 m,
      nav range: 265.099762 m,
      bearing: 136.176722 deg,
      approach rate: -0.624960 m/s,
      LOS rate: 0.004324 deg/s,
      cmd heading: 139.124888 deg,
      new cmd heading: 139.131145 deg.

2025-08-09T16:47:40.056Z,1754758060.056 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.517043
2025-08-09T16:47:40.310Z,1754758060.310 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.770604
2025-08-09T16:47:40.381Z,1754758060.381 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 258.10 m.
2025-08-09T16:47:40.384Z,1754758060.384 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 258.100006 m,
      nav range: 264.856598 m,
      bearing: 136.178436 deg,
      approach rate: -0.623973 m/s,
      LOS rate: 0.004403 deg/s,
      cmd heading: 139.131145 deg,
      new cmd heading: 139.136292 deg.

2025-08-09T16:47:40.565Z,1754758060.565 [DAT](INFO): DAT read: 16:47:38.7796 LVL= 27120, 32753, 30626, 32755, AGC= 67, IDX= 312, 0.15,-2.617, 2.048,-2.517, 3.074, PHS= 0.694,-0.981, 0.648, RAW= 148.6,  -4.4, CAL= 148.3,  -5.5, ROT=   1.7,   5.5

2025-08-09T16:47:40.566Z,1754758060.566 [DAT](INFO): got valid direction response:
 16:47:38.7796 LVL= 27120, 32753, 30626, 32755, AGC= 67, IDX= 312, 0.15,-2.617, 2.048,-2.517, 3.074, PHS= 0.694,-0.981, 0.648, RAW= 148.6,  -4.4, CAL= 148.3,  -5.5, ROT=   1.7,   5.5

2025-08-09T16:47:40.567Z,1754758060.567 [DAT](INFO): DAT read: Bearing 292.3,  -1.9 (Local)

2025-08-09T16:47:40.568Z,1754758060.568 [DAT](INFO): Local bearing/azimuth received:
 Bearing 292.3,  -1.9 (Local)

2025-08-09T16:47:40.569Z,1754758060.569 [DAT](INFO): DAT read: Range 11 to 50 : 285.6 m  (Round-trip  380.8 ms) speed  0.4 m/s

2025-08-09T16:47:40.570Z,1754758060.570 [DAT](INFO): DAT read: user:108>

2025-08-09T16:47:40.571Z,1754758060.571 [DAT](INFO): DAT read: Tx time:16:47:39.8947

2025-08-09T16:47:40.571Z,1754758060.571 [DAT](INFO): Ping request sent.
2025-08-09T16:47:40.571Z,1754758060.571 [DAT](INFO): transmitted an acoustic signal
2025-08-09T16:47:40.571Z,1754758060.571 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-09T16:47:40.572Z,1754758060.572 [DAT](INFO): direction in FSK: [0.994958,0.029530,-0.095846]
2025-08-09T16:47:40.572Z,1754758060.572 [DAT](INFO): publishing transmit ping time
2025-08-09T16:47:40.573Z,1754758060.573 [DAT](INFO): publishing direction and range info
2025-08-09T16:47:40.576Z,1754758060.576 [DAT](INFO): publishing transmit ping time
2025-08-09T16:47:40.576Z,1754758060.576 [DAT](INFO): publishing direction and range info
2025-08-09T16:47:40.845Z,1754758060.845 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](ERROR): addTargetRange::Rejecting new target range. Approach rate out of bounds.
 range: 285.600006 m,
 deltaT: 4.031919 s,
 deltaX: 27.500000 m,
 approachRate: 6.820573 m/s,
 rangeRepo size: 4
2025-08-09T16:47:40.846Z,1754758060.846 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 258.10 m.
2025-08-09T16:47:40.858Z,1754758060.858 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 258.100006 m,
      nav range: 264.586090 m,
      bearing: 136.179546 deg,
      approach rate: -0.591508 m/s,
      LOS rate: 0.002430 deg/s,
      cmd heading: 139.136295 deg,
      new cmd heading: 139.139628 deg.

2025-08-09T16:47:41.218Z,1754758061.218 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 258.10 m.
2025-08-09T16:47:41.230Z,1754758061.230 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 258.100006 m,
      nav range: 264.361816 m,
      bearing: 136.180449 deg,
      approach rate: -0.592597 m/s,
      LOS rate: 0.002389 deg/s,
      cmd heading: 139.139628 deg,
      new cmd heading: 139.142340 deg.

2025-08-09T16:47:41.638Z,1754758061.638 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-09T16:47:41.644Z,1754758061.644 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 258.10 m.
2025-08-09T16:47:41.651Z,1754758061.651 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 258.100006 m,
      nav range: 264.093231 m,
      bearing: 136.182008 deg,
      approach rate: -0.629092 m/s,
      LOS rate: 0.003655 deg/s,
      cmd heading: 139.142346 deg,
      new cmd heading: 139.147028 deg.

2025-08-09T16:47:41.819Z,1754758061.819 [DAT](INFO): ****** received valid address query ******
2025-08-09T16:47:41.819Z,1754758061.819 [DAT](INFO): ****** received valid ping request ******
2025-08-09T16:47:41.819Z,1754758061.819 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-09T16:47:42.022Z,1754758062.022 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 258.10 m.
2025-08-09T16:47:42.025Z,1754758062.025 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 258.100006 m,
      nav range: 263.837585 m,
      bearing: 136.183495 deg,
      approach rate: -0.676124 m/s,
      LOS rate: 0.003936 deg/s,
      cmd heading: 139.147032 deg,
      new cmd heading: 139.151496 deg.

2025-08-09T16:47:42.073Z,1754758062.073 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.501449
2025-08-09T16:47:42.323Z,1754758062.323 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.752278
2025-08-09T16:47:42.425Z,1754758062.425 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 258.10 m.
2025-08-09T16:47:42.428Z,1754758062.428 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 258.100006 m,
      nav range: 263.588867 m,
      bearing: 136.184858 deg,
      approach rate: -0.617158 m/s,
      LOS rate: 0.003385 deg/s,
      cmd heading: 139.151499 deg,
      new cmd heading: 139.155591 deg.

2025-08-09T16:47:42.575Z,1754758062.575 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.004383
2025-08-09T16:47:42.827Z,1754758062.827 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.256459
2025-08-09T16:47:42.861Z,1754758062.861 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 258.10 m.
2025-08-09T16:47:42.865Z,1754758062.865 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 258.100006 m,
      nav range: 263.308929 m,
      bearing: 136.186995 deg,
      approach rate: -0.643066 m/s,
      LOS rate: 0.004916 deg/s,
      cmd heading: 139.155597 deg,
      new cmd heading: 139.162016 deg.

2025-08-09T16:47:43.079Z,1754758063.079 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.508245
2025-08-09T16:47:43.242Z,1754758063.242 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 258.10 m.
2025-08-09T16:47:43.256Z,1754758063.256 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 258.100006 m,
      nav range: 263.065186 m,
      bearing: 136.188783 deg,
      approach rate: -0.639075 m/s,
      LOS rate: 0.004691 deg/s,
      cmd heading: 139.162017 deg,
      new cmd heading: 139.167384 deg.

2025-08-09T16:47:43.332Z,1754758063.332 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.760725
2025-08-09T16:47:43.583Z,1754758063.583 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.012374
2025-08-09T16:47:43.659Z,1754758063.659 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-09T16:47:43.661Z,1754758063.661 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 258.10 m.
2025-08-09T16:47:43.684Z,1754758063.684 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 258.100006 m,
      nav range: 262.795532 m,
      bearing: 136.190551 deg,
      approach rate: -0.643318 m/s,
      LOS rate: 0.004223 deg/s,
      cmd heading: 139.167386 deg,
      new cmd heading: 139.172696 deg.

2025-08-09T16:47:43.835Z,1754758063.835 [DAT](INFO): DAT read: Rx Time:16:47:42.6768

2025-08-09T16:47:43.836Z,1754758063.836 [DAT](INFO): Rx dataTimestamp_ set to:1754758063.835394
2025-08-09T16:47:43.836Z,1754758063.836 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.265296
2025-08-09T16:47:44.026Z,1754758064.026 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 258.10 m.
2025-08-09T16:47:44.029Z,1754758064.029 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 258.100006 m,
      nav range: 262.559723 m,
      bearing: 136.192051 deg,
      approach rate: -0.645468 m/s,
      LOS rate: 0.004109 deg/s,
      cmd heading: 139.172700 deg,
      new cmd heading: 139.177203 deg.

2025-08-09T16:47:44.088Z,1754758064.088 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.516911
2025-08-09T16:47:44.345Z,1754758064.345 [DAT](INFO): DAT read: 16:47:42.6768 LVL= 31616, 32753, 32114, 32755, AGC= 68, IDX= 411, 0.44, 2.162, 0.690, 2.290, 1.622, PHS= 0.642,-0.887, 0.624, RAW= 149.4,  -5.0, CAL= 149.2,  -6.2, ROT=   0.8,   6.2

2025-08-09T16:47:44.346Z,1754758064.346 [DAT](INFO): got valid direction response:
 16:47:42.6768 LVL= 31616, 32753, 32114, 32755, AGC= 68, IDX= 411, 0.44, 2.162, 0.690, 2.290, 1.622, PHS= 0.642,-0.887, 0.624, RAW= 149.4,  -5.0, CAL= 149.2,  -6.2, ROT=   0.8,   6.2

2025-08-09T16:47:44.347Z,1754758064.347 [DAT](INFO): DAT read: Bearing 292.1,  -2.0 (Local)

2025-08-09T16:47:44.347Z,1754758064.347 [DAT](INFO): Local bearing/azimuth received:
 Bearing 292.1,  -2.0 (Local)

2025-08-09T16:47:44.349Z,1754758064.349 [DAT](INFO): DAT read: Range 11 to 50 : 283.5 m  (Round-trip  378.0 ms) speed  0.5 m/s

2025-08-09T16:47:44.350Z,1754758064.350 [DAT](INFO): DAT read: user:109>

2025-08-09T16:47:44.350Z,1754758064.350 [DAT](INFO): DAT read: Tx time:16:47:43.7947

2025-08-09T16:47:44.351Z,1754758064.351 [DAT](INFO): Ping request sent.
2025-08-09T16:47:44.351Z,1754758064.351 [DAT](INFO): transmitted an acoustic signal
2025-08-09T16:47:44.351Z,1754758064.351 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-09T16:47:44.352Z,1754758064.352 [DAT](INFO): direction in FSK: [0.994054,0.013881,-0.107999]
2025-08-09T16:47:44.352Z,1754758064.352 [DAT](INFO): publishing transmit ping time
2025-08-09T16:47:44.352Z,1754758064.352 [DAT](INFO): publishing direction and range info
2025-08-09T16:47:44.356Z,1754758064.356 [DAT](INFO): publishing transmit ping time
2025-08-09T16:47:44.356Z,1754758064.356 [DAT](INFO): publishing direction and range info
2025-08-09T16:47:44.461Z,1754758064.461 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 283.500000 m,
      deltaT: 7.811865 s,
      deltaX: 25.399994 m,
      approachRate: 3.251463 m/s,
      rangeRepo size: 4

2025-08-09T16:47:44.467Z,1754758064.467 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 283.500000 m,
      bearing: 136.335020 deg,
      lat: 36.905998 deg,
      lon: -122.115805 deg,
      deltaT: 7.811865 s,
      deltaX: 25.399994 m,
      approachRate: 3.251463 m/s,
      posRepo size: 4

2025-08-09T16:47:44.468Z,1754758064.468 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 283.50 m.
2025-08-09T16:47:44.474Z,1754758064.474 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 283.500000 m,
      nav range: 261.669800 m,
      bearing: 136.335020 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.004109 deg/s,
      cmd heading: 139.177207 deg,
      new cmd heading: 139.182555 deg.

2025-08-09T16:47:44.920Z,1754758064.920 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 283.50 m.
2025-08-09T16:47:44.927Z,1754758064.927 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 283.500000 m,
      nav range: 261.366302 m,
      bearing: 136.337174 deg,
      approach rate: -0.660184 m/s,
      LOS rate: 0.004689 deg/s,
      cmd heading: 139.182549 deg,
      new cmd heading: 139.189016 deg.

2025-08-09T16:47:45.247Z,1754758065.247 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 283.50 m.
2025-08-09T16:47:45.250Z,1754758065.250 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 283.500000 m,
      nav range: 261.146820 m,
      bearing: 136.338682 deg,
      approach rate: -0.669979 m/s,
      LOS rate: 0.004608 deg/s,
      cmd heading: 139.189010 deg,
      new cmd heading: 139.193539 deg.

2025-08-09T16:47:45.673Z,1754758065.673 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-09T16:47:45.675Z,1754758065.675 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 283.50 m.
2025-08-09T16:47:45.677Z,1754758065.677 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 283.500000 m,
      nav range: 260.872101 m,
      bearing: 136.339479 deg,
      approach rate: -0.642943 m/s,
      LOS rate: 0.001867 deg/s,
      cmd heading: 139.193545 deg,
      new cmd heading: 139.195938 deg.

2025-08-09T16:47:45.851Z,1754758065.851 [DAT](INFO): ****** received valid address query ******
2025-08-09T16:47:45.852Z,1754758065.852 [DAT](INFO): ****** received valid ping request ******
2025-08-09T16:47:45.852Z,1754758065.852 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-09T16:47:46.045Z,1754758066.045 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 283.50 m.
2025-08-09T16:47:46.048Z,1754758066.048 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 283.500000 m,
      nav range: 260.632935 m,
      bearing: 136.340152 deg,
      approach rate: -0.644768 m/s,
      LOS rate: 0.001818 deg/s,
      cmd heading: 139.195936 deg,
      new cmd heading: 139.197959 deg.

2025-08-09T16:47:46.104Z,1754758066.104 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.753210
2025-08-09T16:47:46.355Z,1754758066.355 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.004504
2025-08-09T16:47:46.464Z,1754758066.464 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 283.50 m.
2025-08-09T16:47:46.467Z,1754758066.467 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 283.500000 m,
      nav range: 260.373779 m,
      bearing: 136.340851 deg,
      approach rate: -0.619233 m/s,
      LOS rate: 0.001671 deg/s,
      cmd heading: 139.197958 deg,
      new cmd heading: 139.200056 deg.

2025-08-09T16:47:46.610Z,1754758066.610 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.258738
2025-08-09T16:47:46.860Z,1754758066.860 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.508895
2025-08-09T16:47:46.905Z,1754758066.905 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 283.50 m.
2025-08-09T16:47:46.907Z,1754758066.907 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 283.500000 m,
      nav range: 260.088837 m,
      bearing: 136.341189 deg,
      approach rate: -0.646860 m/s,
      LOS rate: 0.000767 deg/s,
      cmd heading: 139.200061 deg,
      new cmd heading: 139.201075 deg.

2025-08-09T16:47:47.111Z,1754758067.111 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.760546
2025-08-09T16:47:47.275Z,1754758067.275 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 283.50 m.
2025-08-09T16:47:47.277Z,1754758067.277 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 283.500000 m,
      nav range: 259.865112 m,
      bearing: 136.341428 deg,
      approach rate: -0.611454 m/s,
      LOS rate: 0.000653 deg/s,
      cmd heading: 139.201072 deg,
      new cmd heading: 139.201789 deg.

2025-08-09T16:47:47.363Z,1754758067.363 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.012620
2025-08-09T16:47:47.617Z,1754758067.617 [DAT](INFO): DAT read: Rx Time:16:47:46.5331

2025-08-09T16:47:47.618Z,1754758067.618 [DAT](INFO): Rx dataTimestamp_ set to:1754758067.617452
2025-08-09T16:47:47.618Z,1754758067.618 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.267617
2025-08-09T16:47:47.714Z,1754758067.714 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-09T16:47:47.718Z,1754758067.718 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 283.50 m.
2025-08-09T16:47:47.721Z,1754758067.721 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 283.500000 m,
      nav range: 259.584167 m,
      bearing: 136.340717 deg,
      approach rate: -0.628051 m/s,
      LOS rate: -0.001590 deg/s,
      cmd heading: 139.201782 deg,
      new cmd heading: 139.199649 deg.

2025-08-09T16:47:47.868Z,1754758067.868 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.517312
2025-08-09T16:47:48.113Z,1754758068.113 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 283.50 m.
2025-08-09T16:47:48.116Z,1754758068.116 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 283.500000 m,
      nav range: 259.331055 m,
      bearing: 136.340079 deg,
      approach rate: -0.640314 m/s,
      LOS rate: -0.001616 deg/s,
      cmd heading: 139.199651 deg,
      new cmd heading: 139.197735 deg.

2025-08-09T16:47:48.125Z,1754758068.125 [DAT](INFO): DAT read: 16:47:46.5331 LVL= 26864, 32753, 29682, 32755, AGC= 66, IDX= 507,-0.03, 0.466,-1.235, 0.749, 0.270, PHS= 0.298,-1.460, 0.435, RAW= 153.7,   8.0, CAL= 153.3,   8.5, ROT= 356.7,  -8.5

2025-08-09T16:47:48.126Z,1754758068.126 [DAT](INFO): got valid direction response:
 16:47:46.5331 LVL= 26864, 32753, 29682, 32755, AGC= 66, IDX= 507,-0.03, 0.466,-1.235, 0.749, 0.270, PHS= 0.298,-1.460, 0.435, RAW= 153.7,   8.0, CAL= 153.3,   8.5, ROT= 356.7,  -8.5

2025-08-09T16:47:48.127Z,1754758068.127 [DAT](INFO): DAT read: Bearing 306.4,  -6.9 (Local)

2025-08-09T16:47:48.128Z,1754758068.128 [DAT](INFO): Local bearing/azimuth received:
 Bearing 306.4,  -6.9 (Local)

2025-08-09T16:47:48.129Z,1754758068.129 [DAT](INFO): DAT read: Range 11 to 50 : 250.6 m  (Round-trip  334.2 ms) speed  0.4 m/s

2025-08-09T16:47:48.130Z,1754758068.130 [DAT](INFO): DAT read: user:110>

2025-08-09T16:47:48.131Z,1754758068.131 [DAT](INFO): DAT read: Tx time:16:47:47.6462

2025-08-09T16:47:48.131Z,1754758068.131 [DAT](INFO): Ping request sent.
2025-08-09T16:47:48.131Z,1754758068.131 [DAT](INFO): transmitted an acoustic signal
2025-08-09T16:47:48.132Z,1754758068.132 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-09T16:47:48.132Z,1754758068.132 [DAT](INFO): direction in FSK: [0.987376,-0.056931,0.147809]
2025-08-09T16:47:48.133Z,1754758068.133 [DAT](INFO): publishing transmit ping time
2025-08-09T16:47:48.133Z,1754758068.133 [DAT](INFO): publishing direction and range info
2025-08-09T16:47:48.136Z,1754758068.136 [DAT](INFO): publishing transmit ping time
2025-08-09T16:47:48.136Z,1754758068.136 [DAT](INFO): publishing direction and range info
2025-08-09T16:47:48.479Z,1754758068.479 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](ERROR): addTargetRange::Rejecting new target range. Approach rate out of bounds.
 range: 250.600006 m,
 deltaT: 3.780127 s,
 deltaX: -32.899994 m,
 approachRate: -8.703410 m/s,
 rangeRepo size: 4
2025-08-09T16:47:48.479Z,1754758068.479 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 283.50 m.
2025-08-09T16:47:48.482Z,1754758068.482 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 283.500000 m,
      nav range: 259.104309 m,
      bearing: 136.339514 deg,
      approach rate: -0.621481 m/s,
      LOS rate: -0.001549 deg/s,
      cmd heading: 139.197739 deg,
      new cmd heading: 139.196043 deg.

2025-08-09T16:47:48.915Z,1754758068.915 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 283.50 m.
2025-08-09T16:47:48.918Z,1754758068.918 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 283.500000 m,
      nav range: 258.830963 m,
      bearing: 136.337912 deg,
      approach rate: -0.626647 m/s,
      LOS rate: -0.003678 deg/s,
      cmd heading: 139.196045 deg,
      new cmd heading: 139.191232 deg.

2025-08-09T16:47:49.289Z,1754758069.289 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 283.50 m.
2025-08-09T16:47:49.292Z,1754758069.292 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 283.500000 m,
      nav range: 258.597626 m,
      bearing: 136.336563 deg,
      approach rate: -0.621532 m/s,
      LOS rate: -0.003595 deg/s,
      cmd heading: 139.191237 deg,
      new cmd heading: 139.187187 deg.

2025-08-09T16:47:49.740Z,1754758069.740 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-09T16:47:49.747Z,1754758069.747 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 283.50 m.
2025-08-09T16:47:49.750Z,1754758069.750 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 283.500000 m,
      nav range: 258.319855 m,
      bearing: 136.335254 deg,
      approach rate: -0.613663 m/s,
      LOS rate: -0.002896 deg/s,
      cmd heading: 139.187193 deg,
      new cmd heading: 139.183260 deg.

2025-08-09T16:47:49.883Z,1754758069.883 [DAT](INFO): ****** received valid address query ******
2025-08-09T16:47:49.883Z,1754758069.883 [DAT](INFO): ****** received valid ping request ******
2025-08-09T16:47:49.884Z,1754758069.884 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-09T16:47:50.088Z,1754758070.088 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 283.50 m.
2025-08-09T16:47:50.091Z,1754758070.091 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 283.500000 m,
      nav range: 258.097961 m,
      bearing: 136.334236 deg,
      approach rate: -0.641360 m/s,
      LOS rate: -0.002944 deg/s,
      cmd heading: 139.183259 deg,
      new cmd heading: 139.180204 deg.

2025-08-09T16:47:50.136Z,1754758070.136 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.004804
2025-08-09T16:47:50.387Z,1754758070.387 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.256005
2025-08-09T16:47:50.526Z,1754758070.526 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 283.50 m.
2025-08-09T16:47:50.530Z,1754758070.530 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 283.500000 m,
      nav range: 257.829193 m,
      bearing: 136.333001 deg,
      approach rate: -0.614420 m/s,
      LOS rate: -0.002826 deg/s,
      cmd heading: 139.180199 deg,
      new cmd heading: 139.176491 deg.

2025-08-09T16:47:50.643Z,1754758070.643 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.511052
2025-08-09T16:47:50.891Z,1754758070.891 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.760068
2025-08-09T16:47:50.942Z,1754758070.942 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 283.50 m.
2025-08-09T16:47:50.945Z,1754758070.945 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 283.500000 m,
      nav range: 257.574585 m,
      bearing: 136.331939 deg,
      approach rate: -0.642199 m/s,
      LOS rate: -0.002681 deg/s,
      cmd heading: 139.176497 deg,
      new cmd heading: 139.173308 deg.

2025-08-09T16:47:51.143Z,1754758071.143 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.012153
2025-08-09T16:47:51.310Z,1754758071.310 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 283.50 m.
2025-08-09T16:47:51.313Z,1754758071.313 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 283.500000 m,
      nav range: 257.330566 m,
      bearing: 136.330944 deg,
      approach rate: -0.628983 m/s,
      LOS rate: -0.002569 deg/s,
      cmd heading: 139.173314 deg,
      new cmd heading: 139.170324 deg.

2025-08-09T16:47:51.395Z,1754758071.395 [DAT](INFO): DAT read: Rx Time:16:47:50.4017

2025-08-09T16:47:51.396Z,1754758071.396 [DAT](INFO): Rx dataTimestamp_ set to:1754758071.395569
2025-08-09T16:47:51.396Z,1754758071.396 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.265152
2025-08-09T16:47:51.650Z,1754758071.650 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.518438
2025-08-09T16:47:51.802Z,1754758071.802 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-09T16:47:51.804Z,1754758071.804 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 283.50 m.
2025-08-09T16:47:51.807Z,1754758071.807 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 283.500000 m,
      nav range: 257.014313 m,
      bearing: 136.330231 deg,
      approach rate: -0.639686 m/s,
      LOS rate: -0.001443 deg/s,
      cmd heading: 139.170323 deg,
      new cmd heading: 139.168182 deg.

2025-08-09T16:47:51.903Z,1754758071.903 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.770746
2025-08-09T16:47:52.157Z,1754758072.157 [DAT](INFO): DAT read: 16:47:50.4017 LVL= 15952, 13489, 15458, 14323, AGC= 68, IDX= 106, 0.24, 2.325, 0.923, 2.464, 1.752, PHS= 0.675,-0.785, 0.668, RAW= 149.8,  -7.7, CAL= 149.9,  -9.3, ROT=   0.1,   9.3

2025-08-09T16:47:52.158Z,1754758072.158 [DAT](INFO): got valid direction response:
 16:47:50.4017 LVL= 15952, 13489, 15458, 14323, AGC= 68, IDX= 106, 0.24, 2.325, 0.923, 2.464, 1.752, PHS= 0.675,-0.785, 0.668, RAW= 149.8,  -7.7, CAL= 149.9,  -9.3, ROT=   0.1,   9.3

2025-08-09T16:47:52.159Z,1754758072.159 [DAT](INFO): DAT read: Bearing 289.1,  -0.8 (Local)

2025-08-09T16:47:52.160Z,1754758072.160 [DAT](INFO): Local bearing/azimuth received:
 Bearing 289.1,  -0.8 (Local)

2025-08-09T16:47:52.161Z,1754758072.161 [DAT](INFO): DAT read: Range 11 to 50 : 263.4 m  (Round-trip  351.3 ms) speed  0.1 m/s

2025-08-09T16:47:52.164Z,1754758072.164 [DAT](INFO): DAT read: user:111>

2025-08-09T16:47:52.191Z,1754758072.191 [DAT](INFO): DAT read: Tx time:16:47:51.4947

2025-08-09T16:47:52.192Z,1754758072.192 [DAT](INFO): Ping request sent.
2025-08-09T16:47:52.192Z,1754758072.192 [DAT](INFO): transmitted an acoustic signal
2025-08-09T16:47:52.192Z,1754758072.192 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-09T16:47:52.199Z,1754758072.199 [DAT](INFO): direction in FSK: [0.986854,0.001722,-0.161604]
2025-08-09T16:47:52.199Z,1754758072.199 [DAT](INFO): publishing transmit ping time
2025-08-09T16:47:52.199Z,1754758072.199 [DAT](INFO): publishing direction and range info
2025-08-09T16:47:52.216Z,1754758072.216 [DAT](INFO): publishing transmit ping time
2025-08-09T16:47:52.216Z,1754758072.216 [DAT](INFO): publishing direction and range info
2025-08-09T16:47:52.264Z,1754758072.264 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 263.399994 m,
      deltaT: 7.812054 s,
      deltaX: -20.100006 m,
      approachRate: -2.572948 m/s,
      rangeRepo size: 4

2025-08-09T16:47:52.266Z,1754758072.266 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 263.399994 m,
      bearing: 138.470513 deg,
      lat: 36.905929 deg,
      lon: -122.115873 deg,
      deltaT: 7.812054 s,
      deltaX: -20.100006 m,
      approachRate: -2.572948 m/s,
      posRepo size: 4

2025-08-09T16:47:52.271Z,1754758072.271 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 263.40 m.
2025-08-09T16:47:52.273Z,1754758072.273 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 263.399994 m,
      nav range: 258.222412 m,
      bearing: 138.470513 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.001443 deg/s,
      cmd heading: 139.168178 deg,
      new cmd heading: 139.166191 deg.

2025-08-09T16:47:52.809Z,1754758072.809 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 263.40 m.
2025-08-09T16:47:52.815Z,1754758072.815 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 263.399994 m,
      nav range: 257.874329 m,
      bearing: 138.473772 deg,
      approach rate: -0.638450 m/s,
      LOS rate: 0.005985 deg/s,
      cmd heading: 139.166197 deg,
      new cmd heading: 139.175986 deg.

2025-08-09T16:47:53.201Z,1754758073.201 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 263.40 m.
2025-08-09T16:47:53.209Z,1754758073.209 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 263.399994 m,
      nav range: 257.631195 m,
      bearing: 138.476058 deg,
      approach rate: -0.620174 m/s,
      LOS rate: 0.005836 deg/s,
      cmd heading: 139.175992 deg,
      new cmd heading: 139.182856 deg.

2025-08-09T16:47:53.575Z,1754758073.575 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 263.40 m.
2025-08-09T16:47:53.577Z,1754758073.577 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 263.399994 m,
      nav range: 257.374542 m,
      bearing: 138.478491 deg,
      approach rate: -0.686399 m/s,
      LOS rate: 0.006513 deg/s,
      cmd heading: 139.182849 deg,
      new cmd heading: 139.190156 deg.

2025-08-09T16:47:54.012Z,1754758074.012 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-09T16:47:54.014Z,1754758074.014 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 263.40 m.
2025-08-09T16:47:54.021Z,1754758074.021 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 263.399994 m,
      nav range: 257.103943 m,
      bearing: 138.482019 deg,
      approach rate: -0.615702 m/s,
      LOS rate: 0.008037 deg/s,
      cmd heading: 139.190157 deg,
      new cmd heading: 139.200754 deg.

2025-08-09T16:47:54.170Z,1754758074.170 [DAT](INFO): ****** received valid address query ******
2025-08-09T16:47:54.170Z,1754758074.170 [DAT](INFO): ****** received valid ping request ******
2025-08-09T16:47:54.170Z,1754758074.170 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-09T16:47:54.386Z,1754758074.386 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 263.40 m.
2025-08-09T16:47:54.389Z,1754758074.389 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 263.399994 m,
      nav range: 256.855072 m,
      bearing: 138.485262 deg,
      approach rate: -0.668618 m/s,
      LOS rate: 0.008720 deg/s,
      cmd heading: 139.200758 deg,
      new cmd heading: 139.210496 deg.

2025-08-09T16:47:54.420Z,1754758074.420 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.227783
2025-08-09T16:47:54.675Z,1754758074.675 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.482050
2025-08-09T16:47:54.824Z,1754758074.824 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 263.40 m.
2025-08-09T16:47:54.827Z,1754758074.827 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 263.399994 m,
      nav range: 256.560120 m,
      bearing: 138.490947 deg,
      approach rate: -0.673258 m/s,
      LOS rate: 0.012991 deg/s,
      cmd heading: 139.210498 deg,
      new cmd heading: 139.227572 deg.

2025-08-09T16:47:54.924Z,1754758074.924 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.731521
2025-08-09T16:47:55.177Z,1754758075.177 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.984589
2025-08-09T16:47:55.209Z,1754758075.209 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 263.40 m.
2025-08-09T16:47:55.212Z,1754758075.212 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 263.399994 m,
      nav range: 256.302063 m,
      bearing: 138.495921 deg,
      approach rate: -0.670143 m/s,
      LOS rate: 0.012931 deg/s,
      cmd heading: 139.227573 deg,
      new cmd heading: 139.242511 deg.

2025-08-09T16:47:55.427Z,1754758075.427 [DAT](INFO): DAT read: Rx Time:16:47:54.2470

2025-08-09T16:47:55.428Z,1754758075.428 [DAT](INFO): Rx dataTimestamp_ set to:1754758075.427682
2025-08-09T16:47:55.429Z,1754758075.429 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.236543
2025-08-09T16:47:55.614Z,1754758075.614 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 263.40 m.
2025-08-09T16:47:55.616Z,1754758075.616 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 263.399994 m,
      nav range: 256.028320 m,
      bearing: 138.501209 deg,
      approach rate: -0.677019 m/s,
      LOS rate: 0.013091 deg/s,
      cmd heading: 139.242518 deg,
      new cmd heading: 139.258397 deg.

2025-08-09T16:47:55.683Z,1754758075.683 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.490523
2025-08-09T16:47:55.937Z,1754758075.937 [DAT](INFO): DAT read: 16:47:54.2470 LVL= 32752, 32753, 30882, 32755, AGC= 70, IDX= 410, 0.20, 1.208,-0.228, 1.408, 0.542, PHS= 0.768,-0.725, 0.822, RAW= 151.8, -11.4, CAL= 152.7, -13.2, ROT= 357.3,  13.2

2025-08-09T16:47:55.938Z,1754758075.938 [DAT](INFO): got valid direction response:
 16:47:54.2470 LVL= 32752, 32753, 30882, 32755, AGC= 70, IDX= 410, 0.20, 1.208,-0.228, 1.408, 0.542, PHS= 0.768,-0.725, 0.822, RAW= 151.8, -11.4, CAL= 152.7, -13.2, ROT= 357.3,  13.2

2025-08-09T16:47:55.939Z,1754758075.939 [DAT](INFO): DAT read: Bearing 284.8,  -2.0 (Local)

2025-08-09T16:47:55.939Z,1754758075.939 [DAT](INFO): Local bearing/azimuth received:
 Bearing 284.8,  -2.0 (Local)

2025-08-09T16:47:55.941Z,1754758075.941 [DAT](INFO): DAT read: Range 11 to 50 : 261.1 m  (Round-trip  348.2 ms) speed  0.4 m/s

2025-08-09T16:47:55.942Z,1754758075.942 [DAT](INFO): DAT read: user:112>

2025-08-09T16:47:55.942Z,1754758075.942 [DAT](INFO): DAT read: Tx time:16:47:55.3447

2025-08-09T16:47:55.943Z,1754758075.943 [DAT](INFO): Ping request sent.
2025-08-09T16:47:55.943Z,1754758075.943 [DAT](INFO): transmitted an acoustic signal
2025-08-09T16:47:55.943Z,1754758075.943 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-09T16:47:55.944Z,1754758075.944 [DAT](INFO): direction in FSK: [0.972498,-0.045862,-0.228351]
2025-08-09T16:47:55.944Z,1754758075.944 [DAT](INFO): publishing transmit ping time
2025-08-09T16:47:55.945Z,1754758075.945 [DAT](INFO): publishing direction and range info
2025-08-09T16:47:55.948Z,1754758075.948 [DAT](INFO): publishing transmit ping time
2025-08-09T16:47:55.948Z,1754758075.948 [DAT](INFO): publishing direction and range info
2025-08-09T16:47:56.115Z,1754758076.115 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 261.100006 m,
      deltaT: 3.779889 s,
      deltaX: -2.299988 m,
      approachRate: -0.608480 m/s,
      rangeRepo size: 4

2025-08-09T16:47:56.117Z,1754758076.117 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 261.100006 m,
      bearing: 137.836102 deg,
      lat: 36.905929 deg,
      lon: -122.115828 deg,
      deltaT: 3.779889 s,
      deltaX: -2.299988 m,
      approachRate: -0.608480 m/s,
      posRepo size: 4

2025-08-09T16:47:56.118Z,1754758076.118 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 261.10 m.
2025-08-09T16:47:56.125Z,1754758076.125 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 261.100006 m,
      nav range: 258.417450 m,
      bearing: 137.836102 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.013091 deg/s,
      cmd heading: 139.258391 deg,
      new cmd heading: 139.277892 deg.

2025-08-09T16:47:56.471Z,1754758076.471 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-09T16:47:56.473Z,1754758076.473 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 261.10 m.
2025-08-09T16:47:56.476Z,1754758076.476 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 261.100006 m,
      nav range: 258.168701 m,
      bearing: 137.839778 deg,
      approach rate: -0.685956 m/s,
      LOS rate: 0.010147 deg/s,
      cmd heading: 139.277898 deg,
      new cmd heading: 139.288937 deg.

2025-08-09T16:47:56.690Z,1754758076.690 [DAT](INFO): ****** received valid address query ******
2025-08-09T16:47:56.690Z,1754758076.690 [DAT](INFO): ****** received valid ping request ******
2025-08-09T16:47:56.690Z,1754758076.690 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-09T16:47:56.918Z,1754758076.918 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 261.10 m.
2025-08-09T16:47:56.921Z,1754758076.921 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 261.100006 m,
      nav range: 257.893341 m,
      bearing: 137.846260 deg,
      approach rate: -0.623940 m/s,
      LOS rate: 0.014702 deg/s,
      cmd heading: 139.288936 deg,
      new cmd heading: 139.308401 deg.

2025-08-09T16:47:56.939Z,1754758076.939 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.996567
2025-08-09T16:47:57.192Z,1754758077.192 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.249624
2025-08-09T16:47:57.277Z,1754758077.277 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 261.10 m.
2025-08-09T16:47:57.279Z,1754758077.279 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 261.100006 m,
      nav range: 257.648499 m,
      bearing: 137.851998 deg,
      approach rate: -0.675605 m/s,
      LOS rate: 0.015848 deg/s,
      cmd heading: 139.308402 deg,
      new cmd heading: 139.325632 deg.

2025-08-09T16:47:57.444Z,1754758077.444 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.501592
2025-08-09T16:47:57.697Z,1754758077.697 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.753486
2025-08-09T16:47:57.778Z,1754758077.778 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 261.10 m.
2025-08-09T16:47:57.784Z,1754758077.784 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 261.100006 m,
      nav range: 257.381042 m,
      bearing: 137.858257 deg,
      approach rate: -0.533853 m/s,
      LOS rate: 0.012506 deg/s,
      cmd heading: 139.325627 deg,
      new cmd heading: 139.344424 deg.

2025-08-09T16:47:57.947Z,1754758077.947 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.004537
2025-08-09T16:47:58.127Z,1754758078.127 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 261.10 m.
2025-08-09T16:47:58.129Z,1754758078.129 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 261.100006 m,
      nav range: 257.116608 m,
      bearing: 137.864312 deg,
      approach rate: -0.757007 m/s,
      LOS rate: 0.017352 deg/s,
      cmd heading: 139.344424 deg,
      new cmd heading: 139.362608 deg.

2025-08-09T16:47:58.200Z,1754758078.200 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.257183
2025-08-09T16:47:58.451Z,1754758078.451 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.508393
2025-08-09T16:47:58.488Z,1754758078.488 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-09T16:47:58.491Z,1754758078.491 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 261.10 m.
2025-08-09T16:47:58.494Z,1754758078.494 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 261.100006 m,
      nav range: 256.876526 m,
      bearing: 137.869786 deg,
      approach rate: -0.660293 m/s,
      LOS rate: 0.015068 deg/s,
      cmd heading: 139.362606 deg,
      new cmd heading: 139.379042 deg.

2025-08-09T16:47:58.703Z,1754758078.703 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.760497
2025-08-09T16:47:58.932Z,1754758078.932 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 261.10 m.
2025-08-09T16:47:58.935Z,1754758078.935 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 261.100006 m,
      nav range: 256.601257 m,
      bearing: 137.875432 deg,
      approach rate: -0.623111 m/s,
      LOS rate: 0.012795 deg/s,
      cmd heading: 139.379040 deg,
      new cmd heading: 139.395996 deg.

2025-08-09T16:47:58.974Z,1754758078.974 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.031593
2025-08-09T16:47:59.224Z,1754758079.224 [DAT](INFO): DAT read: Rx Time:16:47:58.0939

2025-08-09T16:47:59.224Z,1754758079.224 [DAT](INFO): Rx dataTimestamp_ set to:1754758079.223764
2025-08-09T16:47:59.225Z,1754758079.225 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.281810
2025-08-09T16:47:59.304Z,1754758079.304 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 261.10 m.
2025-08-09T16:47:59.307Z,1754758079.307 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 261.100006 m,
      nav range: 256.367340 m,
      bearing: 137.880210 deg,
      approach rate: -0.629019 m/s,
      LOS rate: 0.012861 deg/s,
      cmd heading: 139.395992 deg,
      new cmd heading: 139.410340 deg.

2025-08-09T16:47:59.475Z,1754758079.475 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.532447
2025-08-09T16:47:59.721Z,1754758079.721 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 261.10 m.
2025-08-09T16:47:59.724Z,1754758079.724 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 261.100006 m,
      nav range: 256.109192 m,
      bearing: 137.885471 deg,
      approach rate: -0.618561 m/s,
      LOS rate: 0.012619 deg/s,
      cmd heading: 139.410335 deg,
      new cmd heading: 139.426135 deg.

2025-08-09T16:47:59.799Z,1754758079.799 [DAT](INFO): DAT read: 16:47:58.0939 LVL= 23360, 30369, 30290, 27955, AGC= 68, IDX= 199, 0.27,-1.127,-2.804,-0.899,-1.403, PHS= 0.377,-1.356, 0.460, RAW= 152.3,   5.9, CAL= 151.6,   6.1, ROT= 358.4,  -6.1

2025-08-09T16:47:59.800Z,1754758079.800 [DAT](INFO): got valid direction response:
 16:47:58.0939 LVL= 23360, 30369, 30290, 27955, AGC= 68, IDX= 199, 0.27,-1.127,-2.804,-0.899,-1.403, PHS= 0.377,-1.356, 0.460, RAW= 152.3,   5.9, CAL= 151.6,   6.1, ROT= 358.4,  -6.1

2025-08-09T16:47:59.801Z,1754758079.801 [DAT](INFO): DAT read: Bearing 303.9,  -2.1 (Local)

2025-08-09T16:47:59.801Z,1754758079.801 [DAT](INFO): Local bearing/azimuth received:
 Bearing 303.9,  -2.1 (Local)

2025-08-09T16:47:59.811Z,1754758079.811 [DAT](INFO): DAT read: Range 11 to 50 : 258.8 m  (Round-trip  345.1 ms) speed  0.4 m/s

2025-08-09T16:47:59.812Z,1754758079.812 [DAT](INFO): DAT read: user:113>

2025-08-09T16:47:59.813Z,1754758079.813 [DAT](INFO): DAT read: Tx time:16:47:59.1947

2025-08-09T16:47:59.813Z,1754758079.813 [DAT](INFO): Ping request sent.
2025-08-09T16:47:59.813Z,1754758079.813 [DAT](INFO): transmitted an acoustic signal
2025-08-09T16:47:59.813Z,1754758079.813 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-09T16:47:59.823Z,1754758079.823 [DAT](INFO): direction in FSK: [0.993950,-0.027764,0.106264]
2025-08-09T16:47:59.823Z,1754758079.823 [DAT](INFO): publishing transmit ping time
2025-08-09T16:47:59.823Z,1754758079.823 [DAT](INFO): publishing direction and range info
2025-08-09T16:47:59.826Z,1754758079.826 [DAT](INFO): publishing transmit ping time
2025-08-09T16:47:59.830Z,1754758079.830 [DAT](INFO): publishing direction and range info
2025-08-09T16:48:00.209Z,1754758080.209 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 258.799988 m,
      deltaT: 3.796144 s,
      deltaX: -2.300018 m,
      approachRate: -0.605883 m/s,
      rangeRepo size: 4

2025-08-09T16:48:00.216Z,1754758080.216 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 258.799988 m,
      bearing: 138.471683 deg,
      lat: 36.905929 deg,
      lon: -122.115866 deg,
      deltaT: 3.796144 s,
      deltaX: -2.300018 m,
      approachRate: -0.605883 m/s,
      posRepo size: 4

2025-08-09T16:48:00.216Z,1754758080.216 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 258.80 m.
2025-08-09T16:48:00.223Z,1754758080.223 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 258.799988 m,
      nav range: 253.506287 m,
      bearing: 138.471683 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.012619 deg/s,
      cmd heading: 139.426141 deg,
      new cmd heading: 139.444583 deg.

2025-08-09T16:48:00.554Z,1754758080.554 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-09T16:48:00.556Z,1754758080.556 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 258.80 m.
2025-08-09T16:48:00.576Z,1754758080.576 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 258.799988 m,
      nav range: 253.278915 m,
      bearing: 138.476953 deg,
      approach rate: -0.654221 m/s,
      LOS rate: 0.015175 deg/s,
      cmd heading: 139.444582 deg,
      new cmd heading: 139.460404 deg.

2025-08-09T16:48:00.735Z,1754758080.735 [DAT](INFO): ****** received valid address query ******
2025-08-09T16:48:00.735Z,1754758080.735 [DAT](INFO): ****** received valid ping request ******
2025-08-09T16:48:00.735Z,1754758080.735 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-09T16:48:00.987Z,1754758080.987 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.174396
2025-08-09T16:48:01.004Z,1754758081.004 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 258.80 m.
2025-08-09T16:48:01.011Z,1754758081.011 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 258.799988 m,
      nav range: 253.012115 m,
      bearing: 138.481139 deg,
      approach rate: -0.595819 m/s,
      LOS rate: 0.009359 deg/s,
      cmd heading: 139.460401 deg,
      new cmd heading: 139.472974 deg.

2025-08-09T16:48:01.240Z,1754758081.240 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.426897
2025-08-09T16:48:01.379Z,1754758081.379 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 258.80 m.
2025-08-09T16:48:01.382Z,1754758081.382 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 258.799988 m,
      nav range: 252.774185 m,
      bearing: 138.484882 deg,
      approach rate: -0.634503 m/s,
      LOS rate: 0.009991 deg/s,
      cmd heading: 139.472968 deg,
      new cmd heading: 139.484208 deg.

2025-08-09T16:48:01.492Z,1754758081.492 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.678477
2025-08-09T16:48:01.743Z,1754758081.743 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.930260
2025-08-09T16:48:01.860Z,1754758081.860 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 258.80 m.
2025-08-09T16:48:01.865Z,1754758081.865 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 258.799988 m,
      nav range: 252.483292 m,
      bearing: 138.489504 deg,
      approach rate: -0.604793 m/s,
      LOS rate: 0.009621 deg/s,
      cmd heading: 139.484211 deg,
      new cmd heading: 139.498093 deg.

2025-08-09T16:48:01.995Z,1754758081.995 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.182191
2025-08-09T16:48:02.237Z,1754758082.237 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 258.80 m.
2025-08-09T16:48:02.239Z,1754758082.239 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 258.799988 m,
      nav range: 252.244690 m,
      bearing: 138.491764 deg,
      approach rate: -0.633447 m/s,
      LOS rate: 0.006006 deg/s,
      cmd heading: 139.498090 deg,
      new cmd heading: 139.504877 deg.

2025-08-09T16:48:02.247Z,1754758082.247 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.434308
2025-08-09T16:48:02.499Z,1754758082.499 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.686295
2025-08-09T16:48:02.609Z,1754758082.609 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-09T16:48:02.612Z,1754758082.612 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 258.80 m.
2025-08-09T16:48:02.615Z,1754758082.615 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 258.799988 m,
      nav range: 252.016403 m,
      bearing: 138.493907 deg,
      approach rate: -0.608430 m/s,
      LOS rate: 0.005715 deg/s,
      cmd heading: 139.504879 deg,
      new cmd heading: 139.511312 deg.

2025-08-09T16:48:02.751Z,1754758082.751 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.938147
2025-08-09T16:48:03.003Z,1754758083.003 [DAT](INFO): DAT read: Rx Time:16:48:01.9407

2025-08-09T16:48:03.004Z,1754758083.004 [DAT](INFO): Rx dataTimestamp_ set to:1754758083.003540
2025-08-09T16:48:03.004Z,1754758083.004 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.191344
2025-08-09T16:48:03.065Z,1754758083.065 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 258.80 m.
2025-08-09T16:48:03.072Z,1754758083.072 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 258.799988 m,
      nav range: 251.752914 m,
      bearing: 138.494795 deg,
      approach rate: -0.581541 m/s,
      LOS rate: 0.001964 deg/s,
      cmd heading: 139.511313 deg,
      new cmd heading: 139.513982 deg.

2025-08-09T16:48:03.255Z,1754758083.255 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.442220
2025-08-09T16:48:03.416Z,1754758083.416 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 258.80 m.
2025-08-09T16:48:03.419Z,1754758083.419 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 258.799988 m,
      nav range: 251.513214 m,
      bearing: 138.495605 deg,
      approach rate: -0.682462 m/s,
      LOS rate: 0.002307 deg/s,
      cmd heading: 139.513977 deg,
      new cmd heading: 139.516408 deg.

2025-08-09T16:48:03.515Z,1754758083.515 [DAT](INFO): DAT read: 16:48:01.9407 LVL= 32752, 32753, 32754, 32755, AGC= 68, IDX= 409,-0.02, 2.078, 0.327, 2.273, 1.858, PHS= 0.322,-1.486, 0.371, RAW= 151.3,   8.7, CAL= 150.9,   9.4, ROT= 359.1,  -9.4

2025-08-09T16:48:03.516Z,1754758083.516 [DAT](INFO): got valid direction response:
 16:48:01.9407 LVL= 32752, 32753, 32754, 32755, AGC= 68, IDX= 409,-0.02, 2.078, 0.327, 2.273, 1.858, PHS= 0.322,-1.486, 0.371, RAW= 151.3,   8.7, CAL= 150.9,   9.4, ROT= 359.1,  -9.4

2025-08-09T16:48:03.517Z,1754758083.517 [DAT](INFO): DAT read: Bearing 307.5,  -0.7 (Local)

2025-08-09T16:48:03.518Z,1754758083.518 [DAT](INFO): Local bearing/azimuth received:
 Bearing 307.5,  -0.7 (Local)

2025-08-09T16:48:03.519Z,1754758083.519 [DAT](INFO): DAT read: Range 11 to 50 : 256.3 m  (Round-trip  341.8 ms) speed  0.4 m/s

2025-08-09T16:48:03.520Z,1754758083.520 [DAT](INFO): DAT read: user:114>

2025-08-09T16:48:03.521Z,1754758083.521 [DAT](INFO): DAT read: Tx time:16:48:03.0447

2025-08-09T16:48:03.521Z,1754758083.521 [DAT](INFO): Ping request sent.
2025-08-09T16:48:03.521Z,1754758083.521 [DAT](INFO): transmitted an acoustic signal
2025-08-09T16:48:03.521Z,1754758083.521 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-09T16:48:03.535Z,1754758083.535 [DAT](INFO): direction in FSK: [0.986450,-0.015496,0.163326]
2025-08-09T16:48:03.535Z,1754758083.535 [DAT](INFO): publishing transmit ping time
2025-08-09T16:48:03.535Z,1754758083.535 [DAT](INFO): publishing direction and range info
2025-08-09T16:48:03.551Z,1754758083.551 [DAT](INFO): publishing transmit ping time
2025-08-09T16:48:03.551Z,1754758083.551 [DAT](INFO): publishing direction and range info
2025-08-09T16:48:03.915Z,1754758083.915 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 256.299988 m,
      deltaT: 3.780361 s,
      deltaX: -2.500000 m,
      approachRate: -0.661313 m/s,
      rangeRepo size: 4

2025-08-09T16:48:03.917Z,1754758083.917 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 256.299988 m,
      bearing: 138.593824 deg,
      lat: 36.905929 deg,
      lon: -122.115873 deg,
      deltaT: 3.780361 s,
      deltaX: -2.500000 m,
      approachRate: -0.661313 m/s,
      posRepo size: 4

2025-08-09T16:48:03.918Z,1754758083.918 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 256.30 m.
2025-08-09T16:48:03.921Z,1754758083.921 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 256.299988 m,
      nav range: 250.820526 m,
      bearing: 138.593824 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.002307 deg/s,
      cmd heading: 139.516408 deg,
      new cmd heading: 139.519855 deg.

2025-08-09T16:48:04.283Z,1754758084.283 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 256.30 m.
2025-08-09T16:48:04.285Z,1754758084.285 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 256.299988 m,
      nav range: 250.589066 m,
      bearing: 138.593498 deg,
      approach rate: -0.634843 m/s,
      LOS rate: -0.000894 deg/s,
      cmd heading: 139.519851 deg,
      new cmd heading: 139.518873 deg.

2025-08-09T16:48:04.691Z,1754758084.691 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-09T16:48:04.693Z,1754758084.693 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 256.30 m.
2025-08-09T16:48:04.704Z,1754758084.704 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 256.299988 m,
      nav range: 250.341965 m,
      bearing: 138.593150 deg,
      approach rate: -0.595979 m/s,
      LOS rate: -0.000841 deg/s,
      cmd heading: 139.518867 deg,
      new cmd heading: 139.517822 deg.

2025-08-09T16:48:04.768Z,1754758084.768 [DAT](INFO): ****** received valid address query ******
2025-08-09T16:48:04.768Z,1754758084.768 [DAT](INFO): ****** received valid ping request ******
2025-08-09T16:48:04.768Z,1754758084.768 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-09T16:48:05.019Z,1754758085.019 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.498198
2025-08-09T16:48:05.050Z,1754758085.050 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for altitude. Device response is::BD,     -195.95,   3113.01,  0.00
2025-08-09T16:48:05.088Z,1754758085.088 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 256.30 m.
2025-08-09T16:48:05.091Z,1754758085.091 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 256.299988 m,
      nav range: 250.080750 m,
      bearing: 138.592775 deg,
      approach rate: -0.661164 m/s,
      LOS rate: -0.000950 deg/s,
      cmd heading: 139.517815 deg,
      new cmd heading: 139.516690 deg.

2025-08-09T16:48:05.272Z,1754758085.272 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.750371
2025-08-09T16:48:05.455Z,1754758085.455 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 256.30 m.
2025-08-09T16:48:05.458Z,1754758085.458 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 256.299988 m,
      nav range: 249.850510 m,
      bearing: 138.592459 deg,
      approach rate: -0.627961 m/s,
      LOS rate: -0.000863 deg/s,
      cmd heading: 139.516695 deg,
      new cmd heading: 139.515746 deg.

2025-08-09T16:48:05.524Z,1754758085.524 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.002376
2025-08-09T16:48:05.778Z,1754758085.778 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.256232
2025-08-09T16:48:05.940Z,1754758085.940 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 256.30 m.
2025-08-09T16:48:05.943Z,1754758085.943 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 256.299988 m,
      nav range: 249.540741 m,
      bearing: 138.592019 deg,
      approach rate: -0.638415 m/s,
      LOS rate: -0.000907 deg/s,
      cmd heading: 139.515753 deg,
      new cmd heading: 139.514432 deg.

2025-08-09T16:48:06.028Z,1754758086.028 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.506587
2025-08-09T16:48:06.262Z,1754758086.262 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 256.30 m.
2025-08-09T16:48:06.265Z,1754758086.265 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 256.299988 m,
      nav range: 249.335251 m,
      bearing: 138.591719 deg,
      approach rate: -0.639091 m/s,
      LOS rate: -0.000934 deg/s,
      cmd heading: 139.514428 deg,
      new cmd heading: 139.513526 deg.

2025-08-09T16:48:06.279Z,1754758086.279 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.758228
2025-08-09T16:48:06.532Z,1754758086.532 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.010478
2025-08-09T16:48:06.683Z,1754758086.683 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 256.30 m.
2025-08-09T16:48:06.685Z,1754758086.685 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 256.299988 m,
      nav range: 249.072021 m,
      bearing: 138.591336 deg,
      approach rate: -0.625889 m/s,
      LOS rate: -0.000912 deg/s,
      cmd heading: 139.513526 deg,
      new cmd heading: 139.512375 deg.

2025-08-09T16:48:06.783Z,1754758086.783 [DAT](INFO): DAT read: Rx Time:16:48:05.7876

2025-08-09T16:48:06.784Z,1754758086.784 [DAT](INFO): Rx dataTimestamp_ set to:1754758086.783547
2025-08-09T16:48:06.785Z,1754758086.785 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.263279
2025-08-09T16:48:07.035Z,1754758087.035 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.514159
2025-08-09T16:48:07.096Z,1754758087.096 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-09T16:48:07.098Z,1754758087.098 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 256.30 m.
2025-08-09T16:48:07.101Z,1754758087.101 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 256.299988 m,
      nav range: 248.793289 m,
      bearing: 138.592782 deg,
      approach rate: -0.670042 m/s,
      LOS rate: 0.003481 deg/s,
      cmd heading: 139.512378 deg,
      new cmd heading: 139.516722 deg.

2025-08-09T16:48:07.290Z,1754758087.290 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.768178
2025-08-09T16:48:07.545Z,1754758087.545 [DAT](INFO): DAT read: 16:48:05.7876 LVL= 31088, 32753, 28450, 32755, AGC= 68, IDX= 410, 0.37, 2.782, 1.069, 2.965, 2.519, PHS= 0.365,-1.405, 0.402, RAW= 151.0,   7.2, CAL= 150.4,   7.6, ROT= 359.6,  -7.6

2025-08-09T16:48:07.546Z,1754758087.546 [DAT](INFO): got valid direction response:
 16:48:05.7876 LVL= 31088, 32753, 28450, 32755, AGC= 68, IDX= 410, 0.37, 2.782, 1.069, 2.965, 2.519, PHS= 0.365,-1.405, 0.402, RAW= 151.0,   7.2, CAL= 150.4,   7.6, ROT= 359.6,  -7.6

2025-08-09T16:48:07.547Z,1754758087.547 [DAT](INFO): DAT read: Bearing 305.7,   0.8 (Local)

2025-08-09T16:48:07.548Z,1754758087.548 [DAT](INFO): Local bearing/azimuth received:
 Bearing 305.7,   0.8 (Local)

2025-08-09T16:48:07.549Z,1754758087.549 [DAT](INFO): DAT read: Range 11 to 50 : 254.1 m  (Round-trip  338.8 ms) speed  0.6 m/s

2025-08-09T16:48:07.550Z,1754758087.550 [DAT](INFO): DAT read: user:115>

2025-08-09T16:48:07.551Z,1754758087.551 [DAT](INFO): DAT read: Tx time:16:48:06.8947

2025-08-09T16:48:07.551Z,1754758087.551 [DAT](INFO): Ping request sent.
2025-08-09T16:48:07.551Z,1754758087.551 [DAT](INFO): transmitted an acoustic signal
2025-08-09T16:48:07.551Z,1754758087.551 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-09T16:48:07.552Z,1754758087.552 [DAT](INFO): direction in FSK: [0.991191,-0.006920,0.132256]
2025-08-09T16:48:07.553Z,1754758087.553 [DAT](INFO): publishing transmit ping time
2025-08-09T16:48:07.553Z,1754758087.553 [DAT](INFO): publishing direction and range info
2025-08-09T16:48:07.556Z,1754758087.556 [DAT](INFO): publishing transmit ping time
2025-08-09T16:48:07.556Z,1754758087.556 [DAT](INFO): publishing direction and range info
2025-08-09T16:48:07.609Z,1754758087.609 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 254.100006 m,
      deltaT: 4.031671 s,
      deltaX: -2.199982 m,
      approachRate: -0.545675 m/s,
      rangeRepo size: 4

2025-08-09T16:48:07.615Z,1754758087.615 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 254.100006 m,
      bearing: 139.315514 deg,
      lat: 36.905886 deg,
      lon: -122.115873 deg,
      deltaT: 4.031671 s,
      deltaX: -2.199982 m,
      approachRate: -0.545675 m/s,
      posRepo size: 4

2025-08-09T16:48:07.616Z,1754758087.616 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 254.10 m.
2025-08-09T16:48:07.623Z,1754758087.623 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 254.100006 m,
      nav range: 252.093887 m,
      bearing: 139.315514 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.003481 deg/s,
      cmd heading: 139.516722 deg,
      new cmd heading: 139.522048 deg.

2025-08-09T16:48:08.140Z,1754758088.140 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 254.10 m.
2025-08-09T16:48:08.142Z,1754758088.142 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 254.100006 m,
      nav range: 251.731369 m,
      bearing: 139.319803 deg,
      approach rate: -0.682335 m/s,
      LOS rate: 0.008084 deg/s,
      cmd heading: 139.522050 deg,
      new cmd heading: 139.534935 deg.

2025-08-09T16:48:08.621Z,1754758088.621 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 254.10 m.
2025-08-09T16:48:08.626Z,1754758088.626 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 254.100006 m,
      nav range: 251.419525 m,
      bearing: 139.323556 deg,
      approach rate: -0.647538 m/s,
      LOS rate: 0.007804 deg/s,
      cmd heading: 139.534932 deg,
      new cmd heading: 139.546206 deg.

2025-08-09T16:48:09.056Z,1754758089.056 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 254.10 m.
2025-08-09T16:48:09.059Z,1754758089.059 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 254.100006 m,
      nav range: 251.141815 m,
      bearing: 139.328080 deg,
      approach rate: -0.640812 m/s,
      LOS rate: 0.010451 deg/s,
      cmd heading: 139.546202 deg,
      new cmd heading: 139.559790 deg.

2025-08-09T16:48:09.429Z,1754758089.429 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-09T16:48:09.433Z,1754758089.433 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 254.10 m.
2025-08-09T16:48:09.436Z,1754758089.436 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 254.100006 m,
      nav range: 250.900162 m,
      bearing: 139.332043 deg,
      approach rate: -0.638955 m/s,
      LOS rate: 0.010486 deg/s,
      cmd heading: 139.559794 deg,
      new cmd heading: 139.571691 deg.

2025-08-09T16:48:09.559Z,1754758089.559 [DAT](INFO): ****** received valid address query ******
2025-08-09T16:48:09.560Z,1754758089.560 [DAT](INFO): ****** received valid ping request ******
2025-08-09T16:48:09.560Z,1754758089.560 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-09T16:48:09.811Z,1754758089.811 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.260205
2025-08-09T16:48:09.875Z,1754758089.875 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 254.10 m.
2025-08-09T16:48:09.878Z,1754758089.878 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 254.100006 m,
      nav range: 250.633072 m,
      bearing: 139.336444 deg,
      approach rate: -0.612034 m/s,
      LOS rate: 0.010096 deg/s,
      cmd heading: 139.571692 deg,
      new cmd heading: 139.584909 deg.

2025-08-09T16:48:10.063Z,1754758090.063 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.512276
2025-08-09T16:48:10.263Z,1754758090.263 [RDI_Pathfinder](ERROR): only read 2 of 4 data items for beam range. Device response is::RA, 92.62,  78.03,  85.84
2025-08-09T16:48:10.292Z,1754758090.292 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 254.10 m.
2025-08-09T16:48:10.295Z,1754758090.295 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 254.100006 m,
      nav range: 250.347717 m,
      bearing: 139.341156 deg,
      approach rate: -0.674911 m/s,
      LOS rate: 0.011158 deg/s,
      cmd heading: 139.584915 deg,
      new cmd heading: 139.599068 deg.

2025-08-09T16:48:10.315Z,1754758090.315 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.764264
2025-08-09T16:48:10.567Z,1754758090.567 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.016220
2025-08-09T16:48:10.678Z,1754758090.678 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 254.10 m.
2025-08-09T16:48:10.681Z,1754758090.681 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 254.100006 m,
      nav range: 250.103470 m,
      bearing: 139.345239 deg,
      approach rate: -0.632642 m/s,
      LOS rate: 0.010586 deg/s,
      cmd heading: 139.599067 deg,
      new cmd heading: 139.611328 deg.

2025-08-09T16:48:10.819Z,1754758090.819 [DAT](INFO): DAT read: Rx Time:16:48:09.6345

2025-08-09T16:48:10.820Z,1754758090.820 [DAT](INFO): Rx dataTimestamp_ set to:1754758090.819522
2025-08-09T16:48:10.820Z,1754758090.820 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.269332
2025-08-09T16:48:11.071Z,1754758091.071 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.520310
2025-08-09T16:48:11.091Z,1754758091.091 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 254.10 m.
2025-08-09T16:48:11.094Z,1754758091.094 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 254.100006 m,
      nav range: 249.837952 m,
      bearing: 139.352252 deg,
      approach rate: -0.642861 m/s,
      LOS rate: 0.016999 deg/s,
      cmd heading: 139.611334 deg,
      new cmd heading: 139.632397 deg.

2025-08-09T16:48:11.329Z,1754758091.329 [DAT](INFO): DAT read: 16:48:09.6345 LVL= 28640, 32481, 30306, 32755, AGC= 69, IDX= 194,-0.37,-2.588, 2.086,-2.373,-2.822, PHS= 0.337,-1.330, 0.405, RAW= 152.0,   7.0, CAL= 151.4,   7.3, ROT= 358.6,  -7.3

2025-08-09T16:48:11.331Z,1754758091.331 [DAT](INFO): got valid direction response:
 16:48:09.6345 LVL= 28640, 32481, 30306, 32755, AGC= 69, IDX= 194,-0.37,-2.588, 2.086,-2.373,-2.822, PHS= 0.337,-1.330, 0.405, RAW= 152.0,   7.0, CAL= 151.4,   7.3, ROT= 358.6,  -7.3

2025-08-09T16:48:11.332Z,1754758091.332 [DAT](INFO): DAT read: Bearing 305.0,   0.0 (Local)

2025-08-09T16:48:11.332Z,1754758091.332 [DAT](INFO): Local bearing/azimuth received:
 Bearing 305.0,   0.0 (Local)

2025-08-09T16:48:11.334Z,1754758091.334 [DAT](INFO): DAT read: Range 11 to 50 : 251.7 m  (Round-trip  335.7 ms) speed  0.4 m/s

2025-08-09T16:48:11.335Z,1754758091.335 [DAT](INFO): DAT read: user:116>

2025-08-09T16:48:11.335Z,1754758091.335 [DAT](INFO): DAT read: Tx time:16:48:10.7447

2025-08-09T16:48:11.336Z,1754758091.336 [DAT](INFO): Ping request sent.
2025-08-09T16:48:11.336Z,1754758091.336 [DAT](INFO): transmitted an acoustic signal
2025-08-09T16:48:11.336Z,1754758091.336 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-09T16:48:11.337Z,1754758091.337 [DAT](INFO): direction in FSK: [0.991598,-0.024234,0.127065]
2025-08-09T16:48:11.337Z,1754758091.337 [DAT](INFO): publishing transmit ping time
2025-08-09T16:48:11.337Z,1754758091.337 [DAT](INFO): publishing direction and range info
2025-08-09T16:48:11.341Z,1754758091.341 [DAT](INFO): publishing transmit ping time
2025-08-09T16:48:11.341Z,1754758091.341 [DAT](INFO): publishing direction and range info
2025-08-09T16:48:11.493Z,1754758091.493 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 251.699997 m,
      deltaT: 3.784123 s,
      deltaX: -2.400009 m,
      approachRate: -0.634231 m/s,
      rangeRepo size: 4

2025-08-09T16:48:11.500Z,1754758091.500 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 251.699997 m,
      bearing: 139.394021 deg,
      lat: 36.905886 deg,
      lon: -122.115875 deg,
      deltaT: 3.784123 s,
      deltaX: -2.400009 m,
      approachRate: -0.634231 m/s,
      posRepo size: 4

2025-08-09T16:48:11.500Z,1754758091.500 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 251.70 m.
2025-08-09T16:48:11.504Z,1754758091.504 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 251.699997 m,
      nav range: 249.461777 m,
      bearing: 139.394021 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.016999 deg/s,
      cmd heading: 139.632399 deg,
      new cmd heading: 139.652886 deg.

2025-08-09T16:48:11.886Z,1754758091.886 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-09T16:48:11.888Z,1754758091.888 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 251.70 m.
2025-08-09T16:48:11.891Z,1754758091.891 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 251.699997 m,
      nav range: 249.200272 m,
      bearing: 139.401065 deg,
      approach rate: -0.661621 m/s,
      LOS rate: 0.017841 deg/s,
      cmd heading: 139.652889 deg,
      new cmd heading: 139.674044 deg.

2025-08-09T16:48:12.079Z,1754758092.079 [DAT](INFO): ****** received valid address query ******
2025-08-09T16:48:12.079Z,1754758092.079 [DAT](INFO): ****** received valid ping request ******
2025-08-09T16:48:12.079Z,1754758092.079 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-09T16:48:12.323Z,1754758092.323 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 251.70 m.
2025-08-09T16:48:12.325Z,1754758092.325 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 251.699997 m,
      nav range: 248.934128 m,
      bearing: 139.408450 deg,
      approach rate: -0.618577 m/s,
      LOS rate: 0.017183 deg/s,
      cmd heading: 139.674049 deg,
      new cmd heading: 139.696228 deg.

2025-08-09T16:48:12.331Z,1754758092.331 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.995718
2025-08-09T16:48:12.589Z,1754758092.589 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.253433
2025-08-09T16:48:12.707Z,1754758092.707 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 251.70 m.
2025-08-09T16:48:12.710Z,1754758092.710 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 251.699997 m,
      nav range: 248.669601 m,
      bearing: 139.415800 deg,
      approach rate: -0.681451 m/s,
      LOS rate: 0.018954 deg/s,
      cmd heading: 139.696234 deg,
      new cmd heading: 139.718306 deg.

2025-08-09T16:48:12.840Z,1754758092.840 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.504133
2025-08-09T16:48:13.091Z,1754758093.091 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.755720
2025-08-09T16:48:13.123Z,1754758093.123 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 251.70 m.
2025-08-09T16:48:13.126Z,1754758093.126 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 251.699997 m,
      nav range: 248.416641 m,
      bearing: 139.423009 deg,
      approach rate: -0.607047 m/s,
      LOS rate: 0.017319 deg/s,
      cmd heading: 139.718309 deg,
      new cmd heading: 139.739959 deg.

2025-08-09T16:48:13.346Z,1754758093.346 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.010586
2025-08-09T16:48:13.499Z,1754758093.499 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 251.70 m.
2025-08-09T16:48:13.502Z,1754758093.502 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 251.699997 m,
      nav range: 248.168945 m,
      bearing: 139.430086 deg,
      approach rate: -0.659155 m/s,
      LOS rate: 0.018850 deg/s,
      cmd heading: 139.739960 deg,
      new cmd heading: 139.761210 deg.

2025-08-09T16:48:13.596Z,1754758093.596 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.259911
2025-08-09T16:48:13.848Z,1754758093.848 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.512081
2025-08-09T16:48:13.924Z,1754758093.924 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-09T16:48:13.931Z,1754758093.931 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 251.70 m.
2025-08-09T16:48:13.934Z,1754758093.934 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 251.699997 m,
      nav range: 247.904083 m,
      bearing: 139.437680 deg,
      approach rate: -0.612524 m/s,
      LOS rate: 0.017582 deg/s,
      cmd heading: 139.761216 deg,
      new cmd heading: 139.784023 deg.

2025-08-09T16:48:14.099Z,1754758094.099 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.763479
2025-08-09T16:48:14.344Z,1754758094.344 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 251.70 m.
2025-08-09T16:48:14.347Z,1754758094.347 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 251.699997 m,
      nav range: 247.640289 m,
      bearing: 139.444536 deg,
      approach rate: -0.639741 m/s,
      LOS rate: 0.016644 deg/s,
      cmd heading: 139.784029 deg,
      new cmd heading: 139.804618 deg.

2025-08-09T16:48:14.351Z,1754758094.351 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.015698
2025-08-09T16:48:14.604Z,1754758094.604 [DAT](INFO): DAT read: Rx Time:16:48:13.4817

2025-08-09T16:48:14.605Z,1754758094.605 [DAT](INFO): Rx dataTimestamp_ set to:1754758094.604221
2025-08-09T16:48:14.605Z,1754758094.605 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.269618
2025-08-09T16:48:14.706Z,1754758094.706 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 251.70 m.
2025-08-09T16:48:14.709Z,1754758094.709 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 251.699997 m,
      nav range: 247.406937 m,
      bearing: 139.450605 deg,
      approach rate: -0.644751 m/s,
      LOS rate: 0.016784 deg/s,
      cmd heading: 139.804615 deg,
      new cmd heading: 139.822839 deg.

2025-08-09T16:48:14.856Z,1754758094.856 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.519902
2025-08-09T16:48:15.114Z,1754758095.114 [DAT](INFO): DAT read: 16:48:13.4817 LVL= 27472, 32753, 30066, 32755, AGC= 69, IDX= 413, 0.20,-0.502,-1.868,-0.325,-1.349, PHS= 0.949,-0.474, 0.980, RAW= 151.0, -19.7, CAL= 153.0, -21.8, ROT= 357.0,  21.8

2025-08-09T16:48:15.115Z,1754758095.115 [DAT](INFO): got valid direction response:
 16:48:13.4817 LVL= 27472, 32753, 30066, 32755, AGC= 69, IDX= 413, 0.20,-0.502,-1.868,-0.325,-1.349, PHS= 0.949,-0.474, 0.980, RAW= 151.0, -19.7, CAL= 153.0, -21.8, ROT= 357.0,  21.8

2025-08-09T16:48:15.116Z,1754758095.116 [DAT](INFO): DAT read: Bearing 275.9,   2.2 (Local)

2025-08-09T16:48:15.116Z,1754758095.116 [DAT](INFO): Local bearing/azimuth received:
 Bearing 275.9,   2.2 (Local)

2025-08-09T16:48:15.118Z,1754758095.118 [DAT](INFO): DAT read: Range 11 to 50 : 249.6 m  (Round-trip  332.9 ms) speed  0.7 m/s

2025-08-09T16:48:15.119Z,1754758095.119 [DAT](INFO): DAT read: user:117>

2025-08-09T16:48:15.120Z,1754758095.120 [DAT](INFO): DAT read: Tx time:16:48:14.5947

2025-08-09T16:48:15.120Z,1754758095.120 [DAT](INFO): Ping request sent.
2025-08-09T16:48:15.120Z,1754758095.120 [DAT](INFO): transmitted an acoustic signal
2025-08-09T16:48:15.120Z,1754758095.120 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-09T16:48:15.121Z,1754758095.121 [DAT](INFO): direction in FSK: [0.927213,-0.048593,-0.371368]
2025-08-09T16:48:15.121Z,1754758095.121 [DAT](INFO): publishing transmit ping time
2025-08-09T16:48:15.122Z,1754758095.122 [DAT](INFO): publishing direction and range info
2025-08-09T16:48:15.125Z,1754758095.125 [DAT](INFO): publishing transmit ping time
2025-08-09T16:48:15.125Z,1754758095.125 [DAT](INFO): publishing direction and range info
2025-08-09T16:48:15.225Z,1754758095.225 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 249.600006 m,
      deltaT: 3.784092 s,
      deltaX: -2.099991 m,
      approachRate: -0.554952 m/s,
      rangeRepo size: 4

2025-08-09T16:48:15.231Z,1754758095.231 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 249.600006 m,
      bearing: 139.456395 deg,
      lat: 36.905886 deg,
      lon: -122.115875 deg,
      deltaT: 3.784092 s,
      deltaX: -2.099991 m,
      approachRate: -0.554952 m/s,
      posRepo size: 4

2025-08-09T16:48:15.232Z,1754758095.232 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 249.60 m.
2025-08-09T16:48:15.238Z,1754758095.238 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 249.600006 m,
      nav range: 247.085190 m,
      bearing: 139.456395 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.016784 deg/s,
      cmd heading: 139.822838 deg,
      new cmd heading: 139.848934 deg.

2025-08-09T16:48:15.525Z,1754758095.525 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 249.60 m.
2025-08-09T16:48:15.528Z,1754758095.528 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 249.600006 m,
      nav range: 246.877731 m,
      bearing: 139.460085 deg,
      approach rate: -0.688533 m/s,
      LOS rate: 0.012258 deg/s,
      cmd heading: 139.848929 deg,
      new cmd heading: 139.860009 deg.

2025-08-09T16:48:15.941Z,1754758095.941 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-09T16:48:15.943Z,1754758095.943 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 249.60 m.
2025-08-09T16:48:15.946Z,1754758095.946 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 249.600006 m,
      nav range: 246.608231 m,
      bearing: 139.464856 deg,
      approach rate: -0.645087 m/s,
      LOS rate: 0.011432 deg/s,
      cmd heading: 139.860008 deg,
      new cmd heading: 139.874336 deg.

2025-08-09T16:48:16.115Z,1754758096.115 [DAT](INFO): ****** received valid address query ******
2025-08-09T16:48:16.115Z,1754758096.115 [DAT](INFO): ****** received valid ping request ******
2025-08-09T16:48:16.115Z,1754758096.115 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-09T16:48:16.354Z,1754758096.354 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 249.60 m.
2025-08-09T16:48:16.357Z,1754758096.357 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 249.600006 m,
      nav range: 246.347656 m,
      bearing: 139.468975 deg,
      approach rate: -0.633842 m/s,
      LOS rate: 0.010030 deg/s,
      cmd heading: 139.874338 deg,
      new cmd heading: 139.886708 deg.

2025-08-09T16:48:16.367Z,1754758096.367 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.247350
2025-08-09T16:48:16.619Z,1754758096.619 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.499273
2025-08-09T16:48:16.743Z,1754758096.743 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 249.60 m.
2025-08-09T16:48:16.745Z,1754758096.745 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 249.600006 m,
      nav range: 246.101578 m,
      bearing: 139.472841 deg,
      approach rate: -0.633413 m/s,
      LOS rate: 0.009962 deg/s,
      cmd heading: 139.886714 deg,
      new cmd heading: 139.898324 deg.

2025-08-09T16:48:16.872Z,1754758096.872 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.751960
2025-08-09T16:48:17.123Z,1754758097.123 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.003289
2025-08-09T16:48:17.182Z,1754758097.182 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 249.60 m.
2025-08-09T16:48:17.185Z,1754758097.185 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 249.600006 m,
      nav range: 245.827255 m,
      bearing: 139.476507 deg,
      approach rate: -0.624133 m/s,
      LOS rate: 0.008350 deg/s,
      cmd heading: 139.898325 deg,
      new cmd heading: 139.909335 deg.

2025-08-09T16:48:17.378Z,1754758097.378 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.258016
2025-08-09T16:48:17.586Z,1754758097.586 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 249.60 m.
2025-08-09T16:48:17.593Z,1754758097.593 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 249.600006 m,
      nav range: 245.592255 m,
      bearing: 139.479642 deg,
      approach rate: -0.611931 m/s,
      LOS rate: 0.008170 deg/s,
      cmd heading: 139.909335 deg,
      new cmd heading: 139.918748 deg.

2025-08-09T16:48:17.627Z,1754758097.627 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.507460
2025-08-09T16:48:17.879Z,1754758097.879 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.759314
2025-08-09T16:48:17.958Z,1754758097.958 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-09T16:48:17.962Z,1754758097.962 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 249.60 m.
2025-08-09T16:48:17.972Z,1754758097.972 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 249.600006 m,
      nav range: 245.351547 m,
      bearing: 139.482844 deg,
      approach rate: -0.608689 m/s,
      LOS rate: 0.008105 deg/s,
      cmd heading: 139.918747 deg,
      new cmd heading: 139.928363 deg.

2025-08-09T16:48:18.133Z,1754758098.133 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.012426
2025-08-09T16:48:18.383Z,1754758098.383 [DAT](INFO): DAT read: Rx Time:16:48:17.3067

2025-08-09T16:48:18.384Z,1754758098.384 [DAT](INFO): Rx dataTimestamp_ set to:1754758098.383657
2025-08-09T16:48:18.384Z,1754758098.384 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.264490
2025-08-09T16:48:18.388Z,1754758098.388 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 249.60 m.
2025-08-09T16:48:18.391Z,1754758098.391 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 249.600006 m,
      nav range: 245.071609 m,
      bearing: 139.485418 deg,
      approach rate: -0.655990 m/s,
      LOS rate: 0.006040 deg/s,
      cmd heading: 139.928364 deg,
      new cmd heading: 139.936097 deg.

2025-08-09T16:48:18.636Z,1754758098.636 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.516220
2025-08-09T16:48:18.749Z,1754758098.749 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 249.60 m.
2025-08-09T16:48:18.752Z,1754758098.752 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 249.600006 m,
      nav range: 244.841034 m,
      bearing: 139.487509 deg,
      approach rate: -0.638705 m/s,
      LOS rate: 0.005796 deg/s,
      cmd heading: 139.936096 deg,
      new cmd heading: 139.942374 deg.

2025-08-09T16:48:18.893Z,1754758098.893 [DAT](INFO): DAT read: 16:48:17.3067 LVL= 28432, 32753, 27090, 32755, AGC= 72, IDX= 189,-0.03,-2.856, 1.763,-2.661,-3.101, PHS= 0.347,-1.374, 0.396, RAW= 151.4,   7.3, CAL= 150.8,   7.7, ROT= 359.2,  -7.7

2025-08-09T16:48:18.894Z,1754758098.894 [DAT](INFO): got valid direction response:
 16:48:17.3067 LVL= 28432, 32753, 27090, 32755, AGC= 72, IDX= 189,-0.03,-2.856, 1.763,-2.661,-3.101, PHS= 0.347,-1.374, 0.396, RAW= 151.4,   7.3, CAL= 150.8,   7.7, ROT= 359.2,  -7.7

2025-08-09T16:48:18.895Z,1754758098.895 [DAT](INFO): DAT read: Bearing 305.6,   0.5 (Local)

2025-08-09T16:48:18.895Z,1754758098.895 [DAT](INFO): Local bearing/azimuth received:
 Bearing 305.6,   0.5 (Local)

2025-08-09T16:48:18.897Z,1754758098.897 [DAT](INFO): DAT read: Range 11 to 50 : 230.9 m  (Round-trip  307.9 ms) speed  0.4 m/s

2025-08-09T16:48:18.898Z,1754758098.898 [DAT](INFO): DAT read: user:118>

2025-08-09T16:48:18.898Z,1754758098.898 [DAT](INFO): DAT read: Tx time:16:48:18.3947

2025-08-09T16:48:18.899Z,1754758098.899 [DAT](INFO): Ping request sent.
2025-08-09T16:48:18.899Z,1754758098.899 [DAT](INFO): transmitted an acoustic signal
2025-08-09T16:48:18.899Z,1754758098.899 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-09T16:48:18.900Z,1754758098.900 [DAT](INFO): direction in FSK: [0.990887,-0.013836,0.133986]
2025-08-09T16:48:18.900Z,1754758098.900 [DAT](INFO): publishing transmit ping time
2025-08-09T16:48:18.901Z,1754758098.901 [DAT](INFO): publishing direction and range info
2025-08-09T16:48:18.904Z,1754758098.904 [DAT](INFO): publishing transmit ping time
2025-08-09T16:48:18.904Z,1754758098.904 [DAT](INFO): publishing direction and range info
2025-08-09T16:48:19.217Z,1754758099.217 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 230.899994 m,
      deltaT: 3.779775 s,
      deltaX: -18.700012 m,
      approachRate: -4.947388 m/s,
      rangeRepo size: 4

2025-08-09T16:48:19.220Z,1754758099.220 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 230.899994 m,
      bearing: 140.044530 deg,
      lat: 36.905901 deg,
      lon: -122.115925 deg,
      deltaT: 3.779775 s,
      deltaX: -18.700012 m,
      approachRate: -4.947388 m/s,
      posRepo size: 4

2025-08-09T16:48:19.220Z,1754758099.220 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 230.90 m.
2025-08-09T16:48:19.223Z,1754758099.223 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 230.899994 m,
      nav range: 240.478531 m,
      bearing: 140.044530 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.005796 deg/s,
      cmd heading: 139.942380 deg,
      new cmd heading: 139.950507 deg.

2025-08-09T16:48:19.557Z,1754758099.557 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 230.90 m.
2025-08-09T16:48:19.560Z,1754758099.560 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 230.899994 m,
      nav range: 240.251205 m,
      bearing: 140.047002 deg,
      approach rate: -0.668266 m/s,
      LOS rate: 0.007274 deg/s,
      cmd heading: 139.950508 deg,
      new cmd heading: 139.957931 deg.

2025-08-09T16:48:19.984Z,1754758099.984 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-09T16:48:19.988Z,1754758099.988 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 230.90 m.
2025-08-09T16:48:19.991Z,1754758099.991 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 230.899994 m,
      nav range: 239.990082 m,
      bearing: 140.049816 deg,
      approach rate: -0.605103 m/s,
      LOS rate: 0.006527 deg/s,
      cmd heading: 139.957925 deg,
      new cmd heading: 139.966375 deg.

2025-08-09T16:48:20.147Z,1754758100.147 [DAT](INFO): ****** received valid address query ******
2025-08-09T16:48:20.147Z,1754758100.147 [DAT](INFO): ****** received valid ping request ******
2025-08-09T16:48:20.148Z,1754758100.148 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-09T16:48:20.386Z,1754758100.386 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 230.90 m.
2025-08-09T16:48:20.389Z,1754758100.389 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 230.899994 m,
      nav range: 239.731094 m,
      bearing: 140.053200 deg,
      approach rate: -0.651962 m/s,
      LOS rate: 0.008530 deg/s,
      cmd heading: 139.966381 deg,
      new cmd heading: 139.976546 deg.

2025-08-09T16:48:20.399Z,1754758100.399 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.500490
2025-08-09T16:48:20.652Z,1754758100.652 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.753396
2025-08-09T16:48:20.769Z,1754758100.769 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 230.90 m.
2025-08-09T16:48:20.772Z,1754758100.772 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 230.899994 m,
      nav range: 239.487793 m,
      bearing: 140.056368 deg,
      approach rate: -0.634237 m/s,
      LOS rate: 0.008264 deg/s,
      cmd heading: 139.976544 deg,
      new cmd heading: 139.986056 deg.

2025-08-09T16:48:20.903Z,1754758100.903 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.004412
2025-08-09T16:48:21.156Z,1754758101.156 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.257026
2025-08-09T16:48:21.211Z,1754758101.211 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 230.90 m.
2025-08-09T16:48:21.213Z,1754758101.213 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 230.899994 m,
      nav range: 239.209854 m,
      bearing: 140.060651 deg,
      approach rate: -0.629933 m/s,
      LOS rate: 0.009719 deg/s,
      cmd heading: 139.986052 deg,
      new cmd heading: 139.998917 deg.

2025-08-09T16:48:21.407Z,1754758101.407 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.508374
2025-08-09T16:48:21.583Z,1754758101.583 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 230.90 m.
2025-08-09T16:48:21.586Z,1754758101.586 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 230.899994 m,
      nav range: 238.975159 m,
      bearing: 140.064260 deg,
      approach rate: -0.630106 m/s,
      LOS rate: 0.009698 deg/s,
      cmd heading: 139.998920 deg,
      new cmd heading: 140.009757 deg.

2025-08-09T16:48:21.660Z,1754758101.660 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.760861
2025-08-09T16:48:21.911Z,1754758101.911 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.012363
2025-08-09T16:48:21.991Z,1754758101.991 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-09T16:48:21.993Z,1754758101.993 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 230.90 m.
2025-08-09T16:48:22.008Z,1754758102.008 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 230.899994 m,
      nav range: 238.717133 m,
      bearing: 140.068200 deg,
      approach rate: -0.628976 m/s,
      LOS rate: 0.009615 deg/s,
      cmd heading: 140.009753 deg,
      new cmd heading: 140.021586 deg.

2025-08-09T16:48:22.163Z,1754758102.163 [DAT](INFO): DAT read: Rx Time:16:48:21.1481

2025-08-09T16:48:22.164Z,1754758102.164 [DAT](INFO): Rx dataTimestamp_ set to:1754758102.163615
2025-08-09T16:48:22.164Z,1754758102.164 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.265564
2025-08-09T16:48:22.415Z,1754758102.415 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.516437
2025-08-09T16:48:22.431Z,1754758102.431 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 230.90 m.
2025-08-09T16:48:22.433Z,1754758102.433 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 230.899994 m,
      nav range: 238.460663 m,
      bearing: 140.072738 deg,
      approach rate: -0.614833 m/s,
      LOS rate: 0.010891 deg/s,
      cmd heading: 140.021583 deg,
      new cmd heading: 140.035212 deg.

2025-08-09T16:48:22.670Z,1754758102.671 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.770848
2025-08-09T16:48:22.798Z,1754758102.798 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 230.90 m.
2025-08-09T16:48:22.801Z,1754758102.801 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 230.899994 m,
      nav range: 238.222656 m,
      bearing: 140.076961 deg,
      approach rate: -0.613925 m/s,
      LOS rate: 0.010904 deg/s,
      cmd heading: 140.035216 deg,
      new cmd heading: 140.047898 deg.

2025-08-09T16:48:22.925Z,1754758102.925 [DAT](INFO): DAT read: 16:48:21.1481 LVL= 31728, 32753, 31778, 32755, AGC= 67, IDX= 124, 0.13, 2.503, 0.757, 2.763, 2.241, PHS= 0.364,-1.438, 0.478, RAW= 153.0,   6.5, CAL= 152.4,   6.7, ROT= 357.6,  -6.7

2025-08-09T16:48:22.927Z,1754758102.927 [DAT](INFO): got valid direction response:
 16:48:21.1481 LVL= 31728, 32753, 31778, 32755, AGC= 67, IDX= 124, 0.13, 2.503, 0.757, 2.763, 2.241, PHS= 0.364,-1.438, 0.478, RAW= 153.0,   6.5, CAL= 152.4,   6.7, ROT= 357.6,  -6.7

2025-08-09T16:48:22.928Z,1754758102.928 [DAT](INFO): DAT read: Bearing 304.2,  -0.5 (Local)

2025-08-09T16:48:22.928Z,1754758102.928 [DAT](INFO): Local bearing/azimuth received:
 Bearing 304.2,  -0.5 (Local)

2025-08-09T16:48:22.930Z,1754758102.930 [DAT](INFO): DAT read: Range 11 to 50 : 261.9 m  (Round-trip  349.3 ms) speed  0.3 m/s

2025-08-09T16:48:22.930Z,1754758102.930 [DAT](INFO): DAT read: user:119>

2025-08-09T16:48:22.931Z,1754758102.931 [DAT](INFO): DAT read: Tx time:16:48:22.2447

2025-08-09T16:48:22.931Z,1754758102.931 [DAT](INFO): Ping request sent.
2025-08-09T16:48:22.931Z,1754758102.931 [DAT](INFO): transmitted an acoustic signal
2025-08-09T16:48:22.932Z,1754758102.932 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-09T16:48:22.933Z,1754758102.933 [DAT](INFO): direction in FSK: [0.992299,-0.041589,0.116671]
2025-08-09T16:48:22.933Z,1754758102.933 [DAT](INFO): publishing transmit ping time
2025-08-09T16:48:22.933Z,1754758102.933 [DAT](INFO): publishing direction and range info
2025-08-09T16:48:22.936Z,1754758102.936 [DAT](INFO): publishing transmit ping time
2025-08-09T16:48:22.937Z,1754758102.937 [DAT](INFO): publishing direction and range info
2025-08-09T16:48:23.255Z,1754758103.255 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](ERROR): addTargetRange::Rejecting new target range. Approach rate out of bounds.
 range: 261.899994 m,
 deltaT: 4.031923 s,
 deltaX: 31.000000 m,
 approachRate: 7.688639 m/s,
 rangeRepo size: 4
2025-08-09T16:48:23.256Z,1754758103.256 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 230.90 m.
2025-08-09T16:48:23.263Z,1754758103.263 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 230.899994 m,
      nav range: 237.947037 m,
      bearing: 140.083612 deg,
      approach rate: -0.609414 m/s,
      LOS rate: 0.014723 deg/s,
      cmd heading: 140.047893 deg,
      new cmd heading: 140.067869 deg.

2025-08-09T16:48:23.597Z,1754758103.597 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 230.90 m.
2025-08-09T16:48:23.600Z,1754758103.600 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 230.899994 m,
      nav range: 237.718567 m,
      bearing: 140.089120 deg,
      approach rate: -0.658779 m/s,
      LOS rate: 0.015896 deg/s,
      cmd heading: 140.067864 deg,
      new cmd heading: 140.084402 deg.

2025-08-09T16:48:24.003Z,1754758104.003 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-09T16:48:24.005Z,1754758104.005 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 230.90 m.
2025-08-09T16:48:24.025Z,1754758104.025 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 230.899994 m,
      nav range: 237.461670 m,
      bearing: 140.095315 deg,
      approach rate: -0.629400 m/s,
      LOS rate: 0.015195 deg/s,
      cmd heading: 140.084407 deg,
      new cmd heading: 140.103013 deg.

2025-08-09T16:48:24.179Z,1754758104.179 [DAT](INFO): ****** received valid address query ******
2025-08-09T16:48:24.179Z,1754758104.179 [DAT](INFO): ****** received valid ping request ******
2025-08-09T16:48:24.179Z,1754758104.179 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-09T16:48:24.432Z,1754758104.432 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.500069
2025-08-09T16:48:24.440Z,1754758104.440 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 230.90 m.
2025-08-09T16:48:24.443Z,1754758104.443 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 230.899994 m,
      nav range: 237.199371 m,
      bearing: 140.102014 deg,
      approach rate: -0.602770 m/s,
      LOS rate: 0.015411 deg/s,
      cmd heading: 140.103012 deg,
      new cmd heading: 140.123131 deg.

2025-08-09T16:48:24.683Z,1754758104.683 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.751796
2025-08-09T16:48:24.820Z,1754758104.820 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 230.90 m.
2025-08-09T16:48:24.823Z,1754758104.823 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 230.899994 m,
      nav range: 236.968353 m,
      bearing: 140.107913 deg,
      approach rate: -0.607946 m/s,
      LOS rate: 0.015538 deg/s,
      cmd heading: 140.123134 deg,
      new cmd heading: 140.140848 deg.

2025-08-09T16:48:24.936Z,1754758104.936 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.004388
2025-08-09T16:48:25.188Z,1754758105.188 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.256908
2025-08-09T16:48:25.309Z,1754758105.309 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 230.90 m.
2025-08-09T16:48:25.312Z,1754758105.312 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 230.899994 m,
      nav range: 236.672287 m,
      bearing: 140.116140 deg,
      approach rate: -0.605724 m/s,
      LOS rate: 0.016852 deg/s,
      cmd heading: 140.140852 deg,
      new cmd heading: 140.165563 deg.

2025-08-09T16:48:25.439Z,1754758105.439 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.507723
2025-08-09T16:48:25.692Z,1754758105.692 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.760367
2025-08-09T16:48:25.787Z,1754758105.787 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 230.90 m.
2025-08-09T16:48:25.789Z,1754758105.789 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 230.899994 m,
      nav range: 236.383270 m,
      bearing: 140.124243 deg,
      approach rate: -0.605041 m/s,
      LOS rate: 0.016984 deg/s,
      cmd heading: 140.165563 deg,
      new cmd heading: 140.189903 deg.

2025-08-09T16:48:25.888Z,1754758105.888 [CTD_Seabird](ERROR): Failed to parse device response: 
.29
2025-08-09T16:48:25.945Z,1754758105.945 [DAT](INFO): DAT read: Rx Time:16:48:24.9502

2025-08-09T16:48:25.945Z,1754758105.945 [DAT](INFO): Rx dataTimestamp_ set to:1754758105.945055
2025-08-09T16:48:25.946Z,1754758105.946 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.014848
2025-08-09T16:48:26.197Z,1754758106.197 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.264560
2025-08-09T16:48:26.274Z,1754758106.274 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-09T16:48:26.276Z,1754758106.276 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 230.90 m.
2025-08-09T16:48:26.279Z,1754758106.279 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 230.899994 m,
      nav range: 236.081680 m,
      bearing: 140.132618 deg,
      approach rate: -0.616204 m/s,
      LOS rate: 0.017133 deg/s,
      cmd heading: 140.189906 deg,
      new cmd heading: 140.215063 deg.

2025-08-09T16:48:26.450Z,1754758106.450 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.517997
2025-08-09T16:48:26.705Z,1754758106.705 [DAT](INFO): DAT read: 16:48:24.9502 LVL= 29792, 32753, 31522, 32755, AGC= 68, IDX= 459, 0.40,-2.439, 2.175,-2.221,-2.676, PHS= 0.339,-1.387, 0.411, RAW= 152.0,   7.3, CAL= 151.4,   7.7, ROT= 358.6,  -7.7

2025-08-09T16:48:26.706Z,1754758106.706 [DAT](INFO): got valid direction response:
 16:48:24.9502 LVL= 29792, 32753, 31522, 32755, AGC= 68, IDX= 459, 0.40,-2.439, 2.175,-2.221,-2.676, PHS= 0.339,-1.387, 0.411, RAW= 152.0,   7.3, CAL= 151.4,   7.7, ROT= 358.6,  -7.7

2025-08-09T16:48:26.707Z,1754758106.707 [DAT](INFO): DAT read: Bearing 305.1,   0.6 (Local)

2025-08-09T16:48:26.707Z,1754758106.707 [DAT](INFO): Local bearing/azimuth received:
 Bearing 305.1,   0.6 (Local)

2025-08-09T16:48:26.709Z,1754758106.709 [DAT](INFO): DAT read: Range 11 to 50 : 226.0 m  (Round-trip  301.4 ms) speed  0.4 m/s

2025-08-09T16:48:26.709Z,1754758106.709 [DAT](INFO): DAT read: user:120>

2025-08-09T16:48:26.710Z,1754758106.710 [DAT](INFO): DAT read: Tx time:16:48:26.0447

2025-08-09T16:48:26.710Z,1754758106.710 [DAT](INFO): Ping request sent.
2025-08-09T16:48:26.711Z,1754758106.711 [DAT](INFO): transmitted an acoustic signal
2025-08-09T16:48:26.711Z,1754758106.711 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-09T16:48:26.712Z,1754758106.712 [DAT](INFO): direction in FSK: [0.990687,-0.024212,0.133986]
2025-08-09T16:48:26.712Z,1754758106.712 [DAT](INFO): publishing transmit ping time
2025-08-09T16:48:26.712Z,1754758106.712 [DAT](INFO): publishing direction and range info
2025-08-09T16:48:26.715Z,1754758106.715 [DAT](INFO): publishing transmit ping time
2025-08-09T16:48:26.716Z,1754758106.716 [DAT](INFO): publishing direction and range info
2025-08-09T16:48:26.813Z,1754758106.813 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 226.000000 m,
      deltaT: 7.811827 s,
      deltaX: -4.899994 m,
      approachRate: -0.627253 m/s,
      rangeRepo size: 4

2025-08-09T16:48:26.827Z,1754758106.827 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 226.000000 m,
      bearing: 137.688585 deg,
      lat: 36.905992 deg,
      lon: -122.115875 deg,
      deltaT: 7.811827 s,
      deltaX: -4.899994 m,
      approachRate: -0.627253 m/s,
      posRepo size: 4

2025-08-09T16:48:26.828Z,1754758106.828 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 226.00 m.
2025-08-09T16:48:26.835Z,1754758106.835 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 226.000000 m,
      nav range: 231.057144 m,
      bearing: 137.688585 deg,
      approach rate: -404207122178459950479572992.0 m/s,
      LOS rate: 0.017133 deg/s,
      cmd heading: 140.215068 deg,
      new cmd heading: 140.242614 deg.

2025-08-09T16:48:27.236Z,1754758107.236 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 226.00 m.
2025-08-09T16:48:27.239Z,1754758107.239 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 226.000000 m,
      nav range: 230.774277 m,
      bearing: 137.693598 deg,
      approach rate: -0.668122 m/s,
      LOS rate: 0.011855 deg/s,
      cmd heading: 140.242608 deg,
      new cmd heading: 140.257665 deg.

2025-08-09T16:48:27.600Z,1754758107.600 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 226.00 m.
2025-08-09T16:48:27.603Z,1754758107.603 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 226.000000 m,
      nav range: 230.549530 m,
      bearing: 137.698160 deg,
      approach rate: -0.616337 m/s,
      LOS rate: 0.012524 deg/s,
      cmd heading: 140.257661 deg,
      new cmd heading: 140.271362 deg.

2025-08-09T16:48:27.996Z,1754758107.996 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 226.00 m.
2025-08-09T16:48:27.999Z,1754758107.999 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 226.000000 m,
      nav range: 230.315277 m,
      bearing: 137.702925 deg,
      approach rate: -0.591464 m/s,
      LOS rate: 0.012043 deg/s,
      cmd heading: 140.271363 deg,
      new cmd heading: 140.285672 deg.

2025-08-09T16:48:28.413Z,1754758108.413 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-09T16:48:28.415Z,1754758108.415 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 226.00 m.
2025-08-09T16:48:28.418Z,1754758108.418 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 226.000000 m,
      nav range: 230.038834 m,
      bearing: 137.707184 deg,
      approach rate: -0.659930 m/s,
      LOS rate: 0.010178 deg/s,
      cmd heading: 140.285665 deg,
      new cmd heading: 140.298456 deg.

2025-08-09T16:48:28.464Z,1754758108.464 [DAT](INFO): ****** received valid address query ******
2025-08-09T16:48:28.464Z,1754758108.464 [DAT](INFO): ****** received valid ping request ******
2025-08-09T16:48:28.464Z,1754758108.464 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-09T16:48:28.715Z,1754758108.715 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.004607
2025-08-09T16:48:28.795Z,1754758108.795 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 226.00 m.
2025-08-09T16:48:28.798Z,1754758108.798 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 226.000000 m,
      nav range: 229.796371 m,
      bearing: 137.710905 deg,
      approach rate: -0.638480 m/s,
      LOS rate: 0.009810 deg/s,
      cmd heading: 140.298451 deg,
      new cmd heading: 140.309627 deg.

2025-08-09T16:48:28.967Z,1754758108.967 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.256714
2025-08-09T16:48:29.222Z,1754758109.222 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.511162
2025-08-09T16:48:29.260Z,1754758109.260 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 226.00 m.
2025-08-09T16:48:29.268Z,1754758109.268 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 226.000000 m,
      nav range: 229.529709 m,
      bearing: 137.714980 deg,
      approach rate: -0.573415 m/s,
      LOS rate: 0.008774 deg/s,
      cmd heading: 140.309625 deg,
      new cmd heading: 140.321866 deg.

2025-08-09T16:48:29.472Z,1754758109.472 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.760917
2025-08-09T16:48:29.630Z,1754758109.630 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 226.00 m.
2025-08-09T16:48:29.653Z,1754758109.653 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 226.000000 m,
      nav range: 229.254700 m,
      bearing: 137.718590 deg,
      approach rate: -0.743919 m/s,
      LOS rate: 0.009775 deg/s,
      cmd heading: 140.321865 deg,
      new cmd heading: 140.332706 deg.

2025-08-09T16:48:29.724Z,1754758109.724 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.013368
2025-08-09T16:48:29.975Z,1754758109.975 [DAT](INFO): DAT read: Rx Time:16:48:28.7469

2025-08-09T16:48:29.976Z,1754758109.976 [DAT](INFO): Rx dataTimestamp_ set to:1754758109.975500
2025-08-09T16:48:29.976Z,1754758109.976 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.265742
2025-08-09T16:48:30.038Z,1754758110.038 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 226.00 m.
2025-08-09T16:48:30.049Z,1754758110.049 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 226.000000 m,
      nav range: 228.988266 m,
      bearing: 137.722057 deg,
      approach rate: -0.652611 m/s,
      LOS rate: 0.008503 deg/s,
      cmd heading: 140.332712 deg,
      new cmd heading: 140.343126 deg.

2025-08-09T16:48:30.230Z,1754758110.230 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.518958
2025-08-09T16:48:30.438Z,1754758110.438 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-09T16:48:30.440Z,1754758110.440 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 226.00 m.
2025-08-09T16:48:30.449Z,1754758110.449 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 226.000000 m,
      nav range: 228.717834 m,
      bearing: 137.724335 deg,
      approach rate: -0.672055 m/s,
      LOS rate: 0.005668 deg/s,
      cmd heading: 140.343121 deg,
      new cmd heading: 140.349963 deg.

2025-08-09T16:48:30.485Z,1754758110.485 [DAT](INFO): DAT read: 16:48:28.7469 LVL= 27040, 32753, 30242, 32755, AGC= 68, IDX= 409, 0.25,-0.199,-1.888,-0.006,-0.408, PHS= 0.311,-1.436, 0.358, RAW= 151.3,   8.7, CAL= 150.9,   9.4, ROT= 359.1,  -9.4

2025-08-09T16:48:30.486Z,1754758110.486 [DAT](INFO): got valid direction response:
 16:48:28.7469 LVL= 27040, 32753, 30242, 32755, AGC= 68, IDX= 409, 0.25,-0.199,-1.888,-0.006,-0.408, PHS= 0.311,-1.436, 0.358, RAW= 151.3,   8.7, CAL= 150.9,   9.4, ROT= 359.1,  -9.4

2025-08-09T16:48:30.487Z,1754758110.487 [DAT](INFO): DAT read: Bearing 306.5,   0.2 (Local)

2025-08-09T16:48:30.488Z,1754758110.488 [DAT](INFO): Local bearing/azimuth received:
 Bearing 306.5,   0.2 (Local)

2025-08-09T16:48:30.489Z,1754758110.489 [DAT](INFO): DAT read: Range 11 to 50 : 223.5 m  (Round-trip  298.1 ms) speed  0.7 m/s

2025-08-09T16:48:30.490Z,1754758110.490 [DAT](INFO): DAT read: user:121>

2025-08-09T16:48:30.492Z,1754758110.492 [DAT](INFO): DAT read: Tx time:16:48:29.8447

2025-08-09T16:48:30.493Z,1754758110.493 [DAT](INFO): Ping request sent.
2025-08-09T16:48:30.493Z,1754758110.493 [DAT](INFO): transmitted an acoustic signal
2025-08-09T16:48:30.493Z,1754758110.493 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-09T16:48:30.494Z,1754758110.494 [DAT](INFO): direction in FSK: [0.986450,-0.015496,0.163326]
2025-08-09T16:48:30.494Z,1754758110.494 [DAT](INFO): publishing transmit ping time
2025-08-09T16:48:30.495Z,1754758110.495 [DAT](INFO): publishing direction and range info
2025-08-09T16:48:30.498Z,1754758110.498 [DAT](INFO): publishing transmit ping time
2025-08-09T16:48:30.498Z,1754758110.498 [DAT](INFO): publishing direction and range info
2025-08-09T16:48:30.830Z,1754758110.830 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 223.500000 m,
      deltaT: 3.780145 s,
      deltaX: -2.500000 m,
      approachRate: -0.661350 m/s,
      rangeRepo size: 4

2025-08-09T16:48:30.832Z,1754758110.832 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 223.500000 m,
      bearing: 139.896126 deg,
      lat: 36.905992 deg,
      lon: -122.116002 deg,
      deltaT: 3.780145 s,
      deltaX: -2.500000 m,
      approachRate: -0.661350 m/s,
      posRepo size: 4

2025-08-09T16:48:30.833Z,1754758110.833 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 223.50 m.
2025-08-09T16:48:30.836Z,1754758110.836 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 223.500000 m,
      nav range: 221.011932 m,
      bearing: 139.896126 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.005668 deg/s,
      cmd heading: 140.349965 deg,
      new cmd heading: 140.356584 deg.

2025-08-09T16:48:31.288Z,1754758111.288 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 223.50 m.
2025-08-09T16:48:31.295Z,1754758111.295 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 223.500000 m,
      nav range: 220.714249 m,
      bearing: 139.901591 deg,
      approach rate: -0.649610 m/s,
      LOS rate: 0.011941 deg/s,
      cmd heading: 140.356590 deg,
      new cmd heading: 140.373006 deg.

2025-08-09T16:48:31.654Z,1754758111.654 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 223.50 m.
2025-08-09T16:48:31.657Z,1754758111.657 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 223.500000 m,
      nav range: 220.447281 m,
      bearing: 139.906350 deg,
      approach rate: -0.729791 m/s,
      LOS rate: 0.013025 deg/s,
      cmd heading: 140.373010 deg,
      new cmd heading: 140.387304 deg.

2025-08-09T16:48:32.021Z,1754758112.021 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 223.50 m.
2025-08-09T16:48:32.024Z,1754758112.024 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 223.500000 m,
      nav range: 220.204208 m,
      bearing: 139.910642 deg,
      approach rate: -0.662150 m/s,
      LOS rate: 0.011705 deg/s,
      cmd heading: 140.387298 deg,
      new cmd heading: 140.400189 deg.

2025-08-09T16:48:32.445Z,1754758112.445 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-09T16:48:32.448Z,1754758112.448 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 223.50 m.
2025-08-09T16:48:32.451Z,1754758112.451 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 223.500000 m,
      nav range: 219.925659 m,
      bearing: 139.915033 deg,
      approach rate: -0.652238 m/s,
      LOS rate: 0.010295 deg/s,
      cmd heading: 140.400194 deg,
      new cmd heading: 140.413383 deg.

2025-08-09T16:48:32.496Z,1754758112.496 [DAT](INFO): ****** received valid address query ******
2025-08-09T16:48:32.496Z,1754758112.496 [DAT](INFO): ****** received valid ping request ******
2025-08-09T16:48:32.496Z,1754758112.496 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-09T16:48:32.747Z,1754758112.747 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.254627
2025-08-09T16:48:32.829Z,1754758112.829 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 223.50 m.
2025-08-09T16:48:32.843Z,1754758112.843 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 223.500000 m,
      nav range: 219.676651 m,
      bearing: 139.918947 deg,
      approach rate: -0.653838 m/s,
      LOS rate: 0.010289 deg/s,
      cmd heading: 140.413390 deg,
      new cmd heading: 140.425145 deg.

2025-08-09T16:48:32.999Z,1754758112.999 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.506552
2025-08-09T16:48:33.255Z,1754758113.255 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.761531
2025-08-09T16:48:33.310Z,1754758113.310 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 223.50 m.
2025-08-09T16:48:33.321Z,1754758113.321 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 223.500000 m,
      nav range: 219.391647 m,
      bearing: 139.923438 deg,
      approach rate: -0.592454 m/s,
      LOS rate: 0.009350 deg/s,
      cmd heading: 140.425151 deg,
      new cmd heading: 140.438644 deg.

2025-08-09T16:48:33.503Z,1754758113.503 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.010591
2025-08-09T16:48:33.688Z,1754758113.688 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 223.50 m.
2025-08-09T16:48:33.691Z,1754758113.691 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 223.500000 m,
      nav range: 219.111420 m,
      bearing: 139.926701 deg,
      approach rate: -0.739855 m/s,
      LOS rate: 0.008624 deg/s,
      cmd heading: 140.438648 deg,
      new cmd heading: 140.448447 deg.

2025-08-09T16:48:33.756Z,1754758113.756 [DAT](INFO): DAT read: Rx Time:16:48:32.5437

2025-08-09T16:48:33.757Z,1754758113.757 [DAT](INFO): Rx dataTimestamp_ set to:1754758113.756310
2025-08-09T16:48:33.757Z,1754758113.757 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.264799
2025-08-09T16:48:34.007Z,1754758114.007 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.514609
2025-08-09T16:48:34.163Z,1754758114.163 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 223.50 m.
2025-08-09T16:48:34.165Z,1754758114.165 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 223.500000 m,
      nav range: 218.805984 m,
      bearing: 139.930263 deg,
      approach rate: -0.650142 m/s,
      LOS rate: 0.007593 deg/s,
      cmd heading: 140.448442 deg,
      new cmd heading: 140.459144 deg.

2025-08-09T16:48:34.290Z,1754758114.290 [DAT](INFO): DAT read: 16:48:32.5437 LVL= 32752, 32753, 32018, 32755, AGC= 66, IDX= 408, 0.06, 0.117,-1.585, 0.358,-0.104, PHS= 0.323,-1.437, 0.417, RAW= 152.6,   7.7, CAL= 152.1,   8.2, ROT= 357.9,  -8.2

2025-08-09T16:48:34.294Z,1754758114.294 [DAT](INFO): got valid direction response:
 16:48:32.5437 LVL= 32752, 32753, 32018, 32755, AGC= 66, IDX= 408, 0.06, 0.117,-1.585, 0.358,-0.104, PHS= 0.323,-1.437, 0.417, RAW= 152.6,   7.7, CAL= 152.1,   8.2, ROT= 357.9,  -8.2

2025-08-09T16:48:34.298Z,1754758114.298 [DAT](INFO): DAT read: Bearing 305.3,  -1.7 (Local)

2025-08-09T16:48:34.300Z,1754758114.300 [DAT](INFO): Local bearing/azimuth received:
 Bearing 305.3,  -1.7 (Local)

2025-08-09T16:48:34.305Z,1754758114.305 [DAT](INFO): DAT read: Range 11 to 50 : 221.1 m  (Round-trip  294.9 ms) speed  0.6 m/s

2025-08-09T16:48:34.308Z,1754758114.308 [DAT](INFO): DAT read: user:122>

2025-08-09T16:48:34.309Z,1754758114.309 [DAT](INFO): DAT read: Tx time:16:48:33.6447

2025-08-09T16:48:34.309Z,1754758114.309 [DAT](INFO): Ping request sent.
2025-08-09T16:48:34.309Z,1754758114.309 [DAT](INFO): transmitted an acoustic signal
2025-08-09T16:48:34.309Z,1754758114.309 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-09T16:48:34.310Z,1754758114.310 [DAT](INFO): direction in FSK: [0.989111,-0.036269,0.142629]
2025-08-09T16:48:34.311Z,1754758114.311 [DAT](INFO): publishing transmit ping time
2025-08-09T16:48:34.311Z,1754758114.311 [DAT](INFO): publishing direction and range info
2025-08-09T16:48:34.314Z,1754758114.314 [DAT](INFO): publishing transmit ping time
2025-08-09T16:48:34.314Z,1754758114.314 [DAT](INFO): publishing direction and range info
2025-08-09T16:48:34.562Z,1754758114.562 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 221.100006 m,
      deltaT: 3.781486 s,
      deltaX: -2.399994 m,
      approachRate: -0.634670 m/s,
      rangeRepo size: 4

2025-08-09T16:48:34.568Z,1754758114.568 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 221.100006 m,
      bearing: 139.933362 deg,
      lat: 36.905992 deg,
      lon: -122.116002 deg,
      deltaT: 3.781486 s,
      deltaX: -2.399994 m,
      approachRate: -0.634670 m/s,
      posRepo size: 4

2025-08-09T16:48:34.569Z,1754758114.569 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 221.10 m.
2025-08-09T16:48:34.576Z,1754758114.576 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 221.100006 m,
      nav range: 218.556885 m,
      bearing: 139.933362 deg,
      approach rate: 365962518228863661342446950809 m/s,
      LOS rate: 0.007593 deg/s,
      cmd heading: 140.459138 deg,
      new cmd heading: 140.468311 deg.

2025-08-09T16:48:34.963Z,1754758114.963 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-09T16:48:34.965Z,1754758114.965 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 221.10 m.
2025-08-09T16:48:34.968Z,1754758114.968 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 221.100006 m,
      nav range: 218.286453 m,
      bearing: 139.936723 deg,
      approach rate: -0.669647 m/s,
      LOS rate: 0.008334 deg/s,
      cmd heading: 140.468304 deg,
      new cmd heading: 140.478401 deg.

2025-08-09T16:48:35.016Z,1754758115.016 [DAT](INFO): ****** received valid address query ******
2025-08-09T16:48:35.016Z,1754758115.016 [DAT](INFO): ****** received valid ping request ******
2025-08-09T16:48:35.016Z,1754758115.016 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-09T16:48:35.267Z,1754758115.267 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.958290
2025-08-09T16:48:35.393Z,1754758115.393 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 221.10 m.
2025-08-09T16:48:35.396Z,1754758115.396 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 221.100006 m,
      nav range: 218.017624 m,
      bearing: 139.939722 deg,
      approach rate: -0.627288 m/s,
      LOS rate: 0.007005 deg/s,
      cmd heading: 140.478399 deg,
      new cmd heading: 140.487405 deg.

2025-08-09T16:48:35.520Z,1754758115.520 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.210617
2025-08-09T16:48:35.725Z,1754758115.725 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 221.10 m.
2025-08-09T16:48:35.728Z,1754758115.728 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 221.100006 m,
      nav range: 217.814194 m,
      bearing: 139.941968 deg,
      approach rate: -0.612865 m/s,
      LOS rate: 0.006773 deg/s,
      cmd heading: 140.487402 deg,
      new cmd heading: 140.494147 deg.

2025-08-09T16:48:35.772Z,1754758115.772 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.462582
2025-08-09T16:48:36.023Z,1754758116.023 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.714290
2025-08-09T16:48:36.152Z,1754758116.152 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 221.10 m.
2025-08-09T16:48:36.163Z,1754758116.163 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 221.100006 m,
      nav range: 217.550278 m,
      bearing: 139.944866 deg,
      approach rate: -0.618425 m/s,
      LOS rate: 0.006798 deg/s,
      cmd heading: 140.494150 deg,
      new cmd heading: 140.502854 deg.

2025-08-09T16:48:36.278Z,1754758116.278 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.969027
2025-08-09T16:48:36.529Z,1754758116.529 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.219951
2025-08-09T16:48:36.576Z,1754758116.576 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 221.10 m.
2025-08-09T16:48:36.579Z,1754758116.579 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 221.100006 m,
      nav range: 217.287125 m,
      bearing: 139.948406 deg,
      approach rate: -0.620302 m/s,
      LOS rate: 0.008356 deg/s,
      cmd heading: 140.502852 deg,
      new cmd heading: 140.513486 deg.

2025-08-09T16:48:36.781Z,1754758116.781 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.471637
2025-08-09T16:48:36.946Z,1754758116.946 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 221.10 m.
2025-08-09T16:48:36.949Z,1754758116.949 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 221.100006 m,
      nav range: 217.054382 m,
      bearing: 139.951532 deg,
      approach rate: -0.629515 m/s,
      LOS rate: 0.008464 deg/s,
      cmd heading: 140.513493 deg,
      new cmd heading: 140.522881 deg.

2025-08-09T16:48:37.033Z,1754758117.033 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.723660
2025-08-09T16:48:37.283Z,1754758117.283 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.974338
2025-08-09T16:48:37.425Z,1754758117.425 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-09T16:48:37.427Z,1754758117.427 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 221.10 m.
2025-08-09T16:48:37.430Z,1754758117.430 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 221.100006 m,
      nav range: 216.760757 m,
      bearing: 139.957354 deg,
      approach rate: -0.609875 m/s,
      LOS rate: 0.012109 deg/s,
      cmd heading: 140.522878 deg,
      new cmd heading: 140.540367 deg.

2025-08-09T16:48:37.535Z,1754758117.535 [DAT](INFO): DAT read: Rx Time:16:48:36.3635

2025-08-09T16:48:37.536Z,1754758117.536 [DAT](INFO): Rx dataTimestamp_ set to:1754758117.535469
2025-08-09T16:48:37.536Z,1754758117.536 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.227362
2025-08-09T16:48:37.747Z,1754758117.747 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 221.10 m.
2025-08-09T16:48:37.749Z,1754758117.749 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 221.100006 m,
      nav range: 216.563293 m,
      bearing: 139.961240 deg,
      approach rate: -0.618031 m/s,
      LOS rate: 0.012174 deg/s,
      cmd heading: 140.540363 deg,
      new cmd heading: 140.552032 deg.

2025-08-09T16:48:37.787Z,1754758117.787 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.478475
2025-08-09T16:48:38.045Z,1754758118.045 [DAT](INFO): DAT read: 16:48:36.3635 LVL= 28016, 31889, 28258, 31795, AGC= 72, IDX= 131, 0.12,-1.027,-2.661,-0.776,-1.232, PHS= 0.307,-1.384, 0.411, RAW= 153.0,   7.7, CAL= 152.5,   8.1, ROT= 357.5,  -8.1

2025-08-09T16:48:38.046Z,1754758118.046 [DAT](INFO): got valid direction response:
 16:48:36.3635 LVL= 28016, 31889, 28258, 31795, AGC= 72, IDX= 131, 0.12,-1.027,-2.661,-0.776,-1.232, PHS= 0.307,-1.384, 0.411, RAW= 153.0,   7.7, CAL= 152.5,   8.1, ROT= 357.5,  -8.1

2025-08-09T16:48:38.047Z,1754758118.047 [DAT](INFO): DAT read: Bearing 305.2,  -2.4 (Local)

2025-08-09T16:48:38.047Z,1754758118.047 [DAT](INFO): Local bearing/azimuth received:
 Bearing 305.2,  -2.4 (Local)

2025-08-09T16:48:38.049Z,1754758118.049 [DAT](INFO): DAT read: Range 11 to 50 : 236.0 m  (Round-trip  314.7 ms) speed  0.4 m/s

2025-08-09T16:48:38.049Z,1754758118.049 [DAT](INFO): DAT read: user:123>

2025-08-09T16:48:38.050Z,1754758118.050 [DAT](INFO): DAT read: Tx time:16:48:37.4947

2025-08-09T16:48:38.050Z,1754758118.050 [DAT](INFO): Ping request sent.
2025-08-09T16:48:38.051Z,1754758118.051 [DAT](INFO): transmitted an acoustic signal
2025-08-09T16:48:38.051Z,1754758118.051 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-09T16:48:38.052Z,1754758118.052 [DAT](INFO): direction in FSK: [0.989081,-0.043184,0.140901]
2025-08-09T16:48:38.052Z,1754758118.052 [DAT](INFO): publishing transmit ping time
2025-08-09T16:48:38.052Z,1754758118.052 [DAT](INFO): publishing direction and range info
2025-08-09T16:48:38.056Z,1754758118.056 [DAT](INFO): publishing transmit ping time
2025-08-09T16:48:38.056Z,1754758118.056 [DAT](INFO): publishing direction and range info
2025-08-09T16:48:38.236Z,1754758118.236 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 236.000000 m,
      deltaT: 3.778398 s,
      deltaX: 14.899994 m,
      approachRate: 3.943469 m/s,
      rangeRepo size: 4

2025-08-09T16:48:38.238Z,1754758118.238 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 236.000000 m,
      bearing: 139.614275 deg,
      lat: 36.905991 deg,
      lon: -122.115982 deg,
      deltaT: 3.778398 s,
      deltaX: 14.899994 m,
      approachRate: 3.943469 m/s,
      posRepo size: 4

2025-08-09T16:48:38.243Z,1754758118.243 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 236.00 m.
2025-08-09T16:48:38.245Z,1754758118.245 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 236.000000 m,
      nav range: 217.572495 m,
      bearing: 139.614275 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.012174 deg/s,
      cmd heading: 140.552029 deg,
      new cmd heading: 140.569677 deg.

2025-08-09T16:48:38.645Z,1754758118.645 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 236.00 m.
2025-08-09T16:48:38.648Z,1754758118.648 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 236.000000 m,
      nav range: 217.299408 m,
      bearing: 139.620375 deg,
      approach rate: -0.658517 m/s,
      LOS rate: 0.014729 deg/s,
      cmd heading: 140.569678 deg,
      new cmd heading: 140.588002 deg.

2025-08-09T16:48:38.997Z,1754758118.997 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 236.00 m.
2025-08-09T16:48:39.000Z,1754758119.000 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 236.000000 m,
      nav range: 217.083008 m,
      bearing: 139.625221 deg,
      approach rate: -0.613939 m/s,
      LOS rate: 0.013760 deg/s,
      cmd heading: 140.587997 deg,
      new cmd heading: 140.602547 deg.

2025-08-09T16:48:39.467Z,1754758119.467 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-09T16:48:39.469Z,1754758119.469 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 236.00 m.
2025-08-09T16:48:39.492Z,1754758119.492 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 236.000000 m,
      nav range: 216.794022 m,
      bearing: 139.633196 deg,
      approach rate: -0.612967 m/s,
      LOS rate: 0.016939 deg/s,
      cmd heading: 140.602545 deg,
      new cmd heading: 140.626503 deg.

2025-08-09T16:48:39.551Z,1754758119.551 [DAT](INFO): ****** received valid address query ******
2025-08-09T16:48:39.551Z,1754758119.551 [DAT](INFO): ****** received valid ping request ******
2025-08-09T16:48:39.551Z,1754758119.551 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-09T16:48:39.803Z,1754758119.803 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.752702
2025-08-09T16:48:39.946Z,1754758119.946 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 236.00 m.
2025-08-09T16:48:39.949Z,1754758119.949 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 236.000000 m,
      nav range: 216.500763 m,
      bearing: 139.641258 deg,
      approach rate: -0.614413 m/s,
      LOS rate: 0.016913 deg/s,
      cmd heading: 140.626505 deg,
      new cmd heading: 140.650723 deg.

2025-08-09T16:48:40.056Z,1754758120.056 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.004938
2025-08-09T16:48:40.307Z,1754758120.307 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.256782
2025-08-09T16:48:40.314Z,1754758120.314 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 236.00 m.
2025-08-09T16:48:40.321Z,1754758120.321 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 236.000000 m,
      nav range: 216.275940 m,
      bearing: 139.647422 deg,
      approach rate: -0.611675 m/s,
      LOS rate: 0.016788 deg/s,
      cmd heading: 140.650725 deg,
      new cmd heading: 140.669236 deg.

2025-08-09T16:48:40.559Z,1754758120.559 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.508726
2025-08-09T16:48:40.748Z,1754758120.748 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 236.00 m.
2025-08-09T16:48:40.751Z,1754758120.751 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 236.000000 m,
      nav range: 216.009018 m,
      bearing: 139.654698 deg,
      approach rate: -0.614902 m/s,
      LOS rate: 0.016783 deg/s,
      cmd heading: 140.669235 deg,
      new cmd heading: 140.691091 deg.

2025-08-09T16:48:40.812Z,1754758120.812 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.760954
2025-08-09T16:48:41.063Z,1754758121.063 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.012722
2025-08-09T16:48:41.307Z,1754758121.307 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 236.00 m.
2025-08-09T16:48:41.310Z,1754758121.310 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 236.000000 m,
      nav range: 215.690887 m,
      bearing: 139.663394 deg,
      approach rate: -0.568603 m/s,
      LOS rate: 0.015565 deg/s,
      cmd heading: 140.691092 deg,
      new cmd heading: 140.717218 deg.

2025-08-09T16:48:41.315Z,1754758121.315 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.264748
2025-08-09T16:48:41.568Z,1754758121.568 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.517819
2025-08-09T16:48:41.685Z,1754758121.685 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-09T16:48:41.691Z,1754758121.691 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 236.00 m.
2025-08-09T16:48:41.694Z,1754758121.694 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 236.000000 m,
      nav range: 215.443588 m,
      bearing: 139.669494 deg,
      approach rate: -0.644309 m/s,
      LOS rate: 0.015913 deg/s,
      cmd heading: 140.717224 deg,
      new cmd heading: 140.735547 deg.

2025-08-09T16:48:41.820Z,1754758121.820 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.769367
2025-08-09T16:48:42.024Z,1754758122.024 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 236.00 m.
2025-08-09T16:48:42.027Z,1754758122.027 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 236.000000 m,
      nav range: 215.226776 m,
      bearing: 139.674605 deg,
      approach rate: -0.651119 m/s,
      LOS rate: 0.015363 deg/s,
      cmd heading: 140.735542 deg,
      new cmd heading: 140.750889 deg.

2025-08-09T16:48:42.072Z,1754758122.072 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.021105
2025-08-09T16:48:42.323Z,1754758122.323 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.272630
2025-08-09T16:48:42.474Z,1754758122.474 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 236.00 m.
2025-08-09T16:48:42.476Z,1754758122.476 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 236.000000 m,
      nav range: 214.946121 m,
      bearing: 139.681554 deg,
      approach rate: -0.624162 m/s,
      LOS rate: 0.015473 deg/s,
      cmd heading: 140.750883 deg,
      new cmd heading: 140.771756 deg.

2025-08-09T16:48:42.576Z,1754758122.576 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.525097
2025-08-09T16:48:42.827Z,1754758122.827 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.776738
2025-08-09T16:48:42.831Z,1754758122.831 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 236.00 m.
2025-08-09T16:48:42.834Z,1754758122.834 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 236.000000 m,
      nav range: 214.724533 m,
      bearing: 139.686996 deg,
      approach rate: -0.619719 m/s,
      LOS rate: 0.015237 deg/s,
      cmd heading: 140.771756 deg,
      new cmd heading: 140.788100 deg.

2025-08-09T16:48:43.079Z,1754758123.079 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.028603
2025-08-09T16:48:43.256Z,1754758123.256 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 236.00 m.
2025-08-09T16:48:43.259Z,1754758123.259 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 236.000000 m,
      nav range: 214.468933 m,
      bearing: 139.693207 deg,
      approach rate: -0.601454 m/s,
      LOS rate: 0.014632 deg/s,
      cmd heading: 140.788094 deg,
      new cmd heading: 140.806748 deg.

2025-08-09T16:48:43.332Z,1754758123.332 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.280926
2025-08-09T16:48:43.585Z,1754758123.585 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.533808
2025-08-09T16:48:43.686Z,1754758123.686 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 236.00 m.
2025-08-09T16:48:43.689Z,1754758123.689 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 236.000000 m,
      nav range: 214.192688 m,
      bearing: 139.698741 deg,
      approach rate: -0.648371 m/s,
      LOS rate: 0.013006 deg/s,
      cmd heading: 140.806754 deg,
      new cmd heading: 140.823378 deg.

2025-08-09T16:48:43.835Z,1754758123.835 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.784629
2025-08-09T16:48:44.040Z,1754758124.040 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-09T16:48:44.043Z,1754758124.043 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 236.00 m.
2025-08-09T16:48:44.045Z,1754758124.045 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 236.000000 m,
      nav range: 213.967102 m,
      bearing: 139.703219 deg,
      approach rate: -0.626499 m/s,
      LOS rate: 0.012450 deg/s,
      cmd heading: 140.823379 deg,
      new cmd heading: 140.836828 deg.

2025-08-09T16:48:44.089Z,1754758124.089 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.038059
2025-08-09T16:48:44.339Z,1754758124.339 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.288618
2025-08-09T16:48:44.502Z,1754758124.502 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 236.00 m.
2025-08-09T16:48:44.504Z,1754758124.504 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 236.000000 m,
      nav range: 213.673019 m,
      bearing: 139.707158 deg,
      approach rate: -0.640374 m/s,
      LOS rate: 0.008589 deg/s,
      cmd heading: 140.836834 deg,
      new cmd heading: 140.848667 deg.

2025-08-09T16:48:44.592Z,1754758124.592 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.541448
2025-08-09T16:48:44.844Z,1754758124.844 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.793399
2025-08-09T16:48:44.860Z,1754758124.860 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 236.00 m.
2025-08-09T16:48:44.864Z,1754758124.864 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 236.000000 m,
      nav range: 213.446533 m,
      bearing: 139.710159 deg,
      approach rate: -0.632397 m/s,
      LOS rate: 0.008388 deg/s,
      cmd heading: 140.848664 deg,
      new cmd heading: 140.857676 deg.

2025-08-09T16:48:45.096Z,1754758125.096 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.045448
2025-08-09T16:48:45.256Z,1754758125.256 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 236.00 m.
2025-08-09T16:48:45.259Z,1754758125.259 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 236.000000 m,
      nav range: 213.189865 m,
      bearing: 139.713546 deg,
      approach rate: -0.647086 m/s,
      LOS rate: 0.008549 deg/s,
      cmd heading: 140.857680 deg,
      new cmd heading: 140.867853 deg.

2025-08-09T16:48:45.348Z,1754758125.348 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.297583
2025-08-09T16:48:45.600Z,1754758125.600 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.549360
2025-08-09T16:48:45.692Z,1754758125.692 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 236.00 m.
2025-08-09T16:48:45.695Z,1754758125.695 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 236.000000 m,
      nav range: 212.914429 m,
      bearing: 139.716062 deg,
      approach rate: -0.632626 m/s,
      LOS rate: 0.005787 deg/s,
      cmd heading: 140.867857 deg,
      new cmd heading: 140.875415 deg.

2025-08-09T16:48:45.852Z,1754758125.852 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.800970
2025-08-09T16:48:46.060Z,1754758126.060 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-09T16:48:46.063Z,1754758126.063 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 236.00 m.
2025-08-09T16:48:46.065Z,1754758126.065 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 236.000000 m,
      nav range: 212.680145 m,
      bearing: 139.718215 deg,
      approach rate: -0.632022 m/s,
      LOS rate: 0.005815 deg/s,
      cmd heading: 140.875411 deg,
      new cmd heading: 140.881878 deg.

2025-08-09T16:48:46.105Z,1754758126.105 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.053708
2025-08-09T16:48:46.355Z,1754758126.355 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.304713
2025-08-09T16:48:46.530Z,1754758126.530 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 236.00 m.
2025-08-09T16:48:46.533Z,1754758126.533 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 236.000000 m,
      nav range: 212.380096 m,
      bearing: 139.718608 deg,
      approach rate: -0.641972 m/s,
      LOS rate: 0.000842 deg/s,
      cmd heading: 140.881872 deg,
      new cmd heading: 140.883053 deg.

2025-08-09T16:48:46.609Z,1754758126.609 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.557812
2025-08-09T16:48:46.860Z,1754758126.860 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.809213
2025-08-09T16:48:46.884Z,1754758126.884 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 236.00 m.
2025-08-09T16:48:46.887Z,1754758126.887 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 236.000000 m,
      nav range: 212.153992 m,
      bearing: 139.718951 deg,
      approach rate: -0.638323 m/s,
      LOS rate: 0.000967 deg/s,
      cmd heading: 140.883047 deg,
      new cmd heading: 140.884075 deg.

2025-08-09T16:48:47.113Z,1754758127.113 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.062221
2025-08-09T16:48:47.271Z,1754758127.271 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 236.00 m.
2025-08-09T16:48:47.273Z,1754758127.273 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 236.000000 m,
      nav range: 211.904785 m,
      bearing: 139.719402 deg,
      approach rate: -0.644662 m/s,
      LOS rate: 0.001169 deg/s,
      cmd heading: 140.884072 deg,
      new cmd heading: 140.885427 deg.

2025-08-09T16:48:47.363Z,1754758127.363 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.312696
2025-08-09T16:48:47.616Z,1754758127.616 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.564912
2025-08-09T16:48:47.704Z,1754758127.704 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 236.00 m.
2025-08-09T16:48:47.726Z,1754758127.726 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 236.000000 m,
      nav range: 211.618698 m,
      bearing: 139.720149 deg,
      approach rate: -0.660746 m/s,
      LOS rate: 0.001729 deg/s,
      cmd heading: 140.885424 deg,
      new cmd heading: 140.887669 deg.

2025-08-09T16:48:47.868Z,1754758127.868 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.817320
2025-08-09T16:48:48.105Z,1754758128.105 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-09T16:48:48.107Z,1754758128.107 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 236.00 m.
2025-08-09T16:48:48.110Z,1754758128.110 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 236.000000 m,
      nav range: 211.355820 m,
      bearing: 139.720941 deg,
      approach rate: -0.651058 m/s,
      LOS rate: 0.001963 deg/s,
      cmd heading: 140.887664 deg,
      new cmd heading: 140.890042 deg.

2025-08-09T16:48:48.119Z,1754758128.119 [DAT](INFO): Reached modem response timeout
2025-08-09T16:48:48.119Z,1754758128.119 [DAT](DEBUG): Acoustic response timeout
2025-08-09T16:48:48.119Z,1754758128.119 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-09T16:48:48.371Z,1754758128.371 [DAT](INFO): Reached modem response timeout
2025-08-09T16:48:48.371Z,1754758128.371 [DAT](DEBUG): Acoustic response timeout
2025-08-09T16:48:48.371Z,1754758128.371 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-09T16:48:48.553Z,1754758128.553 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 236.00 m.
2025-08-09T16:48:48.573Z,1754758128.573 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 236.000000 m,
      nav range: 211.060684 m,
      bearing: 139.722598 deg,
      approach rate: -0.662760 m/s,
      LOS rate: 0.003725 deg/s,
      cmd heading: 140.890041 deg,
      new cmd heading: 140.895018 deg.

2025-08-09T16:48:48.624Z,1754758128.624 [DAT](INFO): Reached modem response timeout
2025-08-09T16:48:48.625Z,1754758128.625 [DAT](DEBUG): Acoustic response timeout
2025-08-09T16:48:48.625Z,1754758128.625 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-09T16:48:48.875Z,1754758128.875 [DAT](INFO): Reached modem response timeout
2025-08-09T16:48:48.876Z,1754758128.876 [DAT](DEBUG): Acoustic response timeout
2025-08-09T16:48:48.876Z,1754758128.876 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-09T16:48:48.957Z,1754758128.957 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 236.00 m.
2025-08-09T16:48:48.964Z,1754758128.964 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 236.000000 m,
      nav range: 210.806686 m,
      bearing: 139.724133 deg,
      approach rate: -0.627854 m/s,
      LOS rate: 0.003799 deg/s,
      cmd heading: 140.895014 deg,
      new cmd heading: 140.899624 deg.

2025-08-09T16:48:49.127Z,1754758129.127 [DAT](INFO): Reached modem response timeout
2025-08-09T16:48:49.127Z,1754758129.127 [DAT](DEBUG): Acoustic response timeout
2025-08-09T16:48:49.128Z,1754758129.128 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-09T16:48:49.352Z,1754758129.352 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 236.00 m.
2025-08-09T16:48:49.354Z,1754758129.354 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 236.000000 m,
      nav range: 210.538605 m,
      bearing: 139.725757 deg,
      approach rate: -0.679851 m/s,
      LOS rate: 0.004124 deg/s,
      cmd heading: 140.899617 deg,
      new cmd heading: 140.904495 deg.

2025-08-09T16:48:49.379Z,1754758129.379 [DAT](INFO): Reached modem response timeout
2025-08-09T16:48:49.379Z,1754758129.379 [DAT](DEBUG): Acoustic response timeout
2025-08-09T16:48:49.379Z,1754758129.379 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-09T16:48:49.631Z,1754758129.631 [DAT](INFO): Reached modem response timeout
2025-08-09T16:48:49.631Z,1754758129.631 [DAT](DEBUG): Acoustic response timeout
2025-08-09T16:48:49.631Z,1754758129.631 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-09T16:48:49.780Z,1754758129.780 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 236.00 m.
2025-08-09T16:48:49.787Z,1754758129.787 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 236.000000 m,
      nav range: 210.271835 m,
      bearing: 139.727098 deg,
      approach rate: -0.623092 m/s,
      LOS rate: 0.003136 deg/s,
      cmd heading: 140.904494 deg,
      new cmd heading: 140.908522 deg.

2025-08-09T16:48:49.883Z,1754758129.883 [DAT](INFO): Reached modem response timeout
2025-08-09T16:48:49.884Z,1754758129.884 [DAT](DEBUG): Acoustic response timeout
2025-08-09T16:48:49.884Z,1754758129.884 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-09T16:48:50.135Z,1754758130.135 [DAT](INFO): Reached modem response timeout
2025-08-09T16:48:50.135Z,1754758130.135 [DAT](DEBUG): Acoustic response timeout
2025-08-09T16:48:50.136Z,1754758130.136 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-09T16:48:50.144Z,1754758130.144 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-09T16:48:50.167Z,1754758130.167 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 236.00 m.
2025-08-09T16:48:50.169Z,1754758130.169 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 236.000000 m,
      nav range: 210.029251 m,
      bearing: 139.728354 deg,
      approach rate: -0.661234 m/s,
      LOS rate: 0.003428 deg/s,
      cmd heading: 140.908524 deg,
      new cmd heading: 140.912296 deg.

2025-08-09T16:48:50.390Z,1754758130.390 [DAT](INFO): DAT read: Response Not Received

2025-08-09T16:48:50.390Z,1754758130.390 [DAT](INFO): response not received
2025-08-09T16:48:50.391Z,1754758130.391 [DAT](INFO): DAT read: user:124>

2025-08-09T16:48:50.391Z,1754758130.391 [DAT](INFO): DAT read: Tx time:16:48:49.9447

2025-08-09T16:48:50.392Z,1754758130.392 [DAT](INFO): Ping request sent.
2025-08-09T16:48:50.392Z,1754758130.392 [DAT](INFO): transmitted an acoustic signal
2025-08-09T16:48:50.392Z,1754758130.392 [DAT](INFO): publishing transmit ping time
2025-08-09T16:48:50.392Z,1754758130.392 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000739
2025-08-09T16:48:50.629Z,1754758130.629 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 236.00 m.
2025-08-09T16:48:50.635Z,1754758130.635 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 236.000000 m,
      nav range: 209.732742 m,
      bearing: 139.731589 deg,
      approach rate: -0.615152 m/s,
      LOS rate: 0.006721 deg/s,
      cmd heading: 140.912294 deg,
      new cmd heading: 140.922013 deg.

2025-08-09T16:48:50.639Z,1754758130.639 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.247721
2025-08-09T16:48:50.895Z,1754758130.895 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.503093
2025-08-09T16:48:50.968Z,1754758130.968 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 236.00 m.
2025-08-09T16:48:50.991Z,1754758130.991 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 236.000000 m,
      nav range: 209.496597 m,
      bearing: 139.734178 deg,
      approach rate: -0.694697 m/s,
      LOS rate: 0.007626 deg/s,
      cmd heading: 140.922007 deg,
      new cmd heading: 140.929784 deg.

2025-08-09T16:48:51.143Z,1754758131.143 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.751504
2025-08-09T16:48:51.374Z,1754758131.374 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 236.00 m.
2025-08-09T16:48:51.377Z,1754758131.377 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 236.000000 m,
      nav range: 209.234085 m,
      bearing: 139.737029 deg,
      approach rate: -0.647451 m/s,
      LOS rate: 0.007039 deg/s,
      cmd heading: 140.929779 deg,
      new cmd heading: 140.938341 deg.

2025-08-09T16:48:51.396Z,1754758131.396 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.004287
2025-08-09T16:48:51.648Z,1754758131.648 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.255987
2025-08-09T16:48:51.804Z,1754758131.804 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 236.00 m.
2025-08-09T16:48:51.807Z,1754758131.807 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 236.000000 m,
      nav range: 208.956512 m,
      bearing: 139.740906 deg,
      approach rate: -0.645428 m/s,
      LOS rate: 0.009027 deg/s,
      cmd heading: 140.938344 deg,
      new cmd heading: 140.949991 deg.

2025-08-09T16:48:51.899Z,1754758131.899 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.507674
2025-08-09T16:48:52.151Z,1754758132.151 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.759525
2025-08-09T16:48:52.181Z,1754758132.181 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-09T16:48:52.183Z,1754758132.183 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 236.00 m.
2025-08-09T16:48:52.185Z,1754758132.185 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 236.000000 m,
      nav range: 208.712280 m,
      bearing: 139.744281 deg,
      approach rate: -0.645125 m/s,
      LOS rate: 0.008926 deg/s,
      cmd heading: 140.949997 deg,
      new cmd heading: 140.960135 deg.

2025-08-09T16:48:52.404Z,1754758132.404 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.011973
2025-08-09T16:48:52.640Z,1754758132.640 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 236.00 m.
2025-08-09T16:48:52.643Z,1754758132.643 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 236.000000 m,
      nav range: 208.415863 m,
      bearing: 139.749390 deg,
      approach rate: -0.647338 m/s,
      LOS rate: 0.011174 deg/s,
      cmd heading: 140.960133 deg,
      new cmd heading: 140.975483 deg.

2025-08-09T16:48:52.655Z,1754758132.655 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.263431
2025-08-09T16:48:52.908Z,1754758132.908 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.516462
2025-08-09T16:48:52.988Z,1754758132.988 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 236.00 m.
2025-08-09T16:48:53.006Z,1754758133.006 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 236.000000 m,
      nav range: 208.191284 m,
      bearing: 139.753231 deg,
      approach rate: -0.647056 m/s,
      LOS rate: 0.011076 deg/s,
      cmd heading: 140.975487 deg,
      new cmd heading: 140.987020 deg.

2025-08-09T16:48:53.159Z,1754758133.159 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.767561
2025-08-09T16:48:53.405Z,1754758133.405 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 236.00 m.
2025-08-09T16:48:53.408Z,1754758133.408 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 236.000000 m,
      nav range: 207.928406 m,
      bearing: 139.757697 deg,
      approach rate: -0.630075 m/s,
      LOS rate: 0.010718 deg/s,
      cmd heading: 140.987016 deg,
      new cmd heading: 141.000431 deg.

2025-08-09T16:48:53.411Z,1754758133.411 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.019668
2025-08-09T16:48:53.663Z,1754758133.663 [DAT](INFO): DAT read: Rx Time:16:48:52.6506

2025-08-09T16:48:53.664Z,1754758133.664 [DAT](INFO): Rx dataTimestamp_ set to:1754758133.663525
2025-08-09T16:48:53.664Z,1754758133.664 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.272671
2025-08-09T16:48:53.832Z,1754758133.832 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 236.00 m.
2025-08-09T16:48:53.835Z,1754758133.835 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 236.000000 m,
      nav range: 207.652832 m,
      bearing: 139.763279 deg,
      approach rate: -0.645402 m/s,
      LOS rate: 0.013092 deg/s,
      cmd heading: 141.000431 deg,
      new cmd heading: 141.017200 deg.

2025-08-09T16:48:53.915Z,1754758133.915 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.523647
2025-08-09T16:48:54.170Z,1754758134.170 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.778084
2025-08-09T16:48:54.320Z,1754758134.320 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-09T16:48:54.323Z,1754758134.323 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 236.00 m.
2025-08-09T16:48:54.325Z,1754758134.325 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 236.000000 m,
      nav range: 207.337036 m,
      bearing: 139.769657 deg,
      approach rate: -0.643502 m/s,
      LOS rate: 0.013016 deg/s,
      cmd heading: 141.017206 deg,
      new cmd heading: 141.036368 deg.

2025-08-09T16:48:54.427Z,1754758134.427 [DAT](INFO): DAT read: 16:48:52.6506 LVL= 26240, 32433, 29554, 29107, AGC= 67, IDX= 271, 0.42, 2.905, 1.245,-3.059, 2.724, PHS= 0.283,-1.434, 0.457, RAW= 154.8,   7.7, CAL= 154.3,   8.1, ROT= 355.7,  -8.1

2025-08-09T16:48:54.429Z,1754758134.429 [DAT](INFO): got valid direction response:
 16:48:52.6506 LVL= 26240, 32433, 29554, 29107, AGC= 67, IDX= 271, 0.42, 2.905, 1.245,-3.059, 2.724, PHS= 0.283,-1.434, 0.457, RAW= 154.8,   7.7, CAL= 154.3,   8.1, ROT= 355.7,  -8.1

2025-08-09T16:48:54.430Z,1754758134.430 [DAT](INFO): DAT read: Bearing 307.2,  -5.1 (Local)

2025-08-09T16:48:54.430Z,1754758134.430 [DAT](INFO): Local bearing/azimuth received:
 Bearing 307.2,  -5.1 (Local)

2025-08-09T16:48:54.432Z,1754758134.432 [DAT](INFO): DAT read: Range 11 to 50 : 226.3 m  (Round-trip  301.8 ms) speed  0.6 m/s

2025-08-09T16:48:54.433Z,1754758134.433 [DAT](INFO): DAT read: user:125>

2025-08-09T16:48:54.433Z,1754758134.433 [DAT](INFO): DAT read: Tx time:16:48:53.7447

2025-08-09T16:48:54.434Z,1754758134.434 [DAT](INFO): Ping request sent.
2025-08-09T16:48:54.434Z,1754758134.434 [DAT](INFO): transmitted an acoustic signal
2025-08-09T16:48:54.434Z,1754758134.434 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-09T16:48:54.437Z,1754758134.437 [DAT](INFO): direction in FSK: [0.987237,-0.074230,0.140901]
2025-08-09T16:48:54.438Z,1754758134.438 [DAT](INFO): publishing transmit ping time
2025-08-09T16:48:54.455Z,1754758134.455 [DAT](INFO): publishing direction and range info
2025-08-09T16:48:54.458Z,1754758134.458 [DAT](INFO): publishing transmit ping time
2025-08-09T16:48:54.466Z,1754758134.466 [DAT](INFO): publishing direction and range info
2025-08-09T16:48:54.723Z,1754758134.723 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 226.300003 m,
      deltaT: 16.380381 s,
      deltaX: -9.699997 m,
      approachRate: -0.592172 m/s,
      rangeRepo size: 4

2025-08-09T16:48:54.725Z,1754758134.725 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 226.300003 m,
      bearing: 139.774260 deg,
      lat: 36.905991 deg,
      lon: -122.115982 deg,
      deltaT: 16.380381 s,
      deltaX: -9.699997 m,
      approachRate: -0.592172 m/s,
      posRepo size: 4

2025-08-09T16:48:54.734Z,1754758134.734 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 226.30 m.
2025-08-09T16:48:54.737Z,1754758134.737 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 226.300003 m,
      nav range: 207.099762 m,
      bearing: 139.774260 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.013016 deg/s,
      cmd heading: 141.036371 deg,
      new cmd heading: 141.051994 deg.

2025-08-09T16:48:55.080Z,1754758135.080 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 226.30 m.
2025-08-09T16:48:55.085Z,1754758135.085 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 226.300003 m,
      nav range: 206.871262 m,
      bearing: 139.778703 deg,
      approach rate: -0.640217 m/s,
      LOS rate: 0.012462 deg/s,
      cmd heading: 141.051999 deg,
      new cmd heading: 141.065342 deg.

2025-08-09T16:48:55.479Z,1754758135.479 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 226.30 m.
2025-08-09T16:48:55.481Z,1754758135.481 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 226.300003 m,
      nav range: 206.620926 m,
      bearing: 139.783473 deg,
      approach rate: -0.627447 m/s,
      LOS rate: 0.011970 deg/s,
      cmd heading: 141.065345 deg,
      new cmd heading: 141.079672 deg.

2025-08-09T16:48:55.898Z,1754758135.898 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 226.30 m.
2025-08-09T16:48:55.901Z,1754758135.901 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 226.300003 m,
      nav range: 206.358841 m,
      bearing: 139.787942 deg,
      approach rate: -0.624568 m/s,
      LOS rate: 0.010664 deg/s,
      cmd heading: 141.079675 deg,
      new cmd heading: 141.093099 deg.

2025-08-09T16:48:56.277Z,1754758136.277 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 226.30 m.
2025-08-09T16:48:56.280Z,1754758136.280 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 226.300003 m,
      nav range: 206.122345 m,
      bearing: 139.791925 deg,
      approach rate: -0.624316 m/s,
      LOS rate: 0.010528 deg/s,
      cmd heading: 141.093103 deg,
      new cmd heading: 141.105067 deg.

2025-08-09T16:48:56.700Z,1754758136.700 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-09T16:48:56.702Z,1754758136.702 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 226.30 m.
2025-08-09T16:48:56.705Z,1754758136.705 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 226.300003 m,
      nav range: 205.859573 m,
      bearing: 139.796107 deg,
      approach rate: -0.617921 m/s,
      LOS rate: 0.009845 deg/s,
      cmd heading: 141.105069 deg,
      new cmd heading: 141.117629 deg.

2025-08-09T16:48:56.939Z,1754758136.939 [DAT](INFO): ****** received valid address query ******
2025-08-09T16:48:56.939Z,1754758136.939 [DAT](INFO): ****** received valid ping request ******
2025-08-09T16:48:56.939Z,1754758136.939 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-09T16:48:57.091Z,1754758137.091 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 226.30 m.
2025-08-09T16:48:57.093Z,1754758137.093 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 226.300003 m,
      nav range: 205.625748 m,
      bearing: 139.799792 deg,
      approach rate: -0.608867 m/s,
      LOS rate: 0.009608 deg/s,
      cmd heading: 141.117623 deg,
      new cmd heading: 141.128692 deg.

2025-08-09T16:48:57.191Z,1754758137.191 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.757530
2025-08-09T16:48:57.443Z,1754758137.443 [DAT](INFO): DAT read: Rx Time:16:48:56.4477

2025-08-09T16:48:57.444Z,1754758137.444 [DAT](INFO): Rx dataTimestamp_ set to:1754758137.443458
2025-08-09T16:48:57.444Z,1754758137.444 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.010606
2025-08-09T16:48:57.474Z,1754758137.474 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 226.30 m.
2025-08-09T16:48:57.477Z,1754758137.477 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 226.300003 m,
      nav range: 205.382034 m,
      bearing: 139.803622 deg,
      approach rate: -0.628425 m/s,
      LOS rate: 0.009888 deg/s,
      cmd heading: 141.128688 deg,
      new cmd heading: 141.140192 deg.

2025-08-09T16:48:57.696Z,1754758137.696 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.261886
2025-08-09T16:48:57.905Z,1754758137.905 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 226.30 m.
2025-08-09T16:48:57.924Z,1754758137.924 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 226.300003 m,
      nav range: 205.110092 m,
      bearing: 139.806975 deg,
      approach rate: -0.630728 m/s,
      LOS rate: 0.007786 deg/s,
      cmd heading: 141.140190 deg,
      new cmd heading: 141.150261 deg.

2025-08-09T16:48:57.950Z,1754758137.950 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.515553
2025-08-09T16:48:58.205Z,1754758138.205 [DAT](INFO): DAT read: 16:48:56.4477 LVL= 31152, 32753, 24562, 32755, AGC= 64, IDX= 417,-0.28,-3.000, 1.657,-2.692, 3.128, PHS= 0.257,-1.426, 0.419, RAW= 154.5,   8.5, CAL= 154.1,   9.1, ROT= 355.9,  -9.1

2025-08-09T16:48:58.206Z,1754758138.206 [DAT](INFO): got valid direction response:
 16:48:56.4477 LVL= 31152, 32753, 24562, 32755, AGC= 64, IDX= 417,-0.28,-3.000, 1.657,-2.692, 3.128, PHS= 0.257,-1.426, 0.419, RAW= 154.5,   8.5, CAL= 154.1,   9.1, ROT= 355.9,  -9.1

2025-08-09T16:48:58.207Z,1754758138.207 [DAT](INFO): DAT read: Bearing 308.9,  -5.0 (Local)

2025-08-09T16:48:58.207Z,1754758138.207 [DAT](INFO): Local bearing/azimuth received:
 Bearing 308.9,  -5.0 (Local)

2025-08-09T16:48:58.209Z,1754758138.209 [DAT](INFO): DAT read: Range 11 to 50 : 224.1 m  (Round-trip  298.9 ms) speed  0.6 m/s

2025-08-09T16:48:58.210Z,1754758138.210 [DAT](INFO): DAT read: user:126>

2025-08-09T16:48:58.211Z,1754758138.211 [DAT](INFO): DAT read: Tx time:16:48:57.5447

2025-08-09T16:48:58.211Z,1754758138.211 [DAT](INFO): Ping request sent.
2025-08-09T16:48:58.211Z,1754758138.211 [DAT](INFO): transmitted an acoustic signal
2025-08-09T16:48:58.211Z,1754758138.211 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-09T16:48:58.212Z,1754758138.212 [DAT](INFO): direction in FSK: [0.984887,-0.070598,0.158158]
2025-08-09T16:48:58.213Z,1754758138.213 [DAT](INFO): publishing transmit ping time
2025-08-09T16:48:58.213Z,1754758138.213 [DAT](INFO): publishing direction and range info
2025-08-09T16:48:58.216Z,1754758138.216 [DAT](INFO): publishing transmit ping time
2025-08-09T16:48:58.216Z,1754758138.216 [DAT](INFO): publishing direction and range info
2025-08-09T16:48:58.339Z,1754758138.339 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 224.100006 m,
      deltaT: 3.779646 s,
      deltaX: -2.199997 m,
      approachRate: -0.582064 m/s,
      rangeRepo size: 4

2025-08-09T16:48:58.341Z,1754758138.341 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 224.100006 m,
      bearing: 138.657754 deg,
      lat: 36.905923 deg,
      lon: -122.115845 deg,
      deltaT: 3.779646 s,
      deltaX: -2.199997 m,
      approachRate: -0.582064 m/s,
      posRepo size: 4

2025-08-09T16:48:58.356Z,1754758138.356 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 224.10 m.
2025-08-09T16:48:58.363Z,1754758138.363 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 224.100006 m,
      nav range: 218.470291 m,
      bearing: 138.657754 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.007786 deg/s,
      cmd heading: 141.150258 deg,
      new cmd heading: 141.160366 deg.

2025-08-09T16:48:58.372Z,1754758138.372 [lineCaptureHoming:MicromodemComms:CheckIn:A](INFO): Timed out from 2025-08-09T16:38:58.1Z
2025-08-09T16:48:58.372Z,1754758138.372 [lineCaptureHoming:MicromodemComms:CheckIn:A] Stopped
2025-08-09T16:48:58.372Z,1754758138.372 [lineCaptureHoming:MicromodemComms:CheckIn](INFO): Completed lineCaptureHoming:MicromodemComms:CheckIn
2025-08-09T16:48:58.372Z,1754758138.372 [lineCaptureHoming:MicromodemComms:CheckIn] Stopped
2025-08-09T16:48:58.372Z,1754758138.372 [lineCaptureHoming:MicromodemComms:CheckIn](DEBUG): Aggregate::uninitialize lineCaptureHoming:MicromodemComms:CheckIn
2025-08-09T16:48:58.372Z,1754758138.372 [lineCaptureHoming:MicromodemComms](INFO): Completed lineCaptureHoming:MicromodemComms
2025-08-09T16:48:58.714Z,1754758138.714 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-09T16:48:58.716Z,1754758138.716 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 224.10 m.
2025-08-09T16:48:58.719Z,1754758138.719 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 224.100006 m,
      nav range: 218.212402 m,
      bearing: 138.657649 deg,
      approach rate: -0.681670 m/s,
      LOS rate: -0.000277 deg/s,
      cmd heading: 141.160367 deg,
      new cmd heading: 141.160052 deg.

2025-08-09T16:48:58.739Z,1754758138.739 [lineCaptureHoming:MicromodemComms] Running Loop=1
2025-08-09T16:48:58.739Z,1754758138.739 [lineCaptureHoming:MicromodemComms](DEBUG): Aggregate::initialize lineCaptureHoming:MicromodemComms
2025-08-09T16:48:58.739Z,1754758138.739 [lineCaptureHoming:MicromodemComms:CheckIn] Running Loop=1
2025-08-09T16:48:58.739Z,1754758138.739 [lineCaptureHoming:MicromodemComms:CheckIn](DEBUG): Aggregate::initialize lineCaptureHoming:MicromodemComms:CheckIn
2025-08-09T16:48:58.740Z,1754758138.740 [lineCaptureHoming:MicromodemComms:CheckIn:A] Running Loop=1
2025-08-09T16:48:58.955Z,1754758138.955 [DAT](INFO): ****** received valid address query ******
2025-08-09T16:48:58.956Z,1754758138.956 [DAT](INFO): ****** received valid ping request ******
2025-08-09T16:48:58.956Z,1754758138.956 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-09T16:48:59.208Z,1754758139.208 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.996458
2025-08-09T16:48:59.272Z,1754758139.272 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 224.10 m.
2025-08-09T16:48:59.279Z,1754758139.279 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 224.100006 m,
      nav range: 217.856171 m,
      bearing: 138.657522 deg,
      approach rate: -0.640479 m/s,
      LOS rate: -0.000229 deg/s,
      cmd heading: 141.160052 deg,
      new cmd heading: 141.159670 deg.

2025-08-09T16:48:59.460Z,1754758139.460 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.248798
2025-08-09T16:48:59.711Z,1754758139.711 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.500298
2025-08-09T16:48:59.757Z,1754758139.757 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 224.10 m.
2025-08-09T16:48:59.763Z,1754758139.763 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 224.100006 m,
      nav range: 217.553589 m,
      bearing: 138.658613 deg,
      approach rate: -0.625027 m/s,
      LOS rate: 0.002255 deg/s,
      cmd heading: 141.159670 deg,
      new cmd heading: 141.162945 deg.

2025-08-09T16:48:59.963Z,1754758139.963 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.752357
2025-08-09T16:49:00.104Z,1754758140.104 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 224.10 m.
2025-08-09T16:49:00.107Z,1754758140.107 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 224.100006 m,
      nav range: 217.309387 m,
      bearing: 138.659468 deg,
      approach rate: -0.701888 m/s,
      LOS rate: 0.002461 deg/s,
      cmd heading: 141.162948 deg,
      new cmd heading: 141.165517 deg.

2025-08-09T16:49:00.215Z,1754758140.215 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.004292
2025-08-09T16:49:00.467Z,1754758140.467 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.256295
2025-08-09T16:49:00.497Z,1754758140.497 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 224.10 m.
2025-08-09T16:49:00.526Z,1754758140.526 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 224.100006 m,
      nav range: 217.051453 m,
      bearing: 138.660383 deg,
      approach rate: -0.657803 m/s,
      LOS rate: 0.002336 deg/s,
      cmd heading: 141.165516 deg,
      new cmd heading: 141.168264 deg.

2025-08-09T16:49:00.720Z,1754758140.720 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.508732
2025-08-09T16:49:00.935Z,1754758140.935 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-09T16:49:00.937Z,1754758140.937 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 224.10 m.
2025-08-09T16:49:00.944Z,1754758140.944 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 224.100006 m,
      nav range: 216.778946 m,
      bearing: 138.660485 deg,
      approach rate: -0.618765 m/s,
      LOS rate: 0.000233 deg/s,
      cmd heading: 141.168262 deg,
      new cmd heading: 141.168570 deg.

2025-08-09T16:49:00.971Z,1754758140.971 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.760357
2025-08-09T16:49:01.224Z,1754758141.224 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.012477
2025-08-09T16:49:01.309Z,1754758141.309 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 224.10 m.
2025-08-09T16:49:01.312Z,1754758141.312 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 224.100006 m,
      nav range: 216.529266 m,
      bearing: 138.660573 deg,
      approach rate: -0.671409 m/s,
      LOS rate: 0.000237 deg/s,
      cmd heading: 141.168576 deg,
      new cmd heading: 141.168841 deg.

2025-08-09T16:49:01.475Z,1754758141.475 [DAT](INFO): DAT read: Rx Time:16:49:00.2442

2025-08-09T16:49:01.476Z,1754758141.476 [DAT](INFO): Rx dataTimestamp_ set to:1754758141.475552
2025-08-09T16:49:01.476Z,1754758141.476 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.265358
2025-08-09T16:49:01.728Z,1754758141.728 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.516662
2025-08-09T16:49:01.851Z,1754758141.851 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 224.10 m.
2025-08-09T16:49:01.855Z,1754758141.855 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 224.100006 m,
      nav range: 216.197052 m,
      bearing: 138.660397 deg,
      approach rate: -0.615419 m/s,
      LOS rate: -0.000327 deg/s,
      cmd heading: 141.168836 deg,
      new cmd heading: 141.168307 deg.

2025-08-09T16:49:01.985Z,1754758141.985 [DAT](INFO): DAT read: 16:49:00.2442 LVL= 30640, 32753, 27010, 32755, AGC= 67, IDX= 413, 0.21, 1.451,-0.224, 1.752, 1.242, PHS= 0.311,-1.422, 0.466, RAW= 154.2,   7.2, CAL= 153.7,   7.4, ROT= 356.3,  -7.4

2025-08-09T16:49:01.989Z,1754758141.989 [DAT](INFO): got valid direction response:
 16:49:00.2442 LVL= 30640, 32753, 27010, 32755, AGC= 67, IDX= 413, 0.21, 1.451,-0.224, 1.752, 1.242, PHS= 0.311,-1.422, 0.466, RAW= 154.2,   7.2, CAL= 153.7,   7.4, ROT= 356.3,  -7.4

2025-08-09T16:49:02.004Z,1754758142.004 [DAT](INFO): DAT read: Bearing 307.6,  -4.5 (Local)

2025-08-09T16:49:02.004Z,1754758142.004 [DAT](INFO): Local bearing/azimuth received:
 Bearing 307.6,  -4.5 (Local)

2025-08-09T16:49:02.006Z,1754758142.006 [DAT](INFO): DAT read: Range 11 to 50 : 221.5 m  (Round-trip  295.4 ms) speed  0.4 m/s

2025-08-09T16:49:02.006Z,1754758142.006 [DAT](INFO): DAT read: user:127>

2025-08-09T16:49:02.007Z,1754758142.007 [DAT](INFO): DAT read: Tx time:16:49:01.3447

2025-08-09T16:49:02.007Z,1754758142.007 [DAT](INFO): Ping request sent.
2025-08-09T16:49:02.008Z,1754758142.008 [DAT](INFO): transmitted an acoustic signal
2025-08-09T16:49:02.008Z,1754758142.008 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-09T16:49:02.009Z,1754758142.009 [DAT](INFO): direction in FSK: [0.989604,-0.063995,0.128796]
2025-08-09T16:49:02.009Z,1754758142.009 [DAT](INFO): publishing transmit ping time
2025-08-09T16:49:02.009Z,1754758142.009 [DAT](INFO): publishing direction and range info
2025-08-09T16:49:02.057Z,1754758142.057 [DAT](INFO): publishing transmit ping time
2025-08-09T16:49:02.058Z,1754758142.058 [DAT](INFO): publishing direction and range info
2025-08-09T16:49:02.210Z,1754758142.210 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 221.500000 m,
      deltaT: 3.780095 s,
      deltaX: -2.600006 m,
      approachRate: -0.687815 m/s,
      rangeRepo size: 4

2025-08-09T16:49:02.220Z,1754758142.220 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 221.500000 m,
      bearing: 138.358123 deg,
      lat: 36.905912 deg,
      lon: -122.115816 deg,
      deltaT: 3.780095 s,
      deltaX: -2.600006 m,
      approachRate: -0.687815 m/s,
      posRepo size: 4

2025-08-09T16:49:02.221Z,1754758142.221 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 221.50 m.
2025-08-09T16:49:02.228Z,1754758142.228 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 221.500000 m,
      nav range: 218.632935 m,
      bearing: 138.358123 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.000327 deg/s,
      cmd heading: 141.168303 deg,
      new cmd heading: 141.167950 deg.

2025-08-09T16:49:02.613Z,1754758142.613 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 221.50 m.
2025-08-09T16:49:02.623Z,1754758142.623 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 221.500000 m,
      nav range: 218.381363 m,
      bearing: 138.357627 deg,
      approach rate: -0.623285 m/s,
      LOS rate: -0.001229 deg/s,
      cmd heading: 141.167948 deg,
      new cmd heading: 141.166460 deg.

2025-08-09T16:49:03.017Z,1754758143.017 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-09T16:49:03.019Z,1754758143.019 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 221.50 m.
2025-08-09T16:49:03.022Z,1754758143.022 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 221.500000 m,
      nav range: 218.117432 m,
      bearing: 138.358094 deg,
      approach rate: -0.649217 m/s,
      LOS rate: 0.001150 deg/s,
      cmd heading: 141.166459 deg,
      new cmd heading: 141.167861 deg.

2025-08-09T16:49:03.239Z,1754758143.239 [DAT](INFO): ****** received valid address query ******
2025-08-09T16:49:03.239Z,1754758143.239 [DAT](INFO): ****** received valid ping request ******
2025-08-09T16:49:03.239Z,1754758143.239 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-09T16:49:03.438Z,1754758143.438 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 221.50 m.
2025-08-09T16:49:03.441Z,1754758143.441 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 221.500000 m,
      nav range: 217.858551 m,
      bearing: 138.358575 deg,
      approach rate: -0.621558 m/s,
      LOS rate: 0.001155 deg/s,
      cmd heading: 141.167866 deg,
      new cmd heading: 141.169310 deg.

2025-08-09T16:49:03.493Z,1754758143.493 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.485446
2025-08-09T16:49:03.748Z,1754758143.748 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.739774
2025-08-09T16:49:03.875Z,1754758143.875 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 221.50 m.
2025-08-09T16:49:03.878Z,1754758143.878 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 221.500000 m,
      nav range: 217.587372 m,
      bearing: 138.360584 deg,
      approach rate: -0.624398 m/s,
      LOS rate: 0.004632 deg/s,
      cmd heading: 141.169314 deg,
      new cmd heading: 141.175349 deg.

2025-08-09T16:49:03.996Z,1754758143.996 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.987935
2025-08-09T16:49:04.219Z,1754758144.219 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 221.50 m.
2025-08-09T16:49:04.221Z,1754758144.221 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 221.500000 m,
      nav range: 217.352051 m,
      bearing: 138.362344 deg,
      approach rate: -0.675837 m/s,
      LOS rate: 0.005061 deg/s,
      cmd heading: 141.175352 deg,
      new cmd heading: 141.180638 deg.

2025-08-09T16:49:04.247Z,1754758144.247 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.239793
2025-08-09T16:49:04.499Z,1754758144.499 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.491806
2025-08-09T16:49:04.640Z,1754758144.640 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 221.50 m.
2025-08-09T16:49:04.643Z,1754758144.643 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 221.500000 m,
      nav range: 217.093063 m,
      bearing: 138.364303 deg,
      approach rate: -0.613858 m/s,
      LOS rate: 0.004648 deg/s,
      cmd heading: 141.180639 deg,
      new cmd heading: 141.186521 deg.

2025-08-09T16:49:04.754Z,1754758144.754 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.745932
2025-08-09T16:49:05.003Z,1754758145.003 [DAT](INFO): DAT read: Rx Time:16:49:04.0166

2025-08-09T16:49:05.004Z,1754758145.004 [DAT](INFO): Rx dataTimestamp_ set to:1754758145.003564
2025-08-09T16:49:05.004Z,1754758145.004 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.996842
2025-08-09T16:49:05.093Z,1754758145.093 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-09T16:49:05.095Z,1754758145.095 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 221.50 m.
2025-08-09T16:49:05.098Z,1754758145.098 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 221.500000 m,
      nav range: 216.785416 m,
      bearing: 138.370693 deg,
      approach rate: -0.676217 m/s,
      LOS rate: 0.014067 deg/s,
      cmd heading: 141.186526 deg,
      new cmd heading: 141.205726 deg.

2025-08-09T16:49:05.255Z,1754758145.255 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.247692
2025-08-09T16:49:05.428Z,1754758145.428 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 221.50 m.
2025-08-09T16:49:05.431Z,1754758145.431 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 221.500000 m,
      nav range: 216.569489 m,
      bearing: 138.375218 deg,
      approach rate: -0.647918 m/s,
      LOS rate: 0.013589 deg/s,
      cmd heading: 141.205733 deg,
      new cmd heading: 141.219319 deg.

2025-08-09T16:49:05.508Z,1754758145.508 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.500124
2025-08-09T16:49:05.786Z,1754758145.786 [DAT](INFO): DAT read: 16:49:04.0166 LVL= 22064, 28593, 24146, 28659, AGC= 71, IDX= 163, 0.21, 1.828, 0.117, 2.161, 1.643, PHS= 0.287,-1.482, 0.474, RAW= 155.0,   7.8, CAL= 154.5,   8.1, ROT= 355.5,  -8.1

2025-08-09T16:49:05.788Z,1754758145.788 [DAT](INFO): got valid direction response:
 16:49:04.0166 LVL= 22064, 28593, 24146, 28659, AGC= 71, IDX= 163, 0.21, 1.828, 0.117, 2.161, 1.643, PHS= 0.287,-1.482, 0.474, RAW= 155.0,   7.8, CAL= 154.5,   8.1, ROT= 355.5,  -8.1

2025-08-09T16:49:05.789Z,1754758145.789 [DAT](INFO): DAT read: Bearing 308.2,  -5.8 (Local)

2025-08-09T16:49:05.789Z,1754758145.789 [DAT](INFO): Local bearing/azimuth received:
 Bearing 308.2,  -5.8 (Local)

2025-08-09T16:49:05.792Z,1754758145.792 [DAT](INFO): DAT read: Range 11 to 50 : 200.8 m  (Round-trip  267.8 ms) speed  0.4 m/s

2025-08-09T16:49:05.792Z,1754758145.792 [DAT](INFO): DAT read: user:128>

2025-08-09T16:49:05.793Z,1754758145.793 [DAT](INFO): DAT read: Tx time:16:49:05.1447

2025-08-09T16:49:05.793Z,1754758145.793 [DAT](INFO): Ping request sent.
2025-08-09T16:49:05.793Z,1754758145.793 [DAT](INFO): transmitted an acoustic signal
2025-08-09T16:49:05.794Z,1754758145.794 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-09T16:49:05.795Z,1754758145.795 [DAT](INFO): direction in FSK: [0.986972,-0.077676,0.140901]
2025-08-09T16:49:05.795Z,1754758145.795 [DAT](INFO): publishing transmit ping time
2025-08-09T16:49:05.795Z,1754758145.795 [DAT](INFO): publishing direction and range info
2025-08-09T16:49:05.811Z,1754758145.811 [DAT](INFO): publishing transmit ping time
2025-08-09T16:49:05.811Z,1754758145.811 [DAT](INFO): publishing direction and range info
2025-08-09T16:49:05.971Z,1754758145.971 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](ERROR): addTargetRange::Rejecting new target range. Approach rate out of bounds.
 range: 200.800003 m,
 deltaT: 3.781360 s,
 deltaX: -20.699997 m,
 approachRate: -5.474220 m/s,
 rangeRepo size: 4
2025-08-09T16:49:05.972Z,1754758145.972 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 221.50 m.
2025-08-09T16:49:05.979Z,1754758145.979 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 221.500000 m,
      nav range: 216.249985 m,
      bearing: 138.382626 deg,
      approach rate: -0.598465 m/s,
      LOS rate: 0.013897 deg/s,
      cmd heading: 141.219325 deg,
      new cmd heading: 141.241582 deg.

2025-08-09T16:49:06.304Z,1754758146.304 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 221.50 m.
2025-08-09T16:49:06.307Z,1754758146.307 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 221.500000 m,
      nav range: 216.033752 m,
      bearing: 138.387652 deg,
      approach rate: -0.633180 m/s,
      LOS rate: 0.014733 deg/s,
      cmd heading: 141.241577 deg,
      new cmd heading: 141.256671 deg.

2025-08-09T16:49:06.686Z,1754758146.686 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 221.50 m.
2025-08-09T16:49:06.689Z,1754758146.689 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 221.500000 m,
      nav range: 215.800201 m,
      bearing: 138.393165 deg,
      approach rate: -0.611627 m/s,
      LOS rate: 0.014454 deg/s,
      cmd heading: 141.256672 deg,
      new cmd heading: 141.273230 deg.

2025-08-09T16:49:07.119Z,1754758147.119 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-09T16:49:07.121Z,1754758147.121 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 221.50 m.
2025-08-09T16:49:07.124Z,1754758147.124 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 221.500000 m,
      nav range: 215.526016 m,
      bearing: 138.399392 deg,
      approach rate: -0.630293 m/s,
      LOS rate: 0.014333 deg/s,
      cmd heading: 141.273229 deg,
      new cmd heading: 141.291934 deg.

2025-08-09T16:49:07.271Z,1754758147.271 [DAT](INFO): ****** received valid address query ******
2025-08-09T16:49:07.271Z,1754758147.271 [DAT](INFO): ****** received valid ping request ******
2025-08-09T16:49:07.272Z,1754758147.272 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-09T16:49:07.496Z,1754758147.496 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 221.50 m.
2025-08-09T16:49:07.499Z,1754758147.499 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 221.500000 m,
      nav range: 215.289169 m,
      bearing: 138.404755 deg,
      approach rate: -0.631666 m/s,
      LOS rate: 0.014319 deg/s,
      cmd heading: 141.291930 deg,
      new cmd heading: 141.308036 deg.

2025-08-09T16:49:07.523Z,1754758147.523 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.729869
2025-08-09T16:49:07.778Z,1754758147.778 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.983987
2025-08-09T16:49:08.027Z,1754758148.027 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.233759
2025-08-09T16:49:08.103Z,1754758148.103 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 221.50 m.
2025-08-09T16:49:08.106Z,1754758148.106 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 221.500000 m,
      nav range: 214.902115 m,
      bearing: 138.414994 deg,
      approach rate: -0.636870 m/s,
      LOS rate: 0.016877 deg/s,
      cmd heading: 141.308035 deg,
      new cmd heading: 141.338807 deg.

2025-08-09T16:49:08.279Z,1754758148.279 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.485806
2025-08-09T16:49:08.508Z,1754758148.508 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 221.50 m.
2025-08-09T16:49:08.511Z,1754758148.511 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 221.500000 m,
      nav range: 214.652679 m,
      bearing: 138.421577 deg,
      approach rate: -0.616342 m/s,
      LOS rate: 0.016285 deg/s,
      cmd heading: 141.338812 deg,
      new cmd heading: 141.358584 deg.

2025-08-09T16:49:08.531Z,1754758148.531 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.737827
2025-08-09T16:49:08.787Z,1754758148.787 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.993112
2025-08-09T16:49:08.946Z,1754758148.946 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 221.50 m.
2025-08-09T16:49:08.949Z,1754758148.949 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 221.500000 m,
      nav range: 214.374664 m,
      bearing: 138.427454 deg,
      approach rate: -0.640653 m/s,
      LOS rate: 0.013561 deg/s,
      cmd heading: 141.358579 deg,
      new cmd heading: 141.376234 deg.

2025-08-09T16:49:09.037Z,1754758149.037 [DAT](INFO): DAT read: Rx Time:16:49:07.8134

2025-08-09T16:49:09.039Z,1754758149.039 [DAT](INFO): Rx dataTimestamp_ set to:1754758149.037613
2025-08-09T16:49:09.042Z,1754758149.042 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.247401
2025-08-09T16:49:09.287Z,1754758149.287 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.493850
2025-08-09T16:49:09.290Z,1754758149.290 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-09T16:49:09.292Z,1754758149.292 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 221.50 m.
2025-08-09T16:49:09.295Z,1754758149.295 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 221.500000 m,
      nav range: 214.164368 m,
      bearing: 138.431900 deg,
      approach rate: -0.600964 m/s,
      LOS rate: 0.012718 deg/s,
      cmd heading: 141.376228 deg,
      new cmd heading: 141.389579 deg.

2025-08-09T16:49:09.549Z,1754758149.549 [DAT](INFO): DAT read: 16:49:07.8134 LVL= 32752, 32753, 29426, 32755, AGC= 66, IDX= 403, 0.36,-1.728, 2.945,-1.450,-1.931, PHS= 0.306,-1.362, 0.438, RAW= 153.8,   7.2, CAL= 153.2,   7.5, ROT= 356.8,  -7.5

2025-08-09T16:49:09.551Z,1754758149.551 [DAT](INFO): got valid direction response:
 16:49:07.8134 LVL= 32752, 32753, 29426, 32755, AGC= 66, IDX= 403, 0.36,-1.728, 2.945,-1.450,-1.931, PHS= 0.306,-1.362, 0.438, RAW= 153.8,   7.2, CAL= 153.2,   7.5, ROT= 356.8,  -7.5

2025-08-09T16:49:09.552Z,1754758149.552 [DAT](INFO): DAT read: Bearing 308.0,  -4.6 (Local)

2025-08-09T16:49:09.553Z,1754758149.553 [DAT](INFO): Local bearing/azimuth received:
 Bearing 308.0,  -4.6 (Local)

2025-08-09T16:49:09.560Z,1754758149.560 [DAT](INFO): DAT read: Range 11 to 50 : 198.5 m  (Round-trip  264.7 ms) speed  0.4 m/s

2025-08-09T16:49:09.561Z,1754758149.561 [DAT](INFO): DAT read: user:129>

2025-08-09T16:49:09.568Z,1754758149.568 [DAT](INFO): DAT read: Tx time:16:49:08.9446

2025-08-09T16:49:09.569Z,1754758149.569 [DAT](INFO): Ping request sent.
2025-08-09T16:49:09.569Z,1754758149.569 [DAT](INFO): transmitted an acoustic signal
2025-08-09T16:49:09.570Z,1754758149.570 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-09T16:49:09.575Z,1754758149.575 [DAT](INFO): direction in FSK: [0.989899,-0.055344,0.130526]
2025-08-09T16:49:09.575Z,1754758149.575 [DAT](INFO): publishing transmit ping time
2025-08-09T16:49:09.575Z,1754758149.575 [DAT](INFO): publishing direction and range info
2025-08-09T16:49:09.579Z,1754758149.579 [DAT](INFO): publishing transmit ping time
2025-08-09T16:49:09.579Z,1754758149.579 [DAT](INFO): publishing direction and range info
2025-08-09T16:49:09.714Z,1754758149.714 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 198.500000 m,
      deltaT: 7.560847 s,
      deltaX: -23.000000 m,
      approachRate: -3.041987 m/s,
      rangeRepo size: 4

2025-08-09T16:49:09.720Z,1754758149.720 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 198.500000 m,
      bearing: 138.216974 deg,
      lat: 36.905923 deg,
      lon: -122.115816 deg,
      deltaT: 7.560847 s,
      deltaX: -23.000000 m,
      approachRate: -3.041987 m/s,
      posRepo size: 4

2025-08-09T16:49:09.721Z,1754758149.721 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 198.50 m.
2025-08-09T16:49:09.726Z,1754758149.726 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 198.500000 m,
      nav range: 212.977493 m,
      bearing: 138.216974 deg,
      approach rate: -0.000000 m/s,
      LOS rate: 0.012718 deg/s,
      cmd heading: 141.389574 deg,
      new cmd heading: 141.405647 deg.

2025-08-09T16:49:10.123Z,1754758150.123 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 198.50 m.
2025-08-09T16:49:10.125Z,1754758150.125 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 198.500000 m,
      nav range: 212.724091 m,
      bearing: 138.220799 deg,
      approach rate: -0.618654 m/s,
      LOS rate: 0.009350 deg/s,
      cmd heading: 141.405652 deg,
      new cmd heading: 141.417141 deg.

2025-08-09T16:49:10.479Z,1754758150.479 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 198.50 m.
2025-08-09T16:49:10.482Z,1754758150.482 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 198.500000 m,
      nav range: 212.497009 m,
      bearing: 138.224270 deg,
      approach rate: -0.637156 m/s,
      LOS rate: 0.009751 deg/s,
      cmd heading: 141.417141 deg,
      new cmd heading: 141.427566 deg.

2025-08-09T16:49:10.960Z,1754758150.960 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 198.50 m.
2025-08-09T16:49:10.967Z,1754758150.967 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 198.500000 m,
      nav range: 212.182327 m,
      bearing: 138.225556 deg,
      approach rate: -0.654631 m/s,
      LOS rate: 0.002678 deg/s,
      cmd heading: 141.427564 deg,
      new cmd heading: 141.431425 deg.

2025-08-09T16:49:11.337Z,1754758151.337 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-09T16:49:11.340Z,1754758151.340 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 198.50 m.
2025-08-09T16:49:11.359Z,1754758151.359 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 198.500000 m,
      nav range: 211.932831 m,
      bearing: 138.226630 deg,
      approach rate: -0.656103 m/s,
      LOS rate: 0.002828 deg/s,
      cmd heading: 141.431429 deg,
      new cmd heading: 141.434655 deg.

2025-08-09T16:49:11.560Z,1754758151.560 [DAT](INFO): ****** received valid address query ******
2025-08-09T16:49:11.560Z,1754758151.560 [DAT](INFO): ****** received valid ping request ******
2025-08-09T16:49:11.561Z,1754758151.561 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-09T16:49:11.745Z,1754758151.745 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 198.50 m.
2025-08-09T16:49:11.748Z,1754758151.748 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 198.500000 m,
      nav range: 211.672195 m,
      bearing: 138.227744 deg,
      approach rate: -0.644599 m/s,
      LOS rate: 0.002760 deg/s,
      cmd heading: 141.434653 deg,
      new cmd heading: 141.438002 deg.

2025-08-09T16:49:11.815Z,1754758151.815 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.244751
2025-08-09T16:49:12.063Z,1754758152.063 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.494142
2025-08-09T16:49:12.174Z,1754758152.174 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 198.50 m.
2025-08-09T16:49:12.177Z,1754758152.177 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 198.500000 m,
      nav range: 211.399109 m,
      bearing: 138.227130 deg,
      approach rate: -0.636475 m/s,
      LOS rate: -0.001433 deg/s,
      cmd heading: 141.438000 deg,
      new cmd heading: 141.436155 deg.

2025-08-09T16:49:12.315Z,1754758152.315 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.745990
2025-08-09T16:49:12.564Z,1754758152.564 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 198.50 m.
2025-08-09T16:49:12.576Z,1754758152.576 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.006256
2025-08-09T16:49:12.583Z,1754758152.583 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 198.500000 m,
      nav range: 211.153137 m,
      bearing: 138.226570 deg,
      approach rate: -0.629881 m/s,
      LOS rate: -0.001436 deg/s,
      cmd heading: 141.436156 deg,
      new cmd heading: 141.434474 deg.

2025-08-09T16:49:12.830Z,1754758152.830 [DAT](INFO): DAT read: Rx Time:16:49:11.6608

2025-08-09T16:49:12.833Z,1754758152.833 [DAT](INFO): Rx dataTimestamp_ set to:1754758152.831678
2025-08-09T16:49:12.835Z,1754758152.835 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.264817
2025-08-09T16:49:12.995Z,1754758152.995 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 198.50 m.
2025-08-09T16:49:12.997Z,1754758152.997 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 198.500000 m,
      nav range: 210.874924 m,
      bearing: 138.223434 deg,
      approach rate: -0.645993 m/s,
      LOS rate: -0.007290 deg/s,
      cmd heading: 141.434476 deg,
      new cmd heading: 141.425056 deg.

2025-08-09T16:49:13.080Z,1754758153.080 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.510578
2025-08-09T16:49:13.337Z,1754758153.337 [DAT](INFO): DAT read: 16:49:11.6608 LVL= 29680, 32753, 27586, 29827, AGC= 69, IDX= 149,-0.08, 2.848, 1.140,-3.121, 2.700, PHS= 0.250,-1.515, 0.418, RAW= 154.5,   9.2, CAL= 154.2,   9.8, ROT= 355.8,  -9.8

2025-08-09T16:49:13.338Z,1754758153.338 [DAT](INFO): got valid direction response:
 16:49:11.6608 LVL= 29680, 32753, 27586, 29827, AGC= 69, IDX= 149,-0.08, 2.848, 1.140,-3.121, 2.700, PHS= 0.250,-1.515, 0.418, RAW= 154.5,   9.2, CAL= 154.2,   9.8, ROT= 355.8,  -9.8

2025-08-09T16:49:13.339Z,1754758153.339 [DAT](INFO): DAT read: Bearing 310.3,  -5.9 (Local)

2025-08-09T16:49:13.340Z,1754758153.340 [DAT](INFO): Local bearing/azimuth received:
 Bearing 310.3,  -5.9 (Local)

2025-08-09T16:49:13.341Z,1754758153.341 [DAT](INFO): DAT read: Range 11 to 50 : 234.0 m  (Round-trip  312.1 ms) speed  0.4 m/s

2025-08-09T16:49:13.342Z,1754758153.342 [DAT](INFO): DAT read: user:130>

2025-08-09T16:49:13.343Z,1754758153.343 [DAT](INFO): DAT read: Tx time:16:49:12.7446

2025-08-09T16:49:13.343Z,1754758153.343 [DAT](INFO): Ping request sent.
2025-08-09T16:49:13.343Z,1754758153.343 [DAT](INFO): transmitted an acoustic signal
2025-08-09T16:49:13.343Z,1754758153.343 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-09T16:49:13.344Z,1754758153.344 [DAT](INFO): direction in FSK: [0.982762,-0.072170,0.170209]
2025-08-09T16:49:13.344Z,1754758153.344 [DAT](INFO): publishing transmit ping time
2025-08-09T16:49:13.345Z,1754758153.345 [DAT](INFO): publishing direction and range info
2025-08-09T16:49:13.364Z,1754758153.364 [DAT](INFO): publishing transmit ping time
2025-08-09T16:49:13.364Z,1754758153.364 [DAT](INFO): publishing direction and range info
2025-08-09T16:49:13.466Z,1754758153.466 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](ERROR): addTargetRange::Rejecting new target range. Approach rate out of bounds.
 range: 234.000000 m,
 deltaT: 3.791120 s,
 deltaX: 35.500000 m,
 approachRate: 9.363987 m/s,
 rangeRepo size: 4
2025-08-09T16:49:13.479Z,1754758153.479 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 198.50 m.
2025-08-09T16:49:13.481Z,1754758153.481 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 198.500000 m,
      nav range: 210.574478 m,
      bearing: 138.220039 deg,
      approach rate: -0.639028 m/s,
      LOS rate: -0.007233 deg/s,
      cmd heading: 141.425050 deg,
      new cmd heading: 141.414848 deg.

2025-08-09T16:49:13.781Z,1754758153.781 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-09T16:49:13.784Z,1754758153.784 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 198.50 m.
2025-08-09T16:49:13.806Z,1754758153.806 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 198.500000 m,
      nav range: 210.355591 m,
      bearing: 138.217559 deg,
      approach rate: -0.687231 m/s,
      LOS rate: -0.007794 deg/s,
      cmd heading: 141.414846 deg,
      new cmd heading: 141.407398 deg.

2025-08-09T16:49:13.835Z,1754758153.835 [DAT](INFO): ****** received valid address query ******
2025-08-09T16:49:13.835Z,1754758153.835 [DAT](INFO): ****** received valid ping request ******
2025-08-09T16:49:13.835Z,1754758153.835 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-09T16:49:14.087Z,1754758154.087 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.744396
2025-08-09T16:49:14.190Z,1754758154.190 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 198.50 m.
2025-08-09T16:49:14.193Z,1754758154.193 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 198.500000 m,
      nav range: 210.079163 m,
      bearing: 138.213868 deg,
      approach rate: -0.680315 m/s,
      LOS rate: -0.009094 deg/s,
      cmd heading: 141.407401 deg,
      new cmd heading: 141.396315 deg.

2025-08-09T16:49:14.340Z,1754758154.340 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.996575
2025-08-09T16:49:14.580Z,1754758154.580 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 198.50 m.
2025-08-09T16:49:14.583Z,1754758154.583 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 198.500000 m,
      nav range: 209.813004 m,
      bearing: 138.210297 deg,
      approach rate: -0.681966 m/s,
      LOS rate: -0.009162 deg/s,
      cmd heading: 141.396309 deg,
      new cmd heading: 141.385581 deg.

2025-08-09T16:49:14.591Z,1754758154.591 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.248378
2025-08-09T16:49:14.847Z,1754758154.847 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.504031
2025-08-09T16:49:15.022Z,1754758155.022 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 198.50 m.
2025-08-09T16:49:15.028Z,1754758155.028 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 198.500000 m,
      nav range: 209.524933 m,
      bearing: 138.205858 deg,
      approach rate: -0.652888 m/s,
      LOS rate: -0.010075 deg/s,
      cmd heading: 141.385585 deg,
      new cmd heading: 141.372249 deg.

2025-08-09T16:49:15.096Z,1754758155.096 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.753261
2025-08-09T16:49:15.348Z,1754758155.348 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.004878
2025-08-09T16:49:15.385Z,1754758155.385 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 198.50 m.
2025-08-09T16:49:15.387Z,1754758155.387 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 198.500000 m,
      nav range: 209.287079 m,
      bearing: 138.202159 deg,
      approach rate: -0.654875 m/s,
      LOS rate: -0.010195 deg/s,
      cmd heading: 141.372253 deg,
      new cmd heading: 141.361143 deg.

2025-08-09T16:49:15.599Z,1754758155.599 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.256258
2025-08-09T16:49:15.782Z,1754758155.782 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 198.50 m.
2025-08-09T16:49:15.785Z,1754758155.785 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 198.500000 m,
      nav range: 209.027313 m,
      bearing: 138.198091 deg,
      approach rate: -0.654081 m/s,
      LOS rate: -0.010256 deg/s,
      cmd heading: 141.361147 deg,
      new cmd heading: 141.348927 deg.

2025-08-09T16:49:15.852Z,1754758155.852 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.509377
2025-08-09T16:49:16.103Z,1754758156.103 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.760300
2025-08-09T16:49:16.221Z,1754758156.221 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-09T16:49:16.223Z,1754758156.223 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 198.50 m.
2025-08-09T16:49:16.225Z,1754758156.225 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 198.500000 m,
      nav range: 208.736725 m,
      bearing: 138.195449 deg,
      approach rate: -0.658645 m/s,
      LOS rate: -0.005995 deg/s,
      cmd heading: 141.348921 deg,
      new cmd heading: 141.340986 deg.

2025-08-09T16:49:16.355Z,1754758156.355 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.012296
2025-08-09T16:49:16.596Z,1754758156.596 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 198.50 m.
2025-08-09T16:49:16.599Z,1754758156.599 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 198.500000 m,
      nav range: 208.490036 m,
      bearing: 138.193204 deg,
      approach rate: -0.660875 m/s,
      LOS rate: -0.006022 deg/s,
      cmd heading: 141.340984 deg,
      new cmd heading: 141.334241 deg.

2025-08-09T16:49:16.607Z,1754758156.607 [DAT](INFO): DAT read: Rx Time:16:49:15.4067

2025-08-09T16:49:16.608Z,1754758156.608 [DAT](INFO): Rx dataTimestamp_ set to:1754758156.607599
2025-08-09T16:49:16.608Z,1754758156.608 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.265492
2025-08-09T16:49:16.861Z,1754758156.861 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.517558
2025-08-09T16:49:17.046Z,1754758157.046 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 198.50 m.
2025-08-09T16:49:17.054Z,1754758157.054 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 198.500000 m,
      nav range: 208.196503 m,
      bearing: 138.191876 deg,
      approach rate: -0.654017 m/s,
      LOS rate: -0.002963 deg/s,
      cmd heading: 141.334236 deg,
      new cmd heading: 141.330246 deg.

2025-08-09T16:49:17.117Z,1754758157.117 [DAT](INFO): DAT read: 16:49:15.4067 LVL= 26432, 32753, 24850, 32755, AGC= 67, IDX= 398, 0.35, 2.426, 0.732, 2.718, 2.271, PHS= 0.257,-1.494, 0.403, RAW= 154.0,   9.2, CAL= 153.7,   9.8, ROT= 356.3,  -9.8

2025-08-09T16:49:17.118Z,1754758157.118 [DAT](INFO): got valid direction response:
 16:49:15.4067 LVL= 26432, 32753, 24850, 32755, AGC= 67, IDX= 398, 0.35, 2.426, 0.732, 2.718, 2.271, PHS= 0.257,-1.494, 0.403, RAW= 154.0,   9.2, CAL= 153.7,   9.8, ROT= 356.3,  -9.8

2025-08-09T16:49:17.120Z,1754758157.120 [DAT](INFO): DAT read: Bearing 310.6,  -5.3 (Local)

2025-08-09T16:49:17.120Z,1754758157.120 [DAT](INFO): Local bearing/azimuth received:
 Bearing 310.6,  -5.3 (Local)

2025-08-09T16:49:17.122Z,1754758157.122 [DAT](INFO): DAT read: Range 11 to 50 : 193.5 m  (Round-trip  258.0 ms) speed  0.5 m/s

2025-08-09T16:49:17.124Z,1754758157.124 [DAT](INFO): DAT read: user:131>

2025-08-09T16:49:17.125Z,1754758157.125 [DAT](INFO): DAT read: Tx time:16:49:16.4946

2025-08-09T16:49:17.125Z,1754758157.125 [DAT](INFO): Ping request sent.
2025-08-09T16:49:17.125Z,1754758157.125 [DAT](INFO): transmitted an acoustic signal
2025-08-09T16:49:17.126Z,1754758157.126 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-09T16:49:17.128Z,1754758157.128 [DAT](INFO): direction in FSK: [0.983354,-0.063591,0.170209]
2025-08-09T16:49:17.129Z,1754758157.129 [DAT](INFO): publishing transmit ping time
2025-08-09T16:49:17.129Z,1754758157.129 [DAT](INFO): publishing direction and range info
2025-08-09T16:49:17.133Z,1754758157.133 [DAT](INFO): publishing transmit ping time
2025-08-09T16:49:17.134Z,1754758157.134 [DAT](INFO): publishing direction and range info
2025-08-09T16:49:17.405Z,1754758157.405 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 193.500000 m,
      deltaT: 7.571296 s,
      deltaX: -5.000000 m,
      approachRate: -0.660389 m/s,
      rangeRepo size: 4

2025-08-09T16:49:17.407Z,1754758157.407 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 193.500000 m,
      bearing: 138.410816 deg,
      lat: 36.906013 deg,
      lon: -122.115928 deg,
      deltaT: 7.571296 s,
      deltaX: -5.000000 m,
      approachRate: -0.660389 m/s,
      posRepo size: 4

2025-08-09T16:49:17.408Z,1754758157.408 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 193.50 m.
2025-08-09T16:49:17.411Z,1754758157.411 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 193.500000 m,
      nav range: 193.841370 m,
      bearing: 138.410816 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.002963 deg/s,
      cmd heading: 141.330247 deg,
      new cmd heading: 141.327053 deg.

2025-08-09T16:49:17.805Z,1754758157.805 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 193.50 m.
2025-08-09T16:49:17.808Z,1754758157.808 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 193.500000 m,
      nav range: 193.573547 m,
      bearing: 138.409784 deg,
      approach rate: -0.668691 m/s,
      LOS rate: -0.002581 deg/s,
      cmd heading: 141.327050 deg,
      new cmd heading: 141.323949 deg.

2025-08-09T16:49:18.242Z,1754758158.242 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-09T16:49:18.245Z,1754758158.245 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 193.50 m.
2025-08-09T16:49:18.251Z,1754758158.251 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 193.500000 m,
      nav range: 193.289169 m,
      bearing: 138.411111 deg,
      approach rate: -0.646176 m/s,
      LOS rate: 0.003019 deg/s,
      cmd heading: 141.323950 deg,
      new cmd heading: 141.327936 deg.

2025-08-09T16:49:18.371Z,1754758158.371 [DAT](INFO): ****** received valid address query ******
2025-08-09T16:49:18.372Z,1754758158.372 [DAT](INFO): ****** received valid ping request ******
2025-08-09T16:49:18.372Z,1754758158.372 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-09T16:49:18.615Z,1754758158.615 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 193.50 m.
2025-08-09T16:49:18.618Z,1754758158.618 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 193.500000 m,
      nav range: 193.048706 m,
      bearing: 138.412220 deg,
      approach rate: -0.649406 m/s,
      LOS rate: 0.003000 deg/s,
      cmd heading: 141.327938 deg,
      new cmd heading: 141.331271 deg.

2025-08-09T16:49:18.623Z,1754758158.623 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.498269
2025-08-09T16:49:18.876Z,1754758158.876 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.750925
2025-08-09T16:49:19.065Z,1754758159.065 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 193.50 m.
2025-08-09T16:49:19.072Z,1754758159.072 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 193.500000 m,
      nav range: 192.768326 m,
      bearing: 138.417568 deg,
      approach rate: -0.622941 m/s,
      LOS rate: 0.011899 deg/s,
      cmd heading: 141.331272 deg,
      new cmd heading: 141.347339 deg.

2025-08-09T16:49:19.128Z,1754758159.128 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.002832
2025-08-09T16:49:19.380Z,1754758159.380 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.254475
2025-08-09T16:49:19.429Z,1754758159.429 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 193.50 m.
2025-08-09T16:49:19.432Z,1754758159.432 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 193.500000 m,
      nav range: 192.532532 m,
      bearing: 138.422082 deg,
      approach rate: -0.647882 m/s,
      LOS rate: 0.012418 deg/s,
      cmd heading: 141.347336 deg,
      new cmd heading: 141.360895 deg.

2025-08-09T16:49:19.631Z,1754758159.631 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.506211
2025-08-09T16:49:19.819Z,1754758159.819 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 193.50 m.
2025-08-09T16:49:19.821Z,1754758159.821 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 193.500000 m,
      nav range: 192.285843 m,
      bearing: 138.426796 deg,
      approach rate: -0.633925 m/s,
      LOS rate: 0.012128 deg/s,
      cmd heading: 141.360901 deg,
      new cmd heading: 141.375059 deg.

2025-08-09T16:49:19.884Z,1754758159.884 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.759251
2025-08-09T16:49:20.138Z,1754758160.138 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.012558
2025-08-09T16:49:20.215Z,1754758160.215 [RDI_Pathfinder](ERROR): only read 3 of 4 data items for beam range. Device response is::RA,  0.00,  84.13,  70.31,  77.35
2025-08-09T16:49:20.231Z,1754758160.231 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 193.50 m.
2025-08-09T16:49:20.234Z,1754758160.234 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 193.500000 m,
      nav range: 192.024734 m,
      bearing: 138.431810 deg,
      approach rate: -0.632765 m/s,
      LOS rate: 0.012168 deg/s,
      cmd heading: 141.375053 deg,
      new cmd heading: 141.390116 deg.

2025-08-09T16:49:20.387Z,1754758160.387 [DAT](INFO): DAT read: Rx Time:16:49:19.1535

2025-08-09T16:49:20.388Z,1754758160.388 [DAT](INFO): Rx dataTimestamp_ set to:1754758160.387464
2025-08-09T16:49:20.388Z,1754758160.388 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.263232
2025-08-09T16:49:20.633Z,1754758160.633 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-09T16:49:20.635Z,1754758160.635 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 193.50 m.
2025-08-09T16:49:20.639Z,1754758160.639 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.514303
2025-08-09T16:49:20.638Z,1754758160.638 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 193.500000 m,
      nav range: 191.767990 m,
      bearing: 138.436752 deg,
      approach rate: -0.634822 m/s,
      LOS rate: 0.012237 deg/s,
      cmd heading: 141.390120 deg,
      new cmd heading: 141.404967 deg.

2025-08-09T16:49:20.897Z,1754758160.897 [DAT](INFO): DAT read: 16:49:19.1535 LVL= 24704, 32753, 26930, 31859, AGC= 66, IDX= 413, 0.12,-1.301,-2.920,-1.003,-1.481, PHS= 0.282,-1.394, 0.434, RAW= 154.3,   7.8, CAL= 153.8,   8.2, ROT= 356.2,  -8.2

2025-08-09T16:49:20.898Z,1754758160.898 [DAT](INFO): got valid direction response:
 16:49:19.1535 LVL= 24704, 32753, 26930, 31859, AGC= 66, IDX= 413, 0.12,-1.301,-2.920,-1.003,-1.481, PHS= 0.282,-1.394, 0.434, RAW= 154.3,   7.8, CAL= 153.8,   8.2, ROT= 356.2,  -8.2

2025-08-09T16:49:20.923Z,1754758160.923 [DAT](INFO): DAT read: Bearing 309.2,  -5.3 (Local)

2025-08-09T16:49:20.924Z,1754758160.924 [DAT](INFO): Local bearing/azimuth received:
 Bearing 309.2,  -5.3 (Local)

2025-08-09T16:49:20.926Z,1754758160.926 [DAT](INFO): DAT read: Range 11 to 50 : 191.0 m  (Round-trip  254.7 ms) speed  0.8 m/s

2025-08-09T16:49:20.927Z,1754758160.927 [DAT](INFO): DAT read: user:132>

2025-08-09T16:49:20.928Z,1754758160.928 [DAT](INFO): DAT read: Tx time:16:49:20.2446

2025-08-09T16:49:20.928Z,1754758160.928 [DAT](INFO): Ping request sent.
2025-08-09T16:49:20.928Z,1754758160.928 [DAT](INFO): transmitted an acoustic signal
2025-08-09T16:49:20.929Z,1754758160.929 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-09T16:49:20.930Z,1754758160.930 [DAT](INFO): direction in FSK: [0.987600,-0.065596,0.142629]
2025-08-09T16:49:20.931Z,1754758160.931 [DAT](INFO): publishing transmit ping time
2025-08-09T16:49:20.932Z,1754758160.932 [DAT](INFO): publishing direction and range info
2025-08-09T16:49:20.948Z,1754758160.948 [DAT](INFO): publishing transmit ping time
2025-08-09T16:49:20.949Z,1754758160.949 [DAT](INFO): publishing direction and range info
2025-08-09T16:49:21.180Z,1754758161.180 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 191.000000 m,
      deltaT: 3.779769 s,
      deltaX: -2.500000 m,
      approachRate: -0.661416 m/s,
      rangeRepo size: 4

2025-08-09T16:49:21.184Z,1754758161.184 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 191.000000 m,
      bearing: 138.585315 deg,
      lat: 36.906025 deg,
      lon: -122.115948 deg,
      deltaT: 3.779769 s,
      deltaX: -2.500000 m,
      approachRate: -0.661416 m/s,
      posRepo size: 4

2025-08-09T16:49:21.185Z,1754758161.185 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 191.00 m.
2025-08-09T16:49:21.196Z,1754758161.196 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 191.000000 m,
      nav range: 189.231125 m,
      bearing: 138.585315 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.012237 deg/s,
      cmd heading: 141.404969 deg,
      new cmd heading: 141.424947 deg.

2025-08-09T16:49:21.485Z,1754758161.485 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 191.00 m.
2025-08-09T16:49:21.488Z,1754758161.488 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 191.000000 m,
      nav range: 189.028732 m,
      bearing: 138.591799 deg,
      approach rate: -0.663060 m/s,
      LOS rate: 0.021263 deg/s,
      cmd heading: 141.424941 deg,
      new cmd heading: 141.444412 deg.

2025-08-09T16:49:21.886Z,1754758161.886 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 191.00 m.
2025-08-09T16:49:21.888Z,1754758161.888 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 191.000000 m,
      nav range: 188.770264 m,
      bearing: 138.599967 deg,
      approach rate: -0.644869 m/s,
      LOS rate: 0.020409 deg/s,
      cmd heading: 141.444407 deg,
      new cmd heading: 141.468947 deg.

2025-08-09T16:49:22.313Z,1754758162.313 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 191.00 m.
2025-08-09T16:49:22.316Z,1754758162.316 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 191.000000 m,
      nav range: 188.499390 m,
      bearing: 138.609028 deg,
      approach rate: -0.634348 m/s,
      LOS rate: 0.021249 deg/s,
      cmd heading: 141.468941 deg,
      new cmd heading: 141.496161 deg.

2025-08-09T16:49:22.746Z,1754758162.746 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-09T16:49:22.748Z,1754758162.748 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 191.00 m.
2025-08-09T16:49:22.751Z,1754758162.751 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 191.000000 m,
      nav range: 188.222580 m,
      bearing: 138.618202 deg,
      approach rate: -0.635590 m/s,
      LOS rate: 0.021096 deg/s,
      cmd heading: 141.496166 deg,
      new cmd heading: 141.523729 deg.

2025-08-09T16:49:22.919Z,1754758162.919 [DAT](INFO): ****** received valid address query ******
2025-08-09T16:49:22.919Z,1754758162.919 [DAT](INFO): ****** received valid ping request ******
2025-08-09T16:49:22.920Z,1754758162.920 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-09T16:49:23.171Z,1754758163.171 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.242980
2025-08-09T16:49:23.179Z,1754758163.179 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 191.00 m.
2025-08-09T16:49:23.182Z,1754758163.182 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 191.000000 m,
      nav range: 187.957230 m,
      bearing: 138.626198 deg,
      approach rate: -0.615978 m/s,
      LOS rate: 0.018589 deg/s,
      cmd heading: 141.523733 deg,
      new cmd heading: 141.547756 deg.

2025-08-09T16:49:23.423Z,1754758163.423 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.495019
2025-08-09T16:49:23.561Z,1754758163.561 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 191.00 m.
2025-08-09T16:49:23.567Z,1754758163.567 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 191.000000 m,
      nav range: 187.715851 m,
      bearing: 138.633459 deg,
      approach rate: -0.632461 m/s,
      LOS rate: 0.019050 deg/s,
      cmd heading: 141.547761 deg,
      new cmd heading: 141.569572 deg.

2025-08-09T16:49:23.675Z,1754758163.675 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.746967
2025-08-09T16:49:23.930Z,1754758163.930 [DAT](INFO): DAT read: Rx Time:16:49:22.9004

2025-08-09T16:49:23.930Z,1754758163.930 [DAT](INFO): Rx dataTimestamp_ set to:1754758163.929709
2025-08-09T16:49:23.931Z,1754758163.931 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.002375
2025-08-09T16:49:23.955Z,1754758163.955 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 191.00 m.
2025-08-09T16:49:23.958Z,1754758163.958 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 191.000000 m,
      nav range: 187.461487 m,
      bearing: 138.641131 deg,
      approach rate: -0.644320 m/s,
      LOS rate: 0.019459 deg/s,
      cmd heading: 141.569577 deg,
      new cmd heading: 141.592623 deg.

2025-08-09T16:49:24.179Z,1754758164.179 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.251070
2025-08-09T16:49:24.379Z,1754758164.379 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 191.00 m.
2025-08-09T16:49:24.382Z,1754758164.382 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 191.000000 m,
      nav range: 187.203903 m,
      bearing: 138.648136 deg,
      approach rate: -0.608026 m/s,
      LOS rate: 0.016557 deg/s,
      cmd heading: 141.592622 deg,
      new cmd heading: 141.613665 deg.

2025-08-09T16:49:24.448Z,1754758164.448 [DAT](INFO): DAT read: 16:49:22.9004 LVL= 32224, 32753, 30274, 32755, AGC= 66, IDX= 414,-0.08, 1.377,-0.272, 1.682, 1.194, PHS= 0.285,-1.421, 0.444, RAW= 154.4,   7.8, CAL= 153.9,   8.2, ROT= 356.1,  -8.2

2025-08-09T16:49:24.451Z,1754758164.451 [DAT](INFO): got valid direction response:
 16:49:22.9004 LVL= 32224, 32753, 30274, 32755, AGC= 66, IDX= 414,-0.08, 1.377,-0.272, 1.682, 1.194, PHS= 0.285,-1.421, 0.444, RAW= 154.4,   7.8, CAL= 153.9,   8.2, ROT= 356.1,  -8.2

2025-08-09T16:49:24.455Z,1754758164.455 [DAT](INFO): DAT read: Bearing 309.6,  -5.5 (Local)

2025-08-09T16:49:24.456Z,1754758164.456 [DAT](INFO): Local bearing/azimuth received:
 Bearing 309.6,  -5.5 (Local)

2025-08-09T16:49:24.459Z,1754758164.459 [DAT](INFO): DAT read: Range 11 to 50 : 188.7 m  (Round-trip  251.7 ms) speed  0.4 m/s

2025-08-09T16:49:24.459Z,1754758164.459 [DAT](INFO): DAT read: user:133>

2025-08-09T16:49:24.460Z,1754758164.460 [DAT](INFO): DAT read: Tx time:16:49:23.9946

2025-08-09T16:49:24.460Z,1754758164.460 [DAT](INFO): Ping request sent.
2025-08-09T16:49:24.461Z,1754758164.461 [DAT](INFO): transmitted an acoustic signal
2025-08-09T16:49:24.461Z,1754758164.461 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-09T16:49:24.462Z,1754758164.462 [DAT](INFO): direction in FSK: [0.987484,-0.067320,0.142629]
2025-08-09T16:49:24.482Z,1754758164.482 [DAT](INFO): publishing transmit ping time
2025-08-09T16:49:24.483Z,1754758164.483 [DAT](INFO): publishing direction and range info
2025-08-09T16:49:24.486Z,1754758164.486 [DAT](INFO): publishing transmit ping time
2025-08-09T16:49:24.486Z,1754758164.486 [DAT](INFO): publishing direction and range info
2025-08-09T16:49:24.783Z,1754758164.783 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 188.699997 m,
      deltaT: 3.541629 s,
      deltaX: -2.300003 m,
      approachRate: -0.649420 m/s,
      rangeRepo size: 4

2025-08-09T16:49:24.785Z,1754758164.785 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 188.699997 m,
      bearing: 138.794847 deg,
      lat: 36.906022 deg,
      lon: -122.115952 deg,
      deltaT: 3.541629 s,
      deltaX: -2.300003 m,
      approachRate: -0.649420 m/s,
      posRepo size: 4

2025-08-09T16:49:24.786Z,1754758164.786 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 188.70 m.
2025-08-09T16:49:24.788Z,1754758164.788 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 188.699997 m,
      nav range: 186.964493 m,
      bearing: 138.794847 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.016557 deg/s,
      cmd heading: 141.613659 deg,
      new cmd heading: 141.633679 deg.

2025-08-09T16:49:25.207Z,1754758165.207 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-09T16:49:25.209Z,1754758165.209 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 188.70 m.
2025-08-09T16:49:25.212Z,1754758165.212 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 188.699997 m,
      nav range: 186.689529 m,
      bearing: 138.797665 deg,
      approach rate: -0.644622 m/s,
      LOS rate: 0.006615 deg/s,
      cmd heading: 141.633685 deg,
      new cmd heading: 141.642149 deg.

2025-08-09T16:49:25.439Z,1754758165.439 [DAT](INFO): ****** received valid address query ******
2025-08-09T16:49:25.439Z,1754758165.439 [DAT](INFO): ****** received valid ping request ******
2025-08-09T16:49:25.439Z,1754758165.439 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-09T16:49:25.594Z,1754758165.594 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 188.70 m.
2025-08-09T16:49:25.596Z,1754758165.596 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 188.699997 m,
      nav range: 186.443008 m,
      bearing: 138.800133 deg,
      approach rate: -0.640424 m/s,
      LOS rate: 0.006422 deg/s,
      cmd heading: 141.642154 deg,
      new cmd heading: 141.649570 deg.

2025-08-09T16:49:25.692Z,1754758165.692 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.231141
2025-08-09T16:49:25.943Z,1754758165.943 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.482608
2025-08-09T16:49:25.996Z,1754758165.996 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 188.70 m.
2025-08-09T16:49:26.003Z,1754758166.003 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 188.699997 m,
      nav range: 186.193573 m,
      bearing: 138.802584 deg,
      approach rate: -0.620483 m/s,
      LOS rate: 0.006106 deg/s,
      cmd heading: 141.649572 deg,
      new cmd heading: 141.656936 deg.

2025-08-09T16:49:26.195Z,1754758166.195 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.734614
2025-08-09T16:49:26.413Z,1754758166.413 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 188.70 m.
2025-08-09T16:49:26.415Z,1754758166.415 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 188.699997 m,
      nav range: 185.921143 m,
      bearing: 138.803710 deg,
      approach rate: -0.653370 m/s,
      LOS rate: 0.002704 deg/s,
      cmd heading: 141.656935 deg,
      new cmd heading: 141.660317 deg.

2025-08-09T16:49:26.448Z,1754758166.448 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.987278
2025-08-09T16:49:26.699Z,1754758166.699 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.238628
2025-08-09T16:49:26.793Z,1754758166.793 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 188.70 m.
2025-08-09T16:49:26.796Z,1754758166.796 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 188.699997 m,
      nav range: 185.679916 m,
      bearing: 138.804656 deg,
      approach rate: -0.633484 m/s,
      LOS rate: 0.002486 deg/s,
      cmd heading: 141.660323 deg,
      new cmd heading: 141.663162 deg.

2025-08-09T16:49:26.951Z,1754758166.951 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.490585
2025-08-09T16:49:27.203Z,1754758167.203 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.742723
2025-08-09T16:49:27.229Z,1754758167.229 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-09T16:49:27.235Z,1754758167.235 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 188.70 m.
2025-08-09T16:49:27.238Z,1754758167.238 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 188.699997 m,
      nav range: 185.401505 m,
      bearing: 138.804059 deg,
      approach rate: -0.630188 m/s,
      LOS rate: -0.001351 deg/s,
      cmd heading: 141.663164 deg,
      new cmd heading: 141.661373 deg.

2025-08-09T16:49:27.455Z,1754758167.455 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.994582
2025-08-09T16:49:27.614Z,1754758167.614 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 188.70 m.
2025-08-09T16:49:27.617Z,1754758167.617 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 188.699997 m,
      nav range: 185.147964 m,
      bearing: 138.803476 deg,
      approach rate: -0.669558 m/s,
      LOS rate: -0.001543 deg/s,
      cmd heading: 141.661375 deg,
      new cmd heading: 141.659622 deg.

2025-08-09T16:49:27.707Z,1754758167.707 [DAT](INFO): DAT read: Rx Time:16:49:26.6473

2025-08-09T16:49:27.708Z,1754758167.708 [DAT](INFO): Rx dataTimestamp_ set to:1754758167.707538
2025-08-09T16:49:27.708Z,1754758167.708 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.247763
2025-08-09T16:49:27.959Z,1754758167.959 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.498681
2025-08-09T16:49:28.041Z,1754758168.041 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 188.70 m.
2025-08-09T16:49:28.065Z,1754758168.065 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 188.699997 m,
      nav range: 184.878693 m,
      bearing: 138.802821 deg,
      approach rate: -0.634900 m/s,
      LOS rate: -0.001547 deg/s,
      cmd heading: 141.659626 deg,
      new cmd heading: 141.657657 deg.

2025-08-09T16:49:28.217Z,1754758168.217 [DAT](INFO): DAT read: 16:49:26.6473 LVL= 32752, 32753, 32754, 32755, AGC= 64, IDX= 414,-0.15, 0.135,-1.523, 0.483, 0.002, PHS= 0.234,-1.481, 0.437, RAW= 155.5,   8.9, CAL= 155.2,   9.5, ROT= 354.8,  -9.5

2025-08-09T16:49:28.218Z,1754758168.218 [DAT](INFO): got valid direction response:
 16:49:26.6473 LVL= 32752, 32753, 32754, 32755, AGC= 64, IDX= 414,-0.15, 0.135,-1.523, 0.483, 0.002, PHS= 0.234,-1.481, 0.437, RAW= 155.5,   8.9, CAL= 155.2,   9.5, ROT= 354.8,  -9.5

2025-08-09T16:49:28.219Z,1754758168.219 [DAT](INFO): DAT read: Bearing 311.2,  -6.8 (Local)

2025-08-09T16:49:28.220Z,1754758168.220 [DAT](INFO): Local bearing/azimuth received:
 Bearing 311.2,  -6.8 (Local)

2025-08-09T16:49:28.221Z,1754758168.221 [DAT](INFO): DAT read: Range 11 to 50 : 186.4 m  (Round-trip  248.6 ms) speed  0.4 m/s

2025-08-09T16:49:28.222Z,1754758168.222 [DAT](INFO): DAT read: user:134>

2025-08-09T16:49:28.223Z,1754758168.223 [DAT](INFO): DAT read: Tx time:16:49:27.7446

2025-08-09T16:49:28.223Z,1754758168.223 [DAT](INFO): Ping request sent.
2025-08-09T16:49:28.223Z,1754758168.223 [DAT](INFO): transmitted an acoustic signal
2025-08-09T16:49:28.223Z,1754758168.223 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-09T16:49:28.224Z,1754758168.224 [DAT](INFO): direction in FSK: [0.982226,-0.089390,0.165048]
2025-08-09T16:49:28.224Z,1754758168.224 [DAT](INFO): publishing transmit ping time
2025-08-09T16:49:28.225Z,1754758168.225 [DAT](INFO): publishing direction and range info
2025-08-09T16:49:28.234Z,1754758168.234 [DAT](INFO): publishing transmit ping time
2025-08-09T16:49:28.234Z,1754758168.234 [DAT](INFO): publishing direction and range info
2025-08-09T16:49:28.581Z,1754758168.581 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 186.399994 m,
      deltaT: 3.778441 s,
      deltaX: -2.300003 m,
      approachRate: -0.608718 m/s,
      rangeRepo size: 4

2025-08-09T16:49:28.583Z,1754758168.583 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 186.399994 m,
      bearing: 138.659997 deg,
      lat: 36.906025 deg,
      lon: -122.115948 deg,
      deltaT: 3.778441 s,
      deltaX: -2.300003 m,
      approachRate: -0.608718 m/s,
      posRepo size: 4

2025-08-09T16:49:28.584Z,1754758168.584 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 186.40 m.
2025-08-09T16:49:28.586Z,1754758168.586 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 186.399994 m,
      nav range: 184.490646 m,
      bearing: 138.659997 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.001547 deg/s,
      cmd heading: 141.657659 deg,
      new cmd heading: 141.655143 deg.

2025-08-09T16:49:28.946Z,1754758168.946 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 186.40 m.
2025-08-09T16:49:28.949Z,1754758168.949 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 186.399994 m,
      nav range: 184.252533 m,
      bearing: 138.658860 deg,
      approach rate: -0.650253 m/s,
      LOS rate: -0.003108 deg/s,
      cmd heading: 141.655145 deg,
      new cmd heading: 141.651731 deg.

2025-08-09T16:49:29.354Z,1754758169.354 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-09T16:49:29.356Z,1754758169.356 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 186.40 m.
2025-08-09T16:49:29.359Z,1754758169.359 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 186.399994 m,
      nav range: 183.976852 m,
      bearing: 138.656943 deg,
      approach rate: -0.672973 m/s,
      LOS rate: -0.004688 deg/s,
      cmd heading: 141.651730 deg,
      new cmd heading: 141.645969 deg.

2025-08-09T16:49:29.471Z,1754758169.471 [DAT](INFO): ****** received valid address query ******
2025-08-09T16:49:29.472Z,1754758169.472 [DAT](INFO): ****** received valid ping request ******
2025-08-09T16:49:29.472Z,1754758169.472 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-09T16:49:29.723Z,1754758169.723 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.500334
2025-08-09T16:49:29.739Z,1754758169.739 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 186.40 m.
2025-08-09T16:49:29.741Z,1754758169.741 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 186.399994 m,
      nav range: 183.726181 m,
      bearing: 138.655191 deg,
      approach rate: -0.655097 m/s,
      LOS rate: -0.004584 deg/s,
      cmd heading: 141.645966 deg,
      new cmd heading: 141.640704 deg.

2025-08-09T16:49:29.976Z,1754758169.976 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.753235
2025-08-09T16:49:30.214Z,1754758170.214 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 186.40 m.
2025-08-09T16:49:30.217Z,1754758170.217 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 186.399994 m,
      nav range: 183.433304 m,
      bearing: 138.653037 deg,
      approach rate: -0.637012 m/s,
      LOS rate: -0.004694 deg/s,
      cmd heading: 141.640706 deg,
      new cmd heading: 141.634232 deg.

2025-08-09T16:49:30.227Z,1754758170.227 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.004475
2025-08-09T16:49:30.480Z,1754758170.480 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.256667
2025-08-09T16:49:30.562Z,1754758170.562 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 186.40 m.
2025-08-09T16:49:30.565Z,1754758170.565 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 186.399994 m,
      nav range: 183.201614 m,
      bearing: 138.651326 deg,
      approach rate: -0.637299 m/s,
      LOS rate: -0.004711 deg/s,
      cmd heading: 141.634231 deg,
      new cmd heading: 141.629093 deg.

2025-08-09T16:49:30.731Z,1754758170.731 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.508298
2025-08-09T16:49:30.983Z,1754758170.983 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.760434
2025-08-09T16:49:30.991Z,1754758170.991 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 186.40 m.
2025-08-09T16:49:30.997Z,1754758170.997 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 186.399994 m,
      nav range: 182.940750 m,
      bearing: 138.649395 deg,
      approach rate: -0.607826 m/s,
      LOS rate: -0.004506 deg/s,
      cmd heading: 141.629095 deg,
      new cmd heading: 141.623294 deg.

2025-08-09T16:49:31.235Z,1754758171.235 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.012226
2025-08-09T16:49:31.381Z,1754758171.381 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-09T16:49:31.384Z,1754758171.384 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 186.40 m.
2025-08-09T16:49:31.389Z,1754758171.389 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 186.399994 m,
      nav range: 182.668320 m,
      bearing: 138.648785 deg,
      approach rate: -0.693797 m/s,
      LOS rate: -0.001556 deg/s,
      cmd heading: 141.623289 deg,
      new cmd heading: 141.621456 deg.

2025-08-09T16:49:31.489Z,1754758171.489 [DAT](INFO): DAT read: Rx Time:16:49:30.3939

2025-08-09T16:49:31.489Z,1754758171.489 [DAT](INFO): Rx dataTimestamp_ set to:1754758171.488767
2025-08-09T16:49:31.490Z,1754758171.490 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.266654
2025-08-09T16:49:31.739Z,1754758171.739 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.516258
2025-08-09T16:49:31.773Z,1754758171.773 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 186.40 m.
2025-08-09T16:49:31.776Z,1754758171.776 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 186.399994 m,
      nav range: 182.409088 m,
      bearing: 138.648217 deg,
      approach rate: -0.664969 m/s,
      LOS rate: -0.001460 deg/s,
      cmd heading: 141.621459 deg,
      new cmd heading: 141.619751 deg.

2025-08-09T16:49:32.002Z,1754758172.002 [DAT](INFO): DAT read: 16:49:30.3939 LVL= 29008, 32753, 23922, 32755, AGC= 68, IDX= 411, 0.45,-0.988,-2.596,-0.667,-1.128, PHS= 0.241,-1.424, 0.417, RAW= 155.0,   8.7, CAL= 154.6,   9.3, ROT= 355.4,  -9.3

2025-08-09T16:49:32.004Z,1754758172.004 [DAT](INFO): got valid direction response:
 16:49:30.3939 LVL= 29008, 32753, 23922, 32755, AGC= 68, IDX= 411, 0.45,-0.988,-2.596,-0.667,-1.128, PHS= 0.241,-1.424, 0.417, RAW= 155.0,   8.7, CAL= 154.6,   9.3, ROT= 355.4,  -9.3

2025-08-09T16:49:32.005Z,1754758172.005 [DAT](INFO): DAT read: Bearing 311.1,  -6.3 (Local)

2025-08-09T16:49:32.010Z,1754758172.010 [DAT](INFO): Local bearing/azimuth received:
 Bearing 311.1,  -6.3 (Local)

2025-08-09T16:49:32.013Z,1754758172.013 [DAT](INFO): DAT read: Range 11 to 50 : 183.9 m  (Round-trip  245.2 ms) speed  0.6 m/s

2025-08-09T16:49:32.014Z,1754758172.014 [DAT](INFO): DAT read: user:135>

2025-08-09T16:49:32.015Z,1754758172.015 [DAT](INFO): DAT read: Tx time:16:49:31.4946

2025-08-09T16:49:32.016Z,1754758172.016 [DAT](INFO): Ping request sent.
2025-08-09T16:49:32.016Z,1754758172.016 [DAT](INFO): transmitted an acoustic signal
2025-08-09T16:49:32.016Z,1754758172.016 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-09T16:49:32.019Z,1754758172.019 [DAT](INFO): direction in FSK: [0.983677,-0.079145,0.161604]
2025-08-09T16:49:32.019Z,1754758172.019 [DAT](INFO): publishing transmit ping time
2025-08-09T16:49:32.020Z,1754758172.020 [DAT](INFO): publishing direction and range info
2025-08-09T16:49:32.048Z,1754758172.048 [DAT](INFO): publishing transmit ping time
2025-08-09T16:49:32.048Z,1754758172.048 [DAT](INFO): publishing direction and range info
2025-08-09T16:49:32.278Z,1754758172.278 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 183.899994 m,
      deltaT: 3.780872 s,
      deltaX: -2.500000 m,
      approachRate: -0.661223 m/s,
      rangeRepo size: 4

2025-08-09T16:49:32.288Z,1754758172.288 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 183.899994 m,
      bearing: 138.634493 deg,
      lat: 36.906026 deg,
      lon: -122.115948 deg,
      deltaT: 3.780872 s,
      deltaX: -2.500000 m,
      approachRate: -0.661223 m/s,
      posRepo size: 4

2025-08-09T16:49:32.289Z,1754758172.289 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 183.90 m.
2025-08-09T16:49:32.296Z,1754758172.296 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 183.899994 m,
      nav range: 182.040695 m,
      bearing: 138.634493 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.001460 deg/s,
      cmd heading: 141.619751 deg,
      new cmd heading: 141.617545 deg.

2025-08-09T16:49:32.644Z,1754758172.644 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 183.90 m.
2025-08-09T16:49:32.647Z,1754758172.647 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 183.899994 m,
      nav range: 181.788071 m,
      bearing: 138.635077 deg,
      approach rate: -0.688866 m/s,
      LOS rate: 0.001595 deg/s,
      cmd heading: 141.617538 deg,
      new cmd heading: 141.619293 deg.

2025-08-09T16:49:33.040Z,1754758173.040 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 183.90 m.
2025-08-09T16:49:33.043Z,1754758173.043 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 183.899994 m,
      nav range: 181.529190 m,
      bearing: 138.635654 deg,
      approach rate: -0.653219 m/s,
      LOS rate: 0.001459 deg/s,
      cmd heading: 141.619287 deg,
      new cmd heading: 141.621021 deg.

2025-08-09T16:49:33.473Z,1754758173.473 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-09T16:49:33.493Z,1754758173.493 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 183.90 m.
2025-08-09T16:49:33.504Z,1754758173.504 [DAT](INFO): ****** received valid address query ******
2025-08-09T16:49:33.504Z,1754758173.504 [DAT](INFO): ****** received valid ping request ******
2025-08-09T16:49:33.504Z,1754758173.504 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-09T16:49:33.507Z,1754758173.507 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 183.899994 m,
      nav range: 181.258377 m,
      bearing: 138.637359 deg,
      approach rate: -0.598659 m/s,
      LOS rate: 0.003775 deg/s,
      cmd heading: 141.621022 deg,
      new cmd heading: 141.626144 deg.

2025-08-09T16:49:33.756Z,1754758173.756 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.739386
2025-08-09T16:49:33.837Z,1754758173.837 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 183.90 m.
2025-08-09T16:49:33.842Z,1754758173.842 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 183.899994 m,
      nav range: 181.025696 m,
      bearing: 138.638825 deg,
      approach rate: -0.675055 m/s,
      LOS rate: 0.004260 deg/s,
      cmd heading: 141.626144 deg,
      new cmd heading: 141.630550 deg.

2025-08-09T16:49:34.008Z,1754758174.008 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.992016
2025-08-09T16:49:34.259Z,1754758174.259 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.243105
2025-08-09T16:49:34.291Z,1754758174.291 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 183.90 m.
2025-08-09T16:49:34.294Z,1754758174.294 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 183.899994 m,
      nav range: 180.731888 m,
      bearing: 138.640194 deg,
      approach rate: -0.647639 m/s,
      LOS rate: 0.003021 deg/s,
      cmd heading: 141.630543 deg,
      new cmd heading: 141.634655 deg.

2025-08-09T16:49:34.515Z,1754758174.515 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.498739
2025-08-09T16:49:34.655Z,1754758174.655 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 183.90 m.
2025-08-09T16:49:34.658Z,1754758174.658 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 183.899994 m,
      nav range: 180.491241 m,
      bearing: 138.641341 deg,
      approach rate: -0.661051 m/s,
      LOS rate: 0.003155 deg/s,
      cmd heading: 141.634655 deg,
      new cmd heading: 141.638101 deg.

2025-08-09T16:49:34.764Z,1754758174.764 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.747852
2025-08-09T16:49:35.016Z,1754758175.016 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.999771
2025-08-09T16:49:35.074Z,1754758175.074 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 183.90 m.
2025-08-09T16:49:35.077Z,1754758175.077 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 183.899994 m,
      nav range: 180.220856 m,
      bearing: 138.642626 deg,
      approach rate: -0.645633 m/s,
      LOS rate: 0.003073 deg/s,
      cmd heading: 141.638097 deg,
      new cmd heading: 141.641958 deg.

2025-08-09T16:49:35.267Z,1754758175.267 [DAT](INFO): DAT read: Rx Time:16:49:34.1407

2025-08-09T16:49:35.268Z,1754758175.268 [DAT](INFO): Rx dataTimestamp_ set to:1754758175.267414
2025-08-09T16:49:35.268Z,1754758175.268 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.252125
2025-08-09T16:49:35.508Z,1754758175.508 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-09T16:49:35.516Z,1754758175.516 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 183.90 m.
2025-08-09T16:49:35.519Z,1754758175.519 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.503363
2025-08-09T16:49:35.523Z,1754758175.523 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 183.899994 m,
      nav range: 179.955948 m,
      bearing: 138.643755 deg,
      approach rate: -0.599317 m/s,
      LOS rate: 0.002558 deg/s,
      cmd heading: 141.641963 deg,
      new cmd heading: 141.645355 deg.

2025-08-09T16:49:35.778Z,1754758175.778 [DAT](INFO): DAT read: 16:49:34.1407 LVL= 26288, 32753, 24050, 32755, AGC= 68, IDX= 410,-0.04, 1.409,-0.181, 1.741, 1.291, PHS= 0.220,-1.427, 0.405, RAW= 155.3,   9.2, CAL= 155.0,   9.9, ROT= 355.0,  -9.9

2025-08-09T16:49:35.779Z,1754758175.779 [DAT](INFO): got valid direction response:
 16:49:34.1407 LVL= 26288, 32753, 24050, 32755, AGC= 68, IDX= 410,-0.04, 1.409,-0.181, 1.741, 1.291, PHS= 0.220,-1.427, 0.405, RAW= 155.3,   9.2, CAL= 155.0,   9.9, ROT= 355.0,  -9.9

2025-08-09T16:49:35.780Z,1754758175.780 [DAT](INFO): DAT read: Bearing 312.0,  -6.8 (Local)

2025-08-09T16:49:35.780Z,1754758175.780 [DAT](INFO): Local bearing/azimuth received:
 Bearing 312.0,  -6.8 (Local)

2025-08-09T16:49:35.781Z,1754758175.781 [DAT](INFO): DAT read: Range 11 to 50 : 181.4 m  (Round-trip  241.9 ms) speed  0.4 m/s

2025-08-09T16:49:35.783Z,1754758175.783 [DAT](INFO): DAT read: user:136>

2025-08-09T16:49:35.783Z,1754758175.783 [DAT](INFO): DAT read: Tx time:16:49:35.2446

2025-08-09T16:49:35.784Z,1754758175.784 [DAT](INFO): Ping request sent.
2025-08-09T16:49:35.784Z,1754758175.784 [DAT](INFO): transmitted an acoustic signal
2025-08-09T16:49:35.784Z,1754758175.784 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-09T16:49:35.785Z,1754758175.785 [DAT](INFO): direction in FSK: [0.981361,-0.085858,0.171929]
2025-08-09T16:49:35.785Z,1754758175.785 [DAT](INFO): publishing transmit ping time
2025-08-09T16:49:35.786Z,1754758175.786 [DAT](INFO): publishing direction and range info
2025-08-09T16:49:35.789Z,1754758175.789 [DAT](INFO): publishing transmit ping time
2025-08-09T16:49:35.789Z,1754758175.789 [DAT](INFO): publishing direction and range info
2025-08-09T16:49:35.957Z,1754758175.957 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 181.399994 m,
      deltaT: 3.779307 s,
      deltaX: -2.500000 m,
      approachRate: -0.661497 m/s,
      rangeRepo size: 4

2025-08-09T16:49:35.964Z,1754758175.964 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 181.399994 m,
      bearing: 138.539585 deg,
      lat: 36.906030 deg,
      lon: -122.115948 deg,
      deltaT: 3.779307 s,
      deltaX: -2.500000 m,
      approachRate: -0.661497 m/s,
      posRepo size: 4

2025-08-09T16:49:35.964Z,1754758175.964 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 181.40 m.
2025-08-09T16:49:35.972Z,1754758175.972 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 181.399994 m,
      nav range: 179.319260 m,
      bearing: 138.539585 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.002558 deg/s,
      cmd heading: 141.645351 deg,
      new cmd heading: 141.648733 deg.

2025-08-09T16:49:36.333Z,1754758176.333 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 181.40 m.
2025-08-09T16:49:36.336Z,1754758176.336 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 181.399994 m,
      nav range: 179.059784 m,
      bearing: 138.540440 deg,
      approach rate: -0.689083 m/s,
      LOS rate: 0.002274 deg/s,
      cmd heading: 141.648739 deg,
      new cmd heading: 141.651308 deg.

2025-08-09T16:49:36.704Z,1754758176.704 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 181.40 m.
2025-08-09T16:49:36.707Z,1754758176.707 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 181.399994 m,
      nav range: 178.822815 m,
      bearing: 138.541211 deg,
      approach rate: -0.639308 m/s,
      LOS rate: 0.002081 deg/s,
      cmd heading: 141.651307 deg,
      new cmd heading: 141.653621 deg.

2025-08-09T16:49:37.248Z,1754758177.248 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 181.40 m.
2025-08-09T16:49:37.251Z,1754758177.251 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 181.399994 m,
      nav range: 178.474228 m,
      bearing: 138.542337 deg,
      approach rate: -0.640092 m/s,
      LOS rate: 0.002073 deg/s,
      cmd heading: 141.653615 deg,
      new cmd heading: 141.657002 deg.

2025-08-09T16:49:37.679Z,1754758177.679 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-09T16:49:37.681Z,1754758177.681 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 181.40 m.
2025-08-09T16:49:37.692Z,1754758177.692 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 181.399994 m,
      nav range: 178.204376 m,
      bearing: 138.542765 deg,
      approach rate: -0.623547 m/s,
      LOS rate: 0.000989 deg/s,
      cmd heading: 141.657003 deg,
      new cmd heading: 141.658288 deg.

2025-08-09T16:49:37.788Z,1754758177.788 [DAT](INFO): ****** received valid address query ******
2025-08-09T16:49:37.789Z,1754758177.789 [DAT](INFO): ****** received valid ping request ******
2025-08-09T16:49:37.789Z,1754758177.789 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-09T16:49:38.039Z,1754758178.039 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.255213
2025-08-09T16:49:38.060Z,1754758178.060 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 181.40 m.
2025-08-09T16:49:38.063Z,1754758178.063 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 181.399994 m,
      nav range: 177.948334 m,
      bearing: 138.543187 deg,
      approach rate: -0.675535 m/s,
      LOS rate: 0.001114 deg/s,
      cmd heading: 141.658287 deg,
      new cmd heading: 141.659554 deg.

2025-08-09T16:49:38.292Z,1754758178.292 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.507633
2025-08-09T16:49:38.508Z,1754758178.508 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 181.40 m.
2025-08-09T16:49:38.516Z,1754758178.516 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 181.399994 m,
      nav range: 177.681870 m,
      bearing: 138.543513 deg,
      approach rate: -0.594829 m/s,
      LOS rate: 0.000729 deg/s,
      cmd heading: 141.659558 deg,
      new cmd heading: 141.660537 deg.

2025-08-09T16:49:38.546Z,1754758178.546 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.762466
2025-08-09T16:49:38.795Z,1754758178.795 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.011345
2025-08-09T16:49:38.859Z,1754758178.859 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 181.40 m.
2025-08-09T16:49:38.871Z,1754758178.871 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 181.399994 m,
      nav range: 177.446548 m,
      bearing: 138.543801 deg,
      approach rate: -0.672250 m/s,
      LOS rate: 0.000824 deg/s,
      cmd heading: 141.660541 deg,
      new cmd heading: 141.661407 deg.

2025-08-09T16:49:39.047Z,1754758179.047 [DAT](INFO): DAT read: Rx Time:16:49:37.8875

2025-08-09T16:49:39.048Z,1754758179.048 [DAT](INFO): Rx dataTimestamp_ set to:1754758179.047481
2025-08-09T16:49:39.048Z,1754758179.048 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.264424
2025-08-09T16:49:39.299Z,1754758179.299 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.515515
2025-08-09T16:49:39.326Z,1754758179.326 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 181.40 m.
2025-08-09T16:49:39.329Z,1754758179.329 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 181.399994 m,
      nav range: 177.141953 m,
      bearing: 138.543433 deg,
      approach rate: -0.651574 m/s,
      LOS rate: -0.000788 deg/s,
      cmd heading: 141.661402 deg,
      new cmd heading: 141.660297 deg.

2025-08-09T16:49:39.557Z,1754758179.557 [DAT](INFO): DAT read: 16:49:37.8875 LVL= 25392, 32753, 24722, 32755, AGC= 66, IDX= 410, 0.10, 1.191,-0.389, 1.504, 1.015, PHS= 0.278,-1.359, 0.445, RAW= 154.8,   7.4, CAL= 154.3,   7.7, ROT= 355.7,  -7.7

2025-08-09T16:49:39.558Z,1754758179.558 [DAT](INFO): got valid direction response:
 16:49:37.8875 LVL= 25392, 32753, 24722, 32755, AGC= 66, IDX= 410, 0.10, 1.191,-0.389, 1.504, 1.015, PHS= 0.278,-1.359, 0.445, RAW= 154.8,   7.4, CAL= 154.3,   7.7, ROT= 355.7,  -7.7

2025-08-09T16:49:39.559Z,1754758179.559 [DAT](INFO): DAT read: Bearing 309.9,  -5.9 (Local)

2025-08-09T16:49:39.559Z,1754758179.559 [DAT](INFO): Local bearing/azimuth received:
 Bearing 309.9,  -5.9 (Local)

2025-08-09T16:49:39.561Z,1754758179.561 [DAT](INFO): DAT read: Range 11 to 50 : 179.1 m  (Round-trip  238.8 ms) speed  0.4 m/s

2025-08-09T16:49:39.562Z,1754758179.562 [DAT](INFO): DAT read: user:137>

2025-08-09T16:49:39.583Z,1754758179.583 [DAT](INFO): DAT read: Tx time:16:49:38.9946

2025-08-09T16:49:39.583Z,1754758179.583 [DAT](INFO): Ping request sent.
2025-08-09T16:49:39.584Z,1754758179.584 [DAT](INFO): transmitted an acoustic signal
2025-08-09T16:49:39.584Z,1754758179.584 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-09T16:49:39.585Z,1754758179.585 [DAT](INFO): direction in FSK: [0.988194,-0.074302,0.133986]
2025-08-09T16:49:39.585Z,1754758179.585 [DAT](INFO): publishing transmit ping time
2025-08-09T16:49:39.585Z,1754758179.585 [DAT](INFO): publishing direction and range info
2025-08-09T16:49:39.593Z,1754758179.593 [DAT](INFO): publishing transmit ping time
2025-08-09T16:49:39.593Z,1754758179.593 [DAT](INFO): publishing direction and range info
2025-08-09T16:49:39.694Z,1754758179.694 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 179.100006 m,
      deltaT: 3.779690 s,
      deltaX: -2.299988 m,
      approachRate: -0.608512 m/s,
      rangeRepo size: 4

2025-08-09T16:49:39.708Z,1754758179.708 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 179.100006 m,
      bearing: 138.537851 deg,
      lat: 36.906030 deg,
      lon: -122.115948 deg,
      deltaT: 3.779690 s,
      deltaX: -2.299988 m,
      approachRate: -0.608512 m/s,
      posRepo size: 4

2025-08-09T16:49:39.709Z,1754758179.709 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 179.10 m.
2025-08-09T16:49:39.715Z,1754758179.715 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 179.100006 m,
      nav range: 176.912857 m,
      bearing: 138.537851 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.000788 deg/s,
      cmd heading: 141.660295 deg,
      new cmd heading: 141.659426 deg.

2025-08-09T16:49:40.059Z,1754758180.059 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-09T16:49:40.061Z,1754758180.061 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 179.10 m.
2025-08-09T16:49:40.064Z,1754758180.064 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 179.100006 m,
      nav range: 176.658936 m,
      bearing: 138.537556 deg,
      approach rate: -0.690894 m/s,
      LOS rate: -0.000804 deg/s,
      cmd heading: 141.659421 deg,
      new cmd heading: 141.658534 deg.

2025-08-09T16:49:40.307Z,1754758180.307 [DAT](INFO): ****** received valid address query ******
2025-08-09T16:49:40.307Z,1754758180.307 [DAT](INFO): ****** received valid ping request ******
2025-08-09T16:49:40.307Z,1754758180.307 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-09T16:49:40.488Z,1754758180.488 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 179.10 m.
2025-08-09T16:49:40.493Z,1754758180.493 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 179.100006 m,
      nav range: 176.386307 m,
      bearing: 138.537817 deg,
      approach rate: -0.638357 m/s,
      LOS rate: 0.000612 deg/s,
      cmd heading: 141.658533 deg,
      new cmd heading: 141.659318 deg.

2025-08-09T16:49:40.561Z,1754758180.561 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.976603
2025-08-09T16:49:40.811Z,1754758180.811 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.227750
2025-08-09T16:49:40.864Z,1754758180.864 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 179.10 m.
2025-08-09T16:49:40.868Z,1754758180.868 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 179.100006 m,
      nav range: 176.138123 m,
      bearing: 138.538077 deg,
      approach rate: -0.659635 m/s,
      LOS rate: 0.000692 deg/s,
      cmd heading: 141.659312 deg,
      new cmd heading: 141.660093 deg.

2025-08-09T16:49:41.063Z,1754758181.063 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.479667
2025-08-09T16:49:41.316Z,1754758181.316 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.732041
2025-08-09T16:49:41.352Z,1754758181.352 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 179.10 m.
2025-08-09T16:49:41.355Z,1754758181.355 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 179.100006 m,
      nav range: 175.827209 m,
      bearing: 138.537190 deg,
      approach rate: -0.637369 m/s,
      LOS rate: -0.001822 deg/s,
      cmd heading: 141.660090 deg,
      new cmd heading: 141.657424 deg.

2025-08-09T16:49:41.567Z,1754758181.567 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.983695
2025-08-09T16:49:41.672Z,1754758181.672 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 179.10 m.
2025-08-09T16:49:41.675Z,1754758181.675 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 179.100006 m,
      nav range: 175.622986 m,
      bearing: 138.536630 deg,
      approach rate: -0.638239 m/s,
      LOS rate: -0.001753 deg/s,
      cmd heading: 141.657427 deg,
      new cmd heading: 141.655744 deg.

2025-08-09T16:49:41.819Z,1754758181.819 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.235798
2025-08-09T16:49:42.069Z,1754758182.069 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-09T16:49:42.071Z,1754758182.071 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.487803
2025-08-09T16:49:42.073Z,1754758182.073 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 179.10 m.
2025-08-09T16:49:42.092Z,1754758182.092 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 179.100006 m,
      nav range: 175.368469 m,
      bearing: 138.535949 deg,
      approach rate: -0.634708 m/s,
      LOS rate: -0.001699 deg/s,
      cmd heading: 141.655746 deg,
      new cmd heading: 141.653702 deg.

2025-08-09T16:49:42.326Z,1754758182.326 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.742315
2025-08-09T16:49:42.515Z,1754758182.515 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 179.10 m.
2025-08-09T16:49:42.517Z,1754758182.517 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 179.100006 m,
      nav range: 175.085297 m,
      bearing: 138.535196 deg,
      approach rate: -0.641302 m/s,
      LOS rate: -0.001708 deg/s,
      cmd heading: 141.653697 deg,
      new cmd heading: 141.651435 deg.

2025-08-09T16:49:42.576Z,1754758182.576 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.992497
2025-08-09T16:49:42.828Z,1754758182.828 [DAT](INFO): DAT read: Rx Time:16:49:41.6342

2025-08-09T16:49:42.828Z,1754758182.828 [DAT](INFO): Rx dataTimestamp_ set to:1754758182.827777
2025-08-09T16:49:42.829Z,1754758182.829 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.245042
2025-08-09T16:49:42.919Z,1754758182.919 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 179.10 m.
2025-08-09T16:49:42.921Z,1754758182.921 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 179.100006 m,
      nav range: 174.832169 m,
      bearing: 138.534588 deg,
      approach rate: -0.639051 m/s,
      LOS rate: -0.001539 deg/s,
      cmd heading: 141.651430 deg,
      new cmd heading: 141.649601 deg.

2025-08-09T16:49:43.079Z,1754758183.079 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.495799
2025-08-09T16:49:43.337Z,1754758183.337 [DAT](INFO): DAT read: 16:49:41.6342 LVL= 25424, 32753, 23538, 32755, AGC= 64, IDX= 408,-0.35, 1.511,-0.178, 1.869, 1.431, PHS= 0.181,-1.565, 0.394, RAW= 155.7,  10.6, CAL= 155.6,  11.7, ROT= 354.4, -11.7

2025-08-09T16:49:43.338Z,1754758183.338 [DAT](INFO): got valid direction response:
 16:49:41.6342 LVL= 25424, 32753, 23538, 32755, AGC= 64, IDX= 408,-0.35, 1.511,-0.178, 1.869, 1.431, PHS= 0.181,-1.565, 0.394, RAW= 155.7,  10.6, CAL= 155.6,  11.7, ROT= 354.4, -11.7

2025-08-09T16:49:43.339Z,1754758183.339 [DAT](INFO): DAT read: Bearing 313.4,  -7.7 (Local)

2025-08-09T16:49:43.339Z,1754758183.339 [DAT](INFO): Local bearing/azimuth received:
 Bearing 313.4,  -7.7 (Local)

2025-08-09T16:49:43.341Z,1754758183.341 [DAT](INFO): DAT read: Range 11 to 50 : 176.6 m  (Round-trip  235.5 ms) speed  0.4 m/s

2025-08-09T16:49:43.341Z,1754758183.341 [DAT](INFO): DAT read: user:138>

2025-08-09T16:49:43.342Z,1754758183.342 [DAT](INFO): DAT read: Tx time:16:49:42.7446

2025-08-09T16:49:43.343Z,1754758183.343 [DAT](INFO): Ping request sent.
2025-08-09T16:49:43.343Z,1754758183.343 [DAT](INFO): transmitted an acoustic signal
2025-08-09T16:49:43.343Z,1754758183.343 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-09T16:49:43.344Z,1754758183.344 [DAT](INFO): direction in FSK: [0.974549,-0.095556,0.202787]
2025-08-09T16:49:43.344Z,1754758183.344 [DAT](INFO): publishing transmit ping time
2025-08-09T16:49:43.344Z,1754758183.344 [DAT](INFO): publishing direction and range info
2025-08-09T16:49:43.348Z,1754758183.348 [DAT](INFO): publishing transmit ping time
2025-08-09T16:49:43.348Z,1754758183.348 [DAT](INFO): publishing direction and range info
2025-08-09T16:49:43.386Z,1754758183.386 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 176.600006 m,
      deltaT: 3.780019 s,
      deltaX: -2.500000 m,
      approachRate: -0.661372 m/s,
      rangeRepo size: 4

2025-08-09T16:49:43.396Z,1754758183.396 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 176.600006 m,
      bearing: 138.264581 deg,
      lat: 36.906038 deg,
      lon: -122.115944 deg,
      deltaT: 3.780019 s,
      deltaX: -2.500000 m,
      approachRate: -0.661372 m/s,
      posRepo size: 4

2025-08-09T16:49:43.397Z,1754758183.397 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 176.60 m.
2025-08-09T16:49:43.404Z,1754758183.404 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 176.600006 m,
      nav range: 174.116943 m,
      bearing: 138.264581 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.001539 deg/s,
      cmd heading: 141.649599 deg,
      new cmd heading: 141.647408 deg.

2025-08-09T16:49:43.777Z,1754758183.777 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 176.60 m.
2025-08-09T16:49:43.780Z,1754758183.780 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 176.600006 m,
      nav range: 173.849319 m,
      bearing: 138.265615 deg,
      approach rate: -0.683860 m/s,
      LOS rate: 0.002646 deg/s,
      cmd heading: 141.647414 deg,
      new cmd heading: 141.650521 deg.

2025-08-09T16:49:44.152Z,1754758184.152 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-09T16:49:44.154Z,1754758184.154 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 176.60 m.
2025-08-09T16:49:44.157Z,1754758184.157 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 176.600006 m,
      nav range: 173.606689 m,
      bearing: 138.266716 deg,
      approach rate: -0.642865 m/s,
      LOS rate: 0.002922 deg/s,
      cmd heading: 141.650515 deg,
      new cmd heading: 141.653823 deg.

2025-08-09T16:49:44.342Z,1754758184.342 [DAT](INFO): ****** received valid address query ******
2025-08-09T16:49:44.343Z,1754758184.343 [DAT](INFO): ****** received valid ping request ******
2025-08-09T16:49:44.343Z,1754758184.343 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-09T16:49:44.586Z,1754758184.586 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 176.60 m.
2025-08-09T16:49:44.589Z,1754758184.589 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 176.600006 m,
      nav range: 173.344360 m,
      bearing: 138.267987 deg,
      approach rate: -0.612644 m/s,
      LOS rate: 0.002972 deg/s,
      cmd heading: 141.653820 deg,
      new cmd heading: 141.657638 deg.

2025-08-09T16:49:44.591Z,1754758184.591 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.248753
2025-08-09T16:49:44.844Z,1754758184.844 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.501234
2025-08-09T16:49:44.951Z,1754758184.951 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 176.60 m.
2025-08-09T16:49:44.954Z,1754758184.954 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 176.600006 m,
      nav range: 173.099579 m,
      bearing: 138.269235 deg,
      approach rate: -0.663404 m/s,
      LOS rate: 0.003387 deg/s,
      cmd heading: 141.657632 deg,
      new cmd heading: 141.661381 deg.

2025-08-09T16:49:45.096Z,1754758185.096 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.752842
2025-08-09T16:49:45.350Z,1754758185.350 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.007059
2025-08-09T16:49:45.412Z,1754758185.412 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 176.60 m.
2025-08-09T16:49:45.415Z,1754758185.415 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 176.600006 m,
      nav range: 172.805145 m,
      bearing: 138.272560 deg,
      approach rate: -0.638944 m/s,
      LOS rate: 0.007228 deg/s,
      cmd heading: 141.661375 deg,
      new cmd heading: 141.671367 deg.

2025-08-09T16:49:45.599Z,1754758185.599 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.256488
2025-08-09T16:49:45.775Z,1754758185.775 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 176.60 m.
2025-08-09T16:49:45.778Z,1754758185.778 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 176.600006 m,
      nav range: 172.584869 m,
      bearing: 138.275114 deg,
      approach rate: -0.606023 m/s,
      LOS rate: 0.007035 deg/s,
      cmd heading: 141.671374 deg,
      new cmd heading: 141.679045 deg.

2025-08-09T16:49:45.852Z,1754758185.852 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.509243
2025-08-09T16:49:46.103Z,1754758186.103 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.760589
2025-08-09T16:49:46.157Z,1754758186.157 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-09T16:49:46.159Z,1754758186.159 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 176.60 m.
2025-08-09T16:49:46.162Z,1754758186.162 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 176.600006 m,
      nav range: 172.327744 m,
      bearing: 138.278130 deg,
      approach rate: -0.670353 m/s,
      LOS rate: 0.007874 deg/s,
      cmd heading: 141.679051 deg,
      new cmd heading: 141.688111 deg.

2025-08-09T16:49:46.360Z,1754758186.360 [DAT](INFO): DAT read: Rx Time:16:49:45.3809

2025-08-09T16:49:46.362Z,1754758186.362 [DAT](INFO): Rx dataTimestamp_ set to:1754758186.360996
2025-08-09T16:49:46.364Z,1754758186.364 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.020729
2025-08-09T16:49:46.588Z,1754758186.588 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 176.60 m.
2025-08-09T16:49:46.590Z,1754758186.590 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 176.600006 m,
      nav range: 172.049179 m,
      bearing: 138.281442 deg,
      approach rate: -0.650113 m/s,
      LOS rate: 0.007743 deg/s,
      cmd heading: 141.688108 deg,
      new cmd heading: 141.698061 deg.

2025-08-09T16:49:46.609Z,1754758186.609 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.266647
2025-08-09T16:49:46.860Z,1754758186.860 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.517106
2025-08-09T16:49:46.990Z,1754758186.990 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 176.60 m.
2025-08-09T16:49:46.995Z,1754758186.995 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 176.600006 m,
      nav range: 171.791962 m,
      bearing: 138.284526 deg,
      approach rate: -0.640140 m/s,
      LOS rate: 0.007687 deg/s,
      cmd heading: 141.698066 deg,
      new cmd heading: 141.707333 deg.

2025-08-09T16:49:47.119Z,1754758187.119 [DAT](INFO): DAT read: 16:49:45.3809 LVL= 25568, 32753, 22562, 32755, AGC= 69, IDX= 406, 0.14,-0.275,-1.955, 0.093,-0.431, PHS= 0.257,-1.479, 0.480, RAW= 156.0,   8.0, CAL= 155.5,   8.4, ROT= 354.5,  -8.4

2025-08-09T16:49:47.120Z,1754758187.120 [DAT](INFO): got valid direction response:
 16:49:45.3809 LVL= 25568, 32753, 22562, 32755, AGC= 69, IDX= 406, 0.14,-0.275,-1.955, 0.093,-0.431, PHS= 0.257,-1.479, 0.480, RAW= 156.0,   8.0, CAL= 155.5,   8.4, ROT= 354.5,  -8.4

2025-08-09T16:49:47.121Z,1754758187.121 [DAT](INFO): DAT read: Bearing 309.8,  -7.4 (Local)

2025-08-09T16:49:47.121Z,1754758187.121 [DAT](INFO): Local bearing/azimuth received:
 Bearing 309.8,  -7.4 (Local)

2025-08-09T16:49:47.123Z,1754758187.123 [DAT](INFO): DAT read: Range 11 to 50 : 174.1 m  (Round-trip  232.2 ms) speed  0.7 m/s

2025-08-09T16:49:47.123Z,1754758187.123 [DAT](INFO): DAT read: user:139>

2025-08-09T16:49:47.124Z,1754758187.124 [DAT](INFO): DAT read: Tx time:16:49:46.4946

2025-08-09T16:49:47.124Z,1754758187.124 [DAT](INFO): Ping request sent.
2025-08-09T16:49:47.125Z,1754758187.125 [DAT](INFO): transmitted an acoustic signal
2025-08-09T16:49:47.125Z,1754758187.125 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-09T16:49:47.126Z,1754758187.126 [DAT](INFO): direction in FSK: [0.984718,-0.094818,0.146083]
2025-08-09T16:49:47.126Z,1754758187.126 [DAT](INFO): publishing transmit ping time
2025-08-09T16:49:47.127Z,1754758187.127 [DAT](INFO): publishing direction and range info
2025-08-09T16:49:47.130Z,1754758187.130 [DAT](INFO): publishing transmit ping time
2025-08-09T16:49:47.130Z,1754758187.130 [DAT](INFO): publishing direction and range info
2025-08-09T16:49:47.432Z,1754758187.432 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 174.100006 m,
      deltaT: 3.780282 s,
      deltaX: -2.500000 m,
      approachRate: -0.661326 m/s,
      rangeRepo size: 4

2025-08-09T16:49:47.434Z,1754758187.434 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 174.100006 m,
      bearing: 138.285965 deg,
      lat: 36.906038 deg,
      lon: -122.115944 deg,
      deltaT: 3.780282 s,
      deltaX: -2.500000 m,
      approachRate: -0.661326 m/s,
      posRepo size: 4

2025-08-09T16:49:47.435Z,1754758187.435 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 174.10 m.
2025-08-09T16:49:47.438Z,1754758187.438 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 174.100006 m,
      nav range: 171.508194 m,
      bearing: 138.285965 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.007687 deg/s,
      cmd heading: 141.707328 deg,
      new cmd heading: 141.717505 deg.

2025-08-09T16:49:47.810Z,1754758187.810 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 174.10 m.
2025-08-09T16:49:47.817Z,1754758187.817 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 174.100006 m,
      nav range: 171.267883 m,
      bearing: 138.287125 deg,
      approach rate: -0.634013 m/s,
      LOS rate: 0.003065 deg/s,
      cmd heading: 141.717505 deg,
      new cmd heading: 141.720990 deg.

2025-08-09T16:49:48.216Z,1754758188.216 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-09T16:49:48.218Z,1754758188.218 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 174.10 m.
2025-08-09T16:49:48.221Z,1754758188.221 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 174.100006 m,
      nav range: 171.003708 m,
      bearing: 138.288284 deg,
      approach rate: -0.646560 m/s,
      LOS rate: 0.002841 deg/s,
      cmd heading: 141.720988 deg,
      new cmd heading: 141.724470 deg.

2025-08-09T16:49:48.374Z,1754758188.374 [DAT](INFO): ****** received valid address query ******
2025-08-09T16:49:48.374Z,1754758188.374 [DAT](INFO): ****** received valid ping request ******
2025-08-09T16:49:48.375Z,1754758188.375 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-09T16:49:48.623Z,1754758188.623 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.498763
2025-08-09T16:49:48.649Z,1754758188.649 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 174.10 m.
2025-08-09T16:49:48.652Z,1754758188.652 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 174.100006 m,
      nav range: 170.730240 m,
      bearing: 138.293287 deg,
      approach rate: -0.634807 m/s,
      LOS rate: 0.011631 deg/s,
      cmd heading: 141.724472 deg,
      new cmd heading: 141.739503 deg.

2025-08-09T16:49:48.876Z,1754758188.876 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.751562
2025-08-09T16:49:49.025Z,1754758189.025 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 174.10 m.
2025-08-09T16:49:49.028Z,1754758189.028 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 174.100006 m,
      nav range: 170.493301 m,
      bearing: 138.297459 deg,
      approach rate: -0.629347 m/s,
      LOS rate: 0.011099 deg/s,
      cmd heading: 141.739498 deg,
      new cmd heading: 141.752034 deg.

2025-08-09T16:49:49.127Z,1754758189.127 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.002857
2025-08-09T16:49:49.381Z,1754758189.381 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.256463
2025-08-09T16:49:49.499Z,1754758189.499 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 174.10 m.
2025-08-09T16:49:49.501Z,1754758189.501 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 174.100006 m,
      nav range: 170.211029 m,
      bearing: 138.304227 deg,
      approach rate: -0.598975 m/s,
      LOS rate: 0.014384 deg/s,
      cmd heading: 141.752038 deg,
      new cmd heading: 141.772375 deg.

2025-08-09T16:49:49.634Z,1754758189.634 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.509392
2025-08-09T16:49:49.825Z,1754758189.825 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 174.10 m.
2025-08-09T16:49:49.828Z,1754758189.828 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 174.100006 m,
      nav range: 169.985062 m,
      bearing: 138.309634 deg,
      approach rate: -0.687466 m/s,
      LOS rate: 0.016472 deg/s,
      cmd heading: 141.772379 deg,
      new cmd heading: 141.788621 deg.

2025-08-09T16:49:49.888Z,1754758189.888 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.763556
2025-08-09T16:49:50.139Z,1754758190.139 [DAT](INFO): DAT read: Rx Time:16:49:49.1279

2025-08-09T16:49:50.140Z,1754758190.140 [DAT](INFO): Rx dataTimestamp_ set to:1754758190.139472
2025-08-09T16:49:50.140Z,1754758190.140 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.015761
2025-08-09T16:49:50.249Z,1754758190.249 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-09T16:49:50.252Z,1754758190.252 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 174.10 m.
2025-08-09T16:49:50.254Z,1754758190.254 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 174.100006 m,
      nav range: 169.714050 m,
      bearing: 138.316078 deg,
      approach rate: -0.635981 m/s,
      LOS rate: 0.015146 deg/s,
      cmd heading: 141.788621 deg,
      new cmd heading: 141.807984 deg.

2025-08-09T16:49:50.394Z,1754758190.394 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.268986
2025-08-09T16:49:50.646Z,1754758190.646 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.521024
2025-08-09T16:49:50.723Z,1754758190.723 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 174.10 m.
2025-08-09T16:49:50.725Z,1754758190.725 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 174.100006 m,
      nav range: 169.427002 m,
      bearing: 138.319330 deg,
      approach rate: -0.609819 m/s,
      LOS rate: 0.006921 deg/s,
      cmd heading: 141.807978 deg,
      new cmd heading: 141.817751 deg.

2025-08-09T16:49:50.917Z,1754758190.917 [DAT](INFO): DAT read: 16:49:49.1279 LVL= 31696, 32753, 30738, 32755, AGC= 67, IDX= 407, 0.02,-2.870, 1.783,-2.540,-3.016, PHS= 0.248,-1.439, 0.431, RAW= 155.1,   8.6, CAL= 154.7,   9.1, ROT= 355.3,  -9.1

2025-08-09T16:49:50.923Z,1754758190.923 [DAT](INFO): got valid direction response:
 16:49:49.1279 LVL= 31696, 32753, 30738, 32755, AGC= 67, IDX= 407, 0.02,-2.870, 1.783,-2.540,-3.016, PHS= 0.248,-1.439, 0.431, RAW= 155.1,   8.6, CAL= 154.7,   9.1, ROT= 355.3,  -9.1

2025-08-09T16:49:50.924Z,1754758190.924 [DAT](INFO): DAT read: Bearing 310.7,  -6.6 (Local)

2025-08-09T16:49:50.924Z,1754758190.924 [DAT](INFO): Local bearing/azimuth received:
 Bearing 310.7,  -6.6 (Local)

2025-08-09T16:49:50.925Z,1754758190.925 [DAT](INFO): DAT read: Range 11 to 50 : 171.8 m  (Round-trip  229.1 ms) speed  0.6 m/s

2025-08-09T16:49:50.952Z,1754758190.952 [DAT](INFO): DAT read: user:140>

2025-08-09T16:49:50.953Z,1754758190.953 [DAT](INFO): DAT read: Tx time:16:49:50.2446

2025-08-09T16:49:50.953Z,1754758190.953 [DAT](INFO): Ping request sent.
2025-08-09T16:49:50.953Z,1754758190.953 [DAT](INFO): transmitted an acoustic signal
2025-08-09T16:49:50.953Z,1754758190.953 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-09T16:49:50.976Z,1754758190.976 [DAT](INFO): direction in FSK: [0.984094,-0.080907,0.158158]
2025-08-09T16:49:50.976Z,1754758190.976 [DAT](INFO): publishing transmit ping time
2025-08-09T16:49:50.977Z,1754758190.977 [DAT](INFO): publishing direction and range info
2025-08-09T16:49:50.994Z,1754758190.994 [DAT](INFO): publishing transmit ping time
2025-08-09T16:49:50.995Z,1754758190.995 [DAT](INFO): publishing direction and range info
2025-08-09T16:49:51.089Z,1754758191.089 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 171.800003 m,
      deltaT: 3.783828 s,
      deltaX: -2.300003 m,
      approachRate: -0.607851 m/s,
      rangeRepo size: 4

2025-08-09T16:49:51.099Z,1754758191.099 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 171.800003 m,
      bearing: 138.171829 deg,
      lat: 36.906038 deg,
      lon: -122.115937 deg,
      deltaT: 3.783828 s,
      deltaX: -2.300003 m,
      approachRate: -0.607851 m/s,
      posRepo size: 4

2025-08-09T16:49:51.100Z,1754758191.100 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 171.80 m.
2025-08-09T16:49:51.111Z,1754758191.111 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 171.800003 m,
      nav range: 169.612991 m,
      bearing: 138.171829 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.006921 deg/s,
      cmd heading: 141.817745 deg,
      new cmd heading: 141.825339 deg.

2025-08-09T16:49:51.585Z,1754758191.585 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 171.80 m.
2025-08-09T16:49:51.588Z,1754758191.588 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 171.800003 m,
      nav range: 169.305817 m,
      bearing: 138.173720 deg,
      approach rate: -0.617754 m/s,
      LOS rate: 0.003810 deg/s,
      cmd heading: 141.825340 deg,
      new cmd heading: 141.831023 deg.

2025-08-09T16:49:51.920Z,1754758191.920 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 171.80 m.
2025-08-09T16:49:51.923Z,1754758191.923 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 171.800003 m,
      nav range: 169.094437 m,
      bearing: 138.175007 deg,
      approach rate: -0.632030 m/s,
      LOS rate: 0.003853 deg/s,
      cmd heading: 141.831023 deg,
      new cmd heading: 141.834889 deg.

2025-08-09T16:49:52.325Z,1754758192.325 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-09T16:49:52.327Z,1754758192.327 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 171.80 m.
2025-08-09T16:49:52.329Z,1754758192.329 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 171.800003 m,
      nav range: 168.849686 m,
      bearing: 138.176502 deg,
      approach rate: -0.601222 m/s,
      LOS rate: 0.003676 deg/s,
      cmd heading: 141.834889 deg,
      new cmd heading: 141.839378 deg.

2025-08-09T16:49:52.414Z,1754758192.414 [DAT](INFO): ****** received valid address query ******
2025-08-09T16:49:52.415Z,1754758192.415 [DAT](INFO): ****** received valid ping request ******
2025-08-09T16:49:52.415Z,1754758192.415 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-09T16:49:52.663Z,1754758192.663 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.710220
2025-08-09T16:49:52.785Z,1754758192.785 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 171.80 m.
2025-08-09T16:49:52.795Z,1754758192.795 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 171.800003 m,
      nav range: 168.578812 m,
      bearing: 138.175196 deg,
      approach rate: -0.591153 m/s,
      LOS rate: -0.002854 deg/s,
      cmd heading: 141.839383 deg,
      new cmd heading: 141.835460 deg.

2025-08-09T16:49:52.916Z,1754758192.916 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.962670
2025-08-09T16:49:53.111Z,1754758193.111 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 171.80 m.
2025-08-09T16:49:53.114Z,1754758193.114 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 171.800003 m,
      nav range: 168.360809 m,
      bearing: 138.174188 deg,
      approach rate: -0.668452 m/s,
      LOS rate: -0.003094 deg/s,
      cmd heading: 141.835462 deg,
      new cmd heading: 141.832435 deg.

2025-08-09T16:49:53.169Z,1754758193.169 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.215731
2025-08-09T16:49:53.423Z,1754758193.423 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.468712
2025-08-09T16:49:53.541Z,1754758193.541 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 171.80 m.
2025-08-09T16:49:53.544Z,1754758193.544 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 171.800003 m,
      nav range: 168.078918 m,
      bearing: 138.171990 deg,
      approach rate: -0.655644 m/s,
      LOS rate: -0.005123 deg/s,
      cmd heading: 141.832430 deg,
      new cmd heading: 141.825822 deg.

2025-08-09T16:49:53.671Z,1754758193.671 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.718248
2025-08-09T16:49:53.919Z,1754758193.919 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 171.80 m.
2025-08-09T16:49:53.923Z,1754758193.923 [DAT](INFO): DAT read: Rx Time:16:49:52.8746

2025-08-09T16:49:53.924Z,1754758193.924 [DAT](INFO): Rx dataTimestamp_ set to:1754758193.923607
2025-08-09T16:49:53.924Z,1754758193.924 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.971418
2025-08-09T16:49:53.925Z,1754758193.925 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 171.800003 m,
      nav range: 167.830688 m,
      bearing: 138.170049 deg,
      approach rate: -0.656077 m/s,
      LOS rate: -0.005137 deg/s,
      cmd heading: 141.825818 deg,
      new cmd heading: 141.819988 deg.

2025-08-09T16:49:54.175Z,1754758194.175 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.222244
2025-08-09T16:49:54.321Z,1754758194.321 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 171.80 m.
2025-08-09T16:49:54.324Z,1754758194.324 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 171.800003 m,
      nav range: 167.566864 m,
      bearing: 138.168043 deg,
      approach rate: -0.656182 m/s,
      LOS rate: -0.004996 deg/s,
      cmd heading: 141.819985 deg,
      new cmd heading: 141.813959 deg.

2025-08-09T16:49:54.490Z,1754758194.490 [DAT](INFO): DAT read: 16:49:52.8746 LVL= 30768, 32753, 31218, 32755, AGC= 64, IDX= 407,-0.36, 0.237,-1.369, 0.575, 0.145, PHS= 0.194,-1.469, 0.386, RAW= 155.4,  10.1, CAL= 155.3,  11.0, ROT= 354.7, -11.0

2025-08-09T16:49:54.512Z,1754758194.512 [DAT](INFO): got valid direction response:
 16:49:52.8746 LVL= 30768, 32753, 31218, 32755, AGC= 64, IDX= 407,-0.36, 0.237,-1.369, 0.575, 0.145, PHS= 0.194,-1.469, 0.386, RAW= 155.4,  10.1, CAL= 155.3,  11.0, ROT= 354.7, -11.0

2025-08-09T16:49:54.513Z,1754758194.513 [DAT](INFO): DAT read: Bearing 312.5,  -7.2 (Local)

2025-08-09T16:49:54.513Z,1754758194.513 [DAT](INFO): Local bearing/azimuth received:
 Bearing 312.5,  -7.2 (Local)

2025-08-09T16:49:54.520Z,1754758194.520 [DAT](INFO): DAT read: Range 11 to 50 : 169.4 m  (Round-trip  225.9 ms) speed  0.3 m/s

2025-08-09T16:49:54.521Z,1754758194.521 [DAT](INFO): DAT read: user:141>

2025-08-09T16:49:54.522Z,1754758194.522 [DAT](INFO): DAT read: Tx time:16:49:53.9945

2025-08-09T16:49:54.528Z,1754758194.528 [DAT](INFO): Ping request sent.
2025-08-09T16:49:54.528Z,1754758194.528 [DAT](INFO): transmitted an acoustic signal
2025-08-09T16:49:54.528Z,1754758194.528 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-09T16:49:54.529Z,1754758194.529 [DAT](INFO): direction in FSK: [0.977430,-0.090673,0.190809]
2025-08-09T16:49:54.529Z,1754758194.529 [DAT](INFO): publishing transmit ping time
2025-08-09T16:49:54.529Z,1754758194.529 [DAT](INFO): publishing direction and range info
2025-08-09T16:49:54.547Z,1754758194.547 [DAT](INFO): publishing transmit ping time
2025-08-09T16:49:54.548Z,1754758194.548 [DAT](INFO): publishing direction and range info
2025-08-09T16:49:54.759Z,1754758194.759 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 169.399994 m,
      deltaT: 3.538657 s,
      deltaX: -2.400009 m,
      approachRate: -0.678226 m/s,
      rangeRepo size: 4

2025-08-09T16:49:54.761Z,1754758194.761 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 169.399994 m,
      bearing: 137.904251 deg,
      lat: 36.906048 deg,
      lon: -122.115937 deg,
      deltaT: 3.538657 s,
      deltaX: -2.400009 m,
      approachRate: -0.678226 m/s,
      posRepo size: 4

2025-08-09T16:49:54.762Z,1754758194.762 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 169.40 m.
2025-08-09T16:49:54.765Z,1754758194.765 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 169.399994 m,
      nav range: 166.450989 m,
      bearing: 137.904251 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.004996 deg/s,
      cmd heading: 141.813961 deg,
      new cmd heading: 141.807412 deg.

2025-08-09T16:49:55.138Z,1754758195.138 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-09T16:49:55.144Z,1754758195.144 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 169.40 m.
2025-08-09T16:49:55.148Z,1754758195.148 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 169.399994 m,
      nav range: 166.206451 m,
      bearing: 137.900208 deg,
      approach rate: -0.633856 m/s,
      LOS rate: -0.010497 deg/s,
      cmd heading: 141.807418 deg,
      new cmd heading: 141.795269 deg.

2025-08-09T16:49:55.187Z,1754758195.187 [DAT](INFO): ****** received valid address query ******
2025-08-09T16:49:55.187Z,1754758195.187 [DAT](INFO): ****** received valid ping request ******
2025-08-09T16:49:55.188Z,1754758195.188 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-09T16:49:55.440Z,1754758195.440 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.911542
2025-08-09T16:49:55.576Z,1754758195.576 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 169.40 m.
2025-08-09T16:49:55.579Z,1754758195.579 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 169.399994 m,
      nav range: 165.911652 m,
      bearing: 137.893823 deg,
      approach rate: -0.683133 m/s,
      LOS rate: -0.014822 deg/s,
      cmd heading: 141.795274 deg,
      new cmd heading: 141.776085 deg.

2025-08-09T16:49:55.691Z,1754758195.691 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.163549
2025-08-09T16:49:55.939Z,1754758195.939 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 169.40 m.
2025-08-09T16:49:55.941Z,1754758195.941 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 169.399994 m,
      nav range: 165.680511 m,
      bearing: 137.888782 deg,
      approach rate: -0.651674 m/s,
      LOS rate: -0.014234 deg/s,
      cmd heading: 141.776081 deg,
      new cmd heading: 141.760935 deg.

2025-08-09T16:49:55.943Z,1754758195.943 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.415736
2025-08-09T16:49:56.196Z,1754758196.196 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.667819
2025-08-09T16:49:56.336Z,1754758196.336 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 169.40 m.
2025-08-09T16:49:56.339Z,1754758196.339 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 169.399994 m,
      nav range: 165.415955 m,
      bearing: 137.882934 deg,
      approach rate: -0.651534 m/s,
      LOS rate: -0.014423 deg/s,
      cmd heading: 141.760931 deg,
      new cmd heading: 141.743361 deg.

2025-08-09T16:49:56.449Z,1754758196.449 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.921454
2025-08-09T16:49:56.699Z,1754758196.699 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.171638
2025-08-09T16:49:56.771Z,1754758196.771 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 169.40 m.
2025-08-09T16:49:56.773Z,1754758196.773 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 169.399994 m,
      nav range: 165.123474 m,
      bearing: 137.877698 deg,
      approach rate: -0.674063 m/s,
      LOS rate: -0.012089 deg/s,
      cmd heading: 141.743364 deg,
      new cmd heading: 141.727628 deg.

2025-08-09T16:49:56.952Z,1754758196.952 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.424368
2025-08-09T16:49:57.141Z,1754758197.141 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-09T16:49:57.144Z,1754758197.144 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 169.40 m.
2025-08-09T16:49:57.147Z,1754758197.147 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 169.399994 m,
      nav range: 164.872070 m,
      bearing: 137.873176 deg,
      approach rate: -0.673445 m/s,
      LOS rate: -0.012132 deg/s,
      cmd heading: 141.727627 deg,
      new cmd heading: 141.714040 deg.

2025-08-09T16:49:57.204Z,1754758197.204 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.676365
2025-08-09T16:49:57.459Z,1754758197.459 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.930849
2025-08-09T16:49:57.589Z,1754758197.589 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 169.40 m.
2025-08-09T16:49:57.592Z,1754758197.592 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 169.399994 m,
      nav range: 164.560822 m,
      bearing: 137.869140 deg,
      approach rate: -0.699060 m/s,
      LOS rate: -0.009083 deg/s,
      cmd heading: 141.714035 deg,
      new cmd heading: 141.701904 deg.

2025-08-09T16:49:57.708Z,1754758197.708 [DAT](INFO): DAT read: Rx Time:16:49:56.6212

2025-08-09T16:49:57.708Z,1754758197.708 [DAT](INFO): Rx dataTimestamp_ set to:1754758197.707805
2025-08-09T16:49:57.709Z,1754758197.709 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.180947
2025-08-09T16:49:57.960Z,1754758197.960 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.432213
2025-08-09T16:49:57.965Z,1754758197.965 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 169.40 m.
2025-08-09T16:49:57.986Z,1754758197.986 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 169.399994 m,
      nav range: 164.300018 m,
      bearing: 137.865748 deg,
      approach rate: -0.693498 m/s,
      LOS rate: -0.009034 deg/s,
      cmd heading: 141.701905 deg,
      new cmd heading: 141.691712 deg.

2025-08-09T16:49:58.218Z,1754758198.218 [DAT](INFO): DAT read: 16:49:56.6212 LVL= 31376, 32753, 26658, 32755, AGC= 69, IDX= 404,-0.29,-0.611,-2.195,-0.260,-0.739, PHS= 0.231,-1.411, 0.435, RAW= 155.8,   8.5, CAL= 155.4,   9.0, ROT= 354.6,  -9.0

2025-08-09T16:49:58.219Z,1754758198.219 [DAT](INFO): got valid direction response:
 16:49:56.6212 LVL= 31376, 32753, 26658, 32755, AGC= 69, IDX= 404,-0.29,-0.611,-2.195,-0.260,-0.739, PHS= 0.231,-1.411, 0.435, RAW= 155.8,   8.5, CAL= 155.4,   9.0, ROT= 354.6,  -9.0

2025-08-09T16:49:58.220Z,1754758198.220 [DAT](INFO): DAT read: Bearing 310.7,  -7.3 (Local)

2025-08-09T16:49:58.220Z,1754758198.220 [DAT](INFO): Local bearing/azimuth received:
 Bearing 310.7,  -7.3 (Local)

2025-08-09T16:49:58.222Z,1754758198.222 [DAT](INFO): DAT read: Range 11 to 50 : 166.9 m  (Round-trip  222.6 ms) speed  0.7 m/s

2025-08-09T16:49:58.223Z,1754758198.223 [DAT](INFO): DAT read: user:142>

2025-08-09T16:49:58.223Z,1754758198.223 [DAT](INFO): DAT read: Tx time:16:49:57.7445

2025-08-09T16:49:58.224Z,1754758198.224 [DAT](INFO): Ping request sent.
2025-08-09T16:49:58.224Z,1754758198.224 [DAT](INFO): transmitted an acoustic signal
2025-08-09T16:49:58.224Z,1754758198.224 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-09T16:49:58.225Z,1754758198.225 [DAT](INFO): direction in FSK: [0.983305,-0.092950,0.156434]
2025-08-09T16:49:58.225Z,1754758198.225 [DAT](INFO): publishing transmit ping time
2025-08-09T16:49:58.226Z,1754758198.226 [DAT](INFO): publishing direction and range info
2025-08-09T16:49:58.229Z,1754758198.229 [DAT](INFO): publishing transmit ping time
2025-08-09T16:49:58.229Z,1754758198.229 [DAT](INFO): publishing direction and range info
2025-08-09T16:49:58.388Z,1754758198.388 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 166.899994 m,
      deltaT: 3.777723 s,
      deltaX: -2.500000 m,
      approachRate: -0.661774 m/s,
      rangeRepo size: 4

2025-08-09T16:49:58.394Z,1754758198.394 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 166.899994 m,
      bearing: 137.787119 deg,
      lat: 36.906048 deg,
      lon: -122.115934 deg,
      deltaT: 3.777723 s,
      deltaX: -2.500000 m,
      approachRate: -0.661774 m/s,
      posRepo size: 4

2025-08-09T16:49:58.398Z,1754758198.398 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 166.90 m.
2025-08-09T16:49:58.405Z,1754758198.405 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 166.899994 m,
      nav range: 164.200775 m,
      bearing: 137.787119 deg,
      approach rate: 248669551503558277452314313266 m/s,
      LOS rate: -0.009034 deg/s,
      cmd heading: 141.691714 deg,
      new cmd heading: 141.680262 deg.

2025-08-09T16:49:58.800Z,1754758198.800 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 166.90 m.
2025-08-09T16:49:58.807Z,1754758198.807 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 166.899994 m,
      nav range: 163.922470 m,
      bearing: 137.783413 deg,
      approach rate: -0.675391 m/s,
      LOS rate: -0.009009 deg/s,
      cmd heading: 141.680267 deg,
      new cmd heading: 141.669130 deg.

2025-08-09T16:49:59.168Z,1754758199.168 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-09T16:49:59.170Z,1754758199.170 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 166.90 m.
2025-08-09T16:49:59.173Z,1754758199.173 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 166.899994 m,
      nav range: 163.657471 m,
      bearing: 137.779846 deg,
      approach rate: -0.716147 m/s,
      LOS rate: -0.009655 deg/s,
      cmd heading: 141.669134 deg,
      new cmd heading: 141.658416 deg.

2025-08-09T16:49:59.219Z,1754758199.219 [DAT](INFO): ****** received valid address query ******
2025-08-09T16:49:59.220Z,1754758199.220 [DAT](INFO): ****** received valid ping request ******
2025-08-09T16:49:59.220Z,1754758199.220 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-09T16:49:59.472Z,1754758199.472 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.248670
2025-08-09T16:49:59.612Z,1754758199.612 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 166.90 m.
2025-08-09T16:49:59.615Z,1754758199.615 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 166.899994 m,
      nav range: 163.355209 m,
      bearing: 137.777133 deg,
      approach rate: -0.683923 m/s,
      LOS rate: -0.006151 deg/s,
      cmd heading: 141.658410 deg,
      new cmd heading: 141.650254 deg.

2025-08-09T16:49:59.724Z,1754758199.724 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.499920
2025-08-09T16:49:59.976Z,1754758199.976 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.751813
2025-08-09T16:50:00.038Z,1754758200.038 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 166.90 m.
2025-08-09T16:50:00.041Z,1754758200.041 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 166.899994 m,
      nav range: 163.079681 m,
      bearing: 137.774612 deg,
      approach rate: -0.652217 m/s,
      LOS rate: -0.005978 deg/s,
      cmd heading: 141.650255 deg,
      new cmd heading: 141.642679 deg.

2025-08-09T16:50:00.227Z,1754758200.227 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.003509
2025-08-09T16:50:00.389Z,1754758200.389 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 166.90 m.
2025-08-09T16:50:00.392Z,1754758200.392 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 166.899994 m,
      nav range: 162.822891 m,
      bearing: 137.772254 deg,
      approach rate: -0.724240 m/s,
      LOS rate: -0.006659 deg/s,
      cmd heading: 141.642673 deg,
      new cmd heading: 141.635590 deg.

2025-08-09T16:50:00.481Z,1754758200.481 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.256794
2025-08-09T16:50:00.731Z,1754758200.731 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.507440
2025-08-09T16:50:00.825Z,1754758200.825 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 166.90 m.
2025-08-09T16:50:00.832Z,1754758200.832 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 166.899994 m,
      nav range: 162.551941 m,
      bearing: 137.771496 deg,
      approach rate: -0.620378 m/s,
      LOS rate: -0.001740 deg/s,
      cmd heading: 141.635584 deg,
      new cmd heading: 141.633304 deg.

2025-08-09T16:50:00.984Z,1754758200.984 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.759714
2025-08-09T16:50:01.187Z,1754758201.187 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-09T16:50:01.189Z,1754758201.189 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 166.90 m.
2025-08-09T16:50:01.192Z,1754758201.192 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 166.899994 m,
      nav range: 162.302856 m,
      bearing: 137.770803 deg,
      approach rate: -0.685830 m/s,
      LOS rate: -0.001911 deg/s,
      cmd heading: 141.633302 deg,
      new cmd heading: 141.631221 deg.

2025-08-09T16:50:01.236Z,1754758201.236 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.011987
2025-08-09T16:50:01.487Z,1754758201.487 [DAT](INFO): DAT read: Rx Time:16:50:00.3678

2025-08-09T16:50:01.488Z,1754758201.488 [DAT](INFO): Rx dataTimestamp_ set to:1754758201.487508
2025-08-09T16:50:01.488Z,1754758201.488 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.264540
2025-08-09T16:50:01.691Z,1754758201.691 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 166.90 m.
2025-08-09T16:50:01.695Z,1754758201.695 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 166.899994 m,
      nav range: 161.982971 m,
      bearing: 137.772673 deg,
      approach rate: -0.636169 m/s,
      LOS rate: 0.003726 deg/s,
      cmd heading: 141.631226 deg,
      new cmd heading: 141.636847 deg.

2025-08-09T16:50:01.740Z,1754758201.740 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.516609
2025-08-09T16:50:01.997Z,1754758201.997 [DAT](INFO): DAT read: 16:50:00.3678 LVL= 24016, 30321, 21426, 30707, AGC= 68, IDX= 401, 0.19, 0.842,-0.790, 1.166, 0.718, PHS= 0.226,-1.463, 0.405, RAW= 155.0,   9.4, CAL= 154.7,  10.0, ROT= 355.3, -10.0

2025-08-09T16:50:01.998Z,1754758201.998 [DAT](INFO): got valid direction response:
 16:50:00.3678 LVL= 24016, 30321, 21426, 30707, AGC= 68, IDX= 401, 0.19, 0.842,-0.790, 1.166, 0.718, PHS= 0.226,-1.463, 0.405, RAW= 155.0,   9.4, CAL= 154.7,  10.0, ROT= 355.3, -10.0

2025-08-09T16:50:01.999Z,1754758201.999 [DAT](INFO): DAT read: Bearing 311.7,  -6.8 (Local)

2025-08-09T16:50:01.000Z,1754758202.000 [DAT](INFO): Local bearing/azimuth received:
 Bearing 311.7,  -6.8 (Local)

2025-08-09T16:50:02.001Z,1754758202.001 [DAT](INFO): DAT read: Range 11 to 50 : 164.4 m  (Round-trip  219.2 ms) speed  0.4 m/s

2025-08-09T16:50:02.002Z,1754758202.002 [DAT](INFO): DAT read: user:143>

2025-08-09T16:50:02.003Z,1754758202.003 [DAT](INFO): DAT read: Tx time:16:50:01.4945

2025-08-09T16:50:02.003Z,1754758202.003 [DAT](INFO): Ping request sent.
2025-08-09T16:50:02.003Z,1754758202.003 [DAT](INFO): transmitted an acoustic signal
2025-08-09T16:50:02.003Z,1754758202.003 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-09T16:50:02.004Z,1754758202.004 [DAT](INFO): direction in FSK: [0.981496,-0.080694,0.173648]
2025-08-09T16:50:02.005Z,1754758202.005 [DAT](INFO): publishing transmit ping time
2025-08-09T16:50:02.005Z,1754758202.005 [DAT](INFO): publishing direction and range info
2025-08-09T16:50:02.009Z,1754758202.009 [DAT](INFO): publishing transmit ping time
2025-08-09T16:50:02.009Z,1754758202.009 [DAT](INFO): publishing direction and range info
2025-08-09T16:50:02.111Z,1754758202.111 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 164.399994 m,
      deltaT: 3.779662 s,
      deltaX: -2.500000 m,
      approachRate: -0.661435 m/s,
      rangeRepo size: 4

2025-08-09T16:50:02.113Z,1754758202.113 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 164.399994 m,
      bearing: 137.839404 deg,
      lat: 36.906045 deg,
      lon: -122.115934 deg,
      deltaT: 3.779662 s,
      deltaX: -2.500000 m,
      approachRate: -0.661435 m/s,
      posRepo size: 4

2025-08-09T16:50:02.114Z,1754758202.114 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 164.40 m.
2025-08-09T16:50:02.125Z,1754758202.125 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 164.399994 m,
      nav range: 161.947891 m,
      bearing: 137.839404 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.003726 deg/s,
      cmd heading: 141.636841 deg,
      new cmd heading: 141.641426 deg.

2025-08-09T16:50:02.485Z,1754758202.485 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 164.40 m.
2025-08-09T16:50:02.492Z,1754758202.492 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 164.399994 m,
      nav range: 161.693604 m,
      bearing: 137.841055 deg,
      approach rate: -0.662725 m/s,
      LOS rate: 0.004310 deg/s,
      cmd heading: 141.641430 deg,
      new cmd heading: 141.646392 deg.

2025-08-09T16:50:02.915Z,1754758202.915 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 164.40 m.
2025-08-09T16:50:02.918Z,1754758202.918 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 164.399994 m,
      nav range: 161.424561 m,
      bearing: 137.845640 deg,
      approach rate: -0.626061 m/s,
      LOS rate: 0.010685 deg/s,
      cmd heading: 141.646389 deg,
      new cmd heading: 141.660165 deg.

2025-08-09T16:50:03.280Z,1754758203.280 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-09T16:50:03.282Z,1754758203.282 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 164.40 m.
2025-08-09T16:50:03.285Z,1754758203.285 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 164.399994 m,
      nav range: 161.189911 m,
      bearing: 137.849664 deg,
      approach rate: -0.639559 m/s,
      LOS rate: 0.010985 deg/s,
      cmd heading: 141.660159 deg,
      new cmd heading: 141.672250 deg.

2025-08-09T16:50:03.506Z,1754758203.506 [DAT](INFO): ****** received valid address query ******
2025-08-09T16:50:03.506Z,1754758203.506 [DAT](INFO): ****** received valid ping request ******
2025-08-09T16:50:03.506Z,1754758203.506 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-09T16:50:03.705Z,1754758203.705 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 164.40 m.
2025-08-09T16:50:03.708Z,1754758203.708 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 164.399994 m,
      nav range: 160.928467 m,
      bearing: 137.854237 deg,
      approach rate: -0.617981 m/s,
      LOS rate: 0.010826 deg/s,
      cmd heading: 141.672248 deg,
      new cmd heading: 141.685988 deg.

2025-08-09T16:50:03.756Z,1754758203.756 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.752594
2025-08-09T16:50:04.007Z,1754758204.007 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.004364
2025-08-09T16:50:04.085Z,1754758204.085 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 164.40 m.
2025-08-09T16:50:04.088Z,1754758204.088 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 164.399994 m,
      nav range: 160.695938 m,
      bearing: 137.858370 deg,
      approach rate: -0.611887 m/s,
      LOS rate: 0.010892 deg/s,
      cmd heading: 141.685991 deg,
      new cmd heading: 141.698408 deg.

2025-08-09T16:50:04.263Z,1754758204.263 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.259463
2025-08-09T16:50:04.501Z,1754758204.501 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 164.40 m.
2025-08-09T16:50:04.504Z,1754758204.504 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 164.399994 m,
      nav range: 160.441315 m,
      bearing: 137.862934 deg,
      approach rate: -0.612115 m/s,
      LOS rate: 0.010990 deg/s,
      cmd heading: 141.698408 deg,
      new cmd heading: 141.712123 deg.

2025-08-09T16:50:04.511Z,1754758204.511 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.508281
2025-08-09T16:50:04.764Z,1754758204.764 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.760716
2025-08-09T16:50:04.927Z,1754758204.927 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 164.40 m.
2025-08-09T16:50:04.932Z,1754758204.932 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 164.399994 m,
      nav range: 160.172287 m,
      bearing: 137.868277 deg,
      approach rate: -0.631753 m/s,
      LOS rate: 0.012567 deg/s,
      cmd heading: 141.712123 deg,
      new cmd heading: 141.728178 deg.

2025-08-09T16:50:05.016Z,1754758205.016 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.013121
2025-08-09T16:50:05.267Z,1754758205.267 [DAT](INFO): DAT read: Rx Time:16:50:04.1147

2025-08-09T16:50:05.268Z,1754758205.268 [DAT](INFO): Rx dataTimestamp_ set to:1754758205.267473
2025-08-09T16:50:05.268Z,1754758205.268 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.265220
2025-08-09T16:50:05.340Z,1754758205.340 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-09T16:50:05.342Z,1754758205.342 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 164.40 m.
2025-08-09T16:50:05.349Z,1754758205.349 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 164.399994 m,
      nav range: 159.919662 m,
      bearing: 137.873316 deg,
      approach rate: -0.608545 m/s,
      LOS rate: 0.012159 deg/s,
      cmd heading: 141.728174 deg,
      new cmd heading: 141.743316 deg.

2025-08-09T16:50:05.519Z,1754758205.519 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.516186
2025-08-09T16:50:05.777Z,1754758205.777 [DAT](INFO): DAT read: 16:50:04.1147 LVL= 29088, 32753, 24562, 32755, AGC= 68, IDX= 418,-0.44, 0.141,-1.496, 0.474,-0.016, PHS= 0.259,-1.434, 0.447, RAW= 155.2,   8.2, CAL= 154.8,   8.6, ROT= 355.2,  -8.6

2025-08-09T16:50:05.778Z,1754758205.778 [DAT](INFO): got valid direction response:
 16:50:04.1147 LVL= 29088, 32753, 24562, 32755, AGC= 68, IDX= 418,-0.44, 0.141,-1.496, 0.474,-0.016, PHS= 0.259,-1.434, 0.447, RAW= 155.2,   8.2, CAL= 154.8,   8.6, ROT= 355.2,  -8.6

2025-08-09T16:50:05.779Z,1754758205.779 [DAT](INFO): DAT read: Bearing 310.0,  -6.8 (Local)

2025-08-09T16:50:05.780Z,1754758205.780 [DAT](INFO): Local bearing/azimuth received:
 Bearing 310.0,  -6.8 (Local)

2025-08-09T16:50:05.781Z,1754758205.781 [DAT](INFO): DAT read: Range 11 to 50 : 162.0 m  (Round-trip  216.1 ms) speed  0.5 m/s

2025-08-09T16:50:05.782Z,1754758205.782 [DAT](INFO): DAT read: user:144>

2025-08-09T16:50:05.782Z,1754758205.782 [DAT](INFO): DAT read: Tx time:16:50:05.2445

2025-08-09T16:50:05.783Z,1754758205.783 [DAT](INFO): Ping request sent.
2025-08-09T16:50:05.783Z,1754758205.783 [DAT](INFO): transmitted an acoustic signal
2025-08-09T16:50:05.783Z,1754758205.783 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-09T16:50:05.784Z,1754758205.784 [DAT](INFO): direction in FSK: [0.985289,-0.082737,0.149535]
2025-08-09T16:50:05.784Z,1754758205.784 [DAT](INFO): publishing transmit ping time
2025-08-09T16:50:05.785Z,1754758205.785 [DAT](INFO): publishing direction and range info
2025-08-09T16:50:05.792Z,1754758205.792 [DAT](INFO): publishing transmit ping time
2025-08-09T16:50:05.792Z,1754758205.792 [DAT](INFO): publishing direction and range info
2025-08-09T16:50:05.912Z,1754758205.912 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 162.000000 m,
      deltaT: 3.779975 s,
      deltaX: -2.399994 m,
      approachRate: -0.634923 m/s,
      rangeRepo size: 4

2025-08-09T16:50:05.919Z,1754758205.919 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 162.000000 m,
      bearing: 138.149630 deg,
      lat: 36.906035 deg,
      lon: -122.115934 deg,
      deltaT: 3.779975 s,
      deltaX: -2.399994 m,
      approachRate: -0.634923 m/s,
      posRepo size: 4

2025-08-09T16:50:05.919Z,1754758205.919 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 162.00 m.
2025-08-09T16:50:05.922Z,1754758205.922 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 162.000000 m,
      nav range: 160.404968 m,
      bearing: 138.149630 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.012159 deg/s,
      cmd heading: 141.743310 deg,
      new cmd heading: 141.764089 deg.

2025-08-09T16:50:06.216Z,1754758206.216 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 162.00 m.
2025-08-09T16:50:06.220Z,1754758206.220 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 162.000000 m,
      nav range: 160.182571 m,
      bearing: 138.154799 deg,
      approach rate: -0.729663 m/s,
      LOS rate: 0.016981 deg/s,
      cmd heading: 141.764087 deg,
      new cmd heading: 141.779615 deg.

2025-08-09T16:50:06.704Z,1754758206.704 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 162.00 m.
2025-08-09T16:50:06.711Z,1754758206.711 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 162.000000 m,
      nav range: 159.904282 m,
      bearing: 138.161195 deg,
      approach rate: -0.570981 m/s,
      LOS rate: 0.013148 deg/s,
      cmd heading: 141.779619 deg,
      new cmd heading: 141.798843 deg.

2025-08-09T16:50:07.108Z,1754758207.108 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 162.00 m.
2025-08-09T16:50:07.111Z,1754758207.111 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 162.000000 m,
      nav range: 159.624786 m,
      bearing: 138.167478 deg,
      approach rate: -0.691743 m/s,
      LOS rate: 0.015576 deg/s,
      cmd heading: 141.798839 deg,
      new cmd heading: 141.817719 deg.

2025-08-09T16:50:07.476Z,1754758207.476 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-09T16:50:07.478Z,1754758207.478 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 162.00 m.
2025-08-09T16:50:07.481Z,1754758207.481 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 162.000000 m,
      nav range: 159.392792 m,
      bearing: 138.172686 deg,
      approach rate: -0.626528 m/s,
      LOS rate: 0.014086 deg/s,
      cmd heading: 141.817718 deg,
      new cmd heading: 141.833366 deg.

2025-08-09T16:50:07.536Z,1754758207.536 [DAT](INFO): ****** received valid address query ******
2025-08-09T16:50:07.536Z,1754758207.536 [DAT](INFO): ****** received valid ping request ******
2025-08-09T16:50:07.536Z,1754758207.536 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-09T16:50:07.787Z,1754758207.787 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.004354
2025-08-09T16:50:07.929Z,1754758207.929 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 162.00 m.
2025-08-09T16:50:07.934Z,1754758207.934 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 162.000000 m,
      nav range: 159.095184 m,
      bearing: 138.175124 deg,
      approach rate: -0.661810 m/s,
      LOS rate: 0.005432 deg/s,
      cmd heading: 141.833372 deg,
      new cmd heading: 141.840700 deg.

2025-08-09T16:50:08.039Z,1754758208.039 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.256455
2025-08-09T16:50:08.290Z,1754758208.290 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 162.00 m.
2025-08-09T16:50:08.291Z,1754758208.291 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.508514
2025-08-09T16:50:08.304Z,1754758208.304 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 162.000000 m,
      nav range: 158.852936 m,
      bearing: 138.177036 deg,
      approach rate: -0.669054 m/s,
      LOS rate: 0.005288 deg/s,
      cmd heading: 141.840694 deg,
      new cmd heading: 141.846439 deg.

2025-08-09T16:50:08.548Z,1754758208.548 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.764761
2025-08-09T16:50:08.756Z,1754758208.756 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 162.00 m.
2025-08-09T16:50:08.759Z,1754758208.759 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 162.000000 m,
      nav range: 158.553391 m,
      bearing: 138.177108 deg,
      approach rate: -0.642399 m/s,
      LOS rate: 0.000155 deg/s,
      cmd heading: 141.846445 deg,
      new cmd heading: 141.846663 deg.

2025-08-09T16:50:08.795Z,1754758208.795 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.012535
2025-08-09T16:50:09.047Z,1754758209.047 [DAT](INFO): DAT read: Rx Time:16:50:07.8616

2025-08-09T16:50:09.048Z,1754758209.048 [DAT](INFO): Rx dataTimestamp_ set to:1754758209.047512
2025-08-09T16:50:09.048Z,1754758209.048 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.265483
2025-08-09T16:50:09.127Z,1754758209.127 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 162.00 m.
2025-08-09T16:50:09.130Z,1754758209.130 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 162.000000 m,
      nav range: 158.315231 m,
      bearing: 138.177166 deg,
      approach rate: -0.643121 m/s,
      LOS rate: 0.000156 deg/s,
      cmd heading: 141.846664 deg,
      new cmd heading: 141.846837 deg.

2025-08-09T16:50:09.299Z,1754758209.299 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.516352
2025-08-09T16:50:09.506Z,1754758209.506 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-09T16:50:09.508Z,1754758209.508 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 162.00 m.
2025-08-09T16:50:09.511Z,1754758209.511 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 162.000000 m,
      nav range: 158.074249 m,
      bearing: 138.177220 deg,
      approach rate: -0.631733 m/s,
      LOS rate: 0.000140 deg/s,
      cmd heading: 141.846842 deg,
      new cmd heading: 141.847002 deg.

2025-08-09T16:50:09.558Z,1754758209.558 [DAT](INFO): DAT read: 16:50:07.8616 LVL= 30640, 32753, 28146, 32755, AGC= 66, IDX= 417, 0.03, 1.023,-0.680, 1.383, 0.897, PHS= 0.228,-1.532, 0.442, RAW= 155.7,   9.2, CAL= 155.4,   9.9, ROT= 354.6,  -9.9

2025-08-09T16:50:09.560Z,1754758209.560 [DAT](INFO): got valid direction response:
 16:50:07.8616 LVL= 30640, 32753, 28146, 32755, AGC= 66, IDX= 417, 0.03, 1.023,-0.680, 1.383, 0.897, PHS= 0.228,-1.532, 0.442, RAW= 155.7,   9.2, CAL= 155.4,   9.9, ROT= 354.6,  -9.9

2025-08-09T16:50:09.561Z,1754758209.561 [DAT](INFO): DAT read: Bearing 311.3,  -7.2 (Local)

2025-08-09T16:50:09.562Z,1754758209.562 [DAT](INFO): Local bearing/azimuth received:
 Bearing 311.3,  -7.2 (Local)

2025-08-09T16:50:09.564Z,1754758209.564 [DAT](INFO): DAT read: Range 11 to 50 : 159.6 m  (Round-trip  212.9 ms) speed  0.8 m/s

2025-08-09T16:50:09.565Z,1754758209.565 [DAT](INFO): DAT read: user:145>

2025-08-09T16:50:09.567Z,1754758209.567 [DAT](INFO): DAT read: Tx time:16:50:08.9945

2025-08-09T16:50:09.568Z,1754758209.568 [DAT](INFO): Ping request sent.
2025-08-09T16:50:09.568Z,1754758209.568 [DAT](INFO): transmitted an acoustic signal
2025-08-09T16:50:09.568Z,1754758209.568 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-09T16:50:09.570Z,1754758209.570 [DAT](INFO): direction in FSK: [0.980737,-0.092707,0.171929]
2025-08-09T16:50:09.570Z,1754758209.570 [DAT](INFO): publishing transmit ping time
2025-08-09T16:50:09.571Z,1754758209.571 [DAT](INFO): publishing direction and range info
2025-08-09T16:50:09.584Z,1754758209.584 [DAT](INFO): publishing transmit ping time
2025-08-09T16:50:09.584Z,1754758209.584 [DAT](INFO): publishing direction and range info
2025-08-09T16:50:09.976Z,1754758209.976 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 159.600006 m,
      deltaT: 3.780080 s,
      deltaX: -2.399994 m,
      approachRate: -0.634906 m/s,
      rangeRepo size: 4

2025-08-09T16:50:09.992Z,1754758209.992 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 159.600006 m,
      bearing: 138.005095 deg,
      lat: 36.906041 deg,
      lon: -122.115934 deg,
      deltaT: 3.780080 s,
      deltaX: -2.399994 m,
      approachRate: -0.634906 m/s,
      posRepo size: 4

2025-08-09T16:50:10.006Z,1754758210.006 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 159.60 m.
2025-08-09T16:50:10.009Z,1754758210.009 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 159.600006 m,
      nav range: 157.301575 m,
      bearing: 138.005095 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.000140 deg/s,
      cmd heading: 141.847005 deg,
      new cmd heading: 141.847203 deg.

2025-08-09T16:50:10.402Z,1754758210.402 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 159.60 m.
2025-08-09T16:50:10.405Z,1754758210.405 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 159.600006 m,
      nav range: 157.031265 m,
      bearing: 138.002876 deg,
      approach rate: -0.639816 m/s,
      LOS rate: -0.005263 deg/s,
      cmd heading: 141.847197 deg,
      new cmd heading: 141.840527 deg.

2025-08-09T16:50:10.815Z,1754758210.815 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 159.60 m.
2025-08-09T16:50:10.818Z,1754758210.818 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 159.600006 m,
      nav range: 156.748444 m,
      bearing: 137.996773 deg,
      approach rate: -0.678496 m/s,
      LOS rate: -0.014667 deg/s,
      cmd heading: 141.840530 deg,
      new cmd heading: 141.822189 deg.

2025-08-09T16:50:11.162Z,1754758211.162 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 159.60 m.
2025-08-09T16:50:11.166Z,1754758211.166 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 159.600006 m,
      nav range: 156.520630 m,
      bearing: 137.991825 deg,
      approach rate: -0.656999 m/s,
      LOS rate: -0.014289 deg/s,
      cmd heading: 141.822185 deg,
      new cmd heading: 141.807320 deg.

2025-08-09T16:50:11.563Z,1754758211.563 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-09T16:50:11.565Z,1754758211.565 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 159.60 m.
2025-08-09T16:50:11.567Z,1754758211.567 [DAT](INFO): ****** received valid address query ******
2025-08-09T16:50:11.568Z,1754758211.568 [DAT](INFO): ****** received valid ping request ******
2025-08-09T16:50:11.568Z,1754758211.568 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-09T16:50:11.572Z,1754758211.572 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 159.600006 m,
      nav range: 156.256836 m,
      bearing: 137.986156 deg,
      approach rate: -0.653943 m/s,
      LOS rate: -0.014077 deg/s,
      cmd heading: 141.807322 deg,
      new cmd heading: 141.790286 deg.

2025-08-09T16:50:11.821Z,1754758211.821 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.252531
2025-08-09T16:50:11.995Z,1754758211.995 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 159.60 m.
2025-08-09T16:50:11.998Z,1754758211.998 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 159.600006 m,
      nav range: 155.978958 m,
      bearing: 137.980766 deg,
      approach rate: -0.647544 m/s,
      LOS rate: -0.012584 deg/s,
      cmd heading: 141.790288 deg,
      new cmd heading: 141.774087 deg.

2025-08-09T16:50:12.071Z,1754758212.071 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.503659
2025-08-09T16:50:12.324Z,1754758212.324 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.755806
2025-08-09T16:50:12.396Z,1754758212.396 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 159.60 m.
2025-08-09T16:50:12.403Z,1754758212.403 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 159.600006 m,
      nav range: 155.724319 m,
      bearing: 137.975875 deg,
      approach rate: -0.634078 m/s,
      LOS rate: -0.012199 deg/s,
      cmd heading: 141.774086 deg,
      new cmd heading: 141.759389 deg.

2025-08-09T16:50:12.575Z,1754758212.575 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.007556
2025-08-09T16:50:12.827Z,1754758212.827 [DAT](INFO): DAT read: Rx Time:16:50:11.6082

2025-08-09T16:50:12.828Z,1754758212.828 [DAT](INFO): Rx dataTimestamp_ set to:1754758212.827539
2025-08-09T16:50:12.828Z,1754758212.828 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.260628
2025-08-09T16:50:12.847Z,1754758212.847 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 159.60 m.
2025-08-09T16:50:12.855Z,1754758212.855 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 159.600006 m,
      nav range: 155.437973 m,
      bearing: 137.970820 deg,
      approach rate: -0.641585 m/s,
      LOS rate: -0.011347 deg/s,
      cmd heading: 141.759388 deg,
      new cmd heading: 141.744195 deg.

2025-08-09T16:50:13.080Z,1754758213.080 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.512114
2025-08-09T16:50:13.204Z,1754758213.204 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 159.60 m.
2025-08-09T16:50:13.207Z,1754758213.207 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 159.600006 m,
      nav range: 155.183990 m,
      bearing: 137.966416 deg,
      approach rate: -0.702591 m/s,
      LOS rate: -0.012202 deg/s,
      cmd heading: 141.744197 deg,
      new cmd heading: 141.730965 deg.

2025-08-09T16:50:13.341Z,1754758213.341 [DAT](INFO): DAT read: 16:50:11.6082 LVL= 29792, 32753, 23010, 32755, AGC= 67, IDX= 414, 0.48,-0.486,-2.111,-0.129,-0.619, PHS= 0.235,-1.447, 0.446, RAW= 155.8,   8.6, CAL= 155.5,   9.1, ROT= 354.5,  -9.1

2025-08-09T16:50:13.342Z,1754758213.342 [DAT](INFO): got valid direction response:
 16:50:11.6082 LVL= 29792, 32753, 23010, 32755, AGC= 67, IDX= 414, 0.48,-0.486,-2.111,-0.129,-0.619, PHS= 0.235,-1.447, 0.446, RAW= 155.8,   8.6, CAL= 155.5,   9.1, ROT= 354.5,  -9.1

2025-08-09T16:50:13.343Z,1754758213.343 [DAT](INFO): DAT read: Bearing 310.2,  -7.1 (Local)

2025-08-09T16:50:13.344Z,1754758213.344 [DAT](INFO): Local bearing/azimuth received:
 Bearing 310.2,  -7.1 (Local)

2025-08-09T16:50:13.345Z,1754758213.345 [DAT](INFO): DAT read: Range 11 to 50 : 157.1 m  (Round-trip  209.5 ms) speed  0.4 m/s

2025-08-09T16:50:13.346Z,1754758213.346 [DAT](INFO): DAT read: user:146>

2025-08-09T16:50:13.347Z,1754758213.347 [DAT](INFO): DAT read: Tx time:16:50:12.6945

2025-08-09T16:50:13.347Z,1754758213.347 [DAT](INFO): Ping request sent.
2025-08-09T16:50:13.347Z,1754758213.347 [DAT](INFO): transmitted an acoustic signal
2025-08-09T16:50:13.347Z,1754758213.347 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-09T16:50:13.348Z,1754758213.348 [DAT](INFO): direction in FSK: [0.982868,-0.094640,0.158158]
2025-08-09T16:50:13.349Z,1754758213.349 [DAT](INFO): publishing transmit ping time
2025-08-09T16:50:13.349Z,1754758213.349 [DAT](INFO): publishing direction and range info
2025-08-09T16:50:13.352Z,1754758213.352 [DAT](INFO): publishing transmit ping time
2025-08-09T16:50:13.353Z,1754758213.353 [DAT](INFO): publishing direction and range info
2025-08-09T16:50:13.627Z,1754758213.627 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 157.100006 m,
      deltaT: 3.783894 s,
      deltaX: -2.500000 m,
      approachRate: -0.660695 m/s,
      rangeRepo size: 4

2025-08-09T16:50:13.629Z,1754758213.629 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 157.100006 m,
      bearing: 137.914297 deg,
      lat: 36.906041 deg,
      lon: -122.115932 deg,
      deltaT: 3.783894 s,
      deltaX: -2.500000 m,
      approachRate: -0.660695 m/s,
      posRepo size: 4

2025-08-09T16:50:13.630Z,1754758213.630 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 157.10 m.
2025-08-09T16:50:13.633Z,1754758213.633 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 157.100006 m,
      nav range: 155.022293 m,
      bearing: 137.914297 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.012202 deg/s,
      cmd heading: 141.730961 deg,
      new cmd heading: 141.715489 deg.

2025-08-09T16:50:14.035Z,1754758214.035 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-09T16:50:14.037Z,1754758214.037 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 157.10 m.
2025-08-09T16:50:14.056Z,1754758214.056 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 157.100006 m,
      nav range: 154.740753 m,
      bearing: 137.908840 deg,
      approach rate: -0.684987 m/s,
      LOS rate: -0.013301 deg/s,
      cmd heading: 141.715483 deg,
      new cmd heading: 141.699082 deg.

2025-08-09T16:50:14.091Z,1754758214.091 [DAT](INFO): ****** received valid address query ******
2025-08-09T16:50:14.091Z,1754758214.091 [DAT](INFO): ****** received valid ping request ******
2025-08-09T16:50:14.092Z,1754758214.092 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-09T16:50:14.343Z,1754758214.343 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.996136
2025-08-09T16:50:14.458Z,1754758214.458 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 157.10 m.
2025-08-09T16:50:14.465Z,1754758214.465 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 157.100006 m,
      nav range: 154.460678 m,
      bearing: 137.903412 deg,
      approach rate: -0.666381 m/s,
      LOS rate: -0.012939 deg/s,
      cmd heading: 141.699077 deg,
      new cmd heading: 141.682762 deg.

2025-08-09T16:50:14.595Z,1754758214.595 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.248166
2025-08-09T16:50:14.847Z,1754758214.847 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.500294
2025-08-09T16:50:14.860Z,1754758214.860 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 157.10 m.
2025-08-09T16:50:14.863Z,1754758214.863 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 157.100006 m,
      nav range: 154.191696 m,
      bearing: 137.901014 deg,
      approach rate: -0.669161 m/s,
      LOS rate: -0.005975 deg/s,
      cmd heading: 141.682767 deg,
      new cmd heading: 141.675561 deg.

2025-08-09T16:50:15.101Z,1754758215.101 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.753759
2025-08-09T16:50:15.222Z,1754758215.222 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 157.10 m.
2025-08-09T16:50:15.225Z,1754758215.225 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 157.100006 m,
      nav range: 153.954346 m,
      bearing: 137.898905 deg,
      approach rate: -0.655601 m/s,
      LOS rate: -0.005836 deg/s,
      cmd heading: 141.675568 deg,
      new cmd heading: 141.669229 deg.

2025-08-09T16:50:15.351Z,1754758215.351 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.004360
2025-08-09T16:50:15.603Z,1754758215.603 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.256278
2025-08-09T16:50:15.641Z,1754758215.641 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 157.10 m.
2025-08-09T16:50:15.648Z,1754758215.648 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 157.100006 m,
      nav range: 153.690216 m,
      bearing: 137.896572 deg,
      approach rate: -0.630333 m/s,
      LOS rate: -0.005577 deg/s,
      cmd heading: 141.669229 deg,
      new cmd heading: 141.662219 deg.

2025-08-09T16:50:15.856Z,1754758215.856 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.508520
2025-08-09T16:50:16.069Z,1754758216.069 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-09T16:50:16.071Z,1754758216.071 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 157.10 m.
2025-08-09T16:50:16.074Z,1754758216.074 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 157.100006 m,
      nav range: 153.402145 m,
      bearing: 137.896043 deg,
      approach rate: -0.669717 m/s,
      LOS rate: -0.001231 deg/s,
      cmd heading: 141.662221 deg,
      new cmd heading: 141.660633 deg.

2025-08-09T16:50:16.108Z,1754758216.108 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.761319
2025-08-09T16:50:16.360Z,1754758216.360 [DAT](INFO): DAT read: Rx Time:16:50:15.3048

2025-08-09T16:50:16.360Z,1754758216.360 [DAT](INFO): Rx dataTimestamp_ set to:1754758216.359873
2025-08-09T16:50:16.361Z,1754758216.361 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.013627
2025-08-09T16:50:16.456Z,1754758216.456 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 157.10 m.
2025-08-09T16:50:16.459Z,1754758216.459 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 157.100006 m,
      nav range: 153.132004 m,
      bearing: 137.895533 deg,
      approach rate: -0.701834 m/s,
      LOS rate: -0.001327 deg/s,
      cmd heading: 141.660637 deg,
      new cmd heading: 141.659104 deg.

2025-08-09T16:50:16.611Z,1754758216.611 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.264240
2025-08-09T16:50:16.876Z,1754758216.876 [DAT](INFO): DAT read: 16:50:15.3048 LVL= 32368, 32753, 29458, 32755, AGC= 68, IDX= 412,-0.41, 2.642, 1.047, 2.984, 2.484, PHS= 0.260,-1.392, 0.456, RAW= 155.5,   7.7, CAL= 155.1,   8.1, ROT= 354.9,  -8.1

2025-08-09T16:50:16.877Z,1754758216.877 [DAT](INFO): got valid direction response:
 16:50:15.3048 LVL= 32368, 32753, 29458, 32755, AGC= 68, IDX= 412,-0.41, 2.642, 1.047, 2.984, 2.484, PHS= 0.260,-1.392, 0.456, RAW= 155.5,   7.7, CAL= 155.1,   8.1, ROT= 354.9,  -8.1

2025-08-09T16:50:16.882Z,1754758216.882 [DAT](INFO): DAT read: Bearing 309.2,  -6.5 (Local)

2025-08-09T16:50:16.883Z,1754758216.883 [DAT](INFO): Local bearing/azimuth received:
 Bearing 309.2,  -6.5 (Local)

2025-08-09T16:50:16.884Z,1754758216.884 [DAT](INFO): DAT read: Range 11 to 50 : 154.6 m  (Round-trip  206.2 ms) speed  0.4 m/s

2025-08-09T16:50:16.885Z,1754758216.885 [DAT](INFO): DAT read: user:147>

2025-08-09T16:50:16.886Z,1754758216.886 [DAT](INFO): DAT read: Tx time:16:50:16.3945

2025-08-09T16:50:16.886Z,1754758216.886 [DAT](INFO): Ping request sent.
2025-08-09T16:50:16.886Z,1754758216.886 [DAT](INFO): transmitted an acoustic signal
2025-08-09T16:50:16.890Z,1754758216.890 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-09T16:50:16.891Z,1754758216.891 [DAT](INFO): direction in FSK: [0.986104,-0.088008,0.140901]
2025-08-09T16:50:16.892Z,1754758216.892 [DAT](INFO): publishing transmit ping time
2025-08-09T16:50:16.892Z,1754758216.892 [DAT](INFO): publishing direction and range info
2025-08-09T16:50:16.900Z,1754758216.900 [DAT](INFO): publishing transmit ping time
2025-08-09T16:50:16.900Z,1754758216.900 [DAT](INFO): publishing direction and range info
2025-08-09T16:50:17.009Z,1754758217.009 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 154.600006 m,
      deltaT: 3.531791 s,
      deltaX: -2.500000 m,
      approachRate: -0.707856 m/s,
      rangeRepo size: 4

2025-08-09T16:50:17.019Z,1754758217.019 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 154.600006 m,
      bearing: 137.959956 deg,
      lat: 36.906039 deg,
      lon: -122.115932 deg,
      deltaT: 3.531791 s,
      deltaX: -2.500000 m,
      approachRate: -0.707856 m/s,
      posRepo size: 4

2025-08-09T16:50:17.020Z,1754758217.020 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 154.60 m.
2025-08-09T16:50:17.026Z,1754758217.026 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 154.600006 m,
      nav range: 152.957916 m,
      bearing: 137.959956 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.001327 deg/s,
      cmd heading: 141.659107 deg,
      new cmd heading: 141.656908 deg.

2025-08-09T16:50:17.385Z,1754758217.385 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 154.60 m.
2025-08-09T16:50:17.388Z,1754758217.388 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 154.600006 m,
      nav range: 152.690872 m,
      bearing: 137.960270 deg,
      approach rate: -0.708896 m/s,
      LOS rate: 0.000834 deg/s,
      cmd heading: 141.656908 deg,
      new cmd heading: 141.657850 deg.

2025-08-09T16:50:17.785Z,1754758217.785 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 154.60 m.
2025-08-09T16:50:17.797Z,1754758217.797 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 154.600006 m,
      nav range: 152.427261 m,
      bearing: 137.960540 deg,
      approach rate: -0.660786 m/s,
      LOS rate: 0.000680 deg/s,
      cmd heading: 141.657850 deg,
      new cmd heading: 141.658664 deg.

2025-08-09T16:50:18.213Z,1754758218.213 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-09T16:50:18.216Z,1754758218.216 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 154.60 m.
2025-08-09T16:50:18.219Z,1754758218.219 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 154.600006 m,
      nav range: 152.134674 m,
      bearing: 137.962597 deg,
      approach rate: -0.676861 m/s,
      LOS rate: 0.004767 deg/s,
      cmd heading: 141.658670 deg,
      new cmd heading: 141.664851 deg.

2025-08-09T16:50:18.379Z,1754758218.379 [DAT](INFO): ****** received valid address query ******
2025-08-09T16:50:18.379Z,1754758218.379 [DAT](INFO): ****** received valid ping request ******
2025-08-09T16:50:18.379Z,1754758218.379 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-09T16:50:18.592Z,1754758218.592 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 154.60 m.
2025-08-09T16:50:18.595Z,1754758218.595 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 154.600006 m,
      nav range: 151.885162 m,
      bearing: 137.964351 deg,
      approach rate: -0.662422 m/s,
      LOS rate: 0.004665 deg/s,
      cmd heading: 141.664858 deg,
      new cmd heading: 141.670130 deg.

2025-08-09T16:50:18.632Z,1754758218.632 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.745536
2025-08-09T16:50:18.883Z,1754758218.883 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.997390
2025-08-09T16:50:19.021Z,1754758219.021 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 154.60 m.
2025-08-09T16:50:19.024Z,1754758219.024 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 154.600006 m,
      nav range: 151.604630 m,
      bearing: 137.965870 deg,
      approach rate: -0.655088 m/s,
      LOS rate: 0.003552 deg/s,
      cmd heading: 141.670131 deg,
      new cmd heading: 141.674695 deg.

2025-08-09T16:50:19.136Z,1754758219.136 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.249716
2025-08-09T16:50:19.387Z,1754758219.387 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.501488
2025-08-09T16:50:19.405Z,1754758219.405 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 154.60 m.
2025-08-09T16:50:19.411Z,1754758219.411 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 154.600006 m,
      nav range: 151.354660 m,
      bearing: 137.967273 deg,
      approach rate: -0.652042 m/s,
      LOS rate: 0.003667 deg/s,
      cmd heading: 141.674693 deg,
      new cmd heading: 141.678911 deg.

2025-08-09T16:50:19.640Z,1754758219.640 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.753592
2025-08-09T16:50:19.873Z,1754758219.873 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 154.60 m.
2025-08-09T16:50:19.881Z,1754758219.881 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 154.600006 m,
      nav range: 151.079880 m,
      bearing: 137.968869 deg,
      approach rate: -0.586187 m/s,
      LOS rate: 0.003411 deg/s,
      cmd heading: 141.678914 deg,
      new cmd heading: 141.683711 deg.

2025-08-09T16:50:19.891Z,1754758219.891 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.005469
2025-08-09T16:50:20.143Z,1754758220.143 [DAT](INFO): DAT read: Rx Time:16:50:19.0017

2025-08-09T16:50:20.144Z,1754758220.144 [DAT](INFO): Rx dataTimestamp_ set to:1754758220.143557
2025-08-09T16:50:20.144Z,1754758220.144 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.258462
2025-08-09T16:50:20.307Z,1754758220.307 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-09T16:50:20.314Z,1754758220.314 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 154.60 m.
2025-08-09T16:50:20.317Z,1754758220.317 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 154.600006 m,
      nav range: 150.775864 m,
      bearing: 137.970781 deg,
      approach rate: -0.691118 m/s,
      LOS rate: 0.004354 deg/s,
      cmd heading: 141.683709 deg,
      new cmd heading: 141.689455 deg.

2025-08-09T16:50:20.396Z,1754758220.396 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.510141
2025-08-09T16:50:20.653Z,1754758220.653 [DAT](INFO): DAT read: 16:50:19.0017 LVL= 22880, 31057, 26162, 32755, AGC= 64, IDX= 412,-0.36,-1.063,-2.612,-0.743,-1.235, PHS= 0.274,-1.332, 0.447, RAW= 155.1,   7.2, CAL= 154.5,   7.5, ROT= 355.5,  -7.5

2025-08-09T16:50:20.654Z,1754758220.654 [DAT](INFO): got valid direction response:
 16:50:19.0017 LVL= 22880, 31057, 26162, 32755, AGC= 64, IDX= 412,-0.36,-1.063,-2.612,-0.743,-1.235, PHS= 0.274,-1.332, 0.447, RAW= 155.1,   7.2, CAL= 154.5,   7.5, ROT= 355.5,  -7.5

2025-08-09T16:50:20.655Z,1754758220.655 [DAT](INFO): DAT read: Bearing 308.6,  -5.8 (Local)

2025-08-09T16:50:20.656Z,1754758220.656 [DAT](INFO): Local bearing/azimuth received:
 Bearing 308.6,  -5.8 (Local)

2025-08-09T16:50:20.657Z,1754758220.657 [DAT](INFO): DAT read: Range 11 to 50 : 152.3 m  (Round-trip  203.1 ms) speed  0.4 m/s

2025-08-09T16:50:20.658Z,1754758220.658 [DAT](INFO): DAT read: user:148>

2025-08-09T16:50:20.659Z,1754758220.659 [DAT](INFO): DAT read: Tx time:16:50:20.0945

2025-08-09T16:50:20.659Z,1754758220.659 [DAT](INFO): Ping request sent.
2025-08-09T16:50:20.659Z,1754758220.659 [DAT](INFO): transmitted an acoustic signal
2025-08-09T16:50:20.659Z,1754758220.659 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-09T16:50:20.660Z,1754758220.660 [DAT](INFO): direction in FSK: [0.988389,-0.077788,0.130526]
2025-08-09T16:50:20.660Z,1754758220.660 [DAT](INFO): publishing transmit ping time
2025-08-09T16:50:20.662Z,1754758220.662 [DAT](INFO): publishing direction and range info
2025-08-09T16:50:20.665Z,1754758220.665 [DAT](INFO): publishing transmit ping time
2025-08-09T16:50:20.665Z,1754758220.665 [DAT](INFO): publishing direction and range info
2025-08-09T16:50:20.760Z,1754758220.760 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 152.300003 m,
      deltaT: 3.780260 s,
      deltaX: -2.300003 m,
      approachRate: -0.608425 m/s,
      rangeRepo size: 4

2025-08-09T16:50:20.762Z,1754758220.762 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 152.300003 m,
      bearing: 137.972510 deg,
      lat: 36.906039 deg,
      lon: -122.115932 deg,
      deltaT: 3.780260 s,
      deltaX: -2.300003 m,
      approachRate: -0.608425 m/s,
      posRepo size: 4

2025-08-09T16:50:20.767Z,1754758220.767 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 152.30 m.
2025-08-09T16:50:20.770Z,1754758220.770 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 152.300003 m,
      nav range: 150.508118 m,
      bearing: 137.972510 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.004354 deg/s,
      cmd heading: 141.689460 deg,
      new cmd heading: 141.695292 deg.

2025-08-09T16:50:21.183Z,1754758221.183 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 152.30 m.
2025-08-09T16:50:21.185Z,1754758221.185 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 152.300003 m,
      nav range: 150.234116 m,
      bearing: 137.972036 deg,
      approach rate: -0.647276 m/s,
      LOS rate: -0.001121 deg/s,
      cmd heading: 141.695293 deg,
      new cmd heading: 141.693870 deg.

2025-08-09T16:50:21.562Z,1754758221.562 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 152.30 m.
2025-08-09T16:50:21.565Z,1754758221.565 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 152.300003 m,
      nav range: 149.999435 m,
      bearing: 137.971714 deg,
      approach rate: -0.618240 m/s,
      LOS rate: -0.000852 deg/s,
      cmd heading: 141.693873 deg,
      new cmd heading: 141.692903 deg.

2025-08-09T16:50:21.978Z,1754758221.978 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 152.30 m.
2025-08-09T16:50:21.981Z,1754758221.981 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 152.300003 m,
      nav range: 149.745514 m,
      bearing: 137.971178 deg,
      approach rate: -0.610600 m/s,
      LOS rate: -0.001290 deg/s,
      cmd heading: 141.692903 deg,
      new cmd heading: 141.691294 deg.

2025-08-09T16:50:22.371Z,1754758222.371 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-09T16:50:22.373Z,1754758222.373 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 152.30 m.
2025-08-09T16:50:22.381Z,1754758222.381 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 152.300003 m,
      nav range: 149.518738 m,
      bearing: 137.970784 deg,
      approach rate: -0.573229 m/s,
      LOS rate: -0.000999 deg/s,
      cmd heading: 141.691291 deg,
      new cmd heading: 141.690105 deg.

2025-08-09T16:50:22.413Z,1754758222.413 [DAT](INFO): ****** received valid address query ******
2025-08-09T16:50:22.413Z,1754758222.413 [DAT](INFO): ****** received valid ping request ******
2025-08-09T16:50:22.413Z,1754758222.413 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-09T16:50:22.664Z,1754758222.664 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.004583
2025-08-09T16:50:22.752Z,1754758222.752 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 152.30 m.
2025-08-09T16:50:22.755Z,1754758222.755 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 152.300003 m,
      nav range: 149.272324 m,
      bearing: 137.970427 deg,
      approach rate: -0.650843 m/s,
      LOS rate: -0.000944 deg/s,
      cmd heading: 141.690102 deg,
      new cmd heading: 141.689030 deg.

2025-08-09T16:50:22.919Z,1754758222.919 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.259054
2025-08-09T16:50:23.167Z,1754758223.167 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.508510
2025-08-09T16:50:23.177Z,1754758223.177 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 152.30 m.
2025-08-09T16:50:23.180Z,1754758223.180 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 152.300003 m,
      nav range: 149.006042 m,
      bearing: 137.969026 deg,
      approach rate: -0.626452 m/s,
      LOS rate: -0.003302 deg/s,
      cmd heading: 141.689023 deg,
      new cmd heading: 141.684813 deg.

2025-08-09T16:50:23.420Z,1754758223.420 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.760971
2025-08-09T16:50:23.556Z,1754758223.556 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 152.30 m.
2025-08-09T16:50:23.559Z,1754758223.559 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 152.300003 m,
      nav range: 148.768784 m,
      bearing: 137.967845 deg,
      approach rate: -0.626913 m/s,
      LOS rate: -0.003126 deg/s,
      cmd heading: 141.684816 deg,
      new cmd heading: 141.681267 deg.

2025-08-09T16:50:23.671Z,1754758223.671 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.012332
2025-08-09T16:50:23.933Z,1754758223.933 [DAT](INFO): DAT read: Rx Time:16:50:22.6984

2025-08-09T16:50:23.933Z,1754758223.933 [DAT](INFO): Rx dataTimestamp_ set to:1754758223.933063
2025-08-09T16:50:23.934Z,1754758223.934 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274977
2025-08-09T16:50:24.019Z,1754758224.019 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 152.30 m.
2025-08-09T16:50:24.021Z,1754758224.021 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 152.300003 m,
      nav range: 148.485992 m,
      bearing: 137.967642 deg,
      approach rate: -0.621903 m/s,
      LOS rate: -0.000447 deg/s,
      cmd heading: 141.681264 deg,
      new cmd heading: 141.680655 deg.

2025-08-09T16:50:24.175Z,1754758224.175 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.516298
2025-08-09T16:50:24.370Z,1754758224.370 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 152.30 m.
2025-08-09T16:50:24.373Z,1754758224.373 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 152.300003 m,
      nav range: 148.264923 m,
      bearing: 137.967507 deg,
      approach rate: -0.615459 m/s,
      LOS rate: -0.000376 deg/s,
      cmd heading: 141.680649 deg,
      new cmd heading: 141.680244 deg.

2025-08-09T16:50:24.439Z,1754758224.439 [DAT](INFO): DAT read: 16:50:22.6984 LVL= 25744, 29217, 21714, 31475, AGC= 65, IDX= 410, 0.11,-2.077, 2.605,-1.762,-2.247, PHS= 0.272,-1.386, 0.441, RAW= 154.8,   7.7, CAL= 154.3,   8.1, ROT= 355.7,  -8.1

2025-08-09T16:50:24.441Z,1754758224.441 [DAT](INFO): got valid direction response:
 16:50:22.6984 LVL= 25744, 29217, 21714, 31475, AGC= 65, IDX= 410, 0.11,-2.077, 2.605,-1.762,-2.247, PHS= 0.272,-1.386, 0.441, RAW= 154.8,   7.7, CAL= 154.3,   8.1, ROT= 355.7,  -8.1

2025-08-09T16:50:24.442Z,1754758224.442 [DAT](INFO): DAT read: Bearing 309.2,  -5.5 (Local)

2025-08-09T16:50:24.442Z,1754758224.442 [DAT](INFO): Local bearing/azimuth received:
 Bearing 309.2,  -5.5 (Local)

2025-08-09T16:50:24.448Z,1754758224.448 [DAT](INFO): DAT read: Range 11 to 50 : 149.8 m  (Round-trip  199.8 ms) speed  1.0 m/s

2025-08-09T16:50:24.449Z,1754758224.449 [DAT](INFO): DAT read: user:149>

2025-08-09T16:50:24.450Z,1754758224.450 [DAT](INFO): DAT read: Tx time:16:50:23.7945

2025-08-09T16:50:24.454Z,1754758224.454 [DAT](INFO): Ping request sent.
2025-08-09T16:50:24.454Z,1754758224.454 [DAT](INFO): transmitted an acoustic signal
2025-08-09T16:50:24.455Z,1754758224.455 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-09T16:50:24.456Z,1754758224.456 [DAT](INFO): direction in FSK: [0.987237,-0.074230,0.140901]
2025-08-09T16:50:24.457Z,1754758224.457 [DAT](INFO): publishing transmit ping time
2025-08-09T16:50:24.457Z,1754758224.457 [DAT](INFO): publishing direction and range info
2025-08-09T16:50:24.462Z,1754758224.462 [DAT](INFO): publishing transmit ping time
2025-08-09T16:50:24.462Z,1754758224.462 [DAT](INFO): publishing direction and range info
2025-08-09T16:50:24.791Z,1754758224.791 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 149.800003 m,
      deltaT: 3.780104 s,
      deltaX: -2.500000 m,
      approachRate: -0.661357 m/s,
      rangeRepo size: 4

2025-08-09T16:50:24.793Z,1754758224.793 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 149.800003 m,
      bearing: 137.949415 deg,
      lat: 36.906039 deg,
      lon: -122.115931 deg,
      deltaT: 3.780104 s,
      deltaX: -2.500000 m,
      approachRate: -0.661357 m/s,
      posRepo size: 4

2025-08-09T16:50:24.794Z,1754758224.794 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 149.80 m.
2025-08-09T16:50:24.797Z,1754758224.797 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 149.800003 m,
      nav range: 148.045288 m,
      bearing: 137.949415 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.000376 deg/s,
      cmd heading: 141.680240 deg,
      new cmd heading: 141.679766 deg.

2025-08-09T16:50:25.208Z,1754758225.208 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-09T16:50:25.210Z,1754758225.210 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 149.80 m.
2025-08-09T16:50:25.213Z,1754758225.213 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 149.800003 m,
      nav range: 147.769501 m,
      bearing: 137.948740 deg,
      approach rate: -0.656179 m/s,
      LOS rate: -0.001609 deg/s,
      cmd heading: 141.679761 deg,
      new cmd heading: 141.677733 deg.

2025-08-09T16:50:25.435Z,1754758225.435 [DAT](INFO): ****** received valid address query ******
2025-08-09T16:50:25.435Z,1754758225.435 [DAT](INFO): ****** received valid ping request ******
2025-08-09T16:50:25.436Z,1754758225.436 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-09T16:50:25.581Z,1754758225.581 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 149.80 m.
2025-08-09T16:50:25.584Z,1754758225.584 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 149.800003 m,
      nav range: 147.527740 m,
      bearing: 137.948089 deg,
      approach rate: -0.651773 m/s,
      LOS rate: -0.001759 deg/s,
      cmd heading: 141.677740 deg,
      new cmd heading: 141.675782 deg.

2025-08-09T16:50:25.687Z,1754758225.687 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.232940
2025-08-09T16:50:25.943Z,1754758225.943 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.487219
2025-08-09T16:50:26.029Z,1754758226.029 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 149.80 m.
2025-08-09T16:50:26.032Z,1754758226.032 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 149.800003 m,
      nav range: 147.241486 m,
      bearing: 137.950696 deg,
      approach rate: -0.639019 m/s,
      LOS rate: 0.005832 deg/s,
      cmd heading: 141.675786 deg,
      new cmd heading: 141.683623 deg.

2025-08-09T16:50:26.191Z,1754758226.191 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.736882
2025-08-09T16:50:26.406Z,1754758226.406 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 149.80 m.
2025-08-09T16:50:26.411Z,1754758226.411 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 149.800003 m,
      nav range: 147.006378 m,
      bearing: 137.952784 deg,
      approach rate: -0.625085 m/s,
      LOS rate: 0.005559 deg/s,
      cmd heading: 141.683627 deg,
      new cmd heading: 141.689900 deg.

2025-08-09T16:50:26.443Z,1754758226.443 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.988964
2025-08-09T16:50:26.696Z,1754758226.696 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.241125
2025-08-09T16:50:26.812Z,1754758226.812 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 149.80 m.
2025-08-09T16:50:26.815Z,1754758226.815 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 149.800003 m,
      nav range: 146.752609 m,
      bearing: 137.954983 deg,
      approach rate: -0.624054 m/s,
      LOS rate: 0.005418 deg/s,
      cmd heading: 141.689897 deg,
      new cmd heading: 141.696507 deg.

2025-08-09T16:50:26.950Z,1754758226.950 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.494978
2025-08-09T16:50:27.199Z,1754758227.199 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.744920
2025-08-09T16:50:27.231Z,1754758227.231 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-09T16:50:27.233Z,1754758227.233 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 149.80 m.
2025-08-09T16:50:27.239Z,1754758227.239 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 149.800003 m,
      nav range: 146.468292 m,
      bearing: 137.957156 deg,
      approach rate: -0.675724 m/s,
      LOS rate: 0.005174 deg/s,
      cmd heading: 141.696509 deg,
      new cmd heading: 141.703040 deg.

2025-08-09T16:50:27.451Z,1754758227.451 [DAT](INFO): DAT read: Rx Time:16:50:26.3955

2025-08-09T16:50:27.452Z,1754758227.452 [DAT](INFO): Rx dataTimestamp_ set to:1754758227.451538
2025-08-09T16:50:27.452Z,1754758227.452 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.997953
2025-08-09T16:50:27.603Z,1754758227.603 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 149.80 m.
2025-08-09T16:50:27.605Z,1754758227.605 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 149.800003 m,
      nav range: 146.202835 m,
      bearing: 137.959162 deg,
      approach rate: -0.717966 m/s,
      LOS rate: 0.005436 deg/s,
      cmd heading: 141.703039 deg,
      new cmd heading: 141.709068 deg.

2025-08-09T16:50:27.703Z,1754758227.703 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.249035
2025-08-09T16:50:27.995Z,1754758227.995 [DAT](INFO): DAT read: 16:50:26.3955 LVL= 30880, 32753, 23506, 32755, AGC= 68, IDX= 412,-0.05, 1.086,-0.521, 1.439, 0.960, PHS= 0.228,-1.436, 0.435, RAW= 155.8,   8.7, CAL= 155.4,   9.3, ROT= 354.6,  -9.3

2025-08-09T16:50:27.996Z,1754758227.996 [DAT](INFO): got valid direction response:
 16:50:26.3955 LVL= 30880, 32753, 23506, 32755, AGC= 68, IDX= 412,-0.05, 1.086,-0.521, 1.439, 0.960, PHS= 0.228,-1.436, 0.435, RAW= 155.8,   8.7, CAL= 155.4,   9.3, ROT= 354.6,  -9.3

2025-08-09T16:50:27.997Z,1754758227.997 [DAT](INFO): DAT read: Bearing 310.4,  -6.9 (Local)

2025-08-09T16:50:27.998Z,1754758227.998 [DAT](INFO): Local bearing/azimuth received:
 Bearing 310.4,  -6.9 (Local)

2025-08-09T16:50:27.999Z,1754758227.999 [DAT](INFO): DAT read: Range 11 to 50 : 147.6 m  (Round-trip  196.8 ms) speed  0.4 m/s

2025-08-09T16:50:27.000Z,1754758228.000 [DAT](INFO): DAT read: user:150>

2025-08-09T16:50:28.001Z,1754758228.001 [DAT](INFO): DAT read: Tx time:16:50:27.4945

2025-08-09T16:50:28.001Z,1754758228.001 [DAT](INFO): Ping request sent.
2025-08-09T16:50:28.001Z,1754758228.001 [DAT](INFO): transmitted an acoustic signal
2025-08-09T16:50:28.001Z,1754758228.001 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-09T16:50:28.005Z,1754758228.005 [DAT](INFO): direction in FSK: [0.982476,-0.092871,0.161604]
2025-08-09T16:50:28.005Z,1754758228.005 [DAT](INFO): publishing transmit ping time
2025-08-09T16:50:28.005Z,1754758228.005 [DAT](INFO): publishing direction and range info
2025-08-09T16:50:28.011Z,1754758228.011 [DAT](INFO): publishing transmit ping time
2025-08-09T16:50:28.011Z,1754758228.011 [DAT](INFO): publishing direction and range info
2025-08-09T16:50:28.137Z,1754758228.137 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 147.600006 m,
      deltaT: 3.529197 s,
      deltaX: -2.199997 m,
      approachRate: -0.623370 m/s,
      rangeRepo size: 4

2025-08-09T16:50:28.143Z,1754758228.143 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 147.600006 m,
      bearing: 137.920033 deg,
      lat: 36.906039 deg,
      lon: -122.115929 deg,
      deltaT: 3.529197 s,
      deltaX: -2.199997 m,
      approachRate: -0.623370 m/s,
      posRepo size: 4

2025-08-09T16:50:28.144Z,1754758228.144 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 147.60 m.
2025-08-09T16:50:28.151Z,1754758228.151 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 147.600006 m,
      nav range: 145.966507 m,
      bearing: 137.920033 deg,
      approach rate: -0.000000 m/s,
      LOS rate: 0.005436 deg/s,
      cmd heading: 141.709063 deg,
      new cmd heading: 141.717768 deg.

2025-08-09T16:50:28.477Z,1754758228.477 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 147.60 m.
2025-08-09T16:50:28.480Z,1754758228.480 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 147.600006 m,
      nav range: 145.742645 m,
      bearing: 137.921381 deg,
      approach rate: -0.657367 m/s,
      LOS rate: 0.003965 deg/s,
      cmd heading: 141.717765 deg,
      new cmd heading: 141.721815 deg.

2025-08-09T16:50:28.903Z,1754758228.903 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 147.60 m.
2025-08-09T16:50:28.909Z,1754758228.909 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 147.600006 m,
      nav range: 145.481705 m,
      bearing: 137.922923 deg,
      approach rate: -0.613486 m/s,
      LOS rate: 0.003632 deg/s,
      cmd heading: 141.721822 deg,
      new cmd heading: 141.726457 deg.

2025-08-09T16:50:29.367Z,1754758229.367 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-09T16:50:29.369Z,1754758229.369 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 147.60 m.
2025-08-09T16:50:29.372Z,1754758229.372 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 147.600006 m,
      nav range: 145.179520 m,
      bearing: 137.928282 deg,
      approach rate: -0.646814 m/s,
      LOS rate: 0.011495 deg/s,
      cmd heading: 141.726453 deg,
      new cmd heading: 141.742564 deg.

2025-08-09T16:50:29.468Z,1754758229.468 [DAT](INFO): ****** received valid address query ******
2025-08-09T16:50:29.468Z,1754758229.468 [DAT](INFO): ****** received valid ping request ******
2025-08-09T16:50:29.468Z,1754758229.468 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-09T16:50:29.720Z,1754758229.720 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.718533
2025-08-09T16:50:29.743Z,1754758229.743 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 147.60 m.
2025-08-09T16:50:29.745Z,1754758229.745 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 147.600006 m,
      nav range: 144.944809 m,
      bearing: 137.932428 deg,
      approach rate: -0.628852 m/s,
      LOS rate: 0.011126 deg/s,
      cmd heading: 141.742558 deg,
      new cmd heading: 141.755016 deg.

2025-08-09T16:50:29.975Z,1754758229.975 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.973677
2025-08-09T16:50:30.140Z,1754758230.140 [RDI_Pathfinder](ERROR): only read 2 of 4 data items for bottom velocity. Device response is::BS,   -56,  +632,
2025-08-09T16:50:30.175Z,1754758230.175 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 147.60 m.
2025-08-09T16:50:30.178Z,1754758230.178 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 147.600006 m,
      nav range: 144.675552 m,
      bearing: 137.937198 deg,
      approach rate: -0.622294 m/s,
      LOS rate: 0.011045 deg/s,
      cmd heading: 141.755016 deg,
      new cmd heading: 141.769353 deg.

2025-08-09T16:50:30.224Z,1754758230.224 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.223066
2025-08-09T16:50:30.475Z,1754758230.475 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.474162
2025-08-09T16:50:30.548Z,1754758230.548 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 147.60 m.
2025-08-09T16:50:30.567Z,1754758230.567 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 147.600006 m,
      nav range: 144.439209 m,
      bearing: 137.941413 deg,
      approach rate: -0.633927 m/s,
      LOS rate: 0.011324 deg/s,
      cmd heading: 141.769360 deg,
      new cmd heading: 141.782025 deg.

2025-08-09T16:50:30.727Z,1754758230.727 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.726292
2025-08-09T16:50:30.980Z,1754758230.980 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.978230
2025-08-09T16:50:31.053Z,1754758231.053 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 147.60 m.
2025-08-09T16:50:31.064Z,1754758231.064 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 147.600006 m,
      nav range: 144.166809 m,
      bearing: 137.946311 deg,
      approach rate: -0.539088 m/s,
      LOS rate: 0.009712 deg/s,
      cmd heading: 141.782023 deg,
      new cmd heading: 141.796746 deg.

2025-08-09T16:50:31.231Z,1754758231.231 [DAT](INFO): DAT read: Rx Time:16:50:30.0922

2025-08-09T16:50:31.232Z,1754758231.232 [DAT](INFO): Rx dataTimestamp_ set to:1754758231.231475
2025-08-09T16:50:31.232Z,1754758231.232 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.231249
2025-08-09T16:50:31.401Z,1754758231.401 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-09T16:50:31.409Z,1754758231.409 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 147.60 m.
2025-08-09T16:50:31.417Z,1754758231.417 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 147.600006 m,
      nav range: 143.915863 m,
      bearing: 137.951297 deg,
      approach rate: -0.706616 m/s,
      LOS rate: 0.014064 deg/s,
      cmd heading: 141.796749 deg,
      new cmd heading: 141.811732 deg.

2025-08-09T16:50:31.484Z,1754758231.484 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.483180
2025-08-09T16:50:31.741Z,1754758231.741 [DAT](INFO): DAT read: 16:50:30.0922 LVL= 28816, 32753, 26146, 32755, AGC= 69, IDX= 411, 0.07, 2.487, 0.885, 2.848, 2.383, PHS= 0.206,-1.453, 0.421, RAW= 156.0,   9.3, CAL= 155.8,  10.0, ROT= 354.2, -10.0

2025-08-09T16:50:31.743Z,1754758231.743 [DAT](INFO): got valid direction response:
 16:50:30.0922 LVL= 28816, 32753, 26146, 32755, AGC= 69, IDX= 411, 0.07, 2.487, 0.885, 2.848, 2.383, PHS= 0.206,-1.453, 0.421, RAW= 156.0,   9.3, CAL= 155.8,  10.0, ROT= 354.2, -10.0

2025-08-09T16:50:31.744Z,1754758231.744 [DAT](INFO): DAT read: Bearing 311.6,  -7.2 (Local)

2025-08-09T16:50:31.744Z,1754758231.744 [DAT](INFO): Local bearing/azimuth received:
 Bearing 311.6,  -7.2 (Local)

2025-08-09T16:50:31.745Z,1754758231.745 [DAT](INFO): DAT read: Range 11 to 50 : 145.2 m  (Round-trip  193.6 ms) speed  0.5 m/s

2025-08-09T16:50:31.746Z,1754758231.746 [DAT](INFO): DAT read: user:151>

2025-08-09T16:50:31.747Z,1754758231.747 [DAT](INFO): DAT read: Tx time:16:50:31.1944

2025-08-09T16:50:31.747Z,1754758231.747 [DAT](INFO): Ping request sent.
2025-08-09T16:50:31.747Z,1754758231.747 [DAT](INFO): transmitted an acoustic signal
2025-08-09T16:50:31.748Z,1754758231.748 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-09T16:50:31.749Z,1754758231.749 [DAT](INFO): direction in FSK: [0.979766,-0.099521,0.173648]
2025-08-09T16:50:31.749Z,1754758231.749 [DAT](INFO): publishing transmit ping time
2025-08-09T16:50:31.749Z,1754758231.749 [DAT](INFO): publishing direction and range info
2025-08-09T16:50:31.752Z,1754758231.752 [DAT](INFO): publishing transmit ping time
2025-08-09T16:50:31.752Z,1754758231.752 [DAT](INFO): publishing direction and range info
2025-08-09T16:50:31.837Z,1754758231.837 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 145.199997 m,
      deltaT: 3.779021 s,
      deltaX: -2.400009 m,
      approachRate: -0.635088 m/s,
      rangeRepo size: 4

2025-08-09T16:50:31.859Z,1754758231.859 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 145.199997 m,
      bearing: 137.956992 deg,
      lat: 36.906039 deg,
      lon: -122.115929 deg,
      deltaT: 3.779021 s,
      deltaX: -2.400009 m,
      approachRate: -0.635088 m/s,
      posRepo size: 4

2025-08-09T16:50:31.860Z,1754758231.860 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 145.20 m.
2025-08-09T16:50:31.867Z,1754758231.867 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 145.199997 m,
      nav range: 143.626831 m,
      bearing: 137.956992 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.014064 deg/s,
      cmd heading: 141.811734 deg,
      new cmd heading: 141.829790 deg.

2025-08-09T16:50:32.186Z,1754758232.186 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 145.20 m.
2025-08-09T16:50:32.189Z,1754758232.189 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 145.199997 m,
      nav range: 143.391876 m,
      bearing: 137.959220 deg,
      approach rate: -0.672281 m/s,
      LOS rate: 0.006386 deg/s,
      cmd heading: 141.829793 deg,
      new cmd heading: 141.836489 deg.

2025-08-09T16:50:32.575Z,1754758232.575 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 145.20 m.
2025-08-09T16:50:32.577Z,1754758232.577 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 145.199997 m,
      nav range: 143.142181 m,
      bearing: 137.961535 deg,
      approach rate: -0.642575 m/s,
      LOS rate: 0.005966 deg/s,
      cmd heading: 141.836487 deg,
      new cmd heading: 141.843442 deg.

2025-08-09T16:50:32.993Z,1754758232.993 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 145.20 m.
2025-08-09T16:50:33.001Z,1754758233.001 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 145.199997 m,
      nav range: 142.885254 m,
      bearing: 137.963854 deg,
      approach rate: -0.617706 m/s,
      LOS rate: 0.005586 deg/s,
      cmd heading: 141.843440 deg,
      new cmd heading: 141.850410 deg.

2025-08-09T16:50:33.432Z,1754758233.432 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-09T16:50:33.434Z,1754758233.434 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 145.20 m.
2025-08-09T16:50:33.437Z,1754758233.437 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 145.199997 m,
      nav range: 142.583633 m,
      bearing: 137.966661 deg,
      approach rate: -0.680412 m/s,
      LOS rate: 0.006347 deg/s,
      cmd heading: 141.850407 deg,
      new cmd heading: 141.858847 deg.

2025-08-09T16:50:33.499Z,1754758233.499 [DAT](INFO): ****** received valid address query ******
2025-08-09T16:50:33.499Z,1754758233.499 [DAT](INFO): ****** received valid ping request ******
2025-08-09T16:50:33.500Z,1754758233.500 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-09T16:50:33.751Z,1754758233.751 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.003966
2025-08-09T16:50:33.779Z,1754758233.779 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 145.20 m.
2025-08-09T16:50:33.781Z,1754758233.781 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 145.199997 m,
      nav range: 142.356522 m,
      bearing: 137.968784 deg,
      approach rate: -0.658818 m/s,
      LOS rate: 0.006169 deg/s,
      cmd heading: 141.858849 deg,
      new cmd heading: 141.865229 deg.

2025-08-09T16:50:34.003Z,1754758234.003 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.255887
2025-08-09T16:50:34.217Z,1754758234.217 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 145.20 m.
2025-08-09T16:50:34.220Z,1754758234.220 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 145.199997 m,
      nav range: 142.067825 m,
      bearing: 137.969203 deg,
      approach rate: -0.658374 m/s,
      LOS rate: 0.000957 deg/s,
      cmd heading: 141.865228 deg,
      new cmd heading: 141.866487 deg.

2025-08-09T16:50:34.256Z,1754758234.256 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.508281
2025-08-09T16:50:34.507Z,1754758234.507 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.759871
2025-08-09T16:50:34.603Z,1754758234.603 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 145.20 m.
2025-08-09T16:50:34.606Z,1754758234.606 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 145.199997 m,
      nav range: 141.816147 m,
      bearing: 137.969551 deg,
      approach rate: -0.652020 m/s,
      LOS rate: 0.000903 deg/s,
      cmd heading: 141.866485 deg,
      new cmd heading: 141.867531 deg.

2025-08-09T16:50:34.759Z,1754758234.759 [DAT](INFO): DAT read: Rx Time:16:50:33.7886

2025-08-09T16:50:34.760Z,1754758234.760 [DAT](INFO): Rx dataTimestamp_ set to:1754758234.759468
2025-08-09T16:50:34.760Z,1754758234.760 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.012882
2025-08-09T16:50:35.012Z,1754758235.012 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.264629
2025-08-09T16:50:35.173Z,1754758235.173 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 145.20 m.
2025-08-09T16:50:35.176Z,1754758235.176 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 145.199997 m,
      nav range: 141.427032 m,
      bearing: 137.969033 deg,
      approach rate: -0.682869 m/s,
      LOS rate: -0.000912 deg/s,
      cmd heading: 141.867537 deg,
      new cmd heading: 141.865979 deg.

2025-08-09T16:50:35.263Z,1754758235.263 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.515957
2025-08-09T16:50:35.433Z,1754758235.433 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-09T16:50:35.443Z,1754758235.443 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 145.20 m.
2025-08-09T16:50:35.445Z,1754758235.445 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 145.199997 m,
      nav range: 141.249298 m,
      bearing: 137.968761 deg,
      approach rate: -0.667091 m/s,
      LOS rate: -0.001025 deg/s,
      cmd heading: 141.865980 deg,
      new cmd heading: 141.865161 deg.

2025-08-09T16:50:35.523Z,1754758235.523 [DAT](INFO): DAT read: 16:50:33.7886 LVL= 32752, 32753, 28450, 32755, AGC= 69, IDX= 408,-0.49,-2.526, 2.211,-2.168,-2.644, PHS= 0.220,-1.383, 0.432, RAW= 156.1,   8.6, CAL= 155.8,   9.0, ROT= 354.2,  -9.0

2025-08-09T16:50:35.526Z,1754758235.526 [DAT](INFO): got valid direction response:
 16:50:33.7886 LVL= 32752, 32753, 28450, 32755, AGC= 69, IDX= 408,-0.49,-2.526, 2.211,-2.168,-2.644, PHS= 0.220,-1.383, 0.432, RAW= 156.1,   8.6, CAL= 155.8,   9.0, ROT= 354.2,  -9.0

2025-08-09T16:50:35.534Z,1754758235.534 [DAT](INFO): DAT read: Bearing 311.0,  -7.3 (Local)

2025-08-09T16:50:35.535Z,1754758235.535 [DAT](INFO): Local bearing/azimuth received:
 Bearing 311.0,  -7.3 (Local)

2025-08-09T16:50:35.536Z,1754758235.536 [DAT](INFO): DAT read: Range 11 to 50 : 142.5 m  (Round-trip  190.1 ms) speed  0.8 m/s

2025-08-09T16:50:35.537Z,1754758235.537 [DAT](INFO): DAT read: user:152>

2025-08-09T16:50:35.538Z,1754758235.538 [DAT](INFO): DAT read: Tx time:16:50:34.8944

2025-08-09T16:50:35.538Z,1754758235.538 [DAT](INFO): Ping request sent.
2025-08-09T16:50:35.538Z,1754758235.538 [DAT](INFO): transmitted an acoustic signal
2025-08-09T16:50:35.544Z,1754758235.544 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-09T16:50:35.546Z,1754758235.546 [DAT](INFO): direction in FSK: [0.982632,-0.099812,0.156434]
2025-08-09T16:50:35.551Z,1754758235.551 [DAT](INFO): publishing transmit ping time
2025-08-09T16:50:35.551Z,1754758235.551 [DAT](INFO): publishing direction and range info
2025-08-09T16:50:35.559Z,1754758235.559 [DAT](INFO): publishing transmit ping time
2025-08-09T16:50:35.560Z,1754758235.560 [DAT](INFO): publishing direction and range info
2025-08-09T16:50:35.837Z,1754758235.837 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 142.500000 m,
      deltaT: 3.780192 s,
      deltaX: -2.699997 m,
      approachRate: -0.714249 m/s,
      rangeRepo size: 4

2025-08-09T16:50:35.841Z,1754758235.841 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 142.500000 m,
      bearing: 137.325802 deg,
      lat: 36.906050 deg,
      lon: -122.115918 deg,
      deltaT: 3.780192 s,
      deltaX: -2.699997 m,
      approachRate: -0.714249 m/s,
      posRepo size: 4

2025-08-09T16:50:35.842Z,1754758235.842 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 142.50 m.
2025-08-09T16:50:35.845Z,1754758235.845 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 142.500000 m,
      nav range: 140.807541 m,
      bearing: 137.325802 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.001025 deg/s,
      cmd heading: 141.865160 deg,
      new cmd heading: 141.863938 deg.

2025-08-09T16:50:36.230Z,1754758236.230 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 142.50 m.
2025-08-09T16:50:36.233Z,1754758236.233 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 142.500000 m,
      nav range: 140.517014 m,
      bearing: 137.321775 deg,
      approach rate: -0.738108 m/s,
      LOS rate: -0.010250 deg/s,
      cmd heading: 141.863944 deg,
      new cmd heading: 141.851841 deg.

2025-08-09T16:50:36.608Z,1754758236.608 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 142.50 m.
2025-08-09T16:50:36.611Z,1754758236.611 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 142.500000 m,
      nav range: 140.253311 m,
      bearing: 137.318028 deg,
      approach rate: -0.698157 m/s,
      LOS rate: -0.009940 deg/s,
      cmd heading: 141.851841 deg,
      new cmd heading: 141.840578 deg.

2025-08-09T16:50:37.025Z,1754758237.025 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 142.50 m.
2025-08-09T16:50:37.029Z,1754758237.029 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 142.500000 m,
      nav range: 139.974396 m,
      bearing: 137.313980 deg,
      approach rate: -0.668389 m/s,
      LOS rate: -0.009719 deg/s,
      cmd heading: 141.840571 deg,
      new cmd heading: 141.828404 deg.

2025-08-09T16:50:37.445Z,1754758237.445 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-09T16:50:37.448Z,1754758237.448 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 142.50 m.
2025-08-09T16:50:37.451Z,1754758237.451 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 142.500000 m,
      nav range: 139.673157 m,
      bearing: 137.305718 deg,
      approach rate: -0.713047 m/s,
      LOS rate: -0.019601 deg/s,
      cmd heading: 141.828400 deg,
      new cmd heading: 141.803558 deg.

2025-08-09T16:50:37.532Z,1754758237.532 [DAT](INFO): ****** received valid address query ******
2025-08-09T16:50:37.532Z,1754758237.532 [DAT](INFO): ****** received valid ping request ******
2025-08-09T16:50:37.532Z,1754758237.532 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-09T16:50:37.783Z,1754758237.783 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.245251
2025-08-09T16:50:37.822Z,1754758237.822 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 142.50 m.
2025-08-09T16:50:37.825Z,1754758237.825 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 142.500000 m,
      nav range: 139.416428 m,
      bearing: 137.298626 deg,
      approach rate: -0.685745 m/s,
      LOS rate: -0.018976 deg/s,
      cmd heading: 141.803552 deg,
      new cmd heading: 141.782239 deg.

2025-08-09T16:50:38.035Z,1754758238.035 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.497302
2025-08-09T16:50:38.244Z,1754758238.244 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 142.50 m.
2025-08-09T16:50:38.246Z,1754758238.246 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 142.500000 m,
      nav range: 139.143433 m,
      bearing: 137.289423 deg,
      approach rate: -0.647587 m/s,
      LOS rate: -0.021875 deg/s,
      cmd heading: 141.782242 deg,
      new cmd heading: 141.754577 deg.

2025-08-09T16:50:38.287Z,1754758238.287 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.749515
2025-08-09T16:50:38.539Z,1754758238.539 [DAT](INFO): DAT read: Rx Time:16:50:37.4854

2025-08-09T16:50:38.540Z,1754758238.540 [DAT](INFO): Rx dataTimestamp_ set to:1754758238.539495
2025-08-09T16:50:38.540Z,1754758238.540 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.002385
2025-08-09T16:50:38.658Z,1754758238.658 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 142.50 m.
2025-08-09T16:50:38.661Z,1754758238.661 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 142.500000 m,
      nav range: 138.875031 m,
      bearing: 137.280270 deg,
      approach rate: -0.647651 m/s,
      LOS rate: -0.022128 deg/s,
      cmd heading: 141.754579 deg,
      new cmd heading: 141.727069 deg.

2025-08-09T16:50:38.792Z,1754758238.792 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.253801
2025-08-09T16:50:39.053Z,1754758239.053 [DAT](INFO): DAT read: 16:50:37.4854 LVL= 32560, 32753, 27986, 32755, AGC= 69, IDX= 406, 0.24,-2.509, 2.124,-2.144,-2.637, PHS= 0.230,-1.477, 0.449, RAW= 156.0,   8.8, CAL= 155.6,   9.3, ROT= 354.4,  -9.3

2025-08-09T16:50:39.055Z,1754758239.055 [DAT](INFO): got valid direction response:
 16:50:37.4854 LVL= 32560, 32753, 27986, 32755, AGC= 69, IDX= 406, 0.24,-2.509, 2.124,-2.144,-2.637, PHS= 0.230,-1.477, 0.449, RAW= 156.0,   8.8, CAL= 155.6,   9.3, ROT= 354.4,  -9.3

2025-08-09T16:50:39.056Z,1754758239.056 [DAT](INFO): DAT read: Bearing 311.5,  -7.2 (Local)

2025-08-09T16:50:39.056Z,1754758239.056 [DAT](INFO): Local bearing/azimuth received:
 Bearing 311.5,  -7.2 (Local)

2025-08-09T16:50:39.057Z,1754758239.057 [DAT](INFO): DAT read: Range 11 to 50 : 140.1 m  (Round-trip  186.9 ms) speed  0.4 m/s

2025-08-09T16:50:39.058Z,1754758239.058 [DAT](INFO): DAT read: user:153>

2025-08-09T16:50:39.063Z,1754758239.063 [DAT](INFO): DAT read: Tx time:16:50:38.5944

2025-08-09T16:50:39.063Z,1754758239.063 [DAT](INFO): Ping request sent.
2025-08-09T16:50:39.063Z,1754758239.063 [DAT](INFO): transmitted an acoustic signal
2025-08-09T16:50:39.064Z,1754758239.064 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-09T16:50:39.065Z,1754758239.065 [DAT](INFO): direction in FSK: [0.982146,-0.096300,0.161604]
2025-08-09T16:50:39.065Z,1754758239.065 [DAT](INFO): publishing transmit ping time
2025-08-09T16:50:39.065Z,1754758239.065 [DAT](INFO): publishing direction and range info
2025-08-09T16:50:39.159Z,1754758239.159 [DAT](INFO): publishing transmit ping time
2025-08-09T16:50:39.160Z,1754758239.160 [DAT](INFO): publishing direction and range info
2025-08-09T16:50:39.240Z,1754758239.240 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 140.100006 m,
      deltaT: 3.529148 s,
      deltaX: -2.399994 m,
      approachRate: -0.680049 m/s,
      rangeRepo size: 4

2025-08-09T16:50:39.242Z,1754758239.241 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 140.100006 m,
      bearing: 137.267876 deg,
      lat: 36.906050 deg,
      lon: -122.115918 deg,
      deltaT: 3.529148 s,
      deltaX: -2.399994 m,
      approachRate: -0.680049 m/s,
      posRepo size: 4

2025-08-09T16:50:39.246Z,1754758239.246 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 140.10 m.
2025-08-09T16:50:39.249Z,1754758239.249 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 140.100006 m,
      nav range: 138.514740 m,
      bearing: 137.267876 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.022128 deg/s,
      cmd heading: 141.727067 deg,
      new cmd heading: 141.688511 deg.

2025-08-09T16:50:39.617Z,1754758239.617 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-09T16:50:39.619Z,1754758239.619 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 140.10 m.
2025-08-09T16:50:39.622Z,1754758239.622 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 140.100006 m,
      nav range: 138.244308 m,
      bearing: 137.258243 deg,
      approach rate: -0.710613 m/s,
      LOS rate: -0.025362 deg/s,
      cmd heading: 141.688518 deg,
      new cmd heading: 141.659563 deg.

2025-08-09T16:50:39.799Z,1754758239.799 [DAT](INFO): ****** received valid address query ******
2025-08-09T16:50:39.799Z,1754758239.799 [DAT](INFO): ****** received valid ping request ******
2025-08-09T16:50:39.799Z,1754758239.799 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-09T16:50:39.972Z,1754758239.972 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 140.10 m.
2025-08-09T16:50:39.991Z,1754758239.991 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 140.100006 m,
      nav range: 138.007614 m,
      bearing: 137.249754 deg,
      approach rate: -0.672215 m/s,
      LOS rate: -0.024151 deg/s,
      cmd heading: 141.659558 deg,
      new cmd heading: 141.634046 deg.

2025-08-09T16:50:40.051Z,1754758240.051 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.987945
2025-08-09T16:50:40.303Z,1754758240.303 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.239951
2025-08-09T16:50:40.430Z,1754758240.430 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 140.10 m.
2025-08-09T16:50:40.433Z,1754758240.433 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 140.100006 m,
      nav range: 137.713013 m,
      bearing: 137.238206 deg,
      approach rate: -0.642669 m/s,
      LOS rate: -0.025245 deg/s,
      cmd heading: 141.634040 deg,
      new cmd heading: 141.599323 deg.

2025-08-09T16:50:40.555Z,1754758240.555 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.491868
2025-08-09T16:50:40.797Z,1754758240.797 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 140.10 m.
2025-08-09T16:50:40.800Z,1754758240.800 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 140.100006 m,
      nav range: 137.483810 m,
      bearing: 137.229227 deg,
      approach rate: -0.623749 m/s,
      LOS rate: -0.024475 deg/s,
      cmd heading: 141.599329 deg,
      new cmd heading: 141.572348 deg.

2025-08-09T16:50:40.807Z,1754758240.807 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.743951
2025-08-09T16:50:41.059Z,1754758241.059 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.995906
2025-08-09T16:50:41.241Z,1754758241.241 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 140.10 m.
2025-08-09T16:50:41.244Z,1754758241.244 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 140.100006 m,
      nav range: 137.192764 m,
      bearing: 137.219163 deg,
      approach rate: -0.655653 m/s,
      LOS rate: -0.022721 deg/s,
      cmd heading: 141.572350 deg,
      new cmd heading: 141.542092 deg.

2025-08-09T16:50:41.312Z,1754758241.312 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.248718
2025-08-09T16:50:41.563Z,1754758241.563 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.499860
2025-08-09T16:50:41.607Z,1754758241.607 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 140.10 m.
2025-08-09T16:50:41.609Z,1754758241.609 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 140.100006 m,
      nav range: 136.965164 m,
      bearing: 137.211342 deg,
      approach rate: -0.623557 m/s,
      LOS rate: -0.021462 deg/s,
      cmd heading: 141.542092 deg,
      new cmd heading: 141.518591 deg.

2025-08-09T16:50:41.816Z,1754758241.816 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.752065
2025-08-09T16:50:41.989Z,1754758241.989 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-09T16:50:41.992Z,1754758241.992 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 140.10 m.
2025-08-09T16:50:41.994Z,1754758241.994 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 140.100006 m,
      nav range: 136.719666 m,
      bearing: 137.203009 deg,
      approach rate: -0.637204 m/s,
      LOS rate: -0.021668 deg/s,
      cmd heading: 141.518596 deg,
      new cmd heading: 141.493552 deg.

2025-08-09T16:50:42.068Z,1754758242.068 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.004382
2025-08-09T16:50:42.319Z,1754758242.319 [DAT](INFO): DAT read: Rx Time:16:50:41.1823

2025-08-09T16:50:42.320Z,1754758242.320 [DAT](INFO): Rx dataTimestamp_ set to:1754758242.319552
2025-08-09T16:50:42.320Z,1754758242.320 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.256978
2025-08-09T16:50:42.449Z,1754758242.449 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 140.10 m.
2025-08-09T16:50:42.463Z,1754758242.463 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 140.100006 m,
      nav range: 136.448059 m,
      bearing: 137.196823 deg,
      approach rate: -0.593556 m/s,
      LOS rate: -0.013544 deg/s,
      cmd heading: 141.493557 deg,
      new cmd heading: 141.474964 deg.

2025-08-09T16:50:42.572Z,1754758242.572 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.508276
2025-08-09T16:50:42.815Z,1754758242.815 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 140.10 m.
2025-08-09T16:50:42.818Z,1754758242.818 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 140.100006 m,
      nav range: 136.217621 m,
      bearing: 137.191619 deg,
      approach rate: -0.629475 m/s,
      LOS rate: -0.014241 deg/s,
      cmd heading: 141.474965 deg,
      new cmd heading: 141.459325 deg.

2025-08-09T16:50:42.829Z,1754758242.829 [DAT](INFO): DAT read: 16:50:41.1823 LVL= 32752, 32753, 32754, 32755, AGC= 69, IDX= 406,-0.02, 1.109,-0.486, 1.461, 0.985, PHS= 0.226,-1.427, 0.432, RAW= 155.8,   8.8, CAL= 155.5,   9.3, ROT= 354.5,  -9.3

2025-08-09T16:50:42.832Z,1754758242.832 [DAT](INFO): got valid direction response:
 16:50:41.1823 LVL= 32752, 32753, 32754, 32755, AGC= 69, IDX= 406,-0.02, 1.109,-0.486, 1.461, 0.985, PHS= 0.226,-1.427, 0.432, RAW= 155.8,   8.8, CAL= 155.5,   9.3, ROT= 354.5,  -9.3

2025-08-09T16:50:42.833Z,1754758242.833 [DAT](INFO): DAT read: Bearing 311.5,  -6.7 (Local)

2025-08-09T16:50:42.833Z,1754758242.833 [DAT](INFO): Local bearing/azimuth received:
 Bearing 311.5,  -6.7 (Local)

2025-08-09T16:50:42.835Z,1754758242.835 [DAT](INFO): DAT read: Range 11 to 50 : 137.7 m  (Round-trip  183.7 ms) speed  0.7 m/s

2025-08-09T16:50:42.836Z,1754758242.836 [DAT](INFO): DAT read: user:154>

2025-08-09T16:50:42.837Z,1754758242.837 [DAT](INFO): DAT read: Tx time:16:50:42.2959

2025-08-09T16:50:42.837Z,1754758242.837 [DAT](INFO): Ping request sent.
2025-08-09T16:50:42.837Z,1754758242.837 [DAT](INFO): transmitted an acoustic signal
2025-08-09T16:50:42.837Z,1754758242.837 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-09T16:50:42.843Z,1754758242.843 [DAT](INFO): direction in FSK: [0.982312,-0.094586,0.161604]
2025-08-09T16:50:42.843Z,1754758242.843 [DAT](INFO): publishing transmit ping time
2025-08-09T16:50:42.843Z,1754758242.843 [DAT](INFO): publishing direction and range info
2025-08-09T16:50:42.861Z,1754758242.861 [DAT](INFO): publishing transmit ping time
2025-08-09T16:50:42.861Z,1754758242.861 [DAT](INFO): publishing direction and range info
2025-08-09T16:50:43.275Z,1754758243.275 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 137.699997 m,
      deltaT: 3.778362 s,
      deltaX: -2.400009 m,
      approachRate: -0.635198 m/s,
      rangeRepo size: 4

2025-08-09T16:50:43.277Z,1754758243.277 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 137.699997 m,
      bearing: 137.187111 deg,
      lat: 36.906050 deg,
      lon: -122.115918 deg,
      deltaT: 3.778362 s,
      deltaX: -2.400009 m,
      approachRate: -0.635198 m/s,
      posRepo size: 4

2025-08-09T16:50:43.278Z,1754758243.278 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 137.70 m.
2025-08-09T16:50:43.297Z,1754758243.297 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 137.699997 m,
      nav range: 135.916458 m,
      bearing: 137.187111 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.014241 deg/s,
      cmd heading: 141.459324 deg,
      new cmd heading: 141.439708 deg.

2025-08-09T16:50:43.624Z,1754758243.624 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 137.70 m.
2025-08-09T16:50:43.627Z,1754758243.627 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 137.699997 m,
      nav range: 135.699646 m,
      bearing: 137.183890 deg,
      approach rate: -0.620415 m/s,
      LOS rate: -0.009230 deg/s,
      cmd heading: 141.439708 deg,
      new cmd heading: 141.430031 deg.

2025-08-09T16:50:44.009Z,1754758244.009 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-09T16:50:44.012Z,1754758244.012 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 137.70 m.
2025-08-09T16:50:44.015Z,1754758244.015 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 137.699997 m,
      nav range: 135.441544 m,
      bearing: 137.180073 deg,
      approach rate: -0.665380 m/s,
      LOS rate: -0.009860 deg/s,
      cmd heading: 141.430036 deg,
      new cmd heading: 141.418562 deg.

2025-08-09T16:50:44.084Z,1754758244.084 [DAT](INFO): ****** received valid address query ******
2025-08-09T16:50:44.084Z,1754758244.084 [DAT](INFO): ****** received valid ping request ******
2025-08-09T16:50:44.084Z,1754758244.084 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-09T16:50:44.338Z,1754758244.338 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.500752
2025-08-09T16:50:44.537Z,1754758244.537 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 137.70 m.
2025-08-09T16:50:44.540Z,1754758244.540 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 137.699997 m,
      nav range: 135.110001 m,
      bearing: 137.180261 deg,
      approach rate: -0.630804 m/s,
      LOS rate: 0.000359 deg/s,
      cmd heading: 141.418561 deg,
      new cmd heading: 141.419128 deg.

2025-08-09T16:50:44.588Z,1754758244.588 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.750524
2025-08-09T16:50:44.840Z,1754758244.840 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.002968
2025-08-09T16:50:44.883Z,1754758244.883 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 137.70 m.
2025-08-09T16:50:44.899Z,1754758244.899 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 137.699997 m,
      nav range: 134.896912 m,
      bearing: 137.180408 deg,
      approach rate: -0.618020 m/s,
      LOS rate: 0.000428 deg/s,
      cmd heading: 141.419121 deg,
      new cmd heading: 141.419564 deg.

2025-08-09T16:50:45.091Z,1754758245.091 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.254040
2025-08-09T16:50:45.332Z,1754758245.332 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 137.70 m.
2025-08-09T16:50:45.336Z,1754758245.336 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 137.699997 m,
      nav range: 134.608994 m,
      bearing: 137.182957 deg,
      approach rate: -0.639856 m/s,
      LOS rate: 0.005677 deg/s,
      cmd heading: 141.419559 deg,
      new cmd heading: 141.427221 deg.

2025-08-09T16:50:45.343Z,1754758245.343 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.506166
2025-08-09T16:50:45.595Z,1754758245.595 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.758081
2025-08-09T16:50:45.662Z,1754758245.662 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 137.70 m.
2025-08-09T16:50:45.665Z,1754758245.665 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 137.699997 m,
      nav range: 134.378723 m,
      bearing: 137.185029 deg,
      approach rate: -0.697261 m/s,
      LOS rate: 0.006285 deg/s,
      cmd heading: 141.427222 deg,
      new cmd heading: 141.433449 deg.

2025-08-09T16:50:45.848Z,1754758245.848 [DAT](INFO): DAT read: Rx Time:16:50:44.8807

2025-08-09T16:50:45.849Z,1754758245.849 [DAT](INFO): Rx dataTimestamp_ set to:1754758245.848219
2025-08-09T16:50:45.849Z,1754758245.849 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.012145
2025-08-09T16:50:46.060Z,1754758246.060 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-09T16:50:46.063Z,1754758246.063 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 137.70 m.
2025-08-09T16:50:46.066Z,1754758246.066 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 137.699997 m,
      nav range: 134.115616 m,
      bearing: 137.187437 deg,
      approach rate: -0.657548 m/s,
      LOS rate: 0.006029 deg/s,
      cmd heading: 141.433451 deg,
      new cmd heading: 141.440688 deg.

2025-08-09T16:50:46.099Z,1754758246.099 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.262184
2025-08-09T16:50:46.351Z,1754758246.351 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.514094
2025-08-09T16:50:46.519Z,1754758246.519 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 137.70 m.
2025-08-09T16:50:46.522Z,1754758246.522 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 137.699997 m,
      nav range: 133.813705 m,
      bearing: 137.188415 deg,
      approach rate: -0.661185 m/s,
      LOS rate: 0.002148 deg/s,
      cmd heading: 141.440691 deg,
      new cmd heading: 141.443633 deg.

2025-08-09T16:50:46.609Z,1754758246.609 [DAT](INFO): DAT read: 16:50:44.8807 LVL= 32128, 32753, 27970, 32755, AGC= 66, IDX= 406,-0.18,-1.767, 2.958,-1.435,-1.901, PHS= 0.236,-1.380, 0.422, RAW= 155.4,   8.5, CAL= 155.0,   9.0, ROT= 355.0,  -9.0

2025-08-09T16:50:46.610Z,1754758246.610 [DAT](INFO): got valid direction response:
 16:50:44.8807 LVL= 32128, 32753, 27970, 32755, AGC= 66, IDX= 406,-0.18,-1.767, 2.958,-1.435,-1.901, PHS= 0.236,-1.380, 0.422, RAW= 155.4,   8.5, CAL= 155.0,   9.0, ROT= 355.0,  -9.0

2025-08-09T16:50:46.611Z,1754758246.611 [DAT](INFO): DAT read: Bearing 311.2,  -6.5 (Local)

2025-08-09T16:50:46.612Z,1754758246.612 [DAT](INFO): Local bearing/azimuth received:
 Bearing 311.2,  -6.5 (Local)

2025-08-09T16:50:46.613Z,1754758246.613 [DAT](INFO): DAT read: Range 11 to 50 : 135.4 m  (Round-trip  180.6 ms) speed  0.4 m/s

2025-08-09T16:50:46.614Z,1754758246.614 [DAT](INFO): DAT read: user:155>

2025-08-09T16:50:46.614Z,1754758246.614 [DAT](INFO): DAT read: Tx time:16:50:45.9944

2025-08-09T16:50:46.615Z,1754758246.615 [DAT](INFO): Ping request sent.
2025-08-09T16:50:46.615Z,1754758246.615 [DAT](INFO): transmitted an acoustic signal
2025-08-09T16:50:46.615Z,1754758246.615 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-09T16:50:46.616Z,1754758246.616 [DAT](INFO): direction in FSK: [0.983930,-0.086083,0.156434]
2025-08-09T16:50:46.616Z,1754758246.616 [DAT](INFO): publishing transmit ping time
2025-08-09T16:50:46.617Z,1754758246.617 [DAT](INFO): publishing direction and range info
2025-08-09T16:50:46.620Z,1754758246.620 [DAT](INFO): publishing transmit ping time
2025-08-09T16:50:46.620Z,1754758246.620 [DAT](INFO): publishing direction and range info
2025-08-09T16:50:46.894Z,1754758246.894 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 135.399994 m,
      deltaT: 3.780007 s,
      deltaX: -2.300003 m,
      approachRate: -0.608465 m/s,
      rangeRepo size: 4

2025-08-09T16:50:46.920Z,1754758246.920 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 135.399994 m,
      bearing: 137.557396 deg,
      lat: 36.906044 deg,
      lon: -122.115924 deg,
      deltaT: 3.780007 s,
      deltaX: -2.300003 m,
      approachRate: -0.608465 m/s,
      posRepo size: 4

2025-08-09T16:50:46.921Z,1754758246.921 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 135.40 m.
2025-08-09T16:50:46.928Z,1754758246.928 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 135.399994 m,
      nav range: 133.656799 m,
      bearing: 137.557396 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.002148 deg/s,
      cmd heading: 141.443628 deg,
      new cmd heading: 141.446038 deg.

2025-08-09T16:50:47.328Z,1754758247.328 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 135.40 m.
2025-08-09T16:50:47.331Z,1754758247.331 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 135.399994 m,
      nav range: 133.359436 m,
      bearing: 137.562103 deg,
      approach rate: -0.684295 m/s,
      LOS rate: 0.010855 deg/s,
      cmd heading: 141.446032 deg,
      new cmd heading: 141.460183 deg.

2025-08-09T16:50:47.681Z,1754758247.681 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 135.40 m.
2025-08-09T16:50:47.684Z,1754758247.684 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 135.399994 m,
      nav range: 133.120178 m,
      bearing: 137.565914 deg,
      approach rate: -0.676273 m/s,
      LOS rate: 0.010794 deg/s,
      cmd heading: 141.460185 deg,
      new cmd heading: 141.471641 deg.

2025-08-09T16:50:48.084Z,1754758248.084 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-09T16:50:48.107Z,1754758248.107 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 135.40 m.
2025-08-09T16:50:48.110Z,1754758248.110 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 135.399994 m,
      nav range: 132.847565 m,
      bearing: 137.570273 deg,
      approach rate: -0.673819 m/s,
      LOS rate: 0.010794 deg/s,
      cmd heading: 141.471646 deg,
      new cmd heading: 141.484747 deg.

2025-08-09T16:50:48.115Z,1754758248.115 [DAT](INFO): ****** received valid address query ******
2025-08-09T16:50:48.115Z,1754758248.115 [DAT](INFO): ****** received valid ping request ******
2025-08-09T16:50:48.115Z,1754758248.115 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-09T16:50:48.368Z,1754758248.368 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.753424
2025-08-09T16:50:48.534Z,1754758248.534 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 135.40 m.
2025-08-09T16:50:48.537Z,1754758248.537 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 135.399994 m,
      nav range: 132.558411 m,
      bearing: 137.576446 deg,
      approach rate: -0.669326 m/s,
      LOS rate: 0.014321 deg/s,
      cmd heading: 141.484746 deg,
      new cmd heading: 141.503306 deg.

2025-08-09T16:50:48.621Z,1754758248.621 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.005734
2025-08-09T16:50:48.872Z,1754758248.872 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.257001
2025-08-09T16:50:48.918Z,1754758248.918 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 135.40 m.
2025-08-09T16:50:48.921Z,1754758248.921 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 135.399994 m,
      nav range: 132.290680 m,
      bearing: 137.582161 deg,
      approach rate: -0.669385 m/s,
      LOS rate: 0.014317 deg/s,
      cmd heading: 141.503310 deg,
      new cmd heading: 141.520489 deg.

2025-08-09T16:50:49.124Z,1754758249.124 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.508907
2025-08-09T16:50:49.376Z,1754758249.376 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.761546
2025-08-09T16:50:49.448Z,1754758249.448 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 135.40 m.
2025-08-09T16:50:49.450Z,1754758249.450 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 135.399994 m,
      nav range: 131.937149 m,
      bearing: 137.590520 deg,
      approach rate: -0.667567 m/s,
      LOS rate: 0.015827 deg/s,
      cmd heading: 141.520495 deg,
      new cmd heading: 141.545641 deg.

2025-08-09T16:50:49.627Z,1754758249.627 [DAT](INFO): DAT read: Rx Time:16:50:48.5758

2025-08-09T16:50:49.628Z,1754758249.628 [DAT](INFO): Rx dataTimestamp_ set to:1754758249.627468
2025-08-09T16:50:49.628Z,1754758249.628 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.013397
2025-08-09T16:50:49.754Z,1754758249.754 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 135.40 m.
2025-08-09T16:50:49.761Z,1754758249.761 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 135.399994 m,
      nav range: 131.735489 m,
      bearing: 137.595309 deg,
      approach rate: -0.659024 m/s,
      LOS rate: 0.015673 deg/s,
      cmd heading: 141.545644 deg,
      new cmd heading: 141.560031 deg.

2025-08-09T16:50:49.880Z,1754758249.880 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.264858
2025-08-09T16:50:50.138Z,1754758250.138 [DAT](INFO): DAT read: 16:50:48.5758 LVL= 32752, 32753, 27634, 32755, AGC= 69, IDX= 404,-0.11, 2.294, 0.689, 2.651, 2.171, PHS= 0.225,-1.437, 0.436, RAW= 155.9,   8.8, CAL= 155.6,   9.3, ROT= 354.4,  -9.3

2025-08-09T16:50:50.141Z,1754758250.141 [DAT](INFO): got valid direction response:
 16:50:48.5758 LVL= 32752, 32753, 27634, 32755, AGC= 69, IDX= 404,-0.11, 2.294, 0.689, 2.651, 2.171, PHS= 0.225,-1.437, 0.436, RAW= 155.9,   8.8, CAL= 155.6,   9.3, ROT= 354.4,  -9.3

2025-08-09T16:50:50.142Z,1754758250.142 [DAT](INFO): DAT read: Bearing 311.1,  -7.1 (Local)

2025-08-09T16:50:50.143Z,1754758250.143 [DAT](INFO): Local bearing/azimuth received:
 Bearing 311.1,  -7.1 (Local)

2025-08-09T16:50:50.144Z,1754758250.144 [DAT](INFO): DAT read: Range 11 to 50 : 132.9 m  (Round-trip  177.3 ms) speed  0.6 m/s

2025-08-09T16:50:50.145Z,1754758250.145 [DAT](INFO): DAT read: user:156>

2025-08-09T16:50:50.146Z,1754758250.146 [DAT](INFO): DAT read: Tx time:16:50:49.6944

2025-08-09T16:50:50.146Z,1754758250.146 [DAT](INFO): Ping request sent.
2025-08-09T16:50:50.146Z,1754758250.146 [DAT](INFO): transmitted an acoustic signal
2025-08-09T16:50:50.150Z,1754758250.150 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-09T16:50:50.151Z,1754758250.151 [DAT](INFO): direction in FSK: [0.982146,-0.096300,0.161604]
2025-08-09T16:50:50.152Z,1754758250.152 [DAT](INFO): publishing transmit ping time
2025-08-09T16:50:50.152Z,1754758250.152 [DAT](INFO): publishing direction and range info
2025-08-09T16:50:50.156Z,1754758250.156 [DAT](INFO): publishing transmit ping time
2025-08-09T16:50:50.156Z,1754758250.156 [DAT](INFO): publishing direction and range info
2025-08-09T16:50:50.316Z,1754758250.316 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 132.899994 m,
      deltaT: 3.528033 s,
      deltaX: -2.500000 m,
      approachRate: -0.708610 m/s,
      rangeRepo size: 4

2025-08-09T16:50:50.326Z,1754758250.326 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 132.899994 m,
      bearing: 137.603024 deg,
      lat: 36.906044 deg,
      lon: -122.115924 deg,
      deltaT: 3.528033 s,
      deltaX: -2.500000 m,
      approachRate: -0.708610 m/s,
      posRepo size: 4

2025-08-09T16:50:50.327Z,1754758250.327 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 132.90 m.
2025-08-09T16:50:50.330Z,1754758250.330 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 132.899994 m,
      nav range: 131.410828 m,
      bearing: 137.603024 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.015673 deg/s,
      cmd heading: 141.560028 deg,
      new cmd heading: 141.585275 deg.

2025-08-09T16:50:50.745Z,1754758250.745 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-09T16:50:50.747Z,1754758250.747 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 132.90 m.
2025-08-09T16:50:50.766Z,1754758250.766 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 132.899994 m,
      nav range: 131.075546 m,
      bearing: 137.605750 deg,
      approach rate: -0.733892 m/s,
      LOS rate: 0.005982 deg/s,
      cmd heading: 141.585273 deg,
      new cmd heading: 141.593471 deg.

2025-08-09T16:50:50.887Z,1754758250.887 [DAT](INFO): ****** received valid address query ******
2025-08-09T16:50:50.887Z,1754758250.887 [DAT](INFO): ****** received valid ping request ******
2025-08-09T16:50:50.887Z,1754758250.887 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-09T16:50:51.108Z,1754758251.108 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 132.90 m.
2025-08-09T16:50:51.111Z,1754758251.111 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 132.899994 m,
      nav range: 130.832260 m,
      bearing: 137.607757 deg,
      approach rate: -0.675078 m/s,
      LOS rate: 0.005580 deg/s,
      cmd heading: 141.593469 deg,
      new cmd heading: 141.599502 deg.

2025-08-09T16:50:51.143Z,1754758251.143 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.995620
2025-08-09T16:50:51.391Z,1754758251.391 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.245298
2025-08-09T16:50:51.572Z,1754758251.572 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 132.90 m.
2025-08-09T16:50:51.579Z,1754758251.579 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 132.899994 m,
      nav range: 130.531479 m,
      bearing: 137.608684 deg,
      approach rate: -0.648321 m/s,
      LOS rate: 0.002002 deg/s,
      cmd heading: 141.599507 deg,
      new cmd heading: 141.602293 deg.

2025-08-09T16:50:51.645Z,1754758251.645 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.498440
2025-08-09T16:50:51.895Z,1754758251.895 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.749364
2025-08-09T16:50:51.956Z,1754758251.956 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 132.90 m.
2025-08-09T16:50:51.959Z,1754758251.959 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 132.899994 m,
      nav range: 130.286362 m,
      bearing: 137.609544 deg,
      approach rate: -0.638150 m/s,
      LOS rate: 0.002243 deg/s,
      cmd heading: 141.602293 deg,
      new cmd heading: 141.604878 deg.

2025-08-09T16:50:52.147Z,1754758252.147 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.001241
2025-08-09T16:50:52.400Z,1754758252.400 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.253637
2025-08-09T16:50:52.433Z,1754758252.433 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 132.90 m.
2025-08-09T16:50:52.436Z,1754758252.436 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 132.899994 m,
      nav range: 129.962860 m,
      bearing: 137.605355 deg,
      approach rate: -0.678449 m/s,
      LOS rate: -0.008806 deg/s,
      cmd heading: 141.604875 deg,
      new cmd heading: 141.592278 deg.

2025-08-09T16:50:52.652Z,1754758252.652 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.506303
2025-08-09T16:50:52.771Z,1754758252.771 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-09T16:50:52.773Z,1754758252.773 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 132.90 m.
2025-08-09T16:50:52.776Z,1754758252.776 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 132.899994 m,
      nav range: 129.740295 m,
      bearing: 137.602708 deg,
      approach rate: -0.654592 m/s,
      LOS rate: -0.007801 deg/s,
      cmd heading: 141.592280 deg,
      new cmd heading: 141.584323 deg.

2025-08-09T16:50:52.903Z,1754758252.903 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.757483
2025-08-09T16:50:53.155Z,1754758253.155 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.009429
2025-08-09T16:50:53.181Z,1754758253.181 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 132.90 m.
2025-08-09T16:50:53.184Z,1754758253.184 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 132.899994 m,
      nav range: 129.472794 m,
      bearing: 137.599513 deg,
      approach rate: -0.654907 m/s,
      LOS rate: -0.007837 deg/s,
      cmd heading: 141.584330 deg,
      new cmd heading: 141.574727 deg.

2025-08-09T16:50:53.407Z,1754758253.407 [DAT](INFO): DAT read: Rx Time:16:50:52.2726

2025-08-09T16:50:53.408Z,1754758253.408 [DAT](INFO): Rx dataTimestamp_ set to:1754758253.407573
2025-08-09T16:50:53.408Z,1754758253.408 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.262463
2025-08-09T16:50:53.604Z,1754758253.604 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 132.90 m.
2025-08-09T16:50:53.611Z,1754758253.611 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 132.899994 m,
      nav range: 129.206635 m,
      bearing: 137.594778 deg,
      approach rate: -0.629623 m/s,
      LOS rate: -0.011225 deg/s,
      cmd heading: 141.574727 deg,
      new cmd heading: 141.560491 deg.

2025-08-09T16:50:53.659Z,1754758253.659 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.513404
2025-08-09T16:50:53.917Z,1754758253.917 [DAT](INFO): DAT read: 16:50:52.2726 LVL= 24096, 28785, 20946, 30323, AGC= 68, IDX= 403,-0.08, 1.044,-0.576, 1.396, 0.918, PHS= 0.228,-1.449, 0.434, RAW= 155.7,   8.8, CAL= 155.4,   9.4, ROT= 354.6,  -9.4

2025-08-09T16:50:53.918Z,1754758253.918 [DAT](INFO): got valid direction response:
 16:50:52.2726 LVL= 24096, 28785, 20946, 30323, AGC= 68, IDX= 403,-0.08, 1.044,-0.576, 1.396, 0.918, PHS= 0.228,-1.449, 0.434, RAW= 155.7,   8.8, CAL= 155.4,   9.4, ROT= 354.6,  -9.4

2025-08-09T16:50:53.919Z,1754758253.919 [DAT](INFO): DAT read: Bearing 310.9,  -7.0 (Local)

2025-08-09T16:50:53.919Z,1754758253.919 [DAT](INFO): Local bearing/azimuth received:
 Bearing 310.9,  -7.0 (Local)

2025-08-09T16:50:53.921Z,1754758253.921 [DAT](INFO): DAT read: Range 11 to 50 : 130.5 m  (Round-trip  174.1 ms) speed  0.7 m/s

2025-08-09T16:50:53.921Z,1754758253.921 [DAT](INFO): DAT read: user:157>

2025-08-09T16:50:53.927Z,1754758253.927 [DAT](INFO): DAT read: Tx time:16:50:53.3944

2025-08-09T16:50:53.927Z,1754758253.927 [DAT](INFO): Ping request sent.
2025-08-09T16:50:53.927Z,1754758253.927 [DAT](INFO): transmitted an acoustic signal
2025-08-09T16:50:53.927Z,1754758253.927 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-09T16:50:53.928Z,1754758253.928 [DAT](INFO): direction in FSK: [0.982194,-0.092845,0.163326]
2025-08-09T16:50:53.929Z,1754758253.929 [DAT](INFO): publishing transmit ping time
2025-08-09T16:50:53.929Z,1754758253.929 [DAT](INFO): publishing direction and range info
2025-08-09T16:50:53.948Z,1754758253.948 [DAT](INFO): publishing transmit ping time
2025-08-09T16:50:53.948Z,1754758253.948 [DAT](INFO): publishing direction and range info
2025-08-09T16:50:54.027Z,1754758254.027 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 130.500000 m,
      deltaT: 3.779805 s,
      deltaX: -2.399994 m,
      approachRate: -0.634952 m/s,
      rangeRepo size: 4

2025-08-09T16:50:54.029Z,1754758254.029 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 130.500000 m,
      bearing: 137.589918 deg,
      lat: 36.906044 deg,
      lon: -122.115924 deg,
      deltaT: 3.779805 s,
      deltaX: -2.399994 m,
      approachRate: -0.634952 m/s,
      posRepo size: 4

2025-08-09T16:50:54.030Z,1754758254.030 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 130.50 m.
2025-08-09T16:50:54.037Z,1754758254.037 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 130.500000 m,
      nav range: 128.930237 m,
      bearing: 137.589918 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.011225 deg/s,
      cmd heading: 141.560493 deg,
      new cmd heading: 141.546410 deg.

2025-08-09T16:50:54.443Z,1754758254.443 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 130.50 m.
2025-08-09T16:50:54.446Z,1754758254.446 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 130.500000 m,
      nav range: 128.640656 m,
      bearing: 137.584008 deg,
      approach rate: -0.687167 m/s,
      LOS rate: -0.014056 deg/s,
      cmd heading: 141.546409 deg,
      new cmd heading: 141.528638 deg.

2025-08-09T16:50:54.788Z,1754758254.788 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-09T16:50:54.806Z,1754758254.806 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 130.50 m.
2025-08-09T16:50:54.809Z,1754758254.809 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 130.500000 m,
      nav range: 128.409271 m,
      bearing: 137.579362 deg,
      approach rate: -0.667519 m/s,
      LOS rate: -0.013428 deg/s,
      cmd heading: 141.528637 deg,
      new cmd heading: 141.514673 deg.

2025-08-09T16:50:54.919Z,1754758254.919 [DAT](INFO): ****** received valid address query ******
2025-08-09T16:50:54.919Z,1754758254.919 [DAT](INFO): ****** received valid ping request ******
2025-08-09T16:50:54.919Z,1754758254.919 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-09T16:50:55.176Z,1754758255.176 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.248856
2025-08-09T16:50:55.189Z,1754758255.189 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 130.50 m.
2025-08-09T16:50:55.192Z,1754758255.192 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 130.500000 m,
      nav range: 128.142609 m,
      bearing: 137.573994 deg,
      approach rate: -0.669060 m/s,
      LOS rate: -0.013498 deg/s,
      cmd heading: 141.514676 deg,
      new cmd heading: 141.498537 deg.

2025-08-09T16:50:55.427Z,1754758255.427 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.500143
2025-08-09T16:50:55.624Z,1754758255.624 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 130.50 m.
2025-08-09T16:50:55.627Z,1754758255.627 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 130.500000 m,
      nav range: 127.848236 m,
      bearing: 137.565057 deg,
      approach rate: -0.676648 m/s,
      LOS rate: -0.020590 deg/s,
      cmd heading: 141.498543 deg,
      new cmd heading: 141.471670 deg.

2025-08-09T16:50:55.681Z,1754758255.681 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.753246
2025-08-09T16:50:55.931Z,1754758255.931 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.004130
2025-08-09T16:50:56.002Z,1754758256.002 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 130.50 m.
2025-08-09T16:50:56.005Z,1754758256.005 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 130.500000 m,
      nav range: 127.591988 m,
      bearing: 137.557283 deg,
      approach rate: -0.677958 m/s,
      LOS rate: -0.020607 deg/s,
      cmd heading: 141.471673 deg,
      new cmd heading: 141.448307 deg.

2025-08-09T16:50:56.186Z,1754758256.186 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.259076
2025-08-09T16:50:56.435Z,1754758256.435 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.508264
2025-08-09T16:50:56.473Z,1754758256.473 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 130.50 m.
2025-08-09T16:50:56.476Z,1754758256.476 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 130.500000 m,
      nav range: 127.280289 m,
      bearing: 137.549293 deg,
      approach rate: -0.660921 m/s,
      LOS rate: -0.016984 deg/s,
      cmd heading: 141.448300 deg,
      new cmd heading: 141.424270 deg.

2025-08-09T16:50:56.687Z,1754758256.687 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.760192
2025-08-09T16:50:56.840Z,1754758256.840 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-09T16:50:56.845Z,1754758256.845 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 130.50 m.
2025-08-09T16:50:56.850Z,1754758256.850 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 130.500000 m,
      nav range: 127.014999 m,
      bearing: 137.542433 deg,
      approach rate: -0.715281 m/s,
      LOS rate: -0.018535 deg/s,
      cmd heading: 141.424271 deg,
      new cmd heading: 141.403648 deg.

2025-08-09T16:50:56.942Z,1754758256.942 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.014932
2025-08-09T16:50:57.191Z,1754758257.191 [DAT](INFO): DAT read: Rx Time:16:50:55.9693

2025-08-09T16:50:57.192Z,1754758257.192 [DAT](INFO): Rx dataTimestamp_ set to:1754758257.191454
2025-08-09T16:50:57.192Z,1754758257.192 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.265190
2025-08-09T16:50:57.294Z,1754758257.294 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 130.50 m.
2025-08-09T16:50:57.297Z,1754758257.297 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 130.500000 m,
      nav range: 126.699188 m,
      bearing: 137.534174 deg,
      approach rate: -0.701647 m/s,
      LOS rate: -0.018395 deg/s,
      cmd heading: 141.403644 deg,
      new cmd heading: 141.378806 deg.

2025-08-09T16:50:57.444Z,1754758257.444 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.516481
2025-08-09T16:50:57.701Z,1754758257.701 [DAT](INFO): DAT read: 16:50:55.9693 LVL= 32752, 32753, 28450, 32755, AGC= 68, IDX= 401, 0.07, 2.213, 0.582, 2.570, 2.100, PHS= 0.215,-1.473, 0.426, RAW= 155.8,   9.3, CAL= 155.5,   9.9, ROT= 354.5,  -9.9

2025-08-09T16:50:57.702Z,1754758257.702 [DAT](INFO): got valid direction response:
 16:50:55.9693 LVL= 32752, 32753, 28450, 32755, AGC= 68, IDX= 401, 0.07, 2.213, 0.582, 2.570, 2.100, PHS= 0.215,-1.473, 0.426, RAW= 155.8,   9.3, CAL= 155.5,   9.9, ROT= 354.5,  -9.9

2025-08-09T16:50:57.703Z,1754758257.703 [DAT](INFO): DAT read: Bearing 311.4,  -7.1 (Local)

2025-08-09T16:50:57.704Z,1754758257.704 [DAT](INFO): Local bearing/azimuth received:
 Bearing 311.4,  -7.1 (Local)

2025-08-09T16:50:57.705Z,1754758257.705 [DAT](INFO): DAT read: Range 11 to 50 : 128.1 m  (Round-trip  170.8 ms) speed  0.5 m/s

2025-08-09T16:50:57.706Z,1754758257.706 [DAT](INFO): DAT read: user:158>

2025-08-09T16:50:57.706Z,1754758257.706 [DAT](INFO): DAT read: Tx time:16:50:57.0944

2025-08-09T16:50:57.707Z,1754758257.707 [DAT](INFO): Ping request sent.
2025-08-09T16:50:57.707Z,1754758257.707 [DAT](INFO): transmitted an acoustic signal
2025-08-09T16:50:57.707Z,1754758257.707 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-09T16:50:57.708Z,1754758257.708 [DAT](INFO): direction in FSK: [0.980574,-0.094419,0.171929]
2025-08-09T16:50:57.708Z,1754758257.708 [DAT](INFO): publishing transmit ping time
2025-08-09T16:50:57.709Z,1754758257.709 [DAT](INFO): publishing direction and range info
2025-08-09T16:50:57.748Z,1754758257.748 [DAT](INFO): publishing transmit ping time
2025-08-09T16:50:57.748Z,1754758257.748 [DAT](INFO): publishing direction and range info
2025-08-09T16:50:57.792Z,1754758257.792 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 128.100006 m,
      deltaT: 3.784033 s,
      deltaX: -2.399994 m,
      approachRate: -0.634242 m/s,
      rangeRepo size: 4

2025-08-09T16:50:57.799Z,1754758257.799 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 128.100006 m,
      bearing: 137.396364 deg,
      lat: 36.906047 deg,
      lon: -122.115923 deg,
      deltaT: 3.784033 s,
      deltaX: -2.399994 m,
      approachRate: -0.634242 m/s,
      posRepo size: 4

2025-08-09T16:50:57.800Z,1754758257.800 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 128.10 m.
2025-08-09T16:50:57.803Z,1754758257.803 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 128.100006 m,
      nav range: 126.257019 m,
      bearing: 137.396364 deg,
      approach rate: -0.170053 m/s,
      LOS rate: -0.018395 deg/s,
      cmd heading: 141.378810 deg,
      new cmd heading: 141.351352 deg.

2025-08-09T16:50:58.064Z,1754758258.064 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 128.10 m.
2025-08-09T16:50:58.071Z,1754758258.071 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 128.100006 m,
      nav range: 126.024551 m,
      bearing: 137.389040 deg,
      approach rate: -0.855022 m/s,
      LOS rate: -0.026987 deg/s,
      cmd heading: 141.351352 deg,
      new cmd heading: 141.329340 deg.

2025-08-09T16:50:58.520Z,1754758258.520 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 128.10 m.
2025-08-09T16:50:58.523Z,1754758258.523 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 128.100006 m,
      nav range: 125.700508 m,
      bearing: 137.379848 deg,
      approach rate: -0.710928 m/s,
      LOS rate: -0.020219 deg/s,
      cmd heading: 141.329345 deg,
      new cmd heading: 141.301697 deg.

2025-08-09T16:50:58.879Z,1754758258.879 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-09T16:50:58.881Z,1754758258.881 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 128.10 m.
2025-08-09T16:50:58.888Z,1754758258.888 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 128.100006 m,
      nav range: 125.437515 m,
      bearing: 137.372356 deg,
      approach rate: -0.728000 m/s,
      LOS rate: -0.020781 deg/s,
      cmd heading: 141.301697 deg,
      new cmd heading: 141.279176 deg.

2025-08-09T16:50:58.956Z,1754758258.956 [DAT](INFO): ****** received valid address query ******
2025-08-09T16:50:58.956Z,1754758258.956 [DAT](INFO): ****** received valid ping request ******
2025-08-09T16:50:58.956Z,1754758258.956 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-09T16:50:59.207Z,1754758259.207 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.500334
2025-08-09T16:50:59.260Z,1754758259.260 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 128.10 m.
2025-08-09T16:50:59.263Z,1754758259.263 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 128.100006 m,
      nav range: 125.143021 m,
      bearing: 137.363995 deg,
      approach rate: -0.775535 m/s,
      LOS rate: -0.022070 deg/s,
      cmd heading: 141.279171 deg,
      new cmd heading: 141.254029 deg.

2025-08-09T16:50:59.464Z,1754758259.464 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.756654
2025-08-09T16:50:59.687Z,1754758259.687 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 128.10 m.
2025-08-09T16:50:59.690Z,1754758259.690 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 128.100006 m,
      nav range: 124.853897 m,
      bearing: 137.357679 deg,
      approach rate: -0.678003 m/s,
      LOS rate: -0.014846 deg/s,
      cmd heading: 141.254036 deg,
      new cmd heading: 141.235043 deg.

2025-08-09T16:50:59.711Z,1754758259.711 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.004393
2025-08-09T16:50:59.964Z,1754758259.964 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.256779
2025-08-09T16:51:00.078Z,1754758260.078 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 128.10 m.
2025-08-09T16:51:00.081Z,1754758260.081 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 128.100006 m,
      nav range: 124.590378 m,
      bearing: 137.351986 deg,
      approach rate: -0.673606 m/s,
      LOS rate: -0.014584 deg/s,
      cmd heading: 141.235048 deg,
      new cmd heading: 141.217932 deg.

2025-08-09T16:51:00.215Z,1754758260.215 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.508402
2025-08-09T16:51:00.467Z,1754758260.467 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.760461
2025-08-09T16:51:00.520Z,1754758260.520 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 128.10 m.
2025-08-09T16:51:00.539Z,1754758260.539 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 128.100006 m,
      nav range: 124.307121 m,
      bearing: 137.347122 deg,
      approach rate: -0.640676 m/s,
      LOS rate: -0.011026 deg/s,
      cmd heading: 141.217931 deg,
      new cmd heading: 141.203307 deg.

2025-08-09T16:51:00.719Z,1754758260.719 [DAT](INFO): DAT read: Rx Time:16:50:59.6657

2025-08-09T16:51:00.720Z,1754758260.720 [DAT](INFO): Rx dataTimestamp_ set to:1754758260.719477
2025-08-09T16:51:00.720Z,1754758260.720 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.013401
2025-08-09T16:51:00.889Z,1754758260.889 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-09T16:51:00.891Z,1754758260.891 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 128.10 m.
2025-08-09T16:51:00.894Z,1754758260.894 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 128.100006 m,
      nav range: 124.069901 m,
      bearing: 137.343079 deg,
      approach rate: -0.639602 m/s,
      LOS rate: -0.010923 deg/s,
      cmd heading: 141.203301 deg,
      new cmd heading: 141.191147 deg.

2025-08-09T16:51:00.972Z,1754758260.972 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.264566
2025-08-09T16:51:01.230Z,1754758261.230 [DAT](INFO): DAT read: 16:50:59.6657 LVL= 26864, 31281, 23826, 32755, AGC= 67, IDX= 412, 0.21,-1.782, 2.855,-1.422,-1.934, PHS= 0.254,-1.450, 0.468, RAW= 155.8,   8.0, CAL= 155.4,   8.4, ROT= 354.6,  -8.4

2025-08-09T16:51:01.233Z,1754758261.233 [DAT](INFO): got valid direction response:
 16:50:59.6657 LVL= 26864, 31281, 23826, 32755, AGC= 67, IDX= 412, 0.21,-1.782, 2.855,-1.422,-1.934, PHS= 0.254,-1.450, 0.468, RAW= 155.8,   8.0, CAL= 155.4,   8.4, ROT= 354.6,  -8.4

2025-08-09T16:51:01.234Z,1754758261.234 [DAT](INFO): DAT read: Bearing 309.7,  -6.8 (Local)

2025-08-09T16:51:01.234Z,1754758261.234 [DAT](INFO): Local bearing/azimuth received:
 Bearing 309.7,  -6.8 (Local)

2025-08-09T16:51:01.236Z,1754758261.236 [DAT](INFO): DAT read: Range 11 to 50 : 125.3 m  (Round-trip  167.1 ms) speed  0.5 m/s

2025-08-09T16:51:01.237Z,1754758261.237 [DAT](INFO): DAT read: user:159>

2025-08-09T16:51:01.237Z,1754758261.237 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-09T16:51:01.274Z,1754758261.274 [DAT](INFO): direction in FSK: [0.984882,-0.093099,0.146083]
2025-08-09T16:51:01.274Z,1754758261.274 [DAT](INFO): publishing direction and range info
2025-08-09T16:51:01.277Z,1754758261.277 [DAT](INFO): ****** received valid address query ******
2025-08-09T16:51:01.277Z,1754758261.277 [DAT](INFO): ****** received valid ping request ******
2025-08-09T16:51:01.277Z,1754758261.277 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-09T16:51:01.385Z,1754758261.385 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 125.300003 m,
      deltaT: 3.529277 s,
      deltaX: -2.800003 m,
      approachRate: -0.793364 m/s,
      rangeRepo size: 4

2025-08-09T16:51:01.395Z,1754758261.395 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 125.300003 m,
      bearing: 137.219040 deg,
      lat: 36.906048 deg,
      lon: -122.115920 deg,
      deltaT: 3.529277 s,
      deltaX: -2.800003 m,
      approachRate: -0.793364 m/s,
      posRepo size: 4

2025-08-09T16:51:01.396Z,1754758261.396 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 125.30 m.
2025-08-09T16:51:01.403Z,1754758261.403 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 125.300003 m,
      nav range: 123.829514 m,
      bearing: 137.219040 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.010923 deg/s,
      cmd heading: 141.191143 deg,
      new cmd heading: 141.175049 deg.

2025-08-09T16:51:01.479Z,1754758261.479 [DAT](INFO): DAT read: Tx time:16:51:00.7944

2025-08-09T16:51:01.480Z,1754758261.480 [DAT](INFO): Ping request sent.
2025-08-09T16:51:01.480Z,1754758261.480 [DAT](INFO): transmitted an acoustic signal
2025-08-09T16:51:01.481Z,1754758261.481 [DAT](INFO): publishing transmit ping time
2025-08-09T16:51:01.488Z,1754758261.488 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.007262
2025-08-09T16:51:01.727Z,1754758261.727 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.247520
2025-08-09T16:51:01.778Z,1754758261.778 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 125.30 m.
2025-08-09T16:51:01.781Z,1754758261.781 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 125.300003 m,
      nav range: 123.552177 m,
      bearing: 137.215367 deg,
      approach rate: -0.707207 m/s,
      LOS rate: -0.009385 deg/s,
      cmd heading: 141.175051 deg,
      new cmd heading: 141.164010 deg.

2025-08-09T16:51:01.979Z,1754758261.979 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.499353
2025-08-09T16:51:02.160Z,1754758262.160 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 125.30 m.
2025-08-09T16:51:02.163Z,1754758262.163 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 125.300003 m,
      nav range: 123.310600 m,
      bearing: 137.212248 deg,
      approach rate: -0.627045 m/s,
      LOS rate: -0.008113 deg/s,
      cmd heading: 141.164014 deg,
      new cmd heading: 141.154637 deg.

2025-08-09T16:51:02.236Z,1754758262.236 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.755798
2025-08-09T16:51:02.490Z,1754758262.490 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.009448
2025-08-09T16:51:02.581Z,1754758262.581 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 125.30 m.
2025-08-09T16:51:02.583Z,1754758262.583 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 125.300003 m,
      nav range: 123.030609 m,
      bearing: 137.213151 deg,
      approach rate: -0.665201 m/s,
      LOS rate: 0.002150 deg/s,
      cmd heading: 141.154643 deg,
      new cmd heading: 141.157357 deg.

2025-08-09T16:51:02.739Z,1754758262.739 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.259303
2025-08-09T16:51:02.951Z,1754758262.951 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-09T16:51:02.953Z,1754758262.953 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 125.30 m.
2025-08-09T16:51:02.956Z,1754758262.956 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 125.300003 m,
      nav range: 122.791893 m,
      bearing: 137.214009 deg,
      approach rate: -0.640469 m/s,
      LOS rate: 0.002307 deg/s,
      cmd heading: 141.157361 deg,
      new cmd heading: 141.159940 deg.

2025-08-09T16:51:02.992Z,1754758262.992 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.511960
2025-08-09T16:51:03.243Z,1754758263.243 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.763376
2025-08-09T16:51:03.380Z,1754758263.380 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 125.30 m.
2025-08-09T16:51:03.387Z,1754758263.387 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 125.300003 m,
      nav range: 122.523224 m,
      bearing: 137.215093 deg,
      approach rate: -0.629666 m/s,
      LOS rate: 0.002548 deg/s,
      cmd heading: 141.159943 deg,
      new cmd heading: 141.163205 deg.

2025-08-09T16:51:03.498Z,1754758263.498 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.017537
2025-08-09T16:51:03.748Z,1754758263.748 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.267613
2025-08-09T16:51:03.891Z,1754758263.891 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 125.30 m.
2025-08-09T16:51:03.894Z,1754758263.894 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 125.300003 m,
      nav range: 122.190483 m,
      bearing: 137.219453 deg,
      approach rate: -0.651782 m/s,
      LOS rate: 0.008563 deg/s,
      cmd heading: 141.163208 deg,
      new cmd heading: 141.176323 deg.

2025-08-09T16:51:03.999Z,1754758263.999 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.519490
2025-08-09T16:51:04.173Z,1754758264.173 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 125.30 m.
2025-08-09T16:51:04.175Z,1754758264.175 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 125.300003 m,
      nav range: 122.009422 m,
      bearing: 137.221853 deg,
      approach rate: -0.642044 m/s,
      LOS rate: 0.008523 deg/s,
      cmd heading: 141.176322 deg,
      new cmd heading: 141.183532 deg.

2025-08-09T16:51:04.252Z,1754758264.252 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.771886
2025-08-09T16:51:04.506Z,1754758264.506 [DAT](INFO): DAT read: Rx Time:16:51:03.3626

2025-08-09T16:51:04.508Z,1754758264.508 [DAT](INFO): Rx dataTimestamp_ set to:1754758264.506939
2025-08-09T16:51:04.509Z,1754758264.509 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.029273
2025-08-09T16:51:04.614Z,1754758264.614 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 125.30 m.
2025-08-09T16:51:04.617Z,1754758264.617 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 125.300003 m,
      nav range: 121.724869 m,
      bearing: 137.228557 deg,
      approach rate: -0.644588 m/s,
      LOS rate: 0.015221 deg/s,
      cmd heading: 141.183535 deg,
      new cmd heading: 141.203693 deg.

2025-08-09T16:51:04.759Z,1754758264.759 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.279395
2025-08-09T16:51:04.992Z,1754758264.992 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-09T16:51:04.994Z,1754758264.994 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 125.30 m.
2025-08-09T16:51:04.997Z,1754758264.997 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 125.300003 m,
      nav range: 121.479881 m,
      bearing: 137.234374 deg,
      approach rate: -0.644256 m/s,
      LOS rate: 0.015327 deg/s,
      cmd heading: 141.203697 deg,
      new cmd heading: 141.221183 deg.

2025-08-09T16:51:05.044Z,1754758265.044 [DAT](INFO): DAT read: 16:51:03.3626 LVL= 27296, 32753, 20802, 32755, AGC= 66, IDX= 414,-0.35,-1.975, 2.710,-1.642,-2.112, PHS= 0.239,-1.416, 0.426, RAW= 155.3,   8.6, CAL= 154.9,   9.1, ROT= 355.1,  -9.1

2025-08-09T16:51:05.045Z,1754758265.045 [DAT](INFO): got valid direction response:
 16:51:03.3626 LVL= 27296, 32753, 20802, 32755, AGC= 66, IDX= 414,-0.35,-1.975, 2.710,-1.642,-2.112, PHS= 0.239,-1.416, 0.426, RAW= 155.3,   8.6, CAL= 154.9,   9.1, ROT= 355.1,  -9.1

2025-08-09T16:51:05.046Z,1754758265.046 [DAT](INFO): DAT read: Bearing 310.0,  -6.4 (Local)

2025-08-09T16:51:05.046Z,1754758265.046 [DAT](INFO): Local bearing/azimuth received:
 Bearing 310.0,  -6.4 (Local)

2025-08-09T16:51:05.053Z,1754758265.053 [DAT](INFO): DAT read: Range 11 to 50 : 123.0 m  (Round-trip  164.1 ms) speed  0.6 m/s

2025-08-09T16:51:05.054Z,1754758265.054 [DAT](INFO): DAT read: user:160>

2025-08-09T16:51:05.074Z,1754758265.074 [DAT](INFO): DAT read: Tx time:16:51:04.4944

2025-08-09T16:51:05.075Z,1754758265.075 [DAT](INFO): Ping request sent.
2025-08-09T16:51:05.075Z,1754758265.075 [DAT](INFO): transmitted an acoustic signal
2025-08-09T16:51:05.075Z,1754758265.075 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-09T16:51:05.076Z,1754758265.076 [DAT](INFO): direction in FSK: [0.983805,-0.084342,0.158158]
2025-08-09T16:51:05.076Z,1754758265.076 [DAT](INFO): publishing transmit ping time
2025-08-09T16:51:05.076Z,1754758265.076 [DAT](INFO): publishing direction and range info
2025-08-09T16:51:05.096Z,1754758265.096 [DAT](INFO): publishing transmit ping time
2025-08-09T16:51:05.096Z,1754758265.096 [DAT](INFO): publishing direction and range info
2025-08-09T16:51:05.453Z,1754758265.453 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 123.000000 m,
      deltaT: 3.804186 s,
      deltaX: -2.300003 m,
      approachRate: -0.604598 m/s,
      rangeRepo size: 4

2025-08-09T16:51:05.471Z,1754758265.471 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 123.000000 m,
      bearing: 137.224559 deg,
      lat: 36.906048 deg,
      lon: -122.115920 deg,
      deltaT: 3.804186 s,
      deltaX: -2.300003 m,
      approachRate: -0.604598 m/s,
      posRepo size: 4

2025-08-09T16:51:05.472Z,1754758265.472 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 123.00 m.
2025-08-09T16:51:05.482Z,1754758265.482 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 123.000000 m,
      nav range: 121.219955 m,
      bearing: 137.224559 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.015327 deg/s,
      cmd heading: 141.221183 deg,
      new cmd heading: 141.242229 deg.

2025-08-09T16:51:05.928Z,1754758265.928 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 123.00 m.
2025-08-09T16:51:05.931Z,1754758265.931 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 123.000000 m,
      nav range: 120.900124 m,
      bearing: 137.233533 deg,
      approach rate: -0.671594 m/s,
      LOS rate: 0.018895 deg/s,
      cmd heading: 141.242233 deg,
      new cmd heading: 141.269228 deg.

2025-08-09T16:51:06.295Z,1754758266.295 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 123.00 m.
2025-08-09T16:51:06.303Z,1754758266.303 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 123.000000 m,
      nav range: 120.666420 m,
      bearing: 137.240114 deg,
      approach rate: -0.636266 m/s,
      LOS rate: 0.017951 deg/s,
      cmd heading: 141.269226 deg,
      new cmd heading: 141.289007 deg.

2025-08-09T16:51:06.711Z,1754758266.711 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 123.00 m.
2025-08-09T16:51:06.714Z,1754758266.714 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 123.000000 m,
      nav range: 120.375595 m,
      bearing: 137.247095 deg,
      approach rate: -0.700800 m/s,
      LOS rate: 0.016864 deg/s,
      cmd heading: 141.289006 deg,
      new cmd heading: 141.310001 deg.

2025-08-09T16:51:07.085Z,1754758267.085 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-09T16:51:07.087Z,1754758267.087 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 123.00 m.
2025-08-09T16:51:07.090Z,1754758267.090 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 123.000000 m,
      nav range: 120.122002 m,
      bearing: 137.253210 deg,
      approach rate: -0.673271 m/s,
      LOS rate: 0.016268 deg/s,
      cmd heading: 141.310002 deg,
      new cmd heading: 141.328385 deg.

2025-08-09T16:51:07.295Z,1754758267.295 [DAT](INFO): ****** received valid address query ******
2025-08-09T16:51:07.295Z,1754758267.295 [DAT](INFO): ****** received valid ping request ******
2025-08-09T16:51:07.295Z,1754758267.295 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-09T16:51:07.511Z,1754758267.511 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 123.00 m.
2025-08-09T16:51:07.514Z,1754758267.514 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 123.000000 m,
      nav range: 119.850121 m,
      bearing: 137.259778 deg,
      approach rate: -0.642276 m/s,
      LOS rate: 0.015551 deg/s,
      cmd heading: 141.328389 deg,
      new cmd heading: 141.348137 deg.

2025-08-09T16:51:07.550Z,1754758267.550 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.474696
2025-08-09T16:51:07.800Z,1754758267.800 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.725794
2025-08-09T16:51:07.929Z,1754758267.929 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 123.00 m.
2025-08-09T16:51:07.944Z,1754758267.944 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 123.000000 m,
      nav range: 119.549850 m,
      bearing: 137.267245 deg,
      approach rate: -0.717918 m/s,
      LOS rate: 0.017897 deg/s,
      cmd heading: 141.348142 deg,
      new cmd heading: 141.370599 deg.

2025-08-09T16:51:08.052Z,1754758268.052 [DAT](INFO): DAT read: Rx Time:16:51:07.0595

2025-08-09T16:51:08.053Z,1754758268.053 [DAT](INFO): Rx dataTimestamp_ set to:1754758268.052492
2025-08-09T16:51:08.054Z,1754758268.054 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.978994
2025-08-09T16:51:08.296Z,1754758268.296 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 123.00 m.
2025-08-09T16:51:08.299Z,1754758268.299 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 123.000000 m,
      nav range: 119.298286 m,
      bearing: 137.273466 deg,
      approach rate: -0.685117 m/s,
      LOS rate: 0.016980 deg/s,
      cmd heading: 141.370600 deg,
      new cmd heading: 141.389304 deg.

2025-08-09T16:51:08.303Z,1754758268.303 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.228715
2025-08-09T16:51:08.559Z,1754758268.559 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.483100
2025-08-09T16:51:08.721Z,1754758268.721 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 123.00 m.
2025-08-09T16:51:08.724Z,1754758268.724 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 123.000000 m,
      nav range: 119.011978 m,
      bearing: 137.278905 deg,
      approach rate: -0.673084 m/s,
      LOS rate: 0.012817 deg/s,
      cmd heading: 141.389301 deg,
      new cmd heading: 141.405656 deg.

2025-08-09T16:51:08.821Z,1754758268.821 [DAT](INFO): DAT read: 16:51:07.0595 LVL= 31888, 32753, 27426, 32755, AGC= 71, IDX= 413, 0.39, 2.038, 0.373, 2.419, 1.906, PHS= 0.234,-1.488, 0.469, RAW= 156.3,   8.5, CAL= 156.0,   9.0, ROT= 354.0,  -9.0

2025-08-09T16:51:08.833Z,1754758268.833 [DAT](INFO): got valid direction response:
 16:51:07.0595 LVL= 31888, 32753, 27426, 32755, AGC= 71, IDX= 413, 0.39, 2.038, 0.373, 2.419, 1.906, PHS= 0.234,-1.488, 0.469, RAW= 156.3,   8.5, CAL= 156.0,   9.0, ROT= 354.0,  -9.0

2025-08-09T16:51:08.839Z,1754758268.839 [DAT](INFO): DAT read: Bearing 309.8,  -7.6 (Local)

2025-08-09T16:51:08.840Z,1754758268.840 [DAT](INFO): Local bearing/azimuth received:
 Bearing 309.8,  -7.6 (Local)

2025-08-09T16:51:08.851Z,1754758268.851 [DAT](INFO): DAT read: Range 11 to 50 : 120.7 m  (Round-trip  161.0 ms) speed  0.8 m/s

2025-08-09T16:51:08.852Z,1754758268.852 [DAT](INFO): DAT read: user:161>

2025-08-09T16:51:08.853Z,1754758268.853 [DAT](INFO): DAT read: Tx time:16:51:08.1444

2025-08-09T16:51:08.853Z,1754758268.853 [DAT](INFO): Ping request sent.
2025-08-09T16:51:08.854Z,1754758268.854 [DAT](INFO): transmitted an acoustic signal
2025-08-09T16:51:08.858Z,1754758268.858 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-09T16:51:08.860Z,1754758268.860 [DAT](INFO): direction in FSK: [0.982278,-0.103242,0.156434]
2025-08-09T16:51:08.860Z,1754758268.860 [DAT](INFO): publishing transmit ping time
2025-08-09T16:51:08.861Z,1754758268.861 [DAT](INFO): publishing direction and range info
2025-08-09T16:51:08.869Z,1754758268.869 [DAT](INFO): publishing transmit ping time
2025-08-09T16:51:08.870Z,1754758268.870 [DAT](INFO): publishing direction and range info
2025-08-09T16:51:09.123Z,1754758269.123 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 120.699997 m,
      deltaT: 3.779063 s,
      deltaX: -2.300003 m,
      approachRate: -0.608617 m/s,
      rangeRepo size: 4

2025-08-09T16:51:09.125Z,1754758269.125 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 120.699997 m,
      bearing: 137.229940 deg,
      lat: 36.906049 deg,
      lon: -122.115919 deg,
      deltaT: 3.779063 s,
      deltaX: -2.300003 m,
      approachRate: -0.608617 m/s,
      posRepo size: 4

2025-08-09T16:51:09.126Z,1754758269.126 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 120.70 m.
2025-08-09T16:51:09.128Z,1754758269.128 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 120.699997 m,
      nav range: 118.749657 m,
      bearing: 137.229940 deg,
      approach rate: 5084709.000000 m/s,
      LOS rate: 0.012817 deg/s,
      cmd heading: 141.405652 deg,
      new cmd heading: 141.421062 deg.

2025-08-09T16:51:09.505Z,1754758269.505 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-09T16:51:09.507Z,1754758269.507 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 120.70 m.
2025-08-09T16:51:09.510Z,1754758269.510 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 120.699997 m,
      nav range: 118.488251 m,
      bearing: 137.234651 deg,
      approach rate: -0.678872 m/s,
      LOS rate: 0.012262 deg/s,
      cmd heading: 141.421061 deg,
      new cmd heading: 141.435226 deg.

2025-08-09T16:51:09.566Z,1754758269.566 [DAT](INFO): ****** received valid address query ******
2025-08-09T16:51:09.566Z,1754758269.566 [DAT](INFO): ****** received valid ping request ******
2025-08-09T16:51:09.567Z,1754758269.567 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-09T16:51:09.817Z,1754758269.817 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.962725
2025-08-09T16:51:09.947Z,1754758269.947 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 120.70 m.
2025-08-09T16:51:09.949Z,1754758269.949 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 120.699997 m,
      nav range: 118.184586 m,
      bearing: 137.236631 deg,
      approach rate: -0.691136 m/s,
      LOS rate: 0.004517 deg/s,
      cmd heading: 141.435227 deg,
      new cmd heading: 141.441181 deg.

2025-08-09T16:51:10.068Z,1754758270.068 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.214147
2025-08-09T16:51:10.321Z,1754758270.321 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.466834
2025-08-09T16:51:10.371Z,1754758270.371 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 120.70 m.
2025-08-09T16:51:10.396Z,1754758270.396 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 120.699997 m,
      nav range: 117.930336 m,
      bearing: 137.238211 deg,
      approach rate: -0.598403 m/s,
      LOS rate: 0.003728 deg/s,
      cmd heading: 141.441183 deg,
      new cmd heading: 141.445935 deg.

2025-08-09T16:51:10.574Z,1754758270.574 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.720009
2025-08-09T16:51:10.799Z,1754758270.799 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 120.70 m.
2025-08-09T16:51:10.802Z,1754758270.802 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 120.699997 m,
      nav range: 117.607933 m,
      bearing: 137.236349 deg,
      approach rate: -0.753560 m/s,
      LOS rate: -0.004364 deg/s,
      cmd heading: 141.445937 deg,
      new cmd heading: 141.440335 deg.

2025-08-09T16:51:10.825Z,1754758270.825 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.971139
2025-08-09T16:51:11.075Z,1754758271.075 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.221577
2025-08-09T16:51:11.175Z,1754758271.175 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 120.70 m.
2025-08-09T16:51:11.200Z,1754758271.200 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 120.699997 m,
      nav range: 117.356400 m,
      bearing: 137.234874 deg,
      approach rate: -0.668451 m/s,
      LOS rate: -0.003927 deg/s,
      cmd heading: 141.440336 deg,
      new cmd heading: 141.435903 deg.

2025-08-09T16:51:11.329Z,1754758271.329 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.475046
2025-08-09T16:51:11.582Z,1754758271.582 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.727930
2025-08-09T16:51:11.648Z,1754758271.648 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-09T16:51:11.650Z,1754758271.650 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 120.70 m.
2025-08-09T16:51:11.657Z,1754758271.657 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 120.699997 m,
      nav range: 117.061821 m,
      bearing: 137.233200 deg,
      approach rate: -0.621060 m/s,
      LOS rate: -0.003539 deg/s,
      cmd heading: 141.435896 deg,
      new cmd heading: 141.430861 deg.

2025-08-09T16:51:11.832Z,1754758271.832 [DAT](INFO): DAT read: Rx Time:16:51:10.7061

2025-08-09T16:51:11.833Z,1754758271.833 [DAT](INFO): Rx dataTimestamp_ set to:1754758271.832367
2025-08-09T16:51:11.834Z,1754758271.834 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.980173
2025-08-09T16:51:12.006Z,1754758272.006 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 120.70 m.
2025-08-09T16:51:12.009Z,1754758272.009 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 120.699997 m,
      nav range: 116.811401 m,
      bearing: 137.229206 deg,
      approach rate: -0.702583 m/s,
      LOS rate: -0.011230 deg/s,
      cmd heading: 141.430856 deg,
      new cmd heading: 141.418848 deg.

2025-08-09T16:51:12.084Z,1754758272.084 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.230736
2025-08-09T16:51:12.342Z,1754758272.342 [DAT](INFO): DAT read: 16:51:10.7061 LVL= 26304, 32753, 23842, 32755, AGC= 66, IDX= 410,-0.02, 2.845, 1.254,-3.083, 2.740, PHS= 0.207,-1.441, 0.416, RAW= 155.9,   9.3, CAL= 155.6,  10.0, ROT= 354.4, -10.0

2025-08-09T16:51:12.344Z,1754758272.344 [DAT](INFO): got valid direction response:
 16:51:10.7061 LVL= 26304, 32753, 23842, 32755, AGC= 66, IDX= 410,-0.02, 2.845, 1.254,-3.083, 2.740, PHS= 0.207,-1.441, 0.416, RAW= 155.9,   9.3, CAL= 155.6,  10.0, ROT= 354.4, -10.0

2025-08-09T16:51:12.344Z,1754758272.344 [DAT](INFO): DAT read: Bearing 310.6,  -7.4 (Local)

2025-08-09T16:51:12.345Z,1754758272.345 [DAT](INFO): Local bearing/azimuth received:
 Bearing 310.6,  -7.4 (Local)

2025-08-09T16:51:12.346Z,1754758272.346 [DAT](INFO): DAT read: Range 11 to 50 : 118.2 m  (Round-trip  157.6 ms) speed  0.6 m/s

2025-08-09T16:51:12.347Z,1754758272.347 [DAT](INFO): DAT read: user:162>

2025-08-09T16:51:12.348Z,1754758272.348 [DAT](INFO): DAT read: Tx time:16:51:11.7944

2025-08-09T16:51:12.348Z,1754758272.348 [DAT](INFO): Ping request sent.
2025-08-09T16:51:12.348Z,1754758272.348 [DAT](INFO): transmitted an acoustic signal
2025-08-09T16:51:12.348Z,1754758272.348 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-09T16:51:12.349Z,1754758272.349 [DAT](INFO): direction in FSK: [0.980108,-0.096101,0.173648]
2025-08-09T16:51:12.350Z,1754758272.350 [DAT](INFO): publishing transmit ping time
2025-08-09T16:51:12.350Z,1754758272.350 [DAT](INFO): publishing direction and range info
2025-08-09T16:51:12.369Z,1754758272.369 [DAT](INFO): publishing transmit ping time
2025-08-09T16:51:12.369Z,1754758272.369 [DAT](INFO): publishing direction and range info
2025-08-09T16:51:12.488Z,1754758272.488 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 118.199997 m,
      deltaT: 3.527915 s,
      deltaX: -2.500000 m,
      approachRate: -0.708634 m/s,
      rangeRepo size: 4

2025-08-09T16:51:12.495Z,1754758272.495 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 118.199997 m,
      bearing: 137.095663 deg,
      lat: 36.906049 deg,
      lon: -122.115916 deg,
      deltaT: 3.527915 s,
      deltaX: -2.500000 m,
      approachRate: -0.708634 m/s,
      posRepo size: 4

2025-08-09T16:51:12.495Z,1754758272.495 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 118.20 m.
2025-08-09T16:51:12.498Z,1754758272.498 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 118.199997 m,
      nav range: 116.632339 m,
      bearing: 137.095663 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.011230 deg/s,
      cmd heading: 141.418848 deg,
      new cmd heading: 141.402627 deg.

2025-08-09T16:51:12.888Z,1754758272.888 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 118.20 m.
2025-08-09T16:51:12.907Z,1754758272.907 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 118.199997 m,
      nav range: 116.359024 m,
      bearing: 137.089665 deg,
      approach rate: -0.682843 m/s,
      LOS rate: -0.015022 deg/s,
      cmd heading: 141.402633 deg,
      new cmd heading: 141.384595 deg.

2025-08-09T16:51:13.231Z,1754758273.231 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 118.20 m.
2025-08-09T16:51:13.234Z,1754758273.234 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 118.199997 m,
      nav range: 116.137955 m,
      bearing: 137.084804 deg,
      approach rate: -0.644600 m/s,
      LOS rate: -0.014201 deg/s,
      cmd heading: 141.384588 deg,
      new cmd heading: 141.369977 deg.

2025-08-09T16:51:13.692Z,1754758273.692 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-09T16:51:13.694Z,1754758273.694 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 118.20 m.
2025-08-09T16:51:13.697Z,1754758273.697 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 118.199997 m,
      nav range: 115.840149 m,
      bearing: 137.078296 deg,
      approach rate: -0.643037 m/s,
      LOS rate: -0.014087 deg/s,
      cmd heading: 141.369971 deg,
      new cmd heading: 141.350399 deg.

2025-08-09T16:51:13.848Z,1754758273.848 [DAT](INFO): ****** received valid address query ******
2025-08-09T16:51:13.848Z,1754758273.848 [DAT](INFO): ****** received valid ping request ******
2025-08-09T16:51:13.848Z,1754758273.848 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-09T16:51:14.064Z,1754758274.064 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 118.20 m.
2025-08-09T16:51:14.067Z,1754758274.067 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 118.199997 m,
      nav range: 115.604340 m,
      bearing: 137.070648 deg,
      approach rate: -0.636918 m/s,
      LOS rate: -0.020698 deg/s,
      cmd heading: 141.350396 deg,
      new cmd heading: 141.327407 deg.

2025-08-09T16:51:14.100Z,1754758274.100 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.751997
2025-08-09T16:51:14.352Z,1754758274.352 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.003379
2025-08-09T16:51:14.450Z,1754758274.450 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 118.20 m.
2025-08-09T16:51:14.453Z,1754758274.453 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 118.199997 m,
      nav range: 115.359169 m,
      bearing: 137.062738 deg,
      approach rate: -0.635554 m/s,
      LOS rate: -0.020550 deg/s,
      cmd heading: 141.327406 deg,
      new cmd heading: 141.303624 deg.

2025-08-09T16:51:14.603Z,1754758274.603 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.255244
2025-08-09T16:51:14.856Z,1754758274.856 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.507535
2025-08-09T16:51:14.902Z,1754758274.902 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 118.20 m.
2025-08-09T16:51:14.921Z,1754758274.921 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 118.199997 m,
      nav range: 115.076706 m,
      bearing: 137.055618 deg,
      approach rate: -0.625261 m/s,
      LOS rate: -0.015800 deg/s,
      cmd heading: 141.303623 deg,
      new cmd heading: 141.282210 deg.

2025-08-09T16:51:15.107Z,1754758275.107 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.759062
2025-08-09T16:51:15.267Z,1754758275.267 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 118.20 m.
2025-08-09T16:51:15.269Z,1754758275.269 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 118.199997 m,
      nav range: 114.848618 m,
      bearing: 137.049804 deg,
      approach rate: -0.625561 m/s,
      LOS rate: -0.015976 deg/s,
      cmd heading: 141.282203 deg,
      new cmd heading: 141.264728 deg.

2025-08-09T16:51:15.360Z,1754758275.360 [DAT](INFO): DAT read: Rx Time:16:51:14.3529

2025-08-09T16:51:15.361Z,1754758275.361 [DAT](INFO): Rx dataTimestamp_ set to:1754758275.360432
2025-08-09T16:51:15.362Z,1754758275.362 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.013432
2025-08-09T16:51:15.611Z,1754758275.611 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.263130
2025-08-09T16:51:15.737Z,1754758275.737 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-09T16:51:15.748Z,1754758275.748 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 118.20 m.
2025-08-09T16:51:15.755Z,1754758275.755 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 118.199997 m,
      nav range: 114.547935 m,
      bearing: 137.045189 deg,
      approach rate: -0.624896 m/s,
      LOS rate: -0.009618 deg/s,
      cmd heading: 141.264732 deg,
      new cmd heading: 141.250849 deg.

2025-08-09T16:51:15.869Z,1754758275.869 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.517851
2025-08-09T16:51:16.104Z,1754758276.104 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 118.20 m.
2025-08-09T16:51:16.107Z,1754758276.107 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 118.199997 m,
      nav range: 114.314758 m,
      bearing: 137.041578 deg,
      approach rate: -0.653932 m/s,
      LOS rate: -0.010146 deg/s,
      cmd heading: 141.250853 deg,
      new cmd heading: 141.239999 deg.

2025-08-09T16:51:16.121Z,1754758276.121 [DAT](INFO): DAT read: 16:51:14.3529 LVL= 28384, 32753, 23074, 32755, AGC= 66, IDX= 409,-0.02, 0.971,-0.628, 1.335, 0.857, PHS= 0.217,-1.440, 0.435, RAW= 156.1,   8.9, CAL= 155.8,   9.5, ROT= 354.2,  -9.5

2025-08-09T16:51:16.122Z,1754758276.122 [DAT](INFO): got valid direction response:
 16:51:14.3529 LVL= 28384, 32753, 23074, 32755, AGC= 66, IDX= 409,-0.02, 0.971,-0.628, 1.335, 0.857, PHS= 0.217,-1.440, 0.435, RAW= 156.1,   8.9, CAL= 155.8,   9.5, ROT= 354.2,  -9.5

2025-08-09T16:51:16.123Z,1754758276.123 [DAT](INFO): DAT read: Bearing 310.1,  -7.5 (Local)

2025-08-09T16:51:16.124Z,1754758276.124 [DAT](INFO): Local bearing/azimuth received:
 Bearing 310.1,  -7.5 (Local)

2025-08-09T16:51:16.125Z,1754758276.125 [DAT](INFO): DAT read: Range 11 to 50 : 115.7 m  (Round-trip  154.3 ms) speed  0.4 m/s

2025-08-09T16:51:16.126Z,1754758276.126 [DAT](INFO): DAT read: user:163>

2025-08-09T16:51:16.127Z,1754758276.127 [DAT](INFO): DAT read: Tx time:16:51:15.4444

2025-08-09T16:51:16.127Z,1754758276.127 [DAT](INFO): Ping request sent.
2025-08-09T16:51:16.127Z,1754758276.127 [DAT](INFO): transmitted an acoustic signal
2025-08-09T16:51:16.127Z,1754758276.127 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-09T16:51:16.128Z,1754758276.128 [DAT](INFO): direction in FSK: [0.981237,-0.099670,0.165048]
2025-08-09T16:51:16.128Z,1754758276.128 [DAT](INFO): publishing transmit ping time
2025-08-09T16:51:16.129Z,1754758276.129 [DAT](INFO): publishing direction and range info
2025-08-09T16:51:16.132Z,1754758276.132 [DAT](INFO): publishing transmit ping time
2025-08-09T16:51:16.132Z,1754758276.132 [DAT](INFO): publishing direction and range info
2025-08-09T16:51:16.516Z,1754758276.516 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 115.699997 m,
      deltaT: 3.779640 s,
      deltaX: -2.500000 m,
      approachRate: -0.661439 m/s,
      rangeRepo size: 4

2025-08-09T16:51:16.523Z,1754758276.523 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 115.699997 m,
      bearing: 136.870939 deg,
      lat: 36.906052 deg,
      lon: -122.115914 deg,
      deltaT: 3.779640 s,
      deltaX: -2.500000 m,
      approachRate: -0.661439 m/s,
      posRepo size: 4

2025-08-09T16:51:16.523Z,1754758276.523 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 115.70 m.
2025-08-09T16:51:16.529Z,1754758276.529 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 115.699997 m,
      nav range: 113.936378 m,
      bearing: 136.870939 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.010146 deg/s,
      cmd heading: 141.239993 deg,
      new cmd heading: 141.227462 deg.

2025-08-09T16:51:16.942Z,1754758276.942 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 115.70 m.
2025-08-09T16:51:16.945Z,1754758276.945 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 115.699997 m,
      nav range: 113.640511 m,
      bearing: 136.867818 deg,
      approach rate: -0.693850 m/s,
      LOS rate: -0.007339 deg/s,
      cmd heading: 141.227466 deg,
      new cmd heading: 141.218078 deg.

2025-08-09T16:51:17.328Z,1754758277.328 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 115.70 m.
2025-08-09T16:51:17.331Z,1754758277.331 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 115.699997 m,
      nav range: 113.388985 m,
      bearing: 136.865071 deg,
      approach rate: -0.655393 m/s,
      LOS rate: -0.007172 deg/s,
      cmd heading: 141.218082 deg,
      new cmd heading: 141.209824 deg.

2025-08-09T16:51:17.786Z,1754758277.786 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-09T16:51:17.788Z,1754758277.788 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 115.70 m.
2025-08-09T16:51:17.805Z,1754758277.805 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 115.699997 m,
      nav range: 113.079330 m,
      bearing: 136.862823 deg,
      approach rate: -0.669698 m/s,
      LOS rate: -0.004876 deg/s,
      cmd heading: 141.209831 deg,
      new cmd heading: 141.203067 deg.

2025-08-09T16:51:17.879Z,1754758277.879 [DAT](INFO): ****** received valid address query ******
2025-08-09T16:51:17.879Z,1754758277.879 [DAT](INFO): ****** received valid ping request ******
2025-08-09T16:51:17.880Z,1754758277.880 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-09T16:51:18.132Z,1754758278.132 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.005018
2025-08-09T16:51:18.252Z,1754758278.252 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 115.70 m.
2025-08-09T16:51:18.255Z,1754758278.255 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 115.699997 m,
      nav range: 112.751419 m,
      bearing: 136.860312 deg,
      approach rate: -0.706897 m/s,
      LOS rate: -0.005428 deg/s,
      cmd heading: 141.203069 deg,
      new cmd heading: 141.195515 deg.

2025-08-09T16:51:18.383Z,1754758278.383 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.256432
2025-08-09T16:51:18.635Z,1754758278.635 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.508366
2025-08-09T16:51:18.657Z,1754758278.657 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 115.70 m.
2025-08-09T16:51:18.665Z,1754758278.665 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 115.699997 m,
      nav range: 112.479362 m,
      bearing: 136.858162 deg,
      approach rate: -0.674561 m/s,
      LOS rate: -0.005344 deg/s,
      cmd heading: 141.195515 deg,
      new cmd heading: 141.189048 deg.

2025-08-09T16:51:18.887Z,1754758278.887 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.760283
2025-08-09T16:51:19.081Z,1754758279.081 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 115.70 m.
2025-08-09T16:51:19.083Z,1754758279.083 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 115.699997 m,
      nav range: 112.183975 m,
      bearing: 136.859435 deg,
      approach rate: -0.695019 m/s,
      LOS rate: 0.003002 deg/s,
      cmd heading: 141.189053 deg,
      new cmd heading: 141.192881 deg.

2025-08-09T16:51:19.140Z,1754758279.140 [DAT](INFO): DAT read: Rx Time:16:51:17.9997

2025-08-09T16:51:19.141Z,1754758279.141 [DAT](INFO): Rx dataTimestamp_ set to:1754758279.140510
2025-08-09T16:51:19.142Z,1754758279.142 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.014726
2025-08-09T16:51:19.391Z,1754758279.391 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.264321
2025-08-09T16:51:19.487Z,1754758279.487 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 115.70 m.
2025-08-09T16:51:19.489Z,1754758279.489 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 115.699997 m,
      nav range: 111.913292 m,
      bearing: 136.860509 deg,
      approach rate: -0.687921 m/s,
      LOS rate: 0.002736 deg/s,
      cmd heading: 141.192878 deg,
      new cmd heading: 141.196108 deg.

2025-08-09T16:51:19.651Z,1754758279.651 [DAT](INFO): DAT read: 16:51:17.9997 LVL= 31920, 32753, 24962, 32755, AGC= 67, IDX= 408, 0.19, 1.016,-0.615, 1.394, 0.910, PHS= 0.208,-1.480, 0.440, RAW= 156.4,   9.2, CAL= 156.1,   9.8, ROT= 353.9,  -9.8

2025-08-09T16:51:19.653Z,1754758279.653 [DAT](INFO): got valid direction response:
 16:51:17.9997 LVL= 31920, 32753, 24962, 32755, AGC= 67, IDX= 408, 0.19, 1.016,-0.615, 1.394, 0.910, PHS= 0.208,-1.480, 0.440, RAW= 156.4,   9.2, CAL= 156.1,   9.8, ROT= 353.9,  -9.8

2025-08-09T16:51:19.653Z,1754758279.653 [DAT](INFO): DAT read: Bearing 310.4,  -8.0 (Local)

2025-08-09T16:51:19.654Z,1754758279.654 [DAT](INFO): Local bearing/azimuth received:
 Bearing 310.4,  -8.0 (Local)

2025-08-09T16:51:19.655Z,1754758279.655 [DAT](INFO): DAT read: Range 11 to 50 : 113.3 m  (Round-trip  151.1 ms) speed  0.5 m/s

2025-08-09T16:51:19.656Z,1754758279.656 [DAT](INFO): DAT read: user:164>

2025-08-09T16:51:19.657Z,1754758279.657 [DAT](INFO): DAT read: Tx time:16:51:19.0944

2025-08-09T16:51:19.657Z,1754758279.657 [DAT](INFO): Ping request sent.
2025-08-09T16:51:19.657Z,1754758279.657 [DAT](INFO): transmitted an acoustic signal
2025-08-09T16:51:19.658Z,1754758279.658 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-09T16:51:19.659Z,1754758279.659 [DAT](INFO): direction in FSK: [0.979828,-0.104714,0.170209]
2025-08-09T16:51:19.659Z,1754758279.659 [DAT](INFO): publishing transmit ping time
2025-08-09T16:51:19.659Z,1754758279.659 [DAT](INFO): publishing direction and range info
2025-08-09T16:51:19.662Z,1754758279.662 [DAT](INFO): publishing transmit ping time
2025-08-09T16:51:19.662Z,1754758279.662 [DAT](INFO): publishing direction and range info
2025-08-09T16:51:19.942Z,1754758279.942 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 113.300003 m,
      deltaT: 3.528455 s,
      deltaX: -2.399994 m,
      approachRate: -0.680183 m/s,
      rangeRepo size: 4

2025-08-09T16:51:19.948Z,1754758279.948 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 113.300003 m,
      bearing: 136.760900 deg,
      lat: 36.906053 deg,
      lon: -122.115912 deg,
      deltaT: 3.528455 s,
      deltaX: -2.399994 m,
      approachRate: -0.680183 m/s,
      posRepo size: 4

2025-08-09T16:51:19.949Z,1754758279.949 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 113.30 m.
2025-08-09T16:51:19.956Z,1754758279.956 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 113.300003 m,
      nav range: 111.726067 m,
      bearing: 136.760900 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.002736 deg/s,
      cmd heading: 141.196102 deg,
      new cmd heading: 141.199936 deg.

2025-08-09T16:51:20.253Z,1754758280.253 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-09T16:51:20.255Z,1754758280.255 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 113.30 m.
2025-08-09T16:51:20.258Z,1754758280.258 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 113.300003 m,
      nav range: 111.503891 m,
      bearing: 136.759820 deg,
      approach rate: -0.707615 m/s,
      LOS rate: -0.003444 deg/s,
      cmd heading: 141.199941 deg,
      new cmd heading: 141.196697 deg.

2025-08-09T16:51:20.399Z,1754758280.399 [DAT](INFO): ****** received valid address query ******
2025-08-09T16:51:20.399Z,1754758280.399 [DAT](INFO): ****** received valid ping request ******
2025-08-09T16:51:20.399Z,1754758280.399 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-09T16:51:20.651Z,1754758280.651 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.994191
2025-08-09T16:51:20.659Z,1754758280.659 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 113.30 m.
2025-08-09T16:51:20.661Z,1754758280.661 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 113.300003 m,
      nav range: 111.231857 m,
      bearing: 136.758485 deg,
      approach rate: -0.674627 m/s,
      LOS rate: -0.003321 deg/s,
      cmd heading: 141.196703 deg,
      new cmd heading: 141.192686 deg.

2025-08-09T16:51:20.903Z,1754758280.903 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.245959
2025-08-09T16:51:21.086Z,1754758281.086 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 113.30 m.
2025-08-09T16:51:21.089Z,1754758281.089 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 113.300003 m,
      nav range: 110.939720 m,
      bearing: 136.757315 deg,
      approach rate: -0.683135 m/s,
      LOS rate: -0.002743 deg/s,
      cmd heading: 141.192687 deg,
      new cmd heading: 141.189168 deg.

2025-08-09T16:51:21.156Z,1754758281.156 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.498263
2025-08-09T16:51:21.407Z,1754758281.407 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.750048
2025-08-09T16:51:21.484Z,1754758281.484 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 113.30 m.
2025-08-09T16:51:21.487Z,1754758281.487 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 113.300003 m,
      nav range: 110.667854 m,
      bearing: 136.756282 deg,
      approach rate: -0.683252 m/s,
      LOS rate: -0.002602 deg/s,
      cmd heading: 141.189163 deg,
      new cmd heading: 141.186056 deg.

2025-08-09T16:51:21.659Z,1754758281.659 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.001929
2025-08-09T16:51:21.904Z,1754758281.904 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 113.30 m.
2025-08-09T16:51:21.907Z,1754758281.907 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 113.300003 m,
      nav range: 110.384911 m,
      bearing: 136.751090 deg,
      approach rate: -0.672907 m/s,
      LOS rate: -0.012380 deg/s,
      cmd heading: 141.186062 deg,
      new cmd heading: 141.170445 deg.

2025-08-09T16:51:21.912Z,1754758281.912 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.254371
2025-08-09T16:51:22.164Z,1754758282.164 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.506367
2025-08-09T16:51:22.276Z,1754758282.276 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-09T16:51:22.278Z,1754758282.278 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 113.30 m.
2025-08-09T16:51:22.281Z,1754758282.281 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 113.300003 m,
      nav range: 110.134109 m,
      bearing: 136.746570 deg,
      approach rate: -0.671295 m/s,
      LOS rate: -0.012125 deg/s,
      cmd heading: 141.170448 deg,
      new cmd heading: 141.156857 deg.

2025-08-09T16:51:22.415Z,1754758282.415 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.758074
2025-08-09T16:51:22.667Z,1754758282.667 [DAT](INFO): DAT read: Rx Time:16:51:21.6464

2025-08-09T16:51:22.668Z,1754758282.668 [DAT](INFO): Rx dataTimestamp_ set to:1754758282.667575
2025-08-09T16:51:22.668Z,1754758282.668 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.011162
2025-08-09T16:51:22.691Z,1754758282.691 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 113.30 m.
2025-08-09T16:51:22.694Z,1754758282.694 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 113.300003 m,
      nav range: 109.855232 m,
      bearing: 136.741594 deg,
      approach rate: -0.674973 m/s,
      LOS rate: -0.012074 deg/s,
      cmd heading: 141.156856 deg,
      new cmd heading: 141.141890 deg.

2025-08-09T16:51:22.919Z,1754758282.919 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.262191
2025-08-09T16:51:23.115Z,1754758283.115 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 113.30 m.
2025-08-09T16:51:23.118Z,1754758283.118 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 113.300003 m,
      nav range: 109.573715 m,
      bearing: 136.733251 deg,
      approach rate: -0.663744 m/s,
      LOS rate: -0.019720 deg/s,
      cmd heading: 141.141884 deg,
      new cmd heading: 141.116792 deg.

2025-08-09T16:51:23.176Z,1754758283.176 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.517939
2025-08-09T16:51:23.429Z,1754758283.429 [DAT](INFO): DAT read: 16:51:21.6464 LVL= 30000, 32753, 26274, 32755, AGC= 68, IDX= 407,-0.02,-2.972, 1.715,-2.606,-3.090, PHS= 0.220,-1.433, 0.440, RAW= 156.2,   8.8, CAL= 155.8,   9.3, ROT= 354.2,  -9.3

2025-08-09T16:51:23.430Z,1754758283.430 [DAT](INFO): got valid direction response:
 16:51:21.6464 LVL= 30000, 32753, 26274, 32755, AGC= 68, IDX= 407,-0.02,-2.972, 1.715,-2.606,-3.090, PHS= 0.220,-1.433, 0.440, RAW= 156.2,   8.8, CAL= 155.8,   9.3, ROT= 354.2,  -9.3

2025-08-09T16:51:23.431Z,1754758283.431 [DAT](INFO): DAT read: Bearing 309.7,  -7.6 (Local)

2025-08-09T16:51:23.431Z,1754758283.431 [DAT](INFO): Local bearing/azimuth received:
 Bearing 309.7,  -7.6 (Local)

2025-08-09T16:51:23.433Z,1754758283.433 [DAT](INFO): DAT read: Range 11 to 50 : 110.9 m  (Round-trip  147.9 ms) speed  0.5 m/s

2025-08-09T16:51:23.434Z,1754758283.434 [DAT](INFO): DAT read: user:165>

2025-08-09T16:51:23.434Z,1754758283.434 [DAT](INFO): DAT read: Tx time:16:51:22.7444

2025-08-09T16:51:23.435Z,1754758283.435 [DAT](INFO): Ping request sent.
2025-08-09T16:51:23.435Z,1754758283.435 [DAT](INFO): transmitted an acoustic signal
2025-08-09T16:51:23.435Z,1754758283.435 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-09T16:51:23.436Z,1754758283.436 [DAT](INFO): direction in FSK: [0.981804,-0.099728,0.161604]
2025-08-09T16:51:23.436Z,1754758283.436 [DAT](INFO): publishing transmit ping time
2025-08-09T16:51:23.436Z,1754758283.436 [DAT](INFO): publishing direction and range info
2025-08-09T16:51:23.440Z,1754758283.440 [DAT](INFO): publishing transmit ping time
2025-08-09T16:51:23.440Z,1754758283.440 [DAT](INFO): publishing direction and range info
2025-08-09T16:51:23.567Z,1754758283.567 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 110.900002 m,
      deltaT: 3.779424 s,
      deltaX: -2.400002 m,
      approachRate: -0.635018 m/s,
      rangeRepo size: 4

2025-08-09T16:51:23.569Z,1754758283.569 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 110.900002 m,
      bearing: 136.724815 deg,
      lat: 36.906053 deg,
      lon: -122.115912 deg,
      deltaT: 3.779424 s,
      deltaX: -2.400002 m,
      approachRate: -0.635018 m/s,
      posRepo size: 4

2025-08-09T16:51:23.575Z,1754758283.575 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 110.90 m.
2025-08-09T16:51:23.587Z,1754758283.587 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 110.900002 m,
      nav range: 109.287117 m,
      bearing: 136.724815 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.019720 deg/s,
      cmd heading: 141.116790 deg,
      new cmd heading: 141.090081 deg.

2025-08-09T16:51:23.952Z,1754758283.952 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 110.90 m.
2025-08-09T16:51:23.995Z,1754758283.995 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 110.900002 m,
      nav range: 109.022713 m,
      bearing: 136.715774 deg,
      approach rate: -0.685993 m/s,
      LOS rate: -0.023516 deg/s,
      cmd heading: 141.090084 deg,
      new cmd heading: 141.062893 deg.

2025-08-09T16:51:24.380Z,1754758284.380 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-09T16:51:24.382Z,1754758284.382 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 110.90 m.
2025-08-09T16:51:24.389Z,1754758284.389 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 110.900002 m,
      nav range: 108.749344 m,
      bearing: 136.706468 deg,
      approach rate: -0.636074 m/s,
      LOS rate: -0.021706 deg/s,
      cmd heading: 141.062886 deg,
      new cmd heading: 141.034900 deg.

2025-08-09T16:51:24.431Z,1754758284.431 [DAT](INFO): ****** received valid address query ******
2025-08-09T16:51:24.431Z,1754758284.431 [DAT](INFO): ****** received valid ping request ******
2025-08-09T16:51:24.432Z,1754758284.432 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-09T16:51:24.684Z,1754758284.684 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.249552
2025-08-09T16:51:24.809Z,1754758284.809 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 110.90 m.
2025-08-09T16:51:24.831Z,1754758284.831 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 110.900002 m,
      nav range: 108.492706 m,
      bearing: 136.697743 deg,
      approach rate: -0.603727 m/s,
      LOS rate: -0.020575 deg/s,
      cmd heading: 141.034896 deg,
      new cmd heading: 141.008658 deg.

2025-08-09T16:51:24.935Z,1754758284.935 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.500472
2025-08-09T16:51:25.187Z,1754758285.187 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.752660
2025-08-09T16:51:25.204Z,1754758285.204 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 110.90 m.
2025-08-09T16:51:25.207Z,1754758285.207 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 110.900002 m,
      nav range: 108.200951 m,
      bearing: 136.685617 deg,
      approach rate: -0.735155 m/s,
      LOS rate: -0.030636 deg/s,
      cmd heading: 141.008654 deg,
      new cmd heading: 140.972179 deg.

2025-08-09T16:51:25.439Z,1754758285.439 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.004504
2025-08-09T16:51:25.569Z,1754758285.569 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 110.90 m.
2025-08-09T16:51:25.572Z,1754758285.572 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 110.900002 m,
      nav range: 107.958725 m,
      bearing: 136.675691 deg,
      approach rate: -0.664079 m/s,
      LOS rate: -0.027274 deg/s,
      cmd heading: 140.972181 deg,
      new cmd heading: 140.942336 deg.

2025-08-09T16:51:25.692Z,1754758285.692 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.257260
2025-08-09T16:51:25.943Z,1754758285.943 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.508663
2025-08-09T16:51:26.010Z,1754758286.010 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 110.90 m.
2025-08-09T16:51:26.028Z,1754758286.028 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 110.900002 m,
      nav range: 107.667442 m,
      bearing: 136.667041 deg,
      approach rate: -0.660653 m/s,
      LOS rate: -0.019672 deg/s,
      cmd heading: 140.942333 deg,
      new cmd heading: 140.916313 deg.

2025-08-09T16:51:26.197Z,1754758286.197 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.762420
2025-08-09T16:51:26.372Z,1754758286.372 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 110.90 m.
2025-08-09T16:51:26.380Z,1754758286.380 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 110.900002 m,
      nav range: 107.427292 m,
      bearing: 136.659954 deg,
      approach rate: -0.661838 m/s,
      LOS rate: -0.019576 deg/s,
      cmd heading: 140.916310 deg,
      new cmd heading: 140.895001 deg.

2025-08-09T16:51:26.447Z,1754758286.447 [DAT](INFO): DAT read: Rx Time:16:51:25.2933

2025-08-09T16:51:26.448Z,1754758286.448 [DAT](INFO): Rx dataTimestamp_ set to:1754758286.447569
2025-08-09T16:51:26.448Z,1754758286.448 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.013677
2025-08-09T16:51:26.699Z,1754758286.699 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.264575
2025-08-09T16:51:26.868Z,1754758286.868 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-09T16:51:26.871Z,1754758286.871 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 110.90 m.
2025-08-09T16:51:26.875Z,1754758286.875 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 110.900002 m,
      nav range: 107.163620 m,
      bearing: 136.652224 deg,
      approach rate: -0.529505 m/s,
      LOS rate: -0.015562 deg/s,
      cmd heading: 140.895000 deg,
      new cmd heading: 140.871753 deg.

2025-08-09T16:51:26.960Z,1754758286.960 [DAT](INFO): DAT read: 16:51:25.2932 LVL= 27696, 32753, 26706, 32755, AGC= 65, IDX= 407,-0.19, 2.369, 0.811, 2.722, 2.264, PHS= 0.208,-1.407, 0.415, RAW= 156.0,   9.1, CAL= 155.7,   9.7, ROT= 354.3,  -9.7

2025-08-09T16:51:26.961Z,1754758286.961 [DAT](INFO): got valid direction response:
 16:51:25.2932 LVL= 27696, 32753, 26706, 32755, AGC= 65, IDX= 407,-0.19, 2.369, 0.811, 2.722, 2.264, PHS= 0.208,-1.407, 0.415, RAW= 156.0,   9.1, CAL= 155.7,   9.7, ROT= 354.3,  -9.7

2025-08-09T16:51:26.963Z,1754758286.963 [DAT](INFO): DAT read: Bearing 310.5,  -7.2 (Local)

2025-08-09T16:51:26.964Z,1754758286.964 [DAT](INFO): Local bearing/azimuth received:
 Bearing 310.5,  -7.2 (Local)

2025-08-09T16:51:26.965Z,1754758286.965 [DAT](INFO): DAT read: Range 11 to 50 : 108.6 m  (Round-trip  144.8 ms) speed  0.5 m/s

2025-08-09T16:51:26.966Z,1754758286.966 [DAT](INFO): DAT read: user:166>

2025-08-09T16:51:26.967Z,1754758286.967 [DAT](INFO): DAT read: Tx time:16:51:26.3943

2025-08-09T16:51:26.967Z,1754758286.967 [DAT](INFO): Ping request sent.
2025-08-09T16:51:26.967Z,1754758286.967 [DAT](INFO): transmitted an acoustic signal
2025-08-09T16:51:26.968Z,1754758286.968 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-09T16:51:26.968Z,1754758286.968 [DAT](INFO): direction in FSK: [0.980830,-0.097900,0.168489]
2025-08-09T16:51:26.969Z,1754758286.969 [DAT](INFO): publishing transmit ping time
2025-08-09T16:51:26.969Z,1754758286.969 [DAT](INFO): publishing direction and range info
2025-08-09T16:51:26.973Z,1754758286.973 [DAT](INFO): publishing transmit ping time
2025-08-09T16:51:26.973Z,1754758286.973 [DAT](INFO): publishing direction and range info
2025-08-09T16:51:27.214Z,1754758287.214 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 108.599998 m,
      deltaT: 3.528743 s,
      deltaX: -2.300003 m,
      approachRate: -0.651791 m/s,
      rangeRepo size: 4

2025-08-09T16:51:27.217Z,1754758287.217 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 108.599998 m,
      bearing: 136.666670 deg,
      lat: 36.906052 deg,
      lon: -122.115912 deg,
      deltaT: 3.528743 s,
      deltaX: -2.300003 m,
      approachRate: -0.651791 m/s,
      posRepo size: 4

2025-08-09T16:51:27.217Z,1754758287.217 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 108.60 m.
2025-08-09T16:51:27.220Z,1754758287.220 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 108.599998 m,
      nav range: 106.906136 m,
      bearing: 136.666670 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.015562 deg/s,
      cmd heading: 140.871750 deg,
      new cmd heading: 140.855729 deg.

2025-08-09T16:51:27.595Z,1754758287.595 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 108.60 m.
2025-08-09T16:51:27.597Z,1754758287.597 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 108.599998 m,
      nav range: 106.660172 m,
      bearing: 136.664510 deg,
      approach rate: -0.645729 m/s,
      LOS rate: -0.005682 deg/s,
      cmd heading: 140.855726 deg,
      new cmd heading: 140.849234 deg.

2025-08-09T16:51:28.019Z,1754758288.019 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 108.60 m.
2025-08-09T16:51:28.021Z,1754758288.021 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 108.599998 m,
      nav range: 106.364761 m,
      bearing: 136.667485 deg,
      approach rate: -0.696796 m/s,
      LOS rate: 0.007035 deg/s,
      cmd heading: 140.849238 deg,
      new cmd heading: 140.858185 deg.

2025-08-09T16:51:28.399Z,1754758288.399 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 108.60 m.
2025-08-09T16:51:28.402Z,1754758288.402 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 108.599998 m,
      nav range: 106.109634 m,
      bearing: 136.670047 deg,
      approach rate: -0.669999 m/s,
      LOS rate: 0.006745 deg/s,
      cmd heading: 140.858185 deg,
      new cmd heading: 140.865890 deg.

2025-08-09T16:51:28.857Z,1754758288.857 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 108.60 m.
2025-08-09T16:51:28.880Z,1754758288.880 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 108.599998 m,
      nav range: 105.827728 m,
      bearing: 136.672924 deg,
      approach rate: -0.618725 m/s,
      LOS rate: 0.006333 deg/s,
      cmd heading: 140.865890 deg,
      new cmd heading: 140.874546 deg.

2025-08-09T16:51:29.247Z,1754758289.247 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-09T16:51:29.249Z,1754758289.249 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 108.60 m.
2025-08-09T16:51:29.252Z,1754758289.252 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 108.599998 m,
      nav range: 105.537071 m,
      bearing: 136.679352 deg,
      approach rate: -0.737368 m/s,
      LOS rate: 0.016352 deg/s,
      cmd heading: 140.874550 deg,
      new cmd heading: 140.893887 deg.

2025-08-09T16:51:29.471Z,1754758289.471 [DAT](INFO): ****** received valid address query ******
2025-08-09T16:51:29.471Z,1754758289.471 [DAT](INFO): ****** received valid ping request ******
2025-08-09T16:51:29.471Z,1754758289.471 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-09T16:51:29.643Z,1754758289.643 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 108.60 m.
2025-08-09T16:51:29.646Z,1754758289.646 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 108.599998 m,
      nav range: 105.270599 m,
      bearing: 136.685277 deg,
      approach rate: -0.676584 m/s,
      LOS rate: 0.015080 deg/s,
      cmd heading: 140.893894 deg,
      new cmd heading: 140.911711 deg.

2025-08-09T16:51:29.724Z,1754758289.724 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.756323
2025-08-09T16:51:29.975Z,1754758289.975 [DAT](INFO): DAT read: Rx Time:16:51:28.9398

2025-08-09T16:51:29.976Z,1754758289.976 [DAT](INFO): Rx dataTimestamp_ set to:1754758289.975534
2025-08-09T16:51:29.976Z,1754758289.976 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.009118
2025-08-09T16:51:30.115Z,1754758290.115 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 108.60 m.
2025-08-09T16:51:30.130Z,1754758290.130 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 108.599998 m,
      nav range: 104.951096 m,
      bearing: 136.691851 deg,
      approach rate: -0.676256 m/s,
      LOS rate: 0.013957 deg/s,
      cmd heading: 140.911707 deg,
      new cmd heading: 140.931489 deg.

2025-08-09T16:51:30.228Z,1754758290.228 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.260275
2025-08-09T16:51:30.434Z,1754758290.434 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 108.60 m.
2025-08-09T16:51:30.439Z,1754758290.439 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 108.599998 m,
      nav range: 104.735611 m,
      bearing: 136.696293 deg,
      approach rate: -0.675765 m/s,
      LOS rate: 0.013959 deg/s,
      cmd heading: 140.931487 deg,
      new cmd heading: 140.944841 deg.

2025-08-09T16:51:30.511Z,1754758290.511 [DAT](INFO): DAT read: 16:51:28.9398 LVL= 28144, 32753, 20658, 32755, AGC= 66, IDX= 404, 0.09, 1.806, 0.193, 2.171, 1.689, PHS= 0.219,-1.451, 0.438, RAW= 156.1,   8.9, CAL= 155.8,   9.5, ROT= 354.2,  -9.5

2025-08-09T16:51:30.512Z,1754758290.512 [DAT](INFO): got valid direction response:
 16:51:28.9398 LVL= 28144, 32753, 20658, 32755, AGC= 66, IDX= 404, 0.09, 1.806, 0.193, 2.171, 1.689, PHS= 0.219,-1.451, 0.438, RAW= 156.1,   8.9, CAL= 155.8,   9.5, ROT= 354.2,  -9.5

2025-08-09T16:51:30.513Z,1754758290.513 [DAT](INFO): DAT read: Bearing 310.3,  -7.2 (Local)

2025-08-09T16:51:30.513Z,1754758290.513 [DAT](INFO): Local bearing/azimuth received:
 Bearing 310.3,  -7.2 (Local)

2025-08-09T16:51:30.526Z,1754758290.526 [DAT](INFO): DAT read: Range 11 to 50 : 106.0 m  (Round-trip  141.4 ms) speed  0.7 m/s

2025-08-09T16:51:30.532Z,1754758290.532 [DAT](INFO): DAT read: user:167>

2025-08-09T16:51:30.533Z,1754758290.533 [DAT](INFO): DAT read: Tx time:16:51:30.0443

2025-08-09T16:51:30.533Z,1754758290.533 [DAT](INFO): Ping request sent.
2025-08-09T16:51:30.533Z,1754758290.533 [DAT](INFO): transmitted an acoustic signal
2025-08-09T16:51:30.533Z,1754758290.533 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-09T16:51:30.538Z,1754758290.538 [DAT](INFO): direction in FSK: [0.981237,-0.099670,0.165048]
2025-08-09T16:51:30.539Z,1754758290.539 [DAT](INFO): publishing transmit ping time
2025-08-09T16:51:30.539Z,1754758290.539 [DAT](INFO): publishing direction and range info
2025-08-09T16:51:30.550Z,1754758290.550 [DAT](INFO): publishing transmit ping time
2025-08-09T16:51:30.551Z,1754758290.551 [DAT](INFO): publishing direction and range info
2025-08-09T16:51:30.857Z,1754758290.857 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 106.000000 m,
      deltaT: 3.529116 s,
      deltaX: -2.599998 m,
      approachRate: -0.736728 m/s,
      rangeRepo size: 4

2025-08-09T16:51:30.885Z,1754758290.885 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 106.000000 m,
      bearing: 136.775951 deg,
      lat: 36.906051 deg,
      lon: -122.115912 deg,
      deltaT: 3.529116 s,
      deltaX: -2.599998 m,
      approachRate: -0.736728 m/s,
      posRepo size: 4

2025-08-09T16:51:30.892Z,1754758290.892 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 106.00 m.
2025-08-09T16:51:30.902Z,1754758290.902 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 106.000000 m,
      nav range: 104.606003 m,
      bearing: 136.775951 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.013959 deg/s,
      cmd heading: 140.944847 deg,
      new cmd heading: 140.962329 deg.

2025-08-09T16:51:31.283Z,1754758291.283 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-09T16:51:31.302Z,1754758291.302 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 106.00 m.
2025-08-09T16:51:31.305Z,1754758291.305 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 106.000000 m,
      nav range: 104.305580 m,
      bearing: 136.782193 deg,
      approach rate: -0.691557 m/s,
      LOS rate: 0.014411 deg/s,
      cmd heading: 140.962332 deg,
      new cmd heading: 140.981114 deg.

2025-08-09T16:51:31.487Z,1754758291.487 [DAT](INFO): ****** received valid address query ******
2025-08-09T16:51:31.487Z,1754758291.487 [DAT](INFO): ****** received valid ping request ******
2025-08-09T16:51:31.487Z,1754758291.487 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-09T16:51:31.674Z,1754758291.674 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 106.00 m.
2025-08-09T16:51:31.677Z,1754758291.677 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 106.000000 m,
      nav range: 104.048012 m,
      bearing: 136.787487 deg,
      approach rate: -0.670606 m/s,
      LOS rate: 0.013816 deg/s,
      cmd heading: 140.981115 deg,
      new cmd heading: 140.997034 deg.

2025-08-09T16:51:31.740Z,1754758291.740 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.207320
2025-08-09T16:51:31.994Z,1754758291.994 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.460683
2025-08-09T16:51:32.113Z,1754758292.113 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 106.00 m.
2025-08-09T16:51:32.120Z,1754758292.120 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 106.000000 m,
      nav range: 103.751167 m,
      bearing: 136.790025 deg,
      approach rate: -0.670603 m/s,
      LOS rate: 0.005750 deg/s,
      cmd heading: 140.997029 deg,
      new cmd heading: 141.004665 deg.

2025-08-09T16:51:32.247Z,1754758292.247 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.714291
2025-08-09T16:51:32.499Z,1754758292.499 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.966288
2025-08-09T16:51:32.537Z,1754758292.537 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 106.00 m.
2025-08-09T16:51:32.543Z,1754758292.543 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 106.000000 m,
      nav range: 103.455765 m,
      bearing: 136.792611 deg,
      approach rate: -0.696339 m/s,
      LOS rate: 0.006115 deg/s,
      cmd heading: 141.004666 deg,
      new cmd heading: 141.012448 deg.

2025-08-09T16:51:32.751Z,1754758292.751 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.218373
2025-08-09T16:51:33.003Z,1754758293.003 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.470163
2025-08-09T16:51:33.087Z,1754758293.087 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 106.00 m.
2025-08-09T16:51:33.089Z,1754758293.089 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 106.000000 m,
      nav range: 103.110222 m,
      bearing: 136.789153 deg,
      approach rate: -0.633771 m/s,
      LOS rate: -0.006365 deg/s,
      cmd heading: 141.012452 deg,
      new cmd heading: 141.002041 deg.

2025-08-09T16:51:33.255Z,1754758293.255 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.722496
2025-08-09T16:51:33.441Z,1754758293.441 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-09T16:51:33.444Z,1754758293.444 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 106.00 m.
2025-08-09T16:51:33.447Z,1754758293.447 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 106.000000 m,
      nav range: 102.859520 m,
      bearing: 136.786704 deg,
      approach rate: -0.693610 m/s,
      LOS rate: -0.006792 deg/s,
      cmd heading: 141.002043 deg,
      new cmd heading: 140.994678 deg.

2025-08-09T16:51:33.508Z,1754758293.508 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.974519
2025-08-09T16:51:33.759Z,1754758293.759 [DAT](INFO): DAT read: Rx Time:16:51:32.5867

2025-08-09T16:51:33.760Z,1754758293.760 [DAT](INFO): Rx dataTimestamp_ set to:1754758293.759442
2025-08-09T16:51:33.760Z,1754758293.760 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.227307
2025-08-09T16:51:33.879Z,1754758293.879 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 106.00 m.
2025-08-09T16:51:33.882Z,1754758293.882 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 106.000000 m,
      nav range: 102.574654 m,
      bearing: 136.783959 deg,
      approach rate: -0.654016 m/s,
      LOS rate: -0.006319 deg/s,
      cmd heading: 140.994680 deg,
      new cmd heading: 140.986423 deg.

2025-08-09T16:51:34.011Z,1754758294.011 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.478441
2025-08-09T16:51:34.274Z,1754758294.274 [DAT](INFO): DAT read: 16:51:32.5867 LVL= 29424, 32753, 24290, 32755, AGC= 69, IDX= 404,-0.11, 2.553, 0.949, 2.935, 2.466, PHS= 0.189,-1.472, 0.425, RAW= 156.6,   9.6, CAL= 156.4,  10.3, ROT= 353.6, -10.3

2025-08-09T16:51:34.276Z,1754758294.276 [DAT](INFO): got valid direction response:
 16:51:32.5867 LVL= 29424, 32753, 24290, 32755, AGC= 69, IDX= 404,-0.11, 2.553, 0.949, 2.935, 2.466, PHS= 0.189,-1.472, 0.425, RAW= 156.6,   9.6, CAL= 156.4,  10.3, ROT= 353.6, -10.3

2025-08-09T16:51:34.278Z,1754758294.278 [DAT](INFO): DAT read: Bearing 311.1,  -8.0 (Local)

2025-08-09T16:51:34.281Z,1754758294.281 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 106.00 m.
2025-08-09T16:51:34.283Z,1754758294.283 [DAT](INFO): Local bearing/azimuth received:
 Bearing 311.1,  -8.0 (Local)

2025-08-09T16:51:34.285Z,1754758294.285 [DAT](INFO): DAT read: Range 11 to 50 : 103.6 m  (Round-trip  138.2 ms) speed  0.5 m/s

2025-08-09T16:51:34.292Z,1754758294.292 [DAT](INFO): DAT read: user:168>

2025-08-09T16:51:34.294Z,1754758294.294 [DAT](INFO): DAT read: Tx time:16:51:33.6943

2025-08-09T16:51:34.294Z,1754758294.294 [DAT](INFO): Ping request sent.
2025-08-09T16:51:34.294Z,1754758294.294 [DAT](INFO): transmitted an acoustic signal
2025-08-09T16:51:34.310Z,1754758294.310 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 106.000000 m,
      nav range: 102.326210 m,
      bearing: 136.774877 deg,
      approach rate: -0.618548 m/s,
      LOS rate: -0.022667 deg/s,
      cmd heading: 140.986429 deg,
      new cmd heading: 140.959116 deg.

2025-08-09T16:51:34.315Z,1754758294.315 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-09T16:51:34.316Z,1754758294.316 [DAT](INFO): direction in FSK: [0.977753,-0.109672,0.178802]
2025-08-09T16:51:34.316Z,1754758294.316 [DAT](INFO): publishing transmit ping time
2025-08-09T16:51:34.316Z,1754758294.316 [DAT](INFO): publishing direction and range info
2025-08-09T16:51:34.327Z,1754758294.327 [DAT](INFO): publishing transmit ping time
2025-08-09T16:51:34.328Z,1754758294.328 [DAT](INFO): publishing direction and range info
2025-08-09T16:51:34.660Z,1754758294.660 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 103.599998 m,
      deltaT: 3.782285 s,
      deltaX: -2.400002 m,
      approachRate: -0.634537 m/s,
      rangeRepo size: 4

2025-08-09T16:51:34.663Z,1754758294.663 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 103.599998 m,
      bearing: 136.765753 deg,
      lat: 36.906051 deg,
      lon: -122.115912 deg,
      deltaT: 3.782285 s,
      deltaX: -2.400002 m,
      approachRate: -0.634537 m/s,
      posRepo size: 4

2025-08-09T16:51:34.663Z,1754758294.663 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 103.60 m.
2025-08-09T16:51:34.666Z,1754758294.666 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 103.599998 m,
      nav range: 102.074631 m,
      bearing: 136.765753 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.022667 deg/s,
      cmd heading: 140.959122 deg,
      new cmd heading: 140.933364 deg.

2025-08-09T16:51:35.165Z,1754758295.165 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 103.60 m.
2025-08-09T16:51:35.168Z,1754758295.168 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 103.599998 m,
      nav range: 101.748344 m,
      bearing: 136.747717 deg,
      approach rate: -0.645388 m/s,
      LOS rate: -0.035788 deg/s,
      cmd heading: 140.933358 deg,
      new cmd heading: 140.879079 deg.

2025-08-09T16:51:35.609Z,1754758295.609 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-09T16:51:35.616Z,1754758295.616 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 103.60 m.
2025-08-09T16:51:35.623Z,1754758295.623 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 103.599998 m,
      nav range: 101.462532 m,
      bearing: 136.732123 deg,
      approach rate: -0.633809 m/s,
      LOS rate: -0.034679 deg/s,
      cmd heading: 140.879086 deg,
      new cmd heading: 140.832171 deg.

2025-08-09T16:51:35.776Z,1754758295.776 [DAT](INFO): ****** received valid address query ******
2025-08-09T16:51:35.776Z,1754758295.776 [DAT](INFO): ****** received valid ping request ******
2025-08-09T16:51:35.777Z,1754758295.777 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-09T16:51:36.027Z,1754758296.027 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.733318
2025-08-09T16:51:36.078Z,1754758296.078 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 103.60 m.
2025-08-09T16:51:36.081Z,1754758296.081 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 103.599998 m,
      nav range: 101.160103 m,
      bearing: 136.709798 deg,
      approach rate: -0.654738 m/s,
      LOS rate: -0.048477 deg/s,
      cmd heading: 140.832176 deg,
      new cmd heading: 140.765000 deg.

2025-08-09T16:51:36.281Z,1754758296.281 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.986417
2025-08-09T16:51:36.446Z,1754758296.446 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 103.60 m.
2025-08-09T16:51:36.449Z,1754758296.449 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 103.599998 m,
      nav range: 100.917610 m,
      bearing: 136.691887 deg,
      approach rate: -0.659925 m/s,
      LOS rate: -0.048859 deg/s,
      cmd heading: 140.764994 deg,
      new cmd heading: 140.711134 deg.

2025-08-09T16:51:36.532Z,1754758296.532 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.238004
2025-08-09T16:51:36.784Z,1754758296.784 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.489538
2025-08-09T16:51:36.845Z,1754758296.845 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 103.60 m.
2025-08-09T16:51:36.849Z,1754758296.849 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 103.599998 m,
      nav range: 100.658165 m,
      bearing: 136.672742 deg,
      approach rate: -0.649870 m/s,
      LOS rate: -0.048079 deg/s,
      cmd heading: 140.711131 deg,
      new cmd heading: 140.653548 deg.

2025-08-09T16:51:37.035Z,1754758297.035 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.741470
2025-08-09T16:51:37.284Z,1754758297.284 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 103.60 m.
2025-08-09T16:51:37.288Z,1754758297.288 [DAT](INFO): DAT read: Rx Time:16:51:36.2335

2025-08-09T16:51:37.289Z,1754758297.289 [DAT](INFO): Rx dataTimestamp_ set to:1754758297.288762
2025-08-09T16:51:37.291Z,1754758297.291 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.996371
2025-08-09T16:51:37.293Z,1754758297.293 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 103.599998 m,
      nav range: 100.369385 m,
      bearing: 136.652906 deg,
      approach rate: -0.658800 m/s,
      LOS rate: -0.045383 deg/s,
      cmd heading: 140.653553 deg,
      new cmd heading: 140.593873 deg.

2025-08-09T16:51:37.540Z,1754758297.540 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.245635
2025-08-09T16:51:37.700Z,1754758297.700 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-09T16:51:37.706Z,1754758297.706 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 103.60 m.
2025-08-09T16:51:37.709Z,1754758297.709 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 103.599998 m,
      nav range: 100.090874 m,
      bearing: 136.633666 deg,
      approach rate: -0.664653 m/s,
      LOS rate: -0.046044 deg/s,
      cmd heading: 140.593871 deg,
      new cmd heading: 140.535989 deg.

2025-08-09T16:51:37.802Z,1754758297.802 [DAT](INFO): DAT read: 16:51:36.2335 LVL= 30800, 32145, 28514, 32755, AGC= 70, IDX= 404, 0.22,-1.308,-2.944,-0.939,-1.404, PHS= 0.199,-1.495, 0.422, RAW= 156.1,   9.7, CAL= 155.9,  10.4, ROT= 354.1, -10.4

2025-08-09T16:51:37.803Z,1754758297.803 [DAT](INFO): got valid direction response:
 16:51:36.2335 LVL= 30800, 32145, 28514, 32755, AGC= 70, IDX= 404, 0.22,-1.308,-2.944,-0.939,-1.404, PHS= 0.199,-1.495, 0.422, RAW= 156.1,   9.7, CAL= 155.9,  10.4, ROT= 354.1, -10.4

2025-08-09T16:51:37.804Z,1754758297.804 [DAT](INFO): DAT read: Bearing 311.3,  -7.8 (Local)

2025-08-09T16:51:37.804Z,1754758297.804 [DAT](INFO): Local bearing/azimuth received:
 Bearing 311.3,  -7.8 (Local)

2025-08-09T16:51:37.805Z,1754758297.805 [DAT](INFO): DAT read: Range 11 to 50 : 101.3 m  (Round-trip  135.1 ms) speed  0.6 m/s

2025-08-09T16:51:37.815Z,1754758297.815 [DAT](INFO): DAT read: user:169>

2025-08-09T16:51:37.816Z,1754758297.816 [DAT](INFO): DAT read: Tx time:16:51:37.3443

2025-08-09T16:51:37.816Z,1754758297.816 [DAT](INFO): Ping request sent.
2025-08-09T16:51:37.816Z,1754758297.816 [DAT](INFO): transmitted an acoustic signal
2025-08-09T16:51:37.816Z,1754758297.816 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-09T16:51:37.817Z,1754758297.817 [DAT](INFO): direction in FSK: [0.978361,-0.101104,0.180519]
2025-08-09T16:51:37.818Z,1754758297.818 [DAT](INFO): publishing transmit ping time
2025-08-09T16:51:37.818Z,1754758297.818 [DAT](INFO): publishing direction and range info
2025-08-09T16:51:37.853Z,1754758297.853 [DAT](INFO): publishing transmit ping time
2025-08-09T16:51:37.853Z,1754758297.853 [DAT](INFO): publishing direction and range info
2025-08-09T16:51:38.150Z,1754758298.150 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 101.300003 m,
      deltaT: 3.530924 s,
      deltaX: -2.299995 m,
      approachRate: -0.651386 m/s,
      rangeRepo size: 4

2025-08-09T16:51:38.152Z,1754758298.152 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 101.300003 m,
      bearing: 136.592446 deg,
      lat: 36.906051 deg,
      lon: -122.115911 deg,
      deltaT: 3.530924 s,
      deltaX: -2.299995 m,
      approachRate: -0.651386 m/s,
      posRepo size: 4

2025-08-09T16:51:38.153Z,1754758298.153 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 101.30 m.
2025-08-09T16:51:38.160Z,1754758298.160 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 101.300003 m,
      nav range: 99.833183 m,
      bearing: 136.592446 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.046044 deg/s,
      cmd heading: 140.535992 deg,
      new cmd heading: 140.475306 deg.

2025-08-09T16:51:38.478Z,1754758298.478 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 101.30 m.
2025-08-09T16:51:38.481Z,1754758298.481 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 101.300003 m,
      nav range: 99.590973 m,
      bearing: 136.577990 deg,
      approach rate: -0.720742 m/s,
      LOS rate: -0.043121 deg/s,
      cmd heading: 140.475312 deg,
      new cmd heading: 140.431839 deg.

2025-08-09T16:51:38.899Z,1754758298.899 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 101.30 m.
2025-08-09T16:51:38.901Z,1754758298.901 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 101.300003 m,
      nav range: 99.310364 m,
      bearing: 136.561138 deg,
      approach rate: -0.666642 m/s,
      LOS rate: -0.040148 deg/s,
      cmd heading: 140.431845 deg,
      new cmd heading: 140.381147 deg.

2025-08-09T16:51:39.319Z,1754758299.319 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 101.30 m.
2025-08-09T16:51:39.322Z,1754758299.322 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 101.300003 m,
      nav range: 99.008873 m,
      bearing: 136.548660 deg,
      approach rate: -0.717151 m/s,
      LOS rate: -0.029771 deg/s,
      cmd heading: 140.381151 deg,
      new cmd heading: 140.343604 deg.

2025-08-09T16:51:39.687Z,1754758299.687 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 101.30 m.
2025-08-09T16:51:39.690Z,1754758299.690 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 101.300003 m,
      nav range: 98.752525 m,
      bearing: 136.537928 deg,
      approach rate: -0.696389 m/s,
      LOS rate: -0.029230 deg/s,
      cmd heading: 140.343599 deg,
      new cmd heading: 140.311320 deg.

2025-08-09T16:51:40.170Z,1754758300.170 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-09T16:51:40.172Z,1754758300.172 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 101.30 m.
2025-08-09T16:51:40.179Z,1754758300.179 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 101.300003 m,
      nav range: 98.418480 m,
      bearing: 136.528500 deg,
      approach rate: -0.688295 m/s,
      LOS rate: -0.019492 deg/s,
      cmd heading: 140.311319 deg,
      new cmd heading: 140.282939 deg.

2025-08-09T16:51:40.315Z,1754758300.315 [DAT](INFO): ****** received valid address query ******
2025-08-09T16:51:40.315Z,1754758300.315 [DAT](INFO): ****** received valid ping request ******
2025-08-09T16:51:40.315Z,1754758300.315 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-09T16:51:40.492Z,1754758300.492 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 101.30 m.
2025-08-09T16:51:40.495Z,1754758300.495 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 101.300003 m,
      nav range: 98.188629 m,
      bearing: 136.521907 deg,
      approach rate: -0.719043 m/s,
      LOS rate: -0.020675 deg/s,
      cmd heading: 140.282933 deg,
      new cmd heading: 140.263106 deg.

2025-08-09T16:51:40.568Z,1754758300.568 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.751957
2025-08-09T16:51:40.820Z,1754758300.820 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.003543
2025-08-09T16:51:40.911Z,1754758300.911 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 101.30 m.
2025-08-09T16:51:40.914Z,1754758300.914 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 101.300003 m,
      nav range: 97.895523 m,
      bearing: 136.513401 deg,
      approach rate: -0.699392 m/s,
      LOS rate: -0.020357 deg/s,
      cmd heading: 140.263112 deg,
      new cmd heading: 140.237517 deg.

2025-08-09T16:51:41.071Z,1754758301.071 [DAT](INFO): DAT read: Rx Time:16:51:39.8798

2025-08-09T16:51:41.072Z,1754758301.072 [DAT](INFO): Rx dataTimestamp_ set to:1754758301.071532
2025-08-09T16:51:41.072Z,1754758301.072 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.256325
2025-08-09T16:51:41.323Z,1754758301.323 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.507287
2025-08-09T16:51:41.333Z,1754758301.333 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 101.30 m.
2025-08-09T16:51:41.336Z,1754758301.336 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 101.300003 m,
      nav range: 97.601418 m,
      bearing: 136.510470 deg,
      approach rate: -0.696933 m/s,
      LOS rate: -0.006966 deg/s,
      cmd heading: 140.237512 deg,
      new cmd heading: 140.228694 deg.

2025-08-09T16:51:41.587Z,1754758301.587 [DAT](INFO): DAT read: 16:51:39.8798 LVL= 26784, 32753, 22338, 32755, AGC= 67, IDX= 398, 0.02, 0.528,-1.057, 0.900, 0.424, PHS= 0.206,-1.436, 0.432, RAW= 156.4,   9.1, CAL= 156.1,   9.7, ROT= 353.9,  -9.7

2025-08-09T16:51:41.590Z,1754758301.590 [DAT](INFO): got valid direction response:
 16:51:39.8798 LVL= 26784, 32753, 22338, 32755, AGC= 67, IDX= 398, 0.02, 0.528,-1.057, 0.900, 0.424, PHS= 0.206,-1.436, 0.432, RAW= 156.4,   9.1, CAL= 156.1,   9.7, ROT= 353.9,  -9.7

2025-08-09T16:51:41.595Z,1754758301.595 [DAT](INFO): DAT read: Bearing 310.6,  -7.8 (Local)

2025-08-09T16:51:41.595Z,1754758301.595 [DAT](INFO): Local bearing/azimuth received:
 Bearing 310.6,  -7.8 (Local)

2025-08-09T16:51:41.596Z,1754758301.596 [DAT](INFO): DAT read: Range 11 to 50 : 98.5 m  (Round-trip  131.4 ms) speed  0.5 m/s

2025-08-09T16:51:41.597Z,1754758301.597 [DAT](INFO): DAT read: user:170>

2025-08-09T16:51:41.598Z,1754758301.598 [DAT](INFO): DAT read: Tx time:16:51:40.9943

2025-08-09T16:51:41.598Z,1754758301.598 [DAT](INFO): Ping request sent.
2025-08-09T16:51:41.598Z,1754758301.598 [DAT](INFO): transmitted an acoustic signal
2025-08-09T16:51:41.599Z,1754758301.599 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-09T16:51:41.600Z,1754758301.600 [DAT](INFO): direction in FSK: [0.980122,-0.104745,0.168489]
2025-08-09T16:51:41.600Z,1754758301.600 [DAT](INFO): publishing transmit ping time
2025-08-09T16:51:41.600Z,1754758301.600 [DAT](INFO): publishing direction and range info
2025-08-09T16:51:41.603Z,1754758301.603 [DAT](INFO): publishing transmit ping time
2025-08-09T16:51:41.604Z,1754758301.604 [DAT](INFO): publishing direction and range info
2025-08-09T16:51:41.729Z,1754758301.729 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 98.500000 m,
      deltaT: 3.783237 s,
      deltaX: -2.800003 m,
      approachRate: -0.740108 m/s,
      rangeRepo size: 4

2025-08-09T16:51:41.735Z,1754758301.735 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 98.500000 m,
      bearing: 136.357187 deg,
      lat: 36.906053 deg,
      lon: -122.115910 deg,
      deltaT: 3.783237 s,
      deltaX: -2.800003 m,
      approachRate: -0.740108 m/s,
      posRepo size: 4

2025-08-09T16:51:41.736Z,1754758301.736 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 98.50 m.
2025-08-09T16:51:41.747Z,1754758301.747 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 98.500000 m,
      nav range: 97.245300 m,
      bearing: 136.357187 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.006966 deg/s,
      cmd heading: 140.228688 deg,
      new cmd heading: 140.220430 deg.

2025-08-09T16:51:42.157Z,1754758302.157 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 98.50 m.
2025-08-09T16:51:42.159Z,1754758302.159 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 98.500000 m,
      nav range: 96.940834 m,
      bearing: 136.356658 deg,
      approach rate: -0.710883 m/s,
      LOS rate: -0.001239 deg/s,
      cmd heading: 140.220423 deg,
      new cmd heading: 140.218831 deg.

2025-08-09T16:51:42.517Z,1754758302.517 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-09T16:51:42.519Z,1754758302.519 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 98.50 m.
2025-08-09T16:51:42.522Z,1754758302.522 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 98.500000 m,
      nav range: 96.692879 m,
      bearing: 136.356332 deg,
      approach rate: -0.684288 m/s,
      LOS rate: -0.000902 deg/s,
      cmd heading: 140.218825 deg,
      new cmd heading: 140.217845 deg.

2025-08-09T16:51:42.588Z,1754758302.588 [DAT](INFO): ****** received valid address query ******
2025-08-09T16:51:42.588Z,1754758302.588 [DAT](INFO): ****** received valid ping request ******
2025-08-09T16:51:42.589Z,1754758302.589 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-09T16:51:42.840Z,1754758302.840 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.241683
2025-08-09T16:51:42.925Z,1754758302.925 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 98.50 m.
2025-08-09T16:51:42.944Z,1754758302.944 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 98.500000 m,
      nav range: 96.414436 m,
      bearing: 136.356058 deg,
      approach rate: -0.686282 m/s,
      LOS rate: -0.000678 deg/s,
      cmd heading: 140.217841 deg,
      new cmd heading: 140.217016 deg.

2025-08-09T16:51:43.097Z,1754758303.097 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.498789
2025-08-09T16:51:43.343Z,1754758303.343 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.745231
2025-08-09T16:51:43.421Z,1754758303.421 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 98.50 m.
2025-08-09T16:51:43.425Z,1754758303.425 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 98.500000 m,
      nav range: 96.109856 m,
      bearing: 136.359656 deg,
      approach rate: -0.613295 m/s,
      LOS rate: 0.007267 deg/s,
      cmd heading: 140.217022 deg,
      new cmd heading: 140.227848 deg.

2025-08-09T16:51:43.597Z,1754758303.597 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.998464
2025-08-09T16:51:43.747Z,1754758303.747 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 98.50 m.
2025-08-09T16:51:43.753Z,1754758303.753 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 98.500000 m,
      nav range: 95.867134 m,
      bearing: 136.362612 deg,
      approach rate: -0.747597 m/s,
      LOS rate: 0.009129 deg/s,
      cmd heading: 140.227854 deg,
      new cmd heading: 140.236746 deg.

2025-08-09T16:51:43.850Z,1754758303.850 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.251712
2025-08-09T16:51:44.103Z,1754758304.103 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.503637
2025-08-09T16:51:44.188Z,1754758304.188 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 98.50 m.
2025-08-09T16:51:44.191Z,1754758304.191 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 98.500000 m,
      nav range: 95.576447 m,
      bearing: 136.366300 deg,
      approach rate: -0.658033 m/s,
      LOS rate: 0.008374 deg/s,
      cmd heading: 140.236747 deg,
      new cmd heading: 140.247845 deg.

2025-08-09T16:51:44.351Z,1754758304.351 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.753061
2025-08-09T16:51:44.544Z,1754758304.544 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-09T16:51:44.547Z,1754758304.547 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 98.50 m.
2025-08-09T16:51:44.549Z,1754758304.549 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 98.500000 m,
      nav range: 95.340530 m,
      bearing: 136.369410 deg,
      approach rate: -0.657558 m/s,
      LOS rate: 0.008689 deg/s,
      cmd heading: 140.247840 deg,
      new cmd heading: 140.257192 deg.

2025-08-09T16:51:44.604Z,1754758304.604 [DAT](INFO): DAT read: Rx Time:16:51:43.5266

2025-08-09T16:51:44.605Z,1754758304.605 [DAT](INFO): Rx dataTimestamp_ set to:1754758304.604352
2025-08-09T16:51:44.606Z,1754758304.606 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.007398
2025-08-09T16:51:44.856Z,1754758304.856 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.257505
2025-08-09T16:51:44.945Z,1754758304.945 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 98.50 m.
2025-08-09T16:51:44.948Z,1754758304.948 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 98.500000 m,
      nav range: 95.077988 m,
      bearing: 136.373019 deg,
      approach rate: -0.658963 m/s,
      LOS rate: 0.009084 deg/s,
      cmd heading: 140.257197 deg,
      new cmd heading: 140.268055 deg.

2025-08-09T16:51:45.126Z,1754758305.126 [DAT](INFO): DAT read: 16:51:43.5266 LVL= 32752, 32753, 30882, 32755, AGC= 66, IDX= 413, 0.20,-2.320, 2.388,-1.957,-2.403, PHS= 0.185,-1.448, 0.401, RAW= 156.1,   9.9, CAL= 156.0,  10.7, .0, -10.ng 311.3,  -7.4 (Local)

2025-08-09T16:51:45.133Z,1754758305.133 [DAT](INFO): Local bearing/azimuth received:
 16:51:43.5266 LVL= 32752, 32753, 30882, 32755, AGC= 66, IDX= 413, 0.20,-2.320, 2.388,-1.957,-2.403, PHS= 0.185,-1.448, 0.401, RAW= 156.1,   9.9, CAL= 156.0,  10.7, .0, -10.ng 311.3,  -7.4 (Local)

2025-08-09T16:51:45.160Z,1754758305.160 [DAT](INFO): DAT read: Range 11 to 50 : 96.1 m  (Round-trip  128.2 ms) speed  0.4 m/s

2025-08-09T16:51:45.161Z,1754758305.161 [DAT](INFO): DAT read: user:171>

2025-08-09T16:51:45.162Z,1754758305.162 [DAT](INFO): DAT read: Tx time:16:51:44.6443

2025-08-09T16:51:45.167Z,1754758305.167 [DAT](INFO): Ping request sent.
2025-08-09T16:51:45.167Z,1754758305.167 [DAT](INFO): transmitted an acoustic signal
2025-08-09T16:51:45.168Z,1754758305.168 [DAT](ERROR): #Rx 1: Read range message, but no direction.
2025-08-09T16:51:45.168Z,1754758305.168 [DAT](INFO): publishing transmit ping time
2025-08-09T16:51:45.169Z,1754758305.169 [DAT](INFO): publishing transmit ping time
2025-08-09T16:51:45.340Z,1754758305.340 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error. Device response is::TS05.0,  +9.9,   0.0,1489.5,  0
2025-08-09T16:51:45.356Z,1754758305.356 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 96.099998 m,
      deltaT: 3.531106 s,
      deltaX: -2.400002 m,
      approachRate: -0.679674 m/s,
      rangeRepo size: 4

2025-08-09T16:51:45.356Z,1754758305.356 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 98.50 m.
2025-08-09T16:51:45.361Z,1754758305.361 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 98.500000 m,
      nav range: 94.807999 m,
      bearing: 136.376938 deg,
      approach rate: -0.658057 m/s,
      LOS rate: 0.009580 deg/s,
      cmd heading: 140.268057 deg,
      new cmd heading: 140.279849 deg.

2025-08-09T16:51:45.792Z,1754758305.792 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 98.50 m.
2025-08-09T16:51:45.795Z,1754758305.795 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 98.500000 m,
      nav range: 94.537544 m,
      bearing: 136.381086 deg,
      approach rate: -0.618788 m/s,
      LOS rate: 0.009518 deg/s,
      cmd heading: 140.279846 deg,
      new cmd heading: 140.292326 deg.

2025-08-09T16:51:46.216Z,1754758306.216 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 98.50 m.
2025-08-09T16:51:46.219Z,1754758306.219 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 98.500000 m,
      nav range: 94.257332 m,
      bearing: 136.385054 deg,
      approach rate: -0.661186 m/s,
      LOS rate: 0.009391 deg/s,
      cmd heading: 140.292331 deg,
      new cmd heading: 140.304271 deg.

2025-08-09T16:51:46.565Z,1754758306.565 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-09T16:51:46.568Z,1754758306.568 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 98.50 m.
2025-08-09T16:51:46.571Z,1754758306.571 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 98.500000 m,
      nav range: 94.039009 m,
      bearing: 136.388361 deg,
      approach rate: -0.621075 m/s,
      LOS rate: 0.009428 deg/s,
      cmd heading: 140.304271 deg,
      new cmd heading: 140.314214 deg.

2025-08-09T16:51:46.620Z,1754758306.620 [DAT](INFO): ****** received valid address query ******
2025-08-09T16:51:46.620Z,1754758306.620 [DAT](INFO): ****** received valid ping request ******
2025-08-09T16:51:46.620Z,1754758306.620 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-09T16:51:46.872Z,1754758306.872 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.704780
2025-08-09T16:51:47.028Z,1754758307.028 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 98.50 m.
2025-08-09T16:51:47.048Z,1754758307.048 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 98.500000 m,
      nav range: 93.751862 m,
      bearing: 136.392918 deg,
      approach rate: -0.624287 m/s,
      LOS rate: 0.009938 deg/s,
      cmd heading: 140.314215 deg,
      new cmd heading: 140.327929 deg.

2025-08-09T16:51:47.126Z,1754758307.126 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.958262
2025-08-09T16:51:47.375Z,1754758307.375 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.207956
2025-08-09T16:51:47.450Z,1754758307.450 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 98.50 m.
2025-08-09T16:51:47.453Z,1754758307.453 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 98.500000 m,
      nav range: 93.492355 m,
      bearing: 136.394452 deg,
      approach rate: -0.619814 m/s,
      LOS rate: 0.003673 deg/s,
      cmd heading: 140.327930 deg,
      new cmd heading: 140.332544 deg.

2025-08-09T16:51:47.627Z,1754758307.627 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.459967
2025-08-09T16:51:47.812Z,1754758307.812 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 98.50 m.
2025-08-09T16:51:47.815Z,1754758307.815 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 98.500000 m,
      nav range: 93.256264 m,
      bearing: 136.396058 deg,
      approach rate: -0.644807 m/s,
      LOS rate: 0.004397 deg/s,
      cmd heading: 140.332548 deg,
      new cmd heading: 140.337377 deg.

2025-08-09T16:51:47.880Z,1754758307.880 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.712916
2025-08-09T16:51:48.135Z,1754758308.135 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.967161
2025-08-09T16:51:48.289Z,1754758308.289 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 98.50 m.
2025-08-09T16:51:48.292Z,1754758308.292 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 98.500000 m,
      nav range: 92.951653 m,
      bearing: 136.394529 deg,
      approach rate: -0.638847 m/s,
      LOS rate: -0.003218 deg/s,
      cmd heading: 140.337383 deg,
      new cmd heading: 140.332781 deg.

2025-08-09T16:51:48.383Z,1754758308.383 [DAT](INFO): DAT read: Rx Time:16:51:47.1737

2025-08-09T16:51:48.384Z,1754758308.384 [DAT](INFO): Rx dataTimestamp_ set to:1754758308.383463
2025-08-09T16:51:48.384Z,1754758308.384 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.216921
2025-08-09T16:51:48.597Z,1754758308.597 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-09T16:51:48.600Z,1754758308.600 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 98.50 m.
2025-08-09T16:51:48.603Z,1754758308.603 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 98.500000 m,
      nav range: 92.753693 m,
      bearing: 136.393644 deg,
      approach rate: -0.636523 m/s,
      LOS rate: -0.002849 deg/s,
      cmd heading: 140.332780 deg,
      new cmd heading: 140.330121 deg.

2025-08-09T16:51:48.636Z,1754758308.636 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.468586
2025-08-09T16:51:48.893Z,1754758308.893 [DAT](INFO): DAT read: 16:51:47.1737 LVL= 24816, 28993, 21602, 32755, AGC= 67, IDX= 415, 0.31,-0.149,-1.763, 0.204,-0.260, PHS= 0.213,-1.458, 0.420, RAW= 155.8,   9.3, CAL= 155.5,  10.0, ROT= 354.5, -10.0

2025-08-09T16:51:48.894Z,1754758308.894 [DAT](INFO): got valid direction response:
 16:51:47.1737 LVL= 24816, 28993, 21602, 32755, AGC= 67, IDX= 415, 0.31,-0.149,-1.763, 0.204,-0.260, PHS= 0.213,-1.458, 0.420, RAW= 155.8,   9.3, CAL= 155.5,  10.0, ROT= 354.5, -10.0

2025-08-09T16:51:48.895Z,1754758308.895 [DAT](INFO): DAT read: Bearing 310.2,  -6.3 (Local)

2025-08-09T16:51:48.896Z,1754758308.896 [DAT](INFO): Local bearing/azimuth received:
 Bearing 310.2,  -6.3 (Local)

2025-08-09T16:51:48.897Z,1754758308.897 [DAT](INFO): DAT read: Range 11 to 50 : 93.9 m  (Round-trip  125.2 ms) speed  0.7 m/s

2025-08-09T16:51:48.898Z,1754758308.898 [DAT](INFO): DAT read: user:172>

2025-08-09T16:51:48.898Z,1754758308.898 [DAT](INFO): DAT read: Tx time:16:51:48.2943

2025-08-09T16:51:48.899Z,1754758308.899 [DAT](INFO): Ping request sent.
2025-08-09T16:51:48.899Z,1754758308.899 [DAT](INFO): transmitted an acoustic signal
2025-08-09T16:51:48.899Z,1754758308.899 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-09T16:51:48.900Z,1754758308.900 [DAT](INFO): direction in FSK: [0.980274,-0.094390,0.173648]
2025-08-09T16:51:48.900Z,1754758308.900 [DAT](INFO): publishing transmit ping time
2025-08-09T16:51:48.901Z,1754758308.901 [DAT](INFO): publishing direction and range info
2025-08-09T16:51:48.920Z,1754758308.920 [DAT](INFO): publishing transmit ping time
2025-08-09T16:51:48.921Z,1754758308.921 [DAT](INFO): publishing direction and range info
2025-08-09T16:51:49.032Z,1754758309.032 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 93.900002 m,
      deltaT: 3.778667 s,
      deltaX: -2.199997 m,
      approachRate: -0.582215 m/s,
      rangeRepo size: 4

2025-08-09T16:51:49.039Z,1754758309.039 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 93.900002 m,
      bearing: 136.276622 deg,
      lat: 36.906055 deg,
      lon: -122.115909 deg,
      deltaT: 7.309773 s,
      deltaX: -4.599998 m,
      approachRate: -0.629294 m/s,
      posRepo size: 4

2025-08-09T16:51:49.039Z,1754758309.039 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 93.90 m.
2025-08-09T16:51:49.042Z,1754758309.042 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 93.900002 m,
      nav range: 92.320259 m,
      bearing: 136.276622 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.002849 deg/s,
      cmd heading: 140.330116 deg,
      new cmd heading: 140.326428 deg.

2025-08-09T16:51:49.440Z,1754758309.440 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 93.90 m.
2025-08-09T16:51:49.443Z,1754758309.443 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 93.900002 m,
      nav range: 92.045403 m,
      bearing: 136.274255 deg,
      approach rate: -0.673302 m/s,
      LOS rate: -0.005815 deg/s,
      cmd heading: 140.326428 deg,
      new cmd heading: 140.319306 deg.

2025-08-09T16:51:49.810Z,1754758309.810 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 93.90 m.
2025-08-09T16:51:49.813Z,1754758309.813 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 93.900002 m,
      nav range: 91.807632 m,
      bearing: 136.272349 deg,
      approach rate: -0.642061 m/s,
      LOS rate: -0.005160 deg/s,
      cmd heading: 140.319311 deg,
      new cmd heading: 140.313578 deg.

2025-08-09T16:51:50.291Z,1754758310.291 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 93.90 m.
2025-08-09T16:51:50.294Z,1754758310.294 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 93.900002 m,
      nav range: 91.478424 m,
      bearing: 136.263699 deg,
      approach rate: -0.684392 m/s,
      LOS rate: -0.018047 deg/s,
      cmd heading: 140.313573 deg,
      new cmd heading: 140.287530 deg.

2025-08-09T16:51:50.616Z,1754758310.616 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-09T16:51:50.618Z,1754758310.618 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 93.90 m.
2025-08-09T16:51:50.621Z,1754758310.621 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 93.900002 m,
      nav range: 91.255280 m,
      bearing: 136.257849 deg,
      approach rate: -0.682558 m/s,
      LOS rate: -0.017937 deg/s,
      cmd heading: 140.287523 deg,
      new cmd heading: 140.269931 deg.

2025-08-09T16:51:50.652Z,1754758310.652 [DAT](INFO): ****** received valid address query ******
2025-08-09T16:51:50.653Z,1754758310.653 [DAT](INFO): ****** received valid ping request ******
2025-08-09T16:51:50.653Z,1754758310.653 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-09T16:51:50.903Z,1754758310.903 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.004450
2025-08-09T16:51:51.041Z,1754758311.041 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 93.90 m.
2025-08-09T16:51:51.044Z,1754758311.044 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 93.900002 m,
      nav range: 90.965034 m,
      bearing: 136.250197 deg,
      approach rate: -0.686430 m/s,
      LOS rate: -0.018154 deg/s,
      cmd heading: 140.269928 deg,
      new cmd heading: 140.246900 deg.

2025-08-09T16:51:51.158Z,1754758311.158 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.258833
2025-08-09T16:51:51.407Z,1754758311.407 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.508286
2025-08-09T16:51:51.445Z,1754758311.445 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 93.90 m.
2025-08-09T16:51:51.468Z,1754758311.468 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 93.900002 m,
      nav range: 90.681480 m,
      bearing: 136.244538 deg,
      approach rate: -0.702437 m/s,
      LOS rate: -0.014064 deg/s,
      cmd heading: 140.246897 deg,
      new cmd heading: 140.229865 deg.

2025-08-09T16:51:51.659Z,1754758311.659 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.760390
2025-08-09T16:51:51.834Z,1754758311.834 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 93.90 m.
2025-08-09T16:51:51.837Z,1754758311.837 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 93.900002 m,
      nav range: 90.407700 m,
      bearing: 136.239065 deg,
      approach rate: -0.703664 m/s,
      LOS rate: -0.014108 deg/s,
      cmd heading: 140.229863 deg,
      new cmd heading: 140.213395 deg.

2025-08-09T16:51:51.912Z,1754758311.912 [DAT](INFO): DAT read: Rx Time:16:51:50.8202

2025-08-09T16:51:51.913Z,1754758311.913 [DAT](INFO): Rx dataTimestamp_ set to:1754758311.912577
2025-08-09T16:51:51.914Z,1754758311.914 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.014840
2025-08-09T16:51:52.165Z,1754758312.165 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.265635
2025-08-09T16:51:52.312Z,1754758312.312 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 93.90 m.
2025-08-09T16:51:52.315Z,1754758312.315 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 93.900002 m,
      nav range: 90.089134 m,
      bearing: 136.233564 deg,
      approach rate: -0.666016 m/s,
      LOS rate: -0.011542 deg/s,
      cmd heading: 140.213388 deg,
      new cmd heading: 140.196826 deg.

2025-08-09T16:51:52.424Z,1754758312.424 [DAT](INFO): DAT read: 16:51:50.8202 LVL= 26016, 31041, 20962, 32755, AGC= 65, IDX= 411,-0.38, 0.929,-0.701, 1.269, 0.787, PHS= 0.244,-1.443, 0.438, RAW= 155.4,   8.5, CAL= 155.0,   9.0, ROT= 355.0,  -9.0

2025-08-09T16:51:52.425Z,1754758312.425 [DAT](INFO): got valid direction response:
 16:51:50.8202 LVL= 26016, 31041, 20962, 32755, AGC= 65, IDX= 411,-0.38, 0.929,-0.701, 1.269, 0.787, PHS= 0.244,-1.443, 0.438, RAW= 155.4,   8.5, CAL= 155.0,   9.0, ROT= 355.0,  -9.0

2025-08-09T16:51:52.427Z,1754758312.427 [DAT](INFO): DAT read: Bearing 309.2,  -5.4 (Local)

2025-08-09T16:51:52.427Z,1754758312.427 [DAT](INFO): Local bearing/azimuth received:
 Bearing 309.2,  -5.4 (Local)

2025-08-09T16:51:52.428Z,1754758312.428 [DAT](INFO): DAT read: Range 11 to 50 : 91.2 m  (Round-trip  121.7 ms) speed  0.7 m/s

2025-08-09T16:51:52.429Z,1754758312.429 [DAT](INFO): DAT read: user:173>

2025-08-09T16:51:52.430Z,1754758312.430 [DAT](INFO): DAT read: Tx time:16:51:51.9443

2025-08-09T16:51:52.434Z,1754758312.434 [DAT](INFO): Ping request sent.
2025-08-09T16:51:52.435Z,1754758312.435 [DAT](INFO): transmitted an acoustic signal
2025-08-09T16:51:52.436Z,1754758312.436 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-09T16:51:52.437Z,1754758312.437 [DAT](INFO): direction in FSK: [0.983930,-0.086083,0.156434]
2025-08-09T16:51:52.437Z,1754758312.437 [DAT](INFO): publishing transmit ping time
2025-08-09T16:51:52.438Z,1754758312.438 [DAT](INFO): publishing direction and range info
2025-08-09T16:51:52.461Z,1754758312.461 [DAT](INFO): publishing transmit ping time
2025-08-09T16:51:52.461Z,1754758312.461 [DAT](INFO): publishing direction and range info
2025-08-09T16:51:52.680Z,1754758312.680 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 91.199997 m,
      deltaT: 3.528552 s,
      deltaX: -2.700005 m,
      approachRate: -0.765188 m/s,
      rangeRepo size: 4

2025-08-09T16:51:52.687Z,1754758312.687 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 91.199997 m,
      bearing: 136.143543 deg,
      lat: 36.906056 deg,
      lon: -122.115908 deg,
      deltaT: 3.528552 s,
      deltaX: -2.700005 m,
      approachRate: -0.765188 m/s,
      posRepo size: 4

2025-08-09T16:51:52.687Z,1754758312.687 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 91.20 m.
2025-08-09T16:51:52.690Z,1754758312.690 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 91.199997 m,
      nav range: 89.866676 m,
      bearing: 136.143543 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.011542 deg/s,
      cmd heading: 140.196832 deg,
      new cmd heading: 140.184103 deg.

2025-08-09T16:51:53.066Z,1754758313.066 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-09T16:51:53.068Z,1754758313.068 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 91.20 m.
2025-08-09T16:51:53.072Z,1754758313.072 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 91.199997 m,
      nav range: 89.597458 m,
      bearing: 136.138711 deg,
      approach rate: -0.692475 m/s,
      LOS rate: -0.012467 deg/s,
      cmd heading: 140.184100 deg,
      new cmd heading: 140.169560 deg.

2025-08-09T16:51:53.171Z,1754758313.171 [DAT](INFO): ****** received valid address query ******
2025-08-09T16:51:53.171Z,1754758313.171 [DAT](INFO): ****** received valid ping request ******
2025-08-09T16:51:53.172Z,1754758313.172 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-09T16:51:53.423Z,1754758313.423 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.993034
2025-08-09T16:51:53.509Z,1754758313.509 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 91.20 m.
2025-08-09T16:51:53.512Z,1754758313.512 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 91.199997 m,
      nav range: 89.297562 m,
      bearing: 136.136378 deg,
      approach rate: -0.680443 m/s,
      LOS rate: -0.005312 deg/s,
      cmd heading: 140.169566 deg,
      new cmd heading: 140.162543 deg.

2025-08-09T16:51:53.675Z,1754758313.675 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.245083
2025-08-09T16:51:53.893Z,1754758313.893 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 91.20 m.
2025-08-09T16:51:53.896Z,1754758313.896 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 91.199997 m,
      nav range: 89.036491 m,
      bearing: 136.134508 deg,
      approach rate: -0.680104 m/s,
      LOS rate: -0.004885 deg/s,
      cmd heading: 140.162544 deg,
      new cmd heading: 140.156919 deg.

2025-08-09T16:51:53.932Z,1754758313.932 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.501710
2025-08-09T16:51:54.183Z,1754758314.183 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.753044
2025-08-09T16:51:54.333Z,1754758314.333 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 91.20 m.
2025-08-09T16:51:54.335Z,1754758314.335 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 91.199997 m,
      nav range: 88.736122 m,
      bearing: 136.135329 deg,
      approach rate: -0.683364 m/s,
      LOS rate: 0.001874 deg/s,
      cmd heading: 140.156916 deg,
      new cmd heading: 140.159387 deg.

2025-08-09T16:51:54.435Z,1754758314.435 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.005226
2025-08-09T16:51:54.684Z,1754758314.684 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 91.20 m.
2025-08-09T16:51:54.687Z,1754758314.687 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.257255
2025-08-09T16:51:54.688Z,1754758314.688 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 91.199997 m,
      nav range: 88.496384 m,
      bearing: 136.136067 deg,
      approach rate: -0.682792 m/s,
      LOS rate: 0.002108 deg/s,
      cmd heading: 140.159389 deg,
      new cmd heading: 140.161609 deg.

2025-08-09T16:51:54.941Z,1754758314.941 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.510673
2025-08-09T16:51:55.116Z,1754758315.116 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-09T16:51:55.118Z,1754758315.118 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 91.20 m.
2025-08-09T16:51:55.121Z,1754758315.121 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 91.199997 m,
      nav range: 88.199242 m,
      bearing: 136.137064 deg,
      approach rate: -0.683874 m/s,
      LOS rate: 0.002303 deg/s,
      cmd heading: 140.161615 deg,
      new cmd heading: 140.164618 deg.

2025-08-09T16:51:55.192Z,1754758315.192 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.761474
2025-08-09T16:51:55.443Z,1754758315.443 [DAT](INFO): DAT read: Rx Time:16:51:54.4668

2025-08-09T16:51:55.444Z,1754758315.444 [DAT](INFO): Rx dataTimestamp_ set to:1754758315.443576
2025-08-09T16:51:55.444Z,1754758315.444 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.014225
2025-08-09T16:51:55.542Z,1754758315.542 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 91.20 m.
2025-08-09T16:51:55.545Z,1754758315.545 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 91.199997 m,
      nav range: 87.919197 m,
      bearing: 136.136335 deg,
      approach rate: -0.661365 m/s,
      LOS rate: -0.001727 deg/s,
      cmd heading: 140.164621 deg,
      new cmd heading: 140.162426 deg.

2025-08-09T16:51:55.695Z,1754758315.695 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.265127
2025-08-09T16:51:55.910Z,1754758315.910 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 91.20 m.
2025-08-09T16:51:55.913Z,1754758315.913 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 91.199997 m,
      nav range: 87.655640 m,
      bearing: 136.135721 deg,
      approach rate: -0.715448 m/s,
      LOS rate: -0.001672 deg/s,
      cmd heading: 140.162421 deg,
      new cmd heading: 140.160573 deg.

2025-08-09T16:51:55.948Z,1754758315.948 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.517849
2025-08-09T16:51:56.205Z,1754758316.205 [DAT](INFO): DAT read: 16:51:54.4668 LVL= 32752, 32753, 29282, 32755, AGC= 66, IDX= 409,-0.10, 2.779, 1.142, 3.135, 2.664, PHS= 0.216,-1.477, 0.426, RAW= 155.8,   9.3, CAL= 155.5,   9.9, ROT= 354.5,  -9.9

2025-08-09T16:51:56.206Z,1754758316.206 [DAT](INFO): got valid direction response:
 16:51:54.4668 LVL= 32752, 32753, 29282, 32755, AGC= 66, IDX= 409,-0.10, 2.779, 1.142, 3.135, 2.664, PHS= 0.216,-1.477, 0.426, RAW= 155.8,   9.3, CAL= 155.5,   9.9, ROT= 354.5,  -9.9

2025-08-09T16:51:56.207Z,1754758316.207 [DAT](INFO): DAT read: Bearing 309.7,  -6.2 (Local)

2025-08-09T16:51:56.207Z,1754758316.207 [DAT](INFO): Local bearing/azimuth received:
 Bearing 309.7,  -6.2 (Local)

2025-08-09T16:51:56.209Z,1754758316.209 [DAT](INFO): DAT read: Range 11 to 50 : 88.8 m  (Round-trip  118.4 ms) speed  1.0 m/s

2025-08-09T16:51:56.210Z,1754758316.210 [DAT](INFO): DAT read: user:174>

2025-08-09T16:51:56.210Z,1754758316.210 [DAT](INFO): DAT read: Tx time:16:51:55.5943

2025-08-09T16:51:56.211Z,1754758316.211 [DAT](INFO): Ping request sent.
2025-08-09T16:51:56.211Z,1754758316.211 [DAT](INFO): transmitted an acoustic signal
2025-08-09T16:51:56.211Z,1754758316.211 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-09T16:51:56.212Z,1754758316.212 [DAT](INFO): direction in FSK: [0.980574,-0.094419,0.171929]
2025-08-09T16:51:56.212Z,1754758316.212 [DAT](INFO): publishing transmit ping time
2025-08-09T16:51:56.212Z,1754758316.212 [DAT](INFO): publishing direction and range info
2025-08-09T16:51:56.216Z,1754758316.216 [DAT](INFO): publishing transmit ping time
2025-08-09T16:51:56.216Z,1754758316.216 [DAT](INFO): publishing direction and range info
2025-08-09T16:51:56.469Z,1754758316.469 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 88.800003 m,
      deltaT: 3.783409 s,
      deltaX: -2.399994 m,
      approachRate: -0.634347 m/s,
      rangeRepo size: 4

2025-08-09T16:51:56.475Z,1754758316.475 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 88.800003 m,
      bearing: 136.138066 deg,
      lat: 36.906056 deg,
      lon: -122.115908 deg,
      deltaT: 3.783409 s,
      deltaX: -2.399994 m,
      approachRate: -0.634347 m/s,
      posRepo size: 4

2025-08-09T16:51:56.476Z,1754758316.476 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 88.80 m.
2025-08-09T16:51:56.483Z,1754758316.483 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 88.800003 m,
      nav range: 87.294983 m,
      bearing: 136.138066 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.001672 deg/s,
      cmd heading: 140.160577 deg,
      new cmd heading: 140.157776 deg.

2025-08-09T16:51:56.823Z,1754758316.823 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 88.80 m.
2025-08-09T16:51:56.825Z,1754758316.825 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 88.800003 m,
      nav range: 87.039719 m,
      bearing: 136.139738 deg,
      approach rate: -0.720713 m/s,
      LOS rate: 0.004734 deg/s,
      cmd heading: 140.157777 deg,
      new cmd heading: 140.162807 deg.

2025-08-09T16:51:57.231Z,1754758317.231 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-09T16:51:57.242Z,1754758317.242 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 88.80 m.
2025-08-09T16:51:57.269Z,1754758317.269 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 88.800003 m,
      nav range: 86.777962 m,
      bearing: 136.141622 deg,
      approach rate: -0.626710 m/s,
      LOS rate: 0.004525 deg/s,
      cmd heading: 140.162804 deg,
      new cmd heading: 140.168473 deg.

2025-08-09T16:51:57.459Z,1754758317.459 [DAT](INFO): ****** received valid address query ******
2025-08-09T16:51:57.459Z,1754758317.459 [DAT](INFO): ****** received valid ping request ******
2025-08-09T16:51:57.459Z,1754758317.459 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-09T16:51:57.659Z,1754758317.659 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 88.80 m.
2025-08-09T16:51:57.661Z,1754758317.661 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 88.800003 m,
      nav range: 86.491425 m,
      bearing: 136.140997 deg,
      approach rate: -0.691771 m/s,
      LOS rate: -0.001514 deg/s,
      cmd heading: 140.168473 deg,
      new cmd heading: 140.166591 deg.

2025-08-09T16:51:57.713Z,1754758317.713 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.502340
2025-08-09T16:51:57.963Z,1754758317.963 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.752473
2025-08-09T16:51:58.034Z,1754758318.034 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 88.80 m.
2025-08-09T16:51:58.037Z,1754758318.037 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 88.800003 m,
      nav range: 86.241806 m,
      bearing: 136.140546 deg,
      approach rate: -0.657538 m/s,
      LOS rate: -0.001191 deg/s,
      cmd heading: 140.166588 deg,
      new cmd heading: 140.165231 deg.

2025-08-09T16:51:58.215Z,1754758318.215 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.004476
2025-08-09T16:51:58.463Z,1754758318.463 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 88.80 m.
2025-08-09T16:51:58.465Z,1754758318.465 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 88.800003 m,
      nav range: 85.960342 m,
      bearing: 136.137325 deg,
      approach rate: -0.663377 m/s,
      LOS rate: -0.007618 deg/s,
      cmd heading: 140.165235 deg,
      new cmd heading: 140.155539 deg.

2025-08-09T16:51:58.467Z,1754758318.467 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.256731
2025-08-09T16:51:58.725Z,1754758318.725 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.513654
2025-08-09T16:51:58.844Z,1754758318.844 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 88.80 m.
2025-08-09T16:51:58.849Z,1754758318.849 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 88.800003 m,
      nav range: 85.709976 m,
      bearing: 136.134544 deg,
      approach rate: -0.649956 m/s,
      LOS rate: -0.007241 deg/s,
      cmd heading: 140.155536 deg,
      new cmd heading: 140.147169 deg.

2025-08-09T16:51:58.972Z,1754758318.972 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.760784
2025-08-09T16:51:59.225Z,1754758319.225 [DAT](INFO): DAT read: Rx Time:16:51:58.1138

2025-08-09T16:51:59.226Z,1754758319.226 [DAT](INFO): Rx dataTimestamp_ set to:1754758319.225108
2025-08-09T16:51:59.227Z,1754758319.227 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.016169
2025-08-09T16:51:59.256Z,1754758319.256 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-09T16:51:59.264Z,1754758319.264 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 88.80 m.
2025-08-09T16:51:59.297Z,1754758319.297 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 88.800003 m,
      nav range: 85.446243 m,
      bearing: 136.131689 deg,
      approach rate: -0.626888 m/s,
      LOS rate: -0.006807 deg/s,
      cmd heading: 140.147163 deg,
      new cmd heading: 140.138571 deg.

2025-08-09T16:51:59.475Z,1754758319.475 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.264714
2025-08-09T16:51:59.736Z,1754758319.736 [DAT](INFO): DAT read: 16:51:58.1138 LVL= 28848, 32737, 24850, 32755, AGC= 67, IDX= 410, 0.38,-2.200, 2.441,-1.851,-2.335, PHS= 0.237,-1.462, 0.440, RAW= 155.6,   8.7, CAL= 155.2,   9.3, ROT= 354.8,  -9.3

2025-08-09T16:51:59.754Z,1754758319.754 [DAT](INFO): got valid direction response:
 16:51:58.1138 LVL= 28848, 32737, 24850, 32755, AGC= 67, IDX= 410, 0.38,-2.200, 2.441,-1.851,-2.335, PHS= 0.237,-1.462, 0.440, RAW= 155.6,   8.7, CAL= 155.2,   9.3, ROT= 354.8,  -9.3

2025-08-09T16:51:59.755Z,1754758319.755 [DAT](INFO): DAT read: Bearing 308.7,  -5.8 (Local)

2025-08-09T16:51:59.755Z,1754758319.755 [DAT](INFO): Local bearing/azimuth received:
 Bearing 308.7,  -5.8 (Local)

2025-08-09T16:51:59.756Z,1754758319.756 [DAT](INFO): DAT read: Range 11 to 50 : 86.5 m  (Round-trip  115.4 ms) speed  0.7 m/s

2025-08-09T16:51:59.757Z,1754758319.757 [DAT](INFO): DAT read: user:175>

2025-08-09T16:51:59.758Z,1754758319.758 [DAT](INFO): DAT read: Tx time:16:51:59.2443

2025-08-09T16:51:59.766Z,1754758319.766 [DAT](INFO): Ping request sent.
2025-08-09T16:51:59.766Z,1754758319.766 [DAT](INFO): transmitted an acoustic signal
2025-08-09T16:51:59.767Z,1754758319.767 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-09T16:51:59.767Z,1754758319.767 [DAT](INFO): direction in FSK: [0.982794,-0.089441,0.161604]
2025-08-09T16:51:59.768Z,1754758319.768 [DAT](INFO): publishing transmit ping time
2025-08-09T16:51:59.768Z,1754758319.768 [DAT](INFO): publishing direction and range info
2025-08-09T16:51:59.779Z,1754758319.779 [DAT](INFO): publishing transmit ping time
2025-08-09T16:51:59.779Z,1754758319.779 [DAT](INFO): publishing direction and range info
2025-08-09T16:51:59.867Z,1754758319.867 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 86.500000 m,
      deltaT: 3.528232 s,
      deltaX: -2.300003 m,
      approachRate: -0.651885 m/s,
      rangeRepo size: 4

2025-08-09T16:51:59.870Z,1754758319.870 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 86.500000 m,
      bearing: 135.953977 deg,
      lat: 36.906058 deg,
      lon: -122.115907 deg,
      deltaT: 3.528232 s,
      deltaX: -2.300003 m,
      approachRate: -0.651885 m/s,
      posRepo size: 4

2025-08-09T16:51:59.879Z,1754758319.879 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 86.50 m.
2025-08-09T16:51:59.882Z,1754758319.882 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 86.500000 m,
      nav range: 85.009354 m,
      bearing: 135.953977 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.006807 deg/s,
      cmd heading: 140.138570 deg,
      new cmd heading: 140.126298 deg.

2025-08-09T16:52:00.247Z,1754758320.247 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 86.50 m.
2025-08-09T16:52:00.251Z,1754758320.251 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 86.500000 m,
      nav range: 84.720985 m,
      bearing: 135.943399 deg,
      approach rate: -0.757192 m/s,
      LOS rate: -0.027870 deg/s,
      cmd heading: 140.126303 deg,
      new cmd heading: 140.094462 deg.

2025-08-09T16:52:00.654Z,1754758320.654 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 86.50 m.
2025-08-09T16:52:00.657Z,1754758320.657 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 86.500000 m,
      nav range: 84.438866 m,
      bearing: 135.933247 deg,
      approach rate: -0.691182 m/s,
      LOS rate: -0.024956 deg/s,
      cmd heading: 140.094461 deg,
      new cmd heading: 140.063902 deg.

2025-08-09T16:52:01.036Z,1754758321.036 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 86.50 m.
2025-08-09T16:52:01.039Z,1754758321.039 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 86.500000 m,
      nav range: 84.183952 m,
      bearing: 135.923930 deg,
      approach rate: -0.668073 m/s,
      LOS rate: -0.024491 deg/s,
      cmd heading: 140.063903 deg,
      new cmd heading: 140.035868 deg.

2025-08-09T16:52:01.522Z,1754758321.522 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-09T16:52:01.524Z,1754758321.524 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 86.50 m.
2025-08-09T16:52:01.527Z,1754758321.527 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 86.500000 m,
      nav range: 83.851845 m,
      bearing: 135.913900 deg,
      approach rate: -0.680127 m/s,
      LOS rate: -0.020623 deg/s,
      cmd heading: 140.035871 deg,
      new cmd heading: 140.005660 deg.

2025-08-09T16:52:01.743Z,1754758321.743 [DAT](INFO): ****** received valid address query ******
2025-08-09T16:52:01.744Z,1754758321.744 [DAT](INFO): ****** received valid ping request ******
2025-08-09T16:52:01.744Z,1754758321.744 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-09T16:52:01.891Z,1754758321.891 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 86.50 m.
2025-08-09T16:52:01.894Z,1754758321.894 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 86.500000 m,
      nav range: 83.602432 m,
      bearing: 135.906230 deg,
      approach rate: -0.679767 m/s,
      LOS rate: -0.020966 deg/s,
      cmd heading: 140.005655 deg,
      new cmd heading: 139.982577 deg.

2025-08-09T16:52:01.996Z,1754758321.996 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.229530
2025-08-09T16:52:02.247Z,1754758322.247 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.481360
2025-08-09T16:52:02.286Z,1754758322.286 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 86.50 m.
2025-08-09T16:52:02.289Z,1754758322.289 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 86.500000 m,
      nav range: 83.336990 m,
      bearing: 135.898001 deg,
      approach rate: -0.672041 m/s,
      LOS rate: -0.020900 deg/s,
      cmd heading: 139.982582 deg,
      new cmd heading: 139.957817 deg.

2025-08-09T16:52:02.499Z,1754758322.499 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.733157
2025-08-09T16:52:02.700Z,1754758322.700 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 86.50 m.
2025-08-09T16:52:02.703Z,1754758322.703 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 86.500000 m,
      nav range: 83.055916 m,
      bearing: 135.887916 deg,
      approach rate: -0.679032 m/s,
      LOS rate: -0.024445 deg/s,
      cmd heading: 139.957816 deg,
      new cmd heading: 139.927460 deg.

2025-08-09T16:52:02.753Z,1754758322.753 [DAT](INFO): DAT read: Rx Time:16:52:01.7604

2025-08-09T16:52:02.753Z,1754758322.753 [DAT](INFO): Rx dataTimestamp_ set to:1754758322.752718
2025-08-09T16:52:02.754Z,1754758322.754 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.987796
2025-08-09T16:52:03.003Z,1754758323.003 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.237229
2025-08-09T16:52:03.050Z,1754758323.050 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 86.50 m.
2025-08-09T16:52:03.053Z,1754758323.053 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 86.500000 m,
      nav range: 82.819489 m,
      bearing: 135.879297 deg,
      approach rate: -0.675427 m/s,
      LOS rate: -0.024695 deg/s,
      cmd heading: 139.927463 deg,
      new cmd heading: 139.901530 deg.

2025-08-09T16:52:03.261Z,1754758323.261 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.494356
2025-08-09T16:52:03.513Z,1754758323.513 [DAT](INFO): DAT read: 16:52:01.7604 LVL= 32176, 32753, 27698, 32755, AGC= 67, IDX= 407, 0.24, 1.856, 0.229, 2.193, 1.737, PHS= 0.221,-1.463, 0.412, RAW= 155.3,   9.3, CAL= 155.0,  10.0, ROT= 355.0, -10.0

2025-08-09T16:52:03.514Z,1754758323.514 [DAT](INFO): got valid direction response:
 16:52:01.7604 LVL= 32176, 32753, 27698, 32755, AGC= 67, IDX= 407, 0.24, 1.856, 0.229, 2.193, 1.737, PHS= 0.221,-1.463, 0.412, RAW= 155.3,   9.3, CAL= 155.0,  10.0, ROT= 355.0, -10.0

2025-08-09T16:52:03.515Z,1754758323.515 [DAT](INFO): DAT read: Bearing 309.5,  -5.5 (Local)

2025-08-09T16:52:03.515Z,1754758323.515 [DAT](INFO): Local bearing/azimuth received:
 Bearing 309.5,  -5.5 (Local)

2025-08-09T16:52:03.517Z,1754758323.517 [DAT](INFO): DAT read: Range 11 to 50 : 84.0 m  (Round-trip  112.0 ms) speed  0.7 m/s

2025-08-09T16:52:03.518Z,1754758323.518 [DAT](INFO): DAT read: user:176>

2025-08-09T16:52:03.518Z,1754758323.518 [DAT](INFO): DAT read: Tx time:16:52:02.8443

2025-08-09T16:52:03.519Z,1754758323.519 [DAT](INFO): Ping request sent.
2025-08-09T16:52:03.519Z,1754758323.519 [DAT](INFO): transmitted an acoustic signal
2025-08-09T16:52:03.519Z,1754758323.519 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-09T16:52:03.520Z,1754758323.520 [DAT](INFO): direction in FSK: [0.981060,-0.085831,0.173648]
2025-08-09T16:52:03.520Z,1754758323.520 [DAT](INFO): publishing transmit ping time
2025-08-09T16:52:03.521Z,1754758323.521 [DAT](INFO): publishing direction and range info
2025-08-09T16:52:03.524Z,1754758323.524 [DAT](INFO): publishing transmit ping time
2025-08-09T16:52:03.524Z,1754758323.524 [DAT](INFO): publishing direction and range info
2025-08-09T16:52:03.548Z,1754758323.548 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 84.000000 m,
      deltaT: 3.779820 s,
      deltaX: -2.500000 m,
      approachRate: -0.661407 m/s,
      rangeRepo size: 4

2025-08-09T16:52:03.550Z,1754758323.550 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 84.000000 m,
      bearing: 135.839474 deg,
      lat: 36.906058 deg,
      lon: -122.115906 deg,
      deltaT: 3.779820 s,
      deltaX: -2.500000 m,
      approachRate: -0.661407 m/s,
      posRepo size: 4

2025-08-09T16:52:03.559Z,1754758323.559 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 84.00 m.
2025-08-09T16:52:03.561Z,1754758323.561 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 84.000000 m,
      nav range: 82.535507 m,
      bearing: 135.839474 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.024695 deg/s,
      cmd heading: 139.901535 deg,
      new cmd heading: 139.864708 deg.

2025-08-09T16:52:03.884Z,1754758323.884 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-09T16:52:03.886Z,1754758323.886 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 84.00 m.
2025-08-09T16:52:03.892Z,1754758323.892 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 84.000000 m,
      nav range: 82.275612 m,
      bearing: 135.833828 deg,
      approach rate: -0.767593 m/s,
      LOS rate: -0.016725 deg/s,
      cmd heading: 139.864707 deg,
      new cmd heading: 139.847718 deg.

2025-08-09T16:52:04.014Z,1754758324.014 [DAT](INFO): ****** received valid address query ******
2025-08-09T16:52:04.015Z,1754758324.015 [DAT](INFO): ****** received valid ping request ******
2025-08-09T16:52:04.016Z,1754758324.016 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-09T16:52:04.263Z,1754758324.263 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.744544
2025-08-09T16:52:04.267Z,1754758324.267 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 84.00 m.
2025-08-09T16:52:04.271Z,1754758324.271 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 84.000000 m,
      nav range: 82.002632 m,
      bearing: 135.827710 deg,
      approach rate: -0.714871 m/s,
      LOS rate: -0.016076 deg/s,
      cmd heading: 139.847713 deg,
      new cmd heading: 139.829297 deg.

2025-08-09T16:52:04.515Z,1754758324.515 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.996501
2025-08-09T16:52:04.701Z,1754758324.701 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 84.00 m.
2025-08-09T16:52:04.704Z,1754758324.704 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 84.000000 m,
      nav range: 81.705505 m,
      bearing: 135.826584 deg,
      approach rate: -0.684829 m/s,
      LOS rate: -0.002605 deg/s,
      cmd heading: 139.829299 deg,
      new cmd heading: 139.825908 deg.

2025-08-09T16:52:04.768Z,1754758324.768 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.249244
2025-08-09T16:52:05.019Z,1754758325.019 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.500429
2025-08-09T16:52:05.068Z,1754758325.068 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 84.00 m.
2025-08-09T16:52:05.072Z,1754758325.072 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 84.000000 m,
      nav range: 81.455406 m,
      bearing: 135.825604 deg,
      approach rate: -0.682445 m/s,
      LOS rate: -0.002681 deg/s,
      cmd heading: 139.825911 deg,
      new cmd heading: 139.822964 deg.

2025-08-09T16:52:05.271Z,1754758325.271 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.752514
2025-08-09T16:52:05.517Z,1754758325.517 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 84.00 m.
2025-08-09T16:52:05.519Z,1754758325.519 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 84.000000 m,
      nav range: 81.153603 m,
      bearing: 135.831300 deg,
      approach rate: -0.672556 m/s,
      LOS rate: 0.012741 deg/s,
      cmd heading: 139.822961 deg,
      new cmd heading: 139.840112 deg.

2025-08-09T16:52:05.523Z,1754758325.523 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.004544
2025-08-09T16:52:05.776Z,1754758325.776 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.256777
2025-08-09T16:52:05.884Z,1754758325.884 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-09T16:52:05.887Z,1754758325.887 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 84.00 m.
2025-08-09T16:52:05.889Z,1754758325.889 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 84.000000 m,
      nav range: 80.905151 m,
      bearing: 135.836172 deg,
      approach rate: -0.672464 m/s,
      LOS rate: 0.013227 deg/s,
      cmd heading: 139.840118 deg,
      new cmd heading: 139.854779 deg.

2025-08-09T16:52:06.028Z,1754758326.028 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.508961
2025-08-09T16:52:06.279Z,1754758326.279 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.760550
2025-08-09T16:52:06.281Z,1754758326.281 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 84.00 m.
2025-08-09T16:52:06.284Z,1754758326.284 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 84.000000 m,
      nav range: 80.640114 m,
      bearing: 135.841510 deg,
      approach rate: -0.670667 m/s,
      LOS rate: 0.013550 deg/s,
      cmd heading: 139.854776 deg,
      new cmd heading: 139.870841 deg.

2025-08-09T16:52:06.532Z,1754758326.532 [DAT](INFO): DAT read: Rx Time:16:52:05.3570

2025-08-09T16:52:06.532Z,1754758326.532 [DAT](INFO): Rx dataTimestamp_ set to:1754758326.531721
2025-08-09T16:52:06.533Z,1754758326.533 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.013751
2025-08-09T16:52:06.745Z,1754758326.745 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 84.00 m.
2025-08-09T16:52:06.748Z,1754758326.748 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 84.000000 m,
      nav range: 80.330902 m,
      bearing: 135.850779 deg,
      approach rate: -0.666066 m/s,
      LOS rate: 0.020044 deg/s,
      cmd heading: 139.870840 deg,
      new cmd heading: 139.898756 deg.

2025-08-09T16:52:06.784Z,1754758326.784 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.264983
2025-08-09T16:52:07.041Z,1754758327.041 [DAT](INFO): DAT read: 16:52:05.3570 LVL= 30448, 32753, 27410, 32755, AGC= 65, IDX= 404, 0.02,-1.593, 3.065,-1.238,-1.734, PHS= 0.242,-1.440, 0.451, RAW= 155.8,   8.4, CAL= 155.4,   8.8, ROT= 354.6,  -8.8

2025-08-09T16:52:07.042Z,1754758327.042 [DAT](INFO): got valid direction response:
 16:52:05.3570 LVL= 30448, 32753, 27410, 32755, AGC= 65, IDX= 404, 0.02,-1.593, 3.065,-1.238,-1.734, PHS= 0.242,-1.440, 0.451, RAW= 155.8,   8.4, CAL= 155.4,   8.8, ROT= 354.6,  -8.8

2025-08-09T16:52:07.043Z,1754758327.043 [DAT](INFO): DAT read: Bearing 308.2,  -5.9 (Local)

2025-08-09T16:52:07.043Z,1754758327.043 [DAT](INFO): Local bearing/azimuth received:
 Bearing 308.2,  -5.9 (Local)

2025-08-09T16:52:07.045Z,1754758327.045 [DAT](INFO): DAT read: Range 11 to 50 : 81.3 m  (Round-trip  108.5 ms) speed  0.5 m/s

2025-08-09T16:52:07.045Z,1754758327.045 [DAT](INFO): DAT read: user:177>

2025-08-09T16:52:07.046Z,1754758327.046 [DAT](INFO): DAT read: Tx time:16:52:06.4443

2025-08-09T16:52:07.046Z,1754758327.046 [DAT](INFO): Ping request sent.
2025-08-09T16:52:07.046Z,1754758327.046 [DAT](INFO): transmitted an acoustic signal
2025-08-09T16:52:07.047Z,1754758327.047 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-09T16:52:07.048Z,1754758327.048 [DAT](INFO): direction in FSK: [0.983843,-0.093000,0.152986]
2025-08-09T16:52:07.048Z,1754758327.048 [DAT](INFO): publishing transmit ping time
2025-08-09T16:52:07.048Z,1754758327.048 [DAT](INFO): publishing direction and range info
2025-08-09T16:52:07.051Z,1754758327.051 [DAT](INFO): publishing transmit ping time
2025-08-09T16:52:07.052Z,1754758327.052 [DAT](INFO): publishing direction and range info
2025-08-09T16:52:07.168Z,1754758327.168 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 81.300003 m,
      deltaT: 3.527832 s,
      deltaX: -2.699997 m,
      approachRate: -0.765342 m/s,
      rangeRepo size: 4

2025-08-09T16:52:07.179Z,1754758327.179 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 81.300003 m,
      bearing: 135.519761 deg,
      lat: 36.906060 deg,
      lon: -122.115901 deg,
      deltaT: 3.527832 s,
      deltaX: -2.699997 m,
      approachRate: -0.765342 m/s,
      posRepo size: 4

2025-08-09T16:52:07.179Z,1754758327.179 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 81.30 m.
2025-08-09T16:52:07.182Z,1754758327.182 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 81.300003 m,
      nav range: 80.194069 m,
      bearing: 135.519761 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.020044 deg/s,
      cmd heading: 139.898762 deg,
      new cmd heading: 139.923817 deg.

2025-08-09T16:52:07.550Z,1754758327.550 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 81.30 m.
2025-08-09T16:52:07.553Z,1754758327.553 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 81.300003 m,
      nav range: 79.931480 m,
      bearing: 135.531289 deg,
      approach rate: -0.677048 m/s,
      LOS rate: 0.029821 deg/s,
      cmd heading: 139.923815 deg,
      new cmd heading: 139.958513 deg.

2025-08-09T16:52:07.931Z,1754758327.931 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-09T16:52:07.933Z,1754758327.933 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 81.30 m.
2025-08-09T16:52:07.936Z,1754758327.936 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 81.300003 m,
      nav range: 79.682472 m,
      bearing: 135.542292 deg,
      approach rate: -0.649801 m/s,
      LOS rate: 0.028804 deg/s,
      cmd heading: 139.958513 deg,
      new cmd heading: 139.991627 deg.

2025-08-09T16:52:08.043Z,1754758328.043 [DAT](INFO): ****** received valid address query ******
2025-08-09T16:52:08.043Z,1754758328.043 [DAT](INFO): ****** received valid ping request ******
2025-08-09T16:52:08.043Z,1754758328.043 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-09T16:52:08.295Z,1754758328.295 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.248832
2025-08-09T16:52:08.357Z,1754758328.357 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 81.30 m.
2025-08-09T16:52:08.363Z,1754758328.363 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 81.300003 m,
      nav range: 79.412102 m,
      bearing: 135.554340 deg,
      approach rate: -0.638638 m/s,
      LOS rate: 0.028554 deg/s,
      cmd heading: 139.991626 deg,
      new cmd heading: 140.027891 deg.

2025-08-09T16:52:08.547Z,1754758328.547 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.500759
2025-08-09T16:52:08.776Z,1754758328.776 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 81.30 m.
2025-08-09T16:52:08.779Z,1754758328.779 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 81.300003 m,
      nav range: 79.136604 m,
      bearing: 135.566459 deg,
      approach rate: -0.657184 m/s,
      LOS rate: 0.029011 deg/s,
      cmd heading: 140.027894 deg,
      new cmd heading: 140.064379 deg.

2025-08-09T16:52:08.800Z,1754758328.800 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.753098
2025-08-09T16:52:09.052Z,1754758329.052 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.005860
2025-08-09T16:52:09.149Z,1754758329.149 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 81.30 m.
2025-08-09T16:52:09.152Z,1754758329.152 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 81.300003 m,
      nav range: 78.896072 m,
      bearing: 135.577174 deg,
      approach rate: -0.644697 m/s,
      LOS rate: 0.028807 deg/s,
      cmd heading: 140.064381 deg,
      new cmd heading: 140.096624 deg.

2025-08-09T16:52:09.303Z,1754758329.303 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.256943
2025-08-09T16:52:09.555Z,1754758329.555 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.508871
2025-08-09T16:52:09.584Z,1754758329.584 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 81.30 m.
2025-08-09T16:52:09.587Z,1754758329.587 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 81.300003 m,
      nav range: 78.614838 m,
      bearing: 135.590118 deg,
      approach rate: -0.646621 m/s,
      LOS rate: 0.029867 deg/s,
      cmd heading: 140.096619 deg,
      new cmd heading: 140.135590 deg.

2025-08-09T16:52:09.807Z,1754758329.807 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.760990
2025-08-09T16:52:09.958Z,1754758329.958 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-09T16:52:09.960Z,1754758329.960 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 81.30 m.
2025-08-09T16:52:09.963Z,1754758329.963 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 81.300003 m,
      nav range: 78.371590 m,
      bearing: 135.601330 deg,
      approach rate: -0.646056 m/s,
      LOS rate: 0.029870 deg/s,
      cmd heading: 140.135592 deg,
      new cmd heading: 140.169332 deg.

2025-08-09T16:52:10.060Z,1754758330.060 [DAT](INFO): DAT read: Rx Time:16:52:08.9539

2025-08-09T16:52:10.060Z,1754758330.060 [DAT](INFO): Rx dataTimestamp_ set to:1754758330.059762
2025-08-09T16:52:10.061Z,1754758330.061 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.014132
2025-08-09T16:52:10.311Z,1754758330.311 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.264779
2025-08-09T16:52:10.375Z,1754758330.375 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 81.30 m.
2025-08-09T16:52:10.378Z,1754758330.378 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 81.300003 m,
      nav range: 78.118881 m,
      bearing: 135.613099 deg,
      approach rate: -0.609363 m/s,
      LOS rate: 0.028471 deg/s,
      cmd heading: 140.169333 deg,
      new cmd heading: 140.204755 deg.

2025-08-09T16:52:10.569Z,1754758330.569 [DAT](INFO): DAT read: 16:52:08.9539 LVL= 26960, 28913, 22898, 32755, AGC= 64, IDX= 405,-0.03,-1.113,-2.781,-0.761,-1.245, PHS= 0.234,-1.491, 0.441, RAW= 155.6,   8.9, CAL= 155.3,   9.5, ROT= 354.7,  -9.5

2025-08-09T16:52:10.571Z,1754758330.571 [DAT](INFO): got valid direction response:
 16:52:08.9539 LVL= 26960, 28913, 22898, 32755, AGC= 64, IDX= 405,-0.03,-1.113,-2.781,-0.761,-1.245, PHS= 0.234,-1.491, 0.441, RAW= 155.6,   8.9, CAL= 155.3,   9.5, ROT= 354.7,  -9.5

2025-08-09T16:52:10.572Z,1754758330.572 [DAT](INFO): DAT read: Bearing 308.7,  -5.3 (Local)

2025-08-09T16:52:10.572Z,1754758330.572 [DAT](INFO): Local bearing/azimuth received:
 Bearing 308.7,  -5.3 (Local)

2025-08-09T16:52:10.573Z,1754758330.573 [DAT](INFO): DAT read: Range 11 to 50 : 79.1 m  (Round-trip  105.5 ms) speed  0.7 m/s

2025-08-09T16:52:10.574Z,1754758330.574 [DAT](INFO): DAT read: user:178>

2025-08-09T16:52:10.575Z,1754758330.575 [DAT](INFO): DAT read: Tx time:16:52:10.0442

2025-08-09T16:52:10.575Z,1754758330.575 [DAT](INFO): Ping request sent.
2025-08-09T16:52:10.575Z,1754758330.575 [DAT](INFO): transmitted an acoustic signal
2025-08-09T16:52:10.575Z,1754758330.575 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-09T16:52:10.576Z,1754758330.576 [DAT](INFO): direction in FSK: [0.982069,-0.091104,0.165048]
2025-08-09T16:52:10.577Z,1754758330.577 [DAT](INFO): publishing transmit ping time
2025-08-09T16:52:10.577Z,1754758330.577 [DAT](INFO): publishing direction and range info
2025-08-09T16:52:10.586Z,1754758330.586 [DAT](INFO): publishing transmit ping time
2025-08-09T16:52:10.586Z,1754758330.586 [DAT](INFO): publishing direction and range info
2025-08-09T16:52:10.801Z,1754758330.801 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 79.099998 m,
      deltaT: 3.528547 s,
      deltaX: -2.200005 m,
      approachRate: -0.623487 m/s,
      rangeRepo size: 4

2025-08-09T16:52:10.823Z,1754758330.823 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 79.099998 m,
      bearing: 135.527386 deg,
      lat: 36.906061 deg,
      lon: -122.115901 deg,
      deltaT: 3.528547 s,
      deltaX: -2.200005 m,
      approachRate: -0.623487 m/s,
      posRepo size: 4

2025-08-09T16:52:10.824Z,1754758330.824 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 79.10 m.
2025-08-09T16:52:10.831Z,1754758330.831 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 79.099998 m,
      nav range: 77.739357 m,
      bearing: 135.527386 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.028471 deg/s,
      cmd heading: 140.204755 deg,
      new cmd heading: 140.241053 deg.

2025-08-09T16:52:11.169Z,1754758331.169 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 79.10 m.
2025-08-09T16:52:11.172Z,1754758331.172 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 79.099998 m,
      nav range: 77.491676 m,
      bearing: 135.534796 deg,
      approach rate: -0.670533 m/s,
      LOS rate: 0.020125 deg/s,
      cmd heading: 140.241050 deg,
      new cmd heading: 140.263351 deg.

2025-08-09T16:52:11.607Z,1754758331.607 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 79.10 m.
2025-08-09T16:52:11.610Z,1754758331.610 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 79.099998 m,
      nav range: 77.204193 m,
      bearing: 135.538810 deg,
      approach rate: -0.656392 m/s,
      LOS rate: 0.009198 deg/s,
      cmd heading: 140.263358 deg,
      new cmd heading: 140.275443 deg.

2025-08-09T16:52:11.979Z,1754758331.979 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-09T16:52:11.981Z,1754758331.981 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 79.10 m.
2025-08-09T16:52:11.984Z,1754758331.984 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 79.099998 m,
      nav range: 76.959435 m,
      bearing: 135.542134 deg,
      approach rate: -0.655695 m/s,
      LOS rate: 0.008932 deg/s,
      cmd heading: 140.275447 deg,
      new cmd heading: 140.285450 deg.

2025-08-09T16:52:12.076Z,1754758332.076 [DAT](INFO): ****** received valid address query ******
2025-08-09T16:52:12.076Z,1754758332.076 [DAT](INFO): ****** received valid ping request ******
2025-08-09T16:52:12.076Z,1754758332.076 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-09T16:52:12.327Z,1754758332.327 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.752098
2025-08-09T16:52:12.381Z,1754758332.381 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 79.10 m.
2025-08-09T16:52:12.400Z,1754758332.400 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 79.099998 m,
      nav range: 76.696220 m,
      bearing: 135.545675 deg,
      approach rate: -0.657058 m/s,
      LOS rate: 0.008870 deg/s,
      cmd heading: 140.285447 deg,
      new cmd heading: 140.296107 deg.

2025-08-09T16:52:12.579Z,1754758332.579 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.004296
2025-08-09T16:52:12.816Z,1754758332.816 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 79.10 m.
2025-08-09T16:52:12.832Z,1754758332.832 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.257146
2025-08-09T16:52:12.835Z,1754758332.835 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 79.099998 m,
      nav range: 76.401840 m,
      bearing: 135.545902 deg,
      approach rate: -0.676677 m/s,
      LOS rate: 0.000525 deg/s,
      cmd heading: 140.296102 deg,
      new cmd heading: 140.296787 deg.

2025-08-09T16:52:13.083Z,1754758333.083 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.508105
2025-08-09T16:52:13.193Z,1754758333.193 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 79.10 m.
2025-08-09T16:52:13.199Z,1754758333.199 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 79.099998 m,
      nav range: 76.147522 m,
      bearing: 135.546088 deg,
      approach rate: -0.676173 m/s,
      LOS rate: 0.000494 deg/s,
      cmd heading: 140.296785 deg,
      new cmd heading: 140.297343 deg.

2025-08-09T16:52:13.335Z,1754758333.335 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.760118
2025-08-09T16:52:13.587Z,1754758333.587 [DAT](INFO): DAT read: Rx Time:16:52:12.5507

2025-08-09T16:52:13.588Z,1754758333.588 [DAT](INFO): Rx dataTimestamp_ set to:1754758333.587506
2025-08-09T16:52:13.588Z,1754758333.588 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.013172
2025-08-09T16:52:13.659Z,1754758333.659 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 79.10 m.
2025-08-09T16:52:13.662Z,1754758333.662 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 79.099998 m,
      nav range: 75.837898 m,
      bearing: 135.540627 deg,
      approach rate: -0.663566 m/s,
      LOS rate: -0.011752 deg/s,
      cmd heading: 140.297345 deg,
      new cmd heading: 140.280894 deg.

2025-08-09T16:52:13.840Z,1754758333.840 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.264575
2025-08-09T16:52:14.042Z,1754758334.042 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-09T16:52:14.044Z,1754758334.044 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 79.10 m.
2025-08-09T16:52:14.049Z,1754758334.049 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 79.099998 m,
      nav range: 75.567558 m,
      bearing: 135.535822 deg,
      approach rate: -0.701427 m/s,
      LOS rate: -0.012512 deg/s,
      cmd heading: 140.280898 deg,
      new cmd heading: 140.266431 deg.

2025-08-09T16:52:14.108Z,1754758334.108 [DAT](INFO): DAT read: 16:52:12.5507 LVL= 28096, 32753, 22514, 32755, AGC= 64, IDX= 405, 0.21, 2.081, 0.461, 2.419, 1.951, PHS= 0.232,-1.445, 0.424, RAW= 155.4,   8.9, CAL= 155.0,   9.5, ROT= 355.0,  -9.5

2025-08-09T16:52:14.112Z,1754758334.112 [DAT](INFO): got valid direction response:
 16:52:12.5507 LVL= 28096, 32753, 22514, 32755, AGC= 64, IDX= 405, 0.21, 2.081, 0.461, 2.419, 1.951, PHS= 0.232,-1.445, 0.424, RAW= 155.4,   8.9, CAL= 155.0,   9.5, ROT= 355.0,  -9.5

2025-08-09T16:52:14.112Z,1754758334.112 [DAT](INFO): DAT read: Bearing 308.7,  -4.7 (Local)

2025-08-09T16:52:14.113Z,1754758334.113 [DAT](INFO): Local bearing/azimuth received:
 Bearing 308.7,  -4.7 (Local)

2025-08-09T16:52:14.115Z,1754758334.115 [DAT](INFO): DAT read: Range 11 to 50 : 76.8 m  (Round-trip  102.4 ms) speed  0.6 m/s

2025-08-09T16:52:14.115Z,1754758334.115 [DAT](INFO): DAT read: user:179>

2025-08-09T16:52:14.116Z,1754758334.116 [DAT](INFO): DAT read: Tx time:16:52:13.6442

2025-08-09T16:52:14.116Z,1754758334.116 [DAT](INFO): Ping request sent.
2025-08-09T16:52:14.116Z,1754758334.116 [DAT](INFO): transmitted an acoustic signal
2025-08-09T16:52:14.117Z,1754758334.117 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-09T16:52:14.118Z,1754758334.118 [DAT](INFO): direction in FSK: [0.982533,-0.085960,0.165048]
2025-08-09T16:52:14.118Z,1754758334.118 [DAT](INFO): publishing transmit ping time
2025-08-09T16:52:14.118Z,1754758334.118 [DAT](INFO): publishing direction and range info
2025-08-09T16:52:14.121Z,1754758334.121 [DAT](INFO): publishing transmit ping time
2025-08-09T16:52:14.121Z,1754758334.121 [DAT](INFO): publishing direction and range info
2025-08-09T16:52:14.455Z,1754758334.455 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 76.800003 m,
      deltaT: 3.528830 s,
      deltaX: -2.299995 m,
      approachRate: -0.651773 m/s,
      rangeRepo size: 4

2025-08-09T16:52:14.457Z,1754758334.457 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 76.800003 m,
      bearing: 135.613231 deg,
      lat: 36.906060 deg,
      lon: -122.115901 deg,
      deltaT: 3.528830 s,
      deltaX: -2.299995 m,
      approachRate: -0.651773 m/s,
      posRepo size: 4

2025-08-09T16:52:14.458Z,1754758334.458 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 76.80 m.
2025-08-09T16:52:14.477Z,1754758334.477 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 76.800003 m,
      nav range: 75.402069 m,
      bearing: 135.613231 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.012512 deg/s,
      cmd heading: 140.266431 deg,
      new cmd heading: 140.251045 deg.

2025-08-09T16:52:14.905Z,1754758334.905 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 76.80 m.
2025-08-09T16:52:14.908Z,1754758334.908 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 76.800003 m,
      nav range: 75.080360 m,
      bearing: 135.601546 deg,
      approach rate: -0.713157 m/s,
      LOS rate: -0.026014 deg/s,
      cmd heading: 140.251050 deg,
      new cmd heading: 140.215845 deg.

2025-08-09T16:52:15.276Z,1754758335.276 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 76.80 m.
2025-08-09T16:52:15.279Z,1754758335.279 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 76.800003 m,
      nav range: 74.825806 m,
      bearing: 135.592178 deg,
      approach rate: -0.689890 m/s,
      LOS rate: -0.025475 deg/s,
      cmd heading: 140.215847 deg,
      new cmd heading: 140.187648 deg.

2025-08-09T16:52:15.757Z,1754758335.757 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 76.80 m.
2025-08-09T16:52:15.760Z,1754758335.760 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 76.800003 m,
      nav range: 74.478394 m,
      bearing: 135.570827 deg,
      approach rate: -0.719584 m/s,
      LOS rate: -0.044430 deg/s,
      cmd heading: 140.187652 deg,
      new cmd heading: 140.123300 deg.

2025-08-09T16:52:16.106Z,1754758336.106 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-09T16:52:16.107Z,1754758336.107 [DAT](INFO): ****** received valid address query ******
2025-08-09T16:52:16.107Z,1754758336.107 [DAT](INFO): ****** received valid ping request ******
2025-08-09T16:52:16.107Z,1754758336.107 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-09T16:52:16.112Z,1754758336.112 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 76.80 m.
2025-08-09T16:52:16.119Z,1754758336.119 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 76.800003 m,
      nav range: 74.237015 m,
      bearing: 135.555799 deg,
      approach rate: -0.680218 m/s,
      LOS rate: -0.042489 deg/s,
      cmd heading: 140.123298 deg,
      new cmd heading: 140.078066 deg.

2025-08-09T16:52:16.359Z,1754758336.359 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.242832
2025-08-09T16:52:16.502Z,1754758336.502 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 76.80 m.
2025-08-09T16:52:16.505Z,1754758336.505 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 76.800003 m,
      nav range: 73.959297 m,
      bearing: 135.538409 deg,
      approach rate: -0.712020 m/s,
      LOS rate: -0.044751 deg/s,
      cmd heading: 140.078068 deg,
      new cmd heading: 140.025705 deg.

2025-08-09T16:52:16.612Z,1754758336.612 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.495027
2025-08-09T16:52:16.864Z,1754758336.864 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.747334
2025-08-09T16:52:16.953Z,1754758336.953 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 76.80 m.
2025-08-09T16:52:16.968Z,1754758336.968 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 76.800003 m,
      nav range: 73.636856 m,
      bearing: 135.516948 deg,
      approach rate: -0.715344 m/s,
      LOS rate: -0.047822 deg/s,
      cmd heading: 140.025708 deg,
      new cmd heading: 139.961041 deg.

2025-08-09T16:52:17.115Z,1754758337.115 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.998788
2025-08-09T16:52:17.285Z,1754758337.285 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 76.80 m.
2025-08-09T16:52:17.303Z,1754758337.303 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 76.800003 m,
      nav range: 73.398666 m,
      bearing: 135.500923 deg,
      approach rate: -0.717878 m/s,
      LOS rate: -0.048453 deg/s,
      cmd heading: 139.961040 deg,
      new cmd heading: 139.912810 deg.

2025-08-09T16:52:17.368Z,1754758337.368 [DAT](INFO): DAT read: Rx Time:16:52:16.1475

2025-08-09T16:52:17.369Z,1754758337.369 [DAT](INFO): Rx dataTimestamp_ set to:1754758337.368535
2025-08-09T16:52:17.370Z,1754758337.370 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.253170
2025-08-09T16:52:17.619Z,1754758337.619 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.502736
2025-08-09T16:52:17.805Z,1754758337.805 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 76.80 m.
2025-08-09T16:52:17.807Z,1754758337.807 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 76.800003 m,
      nav range: 73.034836 m,
      bearing: 135.473149 deg,
      approach rate: -0.699770 m/s,
      LOS rate: -0.053684 deg/s,
      cmd heading: 139.912805 deg,
      new cmd heading: 139.829070 deg.

2025-08-09T16:52:17.880Z,1754758337.880 [DAT](INFO): DAT read: 16:52:16.1475 LVL= 28032, 29425, 22642, 32755, AGC= 68, IDX= 404,-0.06,-0.609,-2.232,-0.250,-0.733, PHS= 0.226,-1.454, 0.439, RAW= 155.9,   8.8, CAL= 155.6,   9.4, ROT= 354.4,  -9.4

2025-08-09T16:52:17.882Z,1754758337.882 [DAT](INFO): got valid direction response:
 16:52:16.1475 LVL= 28032, 29425, 22642, 32755, AGC= 68, IDX= 404,-0.06,-0.609,-2.232,-0.250,-0.733, PHS= 0.226,-1.454, 0.439, RAW= 155.9,   8.8, CAL= 155.6,   9.4, ROT= 354.4,  -9.4

2025-08-09T16:52:17.884Z,1754758337.884 [DAT](INFO): DAT read: Bearing 308.6,  -5.2 (Local)

2025-08-09T16:52:17.884Z,1754758337.884 [DAT](INFO): Local bearing/azimuth received:
 Bearing 308.6,  -5.2 (Local)

2025-08-09T16:52:17.886Z,1754758337.886 [DAT](INFO): DAT read: Range 11 to 50 : 74.4 m  (Round-trip  99.2 ms) speed  0.6 m/s

2025-08-09T16:52:17.888Z,1754758337.888 [DAT](INFO): DAT read: user:180>

2025-08-09T16:52:17.889Z,1754758337.889 [DAT](INFO): DAT read: Tx time:16:52:17.2442

2025-08-09T16:52:17.890Z,1754758337.890 [DAT](INFO): Ping request sent.
2025-08-09T16:52:17.890Z,1754758337.890 [DAT](INFO): transmitted an acoustic signal
2025-08-09T16:52:17.891Z,1754758337.891 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-09T16:52:17.892Z,1754758337.892 [DAT](INFO): direction in FSK: [0.981864,-0.096273,0.163326]
2025-08-09T16:52:17.892Z,1754758337.892 [DAT](INFO): publishing transmit ping time
2025-08-09T16:52:17.893Z,1754758337.893 [DAT](INFO): publishing direction and range info
2025-08-09T16:52:17.904Z,1754758337.904 [DAT](INFO): publishing transmit ping time
2025-08-09T16:52:17.904Z,1754758337.904 [DAT](INFO): publishing direction and range info
2025-08-09T16:52:18.163Z,1754758338.163 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 74.400002 m,
      deltaT: 3.779676 s,
      deltaX: -2.400002 m,
      approachRate: -0.634975 m/s,
      rangeRepo size: 4

2025-08-09T16:52:18.165Z,1754758338.165 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 74.400002 m,
      bearing: 135.491238 deg,
      lat: 36.906059 deg,
      lon: -122.115901 deg,
      deltaT: 3.779676 s,
      deltaX: -2.400002 m,
      approachRate: -0.634975 m/s,
      posRepo size: 4

2025-08-09T16:52:18.166Z,1754758338.166 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 74.40 m.
2025-08-09T16:52:18.173Z,1754758338.173 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 74.400002 m,
      nav range: 72.880951 m,
      bearing: 135.491238 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.053684 deg/s,
      cmd heading: 139.829067 deg,
      new cmd heading: 139.772068 deg.

2025-08-09T16:52:18.536Z,1754758338.536 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-09T16:52:18.539Z,1754758338.539 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 74.40 m.
2025-08-09T16:52:18.541Z,1754758338.541 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 74.400002 m,
      nav range: 72.606857 m,
      bearing: 135.470105 deg,
      approach rate: -0.721257 m/s,
      LOS rate: -0.055819 deg/s,
      cmd heading: 139.772062 deg,
      new cmd heading: 139.708425 deg.

2025-08-09T16:52:18.631Z,1754758338.631 [DAT](INFO): ****** received valid address query ******
2025-08-09T16:52:18.631Z,1754758338.631 [DAT](INFO): ****** received valid ping request ******
2025-08-09T16:52:18.632Z,1754758338.632 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-09T16:52:18.879Z,1754758338.879 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.989530
2025-08-09T16:52:18.974Z,1754758338.974 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 74.40 m.
2025-08-09T16:52:18.977Z,1754758338.977 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 74.400002 m,
      nav range: 72.302551 m,
      bearing: 135.446070 deg,
      approach rate: -0.699085 m/s,
      LOS rate: -0.055449 deg/s,
      cmd heading: 139.708419 deg,
      new cmd heading: 139.636010 deg.

2025-08-09T16:52:19.131Z,1754758339.131 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.241420
2025-08-09T16:52:19.339Z,1754758339.339 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 74.40 m.
2025-08-09T16:52:19.342Z,1754758339.342 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 74.400002 m,
      nav range: 72.047104 m,
      bearing: 135.425823 deg,
      approach rate: -0.698723 m/s,
      LOS rate: -0.055579 deg/s,
      cmd heading: 139.636005 deg,
      new cmd heading: 139.575047 deg.

2025-08-09T16:52:19.385Z,1754758339.385 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.494395
2025-08-09T16:52:19.636Z,1754758339.636 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.746147
2025-08-09T16:52:19.769Z,1754758339.769 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 74.40 m.
2025-08-09T16:52:19.772Z,1754758339.772 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 74.400002 m,
      nav range: 71.750954 m,
      bearing: 135.408238 deg,
      approach rate: -0.689600 m/s,
      LOS rate: -0.041115 deg/s,
      cmd heading: 139.575052 deg,
      new cmd heading: 139.522081 deg.

2025-08-09T16:52:19.887Z,1754758339.887 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.997478
2025-08-09T16:52:20.139Z,1754758340.139 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.249543
2025-08-09T16:52:20.154Z,1754758340.154 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 74.40 m.
2025-08-09T16:52:20.157Z,1754758340.157 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 74.400002 m,
      nav range: 71.485313 m,
      bearing: 135.392493 deg,
      approach rate: -0.690120 m/s,
      LOS rate: -0.041059 deg/s,
      cmd heading: 139.522077 deg,
      new cmd heading: 139.474664 deg.

2025-08-09T16:52:20.392Z,1754758340.392 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.502061
2025-08-09T16:52:20.556Z,1754758340.556 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-09T16:52:20.558Z,1754758340.558 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 74.40 m.
2025-08-09T16:52:20.561Z,1754758340.561 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 74.400002 m,
      nav range: 71.206558 m,
      bearing: 135.375857 deg,
      approach rate: -0.689135 m/s,
      LOS rate: -0.041288 deg/s,
      cmd heading: 139.474662 deg,
      new cmd heading: 139.424559 deg.

2025-08-09T16:52:20.647Z,1754758340.647 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.757070
2025-08-09T16:52:20.897Z,1754758340.897 [DAT](INFO): DAT read: Rx Time:16:52:19.7440

2025-08-09T16:52:20.897Z,1754758340.897 [DAT](INFO): Rx dataTimestamp_ set to:1754758340.897087
2025-08-09T16:52:20.898Z,1754758340.898 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.008513
2025-08-09T16:52:21.002Z,1754758341.002 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 74.40 m.
2025-08-09T16:52:21.005Z,1754758341.005 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 74.400002 m,
      nav range: 70.908310 m,
      bearing: 135.361697 deg,
      approach rate: -0.672097 m/s,
      LOS rate: -0.032042 deg/s,
      cmd heading: 139.424556 deg,
      new cmd heading: 139.381899 deg.

2025-08-09T16:52:21.147Z,1754758341.147 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.257487
2025-08-09T16:52:21.370Z,1754758341.370 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 74.40 m.
2025-08-09T16:52:21.373Z,1754758341.373 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 74.400002 m,
      nav range: 70.660988 m,
      bearing: 135.349806 deg,
      approach rate: -0.671768 m/s,
      LOS rate: -0.032410 deg/s,
      cmd heading: 139.381895 deg,
      new cmd heading: 139.346097 deg.

2025-08-09T16:52:21.405Z,1754758341.405 [DAT](INFO): DAT read: 16:52:19.7440 LVL= 26608, 32753, 23650, 32659, AGC= 64, IDX= 400,-0.02, 2.441, 0.845, 2.809, 2.324, PHS= 0.218,-1.435, 0.441, RAW= 156.2,   8.8, CAL= 155.9,   9.3, ROT= 354.1,  -9.3

2025-08-09T16:52:21.406Z,1754758341.406 [DAT](INFO): got valid direction response:
 16:52:19.7440 LVL= 26608, 32753, 23650, 32659, AGC= 64, IDX= 400,-0.02, 2.441, 0.845, 2.809, 2.324, PHS= 0.218,-1.435, 0.441, RAW= 156.2,   8.8, CAL= 155.9,   9.3, ROT= 354.1,  -9.3

2025-08-09T16:52:21.407Z,1754758341.407 [DAT](INFO): DAT read: Bearing 308.5,  -5.8 (Local)

2025-08-09T16:52:21.407Z,1754758341.407 [DAT](INFO): Local bearing/azimuth received:
 Bearing 308.5,  -5.8 (Local)

2025-08-09T16:52:21.409Z,1754758341.409 [DAT](INFO): DAT read: Range 11 to 50 : 71.7 m  (Round-trip  95.7 ms) speed  0.6 m/s

2025-08-09T16:52:21.410Z,1754758341.410 [DAT](INFO): DAT read: user:181>

2025-08-09T16:52:21.410Z,1754758341.410 [DAT](INFO): DAT read: Tx time:16:52:20.8442

2025-08-09T16:52:21.411Z,1754758341.411 [DAT](INFO): Ping request sent.
2025-08-09T16:52:21.411Z,1754758341.411 [DAT](INFO): transmitted an acoustic signal
2025-08-09T16:52:21.411Z,1754758341.411 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-09T16:52:21.412Z,1754758341.412 [DAT](INFO): direction in FSK: [0.981628,-0.101441,0.161604]
2025-08-09T16:52:21.412Z,1754758341.412 [DAT](INFO): publishing transmit ping time
2025-08-09T16:52:21.413Z,1754758341.413 [DAT](INFO): publishing direction and range info
2025-08-09T16:52:21.420Z,1754758341.420 [DAT](INFO): publishing transmit ping time
2025-08-09T16:52:21.420Z,1754758341.420 [DAT](INFO): publishing direction and range info
2025-08-09T16:52:21.816Z,1754758341.816 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 71.699997 m,
      deltaT: 3.527092 s,
      deltaX: -2.700005 m,
      approachRate: -0.765504 m/s,
      rangeRepo size: 4

2025-08-09T16:52:21.818Z,1754758341.818 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 71.699997 m,
      bearing: 135.136664 deg,
      lat: 36.906061 deg,
      lon: -122.115899 deg,
      deltaT: 3.527092 s,
      deltaX: -2.700005 m,
      approachRate: -0.765504 m/s,
      posRepo size: 4

2025-08-09T16:52:21.819Z,1754758341.819 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 71.70 m.
2025-08-09T16:52:21.822Z,1754758341.822 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 71.699997 m,
      nav range: 70.298981 m,
      bearing: 135.136664 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.032410 deg/s,
      cmd heading: 139.346091 deg,
      new cmd heading: 139.302794 deg.

2025-08-09T16:52:22.188Z,1754758342.188 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 71.70 m.
2025-08-09T16:52:22.209Z,1754758342.209 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 71.699997 m,
      nav range: 70.059723 m,
      bearing: 135.132324 deg,
      approach rate: -0.644617 m/s,
      LOS rate: -0.011734 deg/s,
      cmd heading: 139.302787 deg,
      new cmd heading: 139.289722 deg.

2025-08-09T16:52:22.588Z,1754758342.588 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-09T16:52:22.590Z,1754758342.590 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 71.70 m.
2025-08-09T16:52:22.592Z,1754758342.592 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 71.699997 m,
      nav range: 69.795036 m,
      bearing: 135.127519 deg,
      approach rate: -0.656724 m/s,
      LOS rate: -0.011967 deg/s,
      cmd heading: 139.289728 deg,
      new cmd heading: 139.275259 deg.

2025-08-09T16:52:22.665Z,1754758342.665 [DAT](INFO): ****** received valid address query ******
2025-08-09T16:52:22.666Z,1754758342.666 [DAT](INFO): ****** received valid ping request ******
2025-08-09T16:52:22.667Z,1754758342.667 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-09T16:52:22.915Z,1754758342.915 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.504516
2025-08-09T16:52:23.039Z,1754758343.039 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 71.70 m.
2025-08-09T16:52:23.042Z,1754758343.042 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 71.699997 m,
      nav range: 69.517426 m,
      bearing: 135.126089 deg,
      approach rate: -0.617272 m/s,
      LOS rate: -0.003191 deg/s,
      cmd heading: 139.275262 deg,
      new cmd heading: 139.270956 deg.

2025-08-09T16:52:23.167Z,1754758343.167 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.756488
2025-08-09T16:52:23.375Z,1754758343.375 [BPC1](ERROR): Battery stick #17 (s/n: 00C9) reported TERMINATE_DISCHARGE_ALARM. Status code: 0x4AD0.
2025-08-09T16:52:23.376Z,1754758343.376 [BPC1](ERROR): Battery stick #18 (s/n: 0186) reported TERMINATE_DISCHARGE_ALARM. Status code: 0x4AD0.
2025-08-09T16:52:23.377Z,1754758343.377 [BPC1](ERROR): Battery stick #26 (s/n: 0112) reported TERMINATE_DISCHARGE_ALARM. Status code: 0x48C0.
2025-08-09T16:52:23.377Z,1754758343.377 [BPC1](ERROR): Battery stick #27 (s/n: 00AF) reported TERMINATE_DISCHARGE_ALARM. Status code: 0x4AD0.
2025-08-09T16:52:23.378Z,1754758343.378 [BPC1](FAULT): Battery stick #37 (s/n: 00A3) reported TERMINATE_DISCHARGE_ALARM. Status code: 0x48C0.
2025-08-09T16:52:23.379Z,1754758343.379 [BPC1](ERROR): Battery stick #44 (s/n: 00E4) reported TERMINATE_DISCHARGE_ALARM. Status code: 0x48C0.
2025-08-09T16:52:23.380Z,1754758343.380 [BPC1](ERROR): Battery stick #58 (s/n: 00F3) reported TERMINATE_DISCHARGE_ALARM. Status code: 0x4AD0.
2025-08-09T16:52:23.380Z,1754758343.380 [BPC1](INFO): Calculating totals. Valid battery stick count: 19. Valid reserve battery stick count: 2.
2025-08-09T16:52:23.385Z,1754758343.385 [BPC1](FAULT): Failed to receive data from 23 sticks prior to timeout. Will not retry this scan cycle. Missing stick IDs are: 2, 3, 4, 5, 6, 7, 8, 9, 11, 12, 13, 14, 15, 16, 17, 18, 26, 27, 33, 34, 39, 44, 58.
2025-08-09T16:52:23.420Z,1754758343.420 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.009407
2025-08-09T16:52:23.427Z,1754758343.427 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 71.70 m.
2025-08-09T16:52:23.429Z,1754758343.429 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 71.699997 m,
      nav range: 69.284424 m,
      bearing: 135.124977 deg,
      approach rate: -0.641705 m/s,
      LOS rate: -0.003073 deg/s,
      cmd heading: 139.270959 deg,
      new cmd heading: 139.267611 deg.

2025-08-09T16:52:23.675Z,1754758343.675 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.263287
2025-08-09T16:52:23.833Z,1754758343.833 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 71.70 m.
2025-08-09T16:52:23.852Z,1754758343.852 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 71.699997 m,
      nav range: 69.017395 m,
      bearing: 135.133001 deg,
      approach rate: -0.620759 m/s,
      LOS rate: 0.018726 deg/s,
      cmd heading: 139.267612 deg,
      new cmd heading: 139.291778 deg.

2025-08-09T16:52:23.925Z,1754758343.925 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.513948
2025-08-09T16:52:24.177Z,1754758344.177 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.765757
2025-08-09T16:52:24.226Z,1754758344.226 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 71.70 m.
2025-08-09T16:52:24.229Z,1754758344.229 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 71.699997 m,
      nav range: 68.773018 m,
      bearing: 135.140439 deg,
      approach rate: -0.621324 m/s,
      LOS rate: 0.018977 deg/s,
      cmd heading: 139.291777 deg,
      new cmd heading: 139.314169 deg.

2025-08-09T16:52:24.427Z,1754758344.427 [DAT](INFO): DAT read: Rx Time:16:52:23.3408

2025-08-09T16:52:24.428Z,1754758344.428 [DAT](INFO): Rx dataTimestamp_ set to:1754758344.427522
2025-08-09T16:52:24.428Z,1754758344.428 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.017583
2025-08-09T16:52:24.609Z,1754758344.609 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-09T16:52:24.611Z,1754758344.611 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 71.70 m.
2025-08-09T16:52:24.613Z,1754758344.613 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 71.699997 m,
      nav range: 68.534340 m,
      bearing: 135.147820 deg,
      approach rate: -0.620549 m/s,
      LOS rate: 0.019258 deg/s,
      cmd heading: 139.314166 deg,
      new cmd heading: 139.336387 deg.

2025-08-09T16:52:24.687Z,1754758344.687 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.275798
2025-08-09T16:52:24.941Z,1754758344.941 [DAT](INFO): DAT read: 16:52:23.3408 LVL= 31312, 32017, 24930, 32755, AGC= 60, IDX= 415,-0.27, 1.412,-0.220, 1.783, 1.316, PHS= 0.198,-1.491, 0.423, RAW= 156.2,   9.6, CAL= 156.0,  10.4, ROT= 354.0, -10.4

2025-08-09T16:52:24.942Z,1754758344.942 [DAT](INFO): got valid direction response:
 16:52:23.3408 LVL= 31312, 32017, 24930, 32755, AGC= 60, IDX= 415,-0.27, 1.412,-0.220, 1.783, 1.316, PHS= 0.198,-1.491, 0.423, RAW= 156.2,   9.6, CAL= 156.0,  10.4, ROT= 354.0, -10.4

2025-08-09T16:52:24.943Z,1754758344.943 [DAT](INFO): DAT read: Bearing 309.6,  -5.8 (Local)

2025-08-09T16:52:24.943Z,1754758344.943 [DAT](INFO): Local bearing/azimuth received:
 Bearing 309.6,  -5.8 (Local)

2025-08-09T16:52:24.945Z,1754758344.945 [DAT](INFO): DAT read: Range 11 to 50 : 69.3 m  (Round-trip  92.4 ms) speed  0.5 m/s

2025-08-09T16:52:24.945Z,1754758344.945 [DAT](INFO): DAT read: user:182>

2025-08-09T16:52:24.946Z,1754758344.946 [DAT](INFO): DAT read: Tx time:16:52:24.4442

2025-08-09T16:52:24.947Z,1754758344.947 [DAT](INFO): Ping request sent.
2025-08-09T16:52:24.947Z,1754758344.947 [DAT](INFO): transmitted an acoustic signal
2025-08-09T16:52:24.947Z,1754758344.947 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-09T16:52:24.948Z,1754758344.948 [DAT](INFO): direction in FSK: [0.978183,-0.102811,0.180519]
2025-08-09T16:52:24.948Z,1754758344.948 [DAT](INFO): publishing transmit ping time
2025-08-09T16:52:24.949Z,1754758344.949 [DAT](INFO): publishing direction and range info
2025-08-09T16:52:24.985Z,1754758344.985 [DAT](INFO): publishing transmit ping time
2025-08-09T16:52:24.985Z,1754758344.985 [DAT](INFO): publishing direction and range info
2025-08-09T16:52:25.125Z,1754758345.125 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 69.300003 m,
      deltaT: 3.535952 s,
      deltaX: -2.399994 m,
      approachRate: -0.678741 m/s,
      rangeRepo size: 4

2025-08-09T16:52:25.132Z,1754758345.132 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 69.300003 m,
      bearing: 135.204962 deg,
      lat: 36.906061 deg,
      lon: -122.115900 deg,
      deltaT: 3.535952 s,
      deltaX: -2.399994 m,
      approachRate: -0.678741 m/s,
      posRepo size: 4

2025-08-09T16:52:25.133Z,1754758345.133 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 69.30 m.
2025-08-09T16:52:25.139Z,1754758345.139 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 69.300003 m,
      nav range: 68.197563 m,
      bearing: 135.204962 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.019258 deg/s,
      cmd heading: 139.336392 deg,
      new cmd heading: 139.366071 deg.

2025-08-09T16:52:25.532Z,1754758345.532 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 69.30 m.
2025-08-09T16:52:25.535Z,1754758345.535 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 69.300003 m,
      nav range: 67.912926 m,
      bearing: 135.221590 deg,
      approach rate: -0.697528 m/s,
      LOS rate: 0.040920 deg/s,
      cmd heading: 139.366076 deg,
      new cmd heading: 139.416170 deg.

2025-08-09T16:52:25.959Z,1754758345.959 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 69.30 m.
2025-08-09T16:52:25.962Z,1754758345.962 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 69.300003 m,
      nav range: 67.646492 m,
      bearing: 135.241150 deg,
      approach rate: -0.623926 m/s,
      LOS rate: 0.045986 deg/s,
      cmd heading: 139.416168 deg,
      new cmd heading: 139.475080 deg.

2025-08-09T16:52:26.429Z,1754758346.429 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 69.30 m.
2025-08-09T16:52:26.431Z,1754758346.431 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 69.300003 m,
      nav range: 67.353737 m,
      bearing: 135.263065 deg,
      approach rate: -0.623965 m/s,
      LOS rate: 0.046911 deg/s,
      cmd heading: 139.475086 deg,
      new cmd heading: 139.541115 deg.

2025-08-09T16:52:26.906Z,1754758346.906 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-09T16:52:26.912Z,1754758346.912 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 69.30 m.
2025-08-09T16:52:26.919Z,1754758346.919 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 69.300003 m,
      nav range: 67.056084 m,
      bearing: 135.282005 deg,
      approach rate: -0.615738 m/s,
      LOS rate: 0.039355 deg/s,
      cmd heading: 139.541120 deg,
      new cmd heading: 139.598194 deg.

2025-08-09T16:52:26.952Z,1754758346.952 [DAT](INFO): ****** received valid address query ******
2025-08-09T16:52:26.952Z,1754758346.952 [DAT](INFO): ****** received valid ping request ******
2025-08-09T16:52:26.952Z,1754758346.952 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-09T16:52:27.203Z,1754758347.203 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.256522
2025-08-09T16:52:27.271Z,1754758347.271 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 69.30 m.
2025-08-09T16:52:27.273Z,1754758347.273 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 69.300003 m,
      nav range: 66.815773 m,
      bearing: 135.297574 deg,
      approach rate: -0.673743 m/s,
      LOS rate: 0.043807 deg/s,
      cmd heading: 139.598193 deg,
      new cmd heading: 139.645068 deg.

2025-08-09T16:52:27.455Z,1754758347.455 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.508389
2025-08-09T16:52:27.660Z,1754758347.660 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 69.30 m.
2025-08-09T16:52:27.663Z,1754758347.663 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 69.300003 m,
      nav range: 66.550026 m,
      bearing: 135.314868 deg,
      approach rate: -0.679457 m/s,
      LOS rate: 0.044393 deg/s,
      cmd heading: 139.645062 deg,
      new cmd heading: 139.697150 deg.

2025-08-09T16:52:27.710Z,1754758347.710 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.762826
2025-08-09T16:52:27.960Z,1754758347.960 [DAT](INFO): DAT read: Rx Time:16:52:26.9377

2025-08-09T16:52:27.961Z,1754758347.961 [DAT](INFO): Rx dataTimestamp_ set to:1754758347.960234
2025-08-09T16:52:27.961Z,1754758347.961 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.014262
2025-08-09T16:52:28.091Z,1754758348.091 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 69.30 m.
2025-08-09T16:52:28.093Z,1754758348.093 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 69.300003 m,
      nav range: 66.264816 m,
      bearing: 135.331137 deg,
      approach rate: -0.662231 m/s,
      LOS rate: 0.037938 deg/s,
      cmd heading: 139.697149 deg,
      new cmd heading: 139.746167 deg.

2025-08-09T16:52:28.211Z,1754758348.211 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.264464
2025-08-09T16:52:28.468Z,1754758348.468 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.520225
2025-08-09T16:52:28.540Z,1754758348.540 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 69.30 m.
2025-08-09T16:52:28.554Z,1754758348.554 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 69.300003 m,
      nav range: 65.983444 m,
      bearing: 135.347283 deg,
      approach rate: -0.625942 m/s,
      LOS rate: 0.036070 deg/s,
      cmd heading: 139.746162 deg,
      new cmd heading: 139.794805 deg.

2025-08-09T16:52:28.730Z,1754758348.730 [DAT](INFO): DAT read: 16:52:26.9377 LVL= 26272, 31025, 22674, 32755, AGC= 63, IDX= 416,-0.08,-0.594,-2.196,-0.228,-0.709, PHS= 0.217,-1.442, 0.437, RAW= 156.1,   8.9, CAL= 155.8,   9.5, ROT= 354.2,  -9.5

2025-08-09T16:52:28.734Z,1754758348.734 [DAT](INFO): got valid direction response:
 16:52:26.9377 LVL= 26272, 31025, 22674, 32755, AGC= 63, IDX= 416,-0.08,-0.594,-2.196,-0.228,-0.709, PHS= 0.217,-1.442, 0.437, RAW= 156.1,   8.9, CAL= 155.8,   9.5, ROT= 354.2,  -9.5

2025-08-09T16:52:28.737Z,1754758348.737 [DAT](INFO): DAT read: Bearing 308.4,  -5.8 (Local)

2025-08-09T16:52:28.738Z,1754758348.738 [DAT](INFO): Local bearing/azimuth received:
 Bearing 308.4,  -5.8 (Local)

2025-08-09T16:52:28.745Z,1754758348.745 [DAT](INFO): DAT read: Range 11 to 50 : 67.0 m  (Round-trip  89.4 ms) speed  0.8 m/s

2025-08-09T16:52:28.748Z,1754758348.748 [DAT](INFO): DAT read: user:183>

2025-08-09T16:52:28.752Z,1754758348.752 [DAT](INFO): DAT read: Tx time:16:52:28.0442

2025-08-09T16:52:28.754Z,1754758348.754 [DAT](INFO): Ping request sent.
2025-08-09T16:52:28.754Z,1754758348.754 [DAT](INFO): transmitted an acoustic signal
2025-08-09T16:52:28.756Z,1754758348.756 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-09T16:52:28.760Z,1754758348.760 [DAT](INFO): direction in FSK: [0.981237,-0.099670,0.165048]
2025-08-09T16:52:28.761Z,1754758348.761 [DAT](INFO): publishing transmit ping time
2025-08-09T16:52:28.762Z,1754758348.762 [DAT](INFO): publishing direction and range info
2025-08-09T16:52:28.799Z,1754758348.799 [DAT](INFO): publishing transmit ping time
2025-08-09T16:52:28.799Z,1754758348.799 [DAT](INFO): publishing direction and range info
2025-08-09T16:52:29.008Z,1754758349.008 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 67.000000 m,
      deltaT: 3.780024 s,
      deltaX: -2.300003 m,
      approachRate: -0.608463 m/s,
      rangeRepo size: 4

2025-08-09T16:52:29.010Z,1754758349.010 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 67.000000 m,
      bearing: 135.267965 deg,
      lat: 36.906061 deg,
      lon: -122.115898 deg,
      deltaT: 3.780024 s,
      deltaX: -2.300003 m,
      approachRate: -0.608463 m/s,
      posRepo size: 4

2025-08-09T16:52:29.014Z,1754758349.014 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 67.00 m.
2025-08-09T16:52:29.017Z,1754758349.017 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 67.000000 m,
      nav range: 65.767471 m,
      bearing: 135.267965 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.036070 deg/s,
      cmd heading: 139.794807 deg,
      new cmd heading: 139.845336 deg.

2025-08-09T16:52:29.335Z,1754758349.335 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-09T16:52:29.337Z,1754758349.337 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 67.00 m.
2025-08-09T16:52:29.340Z,1754758349.340 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 67.000000 m,
      nav range: 65.522949 m,
      bearing: 135.279448 deg,
      approach rate: -0.741338 m/s,
      LOS rate: 0.034946 deg/s,
      cmd heading: 139.845337 deg,
      new cmd heading: 139.879916 deg.

2025-08-09T16:52:29.472Z,1754758349.472 [DAT](INFO): ****** received valid address query ******
2025-08-09T16:52:29.472Z,1754758349.472 [DAT](INFO): ****** received valid ping request ******
2025-08-09T16:52:29.472Z,1754758349.472 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-09T16:52:29.726Z,1754758349.726 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.971984
2025-08-09T16:52:29.825Z,1754758349.825 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 67.00 m.
2025-08-09T16:52:29.828Z,1754758349.828 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 67.000000 m,
      nav range: 65.185631 m,
      bearing: 135.286876 deg,
      approach rate: -0.690418 m/s,
      LOS rate: 0.015281 deg/s,
      cmd heading: 139.879911 deg,
      new cmd heading: 139.902309 deg.

2025-08-09T16:52:29.975Z,1754758349.975 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.221787
2025-08-09T16:52:30.197Z,1754758350.197 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 67.00 m.
2025-08-09T16:52:30.216Z,1754758350.216 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 67.000000 m,
      nav range: 64.931808 m,
      bearing: 135.292515 deg,
      approach rate: -0.682307 m/s,
      LOS rate: 0.015217 deg/s,
      cmd heading: 139.902314 deg,
      new cmd heading: 139.919296 deg.

2025-08-09T16:52:30.227Z,1754758350.227 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.473979
2025-08-09T16:52:30.480Z,1754758350.480 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.726155
2025-08-09T16:52:30.559Z,1754758350.559 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 67.00 m.
2025-08-09T16:52:30.562Z,1754758350.562 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 67.000000 m,
      nav range: 64.679253 m,
      bearing: 135.298228 deg,
      approach rate: -0.698183 m/s,
      LOS rate: 0.015856 deg/s,
      cmd heading: 139.919294 deg,
      new cmd heading: 139.936501 deg.

2025-08-09T16:52:30.731Z,1754758350.731 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.977895
2025-08-09T16:52:30.987Z,1754758350.987 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.233893
2025-08-09T16:52:31.028Z,1754758351.028 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 67.00 m.
2025-08-09T16:52:31.043Z,1754758351.043 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 67.000000 m,
      nav range: 64.383995 m,
      bearing: 135.299909 deg,
      approach rate: -0.629626 m/s,
      LOS rate: 0.003601 deg/s,
      cmd heading: 139.936506 deg,
      new cmd heading: 139.941572 deg.

2025-08-09T16:52:31.243Z,1754758351.243 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.489780
2025-08-09T16:52:31.375Z,1754758351.375 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-09T16:52:31.377Z,1754758351.377 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 67.00 m.
2025-08-09T16:52:31.380Z,1754758351.380 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 67.000000 m,
      nav range: 64.110939 m,
      bearing: 135.301510 deg,
      approach rate: -0.782158 m/s,
      LOS rate: 0.004604 deg/s,
      cmd heading: 139.941574 deg,
      new cmd heading: 139.946396 deg.

2025-08-09T16:52:31.492Z,1754758351.492 [DAT](INFO): DAT read: Rx Time:16:52:30.5345

2025-08-09T16:52:31.492Z,1754758351.492 [DAT](INFO): Rx dataTimestamp_ set to:1754758351.491848
2025-08-09T16:52:31.493Z,1754758351.493 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.739231
2025-08-09T16:52:31.743Z,1754758351.743 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.989841
2025-08-09T16:52:31.859Z,1754758351.859 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 67.00 m.
2025-08-09T16:52:31.862Z,1754758351.862 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 67.000000 m,
      nav range: 63.773014 m,
      bearing: 135.292389 deg,
      approach rate: -0.700772 m/s,
      LOS rate: -0.019015 deg/s,
      cmd heading: 139.946396 deg,
      new cmd heading: 139.918887 deg.

2025-08-09T16:52:31.996Z,1754758351.996 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.242380
2025-08-09T16:52:32.229Z,1754758352.229 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 67.00 m.
2025-08-09T16:52:32.231Z,1754758352.231 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 67.000000 m,
      nav range: 63.514343 m,
      bearing: 135.285238 deg,
      approach rate: -0.700549 m/s,
      LOS rate: -0.019443 deg/s,
      cmd heading: 139.918884 deg,
      new cmd heading: 139.897346 deg.

2025-08-09T16:52:32.256Z,1754758352.256 [DAT](INFO): DAT read: 16:52:30.5344 LVL= 28064, 31633, 22386, 32755, AGC= 64, IDX= 416,-0.37,-2.936, 1.767,-2.575,-3.050, PHS= 0.216,-1.421, 0.431, RAW= 156.1,   8.9, CAL= 155.8,   9.4, ROT= 354.2,  -9.4

2025-08-09T16:52:32.257Z,1754758352.257 [DAT](INFO): got valid direction response:
 16:52:30.5344 LVL= 28064, 31633, 22386, 32755, AGC= 64, IDX= 416,-0.37,-2.936, 1.767,-2.575,-3.050, PHS= 0.216,-1.421, 0.431, RAW= 156.1,   8.9, CAL= 155.8,   9.4, ROT= 354.2,  -9.4

2025-08-09T16:52:32.258Z,1754758352.258 [DAT](INFO): DAT read: Bearing 308.3,  -5.8 (Local)

2025-08-09T16:52:32.266Z,1754758352.266 [DAT](INFO): Local bearing/azimuth received:
 Bearing 308.3,  -5.8 (Local)

2025-08-09T16:52:32.268Z,1754758352.268 [DAT](INFO): DAT read: Range 11 to 50 : 64.6 m  (Round-trip  86.2 ms) speed  0.6 m/s

2025-08-09T16:52:32.269Z,1754758352.269 [DAT](INFO): DAT read: user:184>

2025-08-09T16:52:32.279Z,1754758352.279 [DAT](INFO): DAT read: Tx time:16:52:31.6441

2025-08-09T16:52:32.279Z,1754758352.279 [DAT](INFO): Ping request sent.
2025-08-09T16:52:32.279Z,1754758352.279 [DAT](INFO): transmitted an acoustic signal
2025-08-09T16:52:32.280Z,1754758352.280 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-09T16:52:32.281Z,1754758352.281 [DAT](INFO): direction in FSK: [0.981522,-0.099699,0.163326]
2025-08-09T16:52:32.282Z,1754758352.282 [DAT](INFO): publishing transmit ping time
2025-08-09T16:52:32.286Z,1754758352.286 [DAT](INFO): publishing direction and range info
2025-08-09T16:52:32.300Z,1754758352.300 [DAT](INFO): publishing transmit ping time
2025-08-09T16:52:32.300Z,1754758352.300 [DAT](INFO): publishing direction and range info
2025-08-09T16:52:32.630Z,1754758352.630 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 64.599998 m,
      deltaT: 3.534496 s,
      deltaX: -2.400002 m,
      approachRate: -0.679022 m/s,
      rangeRepo size: 4

2025-08-09T16:52:32.632Z,1754758352.632 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 64.599998 m,
      bearing: 135.131771 deg,
      lat: 36.906063 deg,
      lon: -122.115898 deg,
      deltaT: 3.534496 s,
      deltaX: -2.400002 m,
      approachRate: -0.679022 m/s,
      posRepo size: 4

2025-08-09T16:52:32.633Z,1754758352.633 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.60 m.
2025-08-09T16:52:32.636Z,1754758352.636 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 64.599998 m,
      nav range: 63.164421 m,
      bearing: 135.131771 deg,
      approach rate: -3773140843853726747721728.000 m/s,
      LOS rate: -0.019443 deg/s,
      cmd heading: 139.897342 deg,
      new cmd heading: 139.873963 deg.

2025-08-09T16:52:33.060Z,1754758353.060 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for altitude. Device response is::BD,     -207.65,     ,     -113.31,   7.65,  0.00
2025-08-09T16:52:33.076Z,1754758353.076 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.60 m.
2025-08-09T16:52:33.078Z,1754758353.078 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 64.599998 m,
      nav range: 62.849342 m,
      bearing: 135.122066 deg,
      approach rate: -0.706136 m/s,
      LOS rate: -0.021859 deg/s,
      cmd heading: 139.873969 deg,
      new cmd heading: 139.844708 deg.

2025-08-09T16:52:33.435Z,1754758353.435 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-09T16:52:33.437Z,1754758353.437 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.60 m.
2025-08-09T16:52:33.439Z,1754758353.439 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 64.599998 m,
      nav range: 62.596870 m,
      bearing: 135.114025 deg,
      approach rate: -0.699380 m/s,
      LOS rate: -0.022366 deg/s,
      cmd heading: 139.844708 deg,
      new cmd heading: 139.820487 deg.

2025-08-09T16:52:33.507Z,1754758353.507 [DAT](INFO): ****** received valid address query ******
2025-08-09T16:52:33.507Z,1754758353.507 [DAT](INFO): ****** received valid ping request ******
2025-08-09T16:52:33.508Z,1754758353.508 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-09T16:52:33.760Z,1754758353.760 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.480139
2025-08-09T16:52:33.923Z,1754758353.923 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.60 m.
2025-08-09T16:52:33.925Z,1754758353.925 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 64.599998 m,
      nav range: 62.276203 m,
      bearing: 135.086137 deg,
      approach rate: -0.682541 m/s,
      LOS rate: -0.059664 deg/s,
      cmd heading: 139.820488 deg,
      new cmd heading: 139.736395 deg.

2025-08-09T16:52:34.011Z,1754758354.011 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.731996
2025-08-09T16:52:34.243Z,1754758354.243 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.60 m.
2025-08-09T16:52:34.246Z,1754758354.246 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 64.599998 m,
      nav range: 62.046383 m,
      bearing: 135.065844 deg,
      approach rate: -0.682291 m/s,
      LOS rate: -0.060471 deg/s,
      cmd heading: 139.736395 deg,
      new cmd heading: 139.675288 deg.

2025-08-09T16:52:34.265Z,1754758354.265 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.985416
2025-08-09T16:52:34.515Z,1754758354.515 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.235882
2025-08-09T16:52:34.640Z,1754758354.640 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.60 m.
2025-08-09T16:52:34.643Z,1754758354.643 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 64.599998 m,
      nav range: 61.775829 m,
      bearing: 135.041588 deg,
      approach rate: -0.681954 m/s,
      LOS rate: -0.061406 deg/s,
      cmd heading: 139.675292 deg,
      new cmd heading: 139.602206 deg.

2025-08-09T16:52:34.768Z,1754758354.768 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.488354
2025-08-09T16:52:35.021Z,1754758355.021 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.741457
2025-08-09T16:52:35.143Z,1754758355.143 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.60 m.
2025-08-09T16:52:35.145Z,1754758355.145 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 64.599998 m,
      nav range: 61.463509 m,
      bearing: 135.012774 deg,
      approach rate: -0.626451 m/s,
      LOS rate: -0.058089 deg/s,
      cmd heading: 139.602209 deg,
      new cmd heading: 139.515328 deg.

2025-08-09T16:52:35.272Z,1754758355.272 [DAT](INFO): DAT read: Rx Time:16:52:34.1312

2025-08-09T16:52:35.273Z,1754758355.273 [DAT](INFO): Rx dataTimestamp_ set to:1754758355.271972
2025-08-09T16:52:35.273Z,1754758355.273 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.993727
2025-08-09T16:52:35.447Z,1754758355.447 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-09T16:52:35.449Z,1754758355.449 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.60 m.
2025-08-09T16:52:35.452Z,1754758355.452 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 64.599998 m,
      nav range: 61.226791 m,
      bearing: 134.990694 deg,
      approach rate: -0.762549 m/s,
      LOS rate: -0.071402 deg/s,
      cmd heading: 139.515329 deg,
      new cmd heading: 139.448833 deg.

2025-08-09T16:52:35.523Z,1754758355.523 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.244090
2025-08-09T16:52:35.781Z,1754758355.781 [DAT](INFO): DAT read: 16:52:34.1312 LVL= 29392, 32753, 21890, 32755, AGC= 64, IDX= 415,-0.47,-2.982, 1.706,-2.580,-3.059, PHS= 0.179,-1.473, 0.435, RAW= 157.1,   9.6, CAL= 156.9,  10.3, ROT= 353.1, -10.3

2025-08-09T16:52:35.782Z,1754758355.782 [DAT](INFO): got valid direction response:
 16:52:34.1312 LVL= 29392, 32753, 21890, 32755, AGC= 64, IDX= 415,-0.47,-2.982, 1.706,-2.580,-3.059, PHS= 0.179,-1.473, 0.435, RAW= 157.1,   9.6, CAL= 156.9,  10.3, ROT= 353.1, -10.3

2025-08-09T16:52:35.783Z,1754758355.783 [DAT](INFO): DAT read: Bearing 309.4,  -7.5 (Local)

2025-08-09T16:52:35.783Z,1754758355.783 [DAT](INFO): Local bearing/azimuth received:
 Bearing 309.4,  -7.5 (Local)

2025-08-09T16:52:35.785Z,1754758355.785 [DAT](INFO): DAT read: Range 11 to 50 : 62.2 m  (Round-trip  83.0 ms) speed  0.6 m/s

2025-08-09T16:52:35.785Z,1754758355.785 [DAT](INFO): DAT read: user:185>

2025-08-09T16:52:35.786Z,1754758355.786 [DAT](INFO): DAT read: Tx time:16:52:35.2441

2025-08-09T16:52:35.786Z,1754758355.786 [DAT](INFO): Ping request sent.
2025-08-09T16:52:35.787Z,1754758355.787 [DAT](INFO): transmitted an acoustic signal
2025-08-09T16:52:35.787Z,1754758355.787 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-09T16:52:35.788Z,1754758355.788 [DAT](INFO): direction in FSK: [0.976759,-0.118201,0.178802]
2025-08-09T16:52:35.788Z,1754758355.788 [DAT](INFO): publishing transmit ping time
2025-08-09T16:52:35.788Z,1754758355.788 [DAT](INFO): publishing direction and range info
2025-08-09T16:52:35.794Z,1754758355.794 [DAT](INFO): publishing transmit ping time
2025-08-09T16:52:35.795Z,1754758355.795 [DAT](INFO): publishing direction and range info
2025-08-09T16:52:36.004Z,1754758356.004 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 62.200001 m,
      deltaT: 3.525426 s,
      deltaX: -2.399998 m,
      approachRate: -0.680768 m/s,
      rangeRepo size: 4

2025-08-09T16:52:36.006Z,1754758356.006 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 62.200001 m,
      bearing: 134.550038 deg,
      lat: 36.906065 deg,
      lon: -122.115893 deg,
      deltaT: 3.525426 s,
      deltaX: -2.399998 m,
      approachRate: -0.680768 m/s,
      posRepo size: 4

2025-08-09T16:52:36.011Z,1754758356.011 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 62.20 m.
2025-08-09T16:52:36.014Z,1754758356.014 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 62.200001 m,
      nav range: 60.982208 m,
      bearing: 134.550038 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.071402 deg/s,
      cmd heading: 139.448830 deg,
      new cmd heading: 139.330091 deg.

2025-08-09T16:52:36.362Z,1754758356.362 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 62.20 m.
2025-08-09T16:52:36.365Z,1754758356.365 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 62.200001 m,
      nav range: 60.720039 m,
      bearing: 134.526753 deg,
      approach rate: -0.730395 m/s,
      LOS rate: -0.065151 deg/s,
      cmd heading: 139.330094 deg,
      new cmd heading: 139.259938 deg.

2025-08-09T16:52:36.763Z,1754758356.763 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 62.20 m.
2025-08-09T16:52:36.765Z,1754758356.765 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 62.200001 m,
      nav range: 60.449177 m,
      bearing: 134.502444 deg,
      approach rate: -0.676916 m/s,
      LOS rate: -0.061025 deg/s,
      cmd heading: 139.259935 deg,
      new cmd heading: 139.186679 deg.

2025-08-09T16:52:37.207Z,1754758357.207 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 62.20 m.
2025-08-09T16:52:37.209Z,1754758357.209 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 62.200001 m,
      nav range: 60.161522 m,
      bearing: 134.476405 deg,
      approach rate: -0.647941 m/s,
      LOS rate: -0.058933 deg/s,
      cmd heading: 139.186674 deg,
      new cmd heading: 139.108184 deg.

2025-08-09T16:52:37.574Z,1754758357.574 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-09T16:52:37.576Z,1754758357.576 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 62.20 m.
2025-08-09T16:52:37.579Z,1754758357.579 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 62.200001 m,
      nav range: 59.924145 m,
      bearing: 134.454747 deg,
      approach rate: -0.642209 m/s,
      LOS rate: -0.058827 deg/s,
      cmd heading: 139.108182 deg,
      new cmd heading: 139.042950 deg.

2025-08-09T16:52:37.792Z,1754758357.792 [DAT](INFO): ****** received valid address query ******
2025-08-09T16:52:37.792Z,1754758357.792 [DAT](INFO): ****** received valid ping request ******
2025-08-09T16:52:37.792Z,1754758357.792 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-09T16:52:38.001Z,1754758358.001 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 62.20 m.
2025-08-09T16:52:38.004Z,1754758358.004 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 62.200001 m,
      nav range: 59.657738 m,
      bearing: 134.436738 deg,
      approach rate: -0.626470 m/s,
      LOS rate: -0.042537 deg/s,
      cmd heading: 139.042953 deg,
      new cmd heading: 138.988686 deg.

2025-08-09T16:52:38.045Z,1754758358.045 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.258246
2025-08-09T16:52:38.295Z,1754758358.295 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.508663
2025-08-09T16:52:38.380Z,1754758358.380 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 62.20 m.
2025-08-09T16:52:38.383Z,1754758358.383 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 62.200001 m,
      nav range: 59.422218 m,
      bearing: 134.420797 deg,
      approach rate: -0.621907 m/s,
      LOS rate: -0.042262 deg/s,
      cmd heading: 138.988681 deg,
      new cmd heading: 138.940667 deg.

2025-08-09T16:52:38.547Z,1754758358.547 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.760842
2025-08-09T16:52:38.782Z,1754758358.782 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 62.20 m.
2025-08-09T16:52:38.785Z,1754758358.785 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 62.200001 m,
      nav range: 59.172127 m,
      bearing: 134.403818 deg,
      approach rate: -0.621684 m/s,
      LOS rate: -0.042384 deg/s,
      cmd heading: 138.940664 deg,
      new cmd heading: 138.889513 deg.

2025-08-09T16:52:38.799Z,1754758358.799 [DAT](INFO): DAT read: Rx Time:16:52:37.7278

2025-08-09T16:52:38.800Z,1754758358.800 [DAT](INFO): Rx dataTimestamp_ set to:1754758358.799368
2025-08-09T16:52:38.800Z,1754758358.800 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.013622
2025-08-09T16:52:39.052Z,1754758359.052 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.264901
2025-08-09T16:52:39.222Z,1754758359.222 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 62.20 m.
2025-08-09T16:52:39.225Z,1754758359.225 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 62.200001 m,
      nav range: 58.882721 m,
      bearing: 134.391538 deg,
      approach rate: -0.657808 m/s,
      LOS rate: -0.028048 deg/s,
      cmd heading: 138.889520 deg,
      new cmd heading: 138.852500 deg.

2025-08-09T16:52:39.310Z,1754758359.310 [DAT](INFO): DAT read: 16:52:37.7278 LVL= 28288, 32753, 23938, 32243, AGC= 64, IDX= 411, 0.11,-2.841, 1.833,-2.412,-2.910, PHS= 0.170,-1.495, 0.453, RAW= 157.7,   9.6, CAL= 157.6,  10.3, ROT= 352.4, -10.3

2025-08-09T16:52:39.311Z,1754758359.311 [DAT](INFO): got valid direction response:
 16:52:37.7278 LVL= 28288, 32753, 23938, 32243, AGC= 64, IDX= 411, 0.11,-2.841, 1.833,-2.412,-2.910, PHS= 0.170,-1.495, 0.453, RAW= 157.7,   9.6, CAL= 157.6,  10.3, ROT= 352.4, -10.3

2025-08-09T16:52:39.312Z,1754758359.312 [DAT](INFO): DAT read: Bearing 309.3,  -9.0 (Local)

2025-08-09T16:52:39.312Z,1754758359.312 [DAT](INFO): Local bearing/azimuth received:
 Bearing 309.3,  -9.0 (Local)

2025-08-09T16:52:39.314Z,1754758359.314 [DAT](INFO): DAT read: Range 11 to 50 : 59.6 m  (Round-trip  79.5 ms) speed  0.5 m/s

2025-08-09T16:52:39.315Z,1754758359.315 [DAT](INFO): DAT read: user:186>

2025-08-09T16:52:39.316Z,1754758359.316 [DAT](INFO): DAT read: Tx time:16:52:38.8441

2025-08-09T16:52:39.316Z,1754758359.316 [DAT](INFO): Ping request sent.
2025-08-09T16:52:39.316Z,1754758359.316 [DAT](INFO): transmitted an acoustic signal
2025-08-09T16:52:39.317Z,1754758359.317 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-09T16:52:39.319Z,1754758359.319 [DAT](INFO): direction in FSK: [0.975242,-0.130125,0.178802]
2025-08-09T16:52:39.319Z,1754758359.319 [DAT](INFO): publishing transmit ping time
2025-08-09T16:52:39.320Z,1754758359.320 [DAT](INFO): publishing direction and range info
2025-08-09T16:52:39.324Z,1754758359.324 [DAT](INFO): publishing transmit ping time
2025-08-09T16:52:39.324Z,1754758359.324 [DAT](INFO): publishing direction and range info
2025-08-09T16:52:39.619Z,1754758359.619 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 59.599998 m,
      deltaT: 3.528784 s,
      deltaX: -2.600002 m,
      approachRate: -0.736798 m/s,
      rangeRepo size: 4

2025-08-09T16:52:39.621Z,1754758359.621 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 59.599998 m,
      bearing: 134.198529 deg,
      lat: 36.906066 deg,
      lon: -122.115892 deg,
      deltaT: 3.528784 s,
      deltaX: -2.600002 m,
      approachRate: -0.736798 m/s,
      posRepo size: 4

2025-08-09T16:52:39.622Z,1754758359.622 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.60 m.
2025-08-09T16:52:39.623Z,1754758359.623 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 59.60 m.
2025-08-09T16:52:39.626Z,1754758359.626 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 59.599998 m,
      nav range: 58.555431 m,
      bearing: 134.198529 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.028048 deg/s,
      cmd heading: 138.852500 deg,
      new cmd heading: 138.819148 deg.

2025-08-09T16:52:39.639Z,1754758359.639 [DockingStepper](INFO): Changing to mode: 2
2025-08-09T16:52:40.029Z,1754758360.029 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-09T16:52:40.031Z,1754758360.031 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.60 m.
2025-08-09T16:52:40.032Z,1754758360.032 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 59.60 m.
2025-08-09T16:52:40.035Z,1754758360.035 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 59.599998 m,
      nav range: 58.285038 m,
      bearing: 134.190176 deg,
      approach rate: -0.655246 m/s,
      LOS rate: -0.020335 deg/s,
      cmd heading: 138.819142 deg,
      new cmd heading: 138.793967 deg.

2025-08-09T16:52:40.063Z,1754758360.063 [DAT](INFO): ****** received valid address query ******
2025-08-09T16:52:40.063Z,1754758360.063 [DAT](INFO): ****** received valid ping request ******
2025-08-09T16:52:40.063Z,1754758360.063 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-09T16:52:40.315Z,1754758360.315 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.998809
2025-08-09T16:52:40.411Z,1754758360.411 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.60 m.
2025-08-09T16:52:40.411Z,1754758360.411 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 59.60 m.
2025-08-09T16:52:40.414Z,1754758360.414 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 59.599998 m,
      nav range: 58.037380 m,
      bearing: 134.182698 deg,
      approach rate: -0.652892 m/s,
      LOS rate: -0.019800 deg/s,
      cmd heading: 138.793966 deg,
      new cmd heading: 138.771434 deg.

2025-08-09T16:52:40.567Z,1754758360.567 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.250721
2025-08-09T16:52:40.807Z,1754758360.807 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.60 m.
2025-08-09T16:52:40.807Z,1754758360.807 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 59.60 m.
2025-08-09T16:52:40.810Z,1754758360.810 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 59.599998 m,
      nav range: 57.779388 m,
      bearing: 134.175306 deg,
      approach rate: -0.650886 m/s,
      LOS rate: -0.018732 deg/s,
      cmd heading: 138.771440 deg,
      new cmd heading: 138.749166 deg.

2025-08-09T16:52:40.819Z,1754758360.819 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.502917
2025-08-09T16:52:41.073Z,1754758361.073 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.756163
2025-08-09T16:52:41.234Z,1754758361.234 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.60 m.
2025-08-09T16:52:41.235Z,1754758361.235 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 59.60 m.
2025-08-09T16:52:41.237Z,1754758361.237 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 59.599998 m,
      nav range: 57.494339 m,
      bearing: 134.180216 deg,
      approach rate: -0.667612 m/s,
      LOS rate: 0.011557 deg/s,
      cmd heading: 138.749159 deg,
      new cmd heading: 138.763963 deg.

2025-08-09T16:52:41.324Z,1754758361.324 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.007148
2025-08-09T16:52:41.575Z,1754758361.575 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.258813
2025-08-09T16:52:41.622Z,1754758361.622 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.60 m.
2025-08-09T16:52:41.623Z,1754758361.623 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 59.60 m.
2025-08-09T16:52:41.626Z,1754758361.626 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 59.599998 m,
      nav range: 57.234978 m,
      bearing: 134.184988 deg,
      approach rate: -0.667997 m/s,
      LOS rate: 0.012345 deg/s,
      cmd heading: 138.763967 deg,
      new cmd heading: 138.778347 deg.

2025-08-09T16:52:41.828Z,1754758361.828 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.511130
2025-08-09T16:52:42.041Z,1754758362.041 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-09T16:52:42.043Z,1754758362.043 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.60 m.
2025-08-09T16:52:42.044Z,1754758362.044 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 59.60 m.
2025-08-09T16:52:42.047Z,1754758362.047 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 59.599998 m,
      nav range: 56.960220 m,
      bearing: 134.191205 deg,
      approach rate: -0.652409 m/s,
      LOS rate: 0.014833 deg/s,
      cmd heading: 138.778352 deg,
      new cmd heading: 138.797092 deg.

2025-08-09T16:52:42.079Z,1754758362.079 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.762848
2025-08-09T16:52:42.331Z,1754758362.331 [DAT](INFO): DAT read: Rx Time:16:52:41.3248

2025-08-09T16:52:42.332Z,1754758362.332 [DAT](INFO): Rx dataTimestamp_ set to:1754758362.331546
2025-08-09T16:52:42.332Z,1754758362.332 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.015911
2025-08-09T16:52:42.426Z,1754758362.426 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.60 m.
2025-08-09T16:52:42.427Z,1754758362.427 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 59.60 m.
2025-08-09T16:52:42.430Z,1754758362.430 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 59.599998 m,
      nav range: 56.709198 m,
      bearing: 134.197233 deg,
      approach rate: -0.655466 m/s,
      LOS rate: 0.015811 deg/s,
      cmd heading: 138.797094 deg,
      new cmd heading: 138.815259 deg.

2025-08-09T16:52:42.583Z,1754758362.583 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.266732
2025-08-09T16:52:42.839Z,1754758362.839 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.521359
2025-08-09T16:52:42.893Z,1754758362.893 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.60 m.
2025-08-09T16:52:42.893Z,1754758362.893 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 59.60 m.
2025-08-09T16:52:42.900Z,1754758362.900 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 59.599998 m,
      nav range: 56.430916 m,
      bearing: 134.204132 deg,
      approach rate: -0.596333 m/s,
      LOS rate: 0.014855 deg/s,
      cmd heading: 138.815262 deg,
      new cmd heading: 138.836059 deg.

2025-08-09T16:52:43.093Z,1754758363.093 [DAT](INFO): DAT read: 16:52:41.3248 LVL= 32752, 32753, 28626, 32755, AGC= 65, IDX= 412, 0.29, 1.656, 0.026, 2.071, 1.599, PHS= 0.159,-1.528, 0.429, RAW= 157.3,  10.3, CAL= 157.2,  11.2, ROT= 352.8, -11.2

2025-08-09T16:52:43.094Z,1754758363.094 [DAT](INFO): got valid direction response:
 16:52:41.3248 LVL= 32752, 32753, 28626, 32755, AGC= 65, IDX= 412, 0.29, 1.656, 0.026, 2.071, 1.599, PHS= 0.159,-1.528, 0.429, RAW= 157.3,  10.3, CAL= 157.2,  11.2, ROT= 352.8, -11.2

2025-08-09T16:52:43.095Z,1754758363.095 [DAT](INFO): DAT read: Bearing 309.8,  -9.0 (Local)

2025-08-09T16:52:43.095Z,1754758363.095 [DAT](INFO): Local bearing/azimuth received:
 Bearing 309.8,  -9.0 (Local)

2025-08-09T16:52:43.097Z,1754758363.097 [DAT](INFO): DAT read: Range 11 to 50 : 57.3 m  (Round-trip  76.5 ms) speed  0.5 m/s

2025-08-09T16:52:43.098Z,1754758363.098 [DAT](INFO): DAT read: user:187>

2025-08-09T16:52:43.098Z,1754758363.098 [DAT](INFO): DAT read: Tx time:16:52:42.4441

2025-08-09T16:52:43.099Z,1754758363.099 [DAT](INFO): Ping request sent.
2025-08-09T16:52:43.099Z,1754758363.099 [DAT](INFO): transmitted an acoustic signal
2025-08-09T16:52:43.099Z,1754758363.099 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-09T16:52:43.100Z,1754758363.100 [DAT](INFO): direction in FSK: [0.973220,-0.122947,0.194234]
2025-08-09T16:52:43.100Z,1754758363.100 [DAT](INFO): publishing transmit ping time
2025-08-09T16:52:43.100Z,1754758363.100 [DAT](INFO): publishing direction and range info
2025-08-09T16:52:43.104Z,1754758363.104 [DAT](INFO): publishing transmit ping time
2025-08-09T16:52:43.104Z,1754758363.104 [DAT](INFO): publishing direction and range info
2025-08-09T16:52:43.359Z,1754758363.359 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 57.299999 m,
      deltaT: 3.783272 s,
      deltaX: -2.299999 m,
      approachRate: -0.607939 m/s,
      rangeRepo size: 4

2025-08-09T16:52:43.361Z,1754758363.361 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 57.299999 m,
      bearing: 133.727590 deg,
      lat: 36.906069 deg,
      lon: -122.115888 deg,
      deltaT: 3.783272 s,
      deltaX: -2.299999 m,
      approachRate: -0.607939 m/s,
      posRepo size: 4

2025-08-09T16:52:43.362Z,1754758363.362 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 57.30 m.
2025-08-09T16:52:43.367Z,1754758363.367 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 57.30 m.
2025-08-09T16:52:43.370Z,1754758363.370 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 57.299999 m,
      nav range: 56.221107 m,
      bearing: 133.727590 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.014855 deg/s,
      cmd heading: 138.836053 deg,
      new cmd heading: 138.856430 deg.

2025-08-09T16:52:43.703Z,1754758363.703 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 57.30 m.
2025-08-09T16:52:43.704Z,1754758363.704 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 57.30 m.
2025-08-09T16:52:43.707Z,1754758363.707 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 57.299999 m,
      nav range: 55.984821 m,
      bearing: 133.730925 deg,
      approach rate: -0.668987 m/s,
      LOS rate: 0.009482 deg/s,
      cmd heading: 138.856434 deg,
      new cmd heading: 138.866481 deg.

2025-08-09T16:52:44.114Z,1754758364.114 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-09T16:52:44.116Z,1754758364.116 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 57.30 m.
2025-08-09T16:52:44.116Z,1754758364.116 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 57.30 m.
2025-08-09T16:52:44.141Z,1754758364.141 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 57.299999 m,
      nav range: 55.717537 m,
      bearing: 133.739272 deg,
      approach rate: -0.647734 m/s,
      LOS rate: 0.020326 deg/s,
      cmd heading: 138.866475 deg,
      new cmd heading: 138.891637 deg.

2025-08-09T16:52:44.347Z,1754758364.347 [DAT](INFO): ****** received valid address query ******
2025-08-09T16:52:44.347Z,1754758364.347 [DAT](INFO): ****** received valid ping request ******
2025-08-09T16:52:44.347Z,1754758364.347 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-09T16:52:44.511Z,1754758364.511 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 57.30 m.
2025-08-09T16:52:44.511Z,1754758364.511 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 57.30 m.
2025-08-09T16:52:44.514Z,1754758364.514 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 57.299999 m,
      nav range: 55.461334 m,
      bearing: 133.747286 deg,
      approach rate: -0.649298 m/s,
      LOS rate: 0.020403 deg/s,
      cmd heading: 138.891637 deg,
      new cmd heading: 138.915789 deg.

2025-08-09T16:52:44.600Z,1754758364.600 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.501359
2025-08-09T16:52:44.856Z,1754758364.856 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.756019
2025-08-09T16:52:44.907Z,1754758364.907 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 57.30 m.
2025-08-09T16:52:44.908Z,1754758364.908 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 57.30 m.
2025-08-09T16:52:44.911Z,1754758364.911 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 57.299999 m,
      nav range: 55.203972 m,
      bearing: 133.755389 deg,
      approach rate: -0.648655 m/s,
      LOS rate: 0.020519 deg/s,
      cmd heading: 138.915789 deg,
      new cmd heading: 138.940213 deg.

2025-08-09T16:52:45.103Z,1754758365.103 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.004457
2025-08-09T16:52:45.355Z,1754758365.355 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.256553
2025-08-09T16:52:45.370Z,1754758365.370 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 57.30 m.
2025-08-09T16:52:45.371Z,1754758365.371 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 57.30 m.
2025-08-09T16:52:45.374Z,1754758365.374 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 57.299999 m,
      nav range: 54.909374 m,
      bearing: 133.763195 deg,
      approach rate: -0.665233 m/s,
      LOS rate: 0.017721 deg/s,
      cmd heading: 138.940214 deg,
      new cmd heading: 138.963757 deg.

2025-08-09T16:52:45.608Z,1754758365.608 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.509127
2025-08-09T16:52:45.752Z,1754758365.752 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 57.30 m.
2025-08-09T16:52:45.753Z,1754758365.753 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 57.30 m.
2025-08-09T16:52:45.753Z,1754758365.753 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Final approach. Armed for intercept at range: 57.30 m.
2025-08-09T16:52:45.753Z,1754758365.753 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Transitioning guidance mode to: FINAL_APPROACH
2025-08-09T16:52:45.764Z,1754758365.764 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 57.299999 m,
      nav range: 54.652538 m,
      bearing: 133.769173 deg,
      approach rate: -0.638945 m/s,
      LOS rate: 0.014941 deg/s,
      cmd heading: 138.963750 deg,
      new cmd heading: 138.981767 deg.

2025-08-09T16:52:45.861Z,1754758365.861 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.761715
2025-08-09T16:52:46.111Z,1754758366.111 [DAT](INFO): DAT read: Rx Time:16:52:44.9218

2025-08-09T16:52:46.112Z,1754758366.112 [DAT](INFO): Rx dataTimestamp_ set to:1754758366.111589
2025-08-09T16:52:46.112Z,1754758366.112 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.013661
2025-08-09T16:52:46.202Z,1754758366.202 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-09T16:52:46.208Z,1754758366.208 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 57.30 m.
2025-08-09T16:52:46.215Z,1754758366.215 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 57.299999 m,
      nav range: 54.343742 m,
      bearing: 133.767316 deg,
      approach rate: -0.677539 m/s,
      LOS rate: -0.004096 deg/s,
      cmd heading: 138.981768 deg,
      new cmd heading: 138.976168 deg.

2025-08-09T16:52:46.216Z,1754758366.216 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.425592 target range: 57.299999 and range: 57.30 m.
2025-08-09T16:52:46.364Z,1754758366.364 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.265386
2025-08-09T16:52:46.546Z,1754758366.546 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 57.30 m.
2025-08-09T16:52:46.549Z,1754758366.549 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 57.299999 m,
      nav range: 54.112762 m,
      bearing: 133.765483 deg,
      approach rate: -0.683664 m/s,
      LOS rate: -0.005450 deg/s,
      cmd heading: 138.976168 deg,
      new cmd heading: 138.970643 deg.

2025-08-09T16:52:46.550Z,1754758366.550 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.425495 target range: 57.299999 and range: 57.30 m.
2025-08-09T16:52:46.621Z,1754758366.621 [DAT](INFO): DAT read: 16:52:44.9218 LVL= 24944, 32497, 21042, 31347, AGC= 64, IDX= 414, 0.15,-0.919,-2.501,-0.503,-0.981, PHS= 0.165,-1.475, 0.435, RAW= 157.5,   9.8, CAL= 157.4,  10.6, ROT= 352.6, -10.6

2025-08-09T16:52:46.623Z,1754758366.623 [DAT](INFO): got valid direction response:
 16:52:44.9218 LVL= 24944, 32497, 21042, 31347, AGC= 64, IDX= 414, 0.15,-0.919,-2.501,-0.503,-0.981, PHS= 0.165,-1.475, 0.435, RAW= 157.5,   9.8, CAL= 157.4,  10.6, ROT= 352.6, -10.6

2025-08-09T16:52:46.624Z,1754758366.624 [DAT](INFO): DAT read: Bearing 308.9,  -8.9 (Local)

2025-08-09T16:52:46.625Z,1754758366.625 [DAT](INFO): Local bearing/azimuth received:
 Bearing 308.9,  -8.9 (Local)

2025-08-09T16:52:46.628Z,1754758366.628 [DAT](INFO): DAT read: Range 11 to 50 : 55.2 m  (Round-trip  73.6 ms) speed  0.6 m/s

2025-08-09T16:52:46.629Z,1754758366.629 [DAT](INFO): DAT read: user:188>

2025-08-09T16:52:46.630Z,1754758366.630 [DAT](INFO): DAT read: Tx time:16:52:46.0441

2025-08-09T16:52:46.630Z,1754758366.630 [DAT](INFO): Ping request sent.
2025-08-09T16:52:46.631Z,1754758366.631 [DAT](INFO): transmitted an acoustic signal
2025-08-09T16:52:46.631Z,1754758366.631 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-09T16:52:46.633Z,1754758366.633 [DAT](INFO): direction in FSK: [0.974749,-0.126597,0.183951]
2025-08-09T16:52:46.634Z,1754758366.634 [DAT](INFO): publishing transmit ping time
2025-08-09T16:52:46.649Z,1754758366.649 [DAT](INFO): publishing direction and range info
2025-08-09T16:52:46.673Z,1754758366.673 [DAT](INFO): publishing transmit ping time
2025-08-09T16:52:46.673Z,1754758366.673 [DAT](INFO): publishing direction and range info
2025-08-09T16:52:46.964Z,1754758366.964 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 55.200001 m,
      deltaT: 3.528171 s,
      deltaX: -2.099998 m,
      approachRate: -0.595209 m/s,
      rangeRepo size: 4

2025-08-09T16:52:46.967Z,1754758366.967 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 55.200001 m,
      bearing: 133.570982 deg,
      lat: 36.906069 deg,
      lon: -122.115885 deg,
      deltaT: 3.528171 s,
      deltaX: -2.099998 m,
      approachRate: -0.595209 m/s,
      posRepo size: 4

2025-08-09T16:52:46.967Z,1754758366.967 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 55.20 m.
2025-08-09T16:52:46.970Z,1754758366.970 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 55.200001 m,
      nav range: 54.014511 m,
      bearing: 133.570982 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.005450 deg/s,
      cmd heading: 138.970649 deg,
      new cmd heading: 138.963815 deg.

2025-08-09T16:52:46.972Z,1754758366.972 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.425376 target range: 55.200001 and range: 55.20 m.
2025-08-09T16:52:47.381Z,1754758367.381 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 55.20 m.
2025-08-09T16:52:47.404Z,1754758367.404 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 55.200001 m,
      nav range: 53.733582 m,
      bearing: 133.567175 deg,
      approach rate: -0.672502 m/s,
      LOS rate: -0.009161 deg/s,
      cmd heading: 138.963819 deg,
      new cmd heading: 138.952338 deg.

2025-08-09T16:52:47.405Z,1754758367.405 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.425176 target range: 55.200001 and range: 55.20 m.
2025-08-09T16:52:47.755Z,1754758367.755 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 55.20 m.
2025-08-09T16:52:47.757Z,1754758367.757 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 55.200001 m,
      nav range: 53.485004 m,
      bearing: 133.563046 deg,
      approach rate: -0.666620 m/s,
      LOS rate: -0.011124 deg/s,
      cmd heading: 138.952344 deg,
      new cmd heading: 138.939899 deg.

2025-08-09T16:52:47.758Z,1754758367.758 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.424959 target range: 55.200001 and range: 55.20 m.
2025-08-09T16:52:48.207Z,1754758368.207 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-09T16:52:48.209Z,1754758368.209 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 55.20 m.
2025-08-09T16:52:48.212Z,1754758368.212 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 55.200001 m,
      nav range: 53.205326 m,
      bearing: 133.555691 deg,
      approach rate: -0.615178 m/s,
      LOS rate: -0.016264 deg/s,
      cmd heading: 138.939899 deg,
      new cmd heading: 138.917717 deg.

2025-08-09T16:52:48.213Z,1754758368.213 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.424572 target range: 55.200001 and range: 55.20 m.
2025-08-09T16:52:48.379Z,1754758368.379 [DAT](INFO): ****** received valid address query ******
2025-08-09T16:52:48.379Z,1754758368.379 [DAT](INFO): ****** received valid ping request ******
2025-08-09T16:52:48.379Z,1754758368.379 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-09T16:52:48.578Z,1754758368.578 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 55.20 m.
2025-08-09T16:52:48.581Z,1754758368.581 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 55.200001 m,
      nav range: 52.987362 m,
      bearing: 133.549852 deg,
      approach rate: -0.596724 m/s,
      LOS rate: -0.016052 deg/s,
      cmd heading: 138.917715 deg,
      new cmd heading: 138.900125 deg.

2025-08-09T16:52:48.587Z,1754758368.587 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.424264 target range: 55.200001 and range: 55.20 m.
2025-08-09T16:52:48.634Z,1754758368.634 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.003083
2025-08-09T16:52:48.884Z,1754758368.884 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.253299
2025-08-09T16:52:48.977Z,1754758368.977 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 55.20 m.
2025-08-09T16:52:48.979Z,1754758368.979 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 55.200001 m,
      nav range: 52.732212 m,
      bearing: 133.542926 deg,
      approach rate: -0.634190 m/s,
      LOS rate: -0.017299 deg/s,
      cmd heading: 138.900120 deg,
      new cmd heading: 138.879241 deg.

2025-08-09T16:52:48.980Z,1754758368.980 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.423900 target range: 55.200001 and range: 55.20 m.
2025-08-09T16:52:49.136Z,1754758369.136 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.505381
2025-08-09T16:52:49.387Z,1754758369.387 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.757036
2025-08-09T16:52:49.397Z,1754758369.397 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 55.20 m.
2025-08-09T16:52:49.400Z,1754758369.400 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 55.200001 m,
      nav range: 52.465405 m,
      bearing: 133.527268 deg,
      approach rate: -0.633844 m/s,
      LOS rate: -0.037385 deg/s,
      cmd heading: 138.879247 deg,
      new cmd heading: 138.832037 deg.

2025-08-09T16:52:49.401Z,1754758369.401 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.423076 target range: 55.200001 and range: 55.20 m.
2025-08-09T16:52:49.644Z,1754758369.644 [DAT](INFO): DAT read: Rx Time:16:52:48.5187

2025-08-09T16:52:49.645Z,1754758369.645 [DAT](INFO): Rx dataTimestamp_ set to:1754758369.643883
2025-08-09T16:52:49.646Z,1754758369.646 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.015478
2025-08-09T16:52:49.782Z,1754758369.782 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 55.20 m.
2025-08-09T16:52:49.785Z,1754758369.785 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 55.200001 m,
      nav range: 52.221699 m,
      bearing: 133.512867 deg,
      approach rate: -0.634168 m/s,
      LOS rate: -0.037651 deg/s,
      cmd heading: 138.832037 deg,
      new cmd heading: 138.788630 deg.

2025-08-09T16:52:49.787Z,1754758369.787 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.422318 target range: 55.200001 and range: 55.20 m.
2025-08-09T16:52:49.891Z,1754758369.891 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.261091
2025-08-09T16:52:50.153Z,1754758370.153 [DAT](INFO): DAT read: 16:52:48.5187 LVL= 26864, 30961, 21298, 32755, AGC= 61, IDX= 414,-0.29, 2.388, 0.863, 2.801, 2.339, PHS= 0.151,-1.431, 0.418, RAW= 157.7,  10.0, CAL= 157.6,  10.8, ROT= 352.4, -10.8

2025-08-09T16:52:50.158Z,1754758370.158 [DAT](INFO): got valid direction response:
 16:52:48.5187 LVL= 26864, 30961, 21298, 32755, AGC= 61, IDX= 414,-0.29, 2.388, 0.863, 2.801, 2.339, PHS= 0.151,-1.431, 0.418, RAW= 157.7,  10.0, CAL= 157.6,  10.8, ROT= 352.4, -10.8

2025-08-09T16:52:50.159Z,1754758370.159 [DAT](INFO): DAT read: Bearing 309.3,  -8.7 (Local)

2025-08-09T16:52:50.160Z,1754758370.160 [DAT](INFO): Local bearing/azimuth received:
 Bearing 309.3,  -8.7 (Local)

2025-08-09T16:52:50.161Z,1754758370.161 [DAT](INFO): DAT read: Range 11 to 50 : 52.8 m  (Round-trip  70.5 ms) speed  0.6 m/s

2025-08-09T16:52:50.162Z,1754758370.162 [DAT](INFO): DAT read: user:189>

2025-08-09T16:52:50.163Z,1754758370.163 [DAT](INFO): DAT read: Tx time:16:52:49.6441

2025-08-09T16:52:50.163Z,1754758370.163 [DAT](INFO): Ping request sent.
2025-08-09T16:52:50.163Z,1754758370.163 [DAT](INFO): transmitted an acoustic signal
2025-08-09T16:52:50.163Z,1754758370.163 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-09T16:52:50.164Z,1754758370.164 [DAT](INFO): direction in FSK: [0.973658,-0.129914,0.187381]
2025-08-09T16:52:50.165Z,1754758370.165 [DAT](INFO): publishing transmit ping time
2025-08-09T16:52:50.165Z,1754758370.165 [DAT](INFO): publishing direction and range info
2025-08-09T16:52:50.169Z,1754758370.169 [DAT](INFO): publishing transmit ping time
2025-08-09T16:52:50.169Z,1754758370.169 [DAT](INFO): publishing direction and range info
2025-08-09T16:52:50.323Z,1754758370.323 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 52.799999 m,
      deltaT: 3.528271 s,
      deltaX: -2.400002 m,
      approachRate: -0.680220 m/s,
      rangeRepo size: 4

2025-08-09T16:52:50.325Z,1754758370.325 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 52.799999 m,
      bearing: 133.378098 deg,
      lat: 36.906070 deg,
      lon: -122.115885 deg,
      deltaT: 3.528271 s,
      deltaX: -2.400002 m,
      approachRate: -0.680220 m/s,
      posRepo size: 4

2025-08-09T16:52:50.326Z,1754758370.326 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 52.80 m.
2025-08-09T16:52:50.337Z,1754758370.337 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 52.799999 m,
      nav range: 51.786709 m,
      bearing: 133.378098 deg,
      approach rate: -10509522715563772290885746688 m/s,
      LOS rate: -0.037651 deg/s,
      cmd heading: 138.788624 deg,
      new cmd heading: 138.728023 deg.

2025-08-09T16:52:50.343Z,1754758370.343 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.421261 target range: 52.799999 and range: 52.80 m.
2025-08-09T16:52:50.682Z,1754758370.682 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-09T16:52:50.684Z,1754758370.684 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 52.80 m.
2025-08-09T16:52:50.687Z,1754758370.687 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 52.799999 m,
      nav range: 51.541027 m,
      bearing: 133.362511 deg,
      approach rate: -0.670849 m/s,
      LOS rate: -0.042765 deg/s,
      cmd heading: 138.728027 deg,
      new cmd heading: 138.681042 deg.

2025-08-09T16:52:50.688Z,1754758370.688 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.420441 target range: 52.799999 and range: 52.80 m.
2025-08-09T16:52:50.899Z,1754758370.899 [DAT](INFO): ****** received valid address query ******
2025-08-09T16:52:50.900Z,1754758370.900 [DAT](INFO): ****** received valid ping request ******
2025-08-09T16:52:50.900Z,1754758370.900 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-09T16:52:51.139Z,1754758371.139 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 52.80 m.
2025-08-09T16:52:51.145Z,1754758371.145 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 52.799999 m,
      nav range: 51.251030 m,
      bearing: 133.344055 deg,
      approach rate: -0.638999 m/s,
      LOS rate: -0.040897 deg/s,
      cmd heading: 138.681049 deg,
      new cmd heading: 138.625368 deg.

2025-08-09T16:52:51.147Z,1754758371.147 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.419469 target range: 52.799999 and range: 52.80 m.
2025-08-09T16:52:51.153Z,1754758371.153 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.989422
2025-08-09T16:52:51.405Z,1754758371.405 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.241818
2025-08-09T16:52:51.556Z,1754758371.556 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 52.80 m.
2025-08-09T16:52:51.563Z,1754758371.563 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 52.799999 m,
      nav range: 50.991505 m,
      bearing: 133.318846 deg,
      approach rate: -0.621726 m/s,
      LOS rate: -0.060698 deg/s,
      cmd heading: 138.625369 deg,
      new cmd heading: 138.549359 deg.

2025-08-09T16:52:51.564Z,1754758371.564 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.418143 target range: 52.799999 and range: 52.80 m.
2025-08-09T16:52:51.655Z,1754758371.655 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.492156
2025-08-09T16:52:51.908Z,1754758371.908 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.744577
2025-08-09T16:52:51.917Z,1754758371.917 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 52.80 m.
2025-08-09T16:52:51.920Z,1754758371.920 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 52.799999 m,
      nav range: 50.744381 m,
      bearing: 133.294589 deg,
      approach rate: -0.684912 m/s,
      LOS rate: -0.067556 deg/s,
      cmd heading: 138.549363 deg,
      new cmd heading: 138.476238 deg.

2025-08-09T16:52:51.921Z,1754758371.921 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.416866 target range: 52.799999 and range: 52.80 m.
2025-08-09T16:52:52.161Z,1754758372.161 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.997335
2025-08-09T16:52:52.343Z,1754758372.343 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 52.80 m.
2025-08-09T16:52:52.345Z,1754758372.345 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 52.799999 m,
      nav range: 50.468925 m,
      bearing: 133.263140 deg,
      approach rate: -0.646834 m/s,
      LOS rate: -0.074254 deg/s,
      cmd heading: 138.476239 deg,
      new cmd heading: 138.381375 deg.

2025-08-09T16:52:52.347Z,1754758372.347 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.415211 target range: 52.799999 and range: 52.80 m.
2025-08-09T16:52:52.413Z,1754758372.413 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.249602
2025-08-09T16:52:52.663Z,1754758372.663 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.500216
2025-08-09T16:52:52.736Z,1754758372.736 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-09T16:52:52.738Z,1754758372.738 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 52.80 m.
2025-08-09T16:52:52.741Z,1754758372.741 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 52.799999 m,
      nav range: 50.214382 m,
      bearing: 133.233556 deg,
      approach rate: -0.643169 m/s,
      LOS rate: -0.075130 deg/s,
      cmd heading: 138.381381 deg,
      new cmd heading: 138.292180 deg.

2025-08-09T16:52:52.742Z,1754758372.742 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.413654 target range: 52.799999 and range: 52.80 m.
2025-08-09T16:52:52.915Z,1754758372.915 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.752262
2025-08-09T16:52:53.167Z,1754758373.167 [DAT](INFO): DAT read: Rx Time:16:52:52.1155

2025-08-09T16:52:53.168Z,1754758373.168 [DAT](INFO): Rx dataTimestamp_ set to:1754758373.167543
2025-08-09T16:52:53.168Z,1754758373.168 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.005344
2025-08-09T16:52:53.223Z,1754758373.223 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 52.80 m.
2025-08-09T16:52:53.230Z,1754758373.230 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 52.799999 m,
      nav range: 49.934135 m,
      bearing: 133.201951 deg,
      approach rate: -0.577568 m/s,
      LOS rate: -0.065501 deg/s,
      cmd heading: 138.292179 deg,
      new cmd heading: 138.196832 deg.

2025-08-09T16:52:53.231Z,1754758373.231 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.411990 target range: 52.799999 and range: 52.80 m.
2025-08-09T16:52:53.419Z,1754758373.419 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.256288
2025-08-09T16:52:53.547Z,1754758373.547 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 52.80 m.
2025-08-09T16:52:53.550Z,1754758373.550 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 52.799999 m,
      nav range: 49.713287 m,
      bearing: 133.176512 deg,
      approach rate: -0.681899 m/s,
      LOS rate: -0.078898 deg/s,
      cmd heading: 138.196829 deg,
      new cmd heading: 138.120171 deg.

2025-08-09T16:52:53.551Z,1754758373.551 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.410652 target range: 52.799999 and range: 52.80 m.
2025-08-09T16:52:53.679Z,1754758373.679 [DAT](INFO): DAT read: 16:52:52.1155 LVL= 28384, 32753, 24802, 32755, AGC= 60, IDX= 413,-0.12,-1.189,-2.702,-0.750,-1.220, PHS= 0.133,-1.437, 0.426, RAW= 158.4,  10.1, CAL= 158.4,  11.0, ROT= 351.6, -11.0

2025-08-09T16:52:53.680Z,1754758373.680 [DAT](INFO): got valid direction response:
 16:52:52.1155 LVL= 28384, 32753, 24802, 32755, AGC= 60, IDX= 413,-0.12,-1.189,-2.702,-0.750,-1.220, PHS= 0.133,-1.437, 0.426, RAW= 158.4,  10.1, CAL= 158.4,  11.0, ROT= 351.6, -11.0

2025-08-09T16:52:53.681Z,1754758373.681 [DAT](INFO): DAT read: Bearing 309.2,  -9.7 (Local)

2025-08-09T16:52:53.681Z,1754758373.681 [DAT](INFO): Local bearing/azimuth received:
 Bearing 309.2,  -9.7 (Local)

2025-08-09T16:52:53.683Z,1754758373.683 [DAT](INFO): DAT read: Range 11 to 50 : 50.4 m  (Round-trip  67.2 ms) speed  0.5 m/s

2025-08-09T16:52:53.683Z,1754758373.683 [DAT](INFO): DAT read: user:190>

2025-08-09T16:52:53.684Z,1754758373.684 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-09T16:52:53.685Z,1754758373.685 [DAT](INFO): direction in FSK: [0.971097,-0.143399,0.190809]
2025-08-09T16:52:53.685Z,1754758373.685 [DAT](INFO): publishing direction and range info
2025-08-09T16:52:53.688Z,1754758373.688 [DAT](INFO): ****** received valid address query ******
2025-08-09T16:52:53.688Z,1754758373.688 [DAT](INFO): ****** received valid ping request ******
2025-08-09T16:52:53.689Z,1754758373.689 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-09T16:52:53.923Z,1754758373.923 [DAT](INFO): DAT read: Tx tim:6:2:53.2441

2025-08-09T16:52:53.924Z,1754758373.924 [DAT](INFO): unknown deviceResponse_: Tx tim:6:2:53.2441

2025-08-09T16:52:53.924Z,1754758373.924 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.761211
2025-08-09T16:52:53.992Z,1754758373.992 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 50.400002 m,
      deltaT: 3.528971 s,
      deltaX: -2.399998 m,
      approachRate: -0.680084 m/s,
      rangeRepo size: 4

2025-08-09T16:52:53.999Z,1754758373.999 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 50.400002 m,
      bearing: 132.956243 deg,
      lat: 36.906072 deg,
      lon: -122.115885 deg,
      deltaT: 3.528971 s,
      deltaX: -2.399998 m,
      approachRate: -0.680084 m/s,
      posRepo size: 4

2025-08-09T16:52:53.999Z,1754758373.999 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 50.40 m.
2025-08-09T16:52:54.002Z,1754758374.002 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 50.400002 m,
      nav range: 49.347332 m,
      bearing: 132.956243 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.078898 deg/s,
      cmd heading: 138.120167 deg,
      new cmd heading: 138.014957 deg.

2025-08-09T16:52:54.004Z,1754758374.004 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.408815 target range: 50.400002 and range: 50.40 m.
2025-08-09T16:52:54.176Z,1754758374.176 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.012705
2025-08-09T16:52:54.374Z,1754758374.374 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 50.40 m.
2025-08-09T16:52:54.377Z,1754758374.377 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 50.400002 m,
      nav range: 49.083153 m,
      bearing: 132.930396 deg,
      approach rate: -0.691236 m/s,
      LOS rate: -0.067995 deg/s,
      cmd heading: 138.014955 deg,
      new cmd heading: 137.936996 deg.

2025-08-09T16:52:54.379Z,1754758374.379 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.407455 target range: 50.400002 and range: 50.40 m.
2025-08-09T16:52:54.428Z,1754758374.428 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.264809
2025-08-09T16:52:54.679Z,1754758374.679 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.516119
2025-08-09T16:52:54.764Z,1754758374.764 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-09T16:52:54.766Z,1754758374.766 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 50.40 m.
2025-08-09T16:52:54.769Z,1754758374.769 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 50.400002 m,
      nav range: 48.835632 m,
      bearing: 132.905551 deg,
      approach rate: -0.631406 m/s,
      LOS rate: -0.063699 deg/s,
      cmd heading: 137.936995 deg,
      new cmd heading: 137.862083 deg.

2025-08-09T16:52:54.770Z,1754758374.770 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.406147 target range: 50.400002 and range: 50.40 m.
2025-08-09T16:52:54.931Z,1754758374.931 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.768209
2025-08-09T16:52:55.183Z,1754758375.183 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.020350
2025-08-09T16:52:55.232Z,1754758375.232 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 50.40 m.
2025-08-09T16:52:55.235Z,1754758375.235 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 50.400002 m,
      nav range: 48.543503 m,
      bearing: 132.875565 deg,
      approach rate: -0.627021 m/s,
      LOS rate: -0.064749 deg/s,
      cmd heading: 137.862082 deg,
      new cmd heading: 137.771582 deg.

2025-08-09T16:52:55.236Z,1754758375.236 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.404568 target range: 50.400002 and range: 50.40 m.
2025-08-09T16:52:55.436Z,1754758375.436 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.273226
2025-08-09T16:52:55.568Z,1754758375.568 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 50.40 m.
2025-08-09T16:52:55.571Z,1754758375.571 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 50.400002 m,
      nav range: 48.328655 m,
      bearing: 132.852943 deg,
      approach rate: -0.639774 m/s,
      LOS rate: -0.067663 deg/s,
      cmd heading: 137.771582 deg,
      new cmd heading: 137.703414 deg.

2025-08-09T16:52:55.572Z,1754758375.572 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.403378 target range: 50.400002 and range: 50.40 m.
2025-08-09T16:52:55.687Z,1754758375.687 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.524278
2025-08-09T16:52:55.939Z,1754758375.939 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.776197
2025-08-09T16:52:55.975Z,1754758375.975 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 50.40 m.
2025-08-09T16:52:55.978Z,1754758375.978 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 50.400002 m,
      nav range: 48.073448 m,
      bearing: 132.825668 deg,
      approach rate: -0.625889 m/s,
      LOS rate: -0.067248 deg/s,
      cmd heading: 137.703417 deg,
      new cmd heading: 137.621156 deg.

2025-08-09T16:52:55.979Z,1754758375.979 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.401942 target range: 50.400002 and range: 50.40 m.
2025-08-09T16:52:56.191Z,1754758376.191 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.028117
2025-08-09T16:52:56.444Z,1754758376.444 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.280601
2025-08-09T16:52:56.506Z,1754758376.506 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 50.40 m.
2025-08-09T16:52:56.508Z,1754758376.508 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 50.400002 m,
      nav range: 47.747593 m,
      bearing: 132.785237 deg,
      approach rate: -0.614630 m/s,
      LOS rate: -0.076780 deg/s,
      cmd heading: 137.621154 deg,
      new cmd heading: 137.499035 deg.

2025-08-09T16:52:56.509Z,1754758376.509 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.399811 target range: 50.400002 and range: 50.40 m.
2025-08-09T16:52:56.696Z,1754758376.696 [DAT](INFO): DAT read: Rx Time:16:52:55.7125

2025-08-09T16:52:56.696Z,1754758376.696 [DAT](INFO): Rx dataTimestamp_ set to:1754758376.695693
2025-08-09T16:52:56.697Z,1754758376.697 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.533483
2025-08-09T16:52:56.820Z,1754758376.820 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-09T16:52:56.821Z,1754758376.821 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 50.40 m.
2025-08-09T16:52:56.824Z,1754758376.824 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 50.400002 m,
      nav range: 47.555237 m,
      bearing: 132.761109 deg,
      approach rate: -0.608890 m/s,
      LOS rate: -0.076685 deg/s,
      cmd heading: 137.499030 deg,
      new cmd heading: 137.426353 deg.

2025-08-09T16:52:56.825Z,1754758376.825 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.398542 target range: 50.400002 and range: 50.40 m.
2025-08-09T16:52:56.947Z,1754758376.947 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.784238
2025-08-09T16:52:57.204Z,1754758377.204 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.038537
2025-08-09T16:52:57.331Z,1754758377.331 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 50.40 m.
2025-08-09T16:52:57.333Z,1754758377.333 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 50.400002 m,
      nav range: 47.242718 m,
      bearing: 132.722613 deg,
      approach rate: -0.614038 m/s,
      LOS rate: -0.076137 deg/s,
      cmd heading: 137.426357 deg,
      new cmd heading: 137.310106 deg.

2025-08-09T16:52:57.335Z,1754758377.335 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.396513 target range: 50.400002 and range: 50.40 m.
2025-08-09T16:52:57.457Z,1754758377.457 [DAT](INFO): DAT read: 16:52:55.7125 LVL= 24736, 31729, 21458, 32755, AGC= 60, IDX= 415, 0.44, 0.264,-1.231, 0.733, 0.250, PHS= 0.115,-1.436, 0.439, RAW= 159.3,  10.2, CAL= 159.3,  11.1, ROT= 350.7, -11.1

2025-08-09T16:52:57.458Z,1754758377.458 [DAT](INFO): got valid direction response:
 16:52:55.7125 LVL= 24736, 31729, 21458, 32755, AGC= 60, IDX= 415, 0.44, 0.264,-1.231, 0.733, 0.250, PHS= 0.115,-1.436, 0.439, RAW= 159.3,  10.2, CAL= 159.3,  11.1, ROT= 350.7, -11.1

2025-08-09T16:52:57.459Z,1754758377.459 [DAT](INFO): DAT read: Bearing 309.7, -10.6 (Local)

2025-08-09T16:52:57.460Z,1754758377.460 [DAT](INFO): Local bearing/azimuth received:
 Bearing 309.7, -10.6 (Local)

2025-08-09T16:52:57.461Z,1754758377.461 [DAT](INFO): DAT read: Range 11 to 50 : 48.2 m  (Round-trip  64.3 ms) speed  0.5 m/s

2025-08-09T16:52:57.462Z,1754758377.462 [DAT](INFO): DAT read: user:191>

2025-08-09T16:52:57.463Z,1754758377.463 [DAT](INFO): DAT read: Tx time:16:52:56.8441

2025-08-09T16:52:57.463Z,1754758377.463 [DAT](INFO): Ping request sent.
2025-08-09T16:52:57.463Z,1754758377.463 [DAT](INFO): transmitted an acoustic signal
2025-08-09T16:52:57.464Z,1754758377.464 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-09T16:52:57.465Z,1754758377.465 [DAT](INFO): direction in FSK: [0.968394,-0.158580,0.192522]
2025-08-09T16:52:57.465Z,1754758377.465 [DAT](INFO): publishing transmit ping time
2025-08-09T16:52:57.465Z,1754758377.465 [DAT](INFO): publishing direction and range info
2025-08-09T16:52:57.468Z,1754758377.468 [DAT](INFO): publishing transmit ping time
2025-08-09T16:52:57.468Z,1754758377.468 [DAT](INFO): publishing direction and range info
2025-08-09T16:52:57.637Z,1754758377.637 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 48.200001 m,
      deltaT: 3.778608 s,
      deltaX: -2.200001 m,
      approachRate: -0.582225 m/s,
      rangeRepo size: 4

2025-08-09T16:52:57.644Z,1754758377.644 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 48.200001 m,
      bearing: 132.701419 deg,
      lat: 36.906072 deg,
      lon: -122.115885 deg,
      deltaT: 3.778608 s,
      deltaX: -2.200001 m,
      approachRate: -0.582225 m/s,
      posRepo size: 4

2025-08-09T16:52:57.645Z,1754758377.645 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 48.20 m.
2025-08-09T16:52:57.672Z,1754758377.672 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 48.200001 m,
      nav range: 47.072685 m,
      bearing: 132.701419 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.076137 deg/s,
      cmd heading: 137.310107 deg,
      new cmd heading: 137.241722 deg.

2025-08-09T16:52:57.673Z,1754758377.673 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.395320 target range: 48.200001 and range: 48.20 m.
2025-08-09T16:52:58.028Z,1754758378.028 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 48.20 m.
2025-08-09T16:52:58.031Z,1754758378.031 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 48.200001 m,
      nav range: 46.813976 m,
      bearing: 132.668751 deg,
      approach rate: -0.649212 m/s,
      LOS rate: -0.082430 deg/s,
      cmd heading: 137.241723 deg,
      new cmd heading: 137.143179 deg.

2025-08-09T16:52:58.032Z,1754758378.032 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.393600 target range: 48.200001 and range: 48.20 m.
2025-08-09T16:52:58.449Z,1754758378.449 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 48.20 m.
2025-08-09T16:52:58.452Z,1754758378.452 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 48.200001 m,
      nav range: 46.557922 m,
      bearing: 132.638198 deg,
      approach rate: -0.609423 m/s,
      LOS rate: -0.073117 deg/s,
      cmd heading: 137.143177 deg,
      new cmd heading: 137.051015 deg.

2025-08-09T16:52:58.452Z,1754758378.452 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.391991 target range: 48.200001 and range: 48.20 m.
2025-08-09T16:52:58.820Z,1754758378.820 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 48.20 m.
2025-08-09T16:52:58.823Z,1754758378.823 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 48.200001 m,
      nav range: 46.331852 m,
      bearing: 132.610993 deg,
      approach rate: -0.608729 m/s,
      LOS rate: -0.073613 deg/s,
      cmd heading: 137.051011 deg,
      new cmd heading: 136.968996 deg.

2025-08-09T16:52:58.824Z,1754758378.824 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.390560 target range: 48.200001 and range: 48.20 m.
2025-08-09T16:52:59.305Z,1754758379.305 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-09T16:52:59.311Z,1754758379.311 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 48.20 m.
2025-08-09T16:52:59.314Z,1754758379.314 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 48.200001 m,
      nav range: 46.039341 m,
      bearing: 132.578776 deg,
      approach rate: -0.595582 m/s,
      LOS rate: -0.066014 deg/s,
      cmd heading: 136.968994 deg,
      new cmd heading: 136.871729 deg.

2025-08-09T16:52:59.319Z,1754758379.319 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.388862 target range: 48.200001 and range: 48.20 m.
2025-08-09T16:52:59.467Z,1754758379.467 [DAT](INFO): ****** received valid address query ******
2025-08-09T16:52:59.467Z,1754758379.467 [DAT](INFO): ****** received valid ping request ******
2025-08-09T16:52:59.467Z,1754758379.467 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-09T16:52:59.641Z,1754758379.641 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 48.20 m.
2025-08-09T16:52:59.644Z,1754758379.644 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 48.200001 m,
      nav range: 45.819149 m,
      bearing: 132.554210 deg,
      approach rate: -0.666614 m/s,
      LOS rate: -0.074729 deg/s,
      cmd heading: 136.871732 deg,
      new cmd heading: 136.797680 deg.

2025-08-09T16:52:59.645Z,1754758379.645 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.387570 target range: 48.200001 and range: 48.20 m.
2025-08-09T16:52:59.720Z,1754758379.720 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.256751
2025-08-09T16:52:59.971Z,1754758379.971 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.507917
2025-08-09T16:53:00.026Z,1754758380.026 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 48.20 m.
2025-08-09T16:53:00.029Z,1754758380.029 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 48.200001 m,
      nav range: 45.575047 m,
      bearing: 132.526789 deg,
      approach rate: -0.634499 m/s,
      LOS rate: -0.071656 deg/s,
      cmd heading: 136.797679 deg,
      new cmd heading: 136.714977 deg.

2025-08-09T16:53:00.030Z,1754758380.030 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.386127 target range: 48.200001 and range: 48.20 m.
2025-08-09T16:53:00.227Z,1754758380.227 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.763336
2025-08-09T16:53:00.457Z,1754758380.457 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 48.20 m.
2025-08-09T16:53:00.460Z,1754758380.460 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 48.200001 m,
      nav range: 45.310074 m,
      bearing: 132.498905 deg,
      approach rate: -0.614361 m/s,
      LOS rate: -0.065030 deg/s,
      cmd heading: 136.714979 deg,
      new cmd heading: 136.630837 deg.

2025-08-09T16:53:00.461Z,1754758380.461 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.384658 target range: 48.200001 and range: 48.20 m.
2025-08-09T16:53:00.475Z,1754758380.475 [DAT](INFO): DAT read: Rx Time:16:52:59.3097

2025-08-09T16:53:00.476Z,1754758380.476 [DAT](INFO): Rx dataTimestamp_ set to:1754758380.475649
2025-08-09T16:53:00.476Z,1754758380.476 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.013185
2025-08-09T16:53:00.728Z,1754758380.728 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.264971
2025-08-09T16:53:00.888Z,1754758380.888 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 48.20 m.
2025-08-09T16:53:00.907Z,1754758380.907 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 48.200001 m,
      nav range: 45.046406 m,
      bearing: 132.471135 deg,
      approach rate: -0.612027 m/s,
      LOS rate: -0.064838 deg/s,
      cmd heading: 136.630831 deg,
      new cmd heading: 136.547032 deg.

2025-08-09T16:53:00.908Z,1754758380.908 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.383195 target range: 48.200001 and range: 48.20 m.
2025-08-09T16:53:00.988Z,1754758380.988 [DAT](INFO): DAT read: 16:52:59.3097 LVL= 24944, 32753, 20210, 32755, AGC= 58, IDX= 419,-0.50, 0.557,-0.919, 1.056, 0.556, PHS= 0.103,-1.430, 0.456, RAW= 160.2,  10.0, CAL= 160.1,  10.9, ROT= 349.9, -10.9

2025-08-09T16:53:00.989Z,1754758380.989 [DAT](INFO): got valid direction response:
 16:52:59.3097 LVL= 24944, 32753, 20210, 32755, AGC= 58, IDX= 419,-0.50, 0.557,-0.919, 1.056, 0.556, PHS= 0.103,-1.430, 0.456, RAW= 160.2,  10.0, CAL= 160.1,  10.9, ROT= 349.9, -10.9

2025-08-09T16:53:00.000Z,1754758381.000 [DAT](INFO): DAT read: Bearing 309.0, -11.6 (Local)

2025-08-09T16:53:01.000Z,1754758381.000 [DAT](INFO): Local bearing/azimuth received:
 Bearing 309.0, -11.6 (Local)

2025-08-09T16:53:01.002Z,1754758381.002 [DAT](INFO): DAT read: Range 11 to 50 : 46.1 m  (Round-trip  61.5 ms) speed  0.5 m/s

2025-08-09T16:53:01.003Z,1754758381.003 [DAT](INFO): DAT read: user:192>

2025-08-09T16:53:01.004Z,1754758381.004 [DAT](INFO): DAT read: Tx time:16:53:00.3941

2025-08-09T16:53:01.004Z,1754758381.004 [DAT](INFO): Ping request sent.
2025-08-09T16:53:01.004Z,1754758381.004 [DAT](INFO): transmitted an acoustic signal
2025-08-09T16:53:01.005Z,1754758381.005 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-09T16:53:01.005Z,1754758381.005 [DAT](INFO): direction in FSK: [0.966741,-0.172203,0.189095]
2025-08-09T16:53:01.006Z,1754758381.006 [DAT](INFO): publishing transmit ping time
2025-08-09T16:53:01.006Z,1754758381.006 [DAT](INFO): publishing direction and range info
2025-08-09T16:53:01.040Z,1754758381.040 [DAT](INFO): publishing transmit ping time
2025-08-09T16:53:01.040Z,1754758381.040 [DAT](INFO): publishing direction and range info
2025-08-09T16:53:01.357Z,1754758381.357 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 46.099998 m,
      deltaT: 3.528375 s,
      deltaX: -2.100002 m,
      approachRate: -0.595176 m/s,
      rangeRepo size: 4

2025-08-09T16:53:01.363Z,1754758381.363 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 46.099998 m,
      bearing: 132.306052 deg,
      lat: 36.906072 deg,
      lon: -122.115883 deg,
      deltaT: 3.528375 s,
      deltaX: -2.100002 m,
      approachRate: -0.595176 m/s,
      posRepo size: 4

2025-08-09T16:53:01.364Z,1754758381.364 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.10 m.
2025-08-09T16:53:01.371Z,1754758381.371 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 46.099998 m,
      nav range: 44.897724 m,
      bearing: 132.306052 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.064838 deg/s,
      cmd heading: 136.547038 deg,
      new cmd heading: 136.456030 deg.

2025-08-09T16:53:01.372Z,1754758381.372 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.381607 target range: 46.099998 and range: 46.10 m.
2025-08-09T16:53:01.697Z,1754758381.697 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-09T16:53:01.699Z,1754758381.699 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.10 m.
2025-08-09T16:53:01.726Z,1754758381.726 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 46.099998 m,
      nav range: 44.668602 m,
      bearing: 132.284668 deg,
      approach rate: -0.667432 m/s,
      LOS rate: -0.062611 deg/s,
      cmd heading: 136.456033 deg,
      new cmd heading: 136.391551 deg.

2025-08-09T16:53:01.727Z,1754758381.727 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.380482 target range: 46.099998 and range: 46.10 m.
2025-08-09T16:53:01.735Z,1754758381.735 [DAT](INFO): ****** received valid address query ******
2025-08-09T16:53:01.735Z,1754758381.735 [DAT](INFO): ****** received valid ping request ******
2025-08-09T16:53:01.736Z,1754758381.736 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-09T16:53:01.988Z,1754758381.988 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.983422
2025-08-09T16:53:02.127Z,1754758382.127 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.10 m.
2025-08-09T16:53:02.135Z,1754758382.135 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 46.099998 m,
      nav range: 44.421429 m,
      bearing: 132.261586 deg,
      approach rate: -0.585149 m/s,
      LOS rate: -0.054947 deg/s,
      cmd heading: 136.391556 deg,
      new cmd heading: 136.321925 deg.

2025-08-09T16:53:02.136Z,1754758382.136 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.379267 target range: 46.099998 and range: 46.10 m.
2025-08-09T16:53:02.243Z,1754758382.243 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.238467
2025-08-09T16:53:02.492Z,1754758382.492 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.487360
2025-08-09T16:53:02.539Z,1754758382.539 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.10 m.
2025-08-09T16:53:02.542Z,1754758382.542 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 46.099998 m,
      nav range: 44.143574 m,
      bearing: 132.237317 deg,
      approach rate: -0.665578 m/s,
      LOS rate: -0.058501 deg/s,
      cmd heading: 136.321929 deg,
      new cmd heading: 136.248662 deg.

2025-08-09T16:53:02.543Z,1754758382.543 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.377988 target range: 46.099998 and range: 46.10 m.
2025-08-09T16:53:02.743Z,1754758382.743 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.739042
2025-08-09T16:53:02.917Z,1754758382.917 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.10 m.
2025-08-09T16:53:02.920Z,1754758382.920 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 46.099998 m,
      nav range: 43.904976 m,
      bearing: 132.216373 deg,
      approach rate: -0.632314 m/s,
      LOS rate: -0.055805 deg/s,
      cmd heading: 136.248668 deg,
      new cmd heading: 136.185496 deg.

2025-08-09T16:53:02.920Z,1754758382.920 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.376885 target range: 46.099998 and range: 46.10 m.
2025-08-09T16:53:02.996Z,1754758382.996 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.991388
2025-08-09T16:53:03.251Z,1754758383.251 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.246842
2025-08-09T16:53:03.370Z,1754758383.370 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.10 m.
2025-08-09T16:53:03.377Z,1754758383.377 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 46.099998 m,
      nav range: 43.645210 m,
      bearing: 132.198098 deg,
      approach rate: -0.573199 m/s,
      LOS rate: -0.040565 deg/s,
      cmd heading: 136.185503 deg,
      new cmd heading: 136.130352 deg.

2025-08-09T16:53:03.382Z,1754758383.382 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.375923 target range: 46.099998 and range: 46.10 m.
2025-08-09T16:53:03.499Z,1754758383.499 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.495027
2025-08-09T16:53:03.714Z,1754758383.714 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-09T16:53:03.716Z,1754758383.716 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.10 m.
2025-08-09T16:53:03.719Z,1754758383.719 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 46.099998 m,
      nav range: 43.435165 m,
      bearing: 132.183290 deg,
      approach rate: -0.605821 m/s,
      LOS rate: -0.042916 deg/s,
      cmd heading: 136.130356 deg,
      new cmd heading: 136.085717 deg.

2025-08-09T16:53:03.720Z,1754758383.720 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.375144 target range: 46.099998 and range: 46.10 m.
2025-08-09T16:53:03.752Z,1754758383.752 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.747658
2025-08-09T16:53:04.003Z,1754758384.003 [DAT](INFO): DAT read: Rx Time:16:53:02.8568

2025-08-09T16:53:04.004Z,1754758384.004 [DAT](INFO): Rx dataTimestamp_ set to:1754758384.003404
2025-08-09T16:53:04.004Z,1754758384.004 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.999969
2025-08-09T16:53:04.148Z,1754758384.148 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.10 m.
2025-08-09T16:53:04.151Z,1754758384.151 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 46.099998 m,
      nav range: 43.192764 m,
      bearing: 132.166395 deg,
      approach rate: -0.562002 m/s,
      LOS rate: -0.039390 deg/s,
      cmd heading: 136.085714 deg,
      new cmd heading: 136.034744 deg.

2025-08-09T16:53:04.152Z,1754758384.152 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.374254 target range: 46.099998 and range: 46.10 m.
2025-08-09T16:53:04.259Z,1754758384.259 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.253871
2025-08-09T16:53:04.513Z,1754758384.513 [DAT](INFO): DAT read: 16:53:02.8568 LVL= 26816, 32753, 20642, 32755, AGC= 58, IDX= 404,-0.14,-0.824,-2.306,-0.327,-0.815, PHS= 0.094,-1.446, 0.445, RAW= 160.0,  10.4, CAL= 160.1,  11.4, ROT= 349.9, -11.4

2025-08-09T16:53:04.514Z,1754758384.514 [DAT](INFO): got valid direction response:
 16:53:02.8568 LVL= 26816, 32753, 20642, 32755, AGC= 58, IDX= 404,-0.14,-0.824,-2.306,-0.327,-0.815, PHS= 0.094,-1.446, 0.445, RAW= 160.0,  10.4, CAL= 160.1,  11.4, ROT= 349.9, -11.4

2025-08-09T16:53:04.515Z,1754758384.515 [DAT](INFO): DAT read: Bearing 308.8, -11.6 (Local)

2025-08-09T16:53:04.516Z,1754758384.516 [DAT](INFO): Local bearing/azimuth received:
 Bearing 308.8, -11.6 (Local)

2025-08-09T16:53:04.517Z,1754758384.517 [DAT](INFO): DAT read: Range 11 to 50 : 43.8 m  (Round-trip  58.5 ms) speed  0.5 m/s

2025-08-09T16:53:04.518Z,1754758384.518 [DAT](INFO): DAT read: user:193>

2025-08-09T16:53:04.523Z,1754758384.523 [DAT](INFO): DAT read: Tx time:16:53:03.9441

2025-08-09T16:53:04.523Z,1754758384.523 [DAT](INFO): Ping request sent.
2025-08-09T16:53:04.523Z,1754758384.523 [DAT](INFO): transmitted an acoustic signal
2025-08-09T16:53:04.523Z,1754758384.523 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-09T16:53:04.524Z,1754758384.524 [DAT](INFO): direction in FSK: [0.965080,-0.171907,0.197657]
2025-08-09T16:53:04.525Z,1754758384.525 [DAT](INFO): publishing transmit ping time
2025-08-09T16:53:04.525Z,1754758384.525 [DAT](INFO): publishing direction and range info
2025-08-09T16:53:04.528Z,1754758384.528 [DAT](INFO): publishing transmit ping time
2025-08-09T16:53:04.528Z,1754758384.528 [DAT](INFO): publishing direction and range info
2025-08-09T16:53:04.676Z,1754758384.676 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 43.799999 m,
      deltaT: 3.527650 s,
      deltaX: -2.299999 m,
      approachRate: -0.651992 m/s,
      rangeRepo size: 4

2025-08-09T16:53:04.678Z,1754758384.678 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 43.799999 m,
      bearing: 131.850993 deg,
      lat: 36.906073 deg,
      lon: -122.115881 deg,
      deltaT: 3.527650 s,
      deltaX: -2.299999 m,
      approachRate: -0.651992 m/s,
      posRepo size: 4

2025-08-09T16:53:04.683Z,1754758384.683 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 43.80 m.
2025-08-09T16:53:04.685Z,1754758384.685 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 43.799999 m,
      nav range: 42.895771 m,
      bearing: 131.850993 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.039390 deg/s,
      cmd heading: 136.034747 deg,
      new cmd heading: 135.972551 deg.

2025-08-09T16:53:04.687Z,1754758384.687 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.373169 target range: 43.799999 and range: 43.80 m.
2025-08-09T16:53:05.041Z,1754758385.041 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 43.80 m.
2025-08-09T16:53:05.044Z,1754758385.044 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 43.799999 m,
      nav range: 42.671825 m,
      bearing: 131.833308 deg,
      approach rate: -0.609560 m/s,
      LOS rate: -0.048391 deg/s,
      cmd heading: 135.972551 deg,
      new cmd heading: 135.919216 deg.

2025-08-09T16:53:05.045Z,1754758385.045 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.372238 target range: 43.799999 and range: 43.80 m.
2025-08-09T16:53:05.455Z,1754758385.455 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 43.80 m.
2025-08-09T16:53:05.459Z,1754758385.459 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 43.799999 m,
      nav range: 42.425331 m,
      bearing: 131.817059 deg,
      approach rate: -0.595477 m/s,
      LOS rate: -0.039482 deg/s,
      cmd heading: 135.919221 deg,
      new cmd heading: 135.870191 deg.

2025-08-09T16:53:05.460Z,1754758385.460 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.371382 target range: 43.799999 and range: 43.80 m.
2025-08-09T16:53:05.841Z,1754758385.841 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-09T16:53:05.843Z,1754758385.843 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 43.80 m.
2025-08-09T16:53:05.846Z,1754758385.846 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 43.799999 m,
      nav range: 42.203442 m,
      bearing: 131.802802 deg,
      approach rate: -0.572860 m/s,
      LOS rate: -0.037000 deg/s,
      cmd heading: 135.870194 deg,
      new cmd heading: 135.827200 deg.

2025-08-09T16:53:05.847Z,1754758385.847 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.370632 target range: 43.799999 and range: 43.80 m.
2025-08-09T16:53:06.022Z,1754758386.022 [DAT](INFO): ****** received valid address query ******
2025-08-09T16:53:06.023Z,1754758386.023 [DAT](INFO): ****** received valid ping request ******
2025-08-09T16:53:06.023Z,1754758386.023 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-09T16:53:06.231Z,1754758386.231 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 43.80 m.
2025-08-09T16:53:06.234Z,1754758386.234 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 43.799999 m,
      nav range: 41.980888 m,
      bearing: 131.789016 deg,
      approach rate: -0.574453 m/s,
      LOS rate: -0.035775 deg/s,
      cmd heading: 135.827205 deg,
      new cmd heading: 135.785625 deg.

2025-08-09T16:53:06.235Z,1754758386.235 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.369906 target range: 43.799999 and range: 43.80 m.
2025-08-09T16:53:06.274Z,1754758386.274 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.750538
2025-08-09T16:53:06.524Z,1754758386.524 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.000725
2025-08-09T16:53:06.670Z,1754758386.670 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 43.80 m.
2025-08-09T16:53:06.673Z,1754758386.673 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 43.799999 m,
      nav range: 41.713886 m,
      bearing: 131.778299 deg,
      approach rate: -0.607325 m/s,
      LOS rate: -0.024531 deg/s,
      cmd heading: 135.785622 deg,
      new cmd heading: 135.753268 deg.

2025-08-09T16:53:06.674Z,1754758386.674 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.369341 target range: 43.799999 and range: 43.80 m.
2025-08-09T16:53:06.775Z,1754758386.775 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.252182
2025-08-09T16:53:07.027Z,1754758387.027 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.504301
2025-08-09T16:53:07.044Z,1754758387.044 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 43.80 m.
2025-08-09T16:53:07.047Z,1754758387.047 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 43.799999 m,
      nav range: 41.486530 m,
      bearing: 131.770000 deg,
      approach rate: -0.608170 m/s,
      LOS rate: -0.022322 deg/s,
      cmd heading: 135.753261 deg,
      new cmd heading: 135.728227 deg.

2025-08-09T16:53:07.048Z,1754758387.048 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.368904 target range: 43.799999 and range: 43.80 m.
2025-08-09T16:53:07.279Z,1754758387.279 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.756250
2025-08-09T16:53:07.490Z,1754758387.490 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 43.80 m.
2025-08-09T16:53:07.497Z,1754758387.497 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 43.799999 m,
      nav range: 41.229877 m,
      bearing: 131.760119 deg,
      approach rate: -0.575366 m/s,
      LOS rate: -0.022290 deg/s,
      cmd heading: 135.728221 deg,
      new cmd heading: 135.698393 deg.

2025-08-09T16:53:07.498Z,1754758387.498 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.368384 target range: 43.799999 and range: 43.80 m.
2025-08-09T16:53:07.531Z,1754758387.531 [DAT](INFO): DAT read: Rx Time:16:53:06.4039

2025-08-09T16:53:07.532Z,1754758387.532 [DAT](INFO): Rx dataTimestamp_ set to:1754758387.531599
2025-08-09T16:53:07.532Z,1754758387.532 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.009356
2025-08-09T16:53:07.783Z,1754758387.783 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.260183
2025-08-09T16:53:07.967Z,1754758387.967 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-09T16:53:07.969Z,1754758387.969 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 43.80 m.
2025-08-09T16:53:07.976Z,1754758387.976 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 43.799999 m,
      nav range: 40.954086 m,
      bearing: 131.750369 deg,
      approach rate: -0.575963 m/s,
      LOS rate: -0.020499 deg/s,
      cmd heading: 135.698387 deg,
      new cmd heading: 135.668940 deg.

2025-08-09T16:53:07.977Z,1754758387.977 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.367870 target range: 43.799999 and range: 43.80 m.
2025-08-09T16:53:08.043Z,1754758388.043 [DAT](INFO): DAT read: 16:53:06.4039 LVL= 28640, 32753, 21778, 32755, AGC= 59, IDX= 408,-0.40, 0.578,-0.907, 1.056, 0.568, PHS= 0.112,-1.430, 0.443, RAW= 159.5,  10.1, CAL= 159.5,  11.0, ROT= 350.5, -11.0

2025-08-09T16:53:08.044Z,1754758388.044 [DAT](INFO): got valid direction response:
 16:53:06.4039 LVL= 28640, 32753, 21778, 32755, AGC= 59, IDX= 408,-0.40, 0.578,-0.907, 1.056, 0.568, PHS= 0.112,-1.430, 0.443, RAW= 159.5,  10.1, CAL= 159.5,  11.0, ROT= 350.5, -11.0

2025-08-09T16:53:08.045Z,1754758388.045 [DAT](INFO): DAT read: Bearing 307.5, -10.9 (Local)

2025-08-09T16:53:08.046Z,1754758388.046 [DAT](INFO): Local bearing/azimuth received:
 Bearing 307.5, -10.9 (Local)

2025-08-09T16:53:08.048Z,1754758388.048 [DAT](INFO): DAT read: Range 11 to 50 : 41.7 m  (Round-trip  55.7 ms) speed  0.5 m/s

2025-08-09T16:53:08.049Z,1754758388.049 [DAT](INFO): DAT read: user:194>

2025-08-09T16:53:08.050Z,1754758388.050 [DAT](INFO): DAT read: Tx time:16:53:07.4940

2025-08-09T16:53:08.063Z,1754758388.063 [DAT](INFO): Ping request sent.
2025-08-09T16:53:08.063Z,1754758388.063 [DAT](INFO): transmitted an acoustic signal
2025-08-09T16:53:08.064Z,1754758388.064 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-09T16:53:08.065Z,1754758388.065 [DAT](INFO): direction in FSK: [0.968165,-0.162015,0.190809]
2025-08-09T16:53:08.065Z,1754758388.065 [DAT](INFO): publishing transmit ping time
2025-08-09T16:53:08.067Z,1754758388.067 [DAT](INFO): publishing direction and range info
2025-08-09T16:53:08.080Z,1754758388.080 [DAT](INFO): publishing transmit ping time
2025-08-09T16:53:08.081Z,1754758388.081 [DAT](INFO): publishing direction and range info
2025-08-09T16:53:08.368Z,1754758388.368 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 41.700001 m,
      deltaT: 3.528097 s,
      deltaX: -2.099998 m,
      approachRate: -0.595221 m/s,
      rangeRepo size: 4

2025-08-09T16:53:08.374Z,1754758388.374 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 41.700001 m,
      bearing: 131.247276 deg,
      lat: 36.906075 deg,
      lon: -122.115877 deg,
      deltaT: 3.528097 s,
      deltaX: -2.099998 m,
      approachRate: -0.595221 m/s,
      posRepo size: 4

2025-08-09T16:53:08.375Z,1754758388.375 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 41.70 m.
2025-08-09T16:53:08.378Z,1754758388.378 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 41.700001 m,
      nav range: 40.867775 m,
      bearing: 131.247276 deg,
      approach rate: 25460860253320576684261376.000 m/s,
      LOS rate: -0.020499 deg/s,
      cmd heading: 135.668935 deg,
      new cmd heading: 135.644394 deg.

2025-08-09T16:53:08.383Z,1754758388.383 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.367441 target range: 41.700001 and range: 41.70 m.
2025-08-09T16:53:08.741Z,1754758388.741 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 41.70 m.
2025-08-09T16:53:08.744Z,1754758388.744 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 41.700001 m,
      nav range: 40.590622 m,
      bearing: 131.229886 deg,
      approach rate: -0.742196 m/s,
      LOS rate: -0.046887 deg/s,
      cmd heading: 135.644388 deg,
      new cmd heading: 135.591862 deg.

2025-08-09T16:53:08.745Z,1754758388.745 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.366524 target range: 41.700001 and range: 41.70 m.
2025-08-09T16:53:09.133Z,1754758389.133 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 41.70 m.
2025-08-09T16:53:09.136Z,1754758389.136 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 41.700001 m,
      nav range: 40.351101 m,
      bearing: 131.215650 deg,
      approach rate: -0.611001 m/s,
      LOS rate: -0.036532 deg/s,
      cmd heading: 135.591864 deg,
      new cmd heading: 135.548901 deg.

2025-08-09T16:53:09.137Z,1754758389.137 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.365775 target range: 41.700001 and range: 41.70 m.
2025-08-09T16:53:09.553Z,1754758389.553 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 41.70 m.
2025-08-09T16:53:09.556Z,1754758389.556 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 41.700001 m,
      nav range: 40.099258 m,
      bearing: 131.200963 deg,
      approach rate: -0.603712 m/s,
      LOS rate: -0.035428 deg/s,
      cmd heading: 135.548902 deg,
      new cmd heading: 135.504564 deg.

2025-08-09T16:53:09.557Z,1754758389.557 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.365001 target range: 41.700001 and range: 41.70 m.
2025-08-09T16:53:09.922Z,1754758389.922 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 41.70 m.
2025-08-09T16:53:09.925Z,1754758389.925 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 41.700001 m,
      nav range: 39.851376 m,
      bearing: 131.187275 deg,
      approach rate: -0.666359 m/s,
      LOS rate: -0.037026 deg/s,
      cmd heading: 135.504560 deg,
      new cmd heading: 135.463240 deg.

2025-08-09T16:53:09.926Z,1754758389.926 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.364280 target range: 41.700001 and range: 41.70 m.
2025-08-09T16:53:10.400Z,1754758390.400 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-09T16:53:10.402Z,1754758390.402 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 41.70 m.
2025-08-09T16:53:10.410Z,1754758390.410 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 41.700001 m,
      nav range: 39.559231 m,
      bearing: 131.171733 deg,
      approach rate: -0.608905 m/s,
      LOS rate: -0.032633 deg/s,
      cmd heading: 135.463237 deg,
      new cmd heading: 135.416267 deg.

2025-08-09T16:53:10.415Z,1754758390.415 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.363460 target range: 41.700001 and range: 41.70 m.
2025-08-09T16:53:10.555Z,1754758390.555 [DAT](INFO): ****** received valid address query ******
2025-08-09T16:53:10.555Z,1754758390.555 [DAT](INFO): ****** received valid ping request ******
2025-08-09T16:53:10.555Z,1754758390.555 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-09T16:53:10.774Z,1754758390.774 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 41.70 m.
2025-08-09T16:53:10.777Z,1754758390.777 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 41.700001 m,
      nav range: 39.310905 m,
      bearing: 131.151872 deg,
      approach rate: -0.668037 m/s,
      LOS rate: -0.053766 deg/s,
      cmd heading: 135.416273 deg,
      new cmd heading: 135.356315 deg.

2025-08-09T16:53:10.778Z,1754758390.778 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.362413 target range: 41.700001 and range: 41.70 m.
2025-08-09T16:53:10.807Z,1754758390.807 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.744152
2025-08-09T16:53:11.061Z,1754758391.061 [DAT](INFO): DAT read: Rx Time:16:53:09.9510

2025-08-09T16:53:11.061Z,1754758391.061 [DAT](INFO): Rx dataTimestamp_ set to:1754758391.060693
2025-08-09T16:53:11.062Z,1754758391.062 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.998587
2025-08-09T16:53:11.155Z,1754758391.155 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 41.70 m.
2025-08-09T16:53:11.158Z,1754758391.158 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 41.700001 m,
      nav range: 39.066704 m,
      bearing: 131.132944 deg,
      approach rate: -0.640287 m/s,
      LOS rate: -0.049938 deg/s,
      cmd heading: 135.356318 deg,
      new cmd heading: 135.299179 deg.

2025-08-09T16:53:11.159Z,1754758391.159 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.361416 target range: 41.700001 and range: 41.70 m.
2025-08-09T16:53:11.311Z,1754758391.311 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.247984
2025-08-09T16:53:11.569Z,1754758391.569 [DAT](INFO): DAT read: 16:53:09.9510 LVL= 30192, 32753, 23634, 32755, AGC= 59, IDX= 410,-0.28, 0.331,-1.164, 0.781, 0.317, PHS= 0.116,-1.436, 0.420, RAW= 158.8,  10.4, CAL= 158.8,  11.4, ROT= 351.2, -11.4

2025-08-09T16:53:11.570Z,1754758391.570 [DAT](INFO): got valid direction response:
 16:53:09.9510 LVL= 30192, 32753, 23634, 32755, AGC= 59, IDX= 410,-0.28, 0.331,-1.164, 0.781, 0.317, PHS= 0.116,-1.436, 0.420, RAW= 158.8,  10.4, CAL= 158.8,  11.4, ROT= 351.2, -11.4

2025-08-09T16:53:11.571Z,1754758391.571 [DAT](INFO): DAT read: Bearing 306.6, -10.6 (Local)

2025-08-09T16:53:11.571Z,1754758391.571 [DAT](INFO): Local bearing/azimuth received:
 Bearing 306.6, -10.6 (Local)

2025-08-09T16:53:11.573Z,1754758391.573 [DAT](INFO): DAT read: Range 11 to 50 : 39.6 m  (Round-trip  52.9 ms) speed  0.5 m/s

2025-08-09T16:53:11.573Z,1754758391.573 [DAT](INFO): DAT read: user:195>

2025-08-09T16:53:11.574Z,1754758391.574 [DAT](INFO): DAT read: Tx time:16:53:11.0440

2025-08-09T16:53:11.574Z,1754758391.574 [DAT](INFO): Ping request sent.
2025-08-09T16:53:11.574Z,1754758391.574 [DAT](INFO): transmitted an acoustic signal
2025-08-09T16:53:11.575Z,1754758391.575 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-09T16:53:11.576Z,1754758391.576 [DAT](INFO): direction in FSK: [0.968732,-0.149967,0.197657]
2025-08-09T16:53:11.576Z,1754758391.576 [DAT](INFO): publishing transmit ping time
2025-08-09T16:53:11.576Z,1754758391.576 [DAT](INFO): publishing direction and range info
2025-08-09T16:53:11.579Z,1754758391.579 [DAT](INFO): publishing transmit ping time
2025-08-09T16:53:11.580Z,1754758391.580 [DAT](INFO): publishing direction and range info
2025-08-09T16:53:11.698Z,1754758391.698 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 39.599998 m,
      deltaT: 3.527754 s,
      deltaX: -2.100002 m,
      approachRate: -0.595280 m/s,
      rangeRepo size: 4

2025-08-09T16:53:11.712Z,1754758391.712 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 39.599998 m,
      bearing: 130.640968 deg,
      lat: 36.906077 deg,
      lon: -122.115875 deg,
      deltaT: 3.527754 s,
      deltaX: -2.100002 m,
      approachRate: -0.595280 m/s,
      posRepo size: 4

2025-08-09T16:53:11.713Z,1754758391.713 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 39.60 m.
2025-08-09T16:53:11.720Z,1754758391.720 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 39.599998 m,
      nav range: 38.668583 m,
      bearing: 130.640968 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.049938 deg/s,
      cmd heading: 135.299176 deg,
      new cmd heading: 135.217953 deg.

2025-08-09T16:53:11.721Z,1754758391.721 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.359998 target range: 39.599998 and range: 39.60 m.
2025-08-09T16:53:12.069Z,1754758392.069 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL] Running Loop=1
2025-08-09T16:53:12.069Z,1754758392.069 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL](DEBUG): Aggregate::initialize lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL
2025-08-09T16:53:12.069Z,1754758392.069 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL:A] Running Loop=1
2025-08-09T16:53:12.071Z,1754758392.071 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL:A](INFO): Entering USBL mode with  120.000000 count pings at  39.599998 m (mode  2.000000 count ).
2025-08-09T16:53:12.071Z,1754758392.071 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL:A] Stopped
2025-08-09T16:53:12.071Z,1754758392.071 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL:B] Running Loop=1
2025-08-09T16:53:12.073Z,1754758392.073 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 39.60 m.
2025-08-09T16:53:12.081Z,1754758392.081 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 39.599998 m,
      nav range: 38.417793 m,
      bearing: 130.615415 deg,
      approach rate: -0.667054 m/s,
      LOS rate: -0.068409 deg/s,
      cmd heading: 135.217952 deg,
      new cmd heading: 135.140794 deg.

2025-08-09T16:53:12.084Z,1754758392.084 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.358652 target range: 39.599998 and range: 39.60 m.
2025-08-09T16:53:12.529Z,1754758392.529 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL:B] Stopped
2025-08-09T16:53:12.529Z,1754758392.529 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL:C] Running Loop=1
2025-08-09T16:53:12.530Z,1754758392.530 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-09T16:53:12.532Z,1754758392.532 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 39.60 m.
2025-08-09T16:53:12.535Z,1754758392.535 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 39.599998 m,
      nav range: 38.135544 m,
      bearing: 130.577103 deg,
      approach rate: -0.614908 m/s,
      LOS rate: -0.084085 deg/s,
      cmd heading: 135.140798 deg,
      new cmd heading: 135.025010 deg.

2025-08-09T16:53:12.536Z,1754758392.536 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.356631 target range: 39.599998 and range: 39.60 m.
2025-08-09T16:53:12.572Z,1754758392.572 [DAT](INFO): ****** received valid address query ******
2025-08-09T16:53:12.572Z,1754758392.572 [DAT](INFO): ****** received valid ping request ******
2025-08-09T16:53:12.573Z,1754758392.573 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode.
2025-08-09T16:53:12.823Z,1754758392.823 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.248731
2025-08-09T16:53:12.891Z,1754758392.891 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL:C] Stopped
2025-08-09T16:53:12.891Z,1754758392.891 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL:D] Running Loop=1
2025-08-09T16:53:12.893Z,1754758392.893 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 39.60 m.
2025-08-09T16:53:12.912Z,1754758392.912 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 39.599998 m,
      nav range: 37.893520 m,
      bearing: 130.544879 deg,
      approach rate: -0.671158 m/s,
      LOS rate: -0.089930 deg/s,
      cmd heading: 135.025012 deg,
      new cmd heading: 134.927725 deg.

2025-08-09T16:53:12.913Z,1754758392.913 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.354933 target range: 39.599998 and range: 39.60 m.
2025-08-09T16:53:13.075Z,1754758393.075 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.500642
2025-08-09T16:53:13.268Z,1754758393.268 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL:D] Stopped
2025-08-09T16:53:13.268Z,1754758393.268 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL](INFO): Completed lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL
2025-08-09T16:53:13.268Z,1754758393.268 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL] Stopped
2025-08-09T16:53:13.268Z,1754758393.268 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL](DEBUG): Aggregate::uninitialize lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL
2025-08-09T16:53:13.271Z,1754758393.271 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 39.60 m.
2025-08-09T16:53:13.273Z,1754758393.273 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 39.599998 m,
      nav range: 37.652924 m,
      bearing: 130.513469 deg,
      approach rate: -0.637395 m/s,
      LOS rate: -0.083745 deg/s,
      cmd heading: 134.927723 deg,
      new cmd heading: 134.832890 deg.

2025-08-09T16:53:13.274Z,1754758393.274 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.353278 target range: 39.599998 and range: 39.60 m.
2025-08-09T16:53:13.329Z,1754758393.329 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.754124
2025-08-09T16:53:13.580Z,1754758393.580 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.005007
2025-08-09T16:53:13.703Z,1754758393.703 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 39.60 m.
2025-08-09T16:53:13.705Z,1754758393.705 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 39.599998 m,
      nav range: 37.383656 m,
      bearing: 130.471385 deg,
      approach rate: -0.623280 m/s,
      LOS rate: -0.098113 deg/s,
      cmd heading: 134.832893 deg,
      new cmd heading: 134.705733 deg.

2025-08-09T16:53:13.706Z,1754758393.706 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.351058 target range: 39.599998 and range: 39.60 m.
2025-08-09T16:53:13.831Z,1754758393.831 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.256755
2025-08-09T16:53:14.088Z,1754758394.088 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.513586
2025-08-09T16:53:14.128Z,1754758394.128 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 39.60 m.
2025-08-09T16:53:14.131Z,1754758394.131 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 39.599998 m,
      nav range: 37.118645 m,
      bearing: 130.429368 deg,
      approach rate: -0.622708 m/s,
      LOS rate: -0.099436 deg/s,
      cmd heading: 134.705728 deg,
      new cmd heading: 134.578776 deg.

2025-08-09T16:53:14.132Z,1754758394.132 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.348843 target range: 39.599998 and range: 39.60 m.
2025-08-09T16:53:14.335Z,1754758394.335 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.760892
2025-08-09T16:53:14.533Z,1754758394.533 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 39.60 m.
2025-08-09T16:53:14.536Z,1754758394.536 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 39.599998 m,
      nav range: 36.883152 m,
      bearing: 130.380736 deg,
      approach rate: -0.584890 m/s,
      LOS rate: -0.121556 deg/s,
      cmd heading: 134.578769 deg,
      new cmd heading: 134.431944 deg.

2025-08-09T16:53:14.537Z,1754758394.537 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.346280 target range: 39.599998 and range: 39.60 m.
2025-08-09T16:53:14.589Z,1754758394.589 [DAT](INFO): DAT read: Rx Time:16:53:13.4981

2025-08-09T16:53:14.590Z,1754758394.590 [DAT](INFO): Rx dataTimestamp_ set to:1754758394.588932
2025-08-09T16:53:14.591Z,1754758394.591 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.016144
2025-08-09T16:53:14.840Z,1754758394.840 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.265308
2025-08-09T16:53:14.909Z,1754758394.909 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-09T16:53:14.912Z,1754758394.912 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 39.60 m.
2025-08-09T16:53:14.915Z,1754758394.915 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 39.599998 m,
      nav range: 36.636307 m,
      bearing: 130.330130 deg,
      approach rate: -0.647534 m/s,
      LOS rate: -0.133647 deg/s,
      cmd heading: 134.431947 deg,
      new cmd heading: 134.279106 deg.

2025-08-09T16:53:14.916Z,1754758394.916 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.343612 target range: 39.599998 and range: 39.60 m.
2025-08-09T16:53:15.102Z,1754758395.102 [DAT](INFO): DAT read: 16:53:13.4981 LVL= 24672, 32753, 20066, 32755, AGC= 58, IDX= 412,-0.15, 0.663,-0.888, 1.099, 0.622, PHS= 0.143,-1.465, 0.433, RAW= 158.1,  10.1, CAL= 158.1,  10.9, ROT= 351.9, -10.9

2025-08-09T16:53:15.103Z,1754758395.103 [DAT](INFO): got valid direction response:
 16:53:13.4981 LVL= 24672, 32753, 20066, 32755, AGC= 58, IDX= 412,-0.15, 0.663,-0.888, 1.099, 0.622, PHS= 0.143,-1.465, 0.433, RAW= 158.1,  10.1, CAL= 158.1,  10.9, ROT= 351.9, -10.9

2025-08-09T16:53:15.105Z,1754758395.105 [DAT](INFO): DAT read: Bearing 304.7,  -9.7 (Local)

2025-08-09T16:53:15.106Z,1754758395.106 [DAT](INFO): Local bearing/azimuth received:
 Bearing 304.7,  -9.7 (Local)

2025-08-09T16:53:15.111Z,1754758395.111 [DAT](INFO): DAT read: Range 11 to 50 : 37.5 m  (Round-trip  50.0 ms) speed  0.5 m/s

2025-08-09T16:53:15.112Z,1754758395.112 [DAT](INFO): DAT read: user:196>

2025-08-09T16:53:15.113Z,1754758395.113 [DAT](INFO): DAT read: Tx time:16:53:14.5940

2025-08-09T16:53:15.113Z,1754758395.113 [DAT](INFO): Ping request sent.
2025-08-09T16:53:15.113Z,1754758395.113 [DAT](INFO): transmitted an acoustic signal
2025-08-09T16:53:15.114Z,1754758395.114 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-09T16:53:15.115Z,1754758395.115 [DAT](INFO): direction in FSK: [0.972162,-0.138359,0.189095]
2025-08-09T16:53:15.115Z,1754758395.115 [DAT](INFO): publishing transmit ping time
2025-08-09T16:53:15.115Z,1754758395.115 [DAT](INFO): publishing direction and range info
2025-08-09T16:53:15.118Z,1754758395.118 [DAT](INFO): publishing transmit ping time
2025-08-09T16:53:15.119Z,1754758395.119 [DAT](INFO): publishing direction and range info
2025-08-09T16:53:15.122Z,1754758395.122 [DAT](INFO): checking for new query: numPingsReceived=1, elapsed TxPingTime=0.008478
2025-08-09T16:53:15.319Z,1754758395.319 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 37.500000 m,
      deltaT: 3.528704 s,
      deltaX: -2.099998 m,
      approachRate: -0.595119 m/s,
      rangeRepo size: 4

2025-08-09T16:53:15.321Z,1754758395.321 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 37.500000 m,
      bearing: 130.031368 deg,
      lat: 36.906078 deg,
      lon: -122.115874 deg,
      deltaT: 3.528704 s,
      deltaX: -2.099998 m,
      approachRate: -0.595119 m/s,
      posRepo size: 4

2025-08-09T16:53:15.321Z,1754758395.321 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 37.50 m.
2025-08-09T16:53:15.329Z,1754758395.329 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 37.500000 m,
      nav range: 36.471523 m,
      bearing: 130.031368 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.133647 deg/s,
      cmd heading: 134.279101 deg,
      new cmd heading: 134.117887 deg.

2025-08-09T16:53:15.330Z,1754758395.330 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.340799 target range: 37.500000 and range: 37.50 m.
2025-08-09T16:53:15.343Z,1754758395.343 [DAT](INFO): checking for new query: numPingsReceived=1, elapsed TxPingTime=0.230019
2025-08-09T16:53:15.596Z,1754758395.596 [DAT](INFO): checking for new query: numPingsReceived=1, elapsed TxPingTime=0.482573
2025-08-09T16:53:15.725Z,1754758395.725 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 37.50 m.
2025-08-09T16:53:15.728Z,1754758395.728 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 37.500000 m,
      nav range: 36.219315 m,
      bearing: 129.977581 deg,
      approach rate: -0.612780 m/s,
      LOS rate: -0.131594 deg/s,
      cmd heading: 134.117881 deg,
      new cmd heading: 133.955397 deg.

2025-08-09T16:53:15.729Z,1754758395.729 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.337963 target range: 37.500000 and range: 37.50 m.
2025-08-09T16:53:15.848Z,1754758395.848 [DAT](INFO): checking for new query: numPingsReceived=1, elapsed TxPingTime=0.734527
2025-08-09T16:53:16.101Z,1754758396.101 [DAT](INFO): checking for new query: numPingsReceived=1, elapsed TxPingTime=0.987192
2025-08-09T16:53:16.132Z,1754758396.132 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 37.50 m.
2025-08-09T16:53:16.136Z,1754758396.136 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 37.500000 m,
      nav range: 35.976387 m,
      bearing: 129.925053 deg,
      approach rate: -0.596918 m/s,
      LOS rate: -0.129943 deg/s,
      cmd heading: 133.955391 deg,
      new cmd heading: 133.796743 deg.

2025-08-09T16:53:16.137Z,1754758396.137 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.335194 target range: 37.500000 and range: 37.50 m.
2025-08-09T16:53:16.352Z,1754758396.352 [DAT](INFO): checking for new query: numPingsReceived=1, elapsed TxPingTime=1.238991
2025-08-09T16:53:16.534Z,1754758396.534 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 37.50 m.
2025-08-09T16:53:16.553Z,1754758396.553 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 37.500000 m,
      nav range: 35.733406 m,
      bearing: 129.885508 deg,
      approach rate: -0.605587 m/s,
      LOS rate: -0.099227 deg/s,
      cmd heading: 133.796740 deg,
      new cmd heading: 133.677301 deg.

2025-08-09T16:53:16.558Z,1754758396.558 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.333109 target range: 37.500000 and range: 37.50 m.
2025-08-09T16:53:16.604Z,1754758396.604 [DAT](INFO): checking for new query: numPingsReceived=1, elapsed TxPingTime=1.490625
2025-08-09T16:53:16.856Z,1754758396.856 [DAT](INFO): checking for new query: numPingsReceived=1, elapsed TxPingTime=1.742359
2025-08-09T16:53:16.916Z,1754758396.916 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-09T16:53:16.918Z,1754758396.918 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 37.50 m.
2025-08-09T16:53:16.921Z,1754758396.921 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 37.500000 m,
      nav range: 35.500774 m,
      bearing: 129.847952 deg,
      approach rate: -0.605444 m/s,
      LOS rate: -0.098384 deg/s,
      cmd heading: 133.677307 deg,
      new cmd heading: 133.563900 deg.

2025-08-09T16:53:16.922Z,1754758396.922 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.331130 target range: 37.500000 and range: 37.50 m.
2025-08-09T16:53:17.107Z,1754758397.107 [DAT](INFO): checking for new query: numPingsReceived=1, elapsed TxPingTime=1.994038
2025-08-09T16:53:17.312Z,1754758397.312 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 37.50 m.
2025-08-09T16:53:17.315Z,1754758397.315 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 37.500000 m,
      nav range: 35.261665 m,
      bearing: 129.809528 deg,
      approach rate: -0.606760 m/s,
      LOS rate: -0.098166 deg/s,
      cmd heading: 133.563898 deg,
      new cmd heading: 133.447844 deg.

2025-08-09T16:53:17.316Z,1754758397.316 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.329104 target range: 37.500000 and range: 37.50 m.
2025-08-09T16:53:17.359Z,1754758397.359 [DAT](INFO): checking for new query: numPingsReceived=1, elapsed TxPingTime=2.246160
2025-08-09T16:53:17.611Z,1754758397.611 [DAT](INFO): checking for new query: numPingsReceived=1, elapsed TxPingTime=2.497954
2025-08-09T16:53:17.736Z,1754758397.736 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 37.50 m.
2025-08-09T16:53:17.739Z,1754758397.739 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 37.500000 m,
      nav range: 35.005005 m,
      bearing: 129.776605 deg,
      approach rate: -0.605043 m/s,
      LOS rate: -0.078181 deg/s,
      cmd heading: 133.447840 deg,
      new cmd heading: 133.348346 deg.

2025-08-09T16:53:17.740Z,1754758397.740 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.327368 target range: 37.500000 and range: 37.50 m.
2025-08-09T16:53:17.864Z,1754758397.864 [DAT](INFO): checking for new query: numPingsReceived=1, elapsed TxPingTime=2.750498
2025-08-09T16:53:18.115Z,1754758398.115 [DAT](INFO): DAT read: Rx Time:16:53:17.0451

2025-08-09T16:53:18.116Z,1754758398.116 [DAT](INFO): Rx dataTimestamp_ set to:1754758398.115544
2025-08-09T16:53:18.116Z,1754758398.116 [DAT](INFO): checking for new query: numPingsReceived=1, elapsed TxPingTime=3.003079
2025-08-09T16:53:18.153Z,1754758398.153 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 37.50 m.
2025-08-09T16:53:18.160Z,1754758398.160 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 37.500000 m,
      nav range: 34.764771 m,
      bearing: 129.745988 deg,
      approach rate: -0.576164 m/s,
      LOS rate: -0.073937 deg/s,
      cmd heading: 133.348351 deg,
      new cmd heading: 133.255866 deg.

2025-08-09T16:53:18.161Z,1754758398.161 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.325754 target range: 37.500000 and range: 37.50 m.
2025-08-09T16:53:18.368Z,1754758398.368 [DAT](INFO): checking for new query: numPingsReceived=1, elapsed TxPingTime=3.254680
2025-08-09T16:53:18.615Z,1754758398.615 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 37.50 m.
2025-08-09T16:53:18.618Z,1754758398.618 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 37.500000 m,
      nav range: 34.515610 m,
      bearing: 129.726524 deg,
      approach rate: -0.539582 m/s,
      LOS rate: -0.042456 deg/s,
      cmd heading: 133.255871 deg,
      new cmd heading: 133.197057 deg.

2025-08-09T16:53:18.625Z,1754758398.625 [DAT](INFO): DAT read: 16:53:17.0451 LVL= 28208, 32753, 23986, 32755, AGC= 59, IDX= 413, 0.42, 2.294, 0.759, 2.738, 2.253, PHS= 0.144,-1.448, 0.442, RAW= 158.4,   9.8, CAL= 158.3,  10.6, ROT= 351.7, -10.6

2025-08-09T16:53:18.626Z,1754758398.626 [DAT](INFO): got valid direction response:
 16:53:17.0451 LVL= 28208, 32753, 23986, 32755, AGC= 59, IDX= 413, 0.42, 2.294, 0.759, 2.738, 2.253, PHS= 0.144,-1.448, 0.442, RAW= 158.4,   9.8, CAL= 158.3,  10.6, ROT= 351.7, -10.6

2025-08-09T16:53:18.627Z,1754758398.627 [DAT](INFO): DAT read: Bearing 303.5,  -9.8 (Local)

2025-08-09T16:53:18.628Z,1754758398.628 [DAT](INFO): Local bearing/azimuth received:
 Bearing 303.5,  -9.8 (Local)

2025-08-09T16:53:18.629Z,1754758398.629 [DAT](INFO): DAT read: Range 11 to 50 : 35.1 m  (Round-trip  46.9 ms) speed  0.5 m/s

2025-08-09T16:53:18.630Z,1754758398.630 [DAT](INFO): DAT read: user:197>

2025-08-09T16:53:18.632Z,1754758398.632 [DAT](INFO): DAT read: Tx time:16:53:18.1440

2025-08-09T16:53:18.632Z,1754758398.632 [DAT](INFO): Ping request sent.
2025-08-09T16:53:18.632Z,1754758398.632 [DAT](INFO): transmitted an acoustic signal
2025-08-09T16:53:18.632Z,1754758398.632 [DAT](INFO): #Rx 2: Read range and direction messages.
2025-08-09T16:53:18.633Z,1754758398.633 [DAT](INFO): direction in FSK: [0.972640,-0.141892,0.183951]
2025-08-09T16:53:18.634Z,1754758398.634 [DAT](INFO): publishing transmit ping time
2025-08-09T16:53:18.634Z,1754758398.634 [DAT](INFO): publishing direction and range info
2025-08-09T16:53:18.637Z,1754758398.637 [DAT](INFO): publishing transmit ping time
2025-08-09T16:53:18.637Z,1754758398.637 [DAT](INFO): publishing direction and range info
2025-08-09T16:53:18.639Z,1754758398.639 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.324727 target range: 37.500000 and range: 37.50 m.
2025-08-09T16:53:18.657Z,1754758398.657 [DAT](INFO): checking for new query: numPingsReceived=2, elapsed TxPingTime=0.024426
2025-08-09T16:53:18.872Z,1754758398.872 [DAT](INFO): checking for new query: numPingsReceived=2, elapsed TxPingTime=0.239788
2025-08-09T16:53:18.977Z,1754758398.977 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 35.099998 m,
      deltaT: 3.527550 s,
      deltaX: -2.400002 m,
      approachRate: -0.680359 m/s,
      rangeRepo size: 4

2025-08-09T16:53:18.991Z,1754758398.991 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 35.099998 m,
      bearing: 129.661608 deg,
      lat: 36.906078 deg,
      lon: -122.115873 deg,
      deltaT: 3.527550 s,
      deltaX: -2.400002 m,
      approachRate: -0.680359 m/s,
      posRepo size: 4

2025-08-09T16:53:18.992Z,1754758398.992 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 35.10 m.
2025-08-09T16:53:18.999Z,1754758398.999 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 35.099998 m,
      nav range: 34.291645 m,
      bearing: 129.661608 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.042456 deg/s,
      cmd heading: 133.197063 deg,
      new cmd heading: 133.151014 deg.

2025-08-09T16:53:18.000Z,1754758399.000 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.323924 target range: 35.099998 and range: 35.10 m.
2025-08-09T16:53:19.124Z,1754758399.124 [DAT](INFO): checking for new query: numPingsReceived=2, elapsed TxPingTime=0.491367
2025-08-09T16:53:19.375Z,1754758399.375 [DAT](INFO): checking for new query: numPingsReceived=2, elapsed TxPingTime=0.743063
2025-08-09T16:53:19.389Z,1754758399.389 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-09T16:53:19.392Z,1754758399.392 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 35.10 m.
2025-08-09T16:53:19.395Z,1754758399.395 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 35.099998 m,
      nav range: 34.042931 m,
      bearing: 129.642262 deg,
      approach rate: -0.598957 m/s,
      LOS rate: -0.046930 deg/s,
      cmd heading: 133.151013 deg,
      new cmd heading: 133.092551 deg.

2025-08-09T16:53:19.396Z,1754758399.396 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.322903 target range: 35.099998 and range: 35.10 m.
2025-08-09T16:53:19.627Z,1754758399.627 [DAT](INFO): checking for new query: numPingsReceived=2, elapsed TxPingTime=0.995120
2025-08-09T16:53:19.803Z,1754758399.803 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 35.10 m.
2025-08-09T16:53:19.806Z,1754758399.806 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 35.099998 m,
      nav range: 33.797344 m,
      bearing: 129.646296 deg,
      approach rate: -0.596767 m/s,
      LOS rate: 0.009874 deg/s,
      cmd heading: 133.092547 deg,
      new cmd heading: 133.104738 deg.

2025-08-09T16:53:19.807Z,1754758399.807 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.323116 target range: 35.099998 and range: 35.10 m.
2025-08-09T16:53:19.881Z,1754758399.881 [DAT](INFO): checking for new query: numPingsReceived=2, elapsed TxPingTime=1.249020
2025-08-09T16:53:20.136Z,1754758400.136 [DAT](INFO): checking for new query: numPingsReceived=2, elapsed TxPingTime=1.504043
2025-08-09T16:53:20.195Z,1754758400.195 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 35.10 m.
2025-08-09T16:53:20.197Z,1754758400.197 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 35.099998 m,
      nav range: 33.564392 m,
      bearing: 129.650587 deg,
      approach rate: -0.595487 m/s,
      LOS rate: 0.011044 deg/s,
      cmd heading: 133.104732 deg,
      new cmd heading: 133.117693 deg.

2025-08-09T16:53:20.198Z,1754758400.198 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.323342 target range: 35.099998 and range: 35.10 m.
2025-08-09T16:53:20.387Z,1754758400.387 [DAT](INFO): checking for new query: numPingsReceived=2, elapsed TxPingTime=1.755073
2025-08-09T16:53:20.621Z,1754758400.621 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 35.10 m.
2025-08-09T16:53:20.624Z,1754758400.624 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 35.099998 m,
      nav range: 33.305443 m,
      bearing: 129.669309 deg,
      approach rate: -0.606429 m/s,
      LOS rate: 0.044187 deg/s,
      cmd heading: 133.117696 deg,
      new cmd heading: 133.174300 deg.

2025-08-09T16:53:20.625Z,1754758400.625 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.324330 target range: 35.099998 and range: 35.10 m.
2025-08-09T16:53:20.647Z,1754758400.647 [DAT](INFO): checking for new query: numPingsReceived=2, elapsed TxPingTime=2.015145
2025-08-09T16:53:20.899Z,1754758400.899 [DAT](INFO): checking for new query: numPingsReceived=2, elapsed TxPingTime=2.267186
2025-08-09T16:53:20.998Z,1754758400.998 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 35.10 m.
2025-08-09T16:53:21.001Z,1754758401.001 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 35.099998 m,
      nav range: 33.077122 m,
      bearing: 129.686205 deg,
      approach rate: -0.605977 m/s,
      LOS rate: 0.045152 deg/s,
      cmd heading: 133.174304 deg,
      new cmd heading: 133.225342 deg.

2025-08-09T16:53:21.002Z,1754758401.002 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.325221 target range: 35.099998 and range: 35.10 m.
2025-08-09T16:53:21.151Z,1754758401.151 [DAT](INFO): checking for new query: numPingsReceived=2, elapsed TxPingTime=2.519078
2025-08-09T16:53:21.390Z,1754758401.390 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-09T16:53:21.392Z,1754758401.392 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 35.10 m.
2025-08-09T16:53:21.395Z,1754758401.395 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 35.099998 m,
      nav range: 32.838902 m,
      bearing: 129.704436 deg,
      approach rate: -0.605117 m/s,
      LOS rate: 0.046644 deg/s,
      cmd heading: 133.225340 deg,
      new cmd heading: 133.280428 deg.

2025-08-09T16:53:21.396Z,1754758401.396 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.326182 target range: 35.099998 and range: 35.10 m.
2025-08-09T16:53:21.403Z,1754758401.403 [DAT](INFO): checking for new query: numPingsReceived=2, elapsed TxPingTime=2.771178
2025-08-09T16:53:21.655Z,1754758401.655 [DAT](INFO): DAT read: Rx Time:16:53:20.5922

2025-08-09T16:53:21.656Z,1754758401.656 [DAT](INFO): Rx dataTimestamp_ set to:1754758401.655527
2025-08-09T16:53:21.656Z,1754758401.656 [DAT](INFO): checking for new query: numPingsReceived=2, elapsed TxPingTime=3.024212
2025-08-09T16:53:21.823Z,1754758401.823 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 35.10 m.
2025-08-09T16:53:21.826Z,1754758401.826 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 35.099998 m,
      nav range: 32.575706 m,
      bearing: 129.733769 deg,
      approach rate: -0.610152 m/s,
      LOS rate: 0.068552 deg/s,
      cmd heading: 133.280432 deg,
      new cmd heading: 133.369144 deg.

2025-08-09T16:53:21.827Z,1754758401.827 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.327731 target range: 35.099998 and range: 35.10 m.
2025-08-09T16:53:21.908Z,1754758401.908 [DAT](INFO): checking for new query: numPingsReceived=2, elapsed TxPingTime=3.275747
2025-08-09T16:53:22.165Z,1754758402.165 [DAT](INFO): DAT read: 16:53:20.5922 LVL= 28752, 30033, 21490, 32755, AGC= 55, IDX= 416, 0.28,-0.297,-1.898, 0.140,-0.333, PHS= 0.138,-1.520, 0.428, RAW= 157.9,  10.5, CAL= 157.9,  11.5, ROT= 352.1, -11.5

2025-08-09T16:53:22.174Z,1754758402.174 [DAT](INFO): got valid direction response:
 16:53:20.5922 LVL= 28752, 30033, 21490, 32755, AGC= 55, IDX= 416, 0.28,-0.297,-1.898, 0.140,-0.333, PHS= 0.138,-1.520, 0.428, RAW= 157.9,  10.5, CAL= 157.9,  11.5, ROT= 352.1, -11.5

2025-08-09T16:53:22.175Z,1754758402.175 [DAT](INFO): DAT read: Bearing 303.9,  -9.5 (Local)

2025-08-09T16:53:22.176Z,1754758402.176 [DAT](INFO): Local bearing/azimuth received:
 Bearing 303.9,  -9.5 (Local)

2025-08-09T16:53:22.177Z,1754758402.177 [DAT](INFO): DAT read: Range 11 to 50 : 33.0 m  (Round-trip  44.1 ms) speed  0.5 m/s

2025-08-09T16:53:22.178Z,1754758402.178 [DAT](INFO): DAT read: user:198>

2025-08-09T16:53:22.199Z,1754758402.199 [DAT](INFO): DAT read: Tx time:16:53:21.6940

2025-08-09T16:53:22.199Z,1754758402.199 [DAT](INFO): Ping request sent.
2025-08-09T16:53:22.199Z,1754758402.199 [DAT](INFO): transmitted an acoustic signal
2025-08-09T16:53:22.199Z,1754758402.199 [DAT](INFO): #Rx 3: Read range and direction messages.
2025-08-09T16:53:22.200Z,1754758402.200 [DAT](INFO): direction in FSK: [0.970625,-0.134685,0.199368]
2025-08-09T16:53:22.201Z,1754758402.201 [DAT](INFO): publishing transmit ping time
2025-08-09T16:53:22.201Z,1754758402.201 [DAT](INFO): publishing direction and range info
2025-08-09T16:53:22.212Z,1754758402.212 [DAT](INFO): publishing transmit ping time
2025-08-09T16:53:22.212Z,1754758402.212 [DAT](INFO): publishing direction and range info
2025-08-09T16:53:22.220Z,1754758402.220 [DAT](INFO): checking for new query: numPingsReceived=3, elapsed TxPingTime=0.020769
2025-08-09T16:53:22.268Z,1754758402.268 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 33.000000 m,
      deltaT: 3.540107 s,
      deltaX: -2.099998 m,
      approachRate: -0.593202 m/s,
      rangeRepo size: 4

2025-08-09T16:53:22.271Z,1754758402.271 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 33.000000 m,
      bearing: 129.263076 deg,
      lat: 36.906079 deg,
      lon: -122.115869 deg,
      deltaT: 3.540107 s,
      deltaX: -2.099998 m,
      approachRate: -0.593202 m/s,
      posRepo size: 4

2025-08-09T16:53:22.271Z,1754758402.271 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 33.00 m.
2025-08-09T16:53:22.274Z,1754758402.274 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 33.000000 m,
      nav range: 32.576885 m,
      bearing: 129.263076 deg,
      approach rate: 287548062793766604374016.00000 m/s,
      LOS rate: 0.068552 deg/s,
      cmd heading: 133.369142 deg,
      new cmd heading: 133.460538 deg.

2025-08-09T16:53:22.295Z,1754758402.295 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.329326 target range: 33.000000 and range: 33.00 m.
2025-08-09T16:53:22.411Z,1754758402.411 [DAT](INFO): checking for new query: numPingsReceived=3, elapsed TxPingTime=0.212275
2025-08-09T16:53:22.661Z,1754758402.661 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 33.00 m.
2025-08-09T16:53:22.663Z,1754758402.663 [DAT](INFO): checking for new query: numPingsReceived=3, elapsed TxPingTime=0.464247
2025-08-09T16:53:22.665Z,1754758402.665 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 33.000000 m,
      nav range: 32.331165 m,
      bearing: 129.284681 deg,
      approach rate: -0.625311 m/s,
      LOS rate: 0.055400 deg/s,
      cmd heading: 133.460544 deg,
      new cmd heading: 133.525853 deg.

2025-08-09T16:53:22.666Z,1754758402.666 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.330466 target range: 33.000000 and range: 33.00 m.
2025-08-09T16:53:22.915Z,1754758402.915 [DAT](INFO): checking for new query: numPingsReceived=3, elapsed TxPingTime=0.716092
2025-08-09T16:53:23.022Z,1754758403.022 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 33.00 m.
2025-08-09T16:53:23.025Z,1754758403.025 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 33.000000 m,
      nav range: 32.116295 m,
      bearing: 129.304135 deg,
      approach rate: -0.594575 m/s,
      LOS rate: 0.054193 deg/s,
      cmd heading: 133.525854 deg,
      new cmd heading: 133.584608 deg.

2025-08-09T16:53:23.026Z,1754758403.026 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.331491 target range: 33.000000 and range: 33.00 m.
2025-08-09T16:53:23.167Z,1754758403.167 [DAT](INFO): checking for new query: numPingsReceived=3, elapsed TxPingTime=0.968256
2025-08-09T16:53:23.419Z,1754758403.419 [DAT](INFO): checking for new query: numPingsReceived=3, elapsed TxPingTime=1.220199
2025-08-09T16:53:23.438Z,1754758403.438 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-09T16:53:23.444Z,1754758403.444 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 33.00 m.
2025-08-09T16:53:23.451Z,1754758403.451 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 33.000000 m,
      nav range: 31.880104 m,
      bearing: 129.325958 deg,
      approach rate: -0.559662 m/s,
      LOS rate: 0.052092 deg/s,
      cmd heading: 133.584608 deg,
      new cmd heading: 133.650560 deg.

2025-08-09T16:53:23.452Z,1754758403.452 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.332642 target range: 33.000000 and range: 33.00 m.
2025-08-09T16:53:23.672Z,1754758403.672 [DAT](INFO): checking for new query: numPingsReceived=3, elapsed TxPingTime=1.472637
2025-08-09T16:53:23.875Z,1754758403.875 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 33.00 m.
2025-08-09T16:53:23.878Z,1754758403.878 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 33.000000 m,
      nav range: 31.608643 m,
      bearing: 129.344448 deg,
      approach rate: -0.630527 m/s,
      LOS rate: 0.043316 deg/s,
      cmd heading: 133.650560 deg,
      new cmd heading: 133.706506 deg.

2025-08-09T16:53:23.879Z,1754758403.879 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.333619 target range: 33.000000 and range: 33.00 m.
2025-08-09T16:53:23.924Z,1754758403.924 [DAT](INFO): checking for new query: numPingsReceived=3, elapsed TxPingTime=1.724947
2025-08-09T16:53:24.175Z,1754758404.175 [DAT](INFO): checking for new query: numPingsReceived=3, elapsed TxPingTime=1.976097
2025-08-09T16:53:24.233Z,1754758404.233 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 33.00 m.
2025-08-09T16:53:24.236Z,1754758404.236 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 33.000000 m,
      nav range: 31.398752 m,
      bearing: 129.359827 deg,
      approach rate: -0.585818 m/s,
      LOS rate: 0.043212 deg/s,
      cmd heading: 133.706499 deg,
      new cmd heading: 133.752945 deg.

2025-08-09T16:53:24.237Z,1754758404.237 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.334429 target range: 33.000000 and range: 33.00 m.
2025-08-09T16:53:24.428Z,1754758404.428 [DAT](INFO): checking for new query: numPingsReceived=3, elapsed TxPingTime=2.228476
2025-08-09T16:53:24.662Z,1754758404.662 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 33.00 m.
2025-08-09T16:53:24.665Z,1754758404.665 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 33.000000 m,
      nav range: 31.137163 m,
      bearing: 129.363938 deg,
      approach rate: -0.609236 m/s,
      LOS rate: 0.009656 deg/s,
      cmd heading: 133.752944 deg,
      new cmd heading: 133.765382 deg.

2025-08-09T16:53:24.667Z,1754758404.667 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.334646 target range: 33.000000 and range: 33.00 m.
2025-08-09T16:53:24.679Z,1754758404.679 [DAT](INFO): checking for new query: numPingsReceived=3, elapsed TxPingTime=2.480294
2025-08-09T16:53:24.935Z,1754758404.935 [DAT](INFO): checking for new query: numPingsReceived=3, elapsed TxPingTime=2.735845
2025-08-09T16:53:25.050Z,1754758405.050 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 33.00 m.
2025-08-09T16:53:25.053Z,1754758405.053 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 33.000000 m,
      nav range: 30.908251 m,
      bearing: 129.367593 deg,
      approach rate: -0.589909 m/s,
      LOS rate: 0.009489 deg/s,
      cmd heading: 133.765389 deg,
      new cmd heading: 133.776435 deg.

2025-08-09T16:53:25.070Z,1754758405.070 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.334839 target range: 33.000000 and range: 33.00 m.
2025-08-09T16:53:25.184Z,1754758405.184 [DAT](INFO): DAT read: Rx Time:16:53:24.1395

2025-08-09T16:53:25.185Z,1754758405.185 [DAT](INFO): Rx dataTimestamp_ set to:1754758405.184438
2025-08-09T16:53:25.186Z,1754758405.186 [DAT](INFO): checking for new query: numPingsReceived=3, elapsed TxPingTime=2.986190
2025-08-09T16:53:25.435Z,1754758405.435 [DAT](INFO): checking for new query: numPingsReceived=3, elapsed TxPingTime=3.236303
2025-08-09T16:53:25.452Z,1754758405.452 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-09T16:53:25.471Z,1754758405.471 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 33.00 m.
2025-08-09T16:53:25.473Z,1754758405.473 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 33.000000 m,
      nav range: 30.679703 m,
      bearing: 129.372054 deg,
      approach rate: -0.565542 m/s,
      LOS rate: 0.011119 deg/s,
      cmd heading: 133.776440 deg,
      new cmd heading: 133.789921 deg.

2025-08-09T16:53:25.478Z,1754758405.478 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.335075 target range: 33.000000 and range: 33.00 m.
2025-08-09T16:53:25.705Z,1754758405.705 [DAT](INFO): DAT read: 16:53:24.1394 LVL= 29472, 32753, 22482, 32755, AGC= 58, IDX= 420,-0.13,-1.215,-2.768,-0.761,-1.252, PHS= 0.138,-1.471, 0.447, RAW= 158.6,  10.0, CAL= 158.5,  10.8, ROT= 351.5, -10.8

2025-08-09T16:53:25.707Z,1754758405.707 [DAT](INFO): got valid direction response:
 16:53:24.1394 LVL= 29472, 32753, 22482, 32755, AGC= 58, IDX= 420,-0.13,-1.215,-2.768,-0.761,-1.252, PHS= 0.138,-1.471, 0.447, RAW= 158.6,  10.0, CAL= 158.5,  10.8, ROT= 351.5, -10.8

2025-08-09T16:53:25.708Z,1754758405.708 [DAT](INFO): DAT read: Bearing 303.0,  -9.9 (Local)

2025-08-09T16:53:25.708Z,1754758405.708 [DAT](INFO): Local bearing/azimuth received:
 Bearing 303.0,  -9.9 (Local)

2025-08-09T16:53:25.710Z,1754758405.710 [DAT](INFO): DAT read: Range 11 to 50 : 31.0 m  (Round-trip  41.4 ms) speed  0.5 m/s

2025-08-09T16:53:25.712Z,1754758405.712 [DAT](INFO): DAT read: user:199>

2025-08-09T16:53:25.716Z,1754758405.716 [DAT](INFO): DAT read: Tx time:16:53:25.2439

2025-08-09T16:53:25.716Z,1754758405.716 [DAT](INFO): Ping request sent.
2025-08-09T16:53:25.716Z,1754758405.716 [DAT](INFO): transmitted an acoustic signal
2025-08-09T16:53:25.717Z,1754758405.717 [DAT](INFO): #Rx 4: Read range and direction messages.
2025-08-09T16:53:25.718Z,1754758405.718 [DAT](INFO): direction in FSK: [0.971498,-0.145191,0.187381]
2025-08-09T16:53:25.719Z,1754758405.719 [DAT](INFO): publishing transmit ping time
2025-08-09T16:53:25.719Z,1754758405.719 [DAT](INFO): publishing direction and range info
2025-08-09T16:53:25.724Z,1754758405.724 [DAT](INFO): publishing transmit ping time
2025-08-09T16:53:25.724Z,1754758405.724 [DAT](INFO): publishing direction and range info
2025-08-09T16:53:25.729Z,1754758405.729 [DAT](INFO): checking for new query: numPingsReceived=4, elapsed TxPingTime=0.012778
2025-08-09T16:53:25.917Z,1754758405.917 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 31.000000 m,
      deltaT: 3.529088 s,
      deltaX: -2.000000 m,
      approachRate: -0.566719 m/s,
      rangeRepo size: 4

2025-08-09T16:53:25.923Z,1754758405.923 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 31.000000 m,
      bearing: 128.430926 deg,
      lat: 36.906083 deg,
      lon: -122.115868 deg,
      deltaT: 3.529088 s,
      deltaX: -2.000000 m,
      approachRate: -0.566719 m/s,
      posRepo size: 4

2025-08-09T16:53:25.924Z,1754758405.924 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 31.00 m.
2025-08-09T16:53:25.931Z,1754758405.931 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 31.000000 m,
      nav range: 30.149023 m,
      bearing: 128.430926 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.011119 deg/s,
      cmd heading: 133.789923 deg,
      new cmd heading: 133.805339 deg.

2025-08-09T16:53:25.932Z,1754758405.932 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.335344 target range: 31.000000 and range: 31.00 m.
2025-08-09T16:53:25.939Z,1754758405.939 [DAT](INFO): checking for new query: numPingsReceived=4, elapsed TxPingTime=0.223058
2025-08-09T16:53:26.191Z,1754758406.191 [DAT](INFO): checking for new query: numPingsReceived=4, elapsed TxPingTime=0.475016
2025-08-09T16:53:26.274Z,1754758406.274 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 31.00 m.
2025-08-09T16:53:26.277Z,1754758406.277 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 31.000000 m,
      nav range: 29.916903 m,
      bearing: 128.419234 deg,
      approach rate: -0.649366 m/s,
      LOS rate: -0.032963 deg/s,
      cmd heading: 133.805346 deg,
      new cmd heading: 133.769998 deg.

2025-08-09T16:53:26.278Z,1754758406.278 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.334727 target range: 31.000000 and range: 31.00 m.
2025-08-09T16:53:26.447Z,1754758406.447 [DAT](INFO): checking for new query: numPingsReceived=4, elapsed TxPingTime=0.730298
2025-08-09T16:53:26.695Z,1754758406.695 [DAT](INFO): checking for new query: numPingsReceived=4, elapsed TxPingTime=0.979087
2025-08-09T16:53:26.699Z,1754758406.699 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 31.00 m.
2025-08-09T16:53:26.702Z,1754758406.702 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 31.000000 m,
      nav range: 29.662544 m,
      bearing: 128.381343 deg,
      approach rate: -0.598513 m/s,
      LOS rate: -0.089923 deg/s,
      cmd heading: 133.769993 deg,
      new cmd heading: 133.655345 deg.

2025-08-09T16:53:26.723Z,1754758406.723 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.332726 target range: 31.000000 and range: 31.00 m.
2025-08-09T16:53:26.948Z,1754758406.948 [DAT](INFO): checking for new query: numPingsReceived=4, elapsed TxPingTime=1.231530
2025-08-09T16:53:27.117Z,1754758407.117 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 31.00 m.
2025-08-09T16:53:27.123Z,1754758407.123 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 31.000000 m,
      nav range: 29.422705 m,
      bearing: 128.344890 deg,
      approach rate: -0.574294 m/s,
      LOS rate: -0.087997 deg/s,
      cmd heading: 133.655341 deg,
      new cmd heading: 133.545092 deg.

2025-08-09T16:53:27.124Z,1754758407.124 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.330801 target range: 31.000000 and range: 31.00 m.
2025-08-09T16:53:27.200Z,1754758407.200 [DAT](INFO): checking for new query: numPingsReceived=4, elapsed TxPingTime=1.483365
2025-08-09T16:53:27.451Z,1754758407.451 [DAT](INFO): checking for new query: numPingsReceived=4, elapsed TxPingTime=1.734974
2025-08-09T16:53:27.703Z,1754758407.703 [DAT](INFO): checking for new query: numPingsReceived=4, elapsed TxPingTime=1.987059
2025-08-09T16:53:27.711Z,1754758407.711 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-09T16:53:27.713Z,1754758407.713 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 31.00 m.
2025-08-09T16:53:27.716Z,1754758407.716 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 31.000000 m,
      nav range: 29.058804 m,
      bearing: 128.283412 deg,
      approach rate: -0.610407 m/s,
      LOS rate: -0.104414 deg/s,
      cmd heading: 133.545088 deg,
      new cmd heading: 133.358346 deg.

2025-08-09T16:53:27.717Z,1754758407.717 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.327542 target range: 31.000000 and range: 31.00 m.
2025-08-09T16:53:27.955Z,1754758407.955 [DAT](INFO): checking for new query: numPingsReceived=4, elapsed TxPingTime=2.238978
2025-08-09T16:53:28.197Z,1754758408.197 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 31.00 m.
2025-08-09T16:53:28.200Z,1754758408.200 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 31.000000 m,
      nav range: 28.746084 m,
      bearing: 128.229416 deg,
      approach rate: -0.645884 m/s,
      LOS rate: -0.112736 deg/s,
      cmd heading: 133.358351 deg,
      new cmd heading: 133.194600 deg.

2025-08-09T16:53:28.201Z,1754758408.201 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.324684 target range: 31.000000 and range: 31.00 m.
2025-08-09T16:53:28.207Z,1754758408.207 [DAT](INFO): checking for new query: numPingsReceived=4, elapsed TxPingTime=2.491072
2025-08-09T16:53:28.459Z,1754758408.459 [DAT](INFO): checking for new query: numPingsReceived=4, elapsed TxPingTime=2.743032
2025-08-09T16:53:28.711Z,1754758408.711 [DAT](INFO): DAT read: Rx Time:16:53:27.6865

2025-08-09T16:53:28.712Z,1754758408.712 [DAT](INFO): Rx dataTimestamp_ set to:1754758408.711573
2025-08-09T16:53:28.712Z,1754758408.712 [DAT](INFO): checking for new query: numPingsReceived=4, elapsed TxPingTime=2.996136
2025-08-09T16:53:28.714Z,1754758408.714 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 31.00 m.
2025-08-09T16:53:28.717Z,1754758408.717 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 31.000000 m,
      nav range: 28.414650 m,
      bearing: 128.160169 deg,
      approach rate: -0.641128 m/s,
      LOS rate: -0.135514 deg/s,
      cmd heading: 133.194604 deg,
      new cmd heading: 132.984441 deg.

2025-08-09T16:53:28.718Z,1754758408.718 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.321016 target range: 31.000000 and range: 31.00 m.
2025-08-09T16:53:28.964Z,1754758408.964 [DAT](INFO): checking for new query: numPingsReceived=4, elapsed TxPingTime=3.247927
2025-08-09T16:53:29.100Z,1754758409.100 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 31.00 m.
2025-08-09T16:53:29.103Z,1754758409.103 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 31.000000 m,
      nav range: 28.163990 m,
      bearing: 128.106574 deg,
      approach rate: -0.648558 m/s,
      LOS rate: -0.139905 deg/s,
      cmd heading: 132.984439 deg,
      new cmd heading: 132.822224 deg.

2025-08-09T16:53:29.104Z,1754758409.104 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.318185 target range: 31.000000 and range: 31.00 m.
2025-08-09T16:53:29.219Z,1754758409.219 [DAT](INFO): checking for new query: numPingsReceived=4, elapsed TxPingTime=3.501537
2025-08-09T16:53:29.473Z,1754758409.473 [DAT](INFO): DAT read: 16:53:27.6865 LVL= 25520, 32753, 19794, 32755, AGC= 56, IDX= 406, 0.41,-2.910, 1.825,-2.462,-2.942, PHS= 0.134,-1.471, 0.436, RAW= 158.5,  10.2, CAL= 158.4,  11.1, ROT= 351.6, -11.1

2025-08-09T16:53:29.474Z,1754758409.474 [DAT](INFO): got valid direction response:
 16:53:27.6865 LVL= 25520, 32753, 19794, 32755, AGC= 56, IDX= 406, 0.41,-2.910, 1.825,-2.462,-2.942, PHS= 0.134,-1.471, 0.436, RAW= 158.5,  10.2, CAL= 158.4,  11.1, ROT= 351.6, -11.1

2025-08-09T16:53:29.475Z,1754758409.475 [DAT](INFO): DAT read: Bearing 303.6,  -9.9 (Local)

2025-08-09T16:53:29.475Z,1754758409.475 [DAT](INFO): Local bearing/azimuth received:
 Bearing 303.6,  -9.9 (Local)

2025-08-09T16:53:29.477Z,1754758409.477 [DAT](INFO): DAT read: Range 11 to 50 : 28.8 m  (Round-trip  38.4 ms) speed  0.5 m/s

2025-08-09T16:53:29.478Z,1754758409.478 [DAT](INFO): DAT read: user:200>

2025-08-09T16:53:29.478Z,1754758409.478 [DAT](INFO): DAT read: Tx time:16:53:28.7939

2025-08-09T16:53:29.479Z,1754758409.479 [DAT](INFO): Ping request sent.
2025-08-09T16:53:29.479Z,1754758409.479 [DAT](INFO): transmitted an acoustic signal
2025-08-09T16:53:29.479Z,1754758409.479 [DAT](INFO): #Rx 5: Read range and direction messages.
2025-08-09T16:53:29.480Z,1754758409.480 [DAT](INFO): direction in FSK: [0.970766,-0.143350,0.192522]
2025-08-09T16:53:29.480Z,1754758409.480 [DAT](INFO): publishing transmit ping time
2025-08-09T16:53:29.481Z,1754758409.481 [DAT](INFO): publishing direction and range info
2025-08-09T16:53:29.488Z,1754758409.488 [DAT](INFO): publishing transmit ping time
2025-08-09T16:53:29.488Z,1754758409.488 [DAT](INFO): publishing direction and range info
2025-08-09T16:53:29.508Z,1754758409.508 [DAT](INFO): checking for new query: numPingsReceived=5, elapsed TxPingTime=0.028808
2025-08-09T16:53:29.574Z,1754758409.574 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 28.799999 m,
      deltaT: 3.778694 s,
      deltaX: -2.200001 m,
      approachRate: -0.582212 m/s,
      rangeRepo size: 4

2025-08-09T16:53:29.581Z,1754758409.581 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 28.799999 m,
      bearing: 127.717890 deg,
      lat: 36.906084 deg,
      lon: -122.115866 deg,
      deltaT: 3.778694 s,
      deltaX: -2.200001 m,
      approachRate: -0.582212 m/s,
      posRepo size: 4

2025-08-09T16:53:29.587Z,1754758409.587 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 28.80 m.
2025-08-09T16:53:29.589Z,1754758409.589 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 28.799999 m,
      nav range: 27.988949 m,
      bearing: 127.717890 deg,
      approach rate: 5240581.500000 m/s,
      LOS rate: -0.139905 deg/s,
      cmd heading: 132.822222 deg,
      new cmd heading: 132.624015 deg.

2025-08-09T16:53:29.595Z,1754758409.595 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.314726 target range: 28.799999 and range: 28.80 m.
2025-08-09T16:53:29.720Z,1754758409.720 [DAT](INFO): checking for new query: numPingsReceived=5, elapsed TxPingTime=0.241183
2025-08-09T16:53:29.971Z,1754758409.971 [DAT](INFO): checking for new query: numPingsReceived=5, elapsed TxPingTime=0.492634
2025-08-09T16:53:29.973Z,1754758409.973 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-09T16:53:29.975Z,1754758409.975 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 28.80 m.
2025-08-09T16:53:29.978Z,1754758409.978 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 28.799999 m,
      nav range: 27.712049 m,
      bearing: 127.650212 deg,
      approach rate: -0.688113 m/s,
      LOS rate: -0.169864 deg/s,
      cmd heading: 132.624010 deg,
      new cmd heading: 132.418949 deg.

2025-08-09T16:53:30.002Z,1754758410.002 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.311147 target range: 28.799999 and range: 28.80 m.
2025-08-09T16:53:30.224Z,1754758410.224 [DAT](INFO): checking for new query: numPingsReceived=5, elapsed TxPingTime=0.745234
2025-08-09T16:53:30.358Z,1754758410.358 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 28.80 m.
2025-08-09T16:53:30.361Z,1754758410.361 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 28.799999 m,
      nav range: 27.470850 m,
      bearing: 127.590515 deg,
      approach rate: -0.649592 m/s,
      LOS rate: -0.162188 deg/s,
      cmd heading: 132.418954 deg,
      new cmd heading: 132.238289 deg.

2025-08-09T16:53:30.366Z,1754758410.366 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.307994 target range: 28.799999 and range: 28.80 m.
2025-08-09T16:53:30.476Z,1754758410.476 [DAT](INFO): checking for new query: numPingsReceived=5, elapsed TxPingTime=0.997006
2025-08-09T16:53:30.727Z,1754758410.727 [DAT](INFO): checking for new query: numPingsReceived=5, elapsed TxPingTime=1.248647
2025-08-09T16:53:30.779Z,1754758410.779 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 28.80 m.
2025-08-09T16:53:30.800Z,1754758410.800 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 28.799999 m,
      nav range: 27.197050 m,
      bearing: 127.535506 deg,
      approach rate: -0.632073 m/s,
      LOS rate: -0.128268 deg/s,
      cmd heading: 132.238295 deg,
      new cmd heading: 132.071608 deg.

2025-08-09T16:53:30.801Z,1754758410.801 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.305084 target range: 28.799999 and range: 28.80 m.
2025-08-09T16:53:30.979Z,1754758410.979 [DAT](INFO): checking for new query: numPingsReceived=5, elapsed TxPingTime=1.500376
2025-08-09T16:53:31.163Z,1754758411.163 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 28.80 m.
2025-08-09T16:53:31.166Z,1754758411.166 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 28.799999 m,
      nav range: 26.955030 m,
      bearing: 127.486476 deg,
      approach rate: -0.632311 m/s,
      LOS rate: -0.129246 deg/s,
      cmd heading: 132.071611 deg,
      new cmd heading: 131.923203 deg.

2025-08-09T16:53:31.167Z,1754758411.167 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.302494 target range: 28.799999 and range: 28.80 m.
2025-08-09T16:53:31.233Z,1754758411.233 [DAT](INFO): checking for new query: numPingsReceived=5, elapsed TxPingTime=1.753860
2025-08-09T16:53:31.483Z,1754758411.483 [DAT](INFO): checking for new query: numPingsReceived=5, elapsed TxPingTime=2.004493
2025-08-09T16:53:31.598Z,1754758411.598 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 28.80 m.
2025-08-09T16:53:31.601Z,1754758411.601 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 28.799999 m,
      nav range: 26.687317 m,
      bearing: 127.431724 deg,
      approach rate: -0.619626 m/s,
      LOS rate: -0.127996 deg/s,
      cmd heading: 131.923205 deg,
      new cmd heading: 131.757301 deg.

2025-08-09T16:53:31.617Z,1754758411.617 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.299599 target range: 28.799999 and range: 28.80 m.
2025-08-09T16:53:31.736Z,1754758411.736 [DAT](INFO): checking for new query: numPingsReceived=5, elapsed TxPingTime=2.257188
2025-08-09T16:53:31.987Z,1754758411.987 [DAT](INFO): checking for new query: numPingsReceived=5, elapsed TxPingTime=2.508540
2025-08-09T16:53:32.032Z,1754758412.032 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-09T16:53:32.034Z,1754758412.034 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 28.80 m.
2025-08-09T16:53:32.060Z,1754758412.060 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 28.799999 m,
      nav range: 26.404535 m,
      bearing: 127.376697 deg,
      approach rate: -0.643260 m/s,
      LOS rate: -0.126513 deg/s,
      cmd heading: 131.757300 deg,
      new cmd heading: 131.590452 deg.

2025-08-09T16:53:32.062Z,1754758412.062 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.296687 target range: 28.799999 and range: 28.80 m.
2025-08-09T16:53:32.239Z,1754758412.239 [DAT](INFO): DAT read: Rx Time:16:53:31.2336

2025-08-09T16:53:32.240Z,1754758412.240 [DAT](INFO): Rx dataTimestamp_ set to:1754758412.239520
2025-08-09T16:53:32.240Z,1754758412.240 [DAT](INFO): checking for new query: numPingsReceived=5, elapsed TxPingTime=2.761570
2025-08-09T16:53:32.409Z,1754758412.409 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 28.80 m.
2025-08-09T16:53:32.428Z,1754758412.428 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 28.799999 m,
      nav range: 26.167469 m,
      bearing: 127.330021 deg,
      approach rate: -0.632512 m/s,
      LOS rate: -0.125665 deg/s,
      cmd heading: 131.590452 deg,
      new cmd heading: 131.449154 deg.

2025-08-09T16:53:32.429Z,1754758412.429 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.294220 target range: 28.799999 and range: 28.80 m.
2025-08-09T16:53:32.492Z,1754758412.492 [DAT](INFO): checking for new query: numPingsReceived=5, elapsed TxPingTime=3.013194
2025-08-09T16:53:32.747Z,1754758412.747 [DAT](INFO): checking for new query: numPingsReceived=5, elapsed TxPingTime=3.267667
2025-08-09T16:53:32.879Z,1754758412.879 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 28.80 m.
2025-08-09T16:53:32.882Z,1754758412.882 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 28.799999 m,
      nav range: 25.886215 m,
      bearing: 127.282910 deg,
      approach rate: -0.597981 m/s,
      LOS rate: -0.101251 deg/s,
      cmd heading: 131.449149 deg,
      new cmd heading: 131.306282 deg.

2025-08-09T16:53:32.883Z,1754758412.883 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.291727 target range: 28.799999 and range: 28.80 m.
2025-08-09T16:53:33.001Z,1754758413.001 [DAT](INFO): DAT read: 16:53:31.2336 LVL= 29840, 32753, 24018, 32755, AGC= 57, IDX= 409,-0.32, 2.024, 0.498, 2.510, 2.012, PHS= 0.113,-1.470, 0.454, RAW= 159.5,  10.2, CAL= 159.5,  11.0, ROT= 350.5, -11.0

2025-08-09T16:53:33.002Z,1754758413.002 [DAT](INFO): got valid direction response:
 16:53:31.2336 LVL= 29840, 32753, 24018, 32755, AGC= 57, IDX= 409,-0.32, 2.024, 0.498, 2.510, 2.012, PHS= 0.113,-1.470, 0.454, RAW= 159.5,  10.2, CAL= 159.5,  11.0, ROT= 350.5, -11.0

2025-08-09T16:53:33.003Z,1754758413.003 [DAT](INFO): DAT read: Bearing 302.8, -10.8 (Local)

2025-08-09T16:53:33.003Z,1754758413.003 [DAT](INFO): Local bearing/azimuth received:
 Bearing 302.8, -10.8 (Local)

2025-08-09T16:53:33.005Z,1754758413.005 [DAT](INFO): DAT read: Range 11 to 50 : 26.7 m  (Round-trip  35.6 ms) speed  0.5 m/s

2025-08-09T16:53:33.006Z,1754758413.006 [DAT](INFO): DAT read: user:201>

2025-08-09T16:53:33.006Z,1754758413.006 [DAT](INFO): DAT read: Tx time:16:53:32.3439

2025-08-09T16:53:33.007Z,1754758413.007 [DAT](INFO): Ping request sent.
2025-08-09T16:53:33.007Z,1754758413.007 [DAT](INFO): transmitted an acoustic signal
2025-08-09T16:53:33.007Z,1754758413.007 [DAT](INFO): #Rx 6: Read range and direction messages.
2025-08-09T16:53:33.008Z,1754758413.008 [DAT](INFO): direction in FSK: [0.968165,-0.162015,0.190809]
2025-08-09T16:53:33.008Z,1754758413.008 [DAT](INFO): publishing transmit ping time
2025-08-09T16:53:33.009Z,1754758413.009 [DAT](INFO): publishing direction and range info
2025-08-09T16:53:33.012Z,1754758413.012 [DAT](INFO): publishing transmit ping time
2025-08-09T16:53:33.012Z,1754758413.012 [DAT](INFO): publishing direction and range info
2025-08-09T16:53:33.045Z,1754758413.045 [DAT](INFO): checking for new query: numPingsReceived=6, elapsed TxPingTime=0.037486
2025-08-09T16:53:33.248Z,1754758413.248 [DAT](INFO): checking for new query: numPingsReceived=6, elapsed TxPingTime=0.240678
2025-08-09T16:53:33.249Z,1754758413.249 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 26.700001 m,
      deltaT: 3.527969 s,
      deltaX: -2.099998 m,
      approachRate: -0.595243 m/s,
      rangeRepo size: 4

2025-08-09T16:53:33.255Z,1754758413.255 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 26.700001 m,
      bearing: 126.727986 deg,
      lat: 36.906084 deg,
      lon: -122.115862 deg,
      deltaT: 3.527969 s,
      deltaX: -2.099998 m,
      approachRate: -0.595243 m/s,
      posRepo size: 4

2025-08-09T16:53:33.256Z,1754758413.256 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 26.70 m.
2025-08-09T16:53:33.262Z,1754758413.262 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 26.700001 m,
      nav range: 25.924433 m,
      bearing: 126.727986 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.101251 deg/s,
      cmd heading: 131.306289 deg,
      new cmd heading: 131.196000 deg.

2025-08-09T16:53:33.263Z,1754758413.263 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.289802 target range: 26.700001 and range: 26.70 m.
2025-08-09T16:53:33.499Z,1754758413.499 [DAT](INFO): checking for new query: numPingsReceived=6, elapsed TxPingTime=0.492673
2025-08-09T16:53:33.632Z,1754758413.632 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 26.70 m.
2025-08-09T16:53:33.635Z,1754758413.635 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 26.700001 m,
      nav range: 25.679100 m,
      bearing: 126.681955 deg,
      approach rate: -0.628936 m/s,
      LOS rate: -0.119133 deg/s,
      cmd heading: 131.195995 deg,
      new cmd heading: 131.056582 deg.

2025-08-09T16:53:33.636Z,1754758413.636 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.287369 target range: 26.700001 and range: 26.70 m.
2025-08-09T16:53:33.752Z,1754758413.752 [DAT](INFO): checking for new query: numPingsReceived=6, elapsed TxPingTime=0.744754
2025-08-09T16:53:34.003Z,1754758414.003 [DAT](INFO): checking for new query: numPingsReceived=6, elapsed TxPingTime=0.996319
2025-08-09T16:53:34.102Z,1754758414.102 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-09T16:53:34.105Z,1754758414.105 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 26.70 m.
2025-08-09T16:53:34.108Z,1754758414.108 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 26.700001 m,
      nav range: 25.404257 m,
      bearing: 126.652875 deg,
      approach rate: -0.580945 m/s,
      LOS rate: -0.062131 deg/s,
      cmd heading: 131.056577 deg,
      new cmd heading: 130.968396 deg.

2025-08-09T16:53:34.109Z,1754758414.109 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.285830 target range: 26.700001 and range: 26.70 m.
2025-08-09T16:53:34.255Z,1754758414.255 [DAT](INFO): checking for new query: numPingsReceived=6, elapsed TxPingTime=1.248468
2025-08-09T16:53:34.431Z,1754758414.431 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 26.70 m.
2025-08-09T16:53:34.434Z,1754758414.434 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 26.700001 m,
      nav range: 25.210932 m,
      bearing: 126.633356 deg,
      approach rate: -0.593324 m/s,
      LOS rate: -0.060364 deg/s,
      cmd heading: 130.968399 deg,
      new cmd heading: 130.909393 deg.

2025-08-09T16:53:34.440Z,1754758414.440 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.284800 target range: 26.700001 and range: 26.70 m.
2025-08-09T16:53:34.511Z,1754758414.511 [DAT](INFO): checking for new query: numPingsReceived=6, elapsed TxPingTime=1.504191
2025-08-09T16:53:34.763Z,1754758414.763 [DAT](INFO): checking for new query: numPingsReceived=6, elapsed TxPingTime=1.756437
2025-08-09T16:53:34.881Z,1754758414.881 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 26.70 m.
2025-08-09T16:53:34.884Z,1754758414.884 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 26.700001 m,
      nav range: 24.943331 m,
      bearing: 126.629774 deg,
      approach rate: -0.594958 m/s,
      LOS rate: -0.008050 deg/s,
      cmd heading: 130.909386 deg,
      new cmd heading: 130.898524 deg.

2025-08-09T16:53:34.885Z,1754758414.885 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.284610 target range: 26.700001 and range: 26.70 m.
2025-08-09T16:53:35.015Z,1754758415.015 [DAT](INFO): checking for new query: numPingsReceived=6, elapsed TxPingTime=2.008485
2025-08-09T16:53:35.247Z,1754758415.247 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 26.70 m.
2025-08-09T16:53:35.250Z,1754758415.250 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 26.700001 m,
      nav range: 24.725710 m,
      bearing: 126.627524 deg,
      approach rate: -0.593932 m/s,
      LOS rate: -0.006194 deg/s,
      cmd heading: 130.898526 deg,
      new cmd heading: 130.891718 deg.

2025-08-09T16:53:35.251Z,1754758415.251 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.284492 target range: 26.700001 and range: 26.70 m.
2025-08-09T16:53:35.269Z,1754758415.269 [DAT](INFO): checking for new query: numPingsReceived=6, elapsed TxPingTime=2.262558
2025-08-09T16:53:35.519Z,1754758415.519 [DAT](INFO): checking for new query: numPingsReceived=6, elapsed TxPingTime=2.512385
2025-08-09T16:53:35.671Z,1754758415.671 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 26.70 m.
2025-08-09T16:53:35.674Z,1754758415.674 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 26.700001 m,
      nav range: 24.485086 m,
      bearing: 126.625806 deg,
      approach rate: -0.567663 m/s,
      LOS rate: -0.004092 deg/s,
      cmd heading: 130.891724 deg,
      new cmd heading: 130.886520 deg.

2025-08-09T16:53:35.675Z,1754758415.675 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.284401 target range: 26.700001 and range: 26.70 m.
2025-08-09T16:53:35.775Z,1754758415.775 [DAT](INFO): DAT read: Rx Time:16:53:34.7806

2025-08-09T16:53:35.775Z,1754758415.775 [DAT](INFO): Rx dataTimestamp_ set to:1754758415.775133
2025-08-09T16:53:35.776Z,1754758415.776 [DAT](INFO): checking for new query: numPingsReceived=6, elapsed TxPingTime=2.769168
2025-08-09T16:53:36.023Z,1754758416.023 [DAT](INFO): checking for new query: numPingsReceived=6, elapsed TxPingTime=3.016415
2025-08-09T16:53:36.114Z,1754758416.114 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 26.70 m.
2025-08-09T16:53:36.117Z,1754758416.117 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 26.700001 m,
      nav range: 24.219032 m,
      bearing: 126.622257 deg,
      approach rate: -0.622901 m/s,
      LOS rate: -0.008401 deg/s,
      cmd heading: 130.886519 deg,
      new cmd heading: 130.875755 deg.

2025-08-09T16:53:36.122Z,1754758416.122 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.284213 target range: 26.700001 and range: 26.70 m.
2025-08-09T16:53:36.278Z,1754758416.278 [DAT](INFO): checking for new query: numPingsReceived=6, elapsed TxPingTime=3.270775
2025-08-09T16:53:36.477Z,1754758416.477 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-09T16:53:36.483Z,1754758416.483 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 26.70 m.
2025-08-09T16:53:36.486Z,1754758416.486 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 26.700001 m,
      nav range: 24.005816 m,
      bearing: 126.620098 deg,
      approach rate: -0.553928 m/s,
      LOS rate: -0.005659 deg/s,
      cmd heading: 130.875755 deg,
      new cmd heading: 130.869220 deg.

2025-08-09T16:53:36.495Z,1754758416.495 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.284099 target range: 26.700001 and range: 26.70 m.
2025-08-09T16:53:36.533Z,1754758416.533 [DAT](INFO): DAT read: 16:53:34.7806 LVL= 27824, 32753, 20882, 32755, AGC= 56, IDX= 410, 0.21, 0.102,-1.451, 0.583, 0.094, PHS= 0.109,-1.500, 0.445, RAW= 159.3,  10.5, CAL= 159.3,  11.5, ROT= 350.7, -11.5

2025-08-09T16:53:36.535Z,1754758416.535 [DAT](INFO): got valid direction response:
 16:53:34.7806 LVL= 27824, 32753, 20882, 32755, AGC= 56, IDX= 410, 0.21, 0.102,-1.451, 0.583, 0.094, PHS= 0.109,-1.500, 0.445, RAW= 159.3,  10.5, CAL= 159.3,  11.5, ROT= 350.7, -11.5

2025-08-09T16:53:36.536Z,1754758416.536 [DAT](INFO): DAT read: Bearing 302.2, -10.3 (Local)

2025-08-09T16:53:36.536Z,1754758416.536 [DAT](INFO): Local bearing/azimuth received:
 Bearing 302.2, -10.3 (Local)

2025-08-09T16:53:36.539Z,1754758416.539 [DAT](INFO): DAT read: Range 11 to 50 : 24.4 m  (Round-trip  32.6 ms) speed  0.6 m/s

2025-08-09T16:53:36.540Z,1754758416.540 [DAT](INFO): DAT read: user:202>

2025-08-09T16:53:36.542Z,1754758416.542 [DAT](INFO): DAT read: Tx time:16:53:35.8939

2025-08-09T16:53:36.543Z,1754758416.543 [DAT](INFO): Ping request sent.
2025-08-09T16:53:36.543Z,1754758416.543 [DAT](INFO): transmitted an acoustic signal
2025-08-09T16:53:36.544Z,1754758416.544 [DAT](INFO): #Rx 7: Read range and direction messages.
2025-08-09T16:53:36.546Z,1754758416.546 [DAT](INFO): direction in FSK: [0.967044,-0.158359,0.199368]
2025-08-09T16:53:36.546Z,1754758416.546 [DAT](INFO): publishing transmit ping time
2025-08-09T16:53:36.546Z,1754758416.546 [DAT](INFO): publishing direction and range info
2025-08-09T16:53:36.553Z,1754758416.553 [DAT](INFO): publishing transmit ping time
2025-08-09T16:53:36.554Z,1754758416.554 [DAT](INFO): publishing direction and range info
2025-08-09T16:53:36.595Z,1754758416.595 [DAT](INFO): checking for new query: numPingsReceived=7, elapsed TxPingTime=0.051877
2025-08-09T16:53:36.780Z,1754758416.780 [DAT](INFO): checking for new query: numPingsReceived=7, elapsed TxPingTime=0.236897
2025-08-09T16:53:36.943Z,1754758416.943 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 24.400000 m,
      deltaT: 3.532234 s,
      deltaX: -2.300001 m,
      approachRate: -0.651146 m/s,
      rangeRepo size: 4

2025-08-09T16:53:36.945Z,1754758416.945 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 24.400000 m,
      bearing: 126.100067 deg,
      lat: 36.906086 deg,
      lon: -122.115861 deg,
      deltaT: 3.532234 s,
      deltaX: -2.300001 m,
      approachRate: -0.651146 m/s,
      posRepo size: 4

2025-08-09T16:53:36.945Z,1754758416.945 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.40 m.
2025-08-09T16:53:36.952Z,1754758416.952 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 24.400000 m,
      nav range: 23.698086 m,
      bearing: 126.100067 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.005659 deg/s,
      cmd heading: 130.869225 deg,
      new cmd heading: 130.861508 deg.

2025-08-09T16:53:36.953Z,1754758416.953 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.283964 target range: 24.400000 and range: 24.40 m.
2025-08-09T16:53:37.032Z,1754758417.032 [DAT](INFO): checking for new query: numPingsReceived=7, elapsed TxPingTime=0.489363
2025-08-09T16:53:37.283Z,1754758417.283 [DAT](INFO): checking for new query: numPingsReceived=7, elapsed TxPingTime=0.740657
2025-08-09T16:53:37.320Z,1754758417.320 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.40 m.
2025-08-09T16:53:37.327Z,1754758417.327 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 24.400000 m,
      nav range: 23.469971 m,
      bearing: 126.090118 deg,
      approach rate: -0.596701 m/s,
      LOS rate: -0.026279 deg/s,
      cmd heading: 130.861507 deg,
      new cmd heading: 130.831368 deg.

2025-08-09T16:53:37.328Z,1754758417.328 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.283438 target range: 24.400000 and range: 24.40 m.
2025-08-09T16:53:37.537Z,1754758417.537 [DAT](INFO): checking for new query: numPingsReceived=7, elapsed TxPingTime=0.993945
2025-08-09T16:53:37.790Z,1754758417.790 [DAT](INFO): checking for new query: numPingsReceived=7, elapsed TxPingTime=1.246662
2025-08-09T16:53:37.807Z,1754758417.807 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.40 m.
2025-08-09T16:53:37.809Z,1754758417.809 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 24.400000 m,
      nav range: 23.209969 m,
      bearing: 126.079576 deg,
      approach rate: -0.543492 m/s,
      LOS rate: -0.022284 deg/s,
      cmd heading: 130.831372 deg,
      new cmd heading: 130.799391 deg.

2025-08-09T16:53:37.819Z,1754758417.819 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.282880 target range: 24.400000 and range: 24.40 m.
2025-08-09T16:53:38.041Z,1754758418.041 [DAT](INFO): checking for new query: numPingsReceived=7, elapsed TxPingTime=1.497668
2025-08-09T16:53:38.237Z,1754758418.237 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.40 m.
2025-08-09T16:53:38.244Z,1754758418.244 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 24.400000 m,
      nav range: 22.922096 m,
      bearing: 126.045004 deg,
      approach rate: -0.657108 m/s,
      LOS rate: -0.079905 deg/s,
      cmd heading: 130.799393 deg,
      new cmd heading: 130.694377 deg.

2025-08-09T16:53:38.248Z,1754758418.248 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.281047 target range: 24.400000 and range: 24.40 m.
2025-08-09T16:53:38.292Z,1754758418.292 [DAT](INFO): checking for new query: numPingsReceived=7, elapsed TxPingTime=1.749453
2025-08-09T16:53:38.544Z,1754758418.544 [DAT](INFO): checking for new query: numPingsReceived=7, elapsed TxPingTime=2.000902
2025-08-09T16:53:38.613Z,1754758418.613 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-09T16:53:38.623Z,1754758418.623 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.40 m.
2025-08-09T16:53:38.625Z,1754758418.625 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 24.400000 m,
      nav range: 22.687136 m,
      bearing: 126.016881 deg,
      approach rate: -0.608433 m/s,
      LOS rate: -0.073580 deg/s,
      cmd heading: 130.694372 deg,
      new cmd heading: 130.609128 deg.

2025-08-09T16:53:38.631Z,1754758418.631 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.279559 target range: 24.400000 and range: 24.40 m.
2025-08-09T16:53:38.799Z,1754758418.799 [DAT](INFO): checking for new query: numPingsReceived=7, elapsed TxPingTime=2.255949
2025-08-09T16:53:39.027Z,1754758419.027 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.40 m.
2025-08-09T16:53:39.030Z,1754758419.030 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 24.400000 m,
      nav range: 22.442188 m,
      bearing: 125.981941 deg,
      approach rate: -0.605556 m/s,
      LOS rate: -0.087322 deg/s,
      cmd heading: 130.609131 deg,
      new cmd heading: 130.503166 deg.

2025-08-09T16:53:39.031Z,1754758419.031 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.277710 target range: 24.400000 and range: 24.40 m.
2025-08-09T16:53:39.048Z,1754758419.048 [DAT](INFO): checking for new query: numPingsReceived=7, elapsed TxPingTime=2.505647
2025-08-09T16:53:39.299Z,1754758419.299 [DAT](INFO): DAT read: Rx Time:16:53:38.3278

2025-08-09T16:53:39.300Z,1754758419.300 [DAT](INFO): Rx dataTimestamp_ set to:1754758419.299483
2025-08-09T16:53:39.300Z,1754758419.300 [DAT](INFO): checking for new query: numPingsReceived=7, elapsed TxPingTime=2.757645
2025-08-09T16:53:39.530Z,1754758419.530 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.40 m.
2025-08-09T16:53:39.536Z,1754758419.536 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 24.400000 m,
      nav range: 22.179419 m,
      bearing: 125.944218 deg,
      approach rate: -0.522896 m/s,
      LOS rate: -0.075956 deg/s,
      cmd heading: 130.503168 deg,
      new cmd heading: 130.388658 deg.

2025-08-09T16:53:39.538Z,1754758419.538 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.275711 target range: 24.400000 and range: 24.40 m.
2025-08-09T16:53:39.568Z,1754758419.568 [DAT](INFO): checking for new query: numPingsReceived=7, elapsed TxPingTime=3.024883
2025-08-09T16:53:39.822Z,1754758419.822 [DAT](INFO): checking for new query: numPingsReceived=7, elapsed TxPingTime=3.278876
2025-08-09T16:53:39.946Z,1754758419.946 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.40 m.
2025-08-09T16:53:39.949Z,1754758419.949 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 24.400000 m,
      nav range: 21.891237 m,
      bearing: 125.883798 deg,
      approach rate: -0.691948 m/s,
      LOS rate: -0.146983 deg/s,
      cmd heading: 130.388653 deg,
      new cmd heading: 130.205008 deg.

2025-08-09T16:53:39.950Z,1754758419.950 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.272506 target range: 24.400000 and range: 24.40 m.
2025-08-09T16:53:40.077Z,1754758420.077 [DAT](INFO): DAT read: 16:53:38.3278 LVL= 27408, 32753, 18994, 32755, AGC= 53, IDX= 413, 0.35, 2.686, 1.159, 3.139, 2.663, PHS= 0.125,-1.460, 0.431, RAW= 158.7,  10.3, CAL= 158.7,  11.2, ROT= 351.3, -11.2

2025-08-09T16:53:40.078Z,1754758420.078 [DAT](INFO): got valid direction response:
 16:53:38.3278 LVL= 27408, 32753, 18994, 32755, AGC= 53, IDX= 413, 0.35, 2.686, 1.159, 3.139, 2.663, PHS= 0.125,-1.460, 0.431, RAW= 158.7,  10.3, CAL= 158.7,  11.2, ROT= 351.3, -11.2

2025-08-09T16:53:40.087Z,1754758420.087 [DAT](INFO): DAT read: Bearing 301.5,  -9.4 (Local)

2025-08-09T16:53:40.087Z,1754758420.087 [DAT](INFO): Local bearing/azimuth received:
 Bearing 301.5,  -9.4 (Local)

2025-08-09T16:53:40.089Z,1754758420.089 [DAT](INFO): DAT read: Range 11 to 50 : 22.2 m  (Round-trip  29.7 ms) speed  0.5 m/s

2025-08-09T16:53:40.089Z,1754758420.089 [DAT](INFO): DAT read: user:203>

2025-08-09T16:53:40.112Z,1754758420.112 [DAT](INFO): DAT read: Tx time:16:53:39.4439

2025-08-09T16:53:40.113Z,1754758420.113 [DAT](INFO): Ping request sent.
2025-08-09T16:53:40.114Z,1754758420.114 [DAT](INFO): transmitted an acoustic signal
2025-08-09T16:53:40.120Z,1754758420.120 [DAT](INFO): #Rx 8: Read range and direction messages.
2025-08-09T16:53:40.121Z,1754758420.121 [DAT](INFO): direction in FSK: [0.969668,-0.148380,0.194234]
2025-08-09T16:53:40.121Z,1754758420.121 [DAT](INFO): publishing transmit ping time
2025-08-09T16:53:40.121Z,1754758420.121 [DAT](INFO): publishing direction and range info
2025-08-09T16:53:40.129Z,1754758420.129 [DAT](INFO): publishing transmit ping time
2025-08-09T16:53:40.130Z,1754758420.130 [DAT](INFO): publishing direction and range info
2025-08-09T16:53:40.169Z,1754758420.169 [DAT](INFO): checking for new query: numPingsReceived=8, elapsed TxPingTime=0.024851
2025-08-09T16:53:40.322Z,1754758420.322 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 22.200001 m,
      deltaT: 3.543816 s,
      deltaX: -2.199999 m,
      approachRate: -0.620799 m/s,
      rangeRepo size: 4

2025-08-09T16:53:40.323Z,1754758420.323 [DAT](INFO): checking for new query: numPingsReceived=8, elapsed TxPingTime=0.210049
2025-08-09T16:53:40.329Z,1754758420.329 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 22.200001 m,
      bearing: 125.520154 deg,
      lat: 36.906087 deg,
      lon: -122.115859 deg,
      deltaT: 3.543816 s,
      deltaX: -2.199999 m,
      approachRate: -0.620799 m/s,
      posRepo size: 4

2025-08-09T16:53:40.329Z,1754758420.329 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 22.20 m.
2025-08-09T16:53:40.336Z,1754758420.336 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 22.200001 m,
      nav range: 21.725132 m,
      bearing: 125.520154 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.146983 deg/s,
      cmd heading: 130.205003 deg,
      new cmd heading: 130.039649 deg.

2025-08-09T16:53:40.337Z,1754758420.337 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.269620 target range: 22.200001 and range: 22.20 m.
2025-08-09T16:53:40.576Z,1754758420.576 [DAT](INFO): checking for new query: numPingsReceived=8, elapsed TxPingTime=0.462621
2025-08-09T16:53:40.695Z,1754758420.695 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-09T16:53:40.697Z,1754758420.697 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 22.20 m.
2025-08-09T16:53:40.700Z,1754758420.700 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 22.200001 m,
      nav range: 21.483870 m,
      bearing: 125.464938 deg,
      approach rate: -0.641833 m/s,
      LOS rate: -0.148541 deg/s,
      cmd heading: 130.039644 deg,
      new cmd heading: 129.872137 deg.

2025-08-09T16:53:40.701Z,1754758420.701 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.266696 target range: 22.200001 and range: 22.20 m.
2025-08-09T16:53:40.831Z,1754758420.831 [DAT](INFO): checking for new query: numPingsReceived=8, elapsed TxPingTime=0.716397
2025-08-09T16:53:41.079Z,1754758421.079 [DAT](INFO): checking for new query: numPingsReceived=8, elapsed TxPingTime=0.965968
2025-08-09T16:53:41.130Z,1754758421.130 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 22.20 m.
2025-08-09T16:53:41.133Z,1754758421.133 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 22.200001 m,
      nav range: 21.222038 m,
      bearing: 125.399803 deg,
      approach rate: -0.604901 m/s,
      LOS rate: -0.152335 deg/s,
      cmd heading: 129.872140 deg,
      new cmd heading: 129.674327 deg.

2025-08-09T16:53:41.134Z,1754758421.134 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.263244 target range: 22.200001 and range: 22.20 m.
2025-08-09T16:53:41.333Z,1754758421.333 [DAT](INFO): checking for new query: numPingsReceived=8, elapsed TxPingTime=1.219176
2025-08-09T16:53:41.497Z,1754758421.497 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 22.20 m.
2025-08-09T16:53:41.500Z,1754758421.500 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 22.200001 m,
      nav range: 20.999786 m,
      bearing: 125.343517 deg,
      approach rate: -0.605182 m/s,
      LOS rate: -0.154887 deg/s,
      cmd heading: 129.674324 deg,
      new cmd heading: 129.503679 deg.

2025-08-09T16:53:41.501Z,1754758421.501 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.260266 target range: 22.200001 and range: 22.20 m.
2025-08-09T16:53:41.584Z,1754758421.584 [DAT](INFO): checking for new query: numPingsReceived=8, elapsed TxPingTime=1.470569
2025-08-09T16:53:41.839Z,1754758421.839 [DAT](INFO): checking for new query: numPingsReceived=8, elapsed TxPingTime=1.724804
2025-08-09T16:53:41.939Z,1754758421.939 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 22.20 m.
2025-08-09T16:53:41.942Z,1754758421.942 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 22.200001 m,
      nav range: 20.733669 m,
      bearing: 125.266610 deg,
      approach rate: -0.602489 m/s,
      LOS rate: -0.176353 deg/s,
      cmd heading: 129.503679 deg,
      new cmd heading: 129.269997 deg.

2025-08-09T16:53:41.943Z,1754758421.943 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.256187 target range: 22.200001 and range: 22.20 m.
2025-08-09T16:53:42.087Z,1754758422.087 [DAT](INFO): checking for new query: numPingsReceived=8, elapsed TxPingTime=1.973962
2025-08-09T16:53:42.309Z,1754758422.309 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 22.20 m.
2025-08-09T16:53:42.312Z,1754758422.312 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 22.200001 m,
      nav range: 20.510525 m,
      bearing: 125.201242 deg,
      approach rate: -0.603040 m/s,
      LOS rate: -0.178577 deg/s,
      cmd heading: 129.269991 deg,
      new cmd heading: 129.071753 deg.

2025-08-09T16:53:42.313Z,1754758422.313 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.252727 target range: 22.200001 and range: 22.20 m.
2025-08-09T16:53:42.339Z,1754758422.339 [DAT](INFO): checking for new query: numPingsReceived=8, elapsed TxPingTime=2.225989
2025-08-09T16:53:42.591Z,1754758422.591 [DAT](INFO): checking for new query: numPingsReceived=8, elapsed TxPingTime=2.477976
2025-08-09T16:53:42.708Z,1754758422.708 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-09T16:53:42.710Z,1754758422.710 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 22.20 m.
2025-08-09T16:53:42.713Z,1754758422.713 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 22.200001 m,
      nav range: 20.268845 m,
      bearing: 125.129545 deg,
      approach rate: -0.602246 m/s,
      LOS rate: -0.180792 deg/s,
      cmd heading: 129.071751 deg,
      new cmd heading: 128.854098 deg.

2025-08-09T16:53:42.742Z,1754758422.742 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.248928 target range: 22.200001 and range: 22.20 m.
2025-08-09T16:53:42.847Z,1754758422.847 [DAT](INFO): DAT read: Rx Time:16:53:41.8750

2025-08-09T16:53:42.848Z,1754758422.848 [DAT](INFO): Rx dataTimestamp_ set to:1754758422.847461
2025-08-09T16:53:42.851Z,1754758422.851 [DAT](INFO): checking for new query: numPingsReceived=8, elapsed TxPingTime=2.736508
2025-08-09T16:53:43.095Z,1754758423.095 [DAT](INFO): checking for new query: numPingsReceived=8, elapsed TxPingTime=2.981947
2025-08-09T16:53:43.134Z,1754758423.134 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 22.20 m.
2025-08-09T16:53:43.137Z,1754758423.137 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 22.200001 m,
      nav range: 20.013620 m,
      bearing: 125.057333 deg,
      approach rate: -0.602461 m/s,
      LOS rate: -0.172632 deg/s,
      cmd heading: 128.854101 deg,
      new cmd heading: 128.634702 deg.

2025-08-09T16:53:43.138Z,1754758423.138 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.245099 target range: 22.200001 and range: 22.20 m.
2025-08-09T16:53:43.348Z,1754758423.348 [DAT](INFO): checking for new query: numPingsReceived=8, elapsed TxPingTime=3.234145
2025-08-09T16:53:43.536Z,1754758423.536 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 22.20 m.
2025-08-09T16:53:43.540Z,1754758423.540 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 22.200001 m,
      nav range: 19.786924 m,
      bearing: 124.992349 deg,
      approach rate: -0.571766 m/s,
      LOS rate: -0.165778 deg/s,
      cmd heading: 128.634701 deg,
      new cmd heading: 128.437517 deg.

2025-08-09T16:53:43.543Z,1754758423.543 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.241657 target range: 22.200001 and range: 22.20 m.
2025-08-09T16:53:43.606Z,1754758423.606 [DAT](INFO): DAT read: 16:53:41.8750 LVL= 29424, 32753, 23666, 32755, AGC= 52, IDX= 418,-0.46, 2.637, 1.154, 3.093, 2.633, PHS= 0.107,-1.433, 0.417, RAW= 159.0,  10.6, CAL= 159.0,  11.6, ROT= 351.0, -11.6

2025-08-09T16:53:43.617Z,1754758423.617 [DAT](INFO): got valid direction response:
 16:53:41.8750 LVL= 29424, 32753, 23666, 32755, AGC= 52, IDX= 418,-0.46, 2.637, 1.154, 3.093, 2.633, PHS= 0.107,-1.433, 0.417, RAW= 159.0,  10.6, CAL= 159.0,  11.6, ROT= 351.0, -11.6

2025-08-09T16:53:43.619Z,1754758423.619 [DAT](INFO): DAT read: Bearing 299.1,  -9.3 (Local)

2025-08-09T16:53:43.619Z,1754758423.619 [DAT](INFO): Local bearing/azimuth received:
 Bearing 299.1,  -9.3 (Local)

2025-08-09T16:53:43.621Z,1754758423.621 [DAT](INFO): DAT read: Range 11 to 50 : 20.2 m  (Round-trip  27.0 ms) speed  0.5 m/s

2025-08-09T16:53:43.622Z,1754758423.622 [DAT](INFO): DAT read: user:204>

2025-08-09T16:53:43.647Z,1754758423.647 [DAT](INFO): DAT read: Tx time:16:53:42.9939

2025-08-09T16:53:43.647Z,1754758423.647 [DAT](INFO): Ping request sent.
2025-08-09T16:53:43.647Z,1754758423.647 [DAT](INFO): transmitted an acoustic signal
2025-08-09T16:53:43.648Z,1754758423.648 [DAT](INFO): #Rx 9: Read range and direction messages.
2025-08-09T16:53:43.649Z,1754758423.649 [DAT](INFO): direction in FSK: [0.967515,-0.153239,0.201078]
2025-08-09T16:53:43.649Z,1754758423.649 [DAT](INFO): publishing transmit ping time
2025-08-09T16:53:43.650Z,1754758423.650 [DAT](INFO): publishing direction and range info
2025-08-09T16:53:43.664Z,1754758423.664 [DAT](INFO): publishing transmit ping time
2025-08-09T16:53:43.664Z,1754758423.664 [DAT](INFO): publishing direction and range info
2025-08-09T16:53:43.683Z,1754758423.683 [DAT](INFO): checking for new query: numPingsReceived=9, elapsed TxPingTime=0.035808
2025-08-09T16:53:43.855Z,1754758423.855 [DAT](INFO): checking for new query: numPingsReceived=9, elapsed TxPingTime=0.206261
2025-08-09T16:53:43.964Z,1754758423.964 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 20.200001 m,
      deltaT: 3.528016 s,
      deltaX: -2.000000 m,
      approachRate: -0.566891 m/s,
      rangeRepo size: 4

2025-08-09T16:53:43.966Z,1754758423.966 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 20.200001 m,
      bearing: 124.729777 deg,
      lat: 36.906087 deg,
      lon: -122.115858 deg,
      deltaT: 3.528016 s,
      deltaX: -2.000000 m,
      approachRate: -0.566891 m/s,
      posRepo size: 4

2025-08-09T16:53:43.967Z,1754758423.967 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 20.20 m.
2025-08-09T16:53:43.969Z,1754758423.969 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 20.200001 m,
      nav range: 19.628000 m,
      bearing: 124.729777 deg,
      approach rate: -59642280416906791073349632.00 m/s,
      LOS rate: -0.165778 deg/s,
      cmd heading: 128.437514 deg,
      new cmd heading: 128.222338 deg.

2025-08-09T16:53:43.970Z,1754758423.970 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.237902 target range: 20.200001 and range: 20.20 m.
2025-08-09T16:53:44.103Z,1754758424.103 [DAT](INFO): checking for new query: numPingsReceived=9, elapsed TxPingTime=0.455928
2025-08-09T16:53:44.334Z,1754758424.334 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 20.20 m.
2025-08-09T16:53:44.337Z,1754758424.337 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 20.200001 m,
      nav range: 19.408293 m,
      bearing: 124.673833 deg,
      approach rate: -0.611656 m/s,
      LOS rate: -0.157509 deg/s,
      cmd heading: 128.222335 deg,
      new cmd heading: 128.052603 deg.

2025-08-09T16:53:44.342Z,1754758424.342 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.234940 target range: 20.200001 and range: 20.20 m.
2025-08-09T16:53:44.355Z,1754758424.355 [DAT](INFO): checking for new query: numPingsReceived=9, elapsed TxPingTime=0.707959
2025-08-09T16:53:44.611Z,1754758424.611 [DAT](INFO): checking for new query: numPingsReceived=9, elapsed TxPingTime=0.963182
2025-08-09T16:53:44.726Z,1754758424.726 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-09T16:53:44.728Z,1754758424.728 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 20.20 m.
2025-08-09T16:53:44.731Z,1754758424.731 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 20.200001 m,
      nav range: 19.162741 m,
      bearing: 124.610739 deg,
      approach rate: -0.604555 m/s,
      LOS rate: -0.157330 deg/s,
      cmd heading: 128.052605 deg,
      new cmd heading: 127.860897 deg.

2025-08-09T16:53:44.732Z,1754758424.732 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.231594 target range: 20.200001 and range: 20.20 m.
2025-08-09T16:53:44.863Z,1754758424.863 [DAT](INFO): checking for new query: numPingsReceived=9, elapsed TxPingTime=1.215074
2025-08-09T16:53:45.111Z,1754758425.111 [DAT](INFO): checking for new query: numPingsReceived=9, elapsed TxPingTime=1.463713
2025-08-09T16:53:45.209Z,1754758425.209 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 20.20 m.
2025-08-09T16:53:45.216Z,1754758425.216 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 20.200001 m,
      nav range: 18.880878 m,
      bearing: 124.568182 deg,
      approach rate: -0.586056 m/s,
      LOS rate: -0.089806 deg/s,
      cmd heading: 127.860895 deg,
      new cmd heading: 127.731320 deg.

2025-08-09T16:53:45.217Z,1754758425.217 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.229332 target range: 20.200001 and range: 20.20 m.
2025-08-09T16:53:45.363Z,1754758425.363 [DAT](INFO): checking for new query: numPingsReceived=9, elapsed TxPingTime=1.715754
2025-08-09T16:53:45.583Z,1754758425.583 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 20.20 m.
2025-08-09T16:53:45.586Z,1754758425.586 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 20.200001 m,
      nav range: 18.653252 m,
      bearing: 124.533472 deg,
      approach rate: -0.608786 m/s,
      LOS rate: -0.093965 deg/s,
      cmd heading: 127.731327 deg,
      new cmd heading: 127.625925 deg.

2025-08-09T16:53:45.587Z,1754758425.587 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.227493 target range: 20.200001 and range: 20.20 m.
2025-08-09T16:53:45.620Z,1754758425.620 [DAT](INFO): checking for new query: numPingsReceived=9, elapsed TxPingTime=1.972436
2025-08-09T16:53:45.875Z,1754758425.875 [DAT](INFO): checking for new query: numPingsReceived=9, elapsed TxPingTime=2.227334
2025-08-09T16:53:45.987Z,1754758425.987 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 20.20 m.
2025-08-09T16:53:45.990Z,1754758425.990 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 20.200001 m,
      nav range: 18.410824 m,
      bearing: 124.496212 deg,
      approach rate: -0.600518 m/s,
      LOS rate: -0.093513 deg/s,
      cmd heading: 127.625923 deg,
      new cmd heading: 127.512671 deg.

2025-08-09T16:53:45.991Z,1754758425.991 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.225516 target range: 20.200001 and range: 20.20 m.
2025-08-09T16:53:46.123Z,1754758426.123 [DAT](INFO): checking for new query: numPingsReceived=9, elapsed TxPingTime=2.475841
2025-08-09T16:53:46.375Z,1754758426.375 [DAT](INFO): checking for new query: numPingsReceived=9, elapsed TxPingTime=2.727868
2025-08-09T16:53:46.379Z,1754758426.379 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 20.20 m.
2025-08-09T16:53:46.381Z,1754758426.381 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 20.200001 m,
      nav range: 18.176954 m,
      bearing: 124.460681 deg,
      approach rate: -0.597606 m/s,
      LOS rate: -0.091959 deg/s,
      cmd heading: 127.512665 deg,
      new cmd heading: 127.404702 deg.

2025-08-09T16:53:46.382Z,1754758426.382 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.223632 target range: 20.200001 and range: 20.20 m.
2025-08-09T16:53:46.628Z,1754758426.628 [DAT](INFO): DAT read: Rx Time:16:53:45.4222

2025-08-09T16:53:46.629Z,1754758426.629 [DAT](INFO): Rx dataTimestamp_ set to:1754758426.628471
2025-08-09T16:53:46.630Z,1754758426.630 [DAT](INFO): checking for new query: numPingsReceived=9, elapsed TxPingTime=2.982119
2025-08-09T16:53:46.804Z,1754758426.804 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-09T16:53:46.807Z,1754758426.807 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 20.20 m.
2025-08-09T16:53:46.809Z,1754758426.809 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 20.200001 m,
      nav range: 17.927538 m,
      bearing: 124.421766 deg,
      approach rate: -0.582474 m/s,
      LOS rate: -0.092145 deg/s,
      cmd heading: 127.404707 deg,
      new cmd heading: 127.286338 deg.

2025-08-09T16:53:46.811Z,1754758426.811 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.221566 target range: 20.200001 and range: 20.20 m.
2025-08-09T16:53:46.883Z,1754758426.883 [DAT](INFO): checking for new query: numPingsReceived=9, elapsed TxPingTime=3.235253
2025-08-09T16:53:47.137Z,1754758427.137 [DAT](INFO): DAT read: 16:53:45.4222 LVL= 28240, 32753, 18482, 32755, AGC= 50, IDX= 421,-0.44,-1.565,-3.033,-1.058,-1.557, PHS= 0.094,-1.431, 0.455, RAW= 160.4,  10.2, CAL= 160.4,  11.1, ROT= 349.6, -11.1

2025-08-09T16:53:47.141Z,1754758427.141 [DAT](INFO): got valid direction response:
 16:53:45.4222 LVL= 28240, 32753, 18482, 32755, AGC= 50, IDX= 421,-0.44,-1.565,-3.033,-1.058,-1.557, PHS= 0.094,-1.431, 0.455, RAW= 160.4,  10.2, CAL= 160.4,  11.1, ROT= 349.6, -11.1

2025-08-09T16:53:47.142Z,1754758427.142 [DAT](INFO): DAT read: Bearing 297.7, -10.1 (Local)

2025-08-09T16:53:47.143Z,1754758427.143 [DAT](INFO): Local bearing/azimuth received:
 Bearing 297.7, -10.1 (Local)

2025-08-09T16:53:47.144Z,1754758427.144 [DAT](INFO): DAT read: Range 11 to 50 : 18.1 m  (Round-trip  24.2 ms) speed  0.5 m/s

2025-08-09T16:53:47.145Z,1754758427.145 [DAT](INFO): DAT read: user:205>

2025-08-09T16:53:47.145Z,1754758427.145 [DAT](INFO): DAT read: Tx time:16:53:46.5439

2025-08-09T16:53:47.146Z,1754758427.146 [DAT](INFO): Ping request sent.
2025-08-09T16:53:47.146Z,1754758427.146 [DAT](INFO): transmitted an acoustic signal
2025-08-09T16:53:47.158Z,1754758427.158 [DAT](INFO): #Rx 10: Read range and direction messages.
2025-08-09T16:53:47.159Z,1754758427.159 [DAT](INFO): direction in FSK: [0.965171,-0.177142,0.192522]
2025-08-09T16:53:47.160Z,1754758427.160 [DAT](INFO): publishing transmit ping time
2025-08-09T16:53:47.160Z,1754758427.160 [DAT](INFO): publishing direction and range info
2025-08-09T16:53:47.163Z,1754758427.163 [DAT](INFO): publishing transmit ping time
2025-08-09T16:53:47.163Z,1754758427.163 [DAT](INFO): publishing direction and range info
2025-08-09T16:53:47.168Z,1754758427.168 [DAT](INFO): checking for new query: numPingsReceived=10, elapsed TxPingTime=0.020257
2025-08-09T16:53:47.319Z,1754758427.319 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 18.100000 m,
      deltaT: 3.532163 s,
      deltaX: -2.100000 m,
      approachRate: -0.594537 m/s,
      rangeRepo size: 4

2025-08-09T16:53:47.321Z,1754758427.321 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 18.100000 m,
      bearing: 124.100549 deg,
      lat: 36.906087 deg,
      lon: -122.115857 deg,
      deltaT: 3.532163 s,
      deltaX: -2.100000 m,
      approachRate: -0.594537 m/s,
      posRepo size: 4

2025-08-09T16:53:47.322Z,1754758427.322 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.10 m.
2025-08-09T16:53:47.329Z,1754758427.329 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 18.100000 m,
      nav range: 17.628908 m,
      bearing: 124.100549 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.092145 deg/s,
      cmd heading: 127.286340 deg,
      new cmd heading: 127.147096 deg.

2025-08-09T16:53:47.335Z,1754758427.335 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.219136 target range: 18.100000 and range: 18.10 m.
2025-08-09T16:53:47.384Z,1754758427.384 [DAT](INFO): checking for new query: numPingsReceived=10, elapsed TxPingTime=0.238010
2025-08-09T16:53:47.635Z,1754758427.635 [DAT](INFO): checking for new query: numPingsReceived=10, elapsed TxPingTime=0.489507
2025-08-09T16:53:47.690Z,1754758427.690 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.10 m.
2025-08-09T16:53:47.693Z,1754758427.693 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 18.100000 m,
      nav range: 17.397703 m,
      bearing: 124.069168 deg,
      approach rate: -0.609515 m/s,
      LOS rate: -0.083826 deg/s,
      cmd heading: 127.147100 deg,
      new cmd heading: 127.051708 deg.

2025-08-09T16:53:47.694Z,1754758427.694 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.217471 target range: 18.100000 and range: 18.10 m.
2025-08-09T16:53:47.893Z,1754758427.893 [DAT](INFO): checking for new query: numPingsReceived=10, elapsed TxPingTime=0.746260
2025-08-09T16:53:48.119Z,1754758428.119 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.10 m.
2025-08-09T16:53:48.121Z,1754758428.121 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 18.100000 m,
      nav range: 17.135662 m,
      bearing: 124.049176 deg,
      approach rate: -0.610890 m/s,
      LOS rate: -0.047321 deg/s,
      cmd heading: 127.051709 deg,
      new cmd heading: 126.990814 deg.

2025-08-09T16:53:48.123Z,1754758428.123 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.216408 target range: 18.100000 and range: 18.10 m.
2025-08-09T16:53:48.139Z,1754758428.139 [DAT](INFO): checking for new query: numPingsReceived=10, elapsed TxPingTime=0.993482
2025-08-09T16:53:48.391Z,1754758428.391 [DAT](INFO): checking for new query: numPingsReceived=10, elapsed TxPingTime=1.245399
2025-08-09T16:53:48.471Z,1754758428.471 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.10 m.
2025-08-09T16:53:48.474Z,1754758428.474 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 18.100000 m,
      nav range: 16.915161 m,
      bearing: 124.035638 deg,
      approach rate: -0.625013 m/s,
      LOS rate: -0.038871 deg/s,
      cmd heading: 126.990811 deg,
      new cmd heading: 126.949670 deg.

2025-08-09T16:53:48.475Z,1754758428.475 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.215690 target range: 18.100000 and range: 18.10 m.
2025-08-09T16:53:48.643Z,1754758428.643 [DAT](INFO): checking for new query: numPingsReceived=10, elapsed TxPingTime=1.497411
2025-08-09T16:53:48.898Z,1754758428.898 [DAT](INFO): checking for new query: numPingsReceived=10, elapsed TxPingTime=1.751653
2025-08-09T16:53:48.914Z,1754758428.914 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-09T16:53:48.950Z,1754758428.950 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.10 m.
2025-08-09T16:53:48.960Z,1754758428.960 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 18.100000 m,
      nav range: 16.653925 m,
      bearing: 124.021750 deg,
      approach rate: -0.559502 m/s,
      LOS rate: -0.030212 deg/s,
      cmd heading: 126.949666 deg,
      new cmd heading: 126.907347 deg.

2025-08-09T16:53:48.961Z,1754758428.961 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.214951 target range: 18.100000 and range: 18.10 m.
2025-08-09T16:53:49.150Z,1754758429.150 [DAT](INFO): checking for new query: numPingsReceived=10, elapsed TxPingTime=2.004271
2025-08-09T16:53:49.399Z,1754758429.399 [DAT](INFO): checking for new query: numPingsReceived=10, elapsed TxPingTime=2.253464
2025-08-09T16:53:49.475Z,1754758429.475 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.10 m.
2025-08-09T16:53:49.478Z,1754758429.478 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 18.100000 m,
      nav range: 16.303467 m,
      bearing: 124.001869 deg,
      approach rate: -0.652938 m/s,
      LOS rate: -0.037836 deg/s,
      cmd heading: 126.907346 deg,
      new cmd heading: 126.846422 deg.

2025-08-09T16:53:49.479Z,1754758429.479 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.213888 target range: 18.100000 and range: 18.10 m.
2025-08-09T16:53:49.651Z,1754758429.651 [DAT](INFO): checking for new query: numPingsReceived=10, elapsed TxPingTime=2.505559
2025-08-09T16:53:49.876Z,1754758429.876 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.10 m.
2025-08-09T16:53:49.883Z,1754758429.883 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 18.100000 m,
      nav range: 16.078842 m,
      bearing: 123.991383 deg,
      approach rate: -0.559932 m/s,
      LOS rate: -0.026505 deg/s,
      cmd heading: 126.846421 deg,
      new cmd heading: 126.814523 deg.

2025-08-09T16:53:49.884Z,1754758429.884 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.213331 target range: 18.100000 and range: 18.10 m.
2025-08-09T16:53:49.907Z,1754758429.907 [DAT](INFO): checking for new query: numPingsReceived=10, elapsed TxPingTime=2.761106
2025-08-09T16:53:50.155Z,1754758430.155 [DAT](INFO): DAT read: Rx Time:16:53:48.9693

2025-08-09T16:53:50.156Z,1754758430.156 [DAT](INFO): Rx dataTimestamp_ set to:1754758430.155445
2025-08-09T16:53:50.156Z,1754758430.156 [DAT](INFO): checking for new query: numPingsReceived=10, elapsed TxPingTime=3.010453
2025-08-09T16:53:50.407Z,1754758430.407 [DAT](INFO): checking for new query: numPingsReceived=10, elapsed TxPingTime=3.261578
2025-08-09T16:53:50.456Z,1754758430.456 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.10 m.
2025-08-09T16:53:50.459Z,1754758430.459 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 18.100000 m,
      nav range: 15.708264 m,
      bearing: 123.945560 deg,
      approach rate: -0.638545 m/s,
      LOS rate: -0.080820 deg/s,
      cmd heading: 126.814524 deg,
      new cmd heading: 126.673814 deg.

2025-08-09T16:53:50.460Z,1754758430.460 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.210875 target range: 18.100000 and range: 18.10 m.
2025-08-09T16:53:50.665Z,1754758430.665 [DAT](INFO): DAT read: 16:53:48.9693 LVL= 25424, 30609, 23394, 32755, AGC= 50, IDX= 406, 0.09,-1.679, 3.091,-1.210,-1.698, PHS= 0.121,-1.449, 0.444, RAW= 159.2,  10.1, CAL= 159.1,  10.9, ROT= 350.9, -10.9

2025-08-09T16:53:50.666Z,1754758430.666 [DAT](INFO): got valid direction response:
 16:53:48.9693 LVL= 25424, 30609, 23394, 32755, AGC= 50, IDX= 406, 0.09,-1.679, 3.091,-1.210,-1.698, PHS= 0.121,-1.449, 0.444, RAW= 159.2,  10.1, CAL= 159.1,  10.9, ROT= 350.9, -10.9

2025-08-09T16:53:50.671Z,1754758430.671 [DAT](INFO): DAT read: Bearing 296.7,  -8.7 (Local)

2025-08-09T16:53:50.671Z,1754758430.671 [DAT](INFO): Local bearing/azimuth received:
 Bearing 296.7,  -8.7 (Local)

2025-08-09T16:53:50.673Z,1754758430.673 [DAT](INFO): DAT read: Range 11 to 50 : 15.9 m  (Round-trip  21.2 ms) speed  0.5 m/s

2025-08-09T16:53:50.673Z,1754758430.673 [DAT](INFO): DAT read: user:206>

2025-08-09T16:53:50.674Z,1754758430.674 [DAT](INFO): DAT read: Tx time:16:53:50.0939

2025-08-09T16:53:50.675Z,1754758430.675 [DAT](INFO): Ping request sent.
2025-08-09T16:53:50.675Z,1754758430.675 [DAT](INFO): transmitted an acoustic signal
2025-08-09T16:53:50.675Z,1754758430.675 [DAT](INFO): #Rx 11: Read range and direction messages.
2025-08-09T16:53:50.676Z,1754758430.676 [DAT](INFO): direction in FSK: [0.969600,-0.155305,0.189095]
2025-08-09T16:53:50.676Z,1754758430.676 [DAT](INFO): publishing transmit ping time
2025-08-09T16:53:50.676Z,1754758430.676 [DAT](INFO): publishing direction and range info
2025-08-09T16:53:50.680Z,1754758430.680 [DAT](INFO): publishing transmit ping time
2025-08-09T16:53:50.680Z,1754758430.680 [DAT](INFO): publishing direction and range info
2025-08-09T16:53:50.688Z,1754758430.688 [DAT](INFO): checking for new query: numPingsReceived=11, elapsed TxPingTime=0.012272
2025-08-09T16:53:50.875Z,1754758430.875 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 15.900000 m,
      deltaT: 3.527759 s,
      deltaX: -2.200001 m,
      approachRate: -0.623626 m/s,
      rangeRepo size: 4

2025-08-09T16:53:50.877Z,1754758430.877 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 15.900000 m,
      bearing: 123.899334 deg,
      lat: 36.906087 deg,
      lon: -122.115857 deg,
      deltaT: 3.527759 s,
      deltaX: -2.200001 m,
      approachRate: -0.623626 m/s,
      posRepo size: 4

2025-08-09T16:53:50.882Z,1754758430.882 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.90 m.
2025-08-09T16:53:50.885Z,1754758430.885 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 15.900000 m,
      nav range: 15.471147 m,
      bearing: 123.899334 deg,
      approach rate: 2146376738857992323072.000000 m/s,
      LOS rate: -0.080820 deg/s,
      cmd heading: 126.673808 deg,
      new cmd heading: 126.573693 deg.

2025-08-09T16:53:50.886Z,1754758430.886 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.209128 target range: 15.900000 and range: 15.90 m.
2025-08-09T16:53:50.911Z,1754758430.911 [DAT](INFO): checking for new query: numPingsReceived=11, elapsed TxPingTime=0.236711
2025-08-09T16:53:51.164Z,1754758431.164 [DAT](INFO): checking for new query: numPingsReceived=11, elapsed TxPingTime=0.489488
2025-08-09T16:53:51.293Z,1754758431.293 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-09T16:53:51.303Z,1754758431.303 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.90 m.
2025-08-09T16:53:51.305Z,1754758431.305 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 15.900000 m,
      nav range: 15.200933 m,
      bearing: 123.870494 deg,
      approach rate: -0.635565 m/s,
      LOS rate: -0.069038 deg/s,
      cmd heading: 126.573692 deg,
      new cmd heading: 126.485636 deg.

2025-08-09T16:53:51.316Z,1754758431.316 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.207591 target range: 15.900000 and range: 15.90 m.
2025-08-09T16:53:51.420Z,1754758431.420 [DAT](INFO): checking for new query: numPingsReceived=11, elapsed TxPingTime=0.745585
2025-08-09T16:53:51.663Z,1754758431.663 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.90 m.
2025-08-09T16:53:51.666Z,1754758431.666 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 15.900000 m,
      nav range: 14.971925 m,
      bearing: 123.851517 deg,
      approach rate: -0.620859 m/s,
      LOS rate: -0.052235 deg/s,
      cmd heading: 126.485637 deg,
      new cmd heading: 126.427835 deg.

2025-08-09T16:53:51.667Z,1754758431.667 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.206582 target range: 15.900000 and range: 15.90 m.
2025-08-09T16:53:51.683Z,1754758431.683 [DAT](INFO): checking for new query: numPingsReceived=11, elapsed TxPingTime=1.008565
2025-08-09T16:53:51.937Z,1754758431.937 [DAT](INFO): checking for new query: numPingsReceived=11, elapsed TxPingTime=1.262305
2025-08-09T16:53:52.094Z,1754758432.094 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.90 m.
2025-08-09T16:53:52.097Z,1754758432.097 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 15.900000 m,
      nav range: 14.702404 m,
      bearing: 123.799075 deg,
      approach rate: -0.626539 m/s,
      LOS rate: -0.124144 deg/s,
      cmd heading: 126.427840 deg,
      new cmd heading: 126.267630 deg.

2025-08-09T16:53:52.097Z,1754758432.097 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.203786 target range: 15.900000 and range: 15.90 m.
2025-08-09T16:53:52.189Z,1754758432.189 [DAT](INFO): checking for new query: numPingsReceived=11, elapsed TxPingTime=1.513449
2025-08-09T16:53:52.439Z,1754758432.439 [DAT](INFO): checking for new query: numPingsReceived=11, elapsed TxPingTime=1.764512
2025-08-09T16:53:52.478Z,1754758432.478 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.90 m.
2025-08-09T16:53:52.481Z,1754758432.481 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 15.900000 m,
      nav range: 14.461500 m,
      bearing: 123.754414 deg,
      approach rate: -0.627084 m/s,
      LOS rate: -0.118193 deg/s,
      cmd heading: 126.267631 deg,
      new cmd heading: 126.131414 deg.

2025-08-09T16:53:52.482Z,1754758432.482 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.201408 target range: 15.900000 and range: 15.90 m.
2025-08-09T16:53:52.692Z,1754758432.692 [DAT](INFO): checking for new query: numPingsReceived=11, elapsed TxPingTime=2.016876
2025-08-09T16:53:52.902Z,1754758432.902 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.90 m.
2025-08-09T16:53:52.911Z,1754758432.911 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 15.900000 m,
      nav range: 14.205630 m,
      bearing: 123.709355 deg,
      approach rate: -0.603222 m/s,
      LOS rate: -0.108140 deg/s,
      cmd heading: 126.131410 deg,
      new cmd heading: 125.993800 deg.

2025-08-09T16:53:52.912Z,1754758432.912 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.199007 target range: 15.900000 and range: 15.90 m.
2025-08-09T16:53:52.944Z,1754758432.944 [DAT](INFO): checking for new query: numPingsReceived=11, elapsed TxPingTime=2.268781
2025-08-09T16:53:53.195Z,1754758433.195 [DAT](INFO): checking for new query: numPingsReceived=11, elapsed TxPingTime=2.520533
2025-08-09T16:53:53.305Z,1754758433.305 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-09T16:53:53.308Z,1754758433.308 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.90 m.
2025-08-09T16:53:53.310Z,1754758433.310 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 15.900000 m,
      nav range: 13.944114 m,
      bearing: 123.666713 deg,
      approach rate: -0.644804 m/s,
      LOS rate: -0.107111 deg/s,
      cmd heading: 125.993795 deg,
      new cmd heading: 125.863471 deg.

2025-08-09T16:53:53.311Z,1754758433.311 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.196732 target range: 15.900000 and range: 15.90 m.
2025-08-09T16:53:53.447Z,1754758433.447 [DAT](INFO): checking for new query: numPingsReceived=11, elapsed TxPingTime=2.772575
2025-08-09T16:53:53.686Z,1754758433.686 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.90 m.
2025-08-09T16:53:53.689Z,1754758433.689 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 15.900000 m,
      nav range: 13.708821 m,
      bearing: 123.630594 deg,
      approach rate: -0.621952 m/s,
      LOS rate: -0.097113 deg/s,
      cmd heading: 125.863475 deg,
      new cmd heading: 125.753257 deg.

2025-08-09T16:53:53.690Z,1754758433.690 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.194808 target range: 15.900000 and range: 15.90 m.
2025-08-09T16:53:53.699Z,1754758433.699 [DAT](INFO): DAT read: Rx Time:16:53:52.5165

2025-08-09T16:53:53.700Z,1754758433.700 [DAT](INFO): Rx dataTimestamp_ set to:1754758433.699588
2025-08-09T16:53:53.700Z,1754758433.700 [DAT](INFO): checking for new query: numPingsReceived=11, elapsed TxPingTime=3.025721
2025-08-09T16:53:53.953Z,1754758433.953 [DAT](INFO): checking for new query: numPingsReceived=11, elapsed TxPingTime=3.277835
2025-08-09T16:53:54.136Z,1754758434.136 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.90 m.
2025-08-09T16:53:54.139Z,1754758434.139 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 15.900000 m,
      nav range: 13.432144 m,
      bearing: 123.564125 deg,
      approach rate: -0.614976 m/s,
      LOS rate: -0.150786 deg/s,
      cmd heading: 125.753263 deg,
      new cmd heading: 125.549748 deg.

2025-08-09T16:53:54.140Z,1754758434.140 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.191257 target range: 15.900000 and range: 15.90 m.
2025-08-09T16:53:54.222Z,1754758434.222 [DAT](INFO): DAT read: 16:53:52.5165 LVL= 27200, 32753, 20210, 32755, AGC= 51, IDX= 410,-0.16,-2.447, 2.334,-1.973,-2.446, PHS= 0.101,-1.459, 0.429, RAW= 159.4,  10.7, CAL= 159.4,  11.7, ROT= 350.6, -11.7

2025-08-09T16:53:54.223Z,1754758434.223 [DAT](INFO): got valid direction response:
 16:53:52.5165 LVL= 27200, 32753, 20210, 32755, AGC= 51, IDX= 410,-0.16,-2.447, 2.334,-1.973,-2.446, PHS= 0.101,-1.459, 0.429, RAW= 159.4,  10.7, CAL= 159.4,  11.7, ROT= 350.6, -11.7

2025-08-09T16:53:54.224Z,1754758434.224 [DAT](INFO): DAT read: Bearing 295.4,  -9.7 (Local)

2025-08-09T16:53:54.224Z,1754758434.224 [DAT](INFO): Local bearing/azimuth received:
 Bearing 295.4,  -9.7 (Local)

2025-08-09T16:53:54.226Z,1754758434.226 [DAT](INFO): DAT read: Range 11 to 50 : 13.8 m  (Round-trip  18.5 ms) speed  0.5 m/s

2025-08-09T16:53:54.243Z,1754758434.243 [DAT](INFO): DAT read: user:207>

2025-08-09T16:53:54.243Z,1754758434.243 [DAT](INFO): DAT read: Tx time:16:53:53.6438

2025-08-09T16:53:54.244Z,1754758434.244 [DAT](INFO): Ping request sent.
2025-08-09T16:53:54.244Z,1754758434.244 [DAT](INFO): transmitted an acoustic signal
2025-08-09T16:53:54.244Z,1754758434.244 [DAT](INFO): #Rx 12: Read range and direction messages.
2025-08-09T16:53:54.245Z,1754758434.245 [DAT](INFO): direction in FSK: [0.966074,-0.159932,0.202787]
2025-08-09T16:53:54.245Z,1754758434.245 [DAT](INFO): publishing transmit ping time
2025-08-09T16:53:54.246Z,1754758434.246 [DAT](INFO): publishing direction and range info
2025-08-09T16:53:54.253Z,1754758434.253 [DAT](INFO): publishing transmit ping time
2025-08-09T16:53:54.253Z,1754758434.253 [DAT](INFO): publishing direction and range info
2025-08-09T16:53:54.261Z,1754758434.261 [DAT](INFO): checking for new query: numPingsReceived=12, elapsed TxPingTime=0.016924
2025-08-09T16:53:54.458Z,1754758434.458 [DAT](INFO): checking for new query: numPingsReceived=12, elapsed TxPingTime=0.213819
2025-08-09T16:53:54.548Z,1754758434.548 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 13.800000 m,
      deltaT: 3.544770 s,
      deltaX: -2.099999 m,
      approachRate: -0.592422 m/s,
      rangeRepo size: 4

2025-08-09T16:53:54.550Z,1754758434.550 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 13.800000 m,
      bearing: 121.785676 deg,
      lat: 36.906090 deg,
      lon: -122.115855 deg,
      deltaT: 3.544770 s,
      deltaX: -2.099999 m,
      approachRate: -0.592422 m/s,
      posRepo size: 4

2025-08-09T16:53:54.555Z,1754758434.555 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 13.80 m.
2025-08-09T16:53:54.557Z,1754758434.557 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 13.800000 m,
      nav range: 13.201244 m,
      bearing: 121.785676 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.150786 deg/s,
      cmd heading: 125.549751 deg,
      new cmd heading: 125.363639 deg.

2025-08-09T16:53:54.562Z,1754758434.562 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.188008 target range: 13.800000 and range: 13.80 m.
2025-08-09T16:53:54.712Z,1754758434.712 [DAT](INFO): checking for new query: numPingsReceived=12, elapsed TxPingTime=0.467725
2025-08-09T16:53:54.901Z,1754758434.901 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 13.80 m.
2025-08-09T16:53:54.904Z,1754758434.904 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 13.800000 m,
      nav range: 12.958499 m,
      bearing: 121.698068 deg,
      approach rate: -0.685087 m/s,
      LOS rate: -0.251884 deg/s,
      cmd heading: 125.363642 deg,
      new cmd heading: 125.095895 deg.

2025-08-09T16:53:54.905Z,1754758434.905 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.183335 target range: 13.800000 and range: 13.80 m.
2025-08-09T16:53:54.967Z,1754758434.967 [DAT](INFO): checking for new query: numPingsReceived=12, elapsed TxPingTime=0.722678
2025-08-09T16:53:55.215Z,1754758435.215 [DAT](INFO): checking for new query: numPingsReceived=12, elapsed TxPingTime=0.971408
2025-08-09T16:53:55.327Z,1754758435.327 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-09T16:53:55.329Z,1754758435.329 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 13.80 m.
2025-08-09T16:53:55.332Z,1754758435.332 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 13.800000 m,
      nav range: 12.696468 m,
      bearing: 121.596632 deg,
      approach rate: -0.612974 m/s,
      LOS rate: -0.242188 deg/s,
      cmd heading: 125.095898 deg,
      new cmd heading: 124.785315 deg.

2025-08-09T16:53:55.333Z,1754758435.333 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.177915 target range: 13.800000 and range: 13.80 m.
2025-08-09T16:53:55.467Z,1754758435.467 [DAT](INFO): checking for new query: numPingsReceived=12, elapsed TxPingTime=1.223420
2025-08-09T16:53:55.705Z,1754758435.705 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 13.80 m.
2025-08-09T16:53:55.712Z,1754758435.712 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 13.800000 m,
      nav range: 12.459534 m,
      bearing: 121.504342 deg,
      approach rate: -0.629767 m/s,
      LOS rate: -0.249970 deg/s,
      cmd heading: 124.785316 deg,
      new cmd heading: 124.503183 deg.

2025-08-09T16:53:55.713Z,1754758435.713 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.172991 target range: 13.800000 and range: 13.80 m.
2025-08-09T16:53:55.723Z,1754758435.723 [DAT](INFO): checking for new query: numPingsReceived=12, elapsed TxPingTime=1.478107
2025-08-09T16:53:55.971Z,1754758435.971 [DAT](INFO): checking for new query: numPingsReceived=12, elapsed TxPingTime=1.727615
2025-08-09T16:53:56.145Z,1754758436.145 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 13.80 m.
2025-08-09T16:53:56.152Z,1754758436.152 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 13.800000 m,
      nav range: 12.203693 m,
      bearing: 121.405952 deg,
      approach rate: -0.581206 m/s,
      LOS rate: -0.228203 deg/s,
      cmd heading: 124.503188 deg,
      new cmd heading: 124.201833 deg.

2025-08-09T16:53:56.153Z,1754758436.153 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.167731 target range: 13.800000 and range: 13.80 m.
2025-08-09T16:53:56.224Z,1754758436.224 [DAT](INFO): checking for new query: numPingsReceived=12, elapsed TxPingTime=1.980212
2025-08-09T16:53:56.475Z,1754758436.475 [DAT](INFO): checking for new query: numPingsReceived=12, elapsed TxPingTime=2.231533
2025-08-09T16:53:56.541Z,1754758436.541 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 13.80 m.
2025-08-09T16:53:56.548Z,1754758436.548 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 13.800000 m,
      nav range: 11.966716 m,
      bearing: 121.314445 deg,
      approach rate: -0.599397 m/s,
      LOS rate: -0.236035 deg/s,
      cmd heading: 124.201840 deg,
      new cmd heading: 123.921886 deg.

2025-08-09T16:53:56.549Z,1754758436.549 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.162845 target range: 13.800000 and range: 13.80 m.
2025-08-09T16:53:56.727Z,1754758436.727 [DAT](INFO): checking for new query: numPingsReceived=12, elapsed TxPingTime=2.483535
2025-08-09T16:53:56.942Z,1754758436.942 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 13.80 m.
2025-08-09T16:53:56.945Z,1754758436.945 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 13.800000 m,
      nav range: 11.718931 m,
      bearing: 121.218195 deg,
      approach rate: -0.644264 m/s,
      LOS rate: -0.255550 deg/s,
      cmd heading: 123.921884 deg,
      new cmd heading: 123.627033 deg.

2025-08-09T16:53:56.946Z,1754758436.946 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.157699 target range: 13.800000 and range: 13.80 m.
2025-08-09T16:53:56.979Z,1754758436.979 [DAT](INFO): checking for new query: numPingsReceived=12, elapsed TxPingTime=2.735633
2025-08-09T16:53:57.232Z,1754758437.232 [DAT](INFO): DAT read: Rx Time:16:53:56.0635

2025-08-09T16:53:57.233Z,1754758437.233 [DAT](INFO): Rx dataTimestamp_ set to:1754758437.231962
2025-08-09T16:53:57.233Z,1754758437.233 [DAT](INFO): checking for new query: numPingsReceived=12, elapsed TxPingTime=2.989298
2025-08-09T16:53:57.348Z,1754758437.348 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-09T16:53:57.379Z,1754758437.379 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 13.80 m.
2025-08-09T16:53:57.381Z,1754758437.381 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 13.800000 m,
      nav range: 11.455918 m,
      bearing: 121.094908 deg,
      approach rate: -0.618780 m/s,
      LOS rate: -0.296712 deg/s,
      cmd heading: 123.627039 deg,
      new cmd heading: 123.248690 deg.

2025-08-09T16:53:57.383Z,1754758437.383 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.151095 target range: 13.800000 and range: 13.80 m.
2025-08-09T16:53:57.483Z,1754758437.483 [DAT](INFO): checking for new query: numPingsReceived=12, elapsed TxPingTime=3.239470
2025-08-09T16:53:57.741Z,1754758437.741 [DAT](INFO): DAT read: 16:53:56.0635 LVL= 25296, 32753, 19730, 32755, AGC= 49, IDX= 412, 0.09,-1.014,-2.516,-0.499,-0.992, PHS= 0.080,-1.479, 0.449, RAW= 160.4,  10.7, CAL= 160.5,  11.8, ROT= 349.5, -11.8

2025-08-09T16:53:57.742Z,1754758437.742 [DAT](INFO): got valid direction response:
 16:53:56.0635 LVL= 25296, 32753, 19730, 32755, AGC= 49, IDX= 412, 0.09,-1.014,-2.516,-0.499,-0.992, PHS= 0.080,-1.479, 0.449, RAW= 160.4,  10.7, CAL= 160.5,  11.8, ROT= 349.5, -11.8

2025-08-09T16:53:57.743Z,1754758437.743 [DAT](INFO): DAT read: Bearing 293.8, -10.9 (Local)

2025-08-09T16:53:57.744Z,1754758437.744 [DAT](INFO): Local bearing/azimuth received:
 Bearing 293.8, -10.9 (Local)

2025-08-09T16:53:57.745Z,1754758437.745 [DAT](INFO): DAT read: Range 11 to 50 : 11.7 m  (Round-trip  15.6 ms) speed  0.5 m/s

2025-08-09T16:53:57.746Z,1754758437.746 [DAT](INFO): DAT read: user:208>

2025-08-09T16:53:57.747Z,1754758437.747 [DAT](INFO): DAT read: Tx time:16:53:57.1938

2025-08-09T16:53:57.747Z,1754758437.747 [DAT](INFO): Ping request sent.
2025-08-09T16:53:57.747Z,1754758437.747 [DAT](INFO): transmitted an acoustic signal
2025-08-09T16:53:57.747Z,1754758437.747 [DAT](INFO): #Rx 13: Read range and direction messages.
2025-08-09T16:53:57.748Z,1754758437.748 [DAT](INFO): direction in FSK: [0.962476,-0.178385,0.204496]
2025-08-09T16:53:57.748Z,1754758437.748 [DAT](INFO): publishing transmit ping time
2025-08-09T16:53:57.749Z,1754758437.749 [DAT](INFO): publishing direction and range info
2025-08-09T16:53:57.752Z,1754758437.752 [DAT](INFO): publishing transmit ping time
2025-08-09T16:53:57.752Z,1754758437.752 [DAT](INFO): publishing direction and range info
2025-08-09T16:53:57.776Z,1754758437.776 [DAT](INFO): checking for new query: numPingsReceived=13, elapsed TxPingTime=0.028886
2025-08-09T16:53:57.780Z,1754758437.780 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 11.700000 m,
      deltaT: 3.531453 s,
      deltaX: -2.100000 m,
      approachRate: -0.594656 m/s,
      rangeRepo size: 4

2025-08-09T16:53:57.782Z,1754758437.782 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 11.700000 m,
      bearing: 120.847968 deg,
      lat: 36.906090 deg,
      lon: -122.115855 deg,
      deltaT: 3.531453 s,
      deltaX: -2.100000 m,
      approachRate: -0.594656 m/s,
      posRepo size: 4

2025-08-09T16:53:57.791Z,1754758437.791 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.70 m.
2025-08-09T16:53:57.794Z,1754758437.794 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 11.700000 m,
      nav range: 11.248894 m,
      bearing: 120.847968 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.296712 deg/s,
      cmd heading: 123.248687 deg,
      new cmd heading: 122.874771 deg.

2025-08-09T16:53:57.799Z,1754758437.799 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.144569 target range: 11.700000 and range: 11.70 m.
2025-08-09T16:53:57.988Z,1754758437.988 [DAT](INFO): checking for new query: numPingsReceived=13, elapsed TxPingTime=0.240517
2025-08-09T16:53:58.218Z,1754758438.218 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.70 m.
2025-08-09T16:53:58.225Z,1754758438.225 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 11.700000 m,
      nav range: 10.953212 m,
      bearing: 120.721384 deg,
      approach rate: -0.661164 m/s,
      LOS rate: -0.290690 deg/s,
      cmd heading: 122.874775 deg,
      new cmd heading: 122.484779 deg.

2025-08-09T16:53:58.226Z,1754758438.226 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.137763 target range: 11.700000 and range: 11.70 m.
2025-08-09T16:53:58.239Z,1754758438.239 [DAT](INFO): checking for new query: numPingsReceived=13, elapsed TxPingTime=0.492344
2025-08-09T16:53:58.496Z,1754758438.496 [DAT](INFO): checking for new query: numPingsReceived=13, elapsed TxPingTime=0.748529
2025-08-09T16:53:58.573Z,1754758438.573 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.70 m.
2025-08-09T16:53:58.576Z,1754758438.576 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 11.700000 m,
      nav range: 10.732453 m,
      bearing: 120.625802 deg,
      approach rate: -0.621162 m/s,
      LOS rate: -0.274478 deg/s,
      cmd heading: 122.484785 deg,
      new cmd heading: 122.192142 deg.

2025-08-09T16:53:58.577Z,1754758438.577 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.132655 target range: 11.700000 and range: 11.70 m.
2025-08-09T16:53:58.743Z,1754758438.743 [DAT](INFO): checking for new query: numPingsReceived=13, elapsed TxPingTime=0.996348
2025-08-09T16:53:58.977Z,1754758438.977 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.70 m.
2025-08-09T16:53:58.980Z,1754758438.980 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 11.700000 m,
      nav range: 10.486927 m,
      bearing: 120.518535 deg,
      approach rate: -0.607097 m/s,
      LOS rate: -0.271441 deg/s,
      cmd heading: 122.192139 deg,
      new cmd heading: 121.862809 deg.

2025-08-09T16:53:58.981Z,1754758438.981 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.126907 target range: 11.700000 and range: 11.70 m.
2025-08-09T16:53:58.997Z,1754758438.997 [DAT](INFO): checking for new query: numPingsReceived=13, elapsed TxPingTime=1.249665
2025-08-09T16:53:59.249Z,1754758439.249 [DAT](INFO): checking for new query: numPingsReceived=13, elapsed TxPingTime=1.501827
2025-08-09T16:53:59.401Z,1754758439.401 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-09T16:53:59.403Z,1754758439.403 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.70 m.
2025-08-09T16:53:59.406Z,1754758439.406 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 11.700000 m,
      nav range: 10.246209 m,
      bearing: 120.445515 deg,
      approach rate: -0.565478 m/s,
      LOS rate: -0.175565 deg/s,
      cmd heading: 121.862814 deg,
      new cmd heading: 121.638608 deg.

2025-08-09T16:53:59.407Z,1754758439.407 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.122994 target range: 11.700000 and range: 11.70 m.
2025-08-09T16:53:59.501Z,1754758439.501 [DAT](INFO): checking for new query: numPingsReceived=13, elapsed TxPingTime=1.754073
2025-08-09T16:53:59.751Z,1754758439.751 [DAT](INFO): checking for new query: numPingsReceived=13, elapsed TxPingTime=2.004273
2025-08-09T16:53:59.809Z,1754758439.809 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.70 m.
2025-08-09T16:53:59.812Z,1754758439.812 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 11.700000 m,
      nav range: 10.016106 m,
      bearing: 120.372427 deg,
      approach rate: -0.567483 m/s,
      LOS rate: -0.184389 deg/s,
      cmd heading: 121.638607 deg,
      new cmd heading: 121.414309 deg.

2025-08-09T16:53:59.813Z,1754758439.813 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.119079 target range: 11.700000 and range: 11.70 m.
2025-08-09T16:54:00.004Z,1754758440.004 [DAT](INFO): checking for new query: numPingsReceived=13, elapsed TxPingTime=2.256974
2025-08-09T16:54:00.255Z,1754758440.255 [DAT](INFO): checking for new query: numPingsReceived=13, elapsed TxPingTime=2.508375
2025-08-09T16:54:00.260Z,1754758440.260 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.70 m.
2025-08-09T16:54:00.267Z,1754758440.267 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 11.700000 m,
      nav range: 9.766853 m,
      bearing: 120.347096 deg,
      approach rate: -0.552354 m/s,
      LOS rate: -0.057567 deg/s,
      cmd heading: 121.414303 deg,
      new cmd heading: 121.336371 deg.

2025-08-09T16:54:00.268Z,1754758440.268 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.117719 target range: 11.700000 and range: 11.70 m.
2025-08-09T16:54:00.508Z,1754758440.508 [DAT](INFO): checking for new query: numPingsReceived=13, elapsed TxPingTime=2.761122
2025-08-09T16:54:00.584Z,1754758440.584 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.70 m.
2025-08-09T16:54:00.589Z,1754758440.589 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 11.700000 m,
      nav range: 9.574920 m,
      bearing: 120.330318 deg,
      approach rate: -0.591344 m/s,
      LOS rate: -0.052731 deg/s,
      cmd heading: 121.336371 deg,
      new cmd heading: 121.285025 deg.

2025-08-09T16:54:00.592Z,1754758440.592 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.116823 target range: 11.700000 and range: 11.70 m.
2025-08-09T16:54:00.768Z,1754758440.768 [DAT](INFO): DAT read: Rx Time:16:53:59.6108

2025-08-09T16:54:00.769Z,1754758440.769 [DAT](INFO): Rx dataTimestamp_ set to:1754758440.768420
2025-08-09T16:54:00.770Z,1754758440.770 [DAT](INFO): checking for new query: numPingsReceived=13, elapsed TxPingTime=3.022948
2025-08-09T16:54:00.999Z,1754758440.999 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.70 m.
2025-08-09T16:54:01.004Z,1754758441.004 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 11.700000 m,
      nav range: 9.341681 m,
      bearing: 120.314165 deg,
      approach rate: -0.564729 m/s,
      LOS rate: -0.040085 deg/s,
      cmd heading: 121.285021 deg,
      new cmd heading: 121.235354 deg.

2025-08-09T16:54:01.006Z,1754758441.006 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.115956 target range: 11.700000 and range: 11.70 m.
2025-08-09T16:54:01.016Z,1754758441.016 [DAT](INFO): checking for new query: numPingsReceived=13, elapsed TxPingTime=3.269341
2025-08-09T16:54:01.275Z,1754758441.275 [DAT](INFO): DAT read: 16:53:59.6108 LVL= 27568, 32753, 21746, 32755, AGC= 46, IDX= 416,-0.11, 1.313,-0.158, 1.919, 1.393, PHS= 0.023,-1.506, 0.482, RAW= 162.8,  11.1, CAL= 162.9,  12.4, ROT= 347.1, -12.4

2025-08-09T16:54:01.276Z,1754758441.276 [DAT](INFO): got valid direction response:
 16:53:59.6108 LVL= 27568, 32753, 21746, 32755, AGC= 46, IDX= 416,-0.11, 1.313,-0.158, 1.919, 1.393, PHS= 0.023,-1.506, 0.482, RAW= 162.8,  11.1, CAL= 162.9,  12.4, ROT= 347.1, -12.4

2025-08-09T16:54:01.277Z,1754758441.277 [DAT](INFO): DAT read: Bearing 292.8, -13.6 (Local)

2025-08-09T16:54:01.277Z,1754758441.277 [DAT](INFO): Local bearing/azimuth received:
 Bearing 292.8, -13.6 (Local)

2025-08-09T16:54:01.287Z,1754758441.287 [DAT](INFO): DAT read: Range 11 to 50 : 9.6 m  (Round-trip  12.8 ms) speed  0.5 m/s

2025-08-09T16:54:01.288Z,1754758441.288 [DAT](INFO): DAT read: user:209>

2025-08-09T16:54:01.289Z,1754758441.289 [DAT](INFO): DAT read: Tx time:16:54:00.7438

2025-08-09T16:54:01.289Z,1754758441.289 [DAT](INFO): Ping request sent.
2025-08-09T16:54:01.289Z,1754758441.289 [DAT](INFO): transmitted an acoustic signal
2025-08-09T16:54:01.289Z,1754758441.289 [DAT](INFO): #Rx 14: Read range and direction messages.
2025-08-09T16:54:01.290Z,1754758441.290 [DAT](INFO): direction in FSK: [0.952022,-0.218042,0.214735]
2025-08-09T16:54:01.291Z,1754758441.291 [DAT](INFO): publishing transmit ping time
2025-08-09T16:54:01.291Z,1754758441.291 [DAT](INFO): publishing direction and range info
2025-08-09T16:54:01.294Z,1754758441.294 [DAT](INFO): publishing transmit ping time
2025-08-09T16:54:01.306Z,1754758441.306 [DAT](INFO): publishing direction and range info
2025-08-09T16:54:01.310Z,1754758441.310 [DAT](INFO): checking for new query: numPingsReceived=14, elapsed TxPingTime=0.020394
2025-08-09T16:54:01.464Z,1754758441.464 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 9.600000 m,
      deltaT: 3.531770 s,
      deltaX: -2.099999 m,
      approachRate: -0.594603 m/s,
      rangeRepo size: 4

2025-08-09T16:54:01.466Z,1754758441.466 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 9.600000 m,
      bearing: 118.679221 deg,
      lat: 36.906092 deg,
      lon: -122.115851 deg,
      deltaT: 3.531770 s,
      deltaX: -2.099999 m,
      approachRate: -0.594603 m/s,
      posRepo size: 4

2025-08-09T16:54:01.475Z,1754758441.475 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 9.60 m.
2025-08-09T16:54:01.475Z,1754758441.475 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Short final. Range: 9.60 m.
2025-08-09T16:54:01.475Z,1754758441.475 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Transitioning guidance mode to: SHORT_FINAL
2025-08-09T16:54:01.486Z,1754758441.486 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 9.600000 m,
      nav range: 9.259949 m,
      bearing: 118.679221 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.040085 deg/s,
      cmd heading: 121.235352 deg,
      new cmd heading: 121.179484 deg.

2025-08-09T16:54:01.487Z,1754758441.487 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.114981 target range: 9.600000 and range: 9.60 m.
2025-08-09T16:54:01.521Z,1754758441.521 [DAT](INFO): checking for new query: numPingsReceived=14, elapsed TxPingTime=0.231141
2025-08-09T16:54:01.771Z,1754758441.771 [DAT](INFO): checking for new query: numPingsReceived=14, elapsed TxPingTime=0.482257
2025-08-09T16:54:01.893Z,1754758441.893 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-09T16:54:01.895Z,1754758441.895 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 9.60 m. 9.60 m.
2025-08-09T16:54:01.898Z,1754758441.898 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 9.600000 m,
      nav range: 8.998043 m,
      bearing: 118.653276 deg,
      approach rate: -0.604684 m/s,
      LOS rate: -0.061647 deg/s,
      cmd heading: 121.179481 deg,
      new cmd heading: 121.099379 deg.

2025-08-09T16:54:01.899Z,1754758441.899 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.113583 target range: 9.600000 and range: 9.60 m.
2025-08-09T16:54:02.023Z,1754758442.023 [DAT](INFO): checking for new query: numPingsReceived=14, elapsed TxPingTime=0.734290
2025-08-09T16:54:02.275Z,1754758442.275 [DAT](INFO): checking for new query: numPingsReceived=14, elapsed TxPingTime=0.986276
2025-08-09T16:54:02.298Z,1754758442.298 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 9.60 m. 9.60 m.
2025-08-09T16:54:02.328Z,1754758442.328 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 9.600000 m,
      nav range: 8.753977 m,
      bearing: 118.660373 deg,
      approach rate: -0.606656 m/s,
      LOS rate: 0.018133 deg/s,
      cmd heading: 121.099377 deg,
      new cmd heading: 121.121262 deg.

2025-08-09T16:54:02.329Z,1754758442.329 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.113965 target range: 9.600000 and range: 9.60 m.
2025-08-09T16:54:02.531Z,1754758442.531 [DAT](INFO): checking for new query: numPingsReceived=14, elapsed TxPingTime=1.242192
2025-08-09T16:54:02.730Z,1754758442.730 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 9.60 m. 9.60 m.
2025-08-09T16:54:02.733Z,1754758442.733 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 9.600000 m,
      nav range: 8.508145 m,
      bearing: 118.672806 deg,
      approach rate: -0.579555 m/s,
      LOS rate: 0.030158 deg/s,
      cmd heading: 121.121261 deg,
      new cmd heading: 121.159638 deg.

2025-08-09T16:54:02.734Z,1754758442.734 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.114635 target range: 9.600000 and range: 9.60 m.
2025-08-09T16:54:02.779Z,1754758442.779 [DAT](INFO): checking for new query: numPingsReceived=14, elapsed TxPingTime=1.490261
2025-08-09T16:54:03.036Z,1754758443.036 [DAT](INFO): checking for new query: numPingsReceived=14, elapsed TxPingTime=1.746395
2025-08-09T16:54:03.258Z,1754758443.258 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 9.60 m. 9.60 m.
2025-08-09T16:54:03.265Z,1754758443.265 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 9.600000 m,
      nav range: 8.184161 m,
      bearing: 118.728511 deg,
      approach rate: -0.604711 m/s,
      LOS rate: 0.108088 deg/s,
      cmd heading: 121.159633 deg,
      new cmd heading: 121.333362 deg.

2025-08-09T16:54:03.266Z,1754758443.266 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.117667 target range: 9.600000 and range: 9.60 m.
2025-08-09T16:54:03.283Z,1754758443.283 [DAT](INFO): checking for new query: numPingsReceived=14, elapsed TxPingTime=1.994301
2025-08-09T16:54:03.541Z,1754758443.541 [DAT](INFO): checking for new query: numPingsReceived=14, elapsed TxPingTime=2.251820
2025-08-09T16:54:03.699Z,1754758443.699 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 9.60 m. 9.60 m.
2025-08-09T16:54:03.702Z,1754758443.702 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 9.600000 m,
      nav range: 7.919693 m,
      bearing: 118.777362 deg,
      approach rate: -0.598794 m/s,
      LOS rate: 0.114300 deg/s,
      cmd heading: 121.333366 deg,
      new cmd heading: 121.484813 deg.

2025-08-09T16:54:03.707Z,1754758443.707 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.120310 target range: 9.600000 and range: 9.60 m.
2025-08-09T16:54:03.788Z,1754758443.788 [DAT](INFO): checking for new query: numPingsReceived=14, elapsed TxPingTime=2.498417
2025-08-09T16:54:04.039Z,1754758444.039 [DAT](INFO): checking for new query: numPingsReceived=14, elapsed TxPingTime=2.750292
2025-08-09T16:54:04.122Z,1754758444.122 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-09T16:54:04.125Z,1754758444.125 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 9.60 m. 9.60 m.
2025-08-09T16:54:04.169Z,1754758444.169 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 9.600000 m,
      nav range: 7.663705 m,
      bearing: 118.838349 deg,
      approach rate: -0.601850 m/s,
      LOS rate: 0.148175 deg/s,
      cmd heading: 121.484818 deg,
      new cmd heading: 121.673890 deg.

2025-08-09T16:54:04.178Z,1754758444.178 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.123610 target range: 9.600000 and range: 9.60 m.
2025-08-09T16:54:04.291Z,1754758444.291 [DAT](INFO): DAT read: Rx Time:16:54:03.1581

2025-08-09T16:54:04.292Z,1754758444.292 [DAT](INFO): Rx dataTimestamp_ set to:1754758444.291604
2025-08-09T16:54:04.292Z,1754758444.292 [DAT](INFO): checking for new query: numPingsReceived=14, elapsed TxPingTime=3.003316
2025-08-09T16:54:04.548Z,1754758444.548 [DAT](INFO): checking for new query: numPingsReceived=14, elapsed TxPingTime=3.258870
2025-08-09T16:54:04.780Z,1754758444.780 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 9.60 m. 9.60 m.
2025-08-09T16:54:04.787Z,1754758444.787 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 9.600000 m,
      nav range: 7.262761 m,
      bearing: 119.038297 deg,
      approach rate: -0.611855 m/s,
      LOS rate: 0.321972 deg/s,
      cmd heading: 121.673891 deg,
      new cmd heading: 122.306822 deg.

2025-08-09T16:54:04.788Z,1754758444.788 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.134657 target range: 9.600000 and range: 9.60 m.
2025-08-09T16:54:04.817Z,1754758444.817 [DAT](INFO): DAT read: 16:54:03.1581 LVL= 23792, 28529, 22066, 32755, AGC= 39, IDX= 420, 0.38,-1.626,-3.066,-0.959,-1.490, PHS=-0.034,-1.531, 0.486, RAW= 164.4,  11.9, CAL= 164.6,  13.6, ROT= 345.4, -13.6

2025-08-09T16:54:04.818Z,1754758444.818 [DAT](INFO): got valid direction response:
 16:54:03.1581 LVL= 23792, 28529, 22066, 32755, AGC= 39, IDX= 420, 0.38,-1.626,-3.066,-0.959,-1.490, PHS=-0.034,-1.531, 0.486, RAW= 164.4,  11.9, CAL= 164.6,  13.6, ROT= 345.4, -13.6

2025-08-09T16:54:04.819Z,1754758444.819 [DAT](INFO): DAT read: Bearing 292.6, -15.3 (Local)

2025-08-09T16:54:04.820Z,1754758444.820 [DAT](INFO): Local bearing/azimuth received:
 Bearing 292.6, -15.3 (Local)

2025-08-09T16:54:04.821Z,1754758444.821 [DAT](INFO): DAT read: Range 11 to 50 : 7.5 m  (Round-trip  10.1 ms) speed  0.5 m/s

2025-08-09T16:54:04.822Z,1754758444.822 [DAT](INFO): DAT read: user:210>

2025-08-09T16:54:04.823Z,1754758444.823 [DAT](INFO): DAT read: Tx time:16:54:04.2438

2025-08-09T16:54:04.823Z,1754758444.823 [DAT](INFO): Ping request sent.
2025-08-09T16:54:04.824Z,1754758444.824 [DAT](INFO): transmitted an acoustic signal
2025-08-09T16:54:04.824Z,1754758444.824 [DAT](INFO): #Rx 15: Read range and direction messages.
2025-08-09T16:54:04.825Z,1754758444.825 [DAT](INFO): direction in FSK: [0.940576,-0.245002,0.235142]
2025-08-09T16:54:04.825Z,1754758444.825 [DAT](INFO): publishing transmit ping time
2025-08-09T16:54:04.825Z,1754758444.825 [DAT](INFO): publishing direction and range info
2025-08-09T16:54:04.829Z,1754758444.829 [DAT](INFO): publishing transmit ping time
2025-08-09T16:54:04.829Z,1754758444.829 [DAT](INFO): publishing direction and range info
2025-08-09T16:54:04.832Z,1754758444.832 [DAT](INFO): checking for new query: numPingsReceived=15, elapsed TxPingTime=0.008577
2025-08-09T16:54:05.064Z,1754758445.064 [DAT](INFO): checking for new query: numPingsReceived=15, elapsed TxPingTime=0.240592
2025-08-09T16:54:05.315Z,1754758445.315 [DAT](INFO): checking for new query: numPingsReceived=15, elapsed TxPingTime=0.491773
2025-08-09T16:54:05.455Z,1754758445.455 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 7.500000 m,
      deltaT: 3.544116 s,
      deltaX: -2.100000 m,
      approachRate: -0.592532 m/s,
      rangeRepo size: 4

2025-08-09T16:54:05.457Z,1754758445.457 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 7.500000 m,
      bearing: 116.422061 deg,
      lat: 36.906095 deg,
      lon: -122.115850 deg,
      deltaT: 3.544116 s,
      deltaX: -2.100000 m,
      approachRate: -0.592532 m/s,
      posRepo size: 4

2025-08-09T16:54:05.458Z,1754758445.458 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 7.50 m. 9.60 m.
2025-08-09T16:54:05.469Z,1754758445.469 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 9.600000 m,
      nav range: 6.875480 m,
      bearing: 119.259107 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.040085 deg/s,
      cmd heading: 122.306818 deg,
      new cmd heading: 122.226682 deg.

2025-08-09T16:54:05.470Z,1754758445.470 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.133258 target range: 9.600000 and range: 9.60 m.
2025-08-09T16:54:05.568Z,1754758445.568 [DAT](INFO): checking for new query: numPingsReceived=15, elapsed TxPingTime=0.743970
2025-08-09T16:54:05.819Z,1754758445.819 [DAT](INFO): checking for new query: numPingsReceived=15, elapsed TxPingTime=0.995728
2025-08-09T16:54:05.924Z,1754758445.924 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 9.60 m. 9.60 m.
2025-08-09T16:54:05.930Z,1754758445.930 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 9.600000 m,
      nav range: 6.591465 m,
      bearing: 119.447256 deg,
      approach rate: -0.595235 m/s,
      LOS rate: 0.411309 deg/s,
      cmd heading: 122.226686 deg,
      new cmd heading: 122.815431 deg.

2025-08-09T16:54:05.931Z,1754758445.931 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.143534 target range: 9.600000 and range: 9.60 m.
2025-08-09T16:54:06.072Z,1754758446.072 [DAT](INFO): checking for new query: numPingsReceived=15, elapsed TxPingTime=1.247906
2025-08-09T16:54:06.323Z,1754758446.323 [DAT](INFO): checking for new query: numPingsReceived=15, elapsed TxPingTime=1.499714
2025-08-09T16:54:06.365Z,1754758446.365 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-09T16:54:06.375Z,1754758446.375 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 9.60 m. 9.60 m.
2025-08-09T16:54:06.378Z,1754758446.378 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 9.600000 m,
      nav range: 6.307988 m,
      bearing: 119.533605 deg,
      approach rate: -0.639468 m/s,
      LOS rate: 0.203542 deg/s,
      cmd heading: 122.815435 deg,
      new cmd heading: 123.086123 deg.

2025-08-09T16:54:06.387Z,1754758446.387 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.148258 target range: 9.600000 and range: 9.60 m.
2025-08-09T16:54:06.576Z,1754758446.576 [DAT](INFO): checking for new query: numPingsReceived=15, elapsed TxPingTime=1.752597
2025-08-09T16:54:06.692Z,1754758446.692 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 9.60 m. 9.60 m.
2025-08-09T16:54:06.699Z,1754758446.699 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 9.600000 m,
      nav range: 6.101004 m,
      bearing: 119.605645 deg,
      approach rate: -0.636662 m/s,
      LOS rate: 0.229102 deg/s,
      cmd heading: 123.086129 deg,
      new cmd heading: 123.309577 deg.

2025-08-09T16:54:06.700Z,1754758446.700 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.152158 target range: 9.600000 and range: 9.60 m.
2025-08-09T16:54:06.827Z,1754758446.827 [DAT](INFO): checking for new query: numPingsReceived=15, elapsed TxPingTime=2.003525
2025-08-09T16:54:07.087Z,1754758447.087 [DAT](INFO): checking for new query: numPingsReceived=15, elapsed TxPingTime=2.263755
2025-08-09T16:54:07.123Z,1754758447.123 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 9.60 m. 9.60 m.
2025-08-09T16:54:07.126Z,1754758447.126 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 9.600000 m,
      nav range: 5.836335 m,
      bearing: 119.708802 deg,
      approach rate: -0.620517 m/s,
      LOS rate: 0.252820 deg/s,
      cmd heading: 123.309572 deg,
      new cmd heading: 123.633074 deg.

2025-08-09T16:54:07.147Z,1754758447.147 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.157804 target range: 9.600000 and range: 9.60 m.
2025-08-09T16:54:07.340Z,1754758447.340 [DAT](INFO): checking for new query: numPingsReceived=15, elapsed TxPingTime=2.516401
2025-08-09T16:54:07.577Z,1754758447.577 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 9.60 m. 9.60 m.
2025-08-09T16:54:07.583Z,1754758447.583 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 9.600000 m,
      nav range: 5.551956 m,
      bearing: 119.747193 deg,
      approach rate: -0.620848 m/s,
      LOS rate: 0.088109 deg/s,
      cmd heading: 123.633077 deg,
      new cmd heading: 123.754151 deg.

2025-08-09T16:54:07.584Z,1754758447.584 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.159917 target range: 9.600000 and range: 9.60 m.
2025-08-09T16:54:07.592Z,1754758447.592 [DAT](INFO): checking for new query: numPingsReceived=15, elapsed TxPingTime=2.768282
2025-08-09T16:54:07.847Z,1754758447.847 [DAT](INFO): DAT read: Rx Time:16:54:06.6551

2025-08-09T16:54:07.848Z,1754758447.848 [DAT](INFO): Rx dataTimestamp_ set to:1754758447.847235
2025-08-09T16:54:07.849Z,1754758447.849 [DAT](INFO): checking for new query: numPingsReceived=15, elapsed TxPingTime=3.024807
2025-08-09T16:54:08.032Z,1754758448.032 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 9.60 m. 9.60 m.
2025-08-09T16:54:08.039Z,1754758448.039 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 9.600000 m,
      nav range: 5.266021 m,
      bearing: 119.789091 deg,
      approach rate: -0.627853 m/s,
      LOS rate: 0.096994 deg/s,
      cmd heading: 123.754149 deg,
      new cmd heading: 123.886666 deg.

2025-08-09T16:54:08.040Z,1754758448.040 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.162230 target range: 9.600000 and range: 9.60 m.
2025-08-09T16:54:08.099Z,1754758448.099 [DAT](INFO): checking for new query: numPingsReceived=15, elapsed TxPingTime=3.275753
2025-08-09T16:54:08.357Z,1754758448.357 [DAT](INFO): DAT read: 16:54:06.6551 LVL= 24144, 30385, 18210, 32403, AGC= 38, IDX= 407,-0.49, 2.534, 1.146,-2.953, 2.739, PHS=-0.103,-1.548, 0.547, RAW= 167.6,  11.9, CAL= 167.8,  13.8, ROT= 342.2, -13.8

2025-08-09T16:54:08.358Z,1754758448.358 [DAT](INFO): got valid direction response:
 16:54:06.6551 LVL= 24144, 30385, 18210, 32403, AGC= 38, IDX= 407,-0.49, 2.534, 1.146,-2.953, 2.739, PHS=-0.103,-1.548, 0.547, RAW= 167.6,  11.9, CAL= 167.8,  13.8, ROT= 342.2, -13.8

2025-08-09T16:54:08.359Z,1754758448.359 [DAT](INFO): DAT read: Bearing 292.1, -18.4 (Local)

2025-08-09T16:54:08.359Z,1754758448.359 [DAT](INFO): Local bearing/azimuth received:
 Bearing 292.1, -18.4 (Local)

2025-08-09T16:54:08.361Z,1754758448.361 [DAT](INFO): DAT read: Range 11 to 50 : 5.4 m  (Round-trip  7.2 ms) speed  0.5 m/s

2025-08-09T16:54:08.361Z,1754758448.361 [DAT](INFO): DAT read: user:211>

2025-08-09T16:54:08.362Z,1754758448.362 [DAT](INFO): DAT read: Tx time:16:54:07.7438

2025-08-09T16:54:08.362Z,1754758448.362 [DAT](INFO): Ping request sent.
2025-08-09T16:54:08.362Z,1754758448.362 [DAT](INFO): transmitted an acoustic signal
2025-08-09T16:54:08.363Z,1754758448.363 [DAT](INFO): #Rx 16: Read range and direction messages.
2025-08-09T16:54:08.364Z,1754758448.364 [DAT](INFO): direction in FSK: [0.924646,-0.296871,0.238533]
2025-08-09T16:54:08.364Z,1754758448.364 [DAT](INFO): publishing transmit ping time
2025-08-09T16:54:08.364Z,1754758448.364 [DAT](INFO): publishing direction and range info
2025-08-09T16:54:08.367Z,1754758448.367 [DAT](INFO): publishing transmit ping time
2025-08-09T16:54:08.367Z,1754758448.367 [DAT](INFO): publishing direction and range info
2025-08-09T16:54:08.372Z,1754758448.372 [DAT](INFO): checking for new query: numPingsReceived=16, elapsed TxPingTime=0.009776
2025-08-09T16:54:08.603Z,1754758448.603 [DAT](INFO): checking for new query: numPingsReceived=16, elapsed TxPingTime=0.241042
2025-08-09T16:54:08.643Z,1754758448.643 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 5.400000 m,
      deltaT: 3.539784 s,
      deltaX: -2.100000 m,
      approachRate: -0.593257 m/s,
      rangeRepo size: 4

2025-08-09T16:54:08.645Z,1754758448.645 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 5.400000 m,
      bearing: 110.407279 deg,
      lat: 36.906098 deg,
      lon: -122.115847 deg,
      deltaT: 7.083900 s,
      deltaX: -4.200000 m,
      approachRate: -0.592894 m/s,
      posRepo size: 4

2025-08-09T16:54:08.646Z,1754758448.646 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 5.40 m. 9.60 m.
2025-08-09T16:54:08.657Z,1754758448.657 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 9.600000 m,
      nav range: 4.886383 m,
      bearing: 119.640402 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.040085 deg/s,
      cmd heading: 123.886668 deg,
      new cmd heading: 123.814244 deg.

2025-08-09T16:54:08.657Z,1754758448.657 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.160966 target range: 9.600000 and range: 9.60 m.
2025-08-09T16:54:08.856Z,1754758448.856 [DAT](INFO): checking for new query: numPingsReceived=16, elapsed TxPingTime=0.493767
2025-08-09T16:54:09.064Z,1754758449.064 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-09T16:54:09.071Z,1754758449.071 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 9.60 m. 9.60 m.
2025-08-09T16:54:09.074Z,1754758449.074 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 9.600000 m,
      nav range: 4.592181 m,
      bearing: 119.496446 deg,
      approach rate: -0.680133 m/s,
      LOS rate: -0.354118 deg/s,
      cmd heading: 123.814241 deg,
      new cmd heading: 123.354713 deg.

2025-08-09T16:54:09.095Z,1754758449.095 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.152946 target range: 9.600000 and range: 9.60 m.
2025-08-09T16:54:09.108Z,1754758449.108 [DAT](INFO): checking for new query: numPingsReceived=16, elapsed TxPingTime=0.745256
2025-08-09T16:54:09.361Z,1754758449.361 [DAT](INFO): checking for new query: numPingsReceived=16, elapsed TxPingTime=0.998176
2025-08-09T16:54:09.545Z,1754758449.545 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 9.60 m. 9.60 m.
2025-08-09T16:54:09.552Z,1754758449.552 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 9.600000 m,
      nav range: 4.296811 m,
      bearing: 119.229121 deg,
      approach rate: -0.617776 m/s,
      LOS rate: -0.597550 deg/s,
      cmd heading: 123.354719 deg,
      new cmd heading: 122.497683 deg.

2025-08-09T16:54:09.553Z,1754758449.553 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.137988 target range: 9.600000 and range: 9.60 m.
2025-08-09T16:54:09.611Z,1754758449.611 [DAT](INFO): checking for new query: numPingsReceived=16, elapsed TxPingTime=1.249050
2025-08-09T16:54:09.864Z,1754758449.864 [DAT](INFO): checking for new query: numPingsReceived=16, elapsed TxPingTime=1.501597
2025-08-09T16:54:09.923Z,1754758449.923 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 9.60 m. 9.60 m.
2025-08-09T16:54:09.926Z,1754758449.926 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 9.600000 m,
      nav range: 4.073322 m,
      bearing: 118.997066 deg,
      approach rate: -0.590553 m/s,
      LOS rate: -0.646831 deg/s,
      cmd heading: 122.497681 deg,
      new cmd heading: 121.763363 deg.

2025-08-09T16:54:09.935Z,1754758449.935 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.125172 target range: 9.600000 and range: 9.60 m.
2025-08-09T16:54:10.116Z,1754758450.116 [DAT](INFO): checking for new query: numPingsReceived=16, elapsed TxPingTime=1.753138
2025-08-09T16:54:10.359Z,1754758450.359 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 9.60 m. 9.60 m.
2025-08-09T16:54:10.361Z,1754758450.361 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 9.600000 m,
      nav range: 3.778217 m,
      bearing: 118.526049 deg,
      approach rate: -0.678013 m/s,
      LOS rate: -1.166689 deg/s,
      cmd heading: 121.763367 deg,
      new cmd heading: 120.240322 deg.

2025-08-09T16:54:10.362Z,1754758450.362 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.098589 target range: 9.600000 and range: 9.60 m.
2025-08-09T16:54:10.367Z,1754758450.367 [DAT](INFO): checking for new query: numPingsReceived=16, elapsed TxPingTime=2.004937
2025-08-09T16:54:10.619Z,1754758450.619 [DAT](INFO): checking for new query: numPingsReceived=16, elapsed TxPingTime=2.256844
2025-08-09T16:54:10.727Z,1754758450.727 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 9.60 m. 9.60 m.
2025-08-09T16:54:10.731Z,1754758450.731 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 9.600000 m,
      nav range: 3.552085 m,
      bearing: 118.107987 deg,
      approach rate: -0.642273 m/s,
      LOS rate: -1.262984 deg/s,
      cmd heading: 120.240317 deg,
      new cmd heading: 118.906540 deg.

2025-08-09T16:54:10.732Z,1754758450.732 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.075311 target range: 9.600000 and range: 9.60 m.
2025-08-09T16:54:10.872Z,1754758450.872 [DAT](INFO): checking for new query: numPingsReceived=16, elapsed TxPingTime=2.509625
2025-08-09T16:54:11.108Z,1754758451.108 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-09T16:54:11.111Z,1754758451.111 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 9.60 m. 9.60 m.
2025-08-09T16:54:11.113Z,1754758451.113 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 9.600000 m,
      nav range: 3.295820 m,
      bearing: 117.561163 deg,
      approach rate: -0.640400 m/s,
      LOS rate: -1.472729 deg/s,
      cmd heading: 118.906545 deg,
      new cmd heading: 117.139106 deg.

2025-08-09T16:54:11.115Z,1754758451.115 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.044463 target range: 9.600000 and range: 9.60 m.
2025-08-09T16:54:11.123Z,1754758451.123 [DAT](INFO): checking for new query: numPingsReceived=16, elapsed TxPingTime=2.760920
2025-08-09T16:54:11.375Z,1754758451.375 [DAT](INFO): DAT read: Rx Time:16:54:10.1525

2025-08-09T16:54:11.376Z,1754758451.376 [DAT](INFO): Rx dataTimestamp_ set to:1754758451.375393
2025-08-09T16:54:11.376Z,1754758451.376 [DAT](INFO): checking for new query: numPingsReceived=16, elapsed TxPingTime=3.013824
2025-08-09T16:54:11.564Z,1754758451.564 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 9.60 m. 9.60 m.
2025-08-09T16:54:11.567Z,1754758451.567 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 9.600000 m,
      nav range: 3.013824 m,
      bearing: 116.906474 deg,
      approach rate: -0.623970 m/s,
      LOS rate: -1.584133 deg/s,
      cmd heading: 117.139110 deg,
      new cmd heading: 114.992321 deg.

2025-08-09T16:54:11.568Z,1754758451.568 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.006995 target range: 9.600000 and range: 9.60 m.
2025-08-09T16:54:11.628Z,1754758451.628 [DAT](INFO): checking for new query: numPingsReceived=16, elapsed TxPingTime=3.265732
2025-08-09T16:54:11.885Z,1754758451.885 [DAT](INFO): DAT read: 16:54:10.1525 LVL= 30848, 31473, 22162, 32755, AGC= 38, IDX= 411,-0.16, 3.018, 2.180,-1.508,-2.595, PHS=-0.569,-1.463, 1.042, RAW= 189.4,   9.0, CAL= 189.4,   9.9, ROT= 320.6,  -9.9

2025-08-09T16:54:11.886Z,1754758451.886 [DAT](INFO): got valid direction response:
 16:54:10.1525 LVL= 30848, 31473, 22162, 32755, AGC= 38, IDX= 411,-0.16, 3.018, 2.180,-1.508,-2.595, PHS=-0.569,-1.463, 1.042, RAW= 189.4,   9.0, CAL= 189.4,   9.9, ROT= 320.6,  -9.9

2025-08-09T16:54:11.895Z,1754758451.895 [DAT](INFO): DAT read: Bearing 288.5, -40.1 (Local)

2025-08-09T16:54:11.895Z,1754758451.895 [DAT](INFO): Local bearing/azimuth received:
 Bearing 288.5, -40.1 (Local)

2025-08-09T16:54:11.897Z,1754758451.897 [DAT](INFO): DAT read: Range 11 to 50 : 3.3 m  (Round-trip  4.5 ms) speed  0.4 m/s

2025-08-09T16:54:11.897Z,1754758451.897 [DAT](INFO): DAT read: user:212>

2025-08-09T16:54:11.903Z,1754758451.903 [DAT](INFO): DAT read: Tx time:16:54:11.2438

2025-08-09T16:54:11.903Z,1754758451.903 [DAT](INFO): Ping request sent.
2025-08-09T16:54:11.903Z,1754758451.903 [DAT](INFO): transmitted an acoustic signal
2025-08-09T16:54:11.903Z,1754758451.903 [DAT](INFO): #Rx 17: Read range and direction messages.
2025-08-09T16:54:11.904Z,1754758451.904 [DAT](INFO): direction in FSK: [0.761227,-0.625279,0.171929]
2025-08-09T16:54:11.905Z,1754758451.905 [DAT](INFO): publishing transmit ping time
2025-08-09T16:54:11.905Z,1754758451.905 [DAT](INFO): publishing direction and range info
2025-08-09T16:54:11.920Z,1754758451.920 [DAT](INFO): publishing transmit ping time
2025-08-09T16:54:11.920Z,1754758451.920 [DAT](INFO): publishing direction and range info
2025-08-09T16:54:11.928Z,1754758451.928 [DAT](INFO): checking for new query: numPingsReceived=17, elapsed TxPingTime=0.024999
2025-08-09T16:54:12.022Z,1754758452.022 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 3.300000 m,
      deltaT: 3.528153 s,
      deltaX: -2.100000 m,
      approachRate: -0.595212 m/s,
      rangeRepo size: 4

2025-08-09T16:54:12.028Z,1754758452.028 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 3.300000 m,
      bearing: 97.628322 deg,
      lat: 36.906099 deg,
      lon: -122.115843 deg,
      deltaT: 10.612053 s,
      deltaX: -6.300000 m,
      approachRate: -0.593665 m/s,
      posRepo size: 4

2025-08-09T16:54:12.029Z,1754758452.029 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 3.30 m. 9.60 m.
2025-08-09T16:54:12.032Z,1754758452.032 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 9.600000 m,
      nav range: 2.754337 m,
      bearing: 116.184449 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.040085 deg/s,
      cmd heading: 114.992327 deg,
      new cmd heading: 114.937196 deg.

2025-08-09T16:54:12.033Z,1754758452.033 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.006032 target range: 9.600000 and range: 9.60 m.
2025-08-09T16:54:12.132Z,1754758452.132 [DAT](INFO): checking for new query: numPingsReceived=17, elapsed TxPingTime=0.228620
2025-08-09T16:54:12.383Z,1754758452.383 [DAT](INFO): checking for new query: numPingsReceived=17, elapsed TxPingTime=0.480312
2025-08-09T16:54:12.401Z,1754758452.401 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 9.60 m. 9.60 m.
2025-08-09T16:54:12.408Z,1754758452.408 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 9.600000 m,
      nav range: 2.493225 m,
      bearing: 115.355993 deg,
      approach rate: -0.687215 m/s,
      LOS rate: -2.408659 deg/s,
      cmd heading: 114.937194 deg,
      new cmd heading: 112.193732 deg.

2025-08-09T16:54:12.409Z,1754758452.409 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.958150 target range: 9.600000 and range: 9.60 m.
2025-08-09T16:54:12.635Z,1754758452.635 [DAT](INFO): checking for new query: numPingsReceived=17, elapsed TxPingTime=0.732216
2025-08-09T16:54:12.727Z,1754758452.727 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 9.60 m. 9.60 m.
2025-08-09T16:54:12.730Z,1754758452.730 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 9.600000 m,
      nav range: 2.286629 m,
      bearing: 114.579443 deg,
      approach rate: -0.633474 m/s,
      LOS rate: -2.596151 deg/s,
      cmd heading: 112.193732 deg,
      new cmd heading: 109.655339 deg.

2025-08-09T16:54:12.731Z,1754758452.731 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.913847 target range: 9.600000 and range: 9.60 m.
2025-08-09T16:54:12.887Z,1754758452.887 [DAT](INFO): checking for new query: numPingsReceived=17, elapsed TxPingTime=0.984208
2025-08-09T16:54:13.139Z,1754758453.139 [DAT](INFO): checking for new query: numPingsReceived=17, elapsed TxPingTime=1.236309
2025-08-09T16:54:13.162Z,1754758453.162 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-09T16:54:13.165Z,1754758453.165 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 9.60 m. 9.60 m.
2025-08-09T16:54:13.167Z,1754758453.167 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 9.600000 m,
      nav range: 2.029000 m,
      bearing: 113.415713 deg,
      approach rate: -0.588940 m/s,
      LOS rate: -2.997863 deg/s,
      cmd heading: 109.655340 deg,
      new cmd heading: 105.727296 deg.

2025-08-09T16:54:13.168Z,1754758453.168 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.845289 target range: 9.600000 and range: 9.60 m.
2025-08-09T16:54:13.391Z,1754758453.391 [DAT](INFO): checking for new query: numPingsReceived=17, elapsed TxPingTime=1.488232
2025-08-09T16:54:13.570Z,1754758453.570 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 9.60 m. 9.60 m.
2025-08-09T16:54:13.572Z,1754758453.572 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 9.600000 m,
      nav range: 1.771790 m,
      bearing: 112.150717 deg,
      approach rate: -0.635390 m/s,
      LOS rate: -3.578298 deg/s,
      cmd heading: 105.727299 deg,
      new cmd heading: 101.390053 deg.

2025-08-09T16:54:13.573Z,1754758453.573 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.769590 target range: 9.600000 and range: 9.60 m.
2025-08-09T16:54:13.644Z,1754758453.644 [DAT](INFO): checking for new query: numPingsReceived=17, elapsed TxPingTime=1.741190
2025-08-09T16:54:13.896Z,1754758453.896 [DAT](INFO): checking for new query: numPingsReceived=17, elapsed TxPingTime=1.992694
2025-08-09T16:54:13.949Z,1754758453.949 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 9.60 m. 9.60 m.
2025-08-09T16:54:13.951Z,1754758453.951 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 9.600000 m,
      nav range: 1.544617 m,
      bearing: 110.786138 deg,
      approach rate: -0.599284 m/s,
      LOS rate: -4.128801 deg/s,
      cmd heading: 101.390053 deg,
      new cmd heading: 96.705146 deg.

2025-08-09T16:54:13.952Z,1754758453.952 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.687823 target range: 9.600000 and range: 9.60 m.
2025-08-09T16:54:14.147Z,1754758454.147 [DAT](INFO): checking for new query: numPingsReceived=17, elapsed TxPingTime=2.244306
2025-08-09T16:54:14.399Z,1754758454.399 [DAT](INFO): checking for new query: numPingsReceived=17, elapsed TxPingTime=2.496381
2025-08-09T16:54:14.408Z,1754758454.408 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 9.60 m. 9.60 m.
2025-08-09T16:54:14.410Z,1754758454.410 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 9.600000 m,
      nav range: 1.272024 m,
      bearing: 109.101847 deg,
      approach rate: -0.593772 m/s,
      LOS rate: -4.454358 deg/s,
      cmd heading: 96.705145 deg,
      new cmd heading: 90.593615 deg.

2025-08-09T16:54:14.411Z,1754758454.411 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.581157 target range: 9.600000 and range: 9.60 m.
2025-08-09T16:54:14.651Z,1754758454.651 [DAT](INFO): DAT read: Rx Time:16:54:13.6504

2025-08-09T16:54:14.652Z,1754758454.652 [DAT](INFO): Rx dataTimestamp_ set to:1754758454.651546
2025-08-09T16:54:14.652Z,1754758454.652 [DAT](INFO): checking for new query: numPingsReceived=17, elapsed TxPingTime=2.749398
2025-08-09T16:54:14.745Z,1754758454.745 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 9.60 m. 9.60 m.
2025-08-09T16:54:14.748Z,1754758454.748 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 9.600000 m,
      nav range: 1.070344 m,
      bearing: 107.398671 deg,
      approach rate: -0.597549 m/s,
      LOS rate: -5.996229 deg/s,
      cmd heading: 90.593614 deg,
      new cmd heading: 84.544789 deg.

2025-08-09T16:54:14.749Z,1754758454.749 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.475585 target range: 9.600000 and range: 9.60 m.
2025-08-09T16:54:14.903Z,1754758454.903 [DAT](INFO): checking for new query: numPingsReceived=17, elapsed TxPingTime=3.000250
2025-08-09T16:54:15.152Z,1754758455.152 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 9.60 m. 9.60 m.
2025-08-09T16:54:15.160Z,1754758455.160 [DAT](INFO): checking for new query: numPingsReceived=17, elapsed TxPingTime=3.256039
2025-08-09T16:54:15.165Z,1754758455.165 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 9.600000 m,
      nav range: 0.831575 m,
      bearing: 104.473082 deg,
      approach rate: -0.591246 m/s,
      LOS rate: -9.320456 deg/s,
      cmd heading: 84.544792 deg,
      new cmd heading: 73.395754 deg.

2025-08-09T16:54:15.166Z,1754758455.166 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.280998 target range: 9.600000 and range: 9.60 m.
2025-08-09T16:54:15.409Z,1754758455.409 [DAT](INFO): DAT read: Range 11 to 50 : 1.9 m  (Round-trip  2.6 ms) speed  0.0 m/s

2025-08-09T16:54:15.411Z,1754758455.411 [DAT](INFO): DAT read: user:213>

2025-08-09T16:54:15.412Z,1754758455.412 [DAT](INFO): DAT read: Tx time:16:54:14.7437

2025-08-09T16:54:15.412Z,1754758455.412 [DAT](INFO): Ping request sent.
2025-08-09T16:54:15.412Z,1754758455.412 [DAT](INFO): transmitted an acoustic signal
2025-08-09T16:54:15.413Z,1754758455.413 [DAT](ERROR): #Rx 18: Read range message, but no direction.
2025-08-09T16:54:15.413Z,1754758455.413 [DAT](INFO): publishing transmit ping time
2025-08-09T16:54:15.413Z,1754758455.413 [DAT](INFO): publishing transmit ping time
2025-08-09T16:54:15.414Z,1754758455.414 [DAT](INFO): checking for new query: numPingsReceived=18, elapsed TxPingTime=0.001936
2025-08-09T16:54:15.574Z,1754758455.574 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-09T16:54:15.576Z,1754758455.576 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 1.900000 m,
      deltaT: 3.528608 s,
      deltaX: -1.400000 m,
      approachRate: -0.396757 m/s,
      rangeRepo size: 4

2025-08-09T16:54:15.577Z,1754758455.577 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Intercept lockout. Range: 1.90 m.
2025-08-09T16:54:15.577Z,1754758455.577 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Transitioning guidance mode to: INTERCEPT_LOCKOUT
2025-08-09T16:54:15.659Z,1754758455.659 [DAT](INFO): checking for new query: numPingsReceived=18, elapsed TxPingTime=0.247216
2025-08-09T16:54:15.911Z,1754758455.911 [DAT](INFO): checking for new query: numPingsReceived=18, elapsed TxPingTime=0.499063
2025-08-09T16:54:16.163Z,1754758456.163 [DAT](INFO): checking for new query: numPingsReceived=18, elapsed TxPingTime=0.751140
2025-08-09T16:54:16.415Z,1754758456.415 [DAT](INFO): checking for new query: numPingsReceived=18, elapsed TxPingTime=1.003108
2025-08-09T16:54:16.668Z,1754758456.668 [DAT](INFO): checking for new query: numPingsReceived=18, elapsed TxPingTime=1.255476
2025-08-09T16:54:16.919Z,1754758456.919 [DAT](INFO): checking for new query: numPingsReceived=18, elapsed TxPingTime=1.507130
2025-08-09T16:54:17.171Z,1754758457.171 [DAT](INFO): checking for new query: numPingsReceived=18, elapsed TxPingTime=1.759111
2025-08-09T16:54:17.423Z,1754758457.423 [DAT](INFO): checking for new query: numPingsReceived=18, elapsed TxPingTime=2.010993
2025-08-09T16:54:17.625Z,1754758457.625 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-09T16:54:17.676Z,1754758457.676 [DAT](INFO): checking for new query: numPingsReceived=18, elapsed TxPingTime=2.263722
2025-08-09T16:54:17.927Z,1754758457.927 [DAT](INFO): checking for new query: numPingsReceived=18, elapsed TxPingTime=2.514979
2025-08-09T16:54:18.179Z,1754758458.179 [DAT](INFO): DAT read: Rx Time:16:54:17.1508

2025-08-09T16:54:18.180Z,1754758458.180 [DAT](INFO): Rx dataTimestamp_ set to:1754758458.179463
2025-08-09T16:54:18.180Z,1754758458.180 [DAT](INFO): checking for new query: numPingsReceived=18, elapsed TxPingTime=2.768096
2025-08-09T16:54:18.431Z,1754758458.431 [DAT](INFO): checking for new query: numPingsReceived=18, elapsed TxPingTime=3.019010
2025-08-09T16:54:18.688Z,1754758458.688 [DAT](INFO): checking for new query: numPingsReceived=18, elapsed TxPingTime=3.273473
2025-08-09T16:54:18.941Z,1754758458.941 [DAT](INFO): DAT read: 16:54:17.1508 LVL= 30928, 19345, 20898, 31667, AGC= 33, IDX= 443, 0.34,-0.844, 1.356, 0.484, 0.655, PHS=-1.397, 0.746,-0.214, RAW= 296.6,   9.3, CAL= 294.1,  11.2, ROT= 215.9, -11.2

2025-08-09T16:54:18.946Z,1754758458.946 [DAT](INFO): got valid direction response:
 16:54:17.1508 LVL= 30928, 19345, 20898, 31667, AGC= 33, IDX= 443, 0.34,-0.844, 1.356, 0.484, 0.655, PHS=-1.397, 0.746,-0.214, RAW= 296.6,   9.3, CAL= 294.1,  11.2, ROT= 215.9, -11.2

2025-08-09T16:54:18.948Z,1754758458.948 [DAT](INFO): DAT read: Bearing  86.1, -35.7 (Local)

2025-08-09T16:54:18.948Z,1754758458.948 [DAT](INFO): Local bearing/azimuth received:
 Bearing  86.1, -35.7 (Local)

2025-08-09T16:54:18.949Z,1754758458.949 [DAT](INFO): DAT read: Range 11 to 50 : 2.2 m  (Round-trip  3.0 ms) speed -0.4 m/s

2025-08-09T16:54:18.954Z,1754758458.954 [DAT](INFO): DAT read: user:214>

2025-08-09T16:54:18.955Z,1754758458.955 [DAT](INFO): DAT read: Tx time:16:54:18.2437

2025-08-09T16:54:18.955Z,1754758458.955 [DAT](INFO): Ping request sent.
2025-08-09T16:54:18.956Z,1754758458.956 [DAT](INFO): transmitted an acoustic signal
2025-08-09T16:54:18.956Z,1754758458.956 [DAT](INFO): #Rx 19: Read range and direction messages.
2025-08-09T16:54:18.957Z,1754758458.957 [DAT](INFO): direction in FSK: [-0.794615,-0.575205,0.194234]
2025-08-09T16:54:18.957Z,1754758458.957 [DAT](INFO): publishing transmit ping time
2025-08-09T16:54:18.958Z,1754758458.958 [DAT](INFO): publishing direction and range info
2025-08-09T16:54:18.965Z,1754758458.965 [DAT](INFO): publishing transmit ping time
2025-08-09T16:54:18.965Z,1754758458.965 [DAT](INFO): publishing direction and range info
2025-08-09T16:54:18.995Z,1754758458.995 [DAT](INFO): checking for new query: numPingsReceived=19, elapsed TxPingTime=0.039694
2025-08-09T16:54:19.187Z,1754758459.187 [DAT](INFO): checking for new query: numPingsReceived=19, elapsed TxPingTime=0.231628
2025-08-09T16:54:19.247Z,1754758459.247 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 2.200000 m,
      deltaT: 3.527534 s,
      deltaX: 0.300000 m,
      approachRate: 0.085045 m/s,
      rangeRepo size: 4

2025-08-09T16:54:19.249Z,1754758459.249 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 2.200000 m,
      bearing: 333.651643 deg,
      lat: 36.906100 deg,
      lon: -122.115843 deg,
      deltaT: 17.668195 s,
      deltaX: -7.400001 m,
      approachRate: -0.418832 m/s,
      posRepo size: 4

2025-08-09T16:54:19.440Z,1754758459.440 [DAT](INFO): checking for new query: numPingsReceived=19, elapsed TxPingTime=0.483671
2025-08-09T16:54:19.647Z,1754758459.647 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-09T16:54:19.692Z,1754758459.692 [DAT](INFO): checking for new query: numPingsReceived=19, elapsed TxPingTime=0.736376
2025-08-09T16:54:19.943Z,1754758459.943 [DAT](INFO): checking for new query: numPingsReceived=19, elapsed TxPingTime=0.987668
2025-08-09T16:54:20.195Z,1754758460.195 [DAT](INFO): checking for new query: numPingsReceived=19, elapsed TxPingTime=1.239683
2025-08-09T16:54:20.447Z,1754758460.447 [DAT](INFO): checking for new query: numPingsReceived=19, elapsed TxPingTime=1.491692
2025-08-09T16:54:20.699Z,1754758460.699 [DAT](INFO): checking for new query: numPingsReceived=19, elapsed TxPingTime=1.743825
2025-08-09T16:54:20.951Z,1754758460.951 [DAT](INFO): checking for new query: numPingsReceived=19, elapsed TxPingTime=1.995687
2025-08-09T16:54:21.204Z,1754758461.204 [DAT](INFO): checking for new query: numPingsReceived=19, elapsed TxPingTime=2.247878
2025-08-09T16:54:21.457Z,1754758461.457 [DAT](INFO): checking for new query: numPingsReceived=19, elapsed TxPingTime=2.500862
2025-08-09T16:54:21.669Z,1754758461.669 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-09T16:54:21.708Z,1754758461.708 [DAT](INFO): DAT read: Rx Time:16:54:20.6526

2025-08-09T16:54:21.708Z,1754758461.708 [DAT](INFO): Rx dataTimestamp_ set to:1754758461.707835
2025-08-09T16:54:21.709Z,1754758461.709 [DAT](INFO): checking for new query: numPingsReceived=19, elapsed TxPingTime=2.753356
2025-08-09T16:54:21.960Z,1754758461.960 [DAT](INFO): checking for new query: numPingsReceived=19, elapsed TxPingTime=3.004557
2025-08-09T16:54:22.220Z,1754758462.220 [DAT](INFO): DAT read: 16:54:20.6526 LVL= 32752, 15953, 27362, 32755, AGC= 45, IDX= 461, 0.22,-2.841,-0.503,-1.662,-1.516, PHS=-1.224, 1.058,-0.190, RAW= 303.1,   3.6, CAL= 300.7,  -0.1, ROT= 209.3,   0.1

2025-08-09T16:54:22.221Z,1754758462.221 [DAT](INFO): got valid direction response:
 16:54:20.6526 LVL= 32752, 15953, 27362, 32755, AGC= 45, IDX= 461, 0.22,-2.841,-0.503,-1.662,-1.516, PHS=-1.224, 1.058,-0.190, RAW= 303.1,   3.6, CAL= 300.7,  -0.1, ROT= 209.3,   0.1

2025-08-09T16:54:22.222Z,1754758462.222 [DAT](INFO): DAT read: Bearing  90.3, -27.6 (Local)

2025-08-09T16:54:22.222Z,1754758462.222 [DAT](INFO): Local bearing/azimuth received:
 Bearing  90.3, -27.6 (Local)

2025-08-09T16:54:22.223Z,1754758462.223 [DAT](INFO): DAT read: Range 11 to 50 : 3.5 m  (Round-trip  4.7 ms) speed -0.4 m/s

2025-08-09T16:54:22.224Z,1754758462.224 [DAT](INFO): DAT read: user:215>

2025-08-09T16:54:22.225Z,1754758462.225 [DAT](INFO): DAT read: Tx time:16:54:21.7437

2025-08-09T16:54:22.225Z,1754758462.225 [DAT](INFO): Ping request sent.
2025-08-09T16:54:22.225Z,1754758462.225 [DAT](INFO): transmitted an acoustic signal
2025-08-09T16:54:22.226Z,1754758462.226 [DAT](INFO): #Rx 20: Read range and direction messages.
2025-08-09T16:54:22.259Z,1754758462.259 [DAT](INFO): direction in FSK: [-0.872068,-0.489382,-0.001745]
2025-08-09T16:54:22.259Z,1754758462.259 [DAT](INFO): publishing transmit ping time
2025-08-09T16:54:22.259Z,1754758462.259 [DAT](INFO): publishing direction and range info
2025-08-09T16:54:22.264Z,1754758462.264 [DAT](INFO): publishing transmit ping time
2025-08-09T16:54:22.264Z,1754758462.264 [DAT](INFO): publishing direction and range info
2025-08-09T16:54:22.276Z,1754758462.276 [DAT](INFO): checking for new query: numPingsReceived=20, elapsed TxPingTime=0.050285
2025-08-09T16:54:22.465Z,1754758462.465 [DAT](INFO): checking for new query: numPingsReceived=20, elapsed TxPingTime=0.239257
2025-08-09T16:54:22.564Z,1754758462.564 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 3.500000 m,
      deltaT: 3.277424 s,
      deltaX: 1.300000 m,
      approachRate: 0.396653 m/s,
      rangeRepo size: 4

2025-08-09T16:54:22.570Z,1754758462.570 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 3.500000 m,
      bearing: 311.781734 deg,
      lat: 36.906102 deg,
      lon: -122.115843 deg,
      deltaT: 3.277424 s,
      deltaX: 1.300000 m,
      approachRate: 0.396653 m/s,
      posRepo size: 4

2025-08-09T16:54:22.715Z,1754758462.715 [DAT](INFO): checking for new query: numPingsReceived=20, elapsed TxPingTime=0.489932
2025-08-09T16:54:22.901Z,1754758462.901 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Starting intercept timer at range: 3.50 m.
2025-08-09T16:54:22.969Z,1754758462.969 [DAT](INFO): checking for new query: numPingsReceived=20, elapsed TxPingTime=0.742955
2025-08-09T16:54:23.219Z,1754758463.219 [DAT](INFO): checking for new query: numPingsReceived=20, elapsed TxPingTime=0.993973
2025-08-09T16:54:23.473Z,1754758463.473 [DAT](INFO): checking for new query: numPingsReceived=20, elapsed TxPingTime=1.247397
2025-08-09T16:54:23.723Z,1754758463.723 [DAT](INFO): checking for new query: numPingsReceived=20, elapsed TxPingTime=1.498134
2025-08-09T16:54:23.732Z,1754758463.732 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-09T16:54:23.734Z,1754758463.734 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Stopped intercept timer at range: 3.50 m.
2025-08-09T16:54:23.976Z,1754758463.976 [DAT](INFO): checking for new query: numPingsReceived=20, elapsed TxPingTime=1.750669
2025-08-09T16:54:24.104Z,1754758464.104 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Starting intercept timer at range: 3.50 m.
2025-08-09T16:54:24.227Z,1754758464.227 [DAT](INFO): checking for new query: numPingsReceived=20, elapsed TxPingTime=2.001939
2025-08-09T16:54:24.483Z,1754758464.483 [DAT](INFO): checking for new query: numPingsReceived=20, elapsed TxPingTime=2.256602
2025-08-09T16:54:24.568Z,1754758464.568 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Stopped intercept timer at range: 3.50 m.
2025-08-09T16:54:24.731Z,1754758464.731 [DAT](INFO): checking for new query: numPingsReceived=20, elapsed TxPingTime=2.505962
2025-08-09T16:54:24.927Z,1754758464.927 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Starting intercept timer at range: 3.50 m.
2025-08-09T16:54:24.983Z,1754758464.983 [DAT](INFO): checking for new query: numPingsReceived=20, elapsed TxPingTime=2.758111
2025-08-09T16:54:25.235Z,1754758465.235 [DAT](INFO): DAT read: Rx Time:16:54:24.1549

2025-08-09T16:54:25.236Z,1754758465.236 [DAT](INFO): Rx dataTimestamp_ set to:1754758465.235529
2025-08-09T16:54:25.236Z,1754758465.236 [DAT](INFO): checking for new query: numPingsReceived=20, elapsed TxPingTime=3.011095
2025-08-09T16:54:25.490Z,1754758465.490 [DAT](INFO): checking for new query: numPingsReceived=20, elapsed TxPingTime=3.264245
2025-08-09T16:54:25.745Z,1754758465.745 [DAT](INFO): DAT read: 16:54:24.1549 LVL= 32752, 19905, 25074, 32755, AGC= 50, IDX= 453, 0.03,-0.776, 1.626, 0.410, 0.474, PHS=-1.148, 1.197,-0.108, RAW= 303.7,   0.6, CAL= 302.0,  -3.2, ROT= 208.0,   3.2

2025-08-09T16:54:25.746Z,1754758465.746 [DAT](INFO): got valid direction response:
 16:54:24.1549 LVL= 32752, 19905, 25074, 32755, AGC= 50, IDX= 453, 0.03,-0.776, 1.626, 0.410, 0.474, PHS=-1.148, 1.197,-0.108, RAW= 303.7,   0.6, CAL= 302.0,  -3.2, ROT= 208.0,   3.2

2025-08-09T16:54:25.754Z,1754758465.754 [DAT](INFO): DAT read: Bearing  86.5, -25.2 (Local)

2025-08-09T16:54:25.763Z,1754758465.763 [DAT](INFO): Local bearing/azimuth received:
 Bearing  86.5, -25.2 (Local)

2025-08-09T16:54:25.765Z,1754758465.765 [DAT](INFO): DAT read: Range 11 to 50 : 5.3 m  (Round-trip  7.1 ms) speed -0.6 m/s

2025-08-09T16:54:25.765Z,1754758465.765 [DAT](INFO): DAT read: user:216>

2025-08-09T16:54:25.766Z,1754758465.766 [DAT](INFO): DAT read: Tx time:16:54:25.2437

2025-08-09T16:54:25.767Z,1754758465.767 [DAT](INFO): Ping request sent.
2025-08-09T16:54:25.767Z,1754758465.767 [DAT](INFO): transmitted an acoustic signal
2025-08-09T16:54:25.767Z,1754758465.767 [DAT](INFO): #Rx 21: Read range and direction messages.
2025-08-09T16:54:25.768Z,1754758465.768 [DAT](INFO): direction in FSK: [-0.881571,-0.468739,-0.055822]
2025-08-09T16:54:25.768Z,1754758465.768 [DAT](INFO): publishing transmit ping time
2025-08-09T16:54:25.769Z,1754758465.769 [DAT](INFO): publishing direction and range info
2025-08-09T16:54:25.776Z,1754758465.776 [DAT](INFO): publishing transmit ping time
2025-08-09T16:54:25.776Z,1754758465.776 [DAT](INFO): publishing direction and range info
2025-08-09T16:54:25.789Z,1754758465.789 [DAT](INFO): checking for new query: numPingsReceived=21, elapsed TxPingTime=0.022314
2025-08-09T16:54:25.837Z,1754758465.837 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 5.300000 m,
      deltaT: 3.526382 s,
      deltaX: 1.800000 m,
      approachRate: 0.510438 m/s,
      rangeRepo size: 4

2025-08-09T16:54:25.840Z,1754758465.840 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 5.300000 m,
      bearing: 303.817721 deg,
      lat: 36.906104 deg,
      lon: -122.115843 deg,
      deltaT: 3.526382 s,
      deltaX: 1.800000 m,
      approachRate: 0.510438 m/s,
      posRepo size: 4

2025-08-09T16:54:25.841Z,1754758465.841 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Stopped intercept timer at range: 5.30 m.
2025-08-09T16:54:25.991Z,1754758465.991 [DAT](INFO): checking for new query: numPingsReceived=21, elapsed TxPingTime=0.224538
2025-08-09T16:54:26.188Z,1754758466.188 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-09T16:54:26.190Z,1754758466.190 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Starting intercept timer at range: 5.30 m.
2025-08-09T16:54:26.244Z,1754758466.244 [DAT](INFO): checking for new query: numPingsReceived=21, elapsed TxPingTime=0.476877
2025-08-09T16:54:26.499Z,1754758466.499 [DAT](INFO): checking for new query: numPingsReceived=21, elapsed TxPingTime=0.731807
2025-08-09T16:54:26.610Z,1754758466.610 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Stopped intercept timer at range: 5.30 m.
2025-08-09T16:54:26.747Z,1754758466.747 [DAT](INFO): checking for new query: numPingsReceived=21, elapsed TxPingTime=0.980407
2025-08-09T16:54:26.999Z,1754758466.999 [DAT](INFO): checking for new query: numPingsReceived=21, elapsed TxPingTime=1.232378
2025-08-09T16:54:27.029Z,1754758467.029 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Starting intercept timer at range: 5.30 m.
2025-08-09T16:54:27.252Z,1754758467.252 [DAT](INFO): checking for new query: numPingsReceived=21, elapsed TxPingTime=1.484907
2025-08-09T16:54:27.506Z,1754758467.506 [DAT](INFO): checking for new query: numPingsReceived=21, elapsed TxPingTime=1.738646
2025-08-09T16:54:27.756Z,1754758467.756 [DAT](INFO): checking for new query: numPingsReceived=21, elapsed TxPingTime=1.989609
2025-08-09T16:54:27.824Z,1754758467.824 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Stopped intercept timer at range: 5.30 m.
2025-08-09T16:54:28.011Z,1754758468.011 [DAT](INFO): checking for new query: numPingsReceived=21, elapsed TxPingTime=2.243816
2025-08-09T16:54:28.197Z,1754758468.197 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-09T16:54:28.200Z,1754758468.200 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Starting intercept timer at range: 5.30 m.
2025-08-09T16:54:28.260Z,1754758468.260 [DAT](INFO): checking for new query: numPingsReceived=21, elapsed TxPingTime=2.492928
2025-08-09T16:54:28.514Z,1754758468.514 [DAT](INFO): checking for new query: numPingsReceived=21, elapsed TxPingTime=2.746419
2025-08-09T16:54:28.623Z,1754758468.623 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Stopped intercept timer at range: 5.30 m.
2025-08-09T16:54:28.763Z,1754758468.763 [DAT](INFO): DAT read: Rx Time:16:54:27.6577

2025-08-09T16:54:28.764Z,1754758468.764 [DAT](INFO): Rx dataTimestamp_ set to:1754758468.763434
2025-08-09T16:54:28.764Z,1754758468.764 [DAT](INFO): checking for new query: numPingsReceived=21, elapsed TxPingTime=2.997430
2025-08-09T16:54:29.015Z,1754758469.015 [DAT](INFO): checking for new query: numPingsReceived=21, elapsed TxPingTime=3.248408
2025-08-09T16:54:29.038Z,1754758469.038 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Starting intercept timer at range: 5.30 m.
2025-08-09T16:54:29.276Z,1754758469.276 [DAT](INFO): DAT read: 16:54:27.6577 LVL= 32752, 19281, 29842, 32755, AGC= 53, IDX= 449,-0.43,-1.301, 0.902,-0.245,-0.103, PHS=-1.097, 1.050,-0.186, RAW= 305.0,   2.5, CAL= 302.8,  -1.1, ROT= 207.2,   1.1

2025-08-09T16:54:29.278Z,1754758469.278 [DAT](INFO): got valid direction response:
 16:54:27.6577 LVL= 32752, 19281, 29842, 32755, AGC= 53, IDX= 449,-0.43,-1.301, 0.902,-0.245,-0.103, PHS=-1.097, 1.050,-0.186, RAW= 305.0,   2.5, CAL= 302.8,  -1.1, ROT= 207.2,   1.1

2025-08-09T16:54:29.280Z,1754758469.280 [DAT](INFO): DAT read: Bearing  76.1, -24.4 (Local)

2025-08-09T16:54:29.280Z,1754758469.280 [DAT](INFO): Local bearing/azimuth received:
 Bearing  76.1, -24.4 (Local)

2025-08-09T16:54:29.282Z,1754758469.282 [DAT](INFO): DAT read: Range 11 to 50 : 7.3 m  (Round-trip  9.8 ms) speed -0.5 m/s

2025-08-09T16:54:29.283Z,1754758469.283 [DAT](INFO): DAT read: user:217>

2025-08-09T16:54:29.283Z,1754758469.283 [DAT](INFO): DAT read: Tx time:16:54:28.7937

2025-08-09T16:54:29.284Z,1754758469.284 [DAT](INFO): Ping request sent.
2025-08-09T16:54:29.284Z,1754758469.284 [DAT](INFO): transmitted an acoustic signal
2025-08-09T16:54:29.284Z,1754758469.284 [DAT](INFO): #Rx 22: Read range and direction messages.
2025-08-09T16:54:29.285Z,1754758469.285 [DAT](INFO): direction in FSK: [-0.889253,-0.457014,-0.019197]
2025-08-09T16:54:29.285Z,1754758469.285 [DAT](INFO): publishing transmit ping time
2025-08-09T16:54:29.285Z,1754758469.285 [DAT](INFO): publishing direction and range info
2025-08-09T16:54:29.289Z,1754758469.289 [DAT](INFO): publishing transmit ping time
2025-08-09T16:54:29.289Z,1754758469.289 [DAT](INFO): publishing direction and range info
2025-08-09T16:54:29.300Z,1754758469.300 [DAT](INFO): checking for new query: numPingsReceived=22, elapsed TxPingTime=0.016003
2025-08-09T16:54:29.461Z,1754758469.461 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 7.300000 m,
      deltaT: 3.529242 s,
      deltaX: 2.000000 m,
      approachRate: 0.566694 m/s,
      rangeRepo size: 4

2025-08-09T16:54:29.468Z,1754758469.468 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 7.300000 m,
      bearing: 295.527206 deg,
      lat: 36.906105 deg,
      lon: -122.115842 deg,
      deltaT: 3.529242 s,
      deltaX: 2.000000 m,
      approachRate: 0.566694 m/s,
      posRepo size: 4

2025-08-09T16:54:29.469Z,1754758469.469 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Stopped intercept timer at range: 7.30 m.
2025-08-09T16:54:29.522Z,1754758469.522 [DAT](INFO): checking for new query: numPingsReceived=22, elapsed TxPingTime=0.237820
2025-08-09T16:54:29.771Z,1754758469.771 [DAT](INFO): checking for new query: numPingsReceived=22, elapsed TxPingTime=0.487640
2025-08-09T16:54:30.023Z,1754758470.023 [DAT](INFO): checking for new query: numPingsReceived=22, elapsed TxPingTime=0.739580
2025-08-09T16:54:30.252Z,1754758470.252 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-09T16:54:30.276Z,1754758470.276 [DAT](INFO): checking for new query: numPingsReceived=22, elapsed TxPingTime=0.991932
2025-08-09T16:54:30.530Z,1754758470.530 [DAT](INFO): checking for new query: numPingsReceived=22, elapsed TxPingTime=1.245315
2025-08-09T16:54:30.779Z,1754758470.779 [DAT](INFO): checking for new query: numPingsReceived=22, elapsed TxPingTime=1.495517
2025-08-09T16:54:31.031Z,1754758471.031 [DAT](INFO): checking for new query: numPingsReceived=22, elapsed TxPingTime=1.747657
2025-08-09T16:54:31.283Z,1754758471.283 [DAT](INFO): checking for new query: numPingsReceived=22, elapsed TxPingTime=1.999599
2025-08-09T16:54:31.539Z,1754758471.539 [DAT](INFO): checking for new query: numPingsReceived=22, elapsed TxPingTime=2.254295
2025-08-09T16:54:31.787Z,1754758471.787 [DAT](INFO): checking for new query: numPingsReceived=22, elapsed TxPingTime=2.503591
2025-08-09T16:54:32.039Z,1754758472.039 [DAT](INFO): checking for new query: numPingsReceived=22, elapsed TxPingTime=2.755637
2025-08-09T16:54:32.292Z,1754758472.292 [DAT](INFO): DAT read: Rx Time:16:54:31.2101

2025-08-09T16:54:32.292Z,1754758472.292 [DAT](INFO): Rx dataTimestamp_ set to:1754758472.291902
2025-08-09T16:54:32.293Z,1754758472.293 [DAT](INFO): checking for new query: numPingsReceived=22, elapsed TxPingTime=3.009388
2025-08-09T16:54:32.543Z,1754758472.543 [DAT](INFO): checking for new query: numPingsReceived=22, elapsed TxPingTime=3.259753
2025-08-09T16:54:32.677Z,1754758472.677 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-09T16:54:32.801Z,1754758472.801 [DAT](INFO): DAT read: 16:54:31.2100 LVL= 32752, 24049, 28258, 32755, AGC= 54, IDX= 458, 0.09, 0.524, 2.802, 1.609, 1.685, PHS=-1.059, 1.161,-0.120, RAW= 305.1,   0.2, CAL= 303.4,  -3.5, ROT= 206.6,   3.5

2025-08-09T16:54:32.802Z,1754758472.802 [DAT](INFO): got valid direction response:
 16:54:31.2100 LVL= 32752, 24049, 28258, 32755, AGC= 54, IDX= 458, 0.09, 0.524, 2.802, 1.609, 1.685, PHS=-1.059, 1.161,-0.120, RAW= 305.1,   0.2, CAL= 303.4,  -3.5, ROT= 206.6,   3.5

2025-08-09T16:54:32.803Z,1754758472.803 [DAT](INFO): DAT read: Bearing  70.9, -23.0 (Local)

2025-08-09T16:54:32.803Z,1754758472.803 [DAT](INFO): Local bearing/azimuth received:
 Bearing  70.9, -23.0 (Local)

2025-08-09T16:54:32.805Z,1754758472.805 [DAT](INFO): DAT read: Range 11 to 50 : 9.2 m  (Round-trip  12.3 ms) speed -0.5 m/s

2025-08-09T16:54:32.805Z,1754758472.805 [DAT](INFO): DAT read: user:218>

2025-08-09T16:54:32.806Z,1754758472.806 [DAT](INFO): DAT read: Tx time:16:54:32.3436

2025-08-09T16:54:32.806Z,1754758472.806 [DAT](INFO): Ping request sent.
2025-08-09T16:54:32.807Z,1754758472.807 [DAT](INFO): transmitted an acoustic signal
2025-08-09T16:54:32.807Z,1754758472.807 [DAT](INFO): #Rx 23: Read range and direction messages.
2025-08-09T16:54:32.808Z,1754758472.808 [DAT](INFO): direction in FSK: [-0.892486,-0.446924,-0.061049]
2025-08-09T16:54:32.808Z,1754758472.808 [DAT](INFO): publishing transmit ping time
2025-08-09T16:54:32.808Z,1754758472.808 [DAT](INFO): publishing direction and range info
2025-08-09T16:54:32.812Z,1754758472.812 [DAT](INFO): publishing transmit ping time
2025-08-09T16:54:32.812Z,1754758472.812 [DAT](INFO): publishing direction and range info
2025-08-09T16:54:32.828Z,1754758472.828 [DAT](INFO): checking for new query: numPingsReceived=23, elapsed TxPingTime=0.021561
2025-08-09T16:54:33.047Z,1754758473.047 [DAT](INFO): checking for new query: numPingsReceived=23, elapsed TxPingTime=0.240525
2025-08-09T16:54:33.085Z,1754758473.085 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 9.200000 m,
      deltaT: 3.526789 s,
      deltaX: 1.900000 m,
      approachRate: 0.538734 m/s,
      rangeRepo size: 4

2025-08-09T16:54:33.092Z,1754758473.092 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 9.200000 m,
      bearing: 287.307216 deg,
      lat: 36.906106 deg,
      lon: -122.115842 deg,
      deltaT: 3.526789 s,
      deltaX: 1.900000 m,
      approachRate: 0.538734 m/s,
      posRepo size: 4

2025-08-09T16:54:33.092Z,1754758473.092 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](ERROR): Target missed at range: 9.20 m. Rolling out.
2025-08-09T16:54:33.093Z,1754758473.093 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Transitioning guidance mode to: ROLLOUT
2025-08-09T16:54:33.122Z,1754758473.122 [DockingStepper](INFO): Changing to mode: 1
2025-08-09T16:54:33.299Z,1754758473.299 [DAT](INFO): checking for new query: numPingsReceived=23, elapsed TxPingTime=0.492648
2025-08-09T16:54:33.471Z,1754758473.471 [lineCaptureHoming:UpdatePingUpdateRate_Midcourse] Running Loop=1
2025-08-09T16:54:33.471Z,1754758473.471 [lineCaptureHoming:UpdatePingUpdateRate_Midcourse](DEBUG): Aggregate::initialize lineCaptureHoming:UpdatePingUpdateRate_Midcourse
2025-08-09T16:54:33.472Z,1754758473.472 [lineCaptureHoming:UpdatePingUpdateRate_Midcourse:A] Running Loop=1
2025-08-09T16:54:33.473Z,1754758473.473 [lineCaptureHoming:UpdatePingUpdateRate_Midcourse:A](INFO): Entering Midcourse tracking update period  60.000000 s sec at 9.200000 m (mode  5.000000 count ).
2025-08-09T16:54:33.473Z,1754758473.473 [lineCaptureHoming:UpdatePingUpdateRate_Midcourse:A] Stopped
2025-08-09T16:54:33.473Z,1754758473.473 [lineCaptureHoming:UpdatePingUpdateRate_Midcourse:B] Running Loop=1
2025-08-09T16:54:33.474Z,1754758473.474 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsATR] Running Loop=1
2025-08-09T16:54:33.474Z,1754758473.474 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsATR](DEBUG): Aggregate::initialize lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsATR
2025-08-09T16:54:33.474Z,1754758473.474 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsATR:A] Running Loop=1
2025-08-09T16:54:33.476Z,1754758473.476 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsATR:A](INFO): Resuming normal ranging with  1.000000 count pings  9.200000 m (mode  5.000000 count ).
2025-08-09T16:54:33.476Z,1754758473.476 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsATR:A] Stopped
2025-08-09T16:54:33.476Z,1754758473.476 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsATR:B] Running Loop=1
2025-08-09T16:54:33.478Z,1754758473.478 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 9.20 m.
2025-08-09T16:54:33.480Z,1754758473.480 [lineCaptureHoming:LineCapture:HoldBuoyancy] Stopped
2025-08-09T16:54:33.481Z,1754758473.481 [lineCaptureHoming:LineCapture:HoldBuoyancy](DEBUG): Aggregate::uninitialize lineCaptureHoming:LineCapture:HoldBuoyancy
2025-08-09T16:54:33.481Z,1754758473.481 [lineCaptureHoming:LineCapture:HoldBuoyancy:A.Buoyancy] Stopped
2025-08-09T16:54:33.481Z,1754758473.481 [lineCaptureHoming:LineCapture:HoldBuoyancy:A.Buoyancy](DEBUG): Uninitialize Buoyancy Component.
2025-08-09T16:54:33.555Z,1754758473.555 [DAT](INFO): checking for new query: numPingsReceived=23, elapsed TxPingTime=0.747538
2025-08-09T16:54:33.803Z,1754758473.803 [DAT](INFO): checking for new query: numPingsReceived=23, elapsed TxPingTime=0.996729
2025-08-09T16:54:33.904Z,1754758473.904 [lineCaptureHoming:UpdatePingUpdateRate_Midcourse:B] Stopped
2025-08-09T16:54:33.904Z,1754758473.904 [lineCaptureHoming:UpdatePingUpdateRate_Midcourse:C] Running Loop=1
2025-08-09T16:54:33.904Z,1754758473.904 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsATR:B] Stopped
2025-08-09T16:54:33.904Z,1754758473.904 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsATR:C] Running Loop=1
2025-08-09T16:54:33.907Z,1754758473.907 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 9.20 m.
2025-08-09T16:54:34.055Z,1754758474.055 [DAT](INFO): checking for new query: numPingsReceived=23, elapsed TxPingTime=1.248671
2025-08-09T16:54:34.263Z,1754758474.263 [lineCaptureHoming:UpdatePingUpdateRate_Midcourse:C] Stopped
2025-08-09T16:54:34.263Z,1754758474.263 [lineCaptureHoming:UpdatePingUpdateRate_Midcourse:D] Running Loop=1
2025-08-09T16:54:34.264Z,1754758474.264 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsATR:C] Stopped
2025-08-09T16:54:34.264Z,1754758474.264 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsATR:D] Running Loop=1
2025-08-09T16:54:34.266Z,1754758474.266 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 9.20 m.
2025-08-09T16:54:34.307Z,1754758474.307 [DAT](INFO): checking for new query: numPingsReceived=23, elapsed TxPingTime=1.500694
2025-08-09T16:54:34.563Z,1754758474.563 [DAT](INFO): checking for new query: numPingsReceived=23, elapsed TxPingTime=1.756120
2025-08-09T16:54:34.698Z,1754758474.698 [lineCaptureHoming:UpdatePingUpdateRate_Midcourse:D] Stopped
2025-08-09T16:54:34.698Z,1754758474.698 [lineCaptureHoming:UpdatePingUpdateRate_Midcourse](INFO): Completed lineCaptureHoming:UpdatePingUpdateRate_Midcourse
2025-08-09T16:54:34.698Z,1754758474.698 [lineCaptureHoming:UpdatePingUpdateRate_Midcourse] Stopped
2025-08-09T16:54:34.698Z,1754758474.698 [lineCaptureHoming:UpdatePingUpdateRate_Midcourse](DEBUG): Aggregate::uninitialize lineCaptureHoming:UpdatePingUpdateRate_Midcourse
2025-08-09T16:54:34.699Z,1754758474.699 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsATR:D] Stopped
2025-08-09T16:54:34.699Z,1754758474.699 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsATR](INFO): Completed lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsATR
2025-08-09T16:54:34.699Z,1754758474.699 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsATR] Stopped
2025-08-09T16:54:34.699Z,1754758474.699 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsATR](DEBUG): Aggregate::uninitialize lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsATR
2025-08-09T16:54:34.701Z,1754758474.701 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 9.20 m.
2025-08-09T16:54:34.812Z,1754758474.812 [DAT](INFO): checking for new query: numPingsReceived=23, elapsed TxPingTime=2.005236
2025-08-09T16:54:35.063Z,1754758475.063 [DAT](INFO): checking for new query: numPingsReceived=23, elapsed TxPingTime=2.256827
2025-08-09T16:54:35.074Z,1754758475.074 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 9.20 m.
2025-08-09T16:54:35.315Z,1754758475.315 [DAT](INFO): checking for new query: numPingsReceived=23, elapsed TxPingTime=2.508579
2025-08-09T16:54:35.483Z,1754758475.483 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 9.20 m.
2025-08-09T16:54:35.568Z,1754758475.568 [DAT](INFO): checking for new query: numPingsReceived=23, elapsed TxPingTime=2.760920
2025-08-09T16:54:35.819Z,1754758475.819 [DAT](INFO): DAT read: Rx Time:16:54:34.7624

2025-08-09T16:54:35.820Z,1754758475.820 [DAT](INFO): Rx dataTimestamp_ set to:1754758475.819495
2025-08-09T16:54:35.820Z,1754758475.820 [DAT](INFO): checking for new query: numPingsReceived=23, elapsed TxPingTime=3.013742
2025-08-09T16:54:35.910Z,1754758475.910 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 9.20 m.
2025-08-09T16:54:36.071Z,1754758476.071 [DAT](INFO): checking for new query: numPingsReceived=23, elapsed TxPingTime=3.264593
2025-08-09T16:54:36.329Z,1754758476.329 [DAT](INFO): DAT read: 16:54:34.7624 LVL= 32752, 22417, 32418, 32755, AGC= 51, IDX= 450, 0.29, 0.097, 2.282, 1.120, 1.231, PHS=-1.033, 1.096,-0.155, RAW= 305.8,   1.0, CAL= 303.9,  -2.6, ROT= 206.1,   2.6

2025-08-09T16:54:36.330Z,1754758476.330 [DAT](INFO): got valid direction response:
 16:54:34.7624 LVL= 32752, 22417, 32418, 32755, AGC= 51, IDX= 450, 0.29, 0.097, 2.282, 1.120, 1.231, PHS=-1.033, 1.096,-0.155, RAW= 305.8,   1.0, CAL= 303.9,  -2.6, ROT= 206.1,   2.6

2025-08-09T16:54:36.331Z,1754758476.331 [DAT](INFO): DAT read: Bearing  62.0, -22.4 (Local)

2025-08-09T16:54:36.331Z,1754758476.331 [DAT](INFO): Local bearing/azimuth received:
 Bearing  62.0, -22.4 (Local)

2025-08-09T16:54:36.333Z,1754758476.333 [DAT](INFO): DAT read: Range 11 to 50 : 10.9 m  (Round-trip  14.6 ms) speed -0.5 m/s

2025-08-09T16:54:36.333Z,1754758476.333 [DAT](INFO): DAT read: user:219>

2025-08-09T16:54:36.334Z,1754758476.334 [DAT](INFO): #Rx 24: Read range and direction messages.
2025-08-09T16:54:36.335Z,1754758476.335 [DAT](INFO): direction in FSK: [-0.897103,-0.439486,-0.045363]
2025-08-09T16:54:36.335Z,1754758476.335 [DAT](INFO): publishing direction and range info
2025-08-09T16:54:36.344Z,1754758476.344 [DAT](INFO): checking for new query: numPingsReceived=24, elapsed TxPingTime=3.537371
2025-08-09T16:54:36.363Z,1754758476.363 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 10.900000 m,
      deltaT: 3.528101 s,
      deltaX: 1.700000 m,
      approachRate: 0.481846 m/s,
      rangeRepo size: 4

2025-08-09T16:54:36.365Z,1754758476.365 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 10.900000 m,
      bearing: 283.630968 deg,
      lat: 36.906108 deg,
      lon: -122.115842 deg,
      deltaT: 3.528101 s,
      deltaX: 1.700000 m,
      approachRate: 0.481846 m/s,
      posRepo size: 4

2025-08-09T16:54:36.365Z,1754758476.365 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 10.90 m.
2025-08-09T16:54:36.575Z,1754758476.575 [DAT](INFO): DAT read: Tx time:16:54:35.8936

2025-08-09T16:54:36.576Z,1754758476.576 [DAT](INFO): Ping request sent.
2025-08-09T16:54:36.576Z,1754758476.576 [DAT](INFO): transmitted an acoustic signal
2025-08-09T16:54:36.576Z,1754758476.576 [DAT](INFO): publishing transmit ping time
2025-08-09T16:54:36.577Z,1754758476.577 [DAT](INFO): checking for new query: numPingsReceived=24, elapsed TxPingTime=0.000787
2025-08-09T16:54:36.764Z,1754758476.764 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 10.90 m.
2025-08-09T16:54:36.827Z,1754758476.827 [DAT](INFO): checking for new query: numPingsReceived=24, elapsed TxPingTime=0.251306
2025-08-09T16:54:37.083Z,1754758477.083 [DAT](INFO): checking for new query: numPingsReceived=24, elapsed TxPingTime=0.506627
2025-08-09T16:54:37.143Z,1754758477.143 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 10.90 m.
2025-08-09T16:54:37.332Z,1754758477.332 [DAT](INFO): checking for new query: numPingsReceived=24, elapsed TxPingTime=0.755842
2025-08-09T16:54:37.553Z,1754758477.553 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 10.90 m.
2025-08-09T16:54:37.584Z,1754758477.584 [DAT](INFO): checking for new query: numPingsReceived=24, elapsed TxPingTime=1.007847
2025-08-09T16:54:37.836Z,1754758477.836 [DAT](INFO): checking for new query: numPingsReceived=24, elapsed TxPingTime=1.259592
2025-08-09T16:54:37.989Z,1754758477.989 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 10.90 m.
2025-08-09T16:54:38.087Z,1754758478.087 [DAT](INFO): checking for new query: numPingsReceived=24, elapsed TxPingTime=1.511360
2025-08-09T16:54:38.339Z,1754758478.339 [DAT](INFO): checking for new query: numPingsReceived=24, elapsed TxPingTime=1.763386
2025-08-09T16:54:38.357Z,1754758478.357 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 10.90 m.
2025-08-09T16:54:38.595Z,1754758478.595 [DAT](INFO): checking for new query: numPingsReceived=24, elapsed TxPingTime=2.019498
2025-08-09T16:54:38.801Z,1754758478.801 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 10.90 m.
2025-08-09T16:54:38.844Z,1754758478.844 [DAT](INFO): checking for new query: numPingsReceived=24, elapsed TxPingTime=2.267879
2025-08-09T16:54:39.095Z,1754758479.095 [DAT](INFO): checking for new query: numPingsReceived=24, elapsed TxPingTime=2.519341
2025-08-09T16:54:39.169Z,1754758479.169 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 10.90 m.
2025-08-09T16:54:39.349Z,1754758479.349 [DAT](INFO): DAT read: Rx Time:16:54:38.3145

2025-08-09T16:54:39.350Z,1754758479.350 [DAT](INFO): Rx dataTimestamp_ set to:1754758479.349343
2025-08-09T16:54:39.351Z,1754758479.351 [DAT](INFO): checking for new query: numPingsReceived=24, elapsed TxPingTime=2.774690
2025-08-09T16:54:39.589Z,1754758479.589 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 10.90 m.
2025-08-09T16:54:39.600Z,1754758479.600 [DAT](INFO): checking for new query: numPingsReceived=24, elapsed TxPingTime=3.023641
2025-08-09T16:54:39.869Z,1754758479.869 [DAT](INFO): DAT read: 16:54:38.3145 LVL= 32752, 24881, 28994, 32755, AGC= 57, IDX= 440,-0.14,-1.652, 0.436,-0.692,-0.533, PHS=-1.017, 1.014,-0.203, RAW= 306.5,   2.4, CAL= 304.3,  -1.1, ROT= 205.7,   1.1

2025-08-09T16:54:39.872Z,1754758479.872 [DAT](INFO): got valid direction response:
 16:54:38.3145 LVL= 32752, 24881, 28994, 32755, AGC= 57, IDX= 440,-0.14,-1.652, 0.436,-0.692,-0.533, PHS=-1.017, 1.014,-0.203, RAW= 306.5,   2.4, CAL= 304.3,  -1.1, ROT= 205.7,   1.1

2025-08-09T16:54:39.873Z,1754758479.873 [DAT](INFO): DAT read: Bearing  55.0, -21.9 (Local)

2025-08-09T16:54:39.874Z,1754758479.874 [DAT](INFO): Local bearing/azimuth received:
 Bearing  55.0, -21.9 (Local)

2025-08-09T16:54:39.894Z,1754758479.894 [DAT](INFO): DAT read: Range 11 to 50 : 12.5 m  (Round-trip  16.7 ms) speed -0.4 m/s

2025-08-09T16:54:39.895Z,1754758479.895 [DAT](INFO): DAT read: user:220>

2025-08-09T16:54:39.896Z,1754758479.896 [DAT](INFO): DAT read: Tx time:16:54:39.4436

2025-08-09T16:54:39.896Z,1754758479.896 [DAT](INFO): Ping request sent.
2025-08-09T16:54:39.896Z,1754758479.896 [DAT](INFO): transmitted an acoustic signal
2025-08-09T16:54:39.897Z,1754758479.897 [DAT](INFO): #Rx 25: Read range and direction messages.
2025-08-09T16:54:39.898Z,1754758479.898 [DAT](INFO): direction in FSK: [-0.900911,-0.433579,-0.019197]
2025-08-09T16:54:39.898Z,1754758479.898 [DAT](INFO): publishing transmit ping time
2025-08-09T16:54:39.902Z,1754758479.902 [DAT](INFO): publishing direction and range info
2025-08-09T16:54:39.905Z,1754758479.905 [DAT](INFO): publishing transmit ping time
2025-08-09T16:54:39.906Z,1754758479.906 [DAT](INFO): publishing direction and range info
2025-08-09T16:54:39.913Z,1754758479.913 [DAT](INFO): checking for new query: numPingsReceived=25, elapsed TxPingTime=0.016815
2025-08-09T16:54:40.076Z,1754758480.076 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 12.500000 m,
      deltaT: 3.529241 s,
      deltaX: 1.600000 m,
      approachRate: 0.453355 m/s,
      rangeRepo size: 4

2025-08-09T16:54:40.087Z,1754758480.087 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 12.500000 m,
      bearing: 280.579020 deg,
      lat: 36.906108 deg,
      lon: -122.115843 deg,
      deltaT: 3.529241 s,
      deltaX: 1.600000 m,
      approachRate: 0.453355 m/s,
      posRepo size: 4

2025-08-09T16:54:40.087Z,1754758480.087 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.50 m.
2025-08-09T16:54:40.103Z,1754758480.103 [DAT](INFO): checking for new query: numPingsReceived=25, elapsed TxPingTime=0.207002
2025-08-09T16:54:40.355Z,1754758480.355 [DAT](INFO): checking for new query: numPingsReceived=25, elapsed TxPingTime=0.458938
2025-08-09T16:54:40.481Z,1754758480.481 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.50 m.
2025-08-09T16:54:40.610Z,1754758480.610 [DAT](INFO): checking for new query: numPingsReceived=25, elapsed TxPingTime=0.713774
2025-08-09T16:54:40.860Z,1754758480.860 [DAT](INFO): checking for new query: numPingsReceived=25, elapsed TxPingTime=0.963947
2025-08-09T16:54:40.917Z,1754758480.917 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.50 m.
2025-08-09T16:54:41.116Z,1754758481.116 [DAT](INFO): checking for new query: numPingsReceived=25, elapsed TxPingTime=1.219869
2025-08-09T16:54:41.365Z,1754758481.365 [DAT](INFO): checking for new query: numPingsReceived=25, elapsed TxPingTime=1.468062
2025-08-09T16:54:41.437Z,1754758481.437 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.50 m.
2025-08-09T16:54:41.615Z,1754758481.615 [DAT](INFO): checking for new query: numPingsReceived=25, elapsed TxPingTime=1.719012
2025-08-09T16:54:41.801Z,1754758481.801 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.50 m.
2025-08-09T16:54:41.869Z,1754758481.869 [DAT](INFO): checking for new query: numPingsReceived=25, elapsed TxPingTime=1.972226
2025-08-09T16:54:42.119Z,1754758482.119 [DAT](INFO): checking for new query: numPingsReceived=25, elapsed TxPingTime=2.222984
2025-08-09T16:54:42.187Z,1754758482.187 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.50 m.
2025-08-09T16:54:42.372Z,1754758482.372 [DAT](INFO): checking for new query: numPingsReceived=25, elapsed TxPingTime=2.475561
2025-08-09T16:54:42.556Z,1754758482.556 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.50 m.
2025-08-09T16:54:42.623Z,1754758482.623 [DAT](INFO): checking for new query: numPingsReceived=25, elapsed TxPingTime=2.727120
2025-08-09T16:54:42.876Z,1754758482.876 [DAT](INFO): DAT read: Rx Time:16:54:41.8662

2025-08-09T16:54:42.876Z,1754758482.876 [DAT](INFO): Rx dataTimestamp_ set to:1754758482.876081
2025-08-09T16:54:42.877Z,1754758482.877 [DAT](INFO): checking for new query: numPingsReceived=25, elapsed TxPingTime=2.980590
2025-08-09T16:54:42.995Z,1754758482.995 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.50 m.
2025-08-09T16:54:43.128Z,1754758483.128 [DAT](INFO): checking for new query: numPingsReceived=25, elapsed TxPingTime=3.231606
2025-08-09T16:54:43.382Z,1754758483.382 [DAT](INFO): checking for new query: numPingsReceived=25, elapsed TxPingTime=3.484823
2025-08-09T16:54:43.449Z,1754758483.449 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.50 m.
2025-08-09T16:54:43.637Z,1754758483.637 [DAT](INFO): DAT read: 16:54:41.8662 LVL= 32752, 19313, 25074, 32755, AGC= 52, IDX= 457, 0.40,-2.824,-0.664,-1.820,-1.647, PHS=-1.075, 1.028,-0.216, RAW= 306.0,   2.9, CAL= 303.7,  -0.6, ROT= 206.3,   0.6

2025-08-09T16:54:43.638Z,1754758483.638 [DAT](INFO): got valid direction response:
 16:54:41.8662 LVL= 32752, 19313, 25074, 32755, AGC= 52, IDX= 457, 0.40,-2.824,-0.664,-1.820,-1.647, PHS=-1.075, 1.028,-0.216, RAW= 306.0,   2.9, CAL= 303.7,  -0.6, ROT= 206.3,   0.6

2025-08-09T16:54:43.639Z,1754758483.639 [DAT](INFO): DAT read: Bearing  51.9, -22.8 (Local)

2025-08-09T16:54:43.639Z,1754758483.639 [DAT](INFO): Local bearing/azimuth received:
 Bearing  51.9, -22.8 (Local)

2025-08-09T16:54:43.641Z,1754758483.641 [DAT](INFO): DAT read: Range 11 to 50 : 13.8 m  (Round-trip  18.4 ms) speed -0.4 m/s

2025-08-09T16:54:43.641Z,1754758483.641 [DAT](INFO): DAT read: user:221>

2025-08-09T16:54:43.654Z,1754758483.654 [DAT](INFO): DAT read: Tx time:16:54:42.9936

2025-08-09T16:54:43.655Z,1754758483.655 [DAT](INFO): Ping request sent.
2025-08-09T16:54:43.655Z,1754758483.655 [DAT](INFO): transmitted an acoustic signal
2025-08-09T16:54:43.655Z,1754758483.655 [DAT](INFO): #Rx 26: Read range and direction messages.
2025-08-09T16:54:43.656Z,1754758483.656 [DAT](INFO): direction in FSK: [-0.896437,-0.443047,-0.010472]
2025-08-09T16:54:43.656Z,1754758483.656 [DAT](INFO): publishing transmit ping time
2025-08-09T16:54:43.657Z,1754758483.657 [DAT](INFO): publishing direction and range info
2025-08-09T16:54:43.662Z,1754758483.662 [DAT](INFO): publishing transmit ping time
2025-08-09T16:54:43.662Z,1754758483.662 [DAT](INFO): publishing direction and range info
2025-08-09T16:54:43.674Z,1754758483.674 [DAT](INFO): checking for new query: numPingsReceived=26, elapsed TxPingTime=0.011184
2025-08-09T16:54:43.883Z,1754758483.883 [DAT](INFO): checking for new query: numPingsReceived=26, elapsed TxPingTime=0.228454
2025-08-09T16:54:43.942Z,1754758483.942 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 13.800000 m,
      deltaT: 3.778624 s,
      deltaX: 1.300000 m,
      approachRate: 0.344041 m/s,
      rangeRepo size: 4

2025-08-09T16:54:43.946Z,1754758483.946 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 13.800000 m,
      bearing: 277.083764 deg,
      lat: 36.906109 deg,
      lon: -122.115843 deg,
      deltaT: 3.778624 s,
      deltaX: 1.300000 m,
      approachRate: 0.344041 m/s,
      posRepo size: 4

2025-08-09T16:54:43.951Z,1754758483.951 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 13.80 m.
2025-08-09T16:54:44.135Z,1754758484.135 [DAT](INFO): checking for new query: numPingsReceived=26, elapsed TxPingTime=0.480348
2025-08-09T16:54:44.209Z,1754758484.209 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 13.80 m.
2025-08-09T16:54:44.387Z,1754758484.387 [DAT](INFO): checking for new query: numPingsReceived=26, elapsed TxPingTime=0.732323
2025-08-09T16:54:44.615Z,1754758484.615 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 13.80 m.
2025-08-09T16:54:44.639Z,1754758484.639 [DAT](INFO): checking for new query: numPingsReceived=26, elapsed TxPingTime=0.984459
2025-08-09T16:54:44.891Z,1754758484.891 [DAT](INFO): checking for new query: numPingsReceived=26, elapsed TxPingTime=1.236319
2025-08-09T16:54:45.039Z,1754758485.039 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 13.80 m.
2025-08-09T16:54:45.143Z,1754758485.143 [DAT](INFO): checking for new query: numPingsReceived=26, elapsed TxPingTime=1.488348
2025-08-09T16:54:45.395Z,1754758485.395 [DAT](INFO): checking for new query: numPingsReceived=26, elapsed TxPingTime=1.740281
2025-08-09T16:54:45.447Z,1754758485.447 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 13.80 m.
2025-08-09T16:54:45.648Z,1754758485.648 [DAT](INFO): checking for new query: numPingsReceived=26, elapsed TxPingTime=1.993039
2025-08-09T16:54:45.848Z,1754758485.848 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 13.80 m.
2025-08-09T16:54:45.899Z,1754758485.899 [DAT](INFO): checking for new query: numPingsReceived=26, elapsed TxPingTime=2.244466
2025-08-09T16:54:46.151Z,1754758486.151 [DAT](INFO): checking for new query: numPingsReceived=26, elapsed TxPingTime=2.496317
2025-08-09T16:54:46.232Z,1754758486.232 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 13.80 m.
2025-08-09T16:54:46.403Z,1754758486.403 [DAT](INFO): DAT read: Rx Time:16:54:45.4180

2025-08-09T16:54:46.404Z,1754758486.404 [DAT](INFO): Rx dataTimestamp_ set to:1754758486.403533
2025-08-09T16:54:46.404Z,1754758486.404 [DAT](INFO): checking for new query: numPingsReceived=26, elapsed TxPingTime=2.749430
2025-08-09T16:54:46.630Z,1754758486.630 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 13.80 m.
2025-08-09T16:54:46.655Z,1754758486.655 [DAT](INFO): checking for new query: numPingsReceived=26, elapsed TxPingTime=3.000384
2025-08-09T16:54:46.909Z,1754758486.909 [DAT](INFO): checking for new query: numPingsReceived=26, elapsed TxPingTime=3.253947
2025-08-09T16:54:47.051Z,1754758487.051 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 13.80 m.
2025-08-09T16:54:47.165Z,1754758487.165 [DAT](INFO): DAT read: 16:54:45.4180 LVL= 32752, 23793, 28050, 32755, AGC= 57, IDX= 460, 0.01,-0.328, 2.023, 0.798, 0.902, PHS=-1.128, 1.166,-0.148, RAW= 304.8,   1.1, CAL= 302.9,  -2.6, ROT= 207.1,   2.6

2025-08-09T16:54:47.166Z,1754758487.166 [DAT](INFO): got valid direction response:
 16:54:45.4180 LVL= 32752, 23793, 28050, 32755, AGC= 57, IDX= 460, 0.01,-0.328, 2.023, 0.798, 0.902, PHS=-1.128, 1.166,-0.148, RAW= 304.8,   1.1, CAL= 302.9,  -2.6, ROT= 207.1,   2.6

2025-08-09T16:54:47.167Z,1754758487.167 [DAT](INFO): DAT read: Bearing  52.1, -24.1 (Local)

2025-08-09T16:54:47.168Z,1754758487.168 [DAT](INFO): Local bearing/azimuth received:
 Bearing  52.1, -24.1 (Local)

2025-08-09T16:54:47.169Z,1754758487.169 [DAT](INFO): DAT read: Range 11 to 50 : 15.2 m  (Round-trip  20.3 ms) speed -0.4 m/s

2025-08-09T16:54:47.170Z,1754758487.170 [DAT](INFO): DAT read: user:222>

2025-08-09T16:54:47.173Z,1754758487.173 [DAT](INFO): DAT read: Tx time:16:54:46.5436

2025-08-09T16:54:47.174Z,1754758487.174 [DAT](INFO): Ping request sent.
2025-08-09T16:54:47.174Z,1754758487.174 [DAT](INFO): transmitted an acoustic signal
2025-08-09T16:54:47.174Z,1754758487.174 [DAT](INFO): #Rx 27: Read range and direction messages.
2025-08-09T16:54:47.175Z,1754758487.175 [DAT](INFO): direction in FSK: [-0.889296,-0.455076,-0.045363]
2025-08-09T16:54:47.176Z,1754758487.176 [DAT](INFO): publishing transmit ping time
2025-08-09T16:54:47.176Z,1754758487.176 [DAT](INFO): publishing direction and range info
2025-08-09T16:54:47.203Z,1754758487.203 [DAT](INFO): publishing transmit ping time
2025-08-09T16:54:47.203Z,1754758487.203 [DAT](INFO): publishing direction and range info
2025-08-09T16:54:47.211Z,1754758487.211 [DAT](INFO): checking for new query: numPingsReceived=27, elapsed TxPingTime=0.037337
2025-08-09T16:54:47.412Z,1754758487.412 [DAT](INFO): checking for new query: numPingsReceived=27, elapsed TxPingTime=0.238030
2025-08-09T16:54:47.468Z,1754758487.468 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 15.200000 m,
      deltaT: 3.528058 s,
      deltaX: 1.400000 m,
      approachRate: 0.396819 m/s,
      rangeRepo size: 4

2025-08-09T16:54:47.470Z,1754758487.470 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 15.200000 m,
      bearing: 273.821154 deg,
      lat: 36.906110 deg,
      lon: -122.115843 deg,
      deltaT: 3.528058 s,
      deltaX: 1.400000 m,
      approachRate: 0.396819 m/s,
      posRepo size: 4

2025-08-09T16:54:47.470Z,1754758487.470 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.20 m.
2025-08-09T16:54:47.665Z,1754758487.665 [DAT](INFO): checking for new query: numPingsReceived=27, elapsed TxPingTime=0.490601
2025-08-09T16:54:47.888Z,1754758487.888 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.20 m.
2025-08-09T16:54:47.916Z,1754758487.916 [DAT](INFO): checking for new query: numPingsReceived=27, elapsed TxPingTime=0.741815
2025-08-09T16:54:48.167Z,1754758488.167 [DAT](INFO): checking for new query: numPingsReceived=27, elapsed TxPingTime=0.993239
2025-08-09T16:54:48.250Z,1754758488.250 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.20 m.
2025-08-09T16:54:48.420Z,1754758488.420 [DAT](INFO): checking for new query: numPingsReceived=27, elapsed TxPingTime=1.246366
2025-08-09T16:54:48.664Z,1754758488.664 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.20 m.
2025-08-09T16:54:48.671Z,1754758488.671 [DAT](INFO): checking for new query: numPingsReceived=27, elapsed TxPingTime=1.497546
2025-08-09T16:54:48.924Z,1754758488.924 [DAT](INFO): checking for new query: numPingsReceived=27, elapsed TxPingTime=1.749567
2025-08-09T16:54:49.080Z,1754758489.080 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.20 m.
2025-08-09T16:54:49.176Z,1754758489.176 [DAT](INFO): checking for new query: numPingsReceived=27, elapsed TxPingTime=2.001604
2025-08-09T16:54:49.428Z,1754758489.428 [DAT](INFO): checking for new query: numPingsReceived=27, elapsed TxPingTime=2.254529
2025-08-09T16:54:49.465Z,1754758489.465 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.20 m.
2025-08-09T16:54:49.680Z,1754758489.680 [DAT](INFO): checking for new query: numPingsReceived=27, elapsed TxPingTime=2.505827
2025-08-09T16:54:49.934Z,1754758489.934 [DAT](INFO): checking for new query: numPingsReceived=27, elapsed TxPingTime=2.759361
2025-08-09T16:54:49.941Z,1754758489.941 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.20 m.
2025-08-09T16:54:50.183Z,1754758490.183 [DAT](INFO): DAT read: Rx Time:16:54:48.9701

2025-08-09T16:54:50.184Z,1754758490.184 [DAT](INFO): Rx dataTimestamp_ set to:1754758490.183545
2025-08-09T16:54:50.184Z,1754758490.184 [DAT](INFO): checking for new query: numPingsReceived=27, elapsed TxPingTime=3.010501
2025-08-09T16:54:50.280Z,1754758490.280 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.20 m.
2025-08-09T16:54:50.435Z,1754758490.435 [DAT](INFO): checking for new query: numPingsReceived=27, elapsed TxPingTime=3.261322
2025-08-09T16:54:50.671Z,1754758490.671 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.20 m.
2025-08-09T16:54:50.693Z,1754758490.693 [DAT](INFO): DAT read: 16:54:48.9701 LVL= 30272, 20705, 23378, 32755, AGC= 59, IDX= 448, 0.46, 2.011,-2.005, 3.042,-3.132, PHS=-1.038, 1.172,-0.153, RAW= 306.5,   0.2, CAL= 304.8,  -3.4, ROT= 205.2,   3.4

2025-08-09T16:54:50.695Z,1754758490.695 [DAT](INFO): got valid direction response:
 16:54:48.9701 LVL= 30272, 20705, 23378, 32755, AGC= 59, IDX= 448, 0.46, 2.011,-2.005, 3.042,-3.132, PHS=-1.038, 1.172,-0.153, RAW= 306.5,   0.2, CAL= 304.8,  -3.4, ROT= 205.2,   3.4

2025-08-09T16:54:50.696Z,1754758490.696 [DAT](INFO): DAT read: Bearing  52.1, -22.6 (Local)

2025-08-09T16:54:50.696Z,1754758490.696 [DAT](INFO): Local bearing/azimuth received:
 Bearing  52.1, -22.6 (Local)

2025-08-09T16:54:50.697Z,1754758490.697 [DAT](INFO): DAT read: Range 11 to 50 : 16.7 m  (Round-trip  22.3 ms) speed -0.4 m/s

2025-08-09T16:54:50.698Z,1754758490.698 [DAT](INFO): DAT read: user:223>

2025-08-09T16:54:50.699Z,1754758490.699 [DAT](INFO): DAT read: Tx time:16:54:50.0936

2025-08-09T16:54:50.699Z,1754758490.699 [DAT](INFO): Ping request sent.
2025-08-09T16:54:50.699Z,1754758490.699 [DAT](INFO): transmitted an acoustic signal
2025-08-09T16:54:50.699Z,1754758490.699 [DAT](INFO): #Rx 28: Read range and direction messages.
2025-08-09T16:54:50.700Z,1754758490.700 [DAT](INFO): direction in FSK: [-0.903234,-0.425030,-0.059306]
2025-08-09T16:54:50.701Z,1754758490.701 [DAT](INFO): publishing transmit ping time
2025-08-09T16:54:50.701Z,1754758490.701 [DAT](INFO): publishing direction and range info
2025-08-09T16:54:50.708Z,1754758490.708 [DAT](INFO): publishing transmit ping time
2025-08-09T16:54:50.708Z,1754758490.708 [DAT](INFO): publishing direction and range info
2025-08-09T16:54:50.720Z,1754758490.720 [DAT](INFO): checking for new query: numPingsReceived=28, elapsed TxPingTime=0.020490
2025-08-09T16:54:50.939Z,1754758490.939 [DAT](INFO): checking for new query: numPingsReceived=28, elapsed TxPingTime=0.240231
2025-08-09T16:54:51.100Z,1754758491.100 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 16.700001 m,
      deltaT: 3.528287 s,
      deltaX: 1.500001 m,
      approachRate: 0.425136 m/s,
      rangeRepo size: 4

2025-08-09T16:54:51.102Z,1754758491.102 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 16.700001 m,
      bearing: 271.747765 deg,
      lat: 36.906111 deg,
      lon: -122.115845 deg,
      deltaT: 3.528287 s,
      deltaX: 1.500001 m,
      approachRate: 0.425136 m/s,
      posRepo size: 4

2025-08-09T16:54:51.103Z,1754758491.103 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.70 m.
2025-08-09T16:54:51.192Z,1754758491.192 [DAT](INFO): checking for new query: numPingsReceived=28, elapsed TxPingTime=0.492544
2025-08-09T16:54:51.443Z,1754758491.443 [DAT](INFO): checking for new query: numPingsReceived=28, elapsed TxPingTime=0.744115
2025-08-09T16:54:51.487Z,1754758491.487 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.70 m.
2025-08-09T16:54:51.695Z,1754758491.695 [DAT](INFO): checking for new query: numPingsReceived=28, elapsed TxPingTime=0.996185
2025-08-09T16:54:51.946Z,1754758491.946 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.70 m.
2025-08-09T16:54:51.947Z,1754758491.947 [DAT](INFO): checking for new query: numPingsReceived=28, elapsed TxPingTime=1.248204
2025-08-09T16:54:52.199Z,1754758492.199 [DAT](INFO): checking for new query: numPingsReceived=28, elapsed TxPingTime=1.500088
2025-08-09T16:54:52.303Z,1754758492.303 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.70 m.
2025-08-09T16:54:52.452Z,1754758492.452 [DAT](INFO): checking for new query: numPingsReceived=28, elapsed TxPingTime=1.753216
2025-08-09T16:54:52.690Z,1754758492.690 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.70 m.
2025-08-09T16:54:52.703Z,1754758492.703 [DAT](INFO): checking for new query: numPingsReceived=28, elapsed TxPingTime=2.004157
2025-08-09T16:54:52.956Z,1754758492.956 [DAT](INFO): checking for new query: numPingsReceived=28, elapsed TxPingTime=2.256351
2025-08-09T16:54:53.111Z,1754758493.111 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.70 m.
2025-08-09T16:54:53.208Z,1754758493.208 [DAT](INFO): checking for new query: numPingsReceived=28, elapsed TxPingTime=2.508716
2025-08-09T16:54:53.459Z,1754758493.459 [DAT](INFO): checking for new query: numPingsReceived=28, elapsed TxPingTime=2.760053
2025-08-09T16:54:53.519Z,1754758493.519 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.70 m.
2025-08-09T16:54:53.711Z,1754758493.711 [DAT](INFO): DAT read: Rx Time:16:54:52.5212

2025-08-09T16:54:53.712Z,1754758493.712 [DAT](INFO): Rx dataTimestamp_ set to:1754758493.711517
2025-08-09T16:54:53.712Z,1754758493.712 [DAT](INFO): checking for new query: numPingsReceived=28, elapsed TxPingTime=3.013209
2025-08-09T16:54:53.963Z,1754758493.963 [DAT](INFO): checking for new query: numPingsReceived=28, elapsed TxPingTime=3.264219
2025-08-09T16:54:53.981Z,1754758493.981 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.70 m.
2025-08-09T16:54:54.221Z,1754758494.221 [DAT](INFO): DAT read: 16:54:52.5212 LVL= 32752, 22385, 30642, 32755, AGC= 58, IDX= 461, 0.11,-2.389,-0.096,-1.359,-1.266, PHS=-1.022, 1.215,-0.138, RAW= 306.9,  -0.6, CAL= 305.3,  -4.2, ROT= 204.7,   4.2

2025-08-09T16:54:54.222Z,1754758494.222 [DAT](INFO): got valid direction response:
 16:54:52.5212 LVL= 32752, 22385, 30642, 32755, AGC= 58, IDX= 461, 0.11,-2.389,-0.096,-1.359,-1.266, PHS=-1.022, 1.215,-0.138, RAW= 306.9,  -0.6, CAL= 305.3,  -4.2, ROT= 204.7,   4.2

2025-08-09T16:54:54.223Z,1754758494.223 [DAT](INFO): DAT read: Bearing  53.0, -22.8 (Local)

2025-08-09T16:54:54.223Z,1754758494.223 [DAT](INFO): Local bearing/azimuth received:
 Bearing  53.0, -22.8 (Local)

2025-08-09T16:54:54.225Z,1754758494.225 [DAT](INFO): DAT read: Range 11 to 50 : 17.6 m  (Round-trip  23.5 ms) speed -0.2 m/s

2025-08-09T16:54:54.225Z,1754758494.225 [DAT](INFO): DAT read: user:224>

2025-08-09T16:54:54.230Z,1754758494.230 [DAT](INFO): DAT read: Tx time:16:54:53.6436

2025-08-09T16:54:54.231Z,1754758494.231 [DAT](INFO): Ping request sent.
2025-08-09T16:54:54.231Z,1754758494.231 [DAT](INFO): transmitted an acoustic signal
2025-08-09T16:54:54.231Z,1754758494.231 [DAT](INFO): #Rx 29: Read range and direction messages.
2025-08-09T16:54:54.232Z,1754758494.232 [DAT](INFO): direction in FSK: [-0.906068,-0.416745,-0.073238]
2025-08-09T16:54:54.232Z,1754758494.232 [DAT](INFO): publishing transmit ping time
2025-08-09T16:54:54.232Z,1754758494.232 [DAT](INFO): publishing direction and range info
2025-08-09T16:54:54.236Z,1754758494.236 [DAT](INFO): publishing transmit ping time
2025-08-09T16:54:54.236Z,1754758494.236 [DAT](INFO): publishing direction and range info
2025-08-09T16:54:54.288Z,1754758494.288 [DAT](INFO): checking for new query: numPingsReceived=29, elapsed TxPingTime=0.056992
2025-08-09T16:54:54.367Z,1754758494.367 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 17.600000 m,
      deltaT: 3.527618 s,
      deltaX: 0.900000 m,
      approachRate: 0.255130 m/s,
      rangeRepo size: 4

2025-08-09T16:54:54.369Z,1754758494.369 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 17.600000 m,
      bearing: 274.020453 deg,
      lat: 36.906120 deg,
      lon: -122.115846 deg,
      deltaT: 3.527618 s,
      deltaX: 0.900000 m,
      approachRate: 0.255130 m/s,
      posRepo size: 4

2025-08-09T16:54:54.370Z,1754758494.370 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.60 m.
2025-08-09T16:54:54.468Z,1754758494.468 [DAT](INFO): checking for new query: numPingsReceived=29, elapsed TxPingTime=0.236795
2025-08-09T16:54:54.719Z,1754758494.719 [DAT](INFO): checking for new query: numPingsReceived=29, elapsed TxPingTime=0.488706
2025-08-09T16:54:54.780Z,1754758494.780 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.60 m.
2025-08-09T16:54:54.972Z,1754758494.972 [DAT](INFO): checking for new query: numPingsReceived=29, elapsed TxPingTime=0.741353
2025-08-09T16:54:55.228Z,1754758495.228 [DAT](INFO): checking for new query: numPingsReceived=29, elapsed TxPingTime=0.997065
2025-08-09T16:54:55.264Z,1754758495.264 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.60 m.
2025-08-09T16:54:55.476Z,1754758495.476 [DAT](INFO): checking for new query: numPingsReceived=29, elapsed TxPingTime=1.245130
2025-08-09T16:54:55.586Z,1754758495.586 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.60 m.
2025-08-09T16:54:55.727Z,1754758495.727 [DAT](INFO): checking for new query: numPingsReceived=29, elapsed TxPingTime=1.496516
2025-08-09T16:54:55.979Z,1754758495.979 [DAT](INFO): checking for new query: numPingsReceived=29, elapsed TxPingTime=1.748613
2025-08-09T16:54:56.009Z,1754758496.009 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.60 m.
2025-08-09T16:54:56.231Z,1754758496.231 [DAT](INFO): checking for new query: numPingsReceived=29, elapsed TxPingTime=2.000709
2025-08-09T16:54:56.409Z,1754758496.409 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.60 m.
2025-08-09T16:54:56.483Z,1754758496.483 [DAT](INFO): checking for new query: numPingsReceived=29, elapsed TxPingTime=2.252749
2025-08-09T16:54:56.736Z,1754758496.736 [DAT](INFO): checking for new query: numPingsReceived=29, elapsed TxPingTime=2.504812
2025-08-09T16:54:56.814Z,1754758496.814 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.60 m.
2025-08-09T16:54:56.987Z,1754758496.987 [DAT](INFO): checking for new query: numPingsReceived=29, elapsed TxPingTime=2.756720
2025-08-09T16:54:57.239Z,1754758497.239 [DAT](INFO): DAT read: Rx Time:16:54:56.0724

2025-08-09T16:54:57.240Z,1754758497.240 [DAT](INFO): Rx dataTimestamp_ set to:1754758497.239540
2025-08-09T16:54:57.240Z,1754758497.240 [DAT](INFO): checking for new query: numPingsReceived=29, elapsed TxPingTime=3.009666
2025-08-09T16:54:57.248Z,1754758497.248 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.60 m.
2025-08-09T16:54:57.491Z,1754758497.491 [DAT](INFO): checking for new query: numPingsReceived=29, elapsed TxPingTime=3.260550
2025-08-09T16:54:57.652Z,1754758497.652 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.60 m.
2025-08-09T16:54:57.749Z,1754758497.749 [DAT](INFO): DAT read: 16:54:56.0724 LVL= 32752, 22481, 32754, 32755, AGC= 58, IDX= 441, 0.10, 2.172,-1.859, 3.122,-2.986, PHS=-1.023, 1.173,-0.219, RAW= 308.8,   0.7, CAL= 306.9,  -2.7, ROT= 203.1,   2.7

2025-08-09T16:54:57.751Z,1754758497.751 [DAT](INFO): got valid direction response:
 16:54:56.0724 LVL= 32752, 22481, 32754, 32755, AGC= 58, IDX= 441, 0.10, 2.172,-1.859, 3.122,-2.986, PHS=-1.023, 1.173,-0.219, RAW= 308.8,   0.7, CAL= 306.9,  -2.7, ROT= 203.1,   2.7

2025-08-09T16:54:57.752Z,1754758497.752 [DAT](INFO): DAT read: Bearing  51.9, -22.1 (Local)

2025-08-09T16:54:57.752Z,1754758497.752 [DAT](INFO): Local bearing/azimuth received:
 Bearing  51.9, -22.1 (Local)

2025-08-09T16:54:57.753Z,1754758497.753 [DAT](INFO): DAT read: Range 11 to 50 : 18.5 m  (Round-trip  24.7 ms) speed -0.4 m/s

2025-08-09T16:54:57.754Z,1754758497.754 [DAT](INFO): DAT read: user:225>

2025-08-09T16:54:57.755Z,1754758497.755 [DAT](INFO): DAT read: Tx time:16:54:57.1936

2025-08-09T16:54:57.755Z,1754758497.755 [DAT](INFO): Ping request sent.
2025-08-09T16:54:57.755Z,1754758497.755 [DAT](INFO): transmitted an acoustic signal
2025-08-09T16:54:57.756Z,1754758497.756 [DAT](INFO): #Rx 30: Read range and direction messages.
2025-08-09T16:54:57.757Z,1754758497.757 [DAT](INFO): direction in FSK: [-0.918800,-0.391902,-0.047106]
2025-08-09T16:54:57.757Z,1754758497.757 [DAT](INFO): publishing transmit ping time
2025-08-09T16:54:57.757Z,1754758497.757 [DAT](INFO): publishing direction and range info
2025-08-09T16:54:57.760Z,1754758497.760 [DAT](INFO): publishing transmit ping time
2025-08-09T16:54:57.761Z,1754758497.761 [DAT](INFO): publishing direction and range info
2025-08-09T16:54:57.764Z,1754758497.764 [DAT](INFO): checking for new query: numPingsReceived=30, elapsed TxPingTime=0.008403
2025-08-09T16:54:57.995Z,1754758497.995 [DAT](INFO): checking for new query: numPingsReceived=30, elapsed TxPingTime=0.239795
2025-08-09T16:54:58.076Z,1754758498.076 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 18.500000 m,
      deltaT: 3.528205 s,
      deltaX: 0.900000 m,
      approachRate: 0.255087 m/s,
      rangeRepo size: 4

2025-08-09T16:54:58.078Z,1754758498.078 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 18.500000 m,
      bearing: 272.884303 deg,
      lat: 36.906121 deg,
      lon: -122.115846 deg,
      deltaT: 3.528205 s,
      deltaX: 0.900000 m,
      approachRate: 0.255087 m/s,
      posRepo size: 4

2025-08-09T16:54:58.082Z,1754758498.082 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.50 m.
2025-08-09T16:54:58.247Z,1754758498.247 [DAT](INFO): checking for new query: numPingsReceived=30, elapsed TxPingTime=0.491952
2025-08-09T16:54:58.426Z,1754758498.426 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.50 m.
2025-08-09T16:54:58.500Z,1754758498.500 [DAT](INFO): checking for new query: numPingsReceived=30, elapsed TxPingTime=0.744560
2025-08-09T16:54:58.751Z,1754758498.751 [DAT](INFO): checking for new query: numPingsReceived=30, elapsed TxPingTime=0.995818
2025-08-09T16:54:58.825Z,1754758498.825 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.50 m.
2025-08-09T16:54:59.004Z,1754758499.004 [DAT](INFO): checking for new query: numPingsReceived=30, elapsed TxPingTime=1.249061
2025-08-09T16:54:59.249Z,1754758499.249 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.50 m.
2025-08-09T16:54:59.255Z,1754758499.255 [DAT](INFO): checking for new query: numPingsReceived=30, elapsed TxPingTime=1.500117
2025-08-09T16:54:59.507Z,1754758499.507 [DAT](INFO): checking for new query: numPingsReceived=30, elapsed TxPingTime=1.751884
2025-08-09T16:54:59.623Z,1754758499.623 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.50 m.
2025-08-09T16:54:59.759Z,1754758499.759 [DAT](INFO): checking for new query: numPingsReceived=30, elapsed TxPingTime=2.004032
2025-08-09T16:55:00.011Z,1754758500.011 [DAT](INFO): checking for new query: numPingsReceived=30, elapsed TxPingTime=2.256111
2025-08-09T16:55:00.076Z,1754758500.076 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.50 m.
2025-08-09T16:55:00.267Z,1754758500.267 [DAT](INFO): checking for new query: numPingsReceived=30, elapsed TxPingTime=2.511982
2025-08-09T16:55:00.438Z,1754758500.438 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.50 m.
2025-08-09T16:55:00.520Z,1754758500.520 [DAT](INFO): checking for new query: numPingsReceived=30, elapsed TxPingTime=2.764369
2025-08-09T16:55:00.771Z,1754758500.771 [DAT](INFO): DAT read: Rx Time:16:54:59.6240

2025-08-09T16:55:00.772Z,1754758500.772 [DAT](INFO): Rx dataTimestamp_ set to:1754758500.771514
2025-08-09T16:55:00.772Z,1754758500.772 [DAT](INFO): checking for new query: numPingsReceived=30, elapsed TxPingTime=3.017056
2025-08-09T16:55:00.856Z,1754758500.856 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.50 m.
2025-08-09T16:55:01.026Z,1754758501.026 [DAT](INFO): checking for new query: numPingsReceived=30, elapsed TxPingTime=3.269997
2025-08-09T16:55:01.281Z,1754758501.281 [DAT](INFO): DAT read: 16:54:59.6240 LVL= 32368, 25041, 31026, 32755, AGC= 60, IDX= 457, 0.01, 0.954,-2.988, 1.836, 2.110, PHS=-1.054, 1.230,-0.318, RAW= 311.6,   1.4, CAL= 309.5,  -1.7, ROT= 200.5,   1.7

2025-08-09T16:55:01.283Z,1754758501.283 [DAT](INFO): got valid direction response:
 16:54:59.6240 LVL= 32368, 25041, 31026, 32755, AGC= 60, IDX= 457, 0.01, 0.954,-2.988, 1.836, 2.110, PHS=-1.054, 1.230,-0.318, RAW= 311.6,   1.4, CAL= 309.5,  -1.7, ROT= 200.5,   1.7

2025-08-09T16:55:01.284Z,1754758501.284 [DAT](INFO): DAT read: Bearing  51.2, -20.6 (Local)

2025-08-09T16:55:01.284Z,1754758501.284 [DAT](INFO): Local bearing/azimuth received:
 Bearing  51.2, -20.6 (Local)

2025-08-09T16:55:01.285Z,1754758501.285 [DAT](INFO): DAT read: Range 11 to 50 : 19.6 m  (Round-trip  26.2 ms) speed -0.2 m/s

2025-08-09T16:55:01.287Z,1754758501.287 [DAT](INFO): DAT read: user:226>

2025-08-09T16:55:01.288Z,1754758501.288 [DAT](INFO): DAT read: Tx time:16:55:00.7436

2025-08-09T16:55:01.288Z,1754758501.288 [DAT](INFO): Ping request sent.
2025-08-09T16:55:01.288Z,1754758501.288 [DAT](INFO): transmitted an acoustic signal
2025-08-09T16:55:01.288Z,1754758501.288 [DAT](INFO): #Rx 31: Read range and direction messages.
2025-08-09T16:55:01.289Z,1754758501.289 [DAT](INFO): direction in FSK: [-0.936260,-0.350053,-0.029666]
2025-08-09T16:55:01.289Z,1754758501.289 [DAT](INFO): publishing transmit ping time
2025-08-09T16:55:01.290Z,1754758501.290 [DAT](INFO): publishing direction and range info
2025-08-09T16:55:01.293Z,1754758501.293 [DAT](INFO): publishing transmit ping time
2025-08-09T16:55:01.293Z,1754758501.293 [DAT](INFO): publishing direction and range info
2025-08-09T16:55:01.297Z,1754758501.297 [DAT](INFO): checking for new query: numPingsReceived=31, elapsed TxPingTime=0.008903
2025-08-09T16:55:01.307Z,1754758501.307 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 19.600000 m,
      deltaT: 3.532217 s,
      deltaX: 1.100000 m,
      approachRate: 0.311419 m/s,
      rangeRepo size: 4

2025-08-09T16:55:01.309Z,1754758501.309 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 19.600000 m,
      bearing: 272.355091 deg,
      lat: 36.906124 deg,
      lon: -122.115848 deg,
      deltaT: 3.532217 s,
      deltaX: 1.100000 m,
      approachRate: 0.311419 m/s,
      posRepo size: 4

2025-08-09T16:55:01.310Z,1754758501.310 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.60 m.
2025-08-09T16:55:01.533Z,1754758501.533 [DAT](INFO): checking for new query: numPingsReceived=31, elapsed TxPingTime=0.245361
2025-08-09T16:55:01.665Z,1754758501.665 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.60 m.
2025-08-09T16:55:01.789Z,1754758501.789 [DAT](INFO): checking for new query: numPingsReceived=31, elapsed TxPingTime=0.501062
2025-08-09T16:55:02.039Z,1754758502.039 [DAT](INFO): checking for new query: numPingsReceived=31, elapsed TxPingTime=0.751392
2025-08-09T16:55:02.090Z,1754758502.090 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.60 m.
2025-08-09T16:55:02.292Z,1754758502.292 [DAT](INFO): checking for new query: numPingsReceived=31, elapsed TxPingTime=1.003923
2025-08-09T16:55:02.453Z,1754758502.453 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.60 m.
2025-08-09T16:55:02.543Z,1754758502.543 [DAT](INFO): checking for new query: numPingsReceived=31, elapsed TxPingTime=1.255378
2025-08-09T16:55:02.795Z,1754758502.795 [DAT](INFO): checking for new query: numPingsReceived=31, elapsed TxPingTime=1.507419
2025-08-09T16:55:02.878Z,1754758502.878 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.60 m.
2025-08-09T16:55:03.051Z,1754758503.051 [DAT](INFO): checking for new query: numPingsReceived=31, elapsed TxPingTime=1.761879
2025-08-09T16:55:03.291Z,1754758503.291 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.60 m.
2025-08-09T16:55:03.299Z,1754758503.299 [DAT](INFO): checking for new query: numPingsReceived=31, elapsed TxPingTime=2.011406
2025-08-09T16:55:03.551Z,1754758503.551 [DAT](INFO): checking for new query: numPingsReceived=31, elapsed TxPingTime=2.263295
2025-08-09T16:55:03.676Z,1754758503.676 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.60 m.
2025-08-09T16:55:03.804Z,1754758503.804 [DAT](INFO): checking for new query: numPingsReceived=31, elapsed TxPingTime=2.515780
2025-08-09T16:55:04.058Z,1754758504.058 [DAT](INFO): checking for new query: numPingsReceived=31, elapsed TxPingTime=2.769983
2025-08-09T16:55:04.122Z,1754758504.122 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.60 m.
2025-08-09T16:55:04.307Z,1754758504.307 [DAT](INFO): DAT read: Rx Time:16:55:03.1750

2025-08-09T16:55:04.308Z,1754758504.308 [DAT](INFO): Rx dataTimestamp_ set to:1754758504.307644
2025-08-09T16:55:04.308Z,1754758504.308 [DAT](INFO): checking for new query: numPingsReceived=31, elapsed TxPingTime=3.020523
2025-08-09T16:55:04.506Z,1754758504.506 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.60 m.
2025-08-09T16:55:04.560Z,1754758504.560 [DAT](INFO): checking for new query: numPingsReceived=31, elapsed TxPingTime=3.271995
2025-08-09T16:55:04.817Z,1754758504.817 [DAT](INFO): DAT read: 16:55:03.1750 LVL= 32752, 24641, 26866, 31667, AGC= 60, IDX= 437,-0.30, 2.014,-1.921, 2.865,-3.094, PHS=-1.073, 1.218,-0.368, RAW= 312.5,   2.2, CAL= 310.2,  -0.8, ROT= 199.8,   0.8

2025-08-09T16:55:04.818Z,1754758504.818 [DAT](INFO): got valid direction response:
 16:55:03.1750 LVL= 32752, 24641, 26866, 31667, AGC= 60, IDX= 437,-0.30, 2.014,-1.921, 2.865,-3.094, PHS=-1.073, 1.218,-0.368, RAW= 312.5,   2.2, CAL= 310.2,  -0.8, ROT= 199.8,   0.8

2025-08-09T16:55:04.819Z,1754758504.819 [DAT](INFO): DAT read: Bearing  49.9, -20.3 (Local)

2025-08-09T16:55:04.820Z,1754758504.820 [DAT](INFO): Local bearing/azimuth received:
 Bearing  49.9, -20.3 (Local)

2025-08-09T16:55:04.821Z,1754758504.821 [DAT](INFO): DAT read: Range 11 to 50 : 20.4 m  (Round-trip  27.3 ms) speed -0.3 m/s

2025-08-09T16:55:04.822Z,1754758504.822 [DAT](INFO): DAT read: user:227>

2025-08-09T16:55:04.822Z,1754758504.822 [DAT](INFO): DAT read: Tx time:16:55:04.2935

2025-08-09T16:55:04.823Z,1754758504.823 [DAT](INFO): Ping request sent.
2025-08-09T16:55:04.823Z,1754758504.823 [DAT](INFO): transmitted an acoustic signal
2025-08-09T16:55:04.823Z,1754758504.823 [DAT](INFO): #Rx 32: Read range and direction messages.
2025-08-09T16:55:04.824Z,1754758504.824 [DAT](INFO): direction in FSK: [-0.940789,-0.338705,-0.013962]
2025-08-09T16:55:04.824Z,1754758504.824 [DAT](INFO): publishing transmit ping time
2025-08-09T16:55:04.825Z,1754758504.825 [DAT](INFO): publishing direction and range info
2025-08-09T16:55:04.876Z,1754758504.876 [DAT](INFO): publishing transmit ping time
2025-08-09T16:55:04.876Z,1754758504.876 [DAT](INFO): publishing direction and range info
2025-08-09T16:55:04.897Z,1754758504.897 [DAT](INFO): checking for new query: numPingsReceived=32, elapsed TxPingTime=0.073651
2025-08-09T16:55:04.978Z,1754758504.978 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 20.400000 m,
      deltaT: 3.535604 s,
      deltaX: 0.799999 m,
      approachRate: 0.226269 m/s,
      rangeRepo size: 4

2025-08-09T16:55:04.984Z,1754758504.984 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 20.400000 m,
      bearing: 271.588742 deg,
      lat: 36.906126 deg,
      lon: -122.115848 deg,
      deltaT: 3.535604 s,
      deltaX: 0.799999 m,
      approachRate: 0.226269 m/s,
      posRepo size: 4

2025-08-09T16:55:04.985Z,1754758504.985 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 20.40 m.
2025-08-09T16:55:05.066Z,1754758505.066 [DAT](INFO): checking for new query: numPingsReceived=32, elapsed TxPingTime=0.242709
2025-08-09T16:55:05.315Z,1754758505.315 [DAT](INFO): checking for new query: numPingsReceived=32, elapsed TxPingTime=0.492531
2025-08-09T16:55:05.339Z,1754758505.339 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 20.40 m.
2025-08-09T16:55:05.568Z,1754758505.568 [DAT](INFO): checking for new query: numPingsReceived=32, elapsed TxPingTime=0.744702
2025-08-09T16:55:05.721Z,1754758505.721 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 20.40 m.
2025-08-09T16:55:05.820Z,1754758505.820 [DAT](INFO): checking for new query: numPingsReceived=32, elapsed TxPingTime=0.996683
2025-08-09T16:55:06.074Z,1754758506.074 [DAT](INFO): checking for new query: numPingsReceived=32, elapsed TxPingTime=1.250612
2025-08-09T16:55:06.150Z,1754758506.150 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 20.40 m.
2025-08-09T16:55:06.323Z,1754758506.323 [DAT](INFO): checking for new query: numPingsReceived=32, elapsed TxPingTime=1.500286
2025-08-09T16:55:06.540Z,1754758506.540 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 20.40 m.
2025-08-09T16:55:06.576Z,1754758506.576 [DAT](INFO): checking for new query: numPingsReceived=32, elapsed TxPingTime=1.752952
2025-08-09T16:55:06.827Z,1754758506.827 [DAT](INFO): checking for new query: numPingsReceived=32, elapsed TxPingTime=2.004375
2025-08-09T16:55:06.952Z,1754758506.952 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 20.40 m.
2025-08-09T16:55:07.082Z,1754758507.082 [DAT](INFO): checking for new query: numPingsReceived=32, elapsed TxPingTime=2.258263
2025-08-09T16:55:07.331Z,1754758507.331 [DAT](INFO): checking for new query: numPingsReceived=32, elapsed TxPingTime=2.508444
2025-08-09T16:55:07.395Z,1754758507.395 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 20.40 m.
2025-08-09T16:55:07.583Z,1754758507.583 [DAT](INFO): checking for new query: numPingsReceived=32, elapsed TxPingTime=2.760399
2025-08-09T16:55:07.740Z,1754758507.740 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 20.40 m.
2025-08-09T16:55:07.835Z,1754758507.835 [DAT](INFO): DAT read: Rx Time:16:55:06.7261

2025-08-09T16:55:07.836Z,1754758507.836 [DAT](INFO): Rx dataTimestamp_ set to:1754758507.835408
2025-08-09T16:55:07.836Z,1754758507.836 [DAT](INFO): checking for new query: numPingsReceived=32, elapsed TxPingTime=3.013360
2025-08-09T16:55:08.091Z,1754758508.091 [DAT](INFO): checking for new query: numPingsReceived=32, elapsed TxPingTime=3.267898
2025-08-09T16:55:08.206Z,1754758508.206 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 20.40 m.
2025-08-09T16:55:08.346Z,1754758508.346 [DAT](INFO): DAT read: 16:55:06.7261 LVL= 32752, 27633, 32754, 32483, AGC= 62, IDX= 433,-0.10, 1.590,-2.467, 2.419, 2.687, PHS=-0.995, 1.174,-0.311, RAW= 312.0,   1.4, CAL= 309.9,  -1.7, ROT= 200.1,   1.7

2025-08-09T16:55:08.347Z,1754758508.347 [DAT](INFO): got valid direction response:
 16:55:06.7261 LVL= 32752, 27633, 32754, 32483, AGC= 62, IDX= 433,-0.10, 1.590,-2.467, 2.419, 2.687, PHS=-0.995, 1.174,-0.311, RAW= 312.0,   1.4, CAL= 309.9,  -1.7, ROT= 200.1,   1.7

2025-08-09T16:55:08.349Z,1754758508.349 [DAT](INFO): DAT read: Bearing  51.1, -20.8 (Local)

2025-08-09T16:55:08.349Z,1754758508.349 [DAT](INFO): Local bearing/azimuth received:
 Bearing  51.1, -20.8 (Local)

2025-08-09T16:55:08.352Z,1754758508.352 [DAT](INFO): DAT read: Range 11 to 50 : 21.3 m  (Round-trip  28.5 ms) speed -0.3 m/s

2025-08-09T16:55:08.353Z,1754758508.353 [DAT](INFO): DAT read: user:228>

2025-08-09T16:55:08.354Z,1754758508.354 [DAT](INFO): DAT read: Tx time:16:55:07.8435

2025-08-09T16:55:08.354Z,1754758508.354 [DAT](INFO): Ping request sent.
2025-08-09T16:55:08.354Z,1754758508.354 [DAT](INFO): transmitted an acoustic signal
2025-08-09T16:55:08.355Z,1754758508.355 [DAT](INFO): #Rx 33: Read range and direction messages.
2025-08-09T16:55:08.356Z,1754758508.356 [DAT](INFO): direction in FSK: [-0.938681,-0.343509,-0.029666]
2025-08-09T16:55:08.356Z,1754758508.356 [DAT](INFO): publishing transmit ping time
2025-08-09T16:55:08.356Z,1754758508.356 [DAT](INFO): publishing direction and range info
2025-08-09T16:55:08.359Z,1754758508.359 [DAT](INFO): publishing transmit ping time
2025-08-09T16:55:08.359Z,1754758508.359 [DAT](INFO): publishing direction and range info
2025-08-09T16:55:08.366Z,1754758508.366 [DAT](INFO): checking for new query: numPingsReceived=33, elapsed TxPingTime=0.011355
2025-08-09T16:55:08.595Z,1754758508.595 [DAT](INFO): checking for new query: numPingsReceived=33, elapsed TxPingTime=0.240862
2025-08-09T16:55:08.622Z,1754758508.622 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 21.299999 m,
      deltaT: 3.528254 s,
      deltaX: 0.900000 m,
      approachRate: 0.255084 m/s,
      rangeRepo size: 4

2025-08-09T16:55:08.632Z,1754758508.632 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 21.299999 m,
      bearing: 270.720798 deg,
      lat: 36.906127 deg,
      lon: -122.115849 deg,
      deltaT: 3.528254 s,
      deltaX: 0.900000 m,
      approachRate: 0.255084 m/s,
      posRepo size: 4

2025-08-09T16:55:08.633Z,1754758508.633 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.30 m.
2025-08-09T16:55:08.844Z,1754758508.844 [DAT](INFO): checking for new query: numPingsReceived=33, elapsed TxPingTime=0.489935
2025-08-09T16:55:09.047Z,1754758509.047 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.30 m.
2025-08-09T16:55:09.098Z,1754758509.098 [DAT](INFO): checking for new query: numPingsReceived=33, elapsed TxPingTime=0.743858
2025-08-09T16:55:09.347Z,1754758509.347 [DAT](INFO): checking for new query: numPingsReceived=33, elapsed TxPingTime=0.993446
2025-08-09T16:55:09.476Z,1754758509.476 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.30 m.
2025-08-09T16:55:09.599Z,1754758509.599 [DAT](INFO): checking for new query: numPingsReceived=33, elapsed TxPingTime=1.245499
2025-08-09T16:55:09.852Z,1754758509.852 [DAT](INFO): checking for new query: numPingsReceived=33, elapsed TxPingTime=1.498220
2025-08-09T16:55:09.878Z,1754758509.878 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.30 m.
2025-08-09T16:55:10.105Z,1754758510.105 [DAT](INFO): checking for new query: numPingsReceived=33, elapsed TxPingTime=1.751074
2025-08-09T16:55:10.297Z,1754758510.297 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.30 m.
2025-08-09T16:55:10.356Z,1754758510.356 [DAT](INFO): checking for new query: numPingsReceived=33, elapsed TxPingTime=2.002057
2025-08-09T16:55:10.607Z,1754758510.607 [DAT](INFO): checking for new query: numPingsReceived=33, elapsed TxPingTime=2.253328
2025-08-09T16:55:10.653Z,1754758510.653 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.30 m.
2025-08-09T16:55:10.861Z,1754758510.861 [DAT](INFO): checking for new query: numPingsReceived=33, elapsed TxPingTime=2.507358
2025-08-09T16:55:11.111Z,1754758511.111 [DAT](INFO): checking for new query: numPingsReceived=33, elapsed TxPingTime=2.757330
2025-08-09T16:55:11.113Z,1754758511.113 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.30 m.
2025-08-09T16:55:11.365Z,1754758511.365 [DAT](INFO): DAT read: Rx Time:16:55:10.2773

2025-08-09T16:55:11.366Z,1754758511.366 [DAT](INFO): Rx dataTimestamp_ set to:1754758511.365276
2025-08-09T16:55:11.367Z,1754758511.367 [DAT](INFO): checking for new query: numPingsReceived=33, elapsed TxPingTime=3.012884
2025-08-09T16:55:11.605Z,1754758511.605 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.30 m.
2025-08-09T16:55:11.615Z,1754758511.615 [DAT](INFO): checking for new query: numPingsReceived=33, elapsed TxPingTime=3.261155
2025-08-09T16:55:11.880Z,1754758511.880 [DAT](INFO): DAT read: 16:55:10.2773 LVL= 32752, 29921, 31090, 32755, AGC= 65, IDX= 444, 0.30,-2.346,-0.183,-1.585,-1.239, PHS=-1.006, 1.101,-0.391, RAW= 313.5,   3.2, CAL= 311.1,   0.4, ROT= 198.9,  -0.4

2025-08-09T16:55:11.882Z,1754758511.882 [DAT](INFO): got valid direction response:
 16:55:10.2773 LVL= 32752, 29921, 31090, 32755, AGC= 65, IDX= 444, 0.30,-2.346,-0.183,-1.585,-1.239, PHS=-1.006, 1.101,-0.391, RAW= 313.5,   3.2, CAL= 311.1,   0.4, ROT= 198.9,  -0.4

2025-08-09T16:55:11.884Z,1754758511.884 [DAT](INFO): DAT read: Bearing  49.1, -19.4 (Local)

2025-08-09T16:55:11.884Z,1754758511.884 [DAT](INFO): Local bearing/azimuth received:
 Bearing  49.1, -19.4 (Local)

2025-08-09T16:55:11.886Z,1754758511.886 [DAT](INFO): DAT read: Range 11 to 50 : 22.2 m  (Round-trip  29.6 ms) speed -0.2 m/s

2025-08-09T16:55:11.895Z,1754758511.895 [DAT](INFO): DAT read: user:229>

2025-08-09T16:55:11.896Z,1754758511.896 [DAT](INFO): DAT read: Tx time:16:55:11.3935

2025-08-09T16:55:11.896Z,1754758511.896 [DAT](INFO): Ping request sent.
2025-08-09T16:55:11.896Z,1754758511.896 [DAT](INFO): transmitted an acoustic signal
2025-08-09T16:55:11.896Z,1754758511.896 [DAT](INFO): #Rx 34: Read range and direction messages.
2025-08-09T16:55:11.897Z,1754758511.897 [DAT](INFO): direction in FSK: [-0.946062,-0.323910,0.006981]
2025-08-09T16:55:11.898Z,1754758511.898 [DAT](INFO): publishing transmit ping time
2025-08-09T16:55:11.898Z,1754758511.898 [DAT](INFO): publishing direction and range info
2025-08-09T16:55:11.901Z,1754758511.901 [DAT](INFO): publishing transmit ping time
2025-08-09T16:55:11.901Z,1754758511.901 [DAT](INFO): publishing direction and range info
2025-08-09T16:55:11.913Z,1754758511.913 [DAT](INFO): checking for new query: numPingsReceived=34, elapsed TxPingTime=0.017272
2025-08-09T16:55:12.024Z,1754758512.024 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 22.200001 m,
      deltaT: 3.531931 s,
      deltaX: 0.900002 m,
      approachRate: 0.254819 m/s,
      rangeRepo size: 4

2025-08-09T16:55:12.026Z,1754758512.026 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 22.200001 m,
      bearing: 269.413405 deg,
      lat: 36.906127 deg,
      lon: -122.115849 deg,
      deltaT: 3.531931 s,
      deltaX: 0.900002 m,
      approachRate: 0.254819 m/s,
      posRepo size: 4

2025-08-09T16:55:12.030Z,1754758512.030 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 22.20 m.
2025-08-09T16:55:12.127Z,1754758512.127 [DAT](INFO): checking for new query: numPingsReceived=34, elapsed TxPingTime=0.229840
2025-08-09T16:55:12.376Z,1754758512.376 [DAT](INFO): checking for new query: numPingsReceived=34, elapsed TxPingTime=0.480217
2025-08-09T16:55:12.428Z,1754758512.428 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 22.20 m.
2025-08-09T16:55:12.627Z,1754758512.627 [DAT](INFO): checking for new query: numPingsReceived=34, elapsed TxPingTime=0.731160
2025-08-09T16:55:12.788Z,1754758512.788 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 22.20 m.
2025-08-09T16:55:12.880Z,1754758512.880 [DAT](INFO): checking for new query: numPingsReceived=34, elapsed TxPingTime=0.983683
2025-08-09T16:55:13.133Z,1754758513.133 [DAT](INFO): checking for new query: numPingsReceived=34, elapsed TxPingTime=1.236042
2025-08-09T16:55:13.262Z,1754758513.262 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 22.20 m.
2025-08-09T16:55:13.384Z,1754758513.384 [DAT](INFO): checking for new query: numPingsReceived=34, elapsed TxPingTime=1.488085
2025-08-09T16:55:13.631Z,1754758513.631 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 22.20 m.
2025-08-09T16:55:13.635Z,1754758513.635 [DAT](INFO): checking for new query: numPingsReceived=34, elapsed TxPingTime=1.739353
2025-08-09T16:55:13.888Z,1754758513.888 [DAT](INFO): checking for new query: numPingsReceived=34, elapsed TxPingTime=1.991390
2025-08-09T16:55:14.039Z,1754758514.039 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 22.20 m.
2025-08-09T16:55:14.139Z,1754758514.139 [DAT](INFO): checking for new query: numPingsReceived=34, elapsed TxPingTime=2.243220
2025-08-09T16:55:14.391Z,1754758514.391 [DAT](INFO): checking for new query: numPingsReceived=34, elapsed TxPingTime=2.495247
2025-08-09T16:55:14.475Z,1754758514.475 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 22.20 m.
2025-08-09T16:55:14.643Z,1754758514.643 [DAT](INFO): checking for new query: numPingsReceived=34, elapsed TxPingTime=2.747079
2025-08-09T16:55:14.840Z,1754758514.840 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 22.20 m.
2025-08-09T16:55:14.896Z,1754758514.896 [DAT](INFO): DAT read: Rx Time:16:55:13.8285

2025-08-09T16:55:14.896Z,1754758514.896 [DAT](INFO): Rx dataTimestamp_ set to:1754758514.895851
2025-08-09T16:55:14.897Z,1754758514.897 [DAT](INFO): checking for new query: numPingsReceived=34, elapsed TxPingTime=3.000597
2025-08-09T16:55:15.147Z,1754758515.147 [DAT](INFO): checking for new query: numPingsReceived=34, elapsed TxPingTime=3.251209
2025-08-09T16:55:15.293Z,1754758515.293 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 22.20 m.
2025-08-09T16:55:15.408Z,1754758515.408 [DAT](INFO): DAT read: 16:55:13.8285 LVL= 30224, 20017, 27186, 29779, AGC= 63, IDX= 440, 0.00,-1.651, 0.588,-0.894,-0.610, PHS=-0.940, 1.243,-0.329, RAW= 314.3,   0.3, CAL= 312.4,  -2.8, ROT= 197.6,   2.8

2025-08-09T16:55:15.409Z,1754758515.409 [DAT](INFO): got valid direction response:
 16:55:13.8285 LVL= 30224, 20017, 27186, 29779, AGC= 63, IDX= 440, 0.00,-1.651, 0.588,-0.894,-0.610, PHS=-0.940, 1.243,-0.329, RAW= 314.3,   0.3, CAL= 312.4,  -2.8, ROT= 197.6,   2.8

2025-08-09T16:55:15.410Z,1754758515.410 [DAT](INFO): DAT read: Bearing  52.9, -17.7 (Local)

2025-08-09T16:55:15.411Z,1754758515.411 [DAT](INFO): Local bearing/azimuth received:
 Bearing  52.9, -17.7 (Local)

2025-08-09T16:55:15.417Z,1754758515.417 [DAT](INFO): DAT read: Range 11 to 50 : 23.1 m  (Round-trip  30.8 ms) speed -0.3 m/s

2025-08-09T16:55:15.423Z,1754758515.423 [DAT](INFO): DAT read: user:230>

2025-08-09T16:55:15.424Z,1754758515.424 [DAT](INFO): DAT read: Tx time:16:55:14.9435

2025-08-09T16:55:15.424Z,1754758515.424 [DAT](INFO): Ping request sent.
2025-08-09T16:55:15.424Z,1754758515.424 [DAT](INFO): transmitted an acoustic signal
2025-08-09T16:55:15.424Z,1754758515.424 [DAT](INFO): #Rx 35: Read range and direction messages.
2025-08-09T16:55:15.425Z,1754758515.425 [DAT](INFO): direction in FSK: [-0.952053,-0.302009,-0.048850]
2025-08-09T16:55:15.426Z,1754758515.426 [DAT](INFO): publishing transmit ping time
2025-08-09T16:55:15.426Z,1754758515.426 [DAT](INFO): publishing direction and range info
2025-08-09T16:55:15.447Z,1754758515.447 [DAT](INFO): publishing transmit ping time
2025-08-09T16:55:15.447Z,1754758515.447 [DAT](INFO): publishing direction and range info
2025-08-09T16:55:15.455Z,1754758515.455 [DAT](INFO): checking for new query: numPingsReceived=35, elapsed TxPingTime=0.030718
2025-08-09T16:55:15.651Z,1754758515.651 [DAT](INFO): checking for new query: numPingsReceived=35, elapsed TxPingTime=0.227151
2025-08-09T16:55:15.675Z,1754758515.675 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 23.100000 m,
      deltaT: 3.530457 s,
      deltaX: 0.900000 m,
      approachRate: 0.254924 m/s,
      rangeRepo size: 4

2025-08-09T16:55:15.677Z,1754758515.677 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 23.100000 m,
      bearing: 269.739897 deg,
      lat: 36.906132 deg,
      lon: -122.115849 deg,
      deltaT: 3.530457 s,
      deltaX: 0.900000 m,
      approachRate: 0.254924 m/s,
      posRepo size: 4

2025-08-09T16:55:15.677Z,1754758515.677 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 23.10 m.
2025-08-09T16:55:15.903Z,1754758515.903 [DAT](INFO): checking for new query: numPingsReceived=35, elapsed TxPingTime=0.479129
2025-08-09T16:55:16.084Z,1754758516.084 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 23.10 m.
2025-08-09T16:55:16.155Z,1754758516.155 [DAT](INFO): checking for new query: numPingsReceived=35, elapsed TxPingTime=0.731133
2025-08-09T16:55:16.407Z,1754758516.407 [DAT](INFO): checking for new query: numPingsReceived=35, elapsed TxPingTime=0.983115
2025-08-09T16:55:16.506Z,1754758516.506 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 23.10 m.
2025-08-09T16:55:16.659Z,1754758516.659 [DAT](INFO): checking for new query: numPingsReceived=35, elapsed TxPingTime=1.235137
2025-08-09T16:55:16.894Z,1754758516.894 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 23.10 m.
2025-08-09T16:55:16.911Z,1754758516.911 [DAT](INFO): checking for new query: numPingsReceived=35, elapsed TxPingTime=1.487173
2025-08-09T16:55:17.164Z,1754758517.164 [DAT](INFO): checking for new query: numPingsReceived=35, elapsed TxPingTime=1.739398
2025-08-09T16:55:17.337Z,1754758517.337 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 23.10 m.
2025-08-09T16:55:17.415Z,1754758517.415 [DAT](INFO): checking for new query: numPingsReceived=35, elapsed TxPingTime=1.991241
2025-08-09T16:55:17.667Z,1754758517.667 [DAT](INFO): checking for new query: numPingsReceived=35, elapsed TxPingTime=2.243036
2025-08-09T16:55:17.713Z,1754758517.713 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 23.10 m.
2025-08-09T16:55:17.920Z,1754758517.920 [DAT](INFO): checking for new query: numPingsReceived=35, elapsed TxPingTime=2.495457
2025-08-09T16:55:18.115Z,1754758518.115 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 23.10 m.
2025-08-09T16:55:18.172Z,1754758518.172 [DAT](INFO): checking for new query: numPingsReceived=35, elapsed TxPingTime=2.747967
2025-08-09T16:55:18.423Z,1754758518.423 [DAT](INFO): DAT read: Rx Time:16:55:17.3797

2025-08-09T16:55:18.424Z,1754758518.424 [DAT](INFO): Rx dataTimestamp_ set to:1754758518.423469
2025-08-09T16:55:18.424Z,1754758518.424 [DAT](INFO): checking for new query: numPingsReceived=35, elapsed TxPingTime=3.000156
2025-08-09T16:55:18.535Z,1754758518.535 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 23.10 m.
2025-08-09T16:55:18.675Z,1754758518.675 [DAT](INFO): checking for new query: numPingsReceived=35, elapsed TxPingTime=3.251057
2025-08-09T16:55:18.947Z,1754758518.947 [DAT](INFO): DAT read: 16:55:17.3797 LVL= 29872, 25681, 25490, 30067, AGC= 63, IDX= 437, 0.09,-0.289, 1.996, 0.458, 0.761, PHS=-0.948, 1.280,-0.347, RAW= 314.9,   0.2, CAL= 313.1,  -3.0, ROT= 196.9,   3.0

2025-08-09T16:55:18.948Z,1754758518.948 [DAT](INFO): got valid direction response:
 16:55:17.3797 LVL= 29872, 25681, 25490, 30067, AGC= 63, IDX= 437, 0.09,-0.289, 1.996, 0.458, 0.761, PHS=-0.948, 1.280,-0.347, RAW= 314.9,   0.2, CAL= 313.1,  -3.0, ROT= 196.9,   3.0

2025-08-09T16:55:18.949Z,1754758518.949 [DAT](INFO): DAT read: Bearing  52.8, -16.9 (Local)

2025-08-09T16:55:18.949Z,1754758518.949 [DAT](INFO): Local bearing/azimuth received:
 Bearing  52.8, -16.9 (Local)

2025-08-09T16:55:18.967Z,1754758518.967 [DAT](INFO): DAT read: Range 11 to 50 : 24.0 m  (Round-trip  32.1 ms) speed -0.2 m/s

2025-08-09T16:55:18.967Z,1754758518.967 [DAT](INFO): DAT read: user:231>

2025-08-09T16:55:18.968Z,1754758518.968 [DAT](INFO): DAT read: Tx time:16:55:18.4951

2025-08-09T16:55:18.968Z,1754758518.968 [DAT](INFO): Ping request sent.
2025-08-09T16:55:18.968Z,1754758518.968 [DAT](INFO): transmitted an acoustic signal
2025-08-09T16:55:18.969Z,1754758518.969 [DAT](INFO): #Rx 36: Read range and direction messages.
2025-08-09T16:55:18.970Z,1754758518.970 [DAT](INFO): direction in FSK: [-0.955502,-0.290304,-0.052336]
2025-08-09T16:55:18.970Z,1754758518.970 [DAT](INFO): publishing transmit ping time
2025-08-09T16:55:18.982Z,1754758518.982 [DAT](INFO): publishing direction and range info
2025-08-09T16:55:18.985Z,1754758518.985 [DAT](INFO): publishing transmit ping time
2025-08-09T16:55:18.986Z,1754758518.986 [DAT](INFO): publishing direction and range info
2025-08-09T16:55:19.012Z,1754758519.012 [DAT](INFO): checking for new query: numPingsReceived=36, elapsed TxPingTime=0.043976
2025-08-09T16:55:19.042Z,1754758519.042 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 24.000000 m,
      deltaT: 3.534755 s,
      deltaX: 0.900000 m,
      approachRate: 0.254614 m/s,
      rangeRepo size: 4

2025-08-09T16:55:19.048Z,1754758519.048 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 24.000000 m,
      bearing: 269.136429 deg,
      lat: 36.906132 deg,
      lon: -122.115851 deg,
      deltaT: 3.534755 s,
      deltaX: 0.900000 m,
      approachRate: 0.254614 m/s,
      posRepo size: 4

2025-08-09T16:55:19.048Z,1754758519.048 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.00 m.
2025-08-09T16:55:19.187Z,1754758519.187 [DAT](INFO): checking for new query: numPingsReceived=36, elapsed TxPingTime=0.218987
2025-08-09T16:55:19.378Z,1754758519.378 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.00 m.
2025-08-09T16:55:19.440Z,1754758519.440 [DAT](INFO): checking for new query: numPingsReceived=36, elapsed TxPingTime=0.471169
2025-08-09T16:55:19.691Z,1754758519.691 [DAT](INFO): checking for new query: numPingsReceived=36, elapsed TxPingTime=0.722854
2025-08-09T16:55:19.730Z,1754758519.730 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.00 m.
2025-08-09T16:55:19.943Z,1754758519.943 [DAT](INFO): checking for new query: numPingsReceived=36, elapsed TxPingTime=0.974890
2025-08-09T16:55:20.138Z,1754758520.138 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.00 m.
2025-08-09T16:55:20.196Z,1754758520.196 [DAT](INFO): checking for new query: numPingsReceived=36, elapsed TxPingTime=1.227997
2025-08-09T16:55:20.447Z,1754758520.447 [DAT](INFO): checking for new query: numPingsReceived=36, elapsed TxPingTime=1.478872
2025-08-09T16:55:20.522Z,1754758520.522 [RDI_Pathfinder](ERROR): only read 2 of 4 data items for beam range. Device response is::RA, 75.31,  71.24,  72.94
2025-08-09T16:55:20.553Z,1754758520.553 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.00 m.
2025-08-09T16:55:20.699Z,1754758520.699 [DAT](INFO): checking for new query: numPingsReceived=36, elapsed TxPingTime=1.730815
2025-08-09T16:55:20.938Z,1754758520.938 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.00 m.
2025-08-09T16:55:20.951Z,1754758520.951 [DAT](INFO): checking for new query: numPingsReceived=36, elapsed TxPingTime=1.982933
2025-08-09T16:55:21.203Z,1754758521.203 [DAT](INFO): checking for new query: numPingsReceived=36, elapsed TxPingTime=2.234898
2025-08-09T16:55:21.455Z,1754758521.455 [DAT](INFO): checking for new query: numPingsReceived=36, elapsed TxPingTime=2.486909
2025-08-09T16:55:21.460Z,1754758521.460 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.00 m.
2025-08-09T16:55:21.708Z,1754758521.708 [DAT](INFO): checking for new query: numPingsReceived=36, elapsed TxPingTime=2.739500
2025-08-09T16:55:21.876Z,1754758521.876 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.00 m.
2025-08-09T16:55:21.960Z,1754758521.960 [DAT](INFO): DAT read: Rx Time:16:55:20.9319

2025-08-09T16:55:21.961Z,1754758521.961 [DAT](INFO): Rx dataTimestamp_ set to:1754758521.960306
2025-08-09T16:55:21.961Z,1754758521.961 [DAT](INFO): checking for new query: numPingsReceived=36, elapsed TxPingTime=2.993055
2025-08-09T16:55:22.211Z,1754758522.211 [DAT](INFO): checking for new query: numPingsReceived=36, elapsed TxPingTime=3.243014
2025-08-09T16:55:22.309Z,1754758522.309 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.00 m.
2025-08-09T16:55:22.467Z,1754758522.467 [DAT](INFO): checking for new query: numPingsReceived=36, elapsed TxPingTime=3.497574
2025-08-09T16:55:22.683Z,1754758522.683 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.00 m.
2025-08-09T16:55:22.721Z,1754758522.721 [DAT](INFO): DAT read: 16:55:20.9319 LVL= 32752, 23537, 29634, 31731, AGC= 64, IDX= 428,-0.25,-1.505, 0.752,-0.717,-0.473, PHS=-0.930, 1.269,-0.288, RAW= 313.5,  -0.5, CAL= 311.8,  -3.7, ROT= 198.2,   3.7

2025-08-09T16:55:22.722Z,1754758522.722 [DAT](INFO): got valid direction response:
 16:55:20.9319 LVL= 32752, 23537, 29634, 31731, AGC= 64, IDX= 428,-0.25,-1.505, 0.752,-0.717,-0.473, PHS=-0.930, 1.269,-0.288, RAW= 313.5,  -0.5, CAL= 311.8,  -3.7, ROT= 198.2,   3.7

2025-08-09T16:55:22.723Z,1754758522.723 [DAT](INFO): DAT read: Bearing  53.3, -18.4 (Local)

2025-08-09T16:55:22.724Z,1754758522.724 [DAT](INFO): Local bearing/azimuth received:
 Bearing  53.3, -18.4 (Local)

2025-08-09T16:55:22.725Z,1754758522.725 [DAT](INFO): DAT read: Range 11 to 50 : 24.5 m  (Round-trip  32.7 ms) speed  0.0 m/s

2025-08-09T16:55:22.726Z,1754758522.726 [DAT](INFO): DAT read: user:232>

2025-08-09T16:55:22.727Z,1754758522.727 [DAT](INFO): DAT read: Tx time:16:55:22.0451

2025-08-09T16:55:22.727Z,1754758522.727 [DAT](INFO): Ping request sent.
2025-08-09T16:55:22.727Z,1754758522.727 [DAT](INFO): transmitted an acoustic signal
2025-08-09T16:55:22.727Z,1754758522.727 [DAT](INFO): #Rx 37: Read range and direction messages.
2025-08-09T16:55:22.728Z,1754758522.728 [DAT](INFO): direction in FSK: [-0.947992,-0.311684,-0.064532]
2025-08-09T16:55:22.729Z,1754758522.729 [DAT](INFO): publishing transmit ping time
2025-08-09T16:55:22.729Z,1754758522.729 [DAT](INFO): publishing direction and range info
2025-08-09T16:55:22.732Z,1754758522.732 [DAT](INFO): publishing transmit ping time
2025-08-09T16:55:22.732Z,1754758522.732 [DAT](INFO): publishing direction and range info
2025-08-09T16:55:22.736Z,1754758522.736 [DAT](INFO): checking for new query: numPingsReceived=37, elapsed TxPingTime=0.008446
2025-08-09T16:55:22.967Z,1754758522.967 [DAT](INFO): checking for new query: numPingsReceived=37, elapsed TxPingTime=0.240134
2025-08-09T16:55:23.082Z,1754758523.082 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 24.500000 m,
      deltaT: 3.778718 s,
      deltaX: 0.500000 m,
      approachRate: 0.132320 m/s,
      rangeRepo size: 4

2025-08-09T16:55:23.084Z,1754758523.084 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 24.500000 m,
      bearing: 268.382605 deg,
      lat: 36.906132 deg,
      lon: -122.115851 deg,
      deltaT: 3.778718 s,
      deltaX: 0.500000 m,
      approachRate: 0.132320 m/s,
      posRepo size: 4

2025-08-09T16:55:23.085Z,1754758523.085 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.50 m.
2025-08-09T16:55:23.219Z,1754758523.219 [DAT](INFO): checking for new query: numPingsReceived=37, elapsed TxPingTime=0.492228
2025-08-09T16:55:23.471Z,1754758523.471 [DAT](INFO): checking for new query: numPingsReceived=37, elapsed TxPingTime=0.744199
2025-08-09T16:55:23.520Z,1754758523.520 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.50 m.
2025-08-09T16:55:23.723Z,1754758523.723 [DAT](INFO): checking for new query: numPingsReceived=37, elapsed TxPingTime=0.996187
2025-08-09T16:55:23.913Z,1754758523.913 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.50 m.
2025-08-09T16:55:23.975Z,1754758523.975 [DAT](INFO): checking for new query: numPingsReceived=37, elapsed TxPingTime=1.248296
2025-08-09T16:55:24.227Z,1754758524.227 [DAT](INFO): checking for new query: numPingsReceived=37, elapsed TxPingTime=1.500186
2025-08-09T16:55:24.396Z,1754758524.396 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.50 m.
2025-08-09T16:55:24.480Z,1754758524.480 [DAT](INFO): checking for new query: numPingsReceived=37, elapsed TxPingTime=1.752799
2025-08-09T16:55:24.731Z,1754758524.731 [DAT](INFO): checking for new query: numPingsReceived=37, elapsed TxPingTime=2.004143
2025-08-09T16:55:24.755Z,1754758524.755 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.50 m.
2025-08-09T16:55:24.983Z,1754758524.983 [DAT](INFO): checking for new query: numPingsReceived=37, elapsed TxPingTime=2.256195
2025-08-09T16:55:25.116Z,1754758525.116 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.50 m.
2025-08-09T16:55:25.236Z,1754758525.236 [DAT](INFO): checking for new query: numPingsReceived=37, elapsed TxPingTime=2.508589
2025-08-09T16:55:25.487Z,1754758525.487 [DAT](INFO): DAT read: Rx Time:16:55:24.4826

2025-08-09T16:55:25.488Z,1754758525.488 [DAT](INFO): Rx dataTimestamp_ set to:1754758525.487427
2025-08-09T16:55:25.488Z,1754758525.488 [DAT](INFO): checking for new query: numPingsReceived=37, elapsed TxPingTime=2.761149
2025-08-09T16:55:25.561Z,1754758525.561 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.50 m.
2025-08-09T16:55:25.739Z,1754758525.739 [DAT](INFO): checking for new query: numPingsReceived=37, elapsed TxPingTime=3.012181
2025-08-09T16:55:25.923Z,1754758525.923 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.50 m.
2025-08-09T16:55:25.000Z,1754758526.000 [DAT](INFO): checking for new query: numPingsReceived=37, elapsed TxPingTime=3.266364
2025-08-09T16:55:26.249Z,1754758526.249 [DAT](INFO): DAT read: 16:55:24.4826 LVL= 32752, 29361, 32754, 32067, AGC= 65, IDX= 451,-0.14, 1.733,-2.479, 2.423, 2.708, PHS=-0.873, 1.141,-0.329, RAW= 314.9,   0.7, CAL= 313.0,  -2.4, ROT= 197.0,   2.4

2025-08-09T16:55:26.250Z,1754758526.250 [DAT](INFO): got valid direction response:
 16:55:24.4826 LVL= 32752, 29361, 32754, 32067, AGC= 65, IDX= 451,-0.14, 1.733,-2.479, 2.423, 2.708, PHS=-0.873, 1.141,-0.329, RAW= 314.9,   0.7, CAL= 313.0,  -2.4, ROT= 197.0,   2.4

2025-08-09T16:55:26.251Z,1754758526.251 [DAT](INFO): DAT read: Bearing  51.6, -17.4 (Local)

2025-08-09T16:55:26.251Z,1754758526.251 [DAT](INFO): Local bearing/azimuth received:
 Bearing  51.6, -17.4 (Local)

2025-08-09T16:55:26.253Z,1754758526.253 [DAT](INFO): DAT read: Range 11 to 50 : 24.9 m  (Round-trip  33.3 ms) speed -0.1 m/s

2025-08-09T16:55:26.253Z,1754758526.253 [DAT](INFO): DAT read: user:233>

2025-08-09T16:55:26.255Z,1754758526.255 [DAT](INFO): DAT read: Tx time:16:55:25.5935

2025-08-09T16:55:26.257Z,1754758526.257 [DAT](INFO): Ping request sent.
2025-08-09T16:55:26.257Z,1754758526.257 [DAT](INFO): transmitted an acoustic signal
2025-08-09T16:55:26.259Z,1754758526.259 [DAT](INFO): #Rx 38: Read range and direction messages.
2025-08-09T16:55:26.262Z,1754758526.262 [DAT](INFO): direction in FSK: [-0.955466,-0.292115,-0.041876]
2025-08-09T16:55:26.263Z,1754758526.263 [DAT](INFO): publishing transmit ping time
2025-08-09T16:55:26.263Z,1754758526.263 [DAT](INFO): publishing direction and range info
2025-08-09T16:55:26.266Z,1754758526.266 [DAT](INFO): publishing transmit ping time
2025-08-09T16:55:26.266Z,1754758526.266 [DAT](INFO): publishing direction and range info
2025-08-09T16:55:26.270Z,1754758526.270 [DAT](INFO): checking for new query: numPingsReceived=38, elapsed TxPingTime=0.012775
2025-08-09T16:55:26.489Z,1754758526.489 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 24.900000 m,
      deltaT: 3.527911 s,
      deltaX: 0.400000 m,
      approachRate: 0.113381 m/s,
      rangeRepo size: 4

2025-08-09T16:55:26.495Z,1754758526.495 [DAT](INFO): checking for new query: numPingsReceived=38, elapsed TxPingTime=0.238720
2025-08-09T16:55:26.502Z,1754758526.502 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 24.900000 m,
      bearing: 267.426629 deg,
      lat: 36.906132 deg,
      lon: -122.115851 deg,
      deltaT: 3.527911 s,
      deltaX: 0.400000 m,
      approachRate: 0.113381 m/s,
      posRepo size: 4

2025-08-09T16:55:26.503Z,1754758526.503 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.90 m.
2025-08-09T16:55:26.747Z,1754758526.747 [DAT](INFO): checking for new query: numPingsReceived=38, elapsed TxPingTime=0.490461
2025-08-09T16:55:26.805Z,1754758526.805 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.90 m.
2025-08-09T16:55:26.000Z,1754758527.000 [DAT](INFO): checking for new query: numPingsReceived=38, elapsed TxPingTime=0.742739
2025-08-09T16:55:27.186Z,1754758527.186 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.90 m.
2025-08-09T16:55:27.251Z,1754758527.251 [DAT](INFO): checking for new query: numPingsReceived=38, elapsed TxPingTime=0.994680
2025-08-09T16:55:27.503Z,1754758527.503 [DAT](INFO): checking for new query: numPingsReceived=38, elapsed TxPingTime=1.246495
2025-08-09T16:55:27.638Z,1754758527.638 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.90 m.
2025-08-09T16:55:27.756Z,1754758527.756 [DAT](INFO): checking for new query: numPingsReceived=38, elapsed TxPingTime=1.498782
2025-08-09T16:55:28.005Z,1754758528.005 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.90 m.
2025-08-09T16:55:28.007Z,1754758528.007 [DAT](INFO): checking for new query: numPingsReceived=38, elapsed TxPingTime=1.750684
2025-08-09T16:55:28.259Z,1754758528.259 [DAT](INFO): checking for new query: numPingsReceived=38, elapsed TxPingTime=2.002430
2025-08-09T16:55:28.475Z,1754758528.475 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.90 m.
2025-08-09T16:55:28.512Z,1754758528.512 [DAT](INFO): checking for new query: numPingsReceived=38, elapsed TxPingTime=2.255627
2025-08-09T16:55:28.763Z,1754758528.763 [DAT](INFO): checking for new query: numPingsReceived=38, elapsed TxPingTime=2.506535
2025-08-09T16:55:28.862Z,1754758528.862 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.90 m.
2025-08-09T16:55:29.016Z,1754758529.016 [DAT](INFO): DAT read: Rx Time:16:55:28.0321

2025-08-09T16:55:29.016Z,1754758529.016 [DAT](INFO): Rx dataTimestamp_ set to:1754758529.016076
2025-08-09T16:55:29.017Z,1754758529.017 [DAT](INFO): checking for new query: numPingsReceived=38, elapsed TxPingTime=2.760170
2025-08-09T16:55:29.264Z,1754758529.264 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.90 m.
2025-08-09T16:55:29.268Z,1754758529.268 [DAT](INFO): checking for new query: numPingsReceived=38, elapsed TxPingTime=3.010892
2025-08-09T16:55:29.519Z,1754758529.519 [DAT](INFO): checking for new query: numPingsReceived=38, elapsed TxPingTime=3.262558
2025-08-09T16:55:29.716Z,1754758529.716 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.90 m.
2025-08-09T16:55:29.777Z,1754758529.777 [DAT](INFO): DAT read: 16:55:28.0321 LVL= 32752, 29297, 32114, 32755, AGC= 64, IDX= 430, 0.05,-1.310, 0.886,-0.622,-0.334, PHS=-0.875, 1.264,-0.332, RAW= 315.9,  -0.6, CAL= 314.3,  -3.7, ROT= 195.7,   3.7

2025-08-09T16:55:29.778Z,1754758529.778 [DAT](INFO): got valid direction response:
 16:55:28.0321 LVL= 32752, 29297, 32114, 32755, AGC= 64, IDX= 430, 0.05,-1.310, 0.886,-0.622,-0.334, PHS=-0.875, 1.264,-0.332, RAW= 315.9,  -0.6, CAL= 314.3,  -3.7, ROT= 195.7,   3.7

2025-08-09T16:55:29.779Z,1754758529.779 [DAT](INFO): DAT read: Bearing  52.9, -16.3 (Local)

2025-08-09T16:55:29.779Z,1754758529.779 [DAT](INFO): Local bearing/azimuth received:
 Bearing  52.9, -16.3 (Local)

2025-08-09T16:55:29.781Z,1754758529.781 [DAT](INFO): DAT read: Range 11 to 50 : 25.8 m  (Round-trip  34.5 ms) speed -0.1 m/s

2025-08-09T16:55:29.782Z,1754758529.782 [DAT](INFO): DAT read: user:234>

2025-08-09T16:55:29.782Z,1754758529.782 [DAT](INFO): DAT read: Tx time:16:55:29.1434

2025-08-09T16:55:29.783Z,1754758529.783 [DAT](INFO): Ping request sent.
2025-08-09T16:55:29.783Z,1754758529.783 [DAT](INFO): transmitted an acoustic signal
2025-08-09T16:55:29.783Z,1754758529.783 [DAT](INFO): #Rx 39: Read range and direction messages.
2025-08-09T16:55:29.784Z,1754758529.784 [DAT](INFO): direction in FSK: [-0.960685,-0.270036,-0.064532]
2025-08-09T16:55:29.784Z,1754758529.784 [DAT](INFO): publishing transmit ping time
2025-08-09T16:55:29.785Z,1754758529.785 [DAT](INFO): publishing direction and range info
2025-08-09T16:55:29.788Z,1754758529.788 [DAT](INFO): publishing transmit ping time
2025-08-09T16:55:29.788Z,1754758529.788 [DAT](INFO): publishing direction and range info
2025-08-09T16:55:29.792Z,1754758529.792 [DAT](INFO): checking for new query: numPingsReceived=39, elapsed TxPingTime=0.009177
2025-08-09T16:55:30.024Z,1754758530.024 [DAT](INFO): checking for new query: numPingsReceived=39, elapsed TxPingTime=0.240671
2025-08-09T16:55:30.099Z,1754758530.099 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 25.799999 m,
      deltaT: 3.528046 s,
      deltaX: 0.900000 m,
      approachRate: 0.255099 m/s,
      rangeRepo size: 4

2025-08-09T16:55:30.101Z,1754758530.101 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 25.799999 m,
      bearing: 266.814495 deg,
      lat: 36.906134 deg,
      lon: -122.115852 deg,
      deltaT: 3.528046 s,
      deltaX: 0.900000 m,
      approachRate: 0.255099 m/s,
      posRepo size: 4

2025-08-09T16:55:30.102Z,1754758530.102 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.80 m.
2025-08-09T16:55:30.280Z,1754758530.280 [DAT](INFO): checking for new query: numPingsReceived=39, elapsed TxPingTime=0.496140
2025-08-09T16:55:30.527Z,1754758530.527 [DAT](INFO): checking for new query: numPingsReceived=39, elapsed TxPingTime=0.744537
2025-08-09T16:55:30.528Z,1754758530.528 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.80 m.
2025-08-09T16:55:30.779Z,1754758530.779 [DAT](INFO): checking for new query: numPingsReceived=39, elapsed TxPingTime=0.996390
2025-08-09T16:55:30.899Z,1754758530.899 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.80 m.
2025-08-09T16:55:31.031Z,1754758531.031 [DAT](INFO): checking for new query: numPingsReceived=39, elapsed TxPingTime=1.248625
2025-08-09T16:55:31.283Z,1754758531.283 [DAT](INFO): checking for new query: numPingsReceived=39, elapsed TxPingTime=1.500432
2025-08-09T16:55:31.309Z,1754758531.309 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.80 m.
2025-08-09T16:55:31.535Z,1754758531.535 [DAT](INFO): checking for new query: numPingsReceived=39, elapsed TxPingTime=1.752446
2025-08-09T16:55:31.728Z,1754758531.728 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.80 m.
2025-08-09T16:55:31.787Z,1754758531.787 [DAT](INFO): checking for new query: numPingsReceived=39, elapsed TxPingTime=2.004543
2025-08-09T16:55:32.039Z,1754758532.039 [DAT](INFO): checking for new query: numPingsReceived=39, elapsed TxPingTime=2.256527
2025-08-09T16:55:32.111Z,1754758532.111 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.80 m.
2025-08-09T16:55:32.292Z,1754758532.292 [DAT](INFO): checking for new query: numPingsReceived=39, elapsed TxPingTime=2.508699
2025-08-09T16:55:32.543Z,1754758532.543 [DAT](INFO): DAT read: Rx Time:16:55:31.5832

2025-08-09T16:55:32.544Z,1754758532.544 [DAT](INFO): Rx dataTimestamp_ set to:1754758532.543617
2025-08-09T16:55:32.544Z,1754758532.544 [DAT](INFO): checking for new query: numPingsReceived=39, elapsed TxPingTime=2.761648
2025-08-09T16:55:32.558Z,1754758532.558 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.80 m.
2025-08-09T16:55:32.795Z,1754758532.795 [DAT](INFO): checking for new query: numPingsReceived=39, elapsed TxPingTime=3.012533
2025-08-09T16:55:32.917Z,1754758532.917 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-09T16:55:32.919Z,1754758532.919 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.80 m.
2025-08-09T16:55:33.047Z,1754758533.047 [DAT](INFO): checking for new query: numPingsReceived=39, elapsed TxPingTime=3.264492
2025-08-09T16:55:33.305Z,1754758533.305 [DAT](INFO): DAT read: 16:55:31.5832 LVL= 32752, 21553, 27506, 32755, AGC= 65, IDX= 441, 0.21,-1.573, 0.663,-0.927,-0.607, PHS=-0.864, 1.315,-0.364, RAW= 317.3,  -0.9, CAL= 315.8,  -4.0, ROT= 194.2,   4.0

2025-08-09T16:55:33.306Z,1754758533.306 [DAT](INFO): got valid direction response:
 16:55:31.5832 LVL= 32752, 21553, 27506, 32755, AGC= 65, IDX= 441, 0.21,-1.573, 0.663,-0.927,-0.607, PHS=-0.864, 1.315,-0.364, RAW= 317.3,  -0.9, CAL= 315.8,  -4.0, ROT= 194.2,   4.0

2025-08-09T16:55:33.307Z,1754758533.307 [DAT](INFO): DAT read: Bearing  53.4, -14.8 (Local)

2025-08-09T16:55:33.307Z,1754758533.307 [DAT](INFO): Local bearing/azimuth received:
 Bearing  53.4, -14.8 (Local)

2025-08-09T16:55:33.309Z,1754758533.309 [DAT](INFO): DAT read: Range 11 to 50 : 26.7 m  (Round-trip  35.6 ms) speed  0.0 m/s

2025-08-09T16:55:33.309Z,1754758533.309 [DAT](INFO): DAT read: user:235>

2025-08-09T16:55:33.310Z,1754758533.310 [DAT](INFO): DAT read: Tx time:16:55:32.6934

2025-08-09T16:55:33.311Z,1754758533.311 [DAT](INFO): Ping request sent.
2025-08-09T16:55:33.311Z,1754758533.311 [DAT](INFO): transmitted an acoustic signal
2025-08-09T16:55:33.311Z,1754758533.311 [DAT](INFO): #Rx 40: Read range and direction messages.
2025-08-09T16:55:33.312Z,1754758533.312 [DAT](INFO): direction in FSK: [-0.967084,-0.244710,-0.069756]
2025-08-09T16:55:33.312Z,1754758533.312 [DAT](INFO): publishing transmit ping time
2025-08-09T16:55:33.312Z,1754758533.312 [DAT](INFO): publishing direction and range info
2025-08-09T16:55:33.315Z,1754758533.315 [DAT](INFO): publishing transmit ping time
2025-08-09T16:55:33.316Z,1754758533.316 [DAT](INFO): publishing direction and range info
2025-08-09T16:55:33.342Z,1754758533.342 [DAT](INFO): checking for new query: numPingsReceived=40, elapsed TxPingTime=0.023249
2025-08-09T16:55:33.424Z,1754758533.424 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 26.700001 m,
      deltaT: 3.527933 s,
      deltaX: 0.900002 m,
      approachRate: 0.255107 m/s,
      rangeRepo size: 4

2025-08-09T16:55:33.426Z,1754758533.426 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 26.700001 m,
      bearing: 266.235874 deg,
      lat: 36.906134 deg,
      lon: -122.115852 deg,
      deltaT: 3.527933 s,
      deltaX: 0.900002 m,
      approachRate: 0.255107 m/s,
      posRepo size: 4

2025-08-09T16:55:33.433Z,1754758533.433 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 26.70 m.
2025-08-09T16:55:33.552Z,1754758533.552 [DAT](INFO): checking for new query: numPingsReceived=40, elapsed TxPingTime=0.241313
2025-08-09T16:55:33.789Z,1754758533.789 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 26.70 m.
2025-08-09T16:55:33.804Z,1754758533.804 [DAT](INFO): checking for new query: numPingsReceived=40, elapsed TxPingTime=0.492926
2025-08-09T16:55:34.055Z,1754758534.055 [DAT](INFO): checking for new query: numPingsReceived=40, elapsed TxPingTime=0.744621
2025-08-09T16:55:34.160Z,1754758534.160 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 26.70 m.
2025-08-09T16:55:34.307Z,1754758534.307 [DAT](INFO): checking for new query: numPingsReceived=40, elapsed TxPingTime=0.996573
2025-08-09T16:55:34.559Z,1754758534.559 [DAT](INFO): checking for new query: numPingsReceived=40, elapsed TxPingTime=1.248690
2025-08-09T16:55:34.626Z,1754758534.626 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 26.70 m.
2025-08-09T16:55:34.812Z,1754758534.812 [DAT](INFO): checking for new query: numPingsReceived=40, elapsed TxPingTime=1.501220
2025-08-09T16:55:35.034Z,1754758535.034 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 26.70 m.
2025-08-09T16:55:35.063Z,1754758535.063 [DAT](INFO): checking for new query: numPingsReceived=40, elapsed TxPingTime=1.752672
2025-08-09T16:55:35.319Z,1754758535.319 [DAT](INFO): checking for new query: numPingsReceived=40, elapsed TxPingTime=2.008095
2025-08-09T16:55:35.410Z,1754758535.410 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 26.70 m.
2025-08-09T16:55:35.571Z,1754758535.571 [DAT](INFO): checking for new query: numPingsReceived=40, elapsed TxPingTime=2.260771
2025-08-09T16:55:35.825Z,1754758535.825 [DAT](INFO): checking for new query: numPingsReceived=40, elapsed TxPingTime=2.513867
2025-08-09T16:55:35.883Z,1754758535.883 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 26.70 m.
2025-08-09T16:55:36.075Z,1754758536.075 [DAT](INFO): checking for new query: numPingsReceived=40, elapsed TxPingTime=2.764538
2025-08-09T16:55:36.238Z,1754758536.238 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 26.70 m.
2025-08-09T16:55:36.330Z,1754758536.330 [DAT](INFO): DAT read: Rx Time:16:55:35.1340

2025-08-09T16:55:36.331Z,1754758536.331 [DAT](INFO): Rx dataTimestamp_ set to:1754758536.330557
2025-08-09T16:55:36.332Z,1754758536.332 [DAT](INFO): checking for new query: numPingsReceived=40, elapsed TxPingTime=3.021437
2025-08-09T16:55:36.579Z,1754758536.579 [DAT](INFO): checking for new query: numPingsReceived=40, elapsed TxPingTime=3.268564
2025-08-09T16:55:36.716Z,1754758536.716 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 26.70 m.
2025-08-09T16:55:36.841Z,1754758536.841 [DAT](INFO): DAT read: 16:55:35.1340 LVL= 32752, 24113, 31458, 32755, AGC= 63, IDX= 450, 0.49, 2.871,-1.189,-2.808,-2.484, PHS=-0.826, 1.340,-0.369, RAW= 318.4,  -1.5, CAL= 317.1,  -4.6, ROT= 192.9,   4.6

2025-08-09T16:55:36.844Z,1754758536.844 [DAT](INFO): got valid direction response:
 16:55:35.1340 LVL= 32752, 24113, 31458, 32755, AGC= 63, IDX= 450, 0.49, 2.871,-1.189,-2.808,-2.484, PHS=-0.826, 1.340,-0.369, RAW= 318.4,  -1.5, CAL= 317.1,  -4.6, ROT= 192.9,   4.6

2025-08-09T16:55:36.846Z,1754758536.846 [DAT](INFO): DAT read: Bearing  54.4, -13.9 (Local)

2025-08-09T16:55:36.846Z,1754758536.846 [DAT](INFO): Local bearing/azimuth received:
 Bearing  54.4, -13.9 (Local)

2025-08-09T16:55:36.849Z,1754758536.849 [DAT](INFO): DAT read: Range 11 to 50 : 27.3 m  (Round-trip  36.5 ms) speed -0.2 m/s

2025-08-09T16:55:36.850Z,1754758536.850 [DAT](INFO): DAT read: user:236>

2025-08-09T16:55:36.851Z,1754758536.851 [DAT](INFO): DAT read: Tx time:16:55:36.2434

2025-08-09T16:55:36.851Z,1754758536.851 [DAT](INFO): Ping request sent.
2025-08-09T16:55:36.851Z,1754758536.851 [DAT](INFO): transmitted an acoustic signal
2025-08-09T16:55:36.852Z,1754758536.852 [DAT](INFO): #Rx 41: Read range and direction messages.
2025-08-09T16:55:36.853Z,1754758536.853 [DAT](INFO): direction in FSK: [-0.971621,-0.222531,-0.080199]
2025-08-09T16:55:36.853Z,1754758536.853 [DAT](INFO): publishing transmit ping time
2025-08-09T16:55:36.854Z,1754758536.854 [DAT](INFO): publishing direction and range info
2025-08-09T16:55:36.859Z,1754758536.859 [DAT](INFO): publishing transmit ping time
2025-08-09T16:55:36.859Z,1754758536.859 [DAT](INFO): publishing direction and range info
2025-08-09T16:55:36.864Z,1754758536.864 [DAT](INFO): checking for new query: numPingsReceived=41, elapsed TxPingTime=0.012272
2025-08-09T16:55:37.084Z,1754758537.084 [DAT](INFO): checking for new query: numPingsReceived=41, elapsed TxPingTime=0.232464
2025-08-09T16:55:37.160Z,1754758537.160 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 27.299999 m,
      deltaT: 3.532625 s,
      deltaX: 0.599998 m,
      approachRate: 0.169845 m/s,
      rangeRepo size: 4

2025-08-09T16:55:37.167Z,1754758537.167 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 27.299999 m,
      bearing: 265.783516 deg,
      lat: 36.906134 deg,
      lon: -122.115852 deg,
      deltaT: 3.532625 s,
      deltaX: 0.599998 m,
      approachRate: 0.169845 m/s,
      posRepo size: 4

2025-08-09T16:55:37.168Z,1754758537.168 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 27.30 m.
2025-08-09T16:55:37.336Z,1754758537.336 [DAT](INFO): checking for new query: numPingsReceived=41, elapsed TxPingTime=0.484648
2025-08-09T16:55:37.587Z,1754758537.587 [DAT](INFO): checking for new query: numPingsReceived=41, elapsed TxPingTime=0.736020
2025-08-09T16:55:37.620Z,1754758537.620 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 27.30 m.
2025-08-09T16:55:37.841Z,1754758537.841 [DAT](INFO): checking for new query: numPingsReceived=41, elapsed TxPingTime=0.989026
2025-08-09T16:55:37.935Z,1754758537.935 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 27.30 m.
2025-08-09T16:55:38.091Z,1754758538.091 [DAT](INFO): checking for new query: numPingsReceived=41, elapsed TxPingTime=1.239904
2025-08-09T16:55:38.344Z,1754758538.344 [DAT](INFO): checking for new query: numPingsReceived=41, elapsed TxPingTime=1.492233
2025-08-09T16:55:38.357Z,1754758538.357 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 27.30 m.
2025-08-09T16:55:38.595Z,1754758538.595 [DAT](INFO): checking for new query: numPingsReceived=41, elapsed TxPingTime=1.743957
2025-08-09T16:55:38.781Z,1754758538.781 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 27.30 m.
2025-08-09T16:55:38.848Z,1754758538.848 [DAT](INFO): checking for new query: numPingsReceived=41, elapsed TxPingTime=1.996722
2025-08-09T16:55:39.099Z,1754758539.099 [DAT](INFO): checking for new query: numPingsReceived=41, elapsed TxPingTime=2.247883
2025-08-09T16:55:39.150Z,1754758539.150 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 27.30 m.
2025-08-09T16:55:39.352Z,1754758539.352 [DAT](INFO): checking for new query: numPingsReceived=41, elapsed TxPingTime=2.501028
2025-08-09T16:55:39.604Z,1754758539.604 [DAT](INFO): checking for new query: numPingsReceived=41, elapsed TxPingTime=2.752762
2025-08-09T16:55:39.629Z,1754758539.629 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 27.30 m.
2025-08-09T16:55:39.858Z,1754758539.858 [DAT](INFO): DAT read: Rx Time:16:55:38.6846

2025-08-09T16:55:39.859Z,1754758539.859 [DAT](INFO): Rx dataTimestamp_ set to:1754758539.858598
2025-08-09T16:55:39.859Z,1754758539.859 [DAT](INFO): checking for new query: numPingsReceived=41, elapsed TxPingTime=3.008116
2025-08-09T16:55:39.983Z,1754758539.983 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 27.30 m.
2025-08-09T16:55:40.107Z,1754758540.107 [DAT](INFO): checking for new query: numPingsReceived=41, elapsed TxPingTime=3.255954
2025-08-09T16:55:40.365Z,1754758540.365 [DAT](INFO): DAT read: 16:55:38.6846 LVL= 32752, 30689, 32754, 28275, AGC= 65, IDX= 424, 0.33, 0.364, 2.635, 0.964, 1.419, PHS=-0.953, 1.261,-0.499, RAW= 318.8,   1.9, CAL= 316.9,  -1.1, ROT= 193.1,   1.1

2025-08-09T16:55:40.371Z,1754758540.371 [DAT](INFO): got valid direction response:
 16:55:38.6846 LVL= 32752, 30689, 32754, 28275, AGC= 65, IDX= 424, 0.33, 0.364, 2.635, 0.964, 1.419, PHS=-0.953, 1.261,-0.499, RAW= 318.8,   1.9, CAL= 316.9,  -1.1, ROT= 193.1,   1.1

2025-08-09T16:55:40.372Z,1754758540.372 [DAT](INFO): DAT read: Bearing  50.8, -14.4 (Local)

2025-08-09T16:55:40.372Z,1754758540.372 [DAT](INFO): Local bearing/azimuth received:
 Bearing  50.8, -14.4 (Local)

2025-08-09T16:55:40.374Z,1754758540.374 [DAT](INFO): DAT read: Range 11 to 50 : 27.8 m  (Round-trip  37.1 ms) speed -0.2 m/s

2025-08-09T16:55:40.375Z,1754758540.375 [DAT](INFO): DAT read: user:237>

2025-08-09T16:55:40.375Z,1754758540.375 [DAT](INFO): DAT read: Tx time:16:55:39.7934

2025-08-09T16:55:40.376Z,1754758540.376 [DAT](INFO): Ping request sent.
2025-08-09T16:55:40.376Z,1754758540.376 [DAT](INFO): transmitted an acoustic signal
2025-08-09T16:55:40.376Z,1754758540.376 [DAT](INFO): #Rx 42: Read range and direction messages.
2025-08-09T16:55:40.377Z,1754758540.377 [DAT](INFO): direction in FSK: [-0.973796,-0.226610,-0.019197]
2025-08-09T16:55:40.377Z,1754758540.377 [DAT](INFO): publishing transmit ping time
2025-08-09T16:55:40.378Z,1754758540.378 [DAT](INFO): publishing direction and range info
2025-08-09T16:55:40.393Z,1754758540.393 [DAT](INFO): publishing transmit ping time
2025-08-09T16:55:40.393Z,1754758540.393 [DAT](INFO): publishing direction and range info
2025-08-09T16:55:40.400Z,1754758540.400 [DAT](INFO): checking for new query: numPingsReceived=42, elapsed TxPingTime=0.024590
2025-08-09T16:55:40.414Z,1754758540.414 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 27.799999 m,
      deltaT: 3.527477 s,
      deltaX: 0.500000 m,
      approachRate: 0.141744 m/s,
      rangeRepo size: 4

2025-08-09T16:55:40.424Z,1754758540.424 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 27.799999 m,
      bearing: 264.710272 deg,
      lat: 36.906131 deg,
      lon: -122.115854 deg,
      deltaT: 3.527477 s,
      deltaX: 0.500000 m,
      approachRate: 0.141744 m/s,
      posRepo size: 4

2025-08-09T16:55:40.425Z,1754758540.425 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 27.80 m.
2025-08-09T16:55:40.611Z,1754758540.611 [DAT](INFO): checking for new query: numPingsReceived=42, elapsed TxPingTime=0.235605
2025-08-09T16:55:40.852Z,1754758540.852 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 27.80 m.
2025-08-09T16:55:40.864Z,1754758540.864 [DAT](INFO): checking for new query: numPingsReceived=42, elapsed TxPingTime=0.488142
2025-08-09T16:55:41.115Z,1754758541.115 [DAT](INFO): checking for new query: numPingsReceived=42, elapsed TxPingTime=0.739423
2025-08-09T16:55:41.172Z,1754758541.172 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 27.80 m.
2025-08-09T16:55:41.368Z,1754758541.368 [DAT](INFO): checking for new query: numPingsReceived=42, elapsed TxPingTime=0.992036
2025-08-09T16:55:41.621Z,1754758541.621 [DAT](INFO): checking for new query: numPingsReceived=42, elapsed TxPingTime=1.245189
2025-08-09T16:55:41.640Z,1754758541.640 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 27.80 m.
2025-08-09T16:55:41.876Z,1754758541.876 [DAT](INFO): checking for new query: numPingsReceived=42, elapsed TxPingTime=1.500609
2025-08-09T16:55:42.052Z,1754758542.052 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 27.80 m.
2025-08-09T16:55:42.128Z,1754758542.128 [DAT](INFO): checking for new query: numPingsReceived=42, elapsed TxPingTime=1.751865
2025-08-09T16:55:42.379Z,1754758542.379 [DAT](INFO): checking for new query: numPingsReceived=42, elapsed TxPingTime=2.003508
2025-08-09T16:55:42.421Z,1754758542.421 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 27.80 m.
2025-08-09T16:55:42.633Z,1754758542.633 [DAT](INFO): checking for new query: numPingsReceived=42, elapsed TxPingTime=2.257223
2025-08-09T16:55:42.883Z,1754758542.883 [DAT](INFO): checking for new query: numPingsReceived=42, elapsed TxPingTime=2.507416
2025-08-09T16:55:42.994Z,1754758542.994 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 27.80 m.
2025-08-09T16:55:43.135Z,1754758543.135 [DAT](INFO): checking for new query: numPingsReceived=42, elapsed TxPingTime=2.759506
2025-08-09T16:55:43.244Z,1754758543.244 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 27.80 m.
2025-08-09T16:55:43.387Z,1754758543.387 [DAT](INFO): DAT read: Rx Time:16:55:42.2353

2025-08-09T16:55:43.388Z,1754758543.388 [DAT](INFO): Rx dataTimestamp_ set to:1754758543.387613
2025-08-09T16:55:43.388Z,1754758543.388 [DAT](INFO): checking for new query: numPingsReceived=42, elapsed TxPingTime=3.012660
2025-08-09T16:55:43.643Z,1754758543.643 [DAT](INFO): checking for new query: numPingsReceived=42, elapsed TxPingTime=3.266063
2025-08-09T16:55:43.732Z,1754758543.732 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 27.80 m.
2025-08-09T16:55:43.897Z,1754758543.897 [DAT](INFO): DAT read: 16:55:42.2353 LVL= 30416, 22337, 28738, 29635, AGC= 67, IDX= 431, 0.43, 2.658,-1.520,-3.037,-2.706, PHS=-0.816, 1.231,-0.374, RAW= 318.2,  -0.4, CAL= 316.6,  -3.5, ROT= 193.4,   3.5

2025-08-09T16:55:43.899Z,1754758543.899 [DAT](INFO): got valid direction response:
 16:55:42.2353 LVL= 30416, 22337, 28738, 29635, AGC= 67, IDX= 431, 0.43, 2.658,-1.520,-3.037,-2.706, PHS=-0.816, 1.231,-0.374, RAW= 318.2,  -0.4, CAL= 316.6,  -3.5, ROT= 193.4,   3.5

2025-08-09T16:55:43.899Z,1754758543.899 [DAT](INFO): DAT read: Bearing  53.6, -14.7 (Local)

2025-08-09T16:55:43.900Z,1754758543.900 [DAT](INFO): Local bearing/azimuth received:
 Bearing  53.6, -14.7 (Local)

2025-08-09T16:55:43.901Z,1754758543.901 [DAT](INFO): DAT read: Range 11 to 50 : 28.2 m  (Round-trip  37.7 ms) speed  0.0 m/s

2025-08-09T16:55:43.902Z,1754758543.902 [DAT](INFO): DAT read: user:238>

2025-08-09T16:55:43.903Z,1754758543.903 [DAT](INFO): DAT read: Tx time:16:55:43.3434

2025-08-09T16:55:43.903Z,1754758543.903 [DAT](INFO): Ping request sent.
2025-08-09T16:55:43.904Z,1754758543.904 [DAT](INFO): transmitted an acoustic signal
2025-08-09T16:55:43.904Z,1754758543.904 [DAT](INFO): #Rx 43: Read range and direction messages.
2025-08-09T16:55:43.905Z,1754758543.905 [DAT](INFO): direction in FSK: [-0.970961,-0.231315,-0.061049]
2025-08-09T16:55:43.905Z,1754758543.905 [DAT](INFO): publishing transmit ping time
2025-08-09T16:55:43.905Z,1754758543.905 [DAT](INFO): publishing direction and range info
2025-08-09T16:55:43.938Z,1754758543.938 [DAT](INFO): publishing transmit ping time
2025-08-09T16:55:43.954Z,1754758543.954 [DAT](INFO): publishing direction and range info
2025-08-09T16:55:43.958Z,1754758543.958 [DAT](INFO): checking for new query: numPingsReceived=43, elapsed TxPingTime=0.053975
2025-08-09T16:55:44.143Z,1754758544.143 [DAT](INFO): checking for new query: numPingsReceived=43, elapsed TxPingTime=0.239517
2025-08-09T16:55:44.197Z,1754758544.197 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 28.200001 m,
      deltaT: 3.531916 s,
      deltaX: 0.400002 m,
      approachRate: 0.113253 m/s,
      rangeRepo size: 4

2025-08-09T16:55:44.204Z,1754758544.204 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 28.200001 m,
      bearing: 264.094121 deg,
      lat: 36.906131 deg,
      lon: -122.115854 deg,
      deltaT: 3.531916 s,
      deltaX: 0.400002 m,
      approachRate: 0.113253 m/s,
      posRepo size: 4

2025-08-09T16:55:44.204Z,1754758544.204 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 28.20 m.
2025-08-09T16:55:44.395Z,1754758544.395 [DAT](INFO): checking for new query: numPingsReceived=43, elapsed TxPingTime=0.491855
2025-08-09T16:55:44.570Z,1754758544.570 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 28.20 m.
2025-08-09T16:55:44.650Z,1754758544.650 [DAT](INFO): checking for new query: numPingsReceived=43, elapsed TxPingTime=0.745977
2025-08-09T16:55:44.899Z,1754758544.899 [DAT](INFO): checking for new query: numPingsReceived=43, elapsed TxPingTime=0.995644
2025-08-09T16:55:45.035Z,1754758545.035 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 28.20 m.
2025-08-09T16:55:45.155Z,1754758545.155 [DAT](INFO): checking for new query: numPingsReceived=43, elapsed TxPingTime=1.251728
2025-08-09T16:55:45.381Z,1754758545.381 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 28.20 m.
2025-08-09T16:55:45.403Z,1754758545.403 [DAT](INFO): checking for new query: numPingsReceived=43, elapsed TxPingTime=1.499707
2025-08-09T16:55:45.658Z,1754758545.658 [DAT](INFO): checking for new query: numPingsReceived=43, elapsed TxPingTime=1.753752
2025-08-09T16:55:45.848Z,1754758545.848 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 28.20 m.
2025-08-09T16:55:45.907Z,1754758545.907 [DAT](INFO): checking for new query: numPingsReceived=43, elapsed TxPingTime=2.003679
2025-08-09T16:55:46.159Z,1754758546.159 [DAT](INFO): checking for new query: numPingsReceived=43, elapsed TxPingTime=2.255688
2025-08-09T16:55:46.276Z,1754758546.276 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 28.20 m.
2025-08-09T16:55:46.411Z,1754758546.411 [DAT](INFO): checking for new query: numPingsReceived=43, elapsed TxPingTime=2.507688
2025-08-09T16:55:46.666Z,1754758546.666 [DAT](INFO): checking for new query: numPingsReceived=43, elapsed TxPingTime=2.761821
2025-08-09T16:55:46.750Z,1754758546.750 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 28.20 m.
2025-08-09T16:55:46.915Z,1754758546.915 [DAT](INFO): DAT read: Rx Time:16:55:45.7860

2025-08-09T16:55:46.916Z,1754758546.916 [DAT](INFO): Rx dataTimestamp_ set to:1754758546.915535
2025-08-09T16:55:46.916Z,1754758546.916 [DAT](INFO): checking for new query: numPingsReceived=43, elapsed TxPingTime=3.012782
2025-08-09T16:55:47.055Z,1754758547.055 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 28.20 m.
2025-08-09T16:55:47.167Z,1754758547.167 [DAT](INFO): checking for new query: numPingsReceived=43, elapsed TxPingTime=3.263648
2025-08-09T16:55:47.454Z,1754758547.454 [DAT](INFO): DAT read: 16:55:45.7860 LVL= 32752, 32753, 32754, 32755, AGC= 67, IDX= 455,-0.06,-0.905, 1.307,-0.294,-0.016, PHS=-0.787, 1.369,-0.322, RAW= 318.2,  -2.7, CAL= 317.0,  -5.9, ROT= 193.0,   5.9

2025-08-09T16:55:47.455Z,1754758547.455 [DAT](INFO): got valid direction response:
 16:55:45.7860 LVL= 32752, 32753, 32754, 32755, AGC= 67, IDX= 455,-0.06,-0.905, 1.307,-0.294,-0.016, PHS=-0.787, 1.369,-0.322, RAW= 318.2,  -2.7, CAL= 317.0,  -5.9, ROT= 193.0,   5.9

2025-08-09T16:55:47.456Z,1754758547.456 [DAT](INFO): DAT read: Bearing  56.1, -13.9 (Local)

2025-08-09T16:55:47.457Z,1754758547.457 [DAT](INFO): Local bearing/azimuth received:
 Bearing  56.1, -13.9 (Local)

2025-08-09T16:55:47.458Z,1754758547.458 [DAT](INFO): DAT read: Range 11 to 50 : 28.8 m  (Round-trip  38.5 ms) speed -0.1 m/s

2025-08-09T16:55:47.459Z,1754758547.459 [DAT](INFO): DAT read: user:239>

2025-08-09T16:55:47.459Z,1754758547.459 [DAT](INFO): DAT read: Tx time:16:55:46.8933

2025-08-09T16:55:47.460Z,1754758547.460 [DAT](INFO): Ping request sent.
2025-08-09T16:55:47.460Z,1754758547.460 [DAT](INFO): transmitted an acoustic signal
2025-08-09T16:55:47.460Z,1754758547.460 [DAT](INFO): #Rx 44: Read range and direction messages.
2025-08-09T16:55:47.461Z,1754758547.461 [DAT](INFO): direction in FSK: [-0.969209,-0.223759,-0.102793]
2025-08-09T16:55:47.461Z,1754758547.461 [DAT](INFO): publishing transmit ping time
2025-08-09T16:55:47.462Z,1754758547.462 [DAT](INFO): publishing direction and range info
2025-08-09T16:55:47.519Z,1754758547.519 [DAT](INFO): publishing transmit ping time
2025-08-09T16:55:47.520Z,1754758547.520 [DAT](INFO): publishing direction and range info
2025-08-09T16:55:47.540Z,1754758547.540 [DAT](INFO): checking for new query: numPingsReceived=44, elapsed TxPingTime=0.079745
2025-08-09T16:55:47.551Z,1754758547.551 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 28.799999 m,
      deltaT: 3.527867 s,
      deltaX: 0.599998 m,
      approachRate: 0.170074 m/s,
      rangeRepo size: 4

2025-08-09T16:55:47.553Z,1754758547.553 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 28.799999 m,
      bearing: 263.451835 deg,
      lat: 36.906131 deg,
      lon: -122.115855 deg,
      deltaT: 3.527867 s,
      deltaX: 0.599998 m,
      approachRate: 0.170074 m/s,
      posRepo size: 4

2025-08-09T16:55:47.553Z,1754758547.553 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 28.80 m.
2025-08-09T16:55:47.674Z,1754758547.674 [DAT](INFO): checking for new query: numPingsReceived=44, elapsed TxPingTime=0.213968
2025-08-09T16:55:47.914Z,1754758547.914 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 28.80 m.
2025-08-09T16:55:47.923Z,1754758547.923 [DAT](INFO): checking for new query: numPingsReceived=44, elapsed TxPingTime=0.463499
2025-08-09T16:55:48.175Z,1754758548.175 [DAT](INFO): checking for new query: numPingsReceived=44, elapsed TxPingTime=0.715373
2025-08-09T16:55:48.283Z,1754758548.283 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 28.80 m.
2025-08-09T16:55:48.428Z,1754758548.428 [DAT](INFO): checking for new query: numPingsReceived=44, elapsed TxPingTime=0.968015
2025-08-09T16:55:48.682Z,1754758548.682 [DAT](INFO): checking for new query: numPingsReceived=44, elapsed TxPingTime=1.221585
2025-08-09T16:55:48.796Z,1754758548.796 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 28.80 m.
2025-08-09T16:55:48.931Z,1754758548.931 [DAT](INFO): checking for new query: numPingsReceived=44, elapsed TxPingTime=1.471377
2025-08-09T16:55:49.183Z,1754758549.183 [DAT](INFO): checking for new query: numPingsReceived=44, elapsed TxPingTime=1.723521
2025-08-09T16:55:49.217Z,1754758549.217 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 28.80 m.
2025-08-09T16:55:49.435Z,1754758549.435 [DAT](INFO): checking for new query: numPingsReceived=44, elapsed TxPingTime=1.975387
2025-08-09T16:55:49.608Z,1754758549.608 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 28.80 m.
2025-08-09T16:55:49.690Z,1754758549.690 [DAT](INFO): checking for new query: numPingsReceived=44, elapsed TxPingTime=2.229611
2025-08-09T16:55:49.939Z,1754758549.939 [DAT](INFO): checking for new query: numPingsReceived=44, elapsed TxPingTime=2.479340
2025-08-09T16:55:50.054Z,1754758550.054 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 28.80 m.
2025-08-09T16:55:50.191Z,1754758550.191 [DAT](INFO): checking for new query: numPingsReceived=44, elapsed TxPingTime=2.731283
2025-08-09T16:55:50.420Z,1754758550.420 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 28.80 m.
2025-08-09T16:55:50.443Z,1754758550.443 [DAT](INFO): DAT read: Rx Time:16:55:49.3366

2025-08-09T16:55:50.444Z,1754758550.444 [DAT](INFO): Rx dataTimestamp_ set to:1754758550.443444
2025-08-09T16:55:50.444Z,1754758550.444 [DAT](INFO): checking for new query: numPingsReceived=44, elapsed TxPingTime=2.984446
2025-08-09T16:55:50.698Z,1754758550.698 [DAT](INFO): checking for new query: numPingsReceived=44, elapsed TxPingTime=3.237619
2025-08-09T16:55:50.921Z,1754758550.921 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 28.80 m.
2025-08-09T16:55:50.953Z,1754758550.953 [DAT](INFO): DAT read: 16:55:49.3366 LVL= 32752, 28145, 30018, 30627, AGC= 68, IDX= 429, 0.33, 1.421,-2.632, 2.055, 2.261, PHS=-0.737, 1.436,-0.250, RAW= 317.7,  -4.6, CAL= 316.8,  -7.9, ROT= 193.2,   7.9

2025-08-09T16:55:50.954Z,1754758550.954 [DAT](INFO): got valid direction response:
 16:55:49.3366 LVL= 32752, 28145, 30018, 30627, AGC= 68, IDX= 429, 0.33, 1.421,-2.632, 2.055, 2.261, PHS=-0.737, 1.436,-0.250, RAW= 317.7,  -4.6, CAL= 316.8,  -7.9, ROT= 193.2,   7.9

2025-08-09T16:55:50.955Z,1754758550.955 [DAT](INFO): DAT read: Bearing  58.3, -13.6 (Local)

2025-08-09T16:55:50.956Z,1754758550.956 [DAT](INFO): Local bearing/azimuth received:
 Bearing  58.3, -13.6 (Local)

2025-08-09T16:55:50.957Z,1754758550.957 [DAT](INFO): DAT read: Range 11 to 50 : 29.3 m  (Round-trip  39.1 ms) speed  0.0 m/s

2025-08-09T16:55:50.958Z,1754758550.958 [DAT](INFO): DAT read: user:240>

2025-08-09T16:55:50.959Z,1754758550.959 [DAT](INFO): DAT read: Tx time:16:55:50.4433

2025-08-09T16:55:50.959Z,1754758550.959 [DAT](INFO): Ping request sent.
2025-08-09T16:55:50.959Z,1754758550.959 [DAT](INFO): transmitted an acoustic signal
2025-08-09T16:55:50.959Z,1754758550.959 [DAT](INFO): #Rx 45: Read range and direction messages.
2025-08-09T16:55:50.960Z,1754758550.960 [DAT](INFO): direction in FSK: [-0.964339,-0.226184,-0.137445]
2025-08-09T16:55:50.961Z,1754758550.961 [DAT](INFO): publishing transmit ping time
2025-08-09T16:55:50.961Z,1754758550.961 [DAT](INFO): publishing direction and range info
2025-08-09T16:55:50.964Z,1754758550.964 [DAT](INFO): publishing transmit ping time
2025-08-09T16:55:50.964Z,1754758550.964 [DAT](INFO): publishing direction and range info
2025-08-09T16:55:50.976Z,1754758550.976 [DAT](INFO): checking for new query: numPingsReceived=45, elapsed TxPingTime=0.017075
2025-08-09T16:55:51.199Z,1754758551.199 [DAT](INFO): checking for new query: numPingsReceived=45, elapsed TxPingTime=0.240145
2025-08-09T16:55:51.372Z,1754758551.372 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 29.299999 m,
      deltaT: 3.528219 s,
      deltaX: 0.500000 m,
      approachRate: 0.141715 m/s,
      rangeRepo size: 4

2025-08-09T16:55:51.374Z,1754758551.374 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 29.299999 m,
      bearing: 264.215302 deg,
      lat: 36.906137 deg,
      lon: -122.115854 deg,
      deltaT: 3.528219 s,
      deltaX: 0.500000 m,
      approachRate: 0.141715 m/s,
      posRepo size: 4

2025-08-09T16:55:51.375Z,1754758551.375 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 29.30 m.
2025-08-09T16:55:51.451Z,1754758551.451 [DAT](INFO): checking for new query: numPingsReceived=45, elapsed TxPingTime=0.492296
2025-08-09T16:55:51.709Z,1754758551.709 [DAT](INFO): checking for new query: numPingsReceived=45, elapsed TxPingTime=0.749808
2025-08-09T16:55:51.883Z,1754758551.883 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 29.30 m.
2025-08-09T16:55:51.959Z,1754758551.959 [DAT](INFO): checking for new query: numPingsReceived=45, elapsed TxPingTime=1.000046
2025-08-09T16:55:52.215Z,1754758552.215 [DAT](INFO): checking for new query: numPingsReceived=45, elapsed TxPingTime=1.255858
2025-08-09T16:55:52.280Z,1754758552.280 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 29.30 m.
2025-08-09T16:55:52.464Z,1754758552.464 [DAT](INFO): checking for new query: numPingsReceived=45, elapsed TxPingTime=1.504338
2025-08-09T16:55:52.699Z,1754758552.699 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 29.30 m.
2025-08-09T16:55:52.715Z,1754758552.715 [DAT](INFO): checking for new query: numPingsReceived=45, elapsed TxPingTime=1.756221
2025-08-09T16:55:52.968Z,1754758552.968 [DAT](INFO): checking for new query: numPingsReceived=45, elapsed TxPingTime=2.008815
2025-08-09T16:55:53.140Z,1754758553.140 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 29.30 m.
2025-08-09T16:55:53.219Z,1754758553.219 [DAT](INFO): checking for new query: numPingsReceived=45, elapsed TxPingTime=2.260161
2025-08-09T16:55:53.472Z,1754758553.472 [DAT](INFO): checking for new query: numPingsReceived=45, elapsed TxPingTime=2.512327
2025-08-09T16:55:53.540Z,1754758553.540 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 29.30 m.
2025-08-09T16:55:53.723Z,1754758553.723 [DAT](INFO): checking for new query: numPingsReceived=45, elapsed TxPingTime=2.764106
2025-08-09T16:55:53.959Z,1754758553.959 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 29.30 m.
2025-08-09T16:55:53.976Z,1754758553.976 [DAT](INFO): DAT read: Rx Time:16:55:52.8876

2025-08-09T16:55:53.977Z,1754758553.977 [DAT](INFO): Rx dataTimestamp_ set to:1754758553.976659
2025-08-09T16:55:53.977Z,1754758553.977 [DAT](INFO): checking for new query: numPingsReceived=45, elapsed TxPingTime=3.018343
2025-08-09T16:55:54.227Z,1754758554.227 [DAT](INFO): checking for new query: numPingsReceived=45, elapsed TxPingTime=3.268082
2025-08-09T16:55:54.361Z,1754758554.361 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 29.30 m.
2025-08-09T16:55:54.486Z,1754758554.486 [DAT](INFO): DAT read: 16:55:52.8876 LVL= 32752, 26481, 28658, 32467, AGC= 68, IDX= 456,-0.05,-1.412, 0.902,-0.857,-0.541, PHS=-0.769, 1.488,-0.360, RAW= 320.2,  -3.5, CAL= 319.2,  -6.7, ROT= 190.8,   6.7

2025-08-09T16:55:54.487Z,1754758554.487 [DAT](INFO): got valid direction response:
 16:55:52.8876 LVL= 32752, 26481, 28658, 32467, AGC= 68, IDX= 456,-0.05,-1.412, 0.902,-0.857,-0.541, PHS=-0.769, 1.488,-0.360, RAW= 320.2,  -3.5, CAL= 319.2,  -6.7, ROT= 190.8,   6.7

2025-08-09T16:55:54.488Z,1754758554.488 [DAT](INFO): DAT read: Bearing  57.4, -11.1 (Local)

2025-08-09T16:55:54.489Z,1754758554.489 [DAT](INFO): Local bearing/azimuth received:
 Bearing  57.4, -11.1 (Local)

2025-08-09T16:55:54.491Z,1754758554.491 [DAT](INFO): DAT read: Range 11 to 50 : 30.1 m  (Round-trip  40.2 ms) speed  0.0 m/s

2025-08-09T16:55:54.492Z,1754758554.492 [DAT](INFO): DAT read: user:241>

2025-08-09T16:55:54.493Z,1754758554.493 [DAT](INFO): DAT read: Tx time:16:55:53.9933

2025-08-09T16:55:54.494Z,1754758554.494 [DAT](INFO): Ping request sent.
2025-08-09T16:55:54.494Z,1754758554.494 [DAT](INFO): transmitted an acoustic signal
2025-08-09T16:55:54.495Z,1754758554.495 [DAT](INFO): #Rx 46: Read range and direction messages.
2025-08-09T16:55:54.496Z,1754758554.496 [DAT](INFO): direction in FSK: [-0.975579,-0.186102,-0.116671]
2025-08-09T16:55:54.497Z,1754758554.497 [DAT](INFO): publishing transmit ping time
2025-08-09T16:55:54.497Z,1754758554.497 [DAT](INFO): publishing direction and range info
2025-08-09T16:55:54.501Z,1754758554.501 [DAT](INFO): publishing transmit ping time
2025-08-09T16:55:54.502Z,1754758554.502 [DAT](INFO): publishing direction and range info
2025-08-09T16:55:54.513Z,1754758554.513 [DAT](INFO): checking for new query: numPingsReceived=46, elapsed TxPingTime=0.018836
2025-08-09T16:55:54.735Z,1754758554.735 [DAT](INFO): checking for new query: numPingsReceived=46, elapsed TxPingTime=0.239754
2025-08-09T16:55:54.840Z,1754758554.840 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 30.100000 m,
      deltaT: 3.533099 s,
      deltaX: 0.800001 m,
      approachRate: 0.226430 m/s,
      rangeRepo size: 4

2025-08-09T16:55:54.847Z,1754758554.847 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 30.100000 m,
      bearing: 263.910627 deg,
      lat: 36.906137 deg,
      lon: -122.115855 deg,
      deltaT: 3.533099 s,
      deltaX: 0.800001 m,
      approachRate: 0.226430 m/s,
      posRepo size: 4

2025-08-09T16:55:54.848Z,1754758554.848 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.10 m.
2025-08-09T16:55:54.984Z,1754758554.984 [DAT](INFO): checking for new query: numPingsReceived=46, elapsed TxPingTime=0.489341
2025-08-09T16:55:55.235Z,1754758555.235 [DAT](INFO): checking for new query: numPingsReceived=46, elapsed TxPingTime=0.741233
2025-08-09T16:55:55.323Z,1754758555.323 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.10 m.
2025-08-09T16:55:55.487Z,1754758555.487 [DAT](INFO): checking for new query: numPingsReceived=46, elapsed TxPingTime=0.993040
2025-08-09T16:55:55.638Z,1754758555.638 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.10 m.
2025-08-09T16:55:55.739Z,1754758555.739 [DAT](INFO): checking for new query: numPingsReceived=46, elapsed TxPingTime=1.245131
2025-08-09T16:55:55.991Z,1754758555.991 [DAT](INFO): checking for new query: numPingsReceived=46, elapsed TxPingTime=1.497134
2025-08-09T16:55:56.092Z,1754758556.092 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.10 m.
2025-08-09T16:55:56.243Z,1754758556.243 [DAT](INFO): checking for new query: numPingsReceived=46, elapsed TxPingTime=1.749159
2025-08-09T16:55:56.454Z,1754758556.454 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.10 m.
2025-08-09T16:55:56.496Z,1754758556.496 [DAT](INFO): checking for new query: numPingsReceived=46, elapsed TxPingTime=2.001352
2025-08-09T16:55:56.751Z,1754758556.751 [DAT](INFO): checking for new query: numPingsReceived=46, elapsed TxPingTime=2.257228
2025-08-09T16:55:56.900Z,1754758556.900 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.10 m.
2025-08-09T16:55:57.003Z,1754758557.003 [DAT](INFO): checking for new query: numPingsReceived=46, elapsed TxPingTime=2.509102
2025-08-09T16:55:57.256Z,1754758557.256 [DAT](INFO): checking for new query: numPingsReceived=46, elapsed TxPingTime=2.761795
2025-08-09T16:55:57.315Z,1754758557.315 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.10 m.
2025-08-09T16:55:57.507Z,1754758557.507 [DAT](INFO): checking for new query: numPingsReceived=46, elapsed TxPingTime=3.013159
2025-08-09T16:55:57.699Z,1754758557.699 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.10 m.
2025-08-09T16:55:57.760Z,1754758557.760 [DAT](INFO): checking for new query: numPingsReceived=46, elapsed TxPingTime=3.265846
2025-08-09T16:55:58.011Z,1754758558.011 [DAT](INFO): checking for new query: numPingsReceived=46, elapsed TxPingTime=3.517116
2025-08-09T16:55:58.123Z,1754758558.123 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.10 m.
2025-08-09T16:55:58.263Z,1754758558.263 [DAT](INFO): checking for new query: numPingsReceived=46, elapsed TxPingTime=3.769174
2025-08-09T16:55:58.503Z,1754758558.503 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.10 m.
2025-08-09T16:55:58.515Z,1754758558.515 [DAT](INFO): checking for new query: numPingsReceived=46, elapsed TxPingTime=4.021196
2025-08-09T16:55:58.768Z,1754758558.768 [DAT](INFO): checking for new query: numPingsReceived=46, elapsed TxPingTime=4.273379
2025-08-09T16:55:58.946Z,1754758558.946 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.10 m.
2025-08-09T16:55:59.019Z,1754758559.019 [DAT](INFO): checking for new query: numPingsReceived=46, elapsed TxPingTime=4.525179
2025-08-09T16:55:59.274Z,1754758559.274 [DAT](INFO): checking for new query: numPingsReceived=46, elapsed TxPingTime=4.779936
2025-08-09T16:55:59.341Z,1754758559.341 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.10 m.
2025-08-09T16:55:59.524Z,1754758559.524 [DAT](INFO): checking for new query: numPingsReceived=46, elapsed TxPingTime=5.029366
2025-08-09T16:55:59.750Z,1754758559.750 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.10 m.
2025-08-09T16:55:59.777Z,1754758559.777 [DAT](INFO): checking for new query: numPingsReceived=46, elapsed TxPingTime=5.282145
2025-08-09T16:56:00.027Z,1754758560.027 [DAT](INFO): checking for new query: numPingsReceived=46, elapsed TxPingTime=5.533241
2025-08-09T16:56:00.200Z,1754758560.200 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.10 m.
2025-08-09T16:56:00.281Z,1754758560.281 [DAT](INFO): checking for new query: numPingsReceived=46, elapsed TxPingTime=5.786596
2025-08-09T16:56:00.532Z,1754758560.532 [DAT](INFO): checking for new query: numPingsReceived=46, elapsed TxPingTime=6.037839
2025-08-09T16:56:00.587Z,1754758560.587 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.10 m.
2025-08-09T16:56:00.785Z,1754758560.785 [DAT](INFO): checking for new query: numPingsReceived=46, elapsed TxPingTime=6.290517
2025-08-09T16:56:01.001Z,1754758561.001 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.10 m.
2025-08-09T16:56:01.036Z,1754758561.036 [DAT](INFO): checking for new query: numPingsReceived=46, elapsed TxPingTime=6.541907
2025-08-09T16:56:01.288Z,1754758561.288 [DAT](INFO): checking for new query: numPingsReceived=46, elapsed TxPingTime=6.794020
2025-08-09T16:56:01.378Z,1754758561.378 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.10 m.
2025-08-09T16:56:01.539Z,1754758561.539 [DAT](INFO): checking for new query: numPingsReceived=46, elapsed TxPingTime=7.045054
2025-08-09T16:56:01.794Z,1754758561.794 [DAT](INFO): checking for new query: numPingsReceived=46, elapsed TxPingTime=7.299363
2025-08-09T16:56:01.823Z,1754758561.823 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.10 m.
2025-08-09T16:56:02.043Z,1754758562.043 [DAT](INFO): checking for new query: numPingsReceived=46, elapsed TxPingTime=7.549184
2025-08-09T16:56:02.260Z,1754758562.260 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.10 m.
2025-08-09T16:56:02.296Z,1754758562.296 [DAT](INFO): checking for new query: numPingsReceived=46, elapsed TxPingTime=7.801999
2025-08-09T16:56:02.547Z,1754758562.547 [DAT](INFO): checking for new query: numPingsReceived=46, elapsed TxPingTime=8.053078
2025-08-09T16:56:02.673Z,1754758562.673 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.10 m.
2025-08-09T16:56:02.800Z,1754758562.800 [DAT](INFO): checking for new query: numPingsReceived=46, elapsed TxPingTime=8.305472
2025-08-09T16:56:03.051Z,1754758563.051 [DAT](INFO): checking for new query: numPingsReceived=46, elapsed TxPingTime=8.557160
2025-08-09T16:56:03.099Z,1754758563.099 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.10 m.
2025-08-09T16:56:03.303Z,1754758563.303 [DAT](INFO): checking for new query: numPingsReceived=46, elapsed TxPingTime=8.809174
2025-08-09T16:56:03.493Z,1754758563.493 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.10 m.
2025-08-09T16:56:03.556Z,1754758563.556 [DAT](INFO): checking for new query: numPingsReceived=46, elapsed TxPingTime=9.061682
2025-08-09T16:56:03.807Z,1754758563.807 [DAT](INFO): checking for new query: numPingsReceived=46, elapsed TxPingTime=9.313137
2025-08-09T16:56:03.946Z,1754758563.946 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.10 m.
2025-08-09T16:56:04.059Z,1754758564.059 [DAT](INFO): checking for new query: numPingsReceived=46, elapsed TxPingTime=9.565105
2025-08-09T16:56:04.312Z,1754758564.312 [DAT](INFO): checking for new query: numPingsReceived=46, elapsed TxPingTime=9.817955
2025-08-09T16:56:04.382Z,1754758564.382 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.10 m.
2025-08-09T16:56:04.565Z,1754758564.565 [DAT](INFO): checking for new query: numPingsReceived=46, elapsed TxPingTime=10.070580
2025-08-09T16:56:04.816Z,1754758564.816 [DAT](INFO): checking for new query: numPingsReceived=46, elapsed TxPingTime=10.321490
2025-08-09T16:56:04.823Z,1754758564.823 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.10 m.
2025-08-09T16:56:05.067Z,1754758565.067 [DAT](INFO): checking for new query: numPingsReceived=46, elapsed TxPingTime=10.573188
2025-08-09T16:56:05.232Z,1754758565.232 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.10 m.
2025-08-09T16:56:05.320Z,1754758565.320 [DAT](INFO): checking for new query: numPingsReceived=46, elapsed TxPingTime=10.826065
2025-08-09T16:56:05.571Z,1754758565.571 [DAT](INFO): checking for new query: numPingsReceived=46, elapsed TxPingTime=11.077083
2025-08-09T16:56:05.612Z,1754758565.612 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.10 m.
2025-08-09T16:56:05.823Z,1754758565.823 [DAT](INFO): checking for new query: numPingsReceived=46, elapsed TxPingTime=11.329176
2025-08-09T16:56:06.061Z,1754758566.061 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.10 m.
2025-08-09T16:56:06.076Z,1754758566.076 [DAT](INFO): checking for new query: numPingsReceived=46, elapsed TxPingTime=11.581352
2025-08-09T16:56:06.327Z,1754758566.327 [DAT](INFO): checking for new query: numPingsReceived=46, elapsed TxPingTime=11.833145
2025-08-09T16:56:06.430Z,1754758566.430 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.10 m.
2025-08-09T16:56:06.579Z,1754758566.579 [DAT](INFO): checking for new query: numPingsReceived=46, elapsed TxPingTime=12.085245
2025-08-09T16:56:06.832Z,1754758566.832 [DAT](INFO): checking for new query: numPingsReceived=46, elapsed TxPingTime=12.337203
2025-08-09T16:56:06.864Z,1754758566.864 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.10 m.
2025-08-09T16:56:07.084Z,1754758567.084 [DAT](INFO): DAT read: Response Not Received

2025-08-09T16:56:07.084Z,1754758567.084 [DAT](INFO): response not received
2025-08-09T16:56:07.084Z,1754758567.084 [DAT](INFO): DAT read: user:242>

2025-08-09T16:56:07.085Z,1754758567.085 [DAT](INFO): DAT read: Tx time:16:56:06.4433

2025-08-09T16:56:07.085Z,1754758567.085 [DAT](INFO): Ping request sent.
2025-08-09T16:56:07.085Z,1754758567.085 [DAT](INFO): transmitted an acoustic signal
2025-08-09T16:56:07.085Z,1754758567.085 [DAT](INFO): publishing transmit ping time
2025-08-09T16:56:07.086Z,1754758567.086 [DAT](INFO): checking for new query: numPingsReceived=46, elapsed TxPingTime=0.000744
2025-08-09T16:56:07.322Z,1754758567.322 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.10 m.
2025-08-09T16:56:07.335Z,1754758567.335 [DAT](INFO): checking for new query: numPingsReceived=46, elapsed TxPingTime=0.250083
2025-08-09T16:56:07.587Z,1754758567.587 [DAT](INFO): checking for new query: numPingsReceived=46, elapsed TxPingTime=0.501848
2025-08-09T16:56:07.679Z,1754758567.679 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.10 m.
2025-08-09T16:56:07.840Z,1754758567.840 [DAT](INFO): checking for new query: numPingsReceived=46, elapsed TxPingTime=0.754276
2025-08-09T16:56:08.091Z,1754758568.091 [DAT](INFO): checking for new query: numPingsReceived=46, elapsed TxPingTime=1.006022
2025-08-09T16:56:08.104Z,1754758568.104 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.10 m.
2025-08-09T16:56:08.343Z,1754758568.343 [DAT](INFO): checking for new query: numPingsReceived=46, elapsed TxPingTime=1.257804
2025-08-09T16:56:08.472Z,1754758568.472 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.10 m.
2025-08-09T16:56:08.595Z,1754758568.595 [DAT](INFO): checking for new query: numPingsReceived=46, elapsed TxPingTime=1.509872
2025-08-09T16:56:08.848Z,1754758568.848 [DAT](INFO): checking for new query: numPingsReceived=46, elapsed TxPingTime=1.762676
2025-08-09T16:56:08.893Z,1754758568.893 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.10 m.
2025-08-09T16:56:09.100Z,1754758569.100 [DAT](INFO): checking for new query: numPingsReceived=46, elapsed TxPingTime=2.014646
2025-08-09T16:56:09.352Z,1754758569.352 [DAT](INFO): checking for new query: numPingsReceived=46, elapsed TxPingTime=2.266233
2025-08-09T16:56:09.460Z,1754758569.460 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.10 m.
2025-08-09T16:56:09.603Z,1754758569.603 [DAT](INFO): checking for new query: numPingsReceived=46, elapsed TxPingTime=2.518138
2025-08-09T16:56:09.853Z,1754758569.853 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.10 m.
2025-08-09T16:56:09.856Z,1754758569.856 [DAT](INFO): checking for new query: numPingsReceived=46, elapsed TxPingTime=2.770279
2025-08-09T16:56:10.107Z,1754758570.107 [DAT](INFO): checking for new query: numPingsReceived=46, elapsed TxPingTime=3.021938
2025-08-09T16:56:10.268Z,1754758570.268 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.10 m.
2025-08-09T16:56:10.359Z,1754758570.359 [DAT](INFO): checking for new query: numPingsReceived=46, elapsed TxPingTime=3.274049
2025-08-09T16:56:10.611Z,1754758570.611 [DAT](INFO): checking for new query: numPingsReceived=46, elapsed TxPingTime=3.526002
2025-08-09T16:56:10.636Z,1754758570.636 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.10 m.
2025-08-09T16:56:10.864Z,1754758570.864 [DAT](INFO): checking for new query: numPingsReceived=46, elapsed TxPingTime=3.778691
2025-08-09T16:56:11.102Z,1754758571.102 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.10 m.
2025-08-09T16:56:11.115Z,1754758571.115 [DAT](INFO): checking for new query: numPingsReceived=46, elapsed TxPingTime=4.030076
2025-08-09T16:56:11.367Z,1754758571.367 [DAT](INFO): checking for new query: numPingsReceived=46, elapsed TxPingTime=4.281899
2025-08-09T16:56:11.463Z,1754758571.463 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.10 m.
2025-08-09T16:56:11.619Z,1754758571.619 [DAT](INFO): checking for new query: numPingsReceived=46, elapsed TxPingTime=4.533933
2025-08-09T16:56:11.872Z,1754758571.872 [DAT](INFO): checking for new query: numPingsReceived=46, elapsed TxPingTime=4.786636
2025-08-09T16:56:11.888Z,1754758571.888 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.10 m.
2025-08-09T16:56:12.123Z,1754758572.123 [DAT](INFO): checking for new query: numPingsReceived=46, elapsed TxPingTime=5.037855
2025-08-09T16:56:12.300Z,1754758572.300 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.10 m.
2025-08-09T16:56:12.376Z,1754758572.376 [DAT](INFO): checking for new query: numPingsReceived=46, elapsed TxPingTime=5.290291
2025-08-09T16:56:12.630Z,1754758572.630 [DAT](INFO): checking for new query: numPingsReceived=46, elapsed TxPingTime=5.544161
2025-08-09T16:56:12.667Z,1754758572.667 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.10 m.
2025-08-09T16:56:12.883Z,1754758572.883 [DAT](INFO): checking for new query: numPingsReceived=46, elapsed TxPingTime=5.798032
2025-08-09T16:56:13.125Z,1754758573.125 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.10 m.
2025-08-09T16:56:13.136Z,1754758573.136 [DAT](INFO): checking for new query: numPingsReceived=46, elapsed TxPingTime=6.050305
2025-08-09T16:56:13.387Z,1754758573.387 [DAT](INFO): checking for new query: numPingsReceived=46, elapsed TxPingTime=6.301981
2025-08-09T16:56:13.479Z,1754758573.479 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.10 m.
2025-08-09T16:56:13.639Z,1754758573.639 [DAT](INFO): checking for new query: numPingsReceived=46, elapsed TxPingTime=6.553905
2025-08-09T16:56:13.892Z,1754758573.892 [DAT](INFO): checking for new query: numPingsReceived=46, elapsed TxPingTime=6.806945
2025-08-09T16:56:13.899Z,1754758573.899 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.10 m.
2025-08-09T16:56:14.144Z,1754758574.144 [DAT](INFO): checking for new query: numPingsReceived=46, elapsed TxPingTime=7.058235
2025-08-09T16:56:14.336Z,1754758574.336 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.10 m.
2025-08-09T16:56:14.396Z,1754758574.396 [DAT](INFO): checking for new query: numPingsReceived=46, elapsed TxPingTime=7.310336
2025-08-09T16:56:14.647Z,1754758574.647 [DAT](INFO): checking for new query: numPingsReceived=46, elapsed TxPingTime=7.562028
2025-08-09T16:56:14.789Z,1754758574.789 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.10 m.
2025-08-09T16:56:14.899Z,1754758574.899 [DAT](INFO): checking for new query: numPingsReceived=46, elapsed TxPingTime=7.813936
2025-08-09T16:56:15.151Z,1754758575.151 [DAT](INFO): checking for new query: numPingsReceived=46, elapsed TxPingTime=8.066002
2025-08-09T16:56:15.168Z,1754758575.168 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.10 m.
2025-08-09T16:56:15.404Z,1754758575.404 [DAT](INFO): checking for new query: numPingsReceived=46, elapsed TxPingTime=8.319000
2025-08-09T16:56:15.542Z,1754758575.542 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.10 m.
2025-08-09T16:56:15.655Z,1754758575.655 [DAT](INFO): checking for new query: numPingsReceived=46, elapsed TxPingTime=8.569982
2025-08-09T16:56:15.907Z,1754758575.907 [DAT](INFO): checking for new query: numPingsReceived=46, elapsed TxPingTime=8.822014
2025-08-09T16:56:15.950Z,1754758575.950 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.10 m.
2025-08-09T16:56:16.160Z,1754758576.160 [DAT](INFO): checking for new query: numPingsReceived=46, elapsed TxPingTime=9.074564
2025-08-09T16:56:16.377Z,1754758576.377 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.10 m.
2025-08-09T16:56:16.413Z,1754758576.413 [DAT](INFO): checking for new query: numPingsReceived=46, elapsed TxPingTime=9.327864
2025-08-09T16:56:16.663Z,1754758576.663 [DAT](INFO): checking for new query: numPingsReceived=46, elapsed TxPingTime=9.577870
2025-08-09T16:56:16.791Z,1754758576.791 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.10 m.
2025-08-09T16:56:16.915Z,1754758576.915 [DAT](INFO): checking for new query: numPingsReceived=46, elapsed TxPingTime=9.829935
2025-08-09T16:56:17.167Z,1754758577.167 [DAT](INFO): checking for new query: numPingsReceived=46, elapsed TxPingTime=10.082077
2025-08-09T16:56:17.204Z,1754758577.204 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.10 m.
2025-08-09T16:56:17.419Z,1754758577.419 [DAT](INFO): checking for new query: numPingsReceived=46, elapsed TxPingTime=10.333844
2025-08-09T16:56:17.601Z,1754758577.601 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.10 m.
2025-08-09T16:56:17.671Z,1754758577.671 [DAT](INFO): checking for new query: numPingsReceived=46, elapsed TxPingTime=10.585884
2025-08-09T16:56:17.924Z,1754758577.924 [DAT](INFO): checking for new query: numPingsReceived=46, elapsed TxPingTime=10.838279
2025-08-09T16:56:17.987Z,1754758577.987 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.10 m.
2025-08-09T16:56:18.176Z,1754758578.176 [DAT](INFO): checking for new query: numPingsReceived=46, elapsed TxPingTime=11.090538
2025-08-09T16:56:18.428Z,1754758578.428 [DAT](INFO): checking for new query: numPingsReceived=46, elapsed TxPingTime=11.342274
2025-08-09T16:56:18.444Z,1754758578.444 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.10 m.
2025-08-09T16:56:18.682Z,1754758578.682 [DAT](INFO): checking for new query: numPingsReceived=46, elapsed TxPingTime=11.596635
2025-08-09T16:56:18.824Z,1754758578.824 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.10 m.
2025-08-09T16:56:18.931Z,1754758578.931 [DAT](INFO): checking for new query: numPingsReceived=46, elapsed TxPingTime=11.846010
2025-08-09T16:56:19.183Z,1754758579.183 [DAT](INFO): checking for new query: numPingsReceived=46, elapsed TxPingTime=12.097958
2025-08-09T16:56:19.269Z,1754758579.269 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.10 m.
2025-08-09T16:56:19.435Z,1754758579.435 [DAT](INFO): DAT read: Response Not Received

2025-08-09T16:56:19.436Z,1754758579.436 [DAT](INFO): response not received
2025-08-09T16:56:19.436Z,1754758579.436 [DAT](INFO): DAT read: user:243>

2025-08-09T16:56:19.437Z,1754758579.437 [DAT](INFO): DAT read: Tx time:16:56:18.8932

2025-08-09T16:56:19.437Z,1754758579.437 [DAT](INFO): Ping request sent.
2025-08-09T16:56:19.437Z,1754758579.437 [DAT](INFO): transmitted an acoustic signal
2025-08-09T16:56:19.437Z,1754758579.437 [DAT](INFO): publishing transmit ping time
2025-08-09T16:56:19.438Z,1754758579.438 [DAT](INFO): checking for new query: numPingsReceived=46, elapsed TxPingTime=0.000762
2025-08-09T16:56:19.665Z,1754758579.665 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.10 m.
2025-08-09T16:56:19.687Z,1754758579.687 [DAT](INFO): checking for new query: numPingsReceived=46, elapsed TxPingTime=0.250072
2025-08-09T16:56:19.939Z,1754758579.939 [DAT](INFO): checking for new query: numPingsReceived=46, elapsed TxPingTime=0.501907
2025-08-09T16:56:20.069Z,1754758580.069 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.10 m.
2025-08-09T16:56:20.195Z,1754758580.195 [DAT](INFO): checking for new query: numPingsReceived=46, elapsed TxPingTime=0.756654
2025-08-09T16:56:20.443Z,1754758580.443 [DAT](INFO): checking for new query: numPingsReceived=46, elapsed TxPingTime=1.006055
2025-08-09T16:56:20.501Z,1754758580.501 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.10 m.
2025-08-09T16:56:20.695Z,1754758580.695 [DAT](INFO): checking for new query: numPingsReceived=46, elapsed TxPingTime=1.258162
2025-08-09T16:56:20.909Z,1754758580.909 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.10 m.
2025-08-09T16:56:20.947Z,1754758580.947 [DAT](INFO): checking for new query: numPingsReceived=46, elapsed TxPingTime=1.510170
2025-08-09T16:56:21.202Z,1754758581.202 [DAT](INFO): checking for new query: numPingsReceived=46, elapsed TxPingTime=1.764036
2025-08-09T16:56:21.316Z,1754758581.316 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.10 m.
2025-08-09T16:56:21.451Z,1754758581.451 [DAT](INFO): checking for new query: numPingsReceived=46, elapsed TxPingTime=2.013978
2025-08-09T16:56:21.695Z,1754758581.695 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.10 m.
2025-08-09T16:56:21.703Z,1754758581.703 [DAT](INFO): checking for new query: numPingsReceived=46, elapsed TxPingTime=2.266161
2025-08-09T16:56:21.955Z,1754758581.955 [DAT](INFO): checking for new query: numPingsReceived=46, elapsed TxPingTime=2.517982
2025-08-09T16:56:22.131Z,1754758582.131 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.10 m.
2025-08-09T16:56:22.210Z,1754758582.210 [DAT](INFO): checking for new query: numPingsReceived=46, elapsed TxPingTime=2.772284
2025-08-09T16:56:22.459Z,1754758582.459 [DAT](INFO): checking for new query: numPingsReceived=46, elapsed TxPingTime=3.022064
2025-08-09T16:56:22.527Z,1754758582.527 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.10 m.
2025-08-09T16:56:22.712Z,1754758582.712 [DAT](INFO): checking for new query: numPingsReceived=46, elapsed TxPingTime=3.274701
2025-08-09T16:56:22.963Z,1754758582.963 [DAT](INFO): checking for new query: numPingsReceived=46, elapsed TxPingTime=3.526039
2025-08-09T16:56:23.038Z,1754758583.038 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.10 m.
2025-08-09T16:56:23.220Z,1754758583.220 [DAT](INFO): checking for new query: numPingsReceived=46, elapsed TxPingTime=3.781707
2025-08-09T16:56:23.328Z,1754758583.328 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.10 m.
2025-08-09T16:56:23.468Z,1754758583.468 [DAT](INFO): checking for new query: numPingsReceived=46, elapsed TxPingTime=4.030690
2025-08-09T16:56:23.720Z,1754758583.720 [DAT](INFO): checking for new query: numPingsReceived=46, elapsed TxPingTime=4.282387
2025-08-09T16:56:23.736Z,1754758583.736 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.10 m.
2025-08-09T16:56:23.971Z,1754758583.971 [DAT](INFO): checking for new query: numPingsReceived=46, elapsed TxPingTime=4.534071
2025-08-09T16:56:24.151Z,1754758584.151 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.10 m.
2025-08-09T16:56:24.227Z,1754758584.227 [DAT](INFO): checking for new query: numPingsReceived=46, elapsed TxPingTime=4.788782
2025-08-09T16:56:24.475Z,1754758584.475 [DAT](INFO): checking for new query: numPingsReceived=46, elapsed TxPingTime=5.037965
2025-08-09T16:56:24.569Z,1754758584.569 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.10 m.
2025-08-09T16:56:24.728Z,1754758584.728 [DAT](INFO): checking for new query: numPingsReceived=46, elapsed TxPingTime=5.290303
2025-08-09T16:56:24.979Z,1754758584.979 [DAT](INFO): checking for new query: numPingsReceived=46, elapsed TxPingTime=5.542098
2025-08-09T16:56:24.991Z,1754758584.991 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.10 m.
2025-08-09T16:56:25.236Z,1754758585.236 [DAT](INFO): checking for new query: numPingsReceived=46, elapsed TxPingTime=5.797897
2025-08-09T16:56:25.398Z,1754758585.398 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.10 m.
2025-08-09T16:56:25.484Z,1754758585.484 [DAT](INFO): checking for new query: numPingsReceived=46, elapsed TxPingTime=6.046758
2025-08-09T16:56:25.736Z,1754758585.736 [DAT](INFO): checking for new query: numPingsReceived=46, elapsed TxPingTime=6.299024
2025-08-09T16:56:25.801Z,1754758585.801 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.10 m.
2025-08-09T16:56:25.988Z,1754758585.988 [DAT](INFO): checking for new query: numPingsReceived=46, elapsed TxPingTime=6.550487
2025-08-09T16:56:26.178Z,1754758586.178 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.10 m.
2025-08-09T16:56:26.243Z,1754758586.243 [DAT](INFO): checking for new query: numPingsReceived=46, elapsed TxPingTime=6.805633
2025-08-09T16:56:26.491Z,1754758586.491 [DAT](INFO): checking for new query: numPingsReceived=46, elapsed TxPingTime=7.053993
2025-08-09T16:56:26.610Z,1754758586.610 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.10 m.
2025-08-09T16:56:26.744Z,1754758586.744 [DAT](INFO): checking for new query: numPingsReceived=46, elapsed TxPingTime=7.306405
2025-08-09T16:56:26.995Z,1754758586.995 [DAT](INFO): checking for new query: numPingsReceived=46, elapsed TxPingTime=7.558098
2025-08-09T16:56:27.020Z,1754758587.020 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.10 m.
2025-08-09T16:56:27.251Z,1754758587.251 [DAT](INFO): checking for new query: numPingsReceived=46, elapsed TxPingTime=7.813169
2025-08-09T16:56:27.432Z,1754758587.432 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.10 m.
2025-08-09T16:56:27.500Z,1754758587.500 [DAT](INFO): checking for new query: numPingsReceived=46, elapsed TxPingTime=8.062755
2025-08-09T16:56:27.752Z,1754758587.752 [DAT](INFO): checking for new query: numPingsReceived=46, elapsed TxPingTime=8.314812
2025-08-09T16:56:27.828Z,1754758587.828 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.10 m.
2025-08-09T16:56:28.003Z,1754758588.003 [DAT](INFO): checking for new query: numPingsReceived=46, elapsed TxPingTime=8.566006
2025-08-09T16:56:28.215Z,1754758588.215 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.10 m.
2025-08-09T16:56:28.259Z,1754758588.259 [DAT](INFO): checking for new query: numPingsReceived=46, elapsed TxPingTime=8.821566
2025-08-09T16:56:28.507Z,1754758588.507 [DAT](INFO): checking for new query: numPingsReceived=46, elapsed TxPingTime=9.070054
2025-08-09T16:56:28.681Z,1754758588.681 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.10 m.
2025-08-09T16:56:28.759Z,1754758588.759 [DAT](INFO): checking for new query: numPingsReceived=46, elapsed TxPingTime=9.322099
2025-08-09T16:56:29.012Z,1754758589.012 [DAT](INFO): checking for new query: numPingsReceived=46, elapsed TxPingTime=9.574621
2025-08-09T16:56:29.055Z,1754758589.055 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.10 m.
2025-08-09T16:56:29.266Z,1754758589.266 [DAT](INFO): checking for new query: numPingsReceived=46, elapsed TxPingTime=9.828473
2025-08-09T16:56:29.507Z,1754758589.507 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.10 m.
2025-08-09T16:56:29.515Z,1754758589.515 [DAT](INFO): checking for new query: numPingsReceived=46, elapsed TxPingTime=10.078096
2025-08-09T16:56:29.767Z,1754758589.767 [DAT](INFO): checking for new query: numPingsReceived=46, elapsed TxPingTime=10.330014
2025-08-09T16:56:29.893Z,1754758589.893 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.10 m.
2025-08-09T16:56:30.019Z,1754758590.019 [DAT](INFO): checking for new query: numPingsReceived=46, elapsed TxPingTime=10.582055
2025-08-09T16:56:30.280Z,1754758590.280 [DAT](INFO): checking for new query: numPingsReceived=46, elapsed TxPingTime=10.842440
2025-08-09T16:56:30.354Z,1754758590.354 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.10 m.
2025-08-09T16:56:30.523Z,1754758590.523 [DAT](INFO): checking for new query: numPingsReceived=46, elapsed TxPingTime=11.086008
2025-08-09T16:56:30.664Z,1754758590.664 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error. Device response is::TS,00021420433876,35.0,  +90,1489.5,  0
2025-08-09T16:56:30.687Z,1754758590.687 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.10 m.
2025-08-09T16:56:30.775Z,1754758590.775 [DAT](INFO): checking for new query: numPingsReceived=46, elapsed TxPingTime=11.338061
2025-08-09T16:56:31.028Z,1754758591.028 [DAT](INFO): checking for new query: numPingsReceived=46, elapsed TxPingTime=11.590637
2025-08-09T16:56:31.112Z,1754758591.112 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.10 m.
2025-08-09T16:56:31.281Z,1754758591.281 [DAT](INFO): checking for new query: numPingsReceived=46, elapsed TxPingTime=11.843593
2025-08-09T16:56:31.531Z,1754758591.531 [DAT](INFO): checking for new query: numPingsReceived=46, elapsed TxPingTime=12.094119
2025-08-09T16:56:31.576Z,1754758591.576 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.10 m.
2025-08-09T16:56:31.784Z,1754758591.784 [DAT](INFO): DAT read: Response Not Received

2025-08-09T16:56:31.785Z,1754758591.785 [DAT](INFO): response not received
2025-08-09T16:56:31.785Z,1754758591.785 [DAT](INFO): DAT read: user:244>

2025-08-09T16:56:31.786Z,1754758591.786 [DAT](ERROR): No response from remote modem.
2025-08-09T16:56:31.786Z,1754758591.786 [DAT](INFO): checking for new query: numPingsReceived=46, elapsed TxPingTime=12.349104
2025-08-09T16:56:31.944Z,1754758591.944 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.10 m.
2025-08-09T16:56:32.036Z,1754758592.036 [DAT](INFO): DAT read: Tx time:16:56:31.3432

2025-08-09T16:56:32.036Z,1754758592.036 [DAT](INFO): Ping request sent.
2025-08-09T16:56:32.036Z,1754758592.036 [DAT](INFO): transmitted an acoustic signal
2025-08-09T16:56:32.037Z,1754758592.037 [DAT](INFO): publishing transmit ping time
2025-08-09T16:56:32.037Z,1754758592.037 [DAT](INFO): checking for new query: numPingsReceived=46, elapsed TxPingTime=0.000789
2025-08-09T16:56:32.287Z,1754758592.287 [DAT](INFO): checking for new query: numPingsReceived=46, elapsed TxPingTime=0.250894
2025-08-09T16:56:32.401Z,1754758592.401 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.10 m.
2025-08-09T16:56:32.539Z,1754758592.539 [DAT](INFO): checking for new query: numPingsReceived=46, elapsed TxPingTime=0.502784
2025-08-09T16:56:32.779Z,1754758592.779 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.10 m.
2025-08-09T16:56:32.799Z,1754758592.799 [DAT](INFO): checking for new query: numPingsReceived=46, elapsed TxPingTime=0.762893
2025-08-09T16:56:33.051Z,1754758593.051 [DAT](INFO): checking for new query: numPingsReceived=46, elapsed TxPingTime=1.014894
2025-08-09T16:56:33.144Z,1754758593.144 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-09T16:56:33.147Z,1754758593.147 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.10 m.
2025-08-09T16:56:33.305Z,1754758593.305 [DAT](INFO): checking for new query: numPingsReceived=46, elapsed TxPingTime=1.268669
2025-08-09T16:56:33.555Z,1754758593.555 [DAT](INFO): checking for new query: numPingsReceived=46, elapsed TxPingTime=1.518900
2025-08-09T16:56:33.573Z,1754758593.573 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.10 m.
2025-08-09T16:56:33.807Z,1754758593.807 [DAT](INFO): checking for new query: numPingsReceived=46, elapsed TxPingTime=1.770888
2025-08-09T16:56:33.959Z,1754758593.959 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.10 m.
2025-08-09T16:56:34.059Z,1754758594.059 [DAT](INFO): checking for new query: numPingsReceived=46, elapsed TxPingTime=2.022806
2025-08-09T16:56:34.311Z,1754758594.311 [DAT](INFO): checking for new query: numPingsReceived=46, elapsed TxPingTime=2.274814
2025-08-09T16:56:34.427Z,1754758594.427 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.10 m.
2025-08-09T16:56:34.564Z,1754758594.564 [DAT](INFO): checking for new query: numPingsReceived=46, elapsed TxPingTime=2.527726
2025-08-09T16:56:34.795Z,1754758594.795 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.10 m.
2025-08-09T16:56:34.815Z,1754758594.815 [DAT](INFO): checking for new query: numPingsReceived=46, elapsed TxPingTime=2.778857
2025-08-09T16:56:35.068Z,1754758595.068 [DAT](INFO): DAT read: Rx Time:16:56:33.8612

2025-08-09T16:56:35.068Z,1754758595.068 [DAT](INFO): Rx dataTimestamp_ set to:1754758595.067746
2025-08-09T16:56:35.069Z,1754758595.069 [DAT](INFO): checking for new query: numPingsReceived=46, elapsed TxPingTime=3.032164
2025-08-09T16:56:35.165Z,1754758595.165 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.10 m.
2025-08-09T16:56:35.319Z,1754758595.319 [DAT](INFO): checking for new query: numPingsReceived=46, elapsed TxPingTime=3.282877
2025-08-09T16:56:35.577Z,1754758595.577 [DAT](INFO): DAT read: 16:56:33.8612 LVL= 32752, 32753, 32754, 26515, AGC= 68, IDX=  75, 0.04, 0.566, 2.457, 0.773, 1.101, PHS=-0.432, 1.402,-0.372, RAW= 328.3,  -6.7, CAL= 327.8,  -9.8, ROT= 182.2,   9.8

2025-08-09T16:56:35.592Z,1754758595.592 [DAT](INFO): got valid direction response:
 16:56:33.8612 LVL= 32752, 32753, 32754, 26515, AGC= 68, IDX=  75, 0.04, 0.566, 2.457, 0.773, 1.101, PHS=-0.432, 1.402,-0.372, RAW= 328.3,  -6.7, CAL= 327.8,  -9.8, ROT= 182.2,   9.8

2025-08-09T16:56:35.593Z,1754758595.593 [DAT](INFO): DAT read: $Error in header

2025-08-09T16:56:35.593Z,1754758595.593 [DAT](INFO): Received a bad header
2025-08-09T16:56:35.607Z,1754758595.607 [DAT](INFO): #Rx 47: Read direction message, but no range.
2025-08-09T16:56:35.608Z,1754758595.608 [DAT](INFO): direction in FSK: [-0.984682,-0.037828,-0.170209]
2025-08-09T16:56:35.611Z,1754758595.611 [DAT](INFO): checking for new query: numPingsReceived=47, elapsed TxPingTime=3.574450
2025-08-09T16:56:35.617Z,1754758595.617 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.10 m.
2025-08-09T16:56:35.824Z,1754758595.824 [DAT](INFO): checking for new query: numPingsReceived=47, elapsed TxPingTime=3.787769
2025-08-09T16:56:36.038Z,1754758596.038 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.10 m.
2025-08-09T16:56:36.075Z,1754758596.075 [DAT](INFO): checking for new query: numPingsReceived=47, elapsed TxPingTime=4.039038
2025-08-09T16:56:36.327Z,1754758596.327 [DAT](INFO): checking for new query: numPingsReceived=47, elapsed TxPingTime=4.290771
2025-08-09T16:56:36.496Z,1754758596.496 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.10 m.
2025-08-09T16:56:36.580Z,1754758596.580 [DAT](INFO): checking for new query: numPingsReceived=47, elapsed TxPingTime=4.543459
2025-08-09T16:56:36.840Z,1754758596.840 [DAT](INFO): checking for new query: numPingsReceived=47, elapsed TxPingTime=4.803216
2025-08-09T16:56:36.878Z,1754758596.878 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.10 m.
2025-08-09T16:56:37.088Z,1754758597.088 [DAT](INFO): checking for new query: numPingsReceived=47, elapsed TxPingTime=5.051165
2025-08-09T16:56:37.280Z,1754758597.280 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.10 m.
2025-08-09T16:56:37.339Z,1754758597.339 [DAT](INFO): checking for new query: numPingsReceived=47, elapsed TxPingTime=5.302919
2025-08-09T16:56:37.591Z,1754758597.591 [DAT](INFO): checking for new query: numPingsReceived=47, elapsed TxPingTime=5.554913
2025-08-09T16:56:37.744Z,1754758597.744 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.10 m.
2025-08-09T16:56:37.844Z,1754758597.844 [DAT](INFO): checking for new query: numPingsReceived=47, elapsed TxPingTime=5.807488
2025-08-09T16:56:38.083Z,1754758598.083 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.10 m.
2025-08-09T16:56:38.095Z,1754758598.095 [DAT](INFO): checking for new query: numPingsReceived=47, elapsed TxPingTime=6.059012
2025-08-09T16:56:38.347Z,1754758598.347 [DAT](INFO): checking for new query: numPingsReceived=47, elapsed TxPingTime=6.310833
2025-08-09T16:56:38.525Z,1754758598.525 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.10 m.
2025-08-09T16:56:38.600Z,1754758598.600 [DAT](INFO): checking for new query: numPingsReceived=47, elapsed TxPingTime=6.563355
2025-08-09T16:56:38.852Z,1754758598.852 [DAT](INFO): checking for new query: numPingsReceived=47, elapsed TxPingTime=6.815457
2025-08-09T16:56:38.914Z,1754758598.914 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.10 m.
2025-08-09T16:56:39.103Z,1754758599.103 [DAT](INFO): checking for new query: numPingsReceived=47, elapsed TxPingTime=7.066878
2025-08-09T16:56:39.310Z,1754758599.310 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.10 m.
2025-08-09T16:56:39.356Z,1754758599.356 [DAT](INFO): checking for new query: numPingsReceived=47, elapsed TxPingTime=7.319072
2025-08-09T16:56:39.608Z,1754758599.608 [DAT](INFO): checking for new query: numPingsReceived=47, elapsed TxPingTime=7.571189
2025-08-09T16:56:39.756Z,1754758599.756 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.10 m.
2025-08-09T16:56:39.860Z,1754758599.860 [DAT](INFO): checking for new query: numPingsReceived=47, elapsed TxPingTime=7.823321
2025-08-09T16:56:40.111Z,1754758600.111 [DAT](INFO): checking for new query: numPingsReceived=47, elapsed TxPingTime=8.074686
2025-08-09T16:56:40.158Z,1754758600.158 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.10 m.
2025-08-09T16:56:40.367Z,1754758600.367 [DAT](INFO): checking for new query: numPingsReceived=47, elapsed TxPingTime=8.330208
2025-08-09T16:56:40.567Z,1754758600.567 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.10 m.
2025-08-09T16:56:40.616Z,1754758600.616 [DAT](INFO): checking for new query: numPingsReceived=47, elapsed TxPingTime=8.579685
2025-08-09T16:56:40.868Z,1754758600.868 [DAT](INFO): checking for new query: numPingsReceived=47, elapsed TxPingTime=8.831284
2025-08-09T16:56:40.969Z,1754758600.969 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.10 m.
2025-08-09T16:56:41.120Z,1754758601.120 [DAT](INFO): checking for new query: numPingsReceived=47, elapsed TxPingTime=9.083334
2025-08-09T16:56:41.371Z,1754758601.371 [DAT](INFO): checking for new query: numPingsReceived=47, elapsed TxPingTime=9.334961
2025-08-09T16:56:41.374Z,1754758601.374 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.10 m.
2025-08-09T16:56:41.623Z,1754758601.623 [DAT](INFO): checking for new query: numPingsReceived=47, elapsed TxPingTime=9.586906
2025-08-09T16:56:41.800Z,1754758601.800 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.10 m.
2025-08-09T16:56:41.876Z,1754758601.876 [DAT](INFO): checking for new query: numPingsReceived=47, elapsed TxPingTime=9.839587
2025-08-09T16:56:42.128Z,1754758602.128 [DAT](INFO): checking for new query: numPingsReceived=47, elapsed TxPingTime=10.091072
2025-08-09T16:56:42.218Z,1754758602.218 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.10 m.
2025-08-09T16:56:42.379Z,1754758602.379 [DAT](INFO): checking for new query: numPingsReceived=47, elapsed TxPingTime=10.342806
2025-08-09T16:56:42.631Z,1754758602.631 [DAT](INFO): checking for new query: numPingsReceived=47, elapsed TxPingTime=10.594929
2025-08-09T16:56:42.637Z,1754758602.637 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.10 m.
2025-08-09T16:56:42.883Z,1754758602.883 [DAT](INFO): checking for new query: numPingsReceived=47, elapsed TxPingTime=10.846879
2025-08-09T16:56:42.995Z,1754758602.995 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.10 m.
2025-08-09T16:56:43.135Z,1754758603.135 [DAT](INFO): checking for new query: numPingsReceived=47, elapsed TxPingTime=11.098755
2025-08-09T16:56:43.387Z,1754758603.387 [DAT](INFO): checking for new query: numPingsReceived=47, elapsed TxPingTime=11.350925
2025-08-09T16:56:43.408Z,1754758603.408 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.10 m.
2025-08-09T16:56:43.640Z,1754758603.640 [DAT](INFO): checking for new query: numPingsReceived=47, elapsed TxPingTime=11.603554
2025-08-09T16:56:43.832Z,1754758603.832 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.10 m.
2025-08-09T16:56:43.891Z,1754758603.891 [DAT](INFO): checking for new query: numPingsReceived=47, elapsed TxPingTime=11.854958
2025-08-09T16:56:44.144Z,1754758604.144 [DAT](INFO): checking for new query: numPingsReceived=47, elapsed TxPingTime=12.107598
2025-08-09T16:56:44.221Z,1754758604.221 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.10 m.
2025-08-09T16:56:44.395Z,1754758604.395 [DAT](INFO): DAT read: Response Not Received

2025-08-09T16:56:44.396Z,1754758604.396 [DAT](INFO): response not received
2025-08-09T16:56:44.396Z,1754758604.396 [DAT](INFO): DAT read: user:246>

2025-08-09T16:56:44.397Z,1754758604.397 [DAT](INFO): DAT read: Tx time:16:56:43.7931

2025-08-09T16:56:44.397Z,1754758604.397 [DAT](INFO): Ping request sent.
2025-08-09T16:56:44.397Z,1754758604.397 [DAT](INFO): transmitted an acoustic signal
2025-08-09T16:56:44.397Z,1754758604.397 [DAT](INFO): publishing transmit ping time
2025-08-09T16:56:44.398Z,1754758604.398 [DAT](INFO): checking for new query: numPingsReceived=47, elapsed TxPingTime=0.000756
2025-08-09T16:56:44.647Z,1754758604.647 [DAT](INFO): checking for new query: numPingsReceived=47, elapsed TxPingTime=0.250189
2025-08-09T16:56:44.672Z,1754758604.672 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.10 m.
2025-08-09T16:56:44.899Z,1754758604.899 [DAT](INFO): checking for new query: numPingsReceived=47, elapsed TxPingTime=0.502258
2025-08-09T16:56:45.002Z,1754758605.002 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.10 m.
2025-08-09T16:56:45.151Z,1754758605.151 [DAT](INFO): checking for new query: numPingsReceived=47, elapsed TxPingTime=0.754176
2025-08-09T16:56:45.403Z,1754758605.403 [DAT](INFO): checking for new query: numPingsReceived=47, elapsed TxPingTime=1.006283
2025-08-09T16:56:45.413Z,1754758605.413 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.10 m.
2025-08-09T16:56:45.655Z,1754758605.655 [DAT](INFO): checking for new query: numPingsReceived=47, elapsed TxPingTime=1.258119
2025-08-09T16:56:45.833Z,1754758605.833 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.10 m.
2025-08-09T16:56:45.908Z,1754758605.908 [DAT](INFO): checking for new query: numPingsReceived=47, elapsed TxPingTime=1.510897
2025-08-09T16:56:46.159Z,1754758606.159 [DAT](INFO): checking for new query: numPingsReceived=47, elapsed TxPingTime=1.762078
2025-08-09T16:56:46.243Z,1754758606.243 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.10 m.
2025-08-09T16:56:46.411Z,1754758606.411 [DAT](INFO): checking for new query: numPingsReceived=47, elapsed TxPingTime=2.014075
2025-08-09T16:56:46.655Z,1754758606.655 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.10 m.
2025-08-09T16:56:46.663Z,1754758606.663 [DAT](INFO): checking for new query: numPingsReceived=47, elapsed TxPingTime=2.266307
2025-08-09T16:56:46.915Z,1754758606.915 [DAT](INFO): checking for new query: numPingsReceived=47, elapsed TxPingTime=2.518105
2025-08-09T16:56:47.027Z,1754758607.027 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.10 m.
2025-08-09T16:56:47.167Z,1754758607.167 [DAT](INFO): checking for new query: numPingsReceived=47, elapsed TxPingTime=2.770109
2025-08-09T16:56:47.419Z,1754758607.419 [DAT](INFO): DAT read: Rx Time:16:56:46.3116

2025-08-09T16:56:47.420Z,1754758607.420 [DAT](INFO): Rx dataTimestamp_ set to:1754758607.419780
2025-08-09T16:56:47.421Z,1754758607.421 [DAT](INFO): checking for new query: numPingsReceived=47, elapsed TxPingTime=3.023491
2025-08-09T16:56:47.431Z,1754758607.431 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.10 m.
2025-08-09T16:56:47.671Z,1754758607.671 [DAT](INFO): checking for new query: numPingsReceived=47, elapsed TxPingTime=3.274105
2025-08-09T16:56:47.916Z,1754758607.916 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.10 m.
2025-08-09T16:56:47.937Z,1754758607.937 [DAT](INFO): DAT read: 16:56:46.3116 LVL= 32752, 32753, 32754, 32755, AGC= 72, IDX= 448,-0.47,-1.127, 1.001,-0.912,-0.349, PHS=-0.676, 1.394,-0.607, RAW= 328.3,  -1.1, CAL= 327.3,  -4.1, ROT= 182.7,   4.1

2025-08-09T16:56:47.942Z,1754758607.942 [DAT](INFO): got valid direction response:
 16:56:46.3116 LVL= 32752, 32753, 32754, 32755, AGC= 72, IDX= 448,-0.47,-1.127, 1.001,-0.912,-0.349, PHS=-0.676, 1.394,-0.607, RAW= 328.3,  -1.1, CAL= 327.3,  -4.1, ROT= 182.7,   4.1

2025-08-09T16:56:47.943Z,1754758607.943 [DAT](INFO): DAT read: $Error in header

2025-08-09T16:56:47.943Z,1754758607.943 [DAT](INFO): Received a bad header
2025-08-09T16:56:47.955Z,1754758607.955 [DAT](INFO): #Rx 48: Read direction message, but no range.
2025-08-09T16:56:47.956Z,1754758607.956 [DAT](INFO): direction in FSK: [-0.996334,-0.046986,-0.071497]
2025-08-09T16:56:47.959Z,1754758607.959 [DAT](INFO): checking for new query: numPingsReceived=48, elapsed TxPingTime=3.561582
2025-08-09T16:56:48.183Z,1754758608.183 [DAT](INFO): checking for new query: numPingsReceived=48, elapsed TxPingTime=3.786155
2025-08-09T16:56:48.260Z,1754758608.260 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.10 m.
2025-08-09T16:56:48.436Z,1754758608.436 [DAT](INFO): checking for new query: numPingsReceived=48, elapsed TxPingTime=4.038666
2025-08-09T16:56:48.691Z,1754758608.691 [DAT](INFO): checking for new query: numPingsReceived=48, elapsed TxPingTime=4.293984
2025-08-09T16:56:48.692Z,1754758608.692 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.10 m.
2025-08-09T16:56:48.939Z,1754758608.939 [DAT](INFO): checking for new query: numPingsReceived=48, elapsed TxPingTime=4.542154
2025-08-09T16:56:49.059Z,1754758609.059 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.10 m.
2025-08-09T16:56:49.192Z,1754758609.192 [DAT](INFO): checking for new query: numPingsReceived=48, elapsed TxPingTime=4.795040
2025-08-09T16:56:49.443Z,1754758609.443 [DAT](INFO): checking for new query: numPingsReceived=48, elapsed TxPingTime=5.046202
2025-08-09T16:56:49.470Z,1754758609.470 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.10 m.
2025-08-09T16:56:49.697Z,1754758609.697 [DAT](INFO): checking for new query: numPingsReceived=48, elapsed TxPingTime=5.299084
2025-08-09T16:56:49.906Z,1754758609.906 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.10 m.
2025-08-09T16:56:49.949Z,1754758609.949 [DAT](INFO): checking for new query: numPingsReceived=48, elapsed TxPingTime=5.552326
2025-08-09T16:56:50.200Z,1754758610.200 [DAT](INFO): checking for new query: numPingsReceived=48, elapsed TxPingTime=5.802720
2025-08-09T16:56:50.295Z,1754758610.295 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.10 m.
2025-08-09T16:56:50.451Z,1754758610.451 [DAT](INFO): checking for new query: numPingsReceived=48, elapsed TxPingTime=6.054287
2025-08-09T16:56:50.705Z,1754758610.705 [DAT](INFO): checking for new query: numPingsReceived=48, elapsed TxPingTime=6.307087
2025-08-09T16:56:50.743Z,1754758610.743 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.10 m.
2025-08-09T16:56:50.957Z,1754758610.957 [DAT](INFO): checking for new query: numPingsReceived=48, elapsed TxPingTime=6.559526
2025-08-09T16:56:51.160Z,1754758611.160 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.10 m.
2025-08-09T16:56:51.208Z,1754758611.208 [DAT](INFO): checking for new query: numPingsReceived=48, elapsed TxPingTime=6.810939
2025-08-09T16:56:51.459Z,1754758611.459 [DAT](INFO): checking for new query: numPingsReceived=48, elapsed TxPingTime=7.062103
2025-08-09T16:56:51.538Z,1754758611.538 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.10 m.
2025-08-09T16:56:51.712Z,1754758611.712 [DAT](INFO): checking for new query: numPingsReceived=48, elapsed TxPingTime=7.314793
2025-08-09T16:56:51.963Z,1754758611.963 [DAT](INFO): checking for new query: numPingsReceived=48, elapsed TxPingTime=7.566270
2025-08-09T16:56:51.968Z,1754758611.968 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.10 m.
2025-08-09T16:56:52.216Z,1754758612.216 [DAT](INFO): checking for new query: numPingsReceived=48, elapsed TxPingTime=7.818519
2025-08-09T16:56:52.353Z,1754758612.353 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.10 m.
2025-08-09T16:56:52.468Z,1754758612.468 [DAT](INFO): checking for new query: numPingsReceived=48, elapsed TxPingTime=8.070860
2025-08-09T16:56:52.719Z,1754758612.719 [DAT](INFO): checking for new query: numPingsReceived=48, elapsed TxPingTime=8.322138
2025-08-09T16:56:52.787Z,1754758612.787 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.10 m.
2025-08-09T16:56:52.972Z,1754758612.972 [DAT](INFO): checking for new query: numPingsReceived=48, elapsed TxPingTime=8.574607
2025-08-09T16:56:53.158Z,1754758613.158 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.10 m.
2025-08-09T16:56:53.223Z,1754758613.223 [DAT](INFO): checking for new query: numPingsReceived=48, elapsed TxPingTime=8.826234
2025-08-09T16:56:53.475Z,1754758613.475 [DAT](INFO): checking for new query: numPingsReceived=48, elapsed TxPingTime=9.078119
2025-08-09T16:56:53.557Z,1754758613.557 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.10 m.
2025-08-09T16:56:53.728Z,1754758613.728 [DAT](INFO): checking for new query: numPingsReceived=48, elapsed TxPingTime=9.330386
2025-08-09T16:56:53.979Z,1754758613.979 [DAT](INFO): checking for new query: numPingsReceived=48, elapsed TxPingTime=9.582249
2025-08-09T16:56:53.989Z,1754758613.989 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.10 m.
2025-08-09T16:56:54.231Z,1754758614.231 [DAT](INFO): checking for new query: numPingsReceived=48, elapsed TxPingTime=9.834166
2025-08-09T16:56:54.362Z,1754758614.362 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.10 m.
2025-08-09T16:56:54.483Z,1754758614.483 [DAT](INFO): checking for new query: numPingsReceived=48, elapsed TxPingTime=10.086130
2025-08-09T16:56:54.736Z,1754758614.736 [DAT](INFO): checking for new query: numPingsReceived=48, elapsed TxPingTime=10.339041
2025-08-09T16:56:54.818Z,1754758614.818 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.10 m.
2025-08-09T16:56:54.987Z,1754758614.987 [DAT](INFO): checking for new query: numPingsReceived=48, elapsed TxPingTime=10.590177
2025-08-09T16:56:55.182Z,1754758615.182 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.10 m.
2025-08-09T16:56:55.240Z,1754758615.240 [DAT](INFO): checking for new query: numPingsReceived=48, elapsed TxPingTime=10.842571
2025-08-09T16:56:55.491Z,1754758615.491 [DAT](INFO): checking for new query: numPingsReceived=48, elapsed TxPingTime=11.094111
2025-08-09T16:56:55.585Z,1754758615.585 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.10 m.
2025-08-09T16:56:55.743Z,1754758615.743 [DAT](INFO): checking for new query: numPingsReceived=48, elapsed TxPingTime=11.346223
2025-08-09T16:56:55.995Z,1754758615.995 [DAT](INFO): checking for new query: numPingsReceived=48, elapsed TxPingTime=11.598104
2025-08-09T16:56:56.020Z,1754758616.020 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.10 m.
2025-08-09T16:56:56.255Z,1754758616.255 [DAT](INFO): checking for new query: numPingsReceived=48, elapsed TxPingTime=11.857919
2025-08-09T16:56:56.391Z,1754758616.391 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.10 m.
2025-08-09T16:56:56.503Z,1754758616.503 [DAT](INFO): checking for new query: numPingsReceived=48, elapsed TxPingTime=12.106207
2025-08-09T16:56:56.755Z,1754758616.755 [DAT](INFO): DAT read: Response Not Received

2025-08-09T16:56:56.756Z,1754758616.756 [DAT](INFO): response not received
2025-08-09T16:56:56.756Z,1754758616.756 [DAT](INFO): DAT read: user:248>

2025-08-09T16:56:56.757Z,1754758616.757 [DAT](INFO): DAT read: Tx time:16:56:56.2430

2025-08-09T16:56:56.757Z,1754758616.757 [DAT](INFO): Ping request sent.
2025-08-09T16:56:56.757Z,1754758616.757 [DAT](INFO): transmitted an acoustic signal
2025-08-09T16:56:56.757Z,1754758616.757 [DAT](INFO): publishing transmit ping time
2025-08-09T16:56:56.758Z,1754758616.758 [DAT](INFO): checking for new query: numPingsReceived=48, elapsed TxPingTime=0.000760
2025-08-09T16:56:56.864Z,1754758616.864 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.10 m.
2025-08-09T16:56:57.007Z,1754758617.007 [DAT](INFO): checking for new query: numPingsReceived=48, elapsed TxPingTime=0.250240
2025-08-09T16:56:57.215Z,1754758617.215 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.10 m.
2025-08-09T16:56:57.260Z,1754758617.260 [DAT](INFO): checking for new query: numPingsReceived=48, elapsed TxPingTime=0.502938
2025-08-09T16:56:57.511Z,1754758617.511 [DAT](INFO): checking for new query: numPingsReceived=48, elapsed TxPingTime=0.754182
2025-08-09T16:56:57.615Z,1754758617.615 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.10 m.
2025-08-09T16:56:57.763Z,1754758617.763 [DAT](INFO): checking for new query: numPingsReceived=48, elapsed TxPingTime=1.006074
2025-08-09T16:56:58.015Z,1754758618.015 [DAT](INFO): checking for new query: numPingsReceived=48, elapsed TxPingTime=1.258306
2025-08-09T16:56:58.049Z,1754758618.049 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.10 m.
2025-08-09T16:56:58.267Z,1754758618.267 [DAT](INFO): checking for new query: numPingsReceived=48, elapsed TxPingTime=1.510131
2025-08-09T16:56:58.408Z,1754758618.408 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.10 m.
2025-08-09T16:56:58.519Z,1754758618.519 [DAT](INFO): checking for new query: numPingsReceived=48, elapsed TxPingTime=1.762203
2025-08-09T16:56:58.773Z,1754758618.773 [DAT](INFO): checking for new query: numPingsReceived=48, elapsed TxPingTime=2.015860
2025-08-09T16:56:58.845Z,1754758618.845 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.10 m.
2025-08-09T16:56:59.023Z,1754758619.023 [DAT](INFO): checking for new query: numPingsReceived=48, elapsed TxPingTime=2.266128
2025-08-09T16:56:59.238Z,1754758619.238 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.10 m.
2025-08-09T16:56:59.276Z,1754758619.276 [DAT](INFO): checking for new query: numPingsReceived=48, elapsed TxPingTime=2.518679
2025-08-09T16:56:59.527Z,1754758619.527 [DAT](INFO): checking for new query: numPingsReceived=48, elapsed TxPingTime=2.770192
2025-08-09T16:56:59.619Z,1754758619.619 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.10 m.
2025-08-09T16:56:59.779Z,1754758619.779 [DAT](INFO): checking for new query: numPingsReceived=48, elapsed TxPingTime=3.022299
2025-08-09T16:57:00.031Z,1754758620.031 [DAT](INFO): checking for new query: numPingsReceived=48, elapsed TxPingTime=3.274275
2025-08-09T16:57:00.075Z,1754758620.075 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.10 m.
2025-08-09T16:57:00.284Z,1754758620.284 [DAT](INFO): checking for new query: numPingsReceived=48, elapsed TxPingTime=3.526702
2025-08-09T16:57:00.435Z,1754758620.435 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.10 m.
2025-08-09T16:57:00.535Z,1754758620.535 [DAT](INFO): checking for new query: numPingsReceived=48, elapsed TxPingTime=3.778210
2025-08-09T16:57:00.790Z,1754758620.790 [DAT](INFO): checking for new query: numPingsReceived=48, elapsed TxPingTime=4.032081
2025-08-09T16:57:00.894Z,1754758620.894 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.10 m.
2025-08-09T16:57:01.039Z,1754758621.039 [DAT](INFO): checking for new query: numPingsReceived=48, elapsed TxPingTime=4.282261
2025-08-09T16:57:01.262Z,1754758621.262 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.10 m.
2025-08-09T16:57:01.294Z,1754758621.294 [DAT](INFO): checking for new query: numPingsReceived=48, elapsed TxPingTime=4.537024
2025-08-09T16:57:01.544Z,1754758621.544 [DAT](INFO): checking for new query: numPingsReceived=48, elapsed TxPingTime=4.786487
2025-08-09T16:57:01.650Z,1754758621.650 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.10 m.
2025-08-09T16:57:01.799Z,1754758621.799 [DAT](INFO): checking for new query: numPingsReceived=48, elapsed TxPingTime=5.040491
2025-08-09T16:57:02.047Z,1754758622.047 [DAT](INFO): checking for new query: numPingsReceived=48, elapsed TxPingTime=5.290154
2025-08-09T16:57:02.103Z,1754758622.103 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.10 m.
2025-08-09T16:57:02.303Z,1754758622.303 [DAT](INFO): checking for new query: numPingsReceived=48, elapsed TxPingTime=5.544951
2025-08-09T16:57:02.461Z,1754758622.461 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.10 m.
2025-08-09T16:57:02.551Z,1754758622.551 [DAT](INFO): checking for new query: numPingsReceived=48, elapsed TxPingTime=5.794271
2025-08-09T16:57:02.807Z,1754758622.807 [DAT](INFO): checking for new query: numPingsReceived=48, elapsed TxPingTime=6.048827
2025-08-09T16:57:03.055Z,1754758623.055 [DAT](INFO): checking for new query: numPingsReceived=48, elapsed TxPingTime=6.298155
2025-08-09T16:57:03.093Z,1754758623.093 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.10 m.
2025-08-09T16:57:03.307Z,1754758623.307 [DAT](INFO): checking for new query: numPingsReceived=48, elapsed TxPingTime=6.550253
2025-08-09T16:57:03.355Z,1754758623.355 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.10 m.
2025-08-09T16:57:03.560Z,1754758623.560 [DAT](INFO): checking for new query: numPingsReceived=48, elapsed TxPingTime=6.803125
2025-08-09T16:57:03.815Z,1754758623.815 [DAT](INFO): checking for new query: numPingsReceived=48, elapsed TxPingTime=7.056728
2025-08-09T16:57:03.824Z,1754758623.824 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.10 m.
2025-08-09T16:57:04.063Z,1754758624.063 [DAT](INFO): checking for new query: numPingsReceived=48, elapsed TxPingTime=7.306208
2025-08-09T16:57:04.268Z,1754758624.268 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.10 m.
2025-08-09T16:57:04.315Z,1754758624.315 [DAT](INFO): checking for new query: numPingsReceived=48, elapsed TxPingTime=7.558302
2025-08-09T16:57:04.567Z,1754758624.568 [DAT](INFO): checking for new query: numPingsReceived=48, elapsed TxPingTime=7.810429
2025-08-09T16:57:04.659Z,1754758624.659 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.10 m.
2025-08-09T16:57:04.822Z,1754758624.822 [DAT](INFO): checking for new query: numPingsReceived=48, elapsed TxPingTime=8.064394
2025-08-09T16:57:05.071Z,1754758625.071 [DAT](INFO): checking for new query: numPingsReceived=48, elapsed TxPingTime=8.314255
2025-08-09T16:57:05.113Z,1754758625.113 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.10 m.
2025-08-09T16:57:05.324Z,1754758625.324 [DAT](INFO): checking for new query: numPingsReceived=48, elapsed TxPingTime=8.566670
2025-08-09T16:57:05.461Z,1754758625.461 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.10 m.
2025-08-09T16:57:05.575Z,1754758625.575 [DAT](INFO): checking for new query: numPingsReceived=48, elapsed TxPingTime=8.818277
2025-08-09T16:57:05.836Z,1754758625.836 [DAT](INFO): checking for new query: numPingsReceived=48, elapsed TxPingTime=9.078272
2025-08-09T16:57:05.941Z,1754758625.941 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.10 m.
2025-08-09T16:57:06.084Z,1754758626.084 [DAT](INFO): checking for new query: numPingsReceived=48, elapsed TxPingTime=9.326722
2025-08-09T16:57:06.335Z,1754758626.335 [DAT](INFO): checking for new query: numPingsReceived=48, elapsed TxPingTime=9.578350
2025-08-09T16:57:06.353Z,1754758626.353 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.10 m.
2025-08-09T16:57:06.587Z,1754758626.587 [DAT](INFO): checking for new query: numPingsReceived=48, elapsed TxPingTime=9.830205
2025-08-09T16:57:06.729Z,1754758626.729 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.10 m.
2025-08-09T16:57:06.842Z,1754758626.842 [DAT](INFO): checking for new query: numPingsReceived=48, elapsed TxPingTime=10.084481
2025-08-09T16:57:07.091Z,1754758627.091 [DAT](INFO): checking for new query: numPingsReceived=48, elapsed TxPingTime=10.334244
2025-08-09T16:57:07.164Z,1754758627.164 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.10 m.
2025-08-09T16:57:07.343Z,1754758627.343 [DAT](INFO): checking for new query: numPingsReceived=48, elapsed TxPingTime=10.586192
2025-08-09T16:57:07.551Z,1754758627.551 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.10 m.
2025-08-09T16:57:07.597Z,1754758627.597 [DAT](INFO): checking for new query: numPingsReceived=48, elapsed TxPingTime=10.839124
2025-08-09T16:57:07.851Z,1754758627.851 [DAT](INFO): checking for new query: numPingsReceived=48, elapsed TxPingTime=11.092747
2025-08-09T16:57:07.972Z,1754758627.972 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.10 m.
2025-08-09T16:57:08.099Z,1754758628.099 [DAT](INFO): checking for new query: numPingsReceived=48, elapsed TxPingTime=11.342181
2025-08-09T16:57:08.352Z,1754758628.352 [DAT](INFO): checking for new query: numPingsReceived=48, elapsed TxPingTime=11.594663
2025-08-09T16:57:08.386Z,1754758628.386 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.10 m.
2025-08-09T16:57:08.603Z,1754758628.603 [DAT](INFO): checking for new query: numPingsReceived=48, elapsed TxPingTime=11.846212
2025-08-09T16:57:08.754Z,1754758628.754 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.10 m.
2025-08-09T16:57:08.858Z,1754758628.858 [DAT](INFO): checking for new query: numPingsReceived=48, elapsed TxPingTime=12.100318
2025-08-09T16:57:09.111Z,1754758629.111 [DAT](INFO): DAT read: Response Not Received

2025-08-09T16:57:09.111Z,1754758629.111 [DAT](INFO): response not received
2025-08-09T16:57:09.111Z,1754758629.111 [DAT](INFO): DAT read: user:249>

2025-08-09T16:57:09.112Z,1754758629.112 [DAT](ERROR): No response from remote modem.
2025-08-09T16:57:09.112Z,1754758629.112 [DAT](INFO): checking for new query: numPingsReceived=48, elapsed TxPingTime=12.355175
2025-08-09T16:57:09.212Z,1754758629.212 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.10 m.
2025-08-09T16:57:09.359Z,1754758629.359 [DAT](INFO): DAT read: Tx time:16:57:08.6930

2025-08-09T16:57:09.360Z,1754758629.360 [DAT](INFO): Ping request sent.
2025-08-09T16:57:09.360Z,1754758629.360 [DAT](INFO): transmitted an acoustic signal
2025-08-09T16:57:09.360Z,1754758629.360 [DAT](INFO): publishing transmit ping time
2025-08-09T16:57:09.361Z,1754758629.361 [DAT](INFO): checking for new query: numPingsReceived=48, elapsed TxPingTime=0.000775
2025-08-09T16:57:09.554Z,1754758629.554 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.10 m.
2025-08-09T16:57:09.612Z,1754758629.612 [DAT](INFO): checking for new query: numPingsReceived=48, elapsed TxPingTime=0.251840
2025-08-09T16:57:09.867Z,1754758629.867 [DAT](INFO): checking for new query: numPingsReceived=48, elapsed TxPingTime=0.507237
2025-08-09T16:57:09.989Z,1754758629.989 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.10 m.
2025-08-09T16:57:10.115Z,1754758630.115 [DAT](INFO): checking for new query: numPingsReceived=48, elapsed TxPingTime=0.755542
2025-08-09T16:57:10.367Z,1754758630.367 [DAT](INFO): checking for new query: numPingsReceived=48, elapsed TxPingTime=1.007544
2025-08-09T16:57:10.379Z,1754758630.379 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.10 m.
2025-08-09T16:57:10.620Z,1754758630.620 [DAT](INFO): checking for new query: numPingsReceived=48, elapsed TxPingTime=1.259748
2025-08-09T16:57:10.763Z,1754758630.763 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.10 m.
2025-08-09T16:57:10.875Z,1754758630.875 [DAT](INFO): checking for new query: numPingsReceived=48, elapsed TxPingTime=1.513989
2025-08-09T16:57:11.123Z,1754758631.123 [DAT](INFO): checking for new query: numPingsReceived=48, elapsed TxPingTime=1.763462
2025-08-09T16:57:11.226Z,1754758631.226 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.10 m.
2025-08-09T16:57:11.376Z,1754758631.376 [DAT](INFO): checking for new query: numPingsReceived=48, elapsed TxPingTime=2.015846
2025-08-09T16:57:11.575Z,1754758631.575 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.10 m.
2025-08-09T16:57:11.628Z,1754758631.628 [DAT](INFO): checking for new query: numPingsReceived=48, elapsed TxPingTime=2.268269
2025-08-09T16:57:11.879Z,1754758631.879 [DAT](INFO): checking for new query: numPingsReceived=48, elapsed TxPingTime=2.519493
2025-08-09T16:57:12.013Z,1754758632.013 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.10 m.
2025-08-09T16:57:12.132Z,1754758632.132 [DAT](INFO): checking for new query: numPingsReceived=48, elapsed TxPingTime=2.771702
2025-08-09T16:57:12.391Z,1754758632.391 [DAT](INFO): DAT read: Rx Time:16:57:11.2133

2025-08-09T16:57:12.392Z,1754758632.392 [DAT](INFO): Rx dataTimestamp_ set to:1754758632.391578
2025-08-09T16:57:12.392Z,1754758632.392 [DAT](INFO): checking for new query: numPingsReceived=48, elapsed TxPingTime=3.032620
2025-08-09T16:57:12.399Z,1754758632.399 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.10 m.
2025-08-09T16:57:12.644Z,1754758632.644 [DAT](INFO): checking for new query: numPingsReceived=48, elapsed TxPingTime=3.284211
2025-08-09T16:57:12.790Z,1754758632.790 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.10 m.
2025-08-09T16:57:12.895Z,1754758632.895 [DAT](INFO): DAT read: $Error in header

2025-08-09T16:57:12.896Z,1754758632.896 [DAT](INFO): Received a bad header
2025-08-09T16:57:12.907Z,1754758632.907 [DAT](INFO): checking for new query: numPingsReceived=48, elapsed TxPingTime=3.546995
2025-08-09T16:57:13.148Z,1754758633.148 [DAT](INFO): checking for new query: numPingsReceived=48, elapsed TxPingTime=3.788376
2025-08-09T16:57:13.220Z,1754758633.220 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.10 m.
2025-08-09T16:57:13.399Z,1754758633.399 [DAT](INFO): checking for new query: numPingsReceived=48, elapsed TxPingTime=4.039430
2025-08-09T16:57:13.605Z,1754758633.605 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.10 m.
2025-08-09T16:57:13.653Z,1754758633.653 [DAT](INFO): checking for new query: numPingsReceived=48, elapsed TxPingTime=4.293478
2025-08-09T16:57:13.905Z,1754758633.905 [DAT](INFO): checking for new query: numPingsReceived=48, elapsed TxPingTime=4.545253
2025-08-09T16:57:14.106Z,1754758634.106 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.10 m.
2025-08-09T16:57:14.158Z,1754758634.158 [DAT](INFO): checking for new query: numPingsReceived=48, elapsed TxPingTime=4.797713
2025-08-09T16:57:14.407Z,1754758634.407 [DAT](INFO): checking for new query: numPingsReceived=48, elapsed TxPingTime=5.047577
2025-08-09T16:57:14.408Z,1754758634.408 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.10 m.
2025-08-09T16:57:14.660Z,1754758634.660 [DAT](INFO): checking for new query: numPingsReceived=48, elapsed TxPingTime=5.300386
2025-08-09T16:57:14.809Z,1754758634.809 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.10 m.
2025-08-09T16:57:14.911Z,1754758634.911 [DAT](INFO): checking for new query: numPingsReceived=48, elapsed TxPingTime=5.551401
2025-08-09T16:57:15.164Z,1754758635.164 [DAT](INFO): checking for new query: numPingsReceived=48, elapsed TxPingTime=5.804078
2025-08-09T16:57:15.242Z,1754758635.242 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.10 m.
2025-08-09T16:57:15.415Z,1754758635.415 [DAT](INFO): checking for new query: numPingsReceived=48, elapsed TxPingTime=6.055504
2025-08-09T16:57:15.623Z,1754758635.623 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.10 m.
2025-08-09T16:57:15.669Z,1754758635.669 [DAT](INFO): checking for new query: numPingsReceived=48, elapsed TxPingTime=6.308556
2025-08-09T16:57:15.919Z,1754758635.919 [DAT](INFO): checking for new query: numPingsReceived=48, elapsed TxPingTime=6.559510
2025-08-09T16:57:16.066Z,1754758636.066 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.10 m.
2025-08-09T16:57:16.171Z,1754758636.171 [DAT](INFO): checking for new query: numPingsReceived=48, elapsed TxPingTime=6.811671
2025-08-09T16:57:16.423Z,1754758636.423 [DAT](INFO): checking for new query: numPingsReceived=48, elapsed TxPingTime=7.063545
2025-08-09T16:57:16.426Z,1754758636.426 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.10 m.
2025-08-09T16:57:16.676Z,1754758636.676 [DAT](INFO): checking for new query: numPingsReceived=48, elapsed TxPingTime=7.315727
2025-08-09T16:57:16.834Z,1754758636.834 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.10 m.
2025-08-09T16:57:16.928Z,1754758636.928 [DAT](INFO): checking for new query: numPingsReceived=48, elapsed TxPingTime=7.567833
2025-08-09T16:57:17.179Z,1754758637.179 [DAT](INFO): checking for new query: numPingsReceived=48, elapsed TxPingTime=7.819394
2025-08-09T16:57:17.256Z,1754758637.256 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.10 m.
2025-08-09T16:57:17.435Z,1754758637.435 [DAT](INFO): checking for new query: numPingsReceived=48, elapsed TxPingTime=8.074736
2025-08-09T16:57:17.637Z,1754758637.637 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.10 m.
2025-08-09T16:57:17.686Z,1754758637.686 [DAT](INFO): checking for new query: numPingsReceived=48, elapsed TxPingTime=8.326054
2025-08-09T16:57:17.935Z,1754758637.935 [DAT](INFO): checking for new query: numPingsReceived=48, elapsed TxPingTime=8.575419
2025-08-09T16:57:18.095Z,1754758638.095 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.10 m.
2025-08-09T16:57:18.188Z,1754758638.188 [DAT](INFO): checking for new query: numPingsReceived=48, elapsed TxPingTime=8.828057
2025-08-09T16:57:18.439Z,1754758638.439 [DAT](INFO): checking for new query: numPingsReceived=48, elapsed TxPingTime=9.079474
2025-08-09T16:57:18.460Z,1754758638.460 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.10 m.
2025-08-09T16:57:18.694Z,1754758638.694 [DAT](INFO): checking for new query: numPingsReceived=48, elapsed TxPingTime=9.333902
2025-08-09T16:57:18.875Z,1754758638.875 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.10 m.
2025-08-09T16:57:18.947Z,1754758638.947 [DAT](INFO): checking for new query: numPingsReceived=48, elapsed TxPingTime=9.587516
2025-08-09T16:57:19.199Z,1754758639.199 [DAT](INFO): checking for new query: numPingsReceived=48, elapsed TxPingTime=9.839508
2025-08-09T16:57:19.295Z,1754758639.295 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.10 m.
2025-08-09T16:57:19.451Z,1754758639.451 [DAT](INFO): checking for new query: numPingsReceived=48, elapsed TxPingTime=10.091415
2025-08-09T16:57:19.671Z,1754758639.671 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.10 m.
2025-08-09T16:57:19.704Z,1754758639.704 [DAT](INFO): checking for new query: numPingsReceived=48, elapsed TxPingTime=10.344003
2025-08-09T16:57:19.955Z,1754758639.955 [DAT](INFO): checking for new query: numPingsReceived=48, elapsed TxPingTime=10.595528
2025-08-09T16:57:20.145Z,1754758640.145 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.10 m.
2025-08-09T16:57:20.208Z,1754758640.208 [DAT](INFO): checking for new query: numPingsReceived=48, elapsed TxPingTime=10.848015
2025-08-09T16:57:20.459Z,1754758640.459 [DAT](INFO): checking for new query: numPingsReceived=48, elapsed TxPingTime=11.099570
2025-08-09T16:57:20.469Z,1754758640.469 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.10 m.
2025-08-09T16:57:20.711Z,1754758640.711 [DAT](INFO): checking for new query: numPingsReceived=48, elapsed TxPingTime=11.351521
2025-08-09T16:57:20.882Z,1754758640.882 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.10 m.
2025-08-09T16:57:20.964Z,1754758640.964 [DAT](INFO): checking for new query: numPingsReceived=48, elapsed TxPingTime=11.603785
2025-08-09T16:57:21.215Z,1754758641.215 [DAT](INFO): checking for new query: numPingsReceived=48, elapsed TxPingTime=11.855442
2025-08-09T16:57:21.295Z,1754758641.295 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.10 m.
2025-08-09T16:57:21.467Z,1754758641.467 [DAT](INFO): checking for new query: numPingsReceived=48, elapsed TxPingTime=12.107450
2025-08-09T16:57:21.688Z,1754758641.688 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.10 m.
2025-08-09T16:57:21.737Z,1754758641.737 [DAT](INFO): DAT read: Response Not Received

2025-08-09T16:57:21.737Z,1754758641.737 [DAT](INFO): response not received
2025-08-09T16:57:21.738Z,1754758641.738 [DAT](INFO): DAT read: user:251>

2025-08-09T16:57:21.739Z,1754758641.739 [DAT](INFO): DAT read: Tx time:16:57:21.1429

2025-08-09T16:57:21.739Z,1754758641.739 [DAT](INFO): Ping request sent.
2025-08-09T16:57:21.739Z,1754758641.739 [DAT](INFO): transmitted an acoustic signal
2025-08-09T16:57:21.739Z,1754758641.739 [DAT](INFO): publishing transmit ping time
2025-08-09T16:57:21.740Z,1754758641.740 [DAT](INFO): checking for new query: numPingsReceived=48, elapsed TxPingTime=0.001060
2025-08-09T16:57:21.988Z,1754758641.988 [DAT](INFO): checking for new query: numPingsReceived=48, elapsed TxPingTime=0.248969
2025-08-09T16:57:22.181Z,1754758642.181 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.10 m.
2025-08-09T16:57:22.240Z,1754758642.240 [DAT](INFO): checking for new query: numPingsReceived=48, elapsed TxPingTime=0.500527
2025-08-09T16:57:22.483Z,1754758642.483 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.10 m.
2025-08-09T16:57:22.491Z,1754758642.491 [DAT](INFO): checking for new query: numPingsReceived=48, elapsed TxPingTime=0.752238
2025-08-09T16:57:22.744Z,1754758642.744 [DAT](INFO): checking for new query: numPingsReceived=48, elapsed TxPingTime=1.004391
2025-08-09T16:57:22.897Z,1754758642.897 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.10 m.
2025-08-09T16:57:22.995Z,1754758642.995 [DAT](INFO): checking for new query: numPingsReceived=48, elapsed TxPingTime=1.256281
2025-08-09T16:57:23.247Z,1754758643.247 [DAT](INFO): checking for new query: numPingsReceived=48, elapsed TxPingTime=1.508060
2025-08-09T16:57:23.319Z,1754758643.319 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.10 m.
2025-08-09T16:57:23.499Z,1754758643.499 [DAT](INFO): checking for new query: numPingsReceived=48, elapsed TxPingTime=1.760236
2025-08-09T16:57:23.698Z,1754758643.698 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.10 m.
2025-08-09T16:57:23.752Z,1754758643.752 [DAT](INFO): checking for new query: numPingsReceived=48, elapsed TxPingTime=2.012504
2025-08-09T16:57:24.003Z,1754758644.003 [DAT](INFO): checking for new query: numPingsReceived=48, elapsed TxPingTime=2.264117
2025-08-09T16:57:24.206Z,1754758644.206 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.10 m.
2025-08-09T16:57:24.256Z,1754758644.256 [DAT](INFO): checking for new query: numPingsReceived=48, elapsed TxPingTime=2.516478
2025-08-09T16:57:24.507Z,1754758644.507 [DAT](INFO): checking for new query: numPingsReceived=48, elapsed TxPingTime=2.768283
2025-08-09T16:57:24.531Z,1754758644.531 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.10 m.
2025-08-09T16:57:24.759Z,1754758644.759 [DAT](INFO): checking for new query: numPingsReceived=48, elapsed TxPingTime=3.020114
2025-08-09T16:57:24.923Z,1754758644.923 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.10 m.
2025-08-09T16:57:25.013Z,1754758645.013 [DAT](INFO): checking for new query: numPingsReceived=48, elapsed TxPingTime=3.273206
2025-08-09T16:57:25.263Z,1754758645.263 [DAT](INFO): checking for new query: numPingsReceived=48, elapsed TxPingTime=3.524182
2025-08-09T16:57:25.362Z,1754758645.362 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.10 m.
2025-08-09T16:57:25.515Z,1754758645.515 [DAT](INFO): checking for new query: numPingsReceived=48, elapsed TxPingTime=3.776335
2025-08-09T16:57:25.717Z,1754758645.717 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.10 m.
2025-08-09T16:57:25.768Z,1754758645.768 [DAT](INFO): checking for new query: numPingsReceived=48, elapsed TxPingTime=4.029287
2025-08-09T16:57:26.019Z,1754758646.019 [DAT](INFO): checking for new query: numPingsReceived=48, elapsed TxPingTime=4.280155
2025-08-09T16:57:26.196Z,1754758646.196 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.10 m.
2025-08-09T16:57:26.272Z,1754758646.272 [DAT](INFO): checking for new query: numPingsReceived=48, elapsed TxPingTime=4.532376
2025-08-09T16:57:26.524Z,1754758646.524 [DAT](INFO): checking for new query: numPingsReceived=48, elapsed TxPingTime=4.784483
2025-08-09T16:57:26.529Z,1754758646.529 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.10 m.
2025-08-09T16:57:26.775Z,1754758646.775 [DAT](INFO): checking for new query: numPingsReceived=48, elapsed TxPingTime=5.036181
2025-08-09T16:57:26.931Z,1754758646.931 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.10 m.
2025-08-09T16:57:27.028Z,1754758647.028 [DAT](INFO): checking for new query: numPingsReceived=48, elapsed TxPingTime=5.288543
2025-08-09T16:57:27.279Z,1754758647.279 [DAT](INFO): checking for new query: numPingsReceived=48, elapsed TxPingTime=5.540131
2025-08-09T16:57:27.359Z,1754758647.359 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.10 m.
2025-08-09T16:57:27.531Z,1754758647.531 [DAT](INFO): checking for new query: numPingsReceived=48, elapsed TxPingTime=5.792194
2025-08-09T16:57:27.752Z,1754758647.752 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.10 m.
2025-08-09T16:57:27.793Z,1754758647.793 [DAT](INFO): checking for new query: numPingsReceived=48, elapsed TxPingTime=6.053981
2025-08-09T16:57:28.043Z,1754758648.043 [DAT](INFO): checking for new query: numPingsReceived=48, elapsed TxPingTime=6.304071
2025-08-09T16:57:28.229Z,1754758648.229 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.10 m.
2025-08-09T16:57:28.295Z,1754758648.295 [DAT](INFO): checking for new query: numPingsReceived=48, elapsed TxPingTime=6.556298
2025-08-09T16:57:28.547Z,1754758648.547 [DAT](INFO): checking for new query: numPingsReceived=48, elapsed TxPingTime=6.808204
2025-08-09T16:57:28.552Z,1754758648.552 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.10 m.
2025-08-09T16:57:28.799Z,1754758648.799 [DAT](INFO): checking for new query: numPingsReceived=48, elapsed TxPingTime=7.060296
2025-08-09T16:57:28.951Z,1754758648.951 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.10 m.
2025-08-09T16:57:29.051Z,1754758649.051 [DAT](INFO): checking for new query: numPingsReceived=48, elapsed TxPingTime=7.312190
2025-08-09T16:57:29.303Z,1754758649.303 [DAT](INFO): checking for new query: numPingsReceived=48, elapsed TxPingTime=7.564045
2025-08-09T16:57:29.389Z,1754758649.389 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.10 m.
2025-08-09T16:57:29.555Z,1754758649.555 [DAT](INFO): checking for new query: numPingsReceived=48, elapsed TxPingTime=7.816148
2025-08-09T16:57:29.774Z,1754758649.774 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.10 m.
2025-08-09T16:57:29.807Z,1754758649.807 [DAT](INFO): checking for new query: numPingsReceived=48, elapsed TxPingTime=8.068288
2025-08-09T16:57:30.059Z,1754758650.059 [DAT](INFO): checking for new query: numPingsReceived=48, elapsed TxPingTime=8.320098
2025-08-09T16:57:30.240Z,1754758650.240 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.10 m.
2025-08-09T16:57:30.312Z,1754758650.312 [DAT](INFO): checking for new query: numPingsReceived=48, elapsed TxPingTime=8.572676
2025-08-09T16:57:30.563Z,1754758650.563 [DAT](INFO): checking for new query: numPingsReceived=48, elapsed TxPingTime=8.824262
2025-08-09T16:57:30.589Z,1754758650.589 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.10 m.
2025-08-09T16:57:30.815Z,1754758650.815 [DAT](INFO): checking for new query: numPingsReceived=48, elapsed TxPingTime=9.076084
2025-08-09T16:57:30.986Z,1754758650.986 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.10 m.
2025-08-09T16:57:31.071Z,1754758651.071 [DAT](INFO): checking for new query: numPingsReceived=48, elapsed TxPingTime=9.331962
2025-08-09T16:57:31.319Z,1754758651.319 [DAT](INFO): checking for new query: numPingsReceived=48, elapsed TxPingTime=9.580178
2025-08-09T16:57:31.404Z,1754758651.404 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.10 m.
2025-08-09T16:57:31.571Z,1754758651.571 [DAT](INFO): checking for new query: numPingsReceived=48, elapsed TxPingTime=9.832097
2025-08-09T16:57:31.776Z,1754758651.776 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.10 m.
2025-08-09T16:57:31.824Z,1754758651.824 [DAT](INFO): checking for new query: numPingsReceived=48, elapsed TxPingTime=10.084598
2025-08-09T16:57:32.075Z,1754758652.075 [DAT](INFO): checking for new query: numPingsReceived=48, elapsed TxPingTime=10.336181
2025-08-09T16:57:32.212Z,1754758652.212 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.10 m.
2025-08-09T16:57:32.332Z,1754758652.332 [DAT](INFO): checking for new query: numPingsReceived=48, elapsed TxPingTime=10.591613
2025-08-09T16:57:32.579Z,1754758652.579 [DAT](INFO): checking for new query: numPingsReceived=48, elapsed TxPingTime=10.840205
2025-08-09T16:57:32.634Z,1754758652.634 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.10 m.
2025-08-09T16:57:32.835Z,1754758652.835 [DAT](INFO): checking for new query: numPingsReceived=48, elapsed TxPingTime=11.095695
2025-08-09T16:57:32.998Z,1754758652.998 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.10 m.
2025-08-09T16:57:33.084Z,1754758653.084 [DAT](INFO): checking for new query: numPingsReceived=48, elapsed TxPingTime=11.344365
2025-08-09T16:57:33.336Z,1754758653.336 [DAT](INFO): checking for new query: numPingsReceived=48, elapsed TxPingTime=11.596426
2025-08-09T16:57:33.420Z,1754758653.420 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-09T16:57:33.422Z,1754758653.422 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.10 m.
2025-08-09T16:57:33.587Z,1754758653.587 [DAT](INFO): checking for new query: numPingsReceived=48, elapsed TxPingTime=11.848200
2025-08-09T16:57:33.795Z,1754758653.795 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.10 m.
2025-08-09T16:57:33.842Z,1754758653.842 [DAT](INFO): checking for new query: numPingsReceived=48, elapsed TxPingTime=12.102615
2025-08-09T16:57:34.092Z,1754758654.092 [DAT](INFO): DAT read: Response Not Received

2025-08-09T16:57:34.092Z,1754758654.092 [DAT](INFO): response not received
2025-08-09T16:57:34.092Z,1754758654.092 [DAT](INFO): DAT read: user:252>

2025-08-09T16:57:34.093Z,1754758654.093 [DAT](INFO): DAT read: Tx time:16:57:33.5929

2025-08-09T16:57:34.093Z,1754758654.093 [DAT](INFO): Ping request sent.
2025-08-09T16:57:34.093Z,1754758654.093 [DAT](INFO): transmitted an acoustic signal
2025-08-09T16:57:34.094Z,1754758654.094 [DAT](INFO): publishing transmit ping time
2025-08-09T16:57:34.094Z,1754758654.094 [DAT](INFO): checking for new query: numPingsReceived=48, elapsed TxPingTime=0.000743
2025-08-09T16:57:34.252Z,1754758654.252 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.10 m.
2025-08-09T16:57:34.343Z,1754758654.343 [DAT](INFO): checking for new query: numPingsReceived=48, elapsed TxPingTime=0.250055
2025-08-09T16:57:34.595Z,1754758654.595 [DAT](INFO): checking for new query: numPingsReceived=48, elapsed TxPingTime=0.501923
2025-08-09T16:57:34.654Z,1754758654.654 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.10 m.
2025-08-09T16:57:34.852Z,1754758654.852 [DAT](INFO): checking for new query: numPingsReceived=48, elapsed TxPingTime=0.758788
2025-08-09T16:57:35.025Z,1754758655.025 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.10 m.
2025-08-09T16:57:35.101Z,1754758655.101 [DAT](INFO): checking for new query: numPingsReceived=48, elapsed TxPingTime=1.006881
2025-08-09T16:57:35.352Z,1754758655.352 [DAT](INFO): checking for new query: numPingsReceived=48, elapsed TxPingTime=1.258628
2025-08-09T16:57:35.445Z,1754758655.445 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.10 m.
2025-08-09T16:57:35.604Z,1754758655.604 [DAT](INFO): checking for new query: numPingsReceived=48, elapsed TxPingTime=1.510964
2025-08-09T16:57:35.816Z,1754758655.816 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.10 m.
2025-08-09T16:57:35.856Z,1754758655.856 [DAT](INFO): checking for new query: numPingsReceived=48, elapsed TxPingTime=1.762544
2025-08-09T16:57:36.108Z,1754758656.108 [DAT](INFO): checking for new query: numPingsReceived=48, elapsed TxPingTime=2.014670
2025-08-09T16:57:36.226Z,1754758656.226 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.10 m.
2025-08-09T16:57:36.359Z,1754758656.359 [DAT](INFO): checking for new query: numPingsReceived=48, elapsed TxPingTime=2.265829
2025-08-09T16:57:36.612Z,1754758656.612 [DAT](INFO): checking for new query: numPingsReceived=48, elapsed TxPingTime=2.518580
2025-08-09T16:57:36.669Z,1754758656.669 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.10 m.
2025-08-09T16:57:36.864Z,1754758656.864 [DAT](INFO): checking for new query: numPingsReceived=48, elapsed TxPingTime=2.770322
2025-08-09T16:57:37.029Z,1754758657.029 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.10 m.
2025-08-09T16:57:37.116Z,1754758657.116 [DAT](INFO): checking for new query: numPingsReceived=48, elapsed TxPingTime=3.022529
2025-08-09T16:57:37.367Z,1754758657.367 [DAT](INFO): checking for new query: numPingsReceived=48, elapsed TxPingTime=3.273933
2025-08-09T16:57:37.480Z,1754758657.480 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.10 m.
2025-08-09T16:57:37.620Z,1754758657.620 [DAT](INFO): checking for new query: numPingsReceived=48, elapsed TxPingTime=3.526753
2025-08-09T16:57:37.872Z,1754758657.872 [DAT](INFO): checking for new query: numPingsReceived=48, elapsed TxPingTime=3.778910
2025-08-09T16:57:37.947Z,1754758657.947 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.10 m.
2025-08-09T16:57:38.124Z,1754758658.124 [DAT](INFO): checking for new query: numPingsReceived=48, elapsed TxPingTime=4.030431
2025-08-09T16:57:38.270Z,1754758658.270 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.10 m.
2025-08-09T16:57:38.376Z,1754758658.376 [DAT](INFO): checking for new query: numPingsReceived=48, elapsed TxPingTime=4.282538
2025-08-09T16:57:38.628Z,1754758658.628 [DAT](INFO): checking for new query: numPingsReceived=48, elapsed TxPingTime=4.534873
2025-08-09T16:57:38.701Z,1754758658.701 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.10 m.
2025-08-09T16:57:38.880Z,1754758658.880 [DAT](INFO): checking for new query: numPingsReceived=48, elapsed TxPingTime=4.786449
2025-08-09T16:57:39.091Z,1754758659.091 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.10 m.
2025-08-09T16:57:39.132Z,1754758659.132 [DAT](INFO): checking for new query: numPingsReceived=48, elapsed TxPingTime=5.038231
2025-08-09T16:57:39.383Z,1754758659.383 [DAT](INFO): checking for new query: numPingsReceived=48, elapsed TxPingTime=5.290007
2025-08-09T16:57:39.529Z,1754758659.529 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.10 m.
2025-08-09T16:57:39.636Z,1754758659.636 [DAT](INFO): checking for new query: numPingsReceived=48, elapsed TxPingTime=5.542985
2025-08-09T16:57:39.887Z,1754758659.887 [DAT](INFO): checking for new query: numPingsReceived=48, elapsed TxPingTime=5.793966
2025-08-09T16:57:39.893Z,1754758659.893 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.10 m.
2025-08-09T16:57:40.139Z,1754758660.139 [DAT](INFO): checking for new query: numPingsReceived=48, elapsed TxPingTime=6.045896
2025-08-09T16:57:40.298Z,1754758660.298 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.10 m.
2025-08-09T16:57:40.392Z,1754758660.392 [DAT](INFO): checking for new query: numPingsReceived=48, elapsed TxPingTime=6.298852
2025-08-09T16:57:40.643Z,1754758660.643 [DAT](INFO): checking for new query: numPingsReceived=48, elapsed TxPingTime=6.549884
2025-08-09T16:57:40.709Z,1754758660.709 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for water mass range. Device response is::WD,        +0.00,              +0.00,1081.93
2025-08-09T16:57:40.725Z,1754758660.725 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.10 m.
2025-08-09T16:57:40.895Z,1754758660.895 [DAT](INFO): checking for new query: numPingsReceived=48, elapsed TxPingTime=6.801877
2025-08-09T16:57:41.099Z,1754758661.099 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.10 m.
2025-08-09T16:57:41.147Z,1754758661.147 [DAT](INFO): checking for new query: numPingsReceived=48, elapsed TxPingTime=7.054083
2025-08-09T16:57:41.402Z,1754758661.402 [DAT](INFO): checking for new query: numPingsReceived=48, elapsed TxPingTime=7.308093
2025-08-09T16:57:41.519Z,1754758661.519 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.10 m.
2025-08-09T16:57:41.651Z,1754758661.651 [DAT](INFO): checking for new query: numPingsReceived=48, elapsed TxPingTime=7.557862
2025-08-09T16:57:41.903Z,1754758661.903 [DAT](INFO): checking for new query: numPingsReceived=48, elapsed TxPingTime=7.810038
2025-08-09T16:57:41.911Z,1754758661.911 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.10 m.
2025-08-09T16:57:42.155Z,1754758662.155 [DAT](INFO): checking for new query: numPingsReceived=48, elapsed TxPingTime=8.061886
2025-08-09T16:57:42.332Z,1754758662.332 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.10 m.
2025-08-09T16:57:42.407Z,1754758662.407 [DAT](INFO): checking for new query: numPingsReceived=48, elapsed TxPingTime=8.313996
2025-08-09T16:57:42.659Z,1754758662.659 [DAT](INFO): checking for new query: numPingsReceived=48, elapsed TxPingTime=8.566067
2025-08-09T16:57:42.755Z,1754758662.755 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.10 m.
2025-08-09T16:57:42.911Z,1754758662.911 [DAT](INFO): checking for new query: numPingsReceived=48, elapsed TxPingTime=8.817847
2025-08-09T16:57:43.135Z,1754758663.135 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.10 m.
2025-08-09T16:57:43.164Z,1754758663.164 [DAT](INFO): checking for new query: numPingsReceived=48, elapsed TxPingTime=9.070220
2025-08-09T16:57:43.418Z,1754758663.418 [DAT](INFO): checking for new query: numPingsReceived=48, elapsed TxPingTime=9.323741
2025-08-09T16:57:43.551Z,1754758663.551 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.10 m.
2025-08-09T16:57:43.667Z,1754758663.667 [DAT](INFO): checking for new query: numPingsReceived=48, elapsed TxPingTime=9.573895
2025-08-09T16:57:43.919Z,1754758663.919 [DAT](INFO): checking for new query: numPingsReceived=48, elapsed TxPingTime=9.825977
2025-08-09T16:57:43.945Z,1754758663.945 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.10 m.
2025-08-09T16:57:44.171Z,1754758664.171 [DAT](INFO): checking for new query: numPingsReceived=48, elapsed TxPingTime=10.077920
2025-08-09T16:57:44.330Z,1754758664.330 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.10 m.
2025-08-09T16:57:44.427Z,1754758664.427 [DAT](INFO): checking for new query: numPingsReceived=48, elapsed TxPingTime=10.333155
2025-08-09T16:57:44.675Z,1754758664.675 [DAT](INFO): checking for new query: numPingsReceived=48, elapsed TxPingTime=10.581877
2025-08-09T16:57:44.760Z,1754758664.760 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.10 m.
2025-08-09T16:57:44.927Z,1754758664.927 [DAT](INFO): checking for new query: numPingsReceived=48, elapsed TxPingTime=10.833929
2025-08-09T16:57:45.150Z,1754758665.150 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.10 m.
2025-08-09T16:57:45.185Z,1754758665.185 [DAT](INFO): checking for new query: numPingsReceived=48, elapsed TxPingTime=11.091219
2025-08-09T16:57:45.439Z,1754758665.439 [DAT](INFO): checking for new query: numPingsReceived=48, elapsed TxPingTime=11.345301
2025-08-09T16:57:45.575Z,1754758665.575 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.10 m.
2025-08-09T16:57:45.687Z,1754758665.687 [DAT](INFO): checking for new query: numPingsReceived=48, elapsed TxPingTime=11.594016
2025-08-09T16:57:45.939Z,1754758665.939 [DAT](INFO): checking for new query: numPingsReceived=48, elapsed TxPingTime=11.845954
2025-08-09T16:57:45.950Z,1754758665.950 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.10 m.
2025-08-09T16:57:46.191Z,1754758666.191 [DAT](INFO): checking for new query: numPingsReceived=48, elapsed TxPingTime=12.097875
2025-08-09T16:57:46.354Z,1754758666.354 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.10 m.
2025-08-09T16:57:46.447Z,1754758666.447 [DAT](INFO): DAT read: Response Not Received

2025-08-09T16:57:46.448Z,1754758666.448 [DAT](INFO): response not received
2025-08-09T16:57:46.449Z,1754758666.449 [DAT](INFO): DAT read: user:253>

2025-08-09T16:57:46.453Z,1754758666.453 [DAT](ERROR): No response from remote modem.
2025-08-09T16:57:46.454Z,1754758666.454 [DAT](INFO): checking for new query: numPingsReceived=48, elapsed TxPingTime=12.360419
2025-08-09T16:57:46.696Z,1754758666.696 [DAT](INFO): DAT read: Tx time:16:57:46.0428

2025-08-09T16:57:46.696Z,1754758666.696 [DAT](INFO): Ping request sent.
2025-08-09T16:57:46.696Z,1754758666.696 [DAT](INFO): transmitted an acoustic signal
2025-08-09T16:57:46.697Z,1754758666.697 [DAT](INFO): publishing transmit ping time
2025-08-09T16:57:46.697Z,1754758666.697 [DAT](INFO): checking for new query: numPingsReceived=48, elapsed TxPingTime=0.000778
2025-08-09T16:57:46.819Z,1754758666.819 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.10 m.
2025-08-09T16:57:46.947Z,1754758666.947 [DAT](INFO): checking for new query: numPingsReceived=48, elapsed TxPingTime=0.250894
2025-08-09T16:57:47.159Z,1754758667.159 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.10 m.
2025-08-09T16:57:47.199Z,1754758667.199 [DAT](INFO): checking for new query: numPingsReceived=48, elapsed TxPingTime=0.503092
2025-08-09T16:57:47.454Z,1754758667.454 [DAT](INFO): checking for new query: numPingsReceived=48, elapsed TxPingTime=0.756605
2025-08-09T16:57:47.611Z,1754758667.611 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.10 m.
2025-08-09T16:57:47.704Z,1754758667.704 [DAT](INFO): checking for new query: numPingsReceived=48, elapsed TxPingTime=1.007167
2025-08-09T16:57:47.955Z,1754758667.955 [DAT](INFO): checking for new query: numPingsReceived=48, elapsed TxPingTime=1.259051
2025-08-09T16:57:47.972Z,1754758667.972 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.10 m.
2025-08-09T16:57:48.207Z,1754758668.207 [DAT](INFO): checking for new query: numPingsReceived=48, elapsed TxPingTime=1.510963
2025-08-09T16:57:48.379Z,1754758668.379 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.10 m.
2025-08-09T16:57:48.463Z,1754758668.463 [DAT](INFO): checking for new query: numPingsReceived=48, elapsed TxPingTime=1.765486
2025-08-09T16:57:48.711Z,1754758668.711 [DAT](INFO): checking for new query: numPingsReceived=48, elapsed TxPingTime=2.014949
2025-08-09T16:57:48.822Z,1754758668.822 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.10 m.
2025-08-09T16:57:48.963Z,1754758668.963 [DAT](INFO): checking for new query: numPingsReceived=48, elapsed TxPingTime=2.266821
2025-08-09T16:57:49.187Z,1754758669.187 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.10 m.
2025-08-09T16:57:49.216Z,1754758669.216 [DAT](INFO): checking for new query: numPingsReceived=48, elapsed TxPingTime=2.519180
2025-08-09T16:57:49.470Z,1754758669.470 [DAT](INFO): checking for new query: numPingsReceived=48, elapsed TxPingTime=2.773185
2025-08-09T16:57:49.651Z,1754758669.651 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.10 m.
2025-08-09T16:57:49.720Z,1754758669.720 [DAT](INFO): DAT read: Rx Time:16:57:48.6276

2025-08-09T16:57:49.721Z,1754758669.721 [DAT](INFO): Rx dataTimestamp_ set to:1754758669.720360
2025-08-09T16:57:49.721Z,1754758669.721 [DAT](INFO): checking for new query: numPingsReceived=48, elapsed TxPingTime=3.024831
2025-08-09T16:57:49.971Z,1754758669.971 [DAT](INFO): checking for new query: numPingsReceived=48, elapsed TxPingTime=3.274869
2025-08-09T16:57:50.000Z,1754758670.000 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.10 m.
2025-08-09T16:57:50.229Z,1754758670.229 [DAT](INFO): DAT read: 16:57:48.6276 LVL= 29168, 23105, 28434, 21539, AGC= 73, IDX=   8, 0.08,-2.256,-1.566,-2.284, 3.137, PHS= 0.992, 1.625, 0.818, RAW= 341.8, -58.8, CAL= 343.1, -60.7, ROT= 166.9,  60.7

2025-08-09T16:57:50.230Z,1754758670.230 [DAT](INFO): got valid direction response:
 16:57:48.6276 LVL= 29168, 23105, 28434, 21539, AGC= 73, IDX=   8, 0.08,-2.256,-1.566,-2.284, 3.137, PHS= 0.992, 1.625, 0.818, RAW= 341.8, -58.8, CAL= 343.1, -60.7, ROT= 166.9,  60.7

2025-08-09T16:57:50.231Z,1754758670.231 [DAT](INFO): DAT read: Bearing 119.7,   5.5 (Local)

2025-08-09T16:57:50.231Z,1754758670.231 [DAT](INFO): Local bearing/azimuth received:
 Bearing 119.7,   5.5 (Local)

2025-08-09T16:57:50.233Z,1754758670.233 [DAT](INFO): DAT read: Range 11 to 50 : 135.4 m  (Round-trip  180.6 ms) speed  0.4 m/s

2025-08-09T16:57:50.233Z,1754758670.233 [DAT](INFO): DAT read: user:254>

2025-08-09T16:57:50.236Z,1754758670.236 [DAT](INFO): DAT read: Tx time:16:57:49.7428

2025-08-09T16:57:50.237Z,1754758670.237 [DAT](INFO): Ping request sent.
2025-08-09T16:57:50.238Z,1754758670.238 [DAT](INFO): transmitted an acoustic signal
2025-08-09T16:57:50.239Z,1754758670.239 [DAT](INFO): #Rx 49: Read range and direction messages.
2025-08-09T16:57:50.269Z,1754758670.269 [DAT](INFO): direction in FSK: [-0.476647,0.110919,-0.872069]
2025-08-09T16:57:50.269Z,1754758670.269 [DAT](INFO): publishing transmit ping time
2025-08-09T16:57:50.269Z,1754758670.269 [DAT](INFO): publishing direction and range info
2025-08-09T16:57:50.281Z,1754758670.281 [DAT](INFO): publishing transmit ping time
2025-08-09T16:57:50.281Z,1754758670.281 [DAT](INFO): publishing direction and range info
2025-08-09T16:57:50.297Z,1754758670.297 [DAT](INFO): checking for new query: numPingsReceived=49, elapsed TxPingTime=0.059717
2025-08-09T16:57:50.422Z,1754758670.422 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 135.399994 m,
      deltaT: 115.742853 s,
      deltaX: 105.299995 m,
      approachRate: 0.909775 m/s,
      rangeRepo size: 4

2025-08-09T16:57:50.428Z,1754758670.428 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 135.399994 m,
      bearing: 255.603390 deg,
      lat: 36.906137 deg,
      lon: -122.115855 deg,
      deltaT: 115.742853 s,
      deltaX: 105.299995 m,
      approachRate: 0.909775 m/s,
      posRepo size: 4

2025-08-09T16:57:50.429Z,1754758670.429 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 135.40 m.
2025-08-09T16:57:50.429Z,1754758670.429 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Completed rollout at range: 135.40 m. Resuming terminal guidance.
2025-08-09T16:57:50.429Z,1754758670.429 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Transitioning guidance mode to: TERMINAL_GUIDANCE
2025-08-09T16:57:50.478Z,1754758670.478 [DAT](INFO): checking for new query: numPingsReceived=49, elapsed TxPingTime=0.240340
2025-08-09T16:57:50.727Z,1754758670.727 [DAT](INFO): checking for new query: numPingsReceived=49, elapsed TxPingTime=0.490205
2025-08-09T16:57:50.821Z,1754758670.821 [lineCaptureHoming:UpdatePingUpdateRate_Terminal] Running Loop=1
2025-08-09T16:57:50.821Z,1754758670.821 [lineCaptureHoming:UpdatePingUpdateRate_Terminal](DEBUG): Aggregate::initialize lineCaptureHoming:UpdatePingUpdateRate_Terminal
2025-08-09T16:57:50.821Z,1754758670.821 [lineCaptureHoming:UpdatePingUpdateRate_Terminal:A] Running Loop=1
2025-08-09T16:57:50.823Z,1754758670.823 [lineCaptureHoming:UpdatePingUpdateRate_Terminal:A](INFO): Entering Terminal tracking update period  2.000000 s sec at 135.399994 m (mode  1.000000 count ).
2025-08-09T16:57:50.823Z,1754758670.823 [lineCaptureHoming:UpdatePingUpdateRate_Terminal:A] Stopped
2025-08-09T16:57:50.824Z,1754758670.824 [lineCaptureHoming:UpdatePingUpdateRate_Terminal:B] Running Loop=1
2025-08-09T16:57:50.827Z,1754758670.827 [lineCaptureHoming:LineCapture:HoldBuoyancy] Running Loop=1
2025-08-09T16:57:50.828Z,1754758670.828 [lineCaptureHoming:LineCapture:HoldBuoyancy](DEBUG): Aggregate::initialize lineCaptureHoming:LineCapture:HoldBuoyancy
2025-08-09T16:57:50.828Z,1754758670.828 [lineCaptureHoming:LineCapture:HoldBuoyancy:A.Buoyancy] Running Loop=1
2025-08-09T16:57:50.828Z,1754758670.828 [lineCaptureHoming:LineCapture:HoldBuoyancy:A.Buoyancy](DEBUG): Initialize Buoyancy Component.
2025-08-09T16:57:50.979Z,1754758670.979 [DAT](INFO): checking for new query: numPingsReceived=49, elapsed TxPingTime=0.742349
2025-08-09T16:57:51.208Z,1754758671.208 [lineCaptureHoming:UpdatePingUpdateRate_Terminal:B] Stopped
2025-08-09T16:57:51.208Z,1754758671.208 [lineCaptureHoming:UpdatePingUpdateRate_Terminal:C] Running Loop=1
2025-08-09T16:57:51.209Z,1754758671.209 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-09T16:57:51.231Z,1754758671.231 [DAT](INFO): checking for new query: numPingsReceived=49, elapsed TxPingTime=0.994147
2025-08-09T16:57:51.484Z,1754758671.484 [DAT](INFO): checking for new query: numPingsReceived=49, elapsed TxPingTime=1.246485
2025-08-09T16:57:51.661Z,1754758671.661 [lineCaptureHoming:UpdatePingUpdateRate_Terminal:C] Stopped
2025-08-09T16:57:51.661Z,1754758671.661 [lineCaptureHoming:UpdatePingUpdateRate_Terminal:D] Running Loop=1
2025-08-09T16:57:51.736Z,1754758671.736 [DAT](INFO): checking for new query: numPingsReceived=49, elapsed TxPingTime=1.498170
2025-08-09T16:57:51.987Z,1754758671.987 [DAT](INFO): checking for new query: numPingsReceived=49, elapsed TxPingTime=1.750226
2025-08-09T16:57:52.016Z,1754758672.016 [lineCaptureHoming:UpdatePingUpdateRate_Terminal:D] Stopped
2025-08-09T16:57:52.016Z,1754758672.016 [lineCaptureHoming:UpdatePingUpdateRate_Terminal](INFO): Completed lineCaptureHoming:UpdatePingUpdateRate_Terminal
2025-08-09T16:57:52.016Z,1754758672.016 [lineCaptureHoming:UpdatePingUpdateRate_Terminal] Stopped
2025-08-09T16:57:52.016Z,1754758672.016 [lineCaptureHoming:UpdatePingUpdateRate_Terminal](DEBUG): Aggregate::uninitialize lineCaptureHoming:UpdatePingUpdateRate_Terminal
2025-08-09T16:57:52.240Z,1754758672.240 [DAT](INFO): checking for new query: numPingsReceived=49, elapsed TxPingTime=2.002439
2025-08-09T16:57:52.495Z,1754758672.495 [DAT](INFO): checking for new query: numPingsReceived=49, elapsed TxPingTime=2.257086
2025-08-09T16:57:52.743Z,1754758672.743 [DAT](INFO): checking for new query: numPingsReceived=49, elapsed TxPingTime=2.506136
2025-08-09T16:57:52.995Z,1754758672.995 [DAT](INFO): checking for new query: numPingsReceived=49, elapsed TxPingTime=2.758107
2025-08-09T16:57:53.247Z,1754758673.247 [DAT](INFO): checking for new query: numPingsReceived=49, elapsed TxPingTime=3.010221
2025-08-09T16:57:53.291Z,1754758673.291 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-09T16:57:53.500Z,1754758673.500 [DAT](INFO): checking for new query: numPingsReceived=49, elapsed TxPingTime=3.262087
2025-08-09T16:57:53.751Z,1754758673.751 [DAT](INFO): checking for new query: numPingsReceived=49, elapsed TxPingTime=3.514249
2025-08-09T16:57:54.003Z,1754758674.003 [DAT](INFO): checking for new query: numPingsReceived=49, elapsed TxPingTime=3.766214
2025-08-09T16:57:54.255Z,1754758674.255 [DAT](INFO): checking for new query: numPingsReceived=49, elapsed TxPingTime=4.018151
2025-08-09T16:57:54.508Z,1754758674.508 [DAT](INFO): checking for new query: numPingsReceived=49, elapsed TxPingTime=4.270672
2025-08-09T16:57:54.759Z,1754758674.759 [DAT](INFO): checking for new query: numPingsReceived=49, elapsed TxPingTime=4.522285
2025-08-09T16:57:55.012Z,1754758675.012 [DAT](INFO): checking for new query: numPingsReceived=49, elapsed TxPingTime=4.774631
2025-08-09T16:57:55.263Z,1754758675.263 [DAT](INFO): checking for new query: numPingsReceived=49, elapsed TxPingTime=5.026211
2025-08-09T16:57:55.324Z,1754758675.324 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-09T16:57:55.515Z,1754758675.515 [DAT](INFO): checking for new query: numPingsReceived=49, elapsed TxPingTime=5.278171
2025-08-09T16:57:55.767Z,1754758675.767 [DAT](INFO): checking for new query: numPingsReceived=49, elapsed TxPingTime=5.530055
2025-08-09T16:57:56.020Z,1754758676.020 [DAT](INFO): checking for new query: numPingsReceived=49, elapsed TxPingTime=5.782458
2025-08-09T16:57:56.273Z,1754758676.273 [DAT](INFO): checking for new query: numPingsReceived=49, elapsed TxPingTime=6.035325
2025-08-09T16:57:56.523Z,1754758676.523 [DAT](INFO): checking for new query: numPingsReceived=49, elapsed TxPingTime=6.286122
2025-08-09T16:57:56.775Z,1754758676.775 [DAT](INFO): checking for new query: numPingsReceived=49, elapsed TxPingTime=6.538266
2025-08-09T16:57:57.027Z,1754758677.027 [DAT](INFO): checking for new query: numPingsReceived=49, elapsed TxPingTime=6.790329
2025-08-09T16:57:57.279Z,1754758677.279 [DAT](INFO): checking for new query: numPingsReceived=49, elapsed TxPingTime=7.042146
2025-08-09T16:57:57.435Z,1754758677.435 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-09T16:57:57.531Z,1754758677.531 [DAT](INFO): checking for new query: numPingsReceived=49, elapsed TxPingTime=7.294165
2025-08-09T16:57:57.783Z,1754758677.783 [DAT](INFO): checking for new query: numPingsReceived=49, elapsed TxPingTime=7.546306
2025-08-09T16:57:58.036Z,1754758678.036 [DAT](INFO): checking for new query: numPingsReceived=49, elapsed TxPingTime=7.798530
2025-08-09T16:57:58.287Z,1754758678.287 [DAT](INFO): checking for new query: numPingsReceived=49, elapsed TxPingTime=8.050282
2025-08-09T16:57:58.539Z,1754758678.539 [DAT](INFO): checking for new query: numPingsReceived=49, elapsed TxPingTime=8.302249
2025-08-09T16:57:58.792Z,1754758678.792 [DAT](INFO): checking for new query: numPingsReceived=49, elapsed TxPingTime=8.555065
2025-08-09T16:57:59.043Z,1754758679.043 [DAT](INFO): checking for new query: numPingsReceived=49, elapsed TxPingTime=8.806161
2025-08-09T16:57:59.296Z,1754758679.296 [DAT](INFO): checking for new query: numPingsReceived=49, elapsed TxPingTime=9.059343
2025-08-09T16:57:59.541Z,1754758679.541 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-09T16:57:59.547Z,1754758679.547 [DAT](INFO): checking for new query: numPingsReceived=49, elapsed TxPingTime=9.310269
2025-08-09T16:57:59.800Z,1754758679.800 [DAT](INFO): checking for new query: numPingsReceived=49, elapsed TxPingTime=9.562752
2025-08-09T16:58:00.051Z,1754758680.051 [DAT](INFO): checking for new query: numPingsReceived=49, elapsed TxPingTime=9.814233
2025-08-09T16:58:00.304Z,1754758680.304 [DAT](INFO): checking for new query: numPingsReceived=49, elapsed TxPingTime=10.066899
2025-08-09T16:58:00.557Z,1754758680.557 [DAT](INFO): checking for new query: numPingsReceived=49, elapsed TxPingTime=10.319451
2025-08-09T16:58:00.807Z,1754758680.807 [DAT](INFO): checking for new query: numPingsReceived=49, elapsed TxPingTime=10.570288
2025-08-09T16:58:01.061Z,1754758681.061 [DAT](INFO): checking for new query: numPingsReceived=49, elapsed TxPingTime=10.823171
2025-08-09T16:58:01.312Z,1754758681.312 [DAT](INFO): checking for new query: numPingsReceived=49, elapsed TxPingTime=11.075014
2025-08-09T16:58:01.564Z,1754758681.564 [DAT](INFO): checking for new query: numPingsReceived=49, elapsed TxPingTime=11.326639
2025-08-09T16:58:01.666Z,1754758681.666 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-09T16:58:01.815Z,1754758681.815 [DAT](INFO): checking for new query: numPingsReceived=49, elapsed TxPingTime=11.578184
2025-08-09T16:58:02.068Z,1754758682.068 [DAT](INFO): checking for new query: numPingsReceived=49, elapsed TxPingTime=11.831153
2025-08-09T16:58:02.319Z,1754758682.319 [DAT](INFO): checking for new query: numPingsReceived=49, elapsed TxPingTime=12.082273
2025-08-09T16:58:02.572Z,1754758682.572 [DAT](INFO): checking for new query: numPingsReceived=49, elapsed TxPingTime=12.334637
2025-08-09T16:58:02.824Z,1754758682.824 [DAT](INFO): DAT read: Response Not Received

2025-08-09T16:58:02.824Z,1754758682.824 [DAT](INFO): response not received
2025-08-09T16:58:02.824Z,1754758682.824 [DAT](INFO): DAT read: user:255>

2025-08-09T16:58:02.825Z,1754758682.825 [DAT](INFO): DAT read: Tx time:16:58:02.1943

2025-08-09T16:58:02.825Z,1754758682.825 [DAT](INFO): Ping request sent.
2025-08-09T16:58:02.825Z,1754758682.825 [DAT](INFO): transmitted an acoustic signal
2025-08-09T16:58:02.826Z,1754758682.826 [DAT](INFO): publishing transmit ping time
2025-08-09T16:58:02.826Z,1754758682.826 [DAT](INFO): checking for new query: numPingsReceived=49, elapsed TxPingTime=0.000745
2025-08-09T16:58:03.076Z,1754758683.076 [DAT](INFO): checking for new query: numPingsReceived=49, elapsed TxPingTime=0.250864
2025-08-09T16:58:03.328Z,1754758683.328 [DAT](INFO): checking for new query: numPingsReceived=49, elapsed TxPingTime=0.503045
2025-08-09T16:58:03.580Z,1754758683.580 [DAT](INFO): checking for new query: numPingsReceived=49, elapsed TxPingTime=0.754308
2025-08-09T16:58:03.707Z,1754758683.707 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-09T16:58:03.831Z,1754758683.831 [DAT](INFO): checking for new query: numPingsReceived=49, elapsed TxPingTime=1.005945
2025-08-09T16:58:04.083Z,1754758684.083 [DAT](INFO): checking for new query: numPingsReceived=49, elapsed TxPingTime=1.257956
2025-08-09T16:58:04.336Z,1754758684.336 [DAT](INFO): checking for new query: numPingsReceived=49, elapsed TxPingTime=1.510838
2025-08-09T16:58:04.589Z,1754758684.589 [DAT](INFO): checking for new query: numPingsReceived=49, elapsed TxPingTime=1.762959
2025-08-09T16:58:04.840Z,1754758684.840 [DAT](INFO): checking for new query: numPingsReceived=49, elapsed TxPingTime=2.014397
2025-08-09T16:58:05.091Z,1754758685.091 [DAT](INFO): checking for new query: numPingsReceived=49, elapsed TxPingTime=2.265825
2025-08-09T16:58:05.344Z,1754758685.344 [DAT](INFO): checking for new query: numPingsReceived=49, elapsed TxPingTime=2.518596
2025-08-09T16:58:05.595Z,1754758685.595 [DAT](INFO): checking for new query: numPingsReceived=49, elapsed TxPingTime=2.770016
2025-08-09T16:58:05.848Z,1754758685.848 [DAT](INFO): checking for new query: numPingsReceived=49, elapsed TxPingTime=3.022493
2025-08-09T16:58:06.099Z,1754758686.099 [DAT](INFO): checking for new query: numPingsReceived=49, elapsed TxPingTime=3.274037
2025-08-09T16:58:06.124Z,1754758686.124 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-09T16:58:06.351Z,1754758686.351 [DAT](INFO): checking for new query: numPingsReceived=49, elapsed TxPingTime=3.525837
2025-08-09T16:58:06.604Z,1754758686.604 [DAT](INFO): checking for new query: numPingsReceived=49, elapsed TxPingTime=3.778617
2025-08-09T16:58:06.857Z,1754758686.857 [DAT](INFO): checking for new query: numPingsReceived=49, elapsed TxPingTime=4.031291
2025-08-09T16:58:07.107Z,1754758687.107 [DAT](INFO): checking for new query: numPingsReceived=49, elapsed TxPingTime=4.281879
2025-08-09T16:58:07.359Z,1754758687.359 [DAT](INFO): checking for new query: numPingsReceived=49, elapsed TxPingTime=4.534001
2025-08-09T16:58:07.611Z,1754758687.611 [DAT](INFO): checking for new query: numPingsReceived=49, elapsed TxPingTime=4.786031
2025-08-09T16:58:07.864Z,1754758687.864 [DAT](INFO): checking for new query: numPingsReceived=49, elapsed TxPingTime=5.038290
2025-08-09T16:58:08.115Z,1754758688.115 [DAT](INFO): checking for new query: numPingsReceived=49, elapsed TxPingTime=5.290107
2025-08-09T16:58:08.301Z,1754758688.301 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-09T16:58:08.369Z,1754758688.369 [DAT](INFO): checking for new query: numPingsReceived=49, elapsed TxPingTime=5.543366
2025-08-09T16:58:08.619Z,1754758688.619 [DAT](INFO): checking for new query: numPingsReceived=49, elapsed TxPingTime=5.793859
2025-08-09T16:58:08.872Z,1754758688.872 [DAT](INFO): checking for new query: numPingsReceived=49, elapsed TxPingTime=6.046655
2025-08-09T16:58:09.123Z,1754758689.123 [DAT](INFO): checking for new query: numPingsReceived=49, elapsed TxPingTime=6.298006
2025-08-09T16:58:09.379Z,1754758689.379 [DAT](INFO): checking for new query: numPingsReceived=49, elapsed TxPingTime=6.553385
2025-08-09T16:58:09.627Z,1754758689.627 [DAT](INFO): checking for new query: numPingsReceived=49, elapsed TxPingTime=6.801857
2025-08-09T16:58:09.879Z,1754758689.879 [DAT](INFO): checking for new query: numPingsReceived=49, elapsed TxPingTime=7.053949
2025-08-09T16:58:10.131Z,1754758690.131 [DAT](INFO): checking for new query: numPingsReceived=49, elapsed TxPingTime=7.305857
2025-08-09T16:58:10.337Z,1754758690.337 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-09T16:58:10.384Z,1754758690.384 [DAT](INFO): checking for new query: numPingsReceived=49, elapsed TxPingTime=7.558227
2025-08-09T16:58:10.635Z,1754758690.635 [DAT](INFO): checking for new query: numPingsReceived=49, elapsed TxPingTime=7.809892
2025-08-09T16:58:10.887Z,1754758690.887 [DAT](INFO): checking for new query: numPingsReceived=49, elapsed TxPingTime=8.061830
2025-08-09T16:58:11.139Z,1754758691.139 [DAT](INFO): checking for new query: numPingsReceived=49, elapsed TxPingTime=8.313963
2025-08-09T16:58:11.392Z,1754758691.392 [DAT](INFO): checking for new query: numPingsReceived=49, elapsed TxPingTime=8.566357
2025-08-09T16:58:11.643Z,1754758691.643 [DAT](INFO): checking for new query: numPingsReceived=49, elapsed TxPingTime=8.817981
2025-08-09T16:58:11.896Z,1754758691.896 [DAT](INFO): checking for new query: numPingsReceived=49, elapsed TxPingTime=9.070154
2025-08-09T16:58:12.147Z,1754758692.147 [DAT](INFO): checking for new query: numPingsReceived=49, elapsed TxPingTime=9.322001
2025-08-09T16:58:12.357Z,1754758692.357 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-09T16:58:12.400Z,1754758692.400 [DAT](INFO): checking for new query: numPingsReceived=49, elapsed TxPingTime=9.574505
2025-08-09T16:58:12.651Z,1754758692.651 [DAT](INFO): checking for new query: numPingsReceived=49, elapsed TxPingTime=9.825841
2025-08-09T16:58:12.904Z,1754758692.904 [DAT](INFO): checking for new query: numPingsReceived=49, elapsed TxPingTime=10.078560
2025-08-09T16:58:13.155Z,1754758693.155 [DAT](INFO): checking for new query: numPingsReceived=49, elapsed TxPingTime=10.329928
2025-08-09T16:58:13.408Z,1754758693.408 [DAT](INFO): checking for new query: numPingsReceived=49, elapsed TxPingTime=10.582273
2025-08-09T16:58:13.660Z,1754758693.660 [DAT](INFO): checking for new query: numPingsReceived=49, elapsed TxPingTime=10.834372
2025-08-09T16:58:13.911Z,1754758693.911 [DAT](INFO): checking for new query: numPingsReceived=49, elapsed TxPingTime=11.085884
2025-08-09T16:58:14.164Z,1754758694.164 [DAT](INFO): checking for new query: numPingsReceived=49, elapsed TxPingTime=11.338145
2025-08-09T16:58:14.368Z,1754758694.368 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-09T16:58:14.415Z,1754758694.415 [DAT](INFO): checking for new query: numPingsReceived=49, elapsed TxPingTime=11.590017
2025-08-09T16:58:14.668Z,1754758694.668 [DAT](INFO): checking for new query: numPingsReceived=49, elapsed TxPingTime=11.842213
2025-08-09T16:58:14.919Z,1754758694.919 [DAT](INFO): checking for new query: numPingsReceived=49, elapsed TxPingTime=12.093876
2025-08-09T16:58:15.175Z,1754758695.175 [DAT](INFO): DAT read: Response Not Received

2025-08-09T16:58:15.175Z,1754758695.175 [DAT](INFO): response not received
2025-08-09T16:58:15.175Z,1754758695.175 [DAT](INFO): DAT read: user:256>

2025-08-09T16:58:15.176Z,1754758695.176 [DAT](INFO): DAT read: Tx time:16:58:14.6426

2025-08-09T16:58:15.176Z,1754758695.176 [DAT](INFO): Ping request sent.
2025-08-09T16:58:15.176Z,1754758695.176 [DAT](INFO): transmitted an acoustic signal
2025-08-09T16:58:15.177Z,1754758695.177 [DAT](INFO): publishing transmit ping time
2025-08-09T16:58:15.177Z,1754758695.177 [DAT](INFO): checking for new query: numPingsReceived=49, elapsed TxPingTime=0.000760
2025-08-09T16:58:15.424Z,1754758695.424 [DAT](INFO): checking for new query: numPingsReceived=49, elapsed TxPingTime=0.247247
2025-08-09T16:58:15.676Z,1754758695.676 [DAT](INFO): checking for new query: numPingsReceived=49, elapsed TxPingTime=0.499349
2025-08-09T16:58:15.927Z,1754758695.927 [DAT](INFO): checking for new query: numPingsReceived=49, elapsed TxPingTime=0.750866
2025-08-09T16:58:16.179Z,1754758696.179 [DAT](INFO): checking for new query: numPingsReceived=49, elapsed TxPingTime=1.002772
2025-08-09T16:58:16.388Z,1754758696.388 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-09T16:58:16.432Z,1754758696.432 [DAT](INFO): checking for new query: numPingsReceived=49, elapsed TxPingTime=1.256002
2025-08-09T16:58:16.684Z,1754758696.684 [DAT](INFO): checking for new query: numPingsReceived=49, elapsed TxPingTime=1.507263
2025-08-09T16:58:16.935Z,1754758696.935 [DAT](INFO): checking for new query: numPingsReceived=49, elapsed TxPingTime=1.758719
2025-08-09T16:58:17.187Z,1754758697.187 [DAT](INFO): checking for new query: numPingsReceived=49, elapsed TxPingTime=2.010865
2025-08-09T16:58:17.439Z,1754758697.439 [DAT](INFO): checking for new query: numPingsReceived=49, elapsed TxPingTime=2.262851
2025-08-09T16:58:17.692Z,1754758697.692 [DAT](INFO): checking for new query: numPingsReceived=49, elapsed TxPingTime=2.515348
2025-08-09T16:58:17.944Z,1754758697.944 [DAT](INFO): checking for new query: numPingsReceived=49, elapsed TxPingTime=2.767107
2025-08-09T16:58:18.195Z,1754758698.195 [DAT](INFO): DAT read: Rx Time:16:58:17.1143

2025-08-09T16:58:18.196Z,1754758698.196 [DAT](INFO): Rx dataTimestamp_ set to:1754758698.195506
2025-08-09T16:58:18.196Z,1754758698.196 [DAT](INFO): checking for new query: numPingsReceived=49, elapsed TxPingTime=3.019881
2025-08-09T16:58:18.412Z,1754758698.412 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-09T16:58:18.448Z,1754758698.448 [DAT](INFO): checking for new query: numPingsReceived=49, elapsed TxPingTime=3.271295
2025-08-09T16:58:18.705Z,1754758698.705 [DAT](INFO): DAT read: 16:58:17.1143 LVL= 32752, 22609, 30194, 32755, AGC= 65, IDX= 239, 0.47,-0.837, 1.430, 0.142, 0.211, PHS=-0.946, 1.265,-0.113, RAW= 308.1,  -2.2, CAL= 306.8,  -5.7, ROT= 203.2,   5.7

2025-08-09T16:58:18.706Z,1754758698.706 [DAT](INFO): got valid direction response:
 16:58:17.1143 LVL= 32752, 22609, 30194, 32755, AGC= 65, IDX= 239, 0.47,-0.837, 1.430, 0.142, 0.211, PHS=-0.946, 1.265,-0.113, RAW= 308.1,  -2.2, CAL= 306.8,  -5.7, ROT= 203.2,   5.7

2025-08-09T16:58:18.707Z,1754758698.707 [DAT](INFO): DAT read: Bearing  41.4, -19.1 (Local)

2025-08-09T16:58:18.708Z,1754758698.708 [DAT](INFO): Local bearing/azimuth received:
 Bearing  41.4, -19.1 (Local)

2025-08-09T16:58:18.709Z,1754758698.709 [DAT](INFO): DAT read: Range 11 to 50 : 50.6 m  (Round-trip  67.5 ms) speed -0.8 m/s

2025-08-09T16:58:18.710Z,1754758698.710 [DAT](INFO): DAT read: user:257>

2025-08-09T16:58:18.710Z,1754758698.710 [DAT](INFO): DAT read: Tx time:16:58:18.2426

2025-08-09T16:58:18.711Z,1754758698.711 [DAT](INFO): Ping request sent.
2025-08-09T16:58:18.711Z,1754758698.711 [DAT](INFO): transmitted an acoustic signal
2025-08-09T16:58:18.711Z,1754758698.711 [DAT](INFO): #Rx 50: Read range and direction messages.
2025-08-09T16:58:18.712Z,1754758698.712 [DAT](INFO): direction in FSK: [-0.914591,-0.391994,-0.099320]
2025-08-09T16:58:18.712Z,1754758698.712 [DAT](INFO): publishing transmit ping time
2025-08-09T16:58:18.713Z,1754758698.713 [DAT](INFO): publishing direction and range info
2025-08-09T16:58:18.716Z,1754758698.716 [DAT](INFO): publishing transmit ping time
2025-08-09T16:58:18.716Z,1754758698.716 [DAT](INFO): publishing direction and range info
2025-08-09T16:58:18.719Z,1754758698.719 [DAT](INFO): checking for new query: numPingsReceived=50, elapsed TxPingTime=0.008463
2025-08-09T16:58:18.868Z,1754758698.868 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 50.599998 m,
      deltaT: nan s,
      deltaX: nan m,
      approachRate: -1.000000 m/s,
      rangeRepo size: 1

2025-08-09T16:58:18.872Z,1754758698.872 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 50.599998 m,
      bearing: 252.180669 deg,
      lat: 36.906137 deg,
      lon: -122.115855 deg,
      deltaT: nan s,
      deltaX: nan m,
      approachRate: -1.000000 m/s,
      posRepo size: 1

2025-08-09T16:58:18.873Z,1754758698.873 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 50.60 m.
2025-08-09T16:58:18.874Z,1754758698.874 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 50.60 m.
2025-08-09T16:58:18.902Z,1754758698.902 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 50.599998 m,
      nav range: 49.441422 m,
      bearing: 252.180669 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.000000 deg/s,
      cmd heading: 253.395751 deg,
      new cmd heading: 252.180669 deg.

2025-08-09T16:58:18.951Z,1754758698.951 [DAT](INFO): checking for new query: numPingsReceived=50, elapsed TxPingTime=0.240606
2025-08-09T16:58:18.966Z,1754758698.966 [DockingStepper](INFO): Changing to mode: 2
2025-08-09T16:58:19.204Z,1754758699.204 [DAT](INFO): checking for new query: numPingsReceived=50, elapsed TxPingTime=0.492857
2025-08-09T16:58:19.330Z,1754758699.330 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 50.60 m.
2025-08-09T16:58:19.331Z,1754758699.331 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 50.60 m.
2025-08-09T16:58:19.333Z,1754758699.333 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 50.599998 m,
      nav range: 49.687111 m,
      bearing: 252.014963 deg,
      approach rate: 0.515062 m/s,
      LOS rate: -0.345668 deg/s,
      cmd heading: 252.180666 deg,
      new cmd heading: 252.014963 deg.

2025-08-09T16:58:19.455Z,1754758699.455 [DAT](INFO): checking for new query: numPingsReceived=50, elapsed TxPingTime=0.744469
2025-08-09T16:58:19.707Z,1754758699.707 [DAT](INFO): checking for new query: numPingsReceived=50, elapsed TxPingTime=0.996578
2025-08-09T16:58:19.719Z,1754758699.719 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 50.60 m.
2025-08-09T16:58:19.720Z,1754758699.720 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 50.60 m.
2025-08-09T16:58:19.723Z,1754758699.723 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 50.599998 m,
      nav range: 49.874001 m,
      bearing: 251.885850 deg,
      approach rate: 0.480051 m/s,
      LOS rate: -0.330402 deg/s,
      cmd heading: 252.014965 deg,
      new cmd heading: 251.885850 deg.

2025-08-09T16:58:19.961Z,1754758699.961 [DAT](INFO): checking for new query: numPingsReceived=50, elapsed TxPingTime=1.250259
2025-08-09T16:58:20.134Z,1754758700.134 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 50.60 m.
2025-08-09T16:58:20.151Z,1754758700.151 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 50.60 m.
2025-08-09T16:58:20.153Z,1754758700.153 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 50.599998 m,
      nav range: 50.082684 m,
      bearing: 251.743576 deg,
      approach rate: 0.503233 m/s,
      LOS rate: -0.341659 deg/s,
      cmd heading: 251.885847 deg,
      new cmd heading: 251.743576 deg.

2025-08-09T16:58:20.212Z,1754758700.212 [DAT](INFO): checking for new query: numPingsReceived=50, elapsed TxPingTime=1.501577
2025-08-09T16:58:20.463Z,1754758700.463 [DAT](INFO): checking for new query: numPingsReceived=50, elapsed TxPingTime=1.752452
2025-08-09T16:58:20.558Z,1754758700.558 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-09T16:58:20.560Z,1754758700.560 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 50.60 m.
2025-08-09T16:58:20.561Z,1754758700.561 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 50.60 m.
2025-08-09T16:58:20.563Z,1754758700.563 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 50.599998 m,
      nav range: 50.297176 m,
      bearing: 251.598786 deg,
      approach rate: 0.503405 m/s,
      LOS rate: -0.338364 deg/s,
      cmd heading: 251.743588 deg,
      new cmd heading: 251.598786 deg.

2025-08-09T16:58:20.715Z,1754758700.715 [DAT](INFO): checking for new query: numPingsReceived=50, elapsed TxPingTime=2.004345
2025-08-09T16:58:20.971Z,1754758700.971 [DAT](INFO): checking for new query: numPingsReceived=50, elapsed TxPingTime=2.258974
2025-08-09T16:58:20.999Z,1754758700.999 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 50.60 m.
2025-08-09T16:58:20.999Z,1754758700.999 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 50.60 m.
2025-08-09T16:58:21.002Z,1754758701.002 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 50.599998 m,
      nav range: 50.505085 m,
      bearing: 251.449130 deg,
      approach rate: 0.474358 m/s,
      LOS rate: -0.340044 deg/s,
      cmd heading: 251.598788 deg,
      new cmd heading: 251.449130 deg.

2025-08-09T16:58:21.219Z,1754758701.219 [DAT](INFO): checking for new query: numPingsReceived=50, elapsed TxPingTime=2.508470
2025-08-09T16:58:21.370Z,1754758701.370 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 50.60 m.
2025-08-09T16:58:21.370Z,1754758701.370 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 50.60 m.
2025-08-09T16:58:21.373Z,1754758701.373 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 50.599998 m,
      nav range: 50.685539 m,
      bearing: 251.321935 deg,
      approach rate: 0.486026 m/s,
      LOS rate: -0.341361 deg/s,
      cmd heading: 251.449125 deg,
      new cmd heading: 251.321935 deg.

2025-08-09T16:58:21.471Z,1754758701.471 [DAT](INFO): checking for new query: numPingsReceived=50, elapsed TxPingTime=2.760615
2025-08-09T16:58:21.723Z,1754758701.723 [DAT](INFO): DAT read: Rx Time:16:58:20.7166

2025-08-09T16:58:21.724Z,1754758701.724 [DAT](INFO): Rx dataTimestamp_ set to:1754758701.723597
2025-08-09T16:58:21.724Z,1754758701.724 [DAT](INFO): checking for new query: numPingsReceived=50, elapsed TxPingTime=3.013590
2025-08-09T16:58:21.737Z,1754758701.737 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 50.60 m.
2025-08-09T16:58:21.738Z,1754758701.738 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 50.60 m.
2025-08-09T16:58:21.741Z,1754758701.741 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 50.599998 m,
      nav range: 50.859810 m,
      bearing: 251.190886 deg,
      approach rate: 0.473878 m/s,
      LOS rate: -0.355130 deg/s,
      cmd heading: 251.321947 deg,
      new cmd heading: 251.190886 deg.

2025-08-09T16:58:21.982Z,1754758701.982 [DAT](INFO): checking for new query: numPingsReceived=50, elapsed TxPingTime=3.270726
2025-08-09T16:58:22.168Z,1754758702.168 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 50.60 m.
2025-08-09T16:58:22.169Z,1754758702.169 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 50.60 m.
2025-08-09T16:58:22.171Z,1754758702.171 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 50.599998 m,
      nav range: 51.062950 m,
      bearing: 251.039970 deg,
      approach rate: 0.471555 m/s,
      LOS rate: -0.348930 deg/s,
      cmd heading: 251.190889 deg,
      new cmd heading: 251.039970 deg.

2025-08-09T16:58:22.231Z,1754758702.231 [DAT](INFO): checking for new query: numPingsReceived=50, elapsed TxPingTime=3.518884
2025-08-09T16:58:22.485Z,1754758702.485 [DAT](INFO): DAT read: 16:58:20.7166 LVL= 32720, 23793, 25298, 32755, AGC= 58, IDX= 456, 0.33, 2.659,-1.501,-2.621,-2.549, PHS=-0.973, 1.093,-0.116, RAW= 305.6,  -0.0, CAL= 303.9,  -3.7, ROT= 206.1,   3.7

2025-08-09T16:58:22.486Z,1754758702.486 [DAT](INFO): got valid direction response:
 16:58:20.7166 LVL= 32720, 23793, 25298, 32755, AGC= 58, IDX= 456, 0.33, 2.659,-1.501,-2.621,-2.549, PHS=-0.973, 1.093,-0.116, RAW= 305.6,  -0.0, CAL= 303.9,  -3.7, ROT= 206.1,   3.7

2025-08-09T16:58:22.487Z,1754758702.487 [DAT](INFO): DAT read: Bearing  31.2, -21.4 (Local)

2025-08-09T16:58:22.488Z,1754758702.488 [DAT](INFO): Local bearing/azimuth received:
 Bearing  31.2, -21.4 (Local)

2025-08-09T16:58:22.489Z,1754758702.489 [DAT](INFO): DAT read: Range 11 to 50 : 52.4 m  (Round-trip  69.9 ms) speed -0.5 m/s

2025-08-09T16:58:22.490Z,1754758702.490 [DAT](INFO): DAT read: user:258>

2025-08-09T16:58:22.491Z,1754758702.491 [DAT](INFO): DAT read: Tx time:16:58:21.8426

2025-08-09T16:58:22.491Z,1754758702.491 [DAT](INFO): Ping request sent.
2025-08-09T16:58:22.491Z,1754758702.491 [DAT](INFO): transmitted an acoustic signal
2025-08-09T16:58:22.491Z,1754758702.491 [DAT](INFO): #Rx 51: Read range and direction messages.
2025-08-09T16:58:22.492Z,1754758702.492 [DAT](INFO): direction in FSK: [-0.896156,-0.439022,-0.064532]
2025-08-09T16:58:22.493Z,1754758702.493 [DAT](INFO): publishing transmit ping time
2025-08-09T16:58:22.493Z,1754758702.493 [DAT](INFO): publishing direction and range info
2025-08-09T16:58:22.501Z,1754758702.501 [DAT](INFO): publishing transmit ping time
2025-08-09T16:58:22.502Z,1754758702.502 [DAT](INFO): publishing direction and range info
2025-08-09T16:58:22.555Z,1754758702.555 [DAT](INFO): checking for new query: numPingsReceived=51, elapsed TxPingTime=0.064341
2025-08-09T16:58:22.695Z,1754758702.695 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 52.400002 m,
      deltaT: 3.780076 s,
      deltaX: 1.800003 m,
      approachRate: 0.476182 m/s,
      rangeRepo size: 2

2025-08-09T16:58:22.697Z,1754758702.697 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 52.400002 m,
      bearing: 249.668914 deg,
      lat: 36.906126 deg,
      lon: -122.115855 deg,
      deltaT: 3.780076 s,
      deltaX: 1.800003 m,
      approachRate: 0.476182 m/s,
      posRepo size: 2

2025-08-09T16:58:22.697Z,1754758702.697 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 52.40 m.
2025-08-09T16:58:22.698Z,1754758702.698 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 52.40 m.
2025-08-09T16:58:22.705Z,1754758702.705 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 52.400002 m,
      nav range: 51.685074 m,
      bearing: 249.668914 deg,
      approach rate: 136399966523359232.000000 m/s,
      LOS rate: -0.348930 deg/s,
      cmd heading: 251.039969 deg,
      new cmd heading: 250.493906 deg.

2025-08-09T16:58:22.733Z,1754758702.733 [DAT](INFO): checking for new query: numPingsReceived=51, elapsed TxPingTime=0.242153
2025-08-09T16:58:22.987Z,1754758702.987 [DAT](INFO): checking for new query: numPingsReceived=51, elapsed TxPingTime=0.494728
2025-08-09T16:58:23.193Z,1754758703.193 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-09T16:58:23.196Z,1754758703.196 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 52.40 m.
2025-08-09T16:58:23.196Z,1754758703.196 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 52.40 m.
2025-08-09T16:58:23.199Z,1754758703.199 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 52.400002 m,
      nav range: 51.929691 m,
      bearing: 249.480050 deg,
      approach rate: 0.483721 m/s,
      LOS rate: -0.371711 deg/s,
      cmd heading: 250.493909 deg,
      new cmd heading: 249.930006 deg.

2025-08-09T16:58:23.235Z,1754758703.235 [DAT](INFO): checking for new query: numPingsReceived=51, elapsed TxPingTime=0.744372
2025-08-09T16:58:23.491Z,1754758703.491 [DAT](INFO): checking for new query: numPingsReceived=51, elapsed TxPingTime=0.999746
2025-08-09T16:58:23.575Z,1754758703.575 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 52.40 m.
2025-08-09T16:58:23.575Z,1754758703.575 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 52.40 m.
2025-08-09T16:58:23.583Z,1754758703.583 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 52.400002 m,
      nav range: 52.104942 m,
      bearing: 249.341312 deg,
      approach rate: 0.461924 m/s,
      LOS rate: -0.364453 deg/s,
      cmd heading: 249.930009 deg,
      new cmd heading: 249.515202 deg.

2025-08-09T16:58:23.739Z,1754758703.739 [DAT](INFO): checking for new query: numPingsReceived=51, elapsed TxPingTime=1.248300
2025-08-09T16:58:23.996Z,1754758703.996 [DAT](INFO): checking for new query: numPingsReceived=51, elapsed TxPingTime=1.503873
2025-08-09T16:58:24.100Z,1754758704.100 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 52.40 m.
2025-08-09T16:58:24.101Z,1754758704.101 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 52.40 m.
2025-08-09T16:58:24.104Z,1754758704.104 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 52.400002 m,
      nav range: 52.348320 m,
      bearing: 249.138850 deg,
      approach rate: 0.463180 m/s,
      LOS rate: -0.383521 deg/s,
      cmd heading: 249.515198 deg,
      new cmd heading: 248.910658 deg.

2025-08-09T16:58:24.243Z,1754758704.243 [DAT](INFO): checking for new query: numPingsReceived=51, elapsed TxPingTime=1.752386
2025-08-09T16:58:24.479Z,1754758704.479 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 52.40 m.
2025-08-09T16:58:24.480Z,1754758704.480 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 52.40 m.
2025-08-09T16:58:24.483Z,1754758704.483 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 52.400002 m,
      nav range: 52.523701 m,
      bearing: 248.994445 deg,
      approach rate: 0.462983 m/s,
      LOS rate: -0.379937 deg/s,
      cmd heading: 248.910671 deg,
      new cmd heading: 248.478912 deg.

2025-08-09T16:58:24.495Z,1754758704.495 [DAT](INFO): checking for new query: numPingsReceived=51, elapsed TxPingTime=2.004358
2025-08-09T16:58:24.751Z,1754758704.751 [DAT](INFO): checking for new query: numPingsReceived=51, elapsed TxPingTime=2.259694
2025-08-09T16:58:24.874Z,1754758704.874 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 52.40 m.
2025-08-09T16:58:24.875Z,1754758704.875 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 52.40 m.
2025-08-09T16:58:24.876Z,1754758704.876 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Final approach. Armed for intercept at range: 52.40 m.
2025-08-09T16:58:24.876Z,1754758704.876 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Transitioning guidance mode to: FINAL_APPROACH
2025-08-09T16:58:24.879Z,1754758704.879 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 52.400002 m,
      nav range: 52.700912 m,
      bearing: 248.838939 deg,
      approach rate: 0.449297 m/s,
      LOS rate: -0.392938 deg/s,
      cmd heading: 248.478922 deg,
      new cmd heading: 248.013984 deg.

2025-08-09T16:58:25.004Z,1754758705.004 [DAT](INFO): checking for new query: numPingsReceived=51, elapsed TxPingTime=2.511935
2025-08-09T16:58:25.251Z,1754758705.251 [DAT](INFO): checking for new query: numPingsReceived=51, elapsed TxPingTime=2.760275
2025-08-09T16:58:25.311Z,1754758705.311 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-09T16:58:25.313Z,1754758705.313 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 52.40 m.
2025-08-09T16:58:25.316Z,1754758705.316 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 52.400002 m,
      nav range: 52.903828 m,
      bearing: 248.663495 deg,
      approach rate: 0.461825 m/s,
      LOS rate: -0.397771 deg/s,
      cmd heading: 248.013977 deg,
      new cmd heading: 247.489678 deg.

2025-08-09T16:58:25.317Z,1754758705.317 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.319510 target range: 52.400002 and range: 52.40 m.
2025-08-09T16:58:25.503Z,1754758705.503 [DAT](INFO): DAT read: Rx Time:16:58:24.3189

2025-08-09T16:58:25.504Z,1754758705.504 [DAT](INFO): Rx dataTimestamp_ set to:1754758705.503436
2025-08-09T16:58:25.504Z,1754758705.504 [DAT](INFO): checking for new query: numPingsReceived=51, elapsed TxPingTime=3.013278
2025-08-09T16:58:25.698Z,1754758705.698 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 52.40 m.
2025-08-09T16:58:25.701Z,1754758705.701 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 52.400002 m,
      nav range: 53.077698 m,
      bearing: 248.514565 deg,
      approach rate: 0.451825 m/s,
      LOS rate: -0.385746 deg/s,
      cmd heading: 247.489664 deg,
      new cmd heading: 247.044348 deg.

2025-08-09T16:58:25.702Z,1754758705.702 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.311737 target range: 52.400002 and range: 52.40 m.
2025-08-09T16:58:25.756Z,1754758705.756 [DAT](INFO): checking for new query: numPingsReceived=51, elapsed TxPingTime=3.265139
2025-08-09T16:58:26.029Z,1754758706.029 [DAT](INFO): DAT read: 16:58:24.3189 LVL= 30256, 21233, 25650, 30035, AGC= 65, IDX= 447,-0.33, 2.832,-1.427,-2.285,-2.355, PHS=-0.994, 0.972, 0.026, RAW= 298.8,  -0.1, CAL= 297.3,  -4.3, ROT= 212.7,   4.3

2025-08-09T16:58:26.052Z,1754758706.052 [DAT](INFO): got valid direction response:
 16:58:24.3189 LVL= 30256, 21233, 25650, 30035, AGC= 65, IDX= 447,-0.33, 2.832,-1.427,-2.285,-2.355, PHS=-0.994, 0.972, 0.026, RAW= 298.8,  -0.1, CAL= 297.3,  -4.3, ROT= 212.7,   4.3

2025-08-09T16:58:26.083Z,1754758706.083 [DAT](INFO): DAT read: Bearing  24.3, -26.4 (Local)

2025-08-09T16:58:26.083Z,1754758706.083 [DAT](INFO): Local bearing/azimuth received:
 Bearing  24.3, -26.4 (Local)

2025-08-09T16:58:26.085Z,1754758706.085 [DAT](INFO): DAT read: Range 11 to 50 : 54.0 m  (Round-trip  72.1 ms) speed -0.5 m/s

2025-08-09T16:58:26.086Z,1754758706.086 [DAT](INFO): DAT read: user:259>

2025-08-09T16:58:26.091Z,1754758706.091 [DAT](INFO): DAT read: Tx time:16:58:25.4426

2025-08-09T16:58:26.091Z,1754758706.091 [DAT](INFO): Ping request sent.
2025-08-09T16:58:26.091Z,1754758706.091 [DAT](INFO): transmitted an acoustic signal
2025-08-09T16:58:26.091Z,1754758706.091 [DAT](INFO): #Rx 52: Read range and direction messages.
2025-08-09T16:58:26.092Z,1754758706.092 [DAT](INFO): direction in FSK: [-0.839142,-0.538720,-0.074979]
2025-08-09T16:58:26.092Z,1754758706.092 [DAT](INFO): publishing transmit ping time
2025-08-09T16:58:26.093Z,1754758706.093 [DAT](INFO): publishing direction and range info
2025-08-09T16:58:26.097Z,1754758706.097 [DAT](INFO): publishing transmit ping time
2025-08-09T16:58:26.097Z,1754758706.097 [DAT](INFO): publishing direction and range info
2025-08-09T16:58:26.105Z,1754758706.105 [DAT](INFO): checking for new query: numPingsReceived=52, elapsed TxPingTime=0.013536
2025-08-09T16:58:26.189Z,1754758706.189 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 54.000000 m,
      deltaT: 3.529526 s,
      deltaX: 1.599998 m,
      approachRate: 0.453318 m/s,
      rangeRepo size: 3

2025-08-09T16:58:26.191Z,1754758706.191 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 54.000000 m,
      bearing: 246.320638 deg,
      lat: 36.906108 deg,
      lon: -122.115855 deg,
      deltaT: 3.529526 s,
      deltaX: 1.599998 m,
      approachRate: 0.453318 m/s,
      posRepo size: 3

2025-08-09T16:58:26.192Z,1754758706.192 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.00 m.
2025-08-09T16:58:26.219Z,1754758706.219 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 54.000000 m,
      nav range: 54.059605 m,
      bearing: 246.320638 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.385746 deg/s,
      cmd heading: 247.044336 deg,
      new cmd heading: 246.476836 deg.

2025-08-09T16:58:26.220Z,1754758706.220 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.301832 target range: 54.000000 and range: 54.00 m.
2025-08-09T16:58:26.260Z,1754758706.260 [DAT](INFO): checking for new query: numPingsReceived=52, elapsed TxPingTime=0.168634
2025-08-09T16:58:26.498Z,1754758706.498 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Starting intercept timer at range: 54.00 m.
2025-08-09T16:58:26.499Z,1754758706.499 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.00 m.
2025-08-09T16:58:26.501Z,1754758706.501 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 54.000000 m,
      nav range: 54.217533 m,
      bearing: 246.181249 deg,
      approach rate: 0.509447 m/s,
      LOS rate: -0.448334 deg/s,
      cmd heading: 246.476829 deg,
      new cmd heading: 246.059886 deg.

2025-08-09T16:58:26.503Z,1754758706.503 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.294555 target range: 54.000000 and range: 54.00 m.
2025-08-09T16:58:26.513Z,1754758706.513 [DAT](INFO): checking for new query: numPingsReceived=52, elapsed TxPingTime=0.421613
2025-08-09T16:58:26.763Z,1754758706.763 [DAT](INFO): checking for new query: numPingsReceived=52, elapsed TxPingTime=0.672273
2025-08-09T16:58:26.902Z,1754758706.902 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.00 m.
2025-08-09T16:58:26.905Z,1754758706.905 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 54.000000 m,
      nav range: 54.393574 m,
      bearing: 246.021985 deg,
      approach rate: 0.435893 m/s,
      LOS rate: -0.393075 deg/s,
      cmd heading: 246.059887 deg,
      new cmd heading: 245.583654 deg.

2025-08-09T16:58:26.906Z,1754758706.906 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.286243 target range: 54.000000 and range: 54.00 m.
2025-08-09T16:58:27.019Z,1754758707.019 [DAT](INFO): checking for new query: numPingsReceived=52, elapsed TxPingTime=0.927585
2025-08-09T16:58:27.267Z,1754758707.267 [DAT](INFO): checking for new query: numPingsReceived=52, elapsed TxPingTime=1.176330
2025-08-09T16:58:27.330Z,1754758707.330 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-09T16:58:27.332Z,1754758707.332 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Stopped intercept timer at range: 54.00 m.
2025-08-09T16:58:27.332Z,1754758707.332 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.00 m.
2025-08-09T16:58:27.335Z,1754758707.335 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 54.000000 m,
      nav range: 54.588203 m,
      bearing: 245.841824 deg,
      approach rate: 0.452537 m/s,
      LOS rate: -0.417402 deg/s,
      cmd heading: 245.583659 deg,
      new cmd heading: 245.045119 deg.

2025-08-09T16:58:27.336Z,1754758707.336 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.276844 target range: 54.000000 and range: 54.00 m.
2025-08-09T16:58:27.521Z,1754758707.521 [DAT](INFO): checking for new query: numPingsReceived=52, elapsed TxPingTime=1.429677
2025-08-09T16:58:27.726Z,1754758707.726 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Starting intercept timer at range: 54.00 m.
2025-08-09T16:58:27.726Z,1754758707.726 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.00 m.
2025-08-09T16:58:27.729Z,1754758707.729 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 54.000000 m,
      nav range: 54.757858 m,
      bearing: 245.681214 deg,
      approach rate: 0.430889 m/s,
      LOS rate: -0.406651 deg/s,
      cmd heading: 245.045112 deg,
      new cmd heading: 244.564789 deg.

2025-08-09T16:58:27.742Z,1754758707.742 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.268461 target range: 54.000000 and range: 54.00 m.
2025-08-09T16:58:27.771Z,1754758707.771 [DAT](INFO): checking for new query: numPingsReceived=52, elapsed TxPingTime=1.680457
2025-08-09T16:58:28.025Z,1754758708.025 [DAT](INFO): checking for new query: numPingsReceived=52, elapsed TxPingTime=1.933292
2025-08-09T16:58:28.157Z,1754758708.157 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Stopped intercept timer at range: 54.00 m.
2025-08-09T16:58:28.157Z,1754758708.157 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.00 m.
2025-08-09T16:58:28.164Z,1754758708.164 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 54.000000 m,
      nav range: 54.952194 m,
      bearing: 245.497466 deg,
      approach rate: 0.450688 m/s,
      LOS rate: -0.424628 deg/s,
      cmd heading: 244.564786 deg,
      new cmd heading: 244.015507 deg.

2025-08-09T16:58:28.165Z,1754758708.165 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.258874 target range: 54.000000 and range: 54.00 m.
2025-08-09T16:58:28.279Z,1754758708.279 [DAT](INFO): checking for new query: numPingsReceived=52, elapsed TxPingTime=2.188289
2025-08-09T16:58:28.533Z,1754758708.533 [DAT](INFO): checking for new query: numPingsReceived=52, elapsed TxPingTime=2.441516
2025-08-09T16:58:28.538Z,1754758708.538 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Starting intercept timer at range: 54.00 m.
2025-08-09T16:58:28.538Z,1754758708.538 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.00 m.
2025-08-09T16:58:28.541Z,1754758708.541 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 54.000000 m,
      nav range: 55.125122 m,
      bearing: 245.330620 deg,
      approach rate: 0.454381 m/s,
      LOS rate: -0.437024 deg/s,
      cmd heading: 244.015502 deg,
      new cmd heading: 243.516548 deg.

2025-08-09T16:58:28.542Z,1754758708.542 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.250165 target range: 54.000000 and range: 54.00 m.
2025-08-09T16:58:28.787Z,1754758708.787 [DAT](INFO): checking for new query: numPingsReceived=52, elapsed TxPingTime=2.695760
2025-08-09T16:58:28.947Z,1754758708.947 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.00 m.
2025-08-09T16:58:28.950Z,1754758708.950 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 54.000000 m,
      nav range: 55.312309 m,
      bearing: 245.151690 deg,
      approach rate: 0.456805 m/s,
      LOS rate: -0.435175 deg/s,
      cmd heading: 243.516543 deg,
      new cmd heading: 242.981588 deg.

2025-08-09T16:58:28.951Z,1754758708.951 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.240829 target range: 54.000000 and range: 54.00 m.
2025-08-09T16:58:29.040Z,1754758709.040 [DAT](INFO): DAT read: Rx Time:16:58:27.9213

2025-08-09T16:58:29.041Z,1754758709.041 [DAT](INFO): Rx dataTimestamp_ set to:1754758709.040566
2025-08-09T16:58:29.044Z,1754758709.044 [DAT](INFO): checking for new query: numPingsReceived=52, elapsed TxPingTime=2.952365
2025-08-09T16:58:29.287Z,1754758709.287 [DAT](INFO): checking for new query: numPingsReceived=52, elapsed TxPingTime=3.196286
2025-08-09T16:58:29.381Z,1754758709.381 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-09T16:58:29.383Z,1754758709.383 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Stopped intercept timer at range: 54.00 m.
2025-08-09T16:58:29.383Z,1754758709.383 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.00 m.
2025-08-09T16:58:29.391Z,1754758709.391 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 54.000000 m,
      nav range: 55.505222 m,
      bearing: 244.963313 deg,
      approach rate: 0.442765 m/s,
      LOS rate: -0.430851 deg/s,
      cmd heading: 242.981575 deg,
      new cmd heading: 242.418428 deg.

2025-08-09T16:58:29.392Z,1754758709.392 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.231000 target range: 54.000000 and range: 54.00 m.
2025-08-09T16:58:29.545Z,1754758709.545 [DAT](INFO): DAT read: 16:58:27.9213 LVL= 28048, 18129, 21650, 27603, AGC= 60, IDX= 456,-0.36,-0.919, 0.933, 0.316, 0.131, PHS=-0.947, 0.848, 0.141, RAW= 293.0,  -0.5, CAL= 291.9,  -5.3, ROT= 218.1,   5.3

2025-08-09T16:58:29.546Z,1754758709.546 [DAT](INFO): got valid direction response:
 16:58:27.9213 LVL= 28048, 18129, 21650, 27603, AGC= 60, IDX= 456,-0.36,-0.919, 0.933, 0.316, 0.131, PHS=-0.947, 0.848, 0.141, RAW= 293.0,  -0.5, CAL= 291.9,  -5.3, ROT= 218.1,   5.3

2025-08-09T16:58:29.547Z,1754758709.547 [DAT](INFO): DAT read: Bearing  18.4, -29.7 (Local)

2025-08-09T16:58:29.547Z,1754758709.547 [DAT](INFO): Local bearing/azimuth received:
 Bearing  18.4, -29.7 (Local)

2025-08-09T16:58:29.549Z,1754758709.549 [DAT](INFO): DAT read: Range 11 to 50 : 55.9 m  (Round-trip  74.6 ms) speed -0.5 m/s

2025-08-09T16:58:29.550Z,1754758709.550 [DAT](INFO): DAT read: user:260>

2025-08-09T16:58:29.551Z,1754758709.551 [DAT](INFO): DAT read: Tx time:16:58:29.0426

2025-08-09T16:58:29.551Z,1754758709.551 [DAT](INFO): Ping request sent.
2025-08-09T16:58:29.551Z,1754758709.551 [DAT](INFO): transmitted an acoustic signal
2025-08-09T16:58:29.551Z,1754758709.551 [DAT](INFO): #Rx 53: Read range and direction messages.
2025-08-09T16:58:29.552Z,1754758709.552 [DAT](INFO): direction in FSK: [-0.783571,-0.614398,-0.092371]
2025-08-09T16:58:29.552Z,1754758709.552 [DAT](INFO): publishing transmit ping time
2025-08-09T16:58:29.553Z,1754758709.553 [DAT](INFO): publishing direction and range info
2025-08-09T16:58:29.556Z,1754758709.556 [DAT](INFO): publishing transmit ping time
2025-08-09T16:58:29.556Z,1754758709.556 [DAT](INFO): publishing direction and range info
2025-08-09T16:58:29.559Z,1754758709.559 [DAT](INFO): checking for new query: numPingsReceived=53, elapsed TxPingTime=0.008462
2025-08-09T16:58:29.776Z,1754758709.776 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 55.900002 m,
      deltaT: 3.530394 s,
      deltaX: 1.900002 m,
      approachRate: 0.538184 m/s,
      rangeRepo size: 4

2025-08-09T16:58:29.782Z,1754758709.782 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 55.900002 m,
      bearing: 242.534286 deg,
      lat: 36.906087 deg,
      lon: -122.115853 deg,
      deltaT: 3.530394 s,
      deltaX: 1.900002 m,
      approachRate: 0.538184 m/s,
      posRepo size: 4

2025-08-09T16:58:29.783Z,1754758709.783 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Starting intercept timer at range: 55.90 m.
2025-08-09T16:58:29.783Z,1754758709.783 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 55.90 m.
2025-08-09T16:58:29.792Z,1754758709.792 [DAT](INFO): checking for new query: numPingsReceived=53, elapsed TxPingTime=0.240738
2025-08-09T16:58:29.792Z,1754758709.792 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 55.900002 m,
      nav range: 56.585033 m,
      bearing: 242.534286 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.430851 deg/s,
      cmd heading: 242.418440 deg,
      new cmd heading: 241.911294 deg.

2025-08-09T16:58:29.793Z,1754758709.793 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.222148 target range: 55.900002 and range: 55.90 m.
2025-08-09T16:58:30.045Z,1754758710.045 [DAT](INFO): checking for new query: numPingsReceived=53, elapsed TxPingTime=0.493624
2025-08-09T16:58:30.191Z,1754758710.191 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Stopped intercept timer at range: 55.90 m.
2025-08-09T16:58:30.192Z,1754758710.192 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 55.90 m.
2025-08-09T16:58:30.195Z,1754758710.195 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 55.900002 m,
      nav range: 56.784416 m,
      bearing: 242.356000 deg,
      approach rate: 0.479387 m/s,
      LOS rate: -0.427156 deg/s,
      cmd heading: 241.911285 deg,
      new cmd heading: 241.378323 deg.

2025-08-09T16:58:30.196Z,1754758710.196 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.212846 target range: 55.900002 and range: 55.90 m.
2025-08-09T16:58:30.295Z,1754758710.295 [DAT](INFO): checking for new query: numPingsReceived=53, elapsed TxPingTime=0.744433
2025-08-09T16:58:30.547Z,1754758710.547 [DAT](INFO): checking for new query: numPingsReceived=53, elapsed TxPingTime=0.996110
2025-08-09T16:58:30.575Z,1754758710.575 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Starting intercept timer at range: 55.90 m.
2025-08-09T16:58:30.575Z,1754758710.575 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 55.90 m.
2025-08-09T16:58:30.578Z,1754758710.578 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 55.900002 m,
      nav range: 56.960403 m,
      bearing: 242.200071 deg,
      approach rate: 0.458829 m/s,
      LOS rate: -0.405279 deg/s,
      cmd heading: 241.378312 deg,
      new cmd heading: 240.911979 deg.

2025-08-09T16:58:30.579Z,1754758710.579 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.204707 target range: 55.900002 and range: 55.90 m.
2025-08-09T16:58:30.800Z,1754758710.800 [DAT](INFO): checking for new query: numPingsReceived=53, elapsed TxPingTime=1.248755
2025-08-09T16:58:30.950Z,1754758710.950 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 55.90 m.
2025-08-09T16:58:30.953Z,1754758710.953 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 55.900002 m,
      nav range: 57.124146 m,
      bearing: 242.042956 deg,
      approach rate: 0.437091 m/s,
      LOS rate: -0.418196 deg/s,
      cmd heading: 240.911974 deg,
      new cmd heading: 240.441992 deg.

2025-08-09T16:58:30.954Z,1754758710.954 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.196505 target range: 55.900002 and range: 55.90 m.
2025-08-09T16:58:31.051Z,1754758711.051 [DAT](INFO): checking for new query: numPingsReceived=53, elapsed TxPingTime=1.500462
2025-08-09T16:58:31.303Z,1754758711.303 [DAT](INFO): checking for new query: numPingsReceived=53, elapsed TxPingTime=1.752255
2025-08-09T16:58:31.380Z,1754758711.380 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Stopped intercept timer at range: 55.90 m.
2025-08-09T16:58:31.380Z,1754758711.380 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 55.90 m.
2025-08-09T16:58:31.383Z,1754758711.383 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 55.900002 m,
      nav range: 57.313339 m,
      bearing: 241.857826 deg,
      approach rate: 0.439431 m/s,
      LOS rate: -0.428573 deg/s,
      cmd heading: 240.442002 deg,
      new cmd heading: 239.888462 deg.

2025-08-09T16:58:31.384Z,1754758711.384 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.186843 target range: 55.900002 and range: 55.90 m.
2025-08-09T16:58:31.555Z,1754758711.555 [DAT](INFO): checking for new query: numPingsReceived=53, elapsed TxPingTime=2.004278
2025-08-09T16:58:31.752Z,1754758711.752 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-09T16:58:31.754Z,1754758711.754 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Starting intercept timer at range: 55.90 m.
2025-08-09T16:58:31.755Z,1754758711.755 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 55.90 m.
2025-08-09T16:58:31.758Z,1754758711.758 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 55.900002 m,
      nav range: 57.474426 m,
      bearing: 241.697040 deg,
      approach rate: 0.430577 m/s,
      LOS rate: -0.428568 deg/s,
      cmd heading: 239.888456 deg,
      new cmd heading: 239.407461 deg.

2025-08-09T16:58:31.759Z,1754758711.759 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.178449 target range: 55.900002 and range: 55.90 m.
2025-08-09T16:58:31.808Z,1754758711.808 [DAT](INFO): checking for new query: numPingsReceived=53, elapsed TxPingTime=2.257084
2025-08-09T16:58:32.059Z,1754758712.059 [DAT](INFO): checking for new query: numPingsReceived=53, elapsed TxPingTime=2.508241
2025-08-09T16:58:32.199Z,1754758712.199 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Stopped intercept timer at range: 55.90 m.
2025-08-09T16:58:32.199Z,1754758712.199 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 55.90 m.
2025-08-09T16:58:32.202Z,1754758712.202 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 55.900002 m,
      nav range: 57.661148 m,
      bearing: 241.515650 deg,
      approach rate: 0.419731 m/s,
      LOS rate: -0.406423 deg/s,
      cmd heading: 239.407474 deg,
      new cmd heading: 238.865086 deg.

2025-08-09T16:58:32.203Z,1754758712.203 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.168982 target range: 55.900002 and range: 55.90 m.
2025-08-09T16:58:32.311Z,1754758712.311 [DAT](INFO): checking for new query: numPingsReceived=53, elapsed TxPingTime=2.760352
2025-08-09T16:58:32.563Z,1754758712.563 [DAT](INFO): DAT read: Rx Time:16:58:31.5236

2025-08-09T16:58:32.564Z,1754758712.564 [DAT](INFO): Rx dataTimestamp_ set to:1754758712.563451
2025-08-09T16:58:32.564Z,1754758712.564 [DAT](INFO): checking for new query: numPingsReceived=53, elapsed TxPingTime=3.013314
2025-08-09T16:58:32.580Z,1754758712.580 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Starting intercept timer at range: 55.90 m.
2025-08-09T16:58:32.580Z,1754758712.580 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 55.90 m.
2025-08-09T16:58:32.599Z,1754758712.599 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 55.900002 m,
      nav range: 57.810402 m,
      bearing: 241.367319 deg,
      approach rate: 0.392262 m/s,
      LOS rate: -0.388830 deg/s,
      cmd heading: 238.865075 deg,
      new cmd heading: 238.421240 deg.

2025-08-09T16:58:32.600Z,1754758712.600 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.161236 target range: 55.900002 and range: 55.90 m.
2025-08-09T16:58:32.816Z,1754758712.816 [DAT](INFO): checking for new query: numPingsReceived=53, elapsed TxPingTime=3.264655
2025-08-09T16:58:32.973Z,1754758712.973 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 55.90 m.
2025-08-09T16:58:32.976Z,1754758712.976 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 55.900002 m,
      nav range: 57.979389 m,
      bearing: 241.195797 deg,
      approach rate: 0.429655 m/s,
      LOS rate: -0.434830 deg/s,
      cmd heading: 238.421249 deg,
      new cmd heading: 237.908196 deg.

2025-08-09T16:58:32.977Z,1754758712.977 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.152281 target range: 55.900002 and range: 55.90 m.
2025-08-09T16:58:33.094Z,1754758713.094 [DAT](INFO): DAT read: 16:58:31.5236 LVL= 24448, 17521, 23666, 27459, AGC= 59, IDX= 447, 0.00, 1.195, 3.058, 2.628, 2.326, PHS=-1.030, 0.776, 0.258, RAW= 286.2,  -0.1, CAL= 285.1,  -5.2, ROT= 224.9,   5.2

2025-08-09T16:58:33.120Z,1754758713.120 [DAT](INFO): got valid direction response:
 16:58:31.5236 LVL= 24448, 17521, 23666, 27459, AGC= 59, IDX= 447, 0.00, 1.195, 3.058, 2.628, 2.326, PHS=-1.030, 0.776, 0.258, RAW= 286.2,  -0.1, CAL= 285.1,  -5.2, ROT= 224.9,   5.2

2025-08-09T16:58:33.147Z,1754758713.147 [DAT](INFO): DAT read: Bearing  12.6, -35.1 (Local)

2025-08-09T16:58:33.148Z,1754758713.148 [DAT](INFO): Local bearing/azimuth received:
 Bearing  12.6, -35.1 (Local)

2025-08-09T16:58:33.153Z,1754758713.153 [DAT](INFO): DAT read: Range 11 to 50 : 57.6 m  (Round-trip  76.8 ms) speed -0.4 m/s

2025-08-09T16:58:33.154Z,1754758713.154 [DAT](INFO): DAT read: user:261>

2025-08-09T16:58:33.167Z,1754758713.167 [DAT](INFO): DAT read: Tx time:16:58:32.6426

2025-08-09T16:58:33.167Z,1754758713.167 [DAT](INFO): Ping request sent.
2025-08-09T16:58:33.167Z,1754758713.167 [DAT](INFO): transmitted an acoustic signal
2025-08-09T16:58:33.168Z,1754758713.168 [DAT](INFO): #Rx 54: Read range and direction messages.
2025-08-09T16:58:33.169Z,1754758713.169 [DAT](INFO): direction in FSK: [-0.705425,-0.702966,-0.090633]
2025-08-09T16:58:33.169Z,1754758713.169 [DAT](INFO): publishing transmit ping time
2025-08-09T16:58:33.169Z,1754758713.169 [DAT](INFO): publishing direction and range info
2025-08-09T16:58:33.177Z,1754758713.177 [DAT](INFO): publishing transmit ping time
2025-08-09T16:58:33.177Z,1754758713.177 [DAT](INFO): publishing direction and range info
2025-08-09T16:58:33.185Z,1754758713.185 [DAT](INFO): checking for new query: numPingsReceived=54, elapsed TxPingTime=0.017078
2025-08-09T16:58:33.321Z,1754758713.321 [DAT](INFO): checking for new query: numPingsReceived=54, elapsed TxPingTime=0.153035
2025-08-09T16:58:33.428Z,1754758713.428 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 57.599998 m,
      deltaT: 3.529376 s,
      deltaX: 1.699997 m,
      approachRate: 0.481671 m/s,
      rangeRepo size: 4

2025-08-09T16:58:33.431Z,1754758713.431 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 57.599998 m,
      bearing: 240.399229 deg,
      lat: 36.906087 deg,
      lon: -122.115839 deg,
      deltaT: 3.529376 s,
      deltaX: 1.699997 m,
      approachRate: 0.481671 m/s,
      posRepo size: 4

2025-08-09T16:58:33.431Z,1754758713.431 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Stopped intercept timer at range: 57.60 m.
2025-08-09T16:58:33.432Z,1754758713.432 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 57.60 m.
2025-08-09T16:58:33.432Z,1754758713.432 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](ERROR): Target missed at range: 57.60 m. Rolling out.
2025-08-09T16:58:33.432Z,1754758713.432 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Transitioning guidance mode to: ROLLOUT
2025-08-09T16:58:33.466Z,1754758713.466 [DockingStepper](INFO): Changing to mode: 1
2025-08-09T16:58:33.572Z,1754758713.572 [DAT](INFO): checking for new query: numPingsReceived=54, elapsed TxPingTime=0.404281
2025-08-09T16:58:33.820Z,1754758713.820 [lineCaptureHoming:UpdatePingUpdateRate_Midcourse] Running Loop=1
2025-08-09T16:58:33.820Z,1754758713.820 [lineCaptureHoming:UpdatePingUpdateRate_Midcourse](DEBUG): Aggregate::initialize lineCaptureHoming:UpdatePingUpdateRate_Midcourse
2025-08-09T16:58:33.820Z,1754758713.820 [lineCaptureHoming:UpdatePingUpdateRate_Midcourse:A] Running Loop=1
2025-08-09T16:58:33.822Z,1754758713.822 [lineCaptureHoming:UpdatePingUpdateRate_Midcourse:A](INFO): Entering Midcourse tracking update period  60.000000 s sec at 57.599998 m (mode  5.000000 count ).
2025-08-09T16:58:33.822Z,1754758713.822 [lineCaptureHoming:UpdatePingUpdateRate_Midcourse:A] Stopped
2025-08-09T16:58:33.822Z,1754758713.822 [lineCaptureHoming:UpdatePingUpdateRate_Midcourse:B] Running Loop=1
2025-08-09T16:58:33.823Z,1754758713.823 [DAT](INFO): checking for new query: numPingsReceived=54, elapsed TxPingTime=0.655915
2025-08-09T16:58:33.824Z,1754758713.824 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-09T16:58:33.826Z,1754758713.826 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 57.60 m.
2025-08-09T16:58:33.828Z,1754758713.828 [lineCaptureHoming:LineCapture:HoldBuoyancy] Stopped
2025-08-09T16:58:33.828Z,1754758713.829 [lineCaptureHoming:LineCapture:HoldBuoyancy](DEBUG): Aggregate::uninitialize lineCaptureHoming:LineCapture:HoldBuoyancy
2025-08-09T16:58:33.829Z,1754758713.829 [lineCaptureHoming:LineCapture:HoldBuoyancy:A.Buoyancy] Stopped
2025-08-09T16:58:33.829Z,1754758713.829 [lineCaptureHoming:LineCapture:HoldBuoyancy:A.Buoyancy](DEBUG): Uninitialize Buoyancy Component.
2025-08-09T16:58:34.075Z,1754758714.075 [DAT](INFO): checking for new query: numPingsReceived=54, elapsed TxPingTime=0.907862
2025-08-09T16:58:34.238Z,1754758714.238 [lineCaptureHoming:UpdatePingUpdateRate_Midcourse:B] Stopped
2025-08-09T16:58:34.238Z,1754758714.238 [lineCaptureHoming:UpdatePingUpdateRate_Midcourse:C] Running Loop=1
2025-08-09T16:58:34.241Z,1754758714.241 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 57.60 m.
2025-08-09T16:58:34.332Z,1754758714.332 [DAT](INFO): checking for new query: numPingsReceived=54, elapsed TxPingTime=1.164530
2025-08-09T16:58:34.591Z,1754758714.591 [DAT](INFO): checking for new query: numPingsReceived=54, elapsed TxPingTime=1.423863
2025-08-09T16:58:34.613Z,1754758714.613 [lineCaptureHoming:UpdatePingUpdateRate_Midcourse:C] Stopped
2025-08-09T16:58:34.613Z,1754758714.613 [lineCaptureHoming:UpdatePingUpdateRate_Midcourse:D] Running Loop=1
2025-08-09T16:58:34.616Z,1754758714.616 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 57.60 m.
2025-08-09T16:58:34.846Z,1754758714.846 [DAT](INFO): checking for new query: numPingsReceived=54, elapsed TxPingTime=1.678312
2025-08-09T16:58:35.053Z,1754758715.053 [lineCaptureHoming:UpdatePingUpdateRate_Midcourse:D] Stopped
2025-08-09T16:58:35.053Z,1754758715.053 [lineCaptureHoming:UpdatePingUpdateRate_Midcourse](INFO): Completed lineCaptureHoming:UpdatePingUpdateRate_Midcourse
2025-08-09T16:58:35.054Z,1754758715.054 [lineCaptureHoming:UpdatePingUpdateRate_Midcourse] Stopped
2025-08-09T16:58:35.054Z,1754758715.054 [lineCaptureHoming:UpdatePingUpdateRate_Midcourse](DEBUG): Aggregate::uninitialize lineCaptureHoming:UpdatePingUpdateRate_Midcourse
2025-08-09T16:58:35.056Z,1754758715.056 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 57.60 m.
2025-08-09T16:58:35.095Z,1754758715.095 [DAT](INFO): checking for new query: numPingsReceived=54, elapsed TxPingTime=1.927794
2025-08-09T16:58:35.347Z,1754758715.347 [DAT](INFO): checking for new query: numPingsReceived=54, elapsed TxPingTime=2.179767
2025-08-09T16:58:35.531Z,1754758715.531 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 57.60 m.
2025-08-09T16:58:35.600Z,1754758715.600 [DAT](INFO): checking for new query: numPingsReceived=54, elapsed TxPingTime=2.432395
2025-08-09T16:58:35.834Z,1754758715.834 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 57.60 m.
2025-08-09T16:58:35.855Z,1754758715.855 [DAT](INFO): checking for new query: numPingsReceived=54, elapsed TxPingTime=2.687292
2025-08-09T16:58:36.103Z,1754758716.103 [DAT](INFO): DAT read: Rx Time:16:58:35.1254

2025-08-09T16:58:36.104Z,1754758716.104 [DAT](INFO): Rx dataTimestamp_ set to:1754758716.103522
2025-08-09T16:58:36.104Z,1754758716.104 [DAT](INFO): checking for new query: numPingsReceived=54, elapsed TxPingTime=2.936887
2025-08-09T16:58:36.355Z,1754758716.355 [DAT](INFO): checking for new query: numPingsReceived=54, elapsed TxPingTime=3.187924
2025-08-09T16:58:36.412Z,1754758716.412 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 57.60 m.
2025-08-09T16:58:36.607Z,1754758716.607 [DAT](INFO): checking for new query: numPingsReceived=54, elapsed TxPingTime=3.439752
2025-08-09T16:58:36.800Z,1754758716.800 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 57.60 m.
2025-08-09T16:58:36.867Z,1754758716.867 [DAT](INFO): DAT read: 16:58:35.1254 LVL= 22688, 20801, 21570, 28451, AGC= 57, IDX= 451,-0.31, 1.820,-2.626,-2.776, 2.990, PHS=-1.068, 0.712, 0.473, RAW= 277.1,  -1.4, CAL= 275.9,  -6.9, ROT= 234.1,   6.9

2025-08-09T16:58:36.869Z,1754758716.869 [DAT](INFO): got valid direction response:
 16:58:35.1254 LVL= 22688, 20801, 21570, 28451, AGC= 57, IDX= 451,-0.31, 1.820,-2.626,-2.776, 2.990, PHS=-1.068, 0.712, 0.473, RAW= 277.1,  -1.4, CAL= 275.9,  -6.9, ROT= 234.1,   6.9

2025-08-09T16:58:36.871Z,1754758716.871 [DAT](INFO): DAT read: Bearing   8.3, -43.3 (Local)

2025-08-09T16:58:36.871Z,1754758716.871 [DAT](INFO): Local bearing/azimuth received:
 Bearing   8.3, -43.3 (Local)

2025-08-09T16:58:36.873Z,1754758716.873 [DAT](INFO): DAT read: Range 11 to 50 : 59.1 m  (Round-trip  78.8 ms) speed -0.3 m/s

2025-08-09T16:58:36.876Z,1754758716.876 [DAT](INFO): DAT read: user:262>

2025-08-09T16:58:36.877Z,1754758716.877 [DAT](INFO): DAT read: Tx time:16:58:36.2425

2025-08-09T16:58:36.877Z,1754758716.877 [DAT](INFO): Ping request sent.
2025-08-09T16:58:36.877Z,1754758716.877 [DAT](INFO): transmitted an acoustic signal
2025-08-09T16:58:36.878Z,1754758716.878 [DAT](INFO): #Rx 55: Read range and direction messages.
2025-08-09T16:58:36.880Z,1754758716.880 [DAT](INFO): direction in FSK: [-0.582125,-0.804175,-0.120137]
2025-08-09T16:58:36.880Z,1754758716.880 [DAT](INFO): publishing transmit ping time
2025-08-09T16:58:36.880Z,1754758716.880 [DAT](INFO): publishing direction and range info
2025-08-09T16:58:36.912Z,1754758716.912 [DAT](INFO): publishing transmit ping time
2025-08-09T16:58:36.912Z,1754758716.912 [DAT](INFO): publishing direction and range info
2025-08-09T16:58:36.929Z,1754758716.929 [DAT](INFO): checking for new query: numPingsReceived=55, elapsed TxPingTime=0.051351
2025-08-09T16:58:37.111Z,1754758717.111 [DAT](INFO): checking for new query: numPingsReceived=55, elapsed TxPingTime=0.233993
2025-08-09T16:58:37.279Z,1754758717.279 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 59.099998 m,
      deltaT: 3.790835 s,
      deltaX: 1.500000 m,
      approachRate: 0.395691 m/s,
      rangeRepo size: 4

2025-08-09T16:58:37.281Z,1754758717.281 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 59.099998 m,
      bearing: 238.902401 deg,
      lat: 36.906087 deg,
      lon: -122.115839 deg,
      deltaT: 3.790835 s,
      deltaX: 1.500000 m,
      approachRate: 0.395691 m/s,
      posRepo size: 4

2025-08-09T16:58:37.281Z,1754758717.281 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.10 m.
2025-08-09T16:58:37.364Z,1754758717.364 [DAT](INFO): checking for new query: numPingsReceived=55, elapsed TxPingTime=0.486192
2025-08-09T16:58:37.616Z,1754758717.616 [DAT](INFO): checking for new query: numPingsReceived=55, elapsed TxPingTime=0.738869
2025-08-09T16:58:37.668Z,1754758717.668 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.10 m.
2025-08-09T16:58:37.868Z,1754758717.868 [DAT](INFO): checking for new query: numPingsReceived=55, elapsed TxPingTime=0.990440
2025-08-09T16:58:38.074Z,1754758718.074 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.10 m.
2025-08-09T16:58:38.119Z,1754758718.119 [DAT](INFO): checking for new query: numPingsReceived=55, elapsed TxPingTime=1.241903
2025-08-09T16:58:38.371Z,1754758718.371 [DAT](INFO): checking for new query: numPingsReceived=55, elapsed TxPingTime=1.493984
2025-08-09T16:58:38.507Z,1754758718.507 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.10 m.
2025-08-09T16:58:38.623Z,1754758718.623 [DAT](INFO): checking for new query: numPingsReceived=55, elapsed TxPingTime=1.745951
2025-08-09T16:58:38.876Z,1754758718.876 [DAT](INFO): checking for new query: numPingsReceived=55, elapsed TxPingTime=1.998333
2025-08-09T16:58:38.915Z,1754758718.915 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.10 m.
2025-08-09T16:58:39.128Z,1754758719.128 [DAT](INFO): checking for new query: numPingsReceived=55, elapsed TxPingTime=2.250869
2025-08-09T16:58:39.336Z,1754758719.336 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.10 m.
2025-08-09T16:58:39.379Z,1754758719.379 [DAT](INFO): checking for new query: numPingsReceived=55, elapsed TxPingTime=2.502168
2025-08-09T16:58:39.631Z,1754758719.631 [DAT](INFO): checking for new query: numPingsReceived=55, elapsed TxPingTime=2.753928
2025-08-09T16:58:39.738Z,1754758719.738 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.10 m.
2025-08-09T16:58:39.883Z,1754758719.883 [DAT](INFO): DAT read: Rx Time:16:58:38.7265

2025-08-09T16:58:39.884Z,1754758719.884 [DAT](INFO): Rx dataTimestamp_ set to:1754758719.883578
2025-08-09T16:58:39.884Z,1754758719.884 [DAT](INFO): checking for new query: numPingsReceived=55, elapsed TxPingTime=3.007117
2025-08-09T16:58:40.135Z,1754758720.135 [DAT](INFO): checking for new query: numPingsReceived=55, elapsed TxPingTime=3.258078
2025-08-09T16:58:40.150Z,1754758720.150 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.10 m.
2025-08-09T16:58:40.394Z,1754758720.394 [DAT](INFO): DAT read: 16:58:38.7265 LVL= 22672, 17633, 19538, 22979, AGC= 62, IDX= 430,-0.32, 0.847, 2.548, 2.808, 2.047, PHS=-1.097, 0.546, 0.718, RAW= 265.1,  -1.9, CAL= 263.0,  -7.1, ROT= 247.0,   7.1

2025-08-09T16:58:40.402Z,1754758720.402 [DAT](INFO): got valid direction response:
 16:58:38.7265 LVL= 22672, 17633, 19538, 22979, AGC= 62, IDX= 430,-0.32, 0.847, 2.548, 2.808, 2.047, PHS=-1.097, 0.546, 0.718, RAW= 265.1,  -1.9, CAL= 263.0,  -7.1, ROT= 247.0,   7.1

2025-08-09T16:58:40.403Z,1754758720.403 [DAT](INFO): DAT read: Bearing   6.3, -55.7 (Local)

2025-08-09T16:58:40.404Z,1754758720.404 [DAT](INFO): Local bearing/azimuth received:
 Bearing   6.3, -55.7 (Local)

2025-08-09T16:58:40.405Z,1754758720.405 [DAT](INFO): DAT read: Range 11 to 50 : 59.8 m  (Round-trip  79.8 ms) speed  0.0 m/s

2025-08-09T16:58:40.406Z,1754758720.406 [DAT](INFO): DAT read: user:263>

2025-08-09T16:58:40.407Z,1754758720.407 [DAT](INFO): DAT read: Tx time:16:58:39.8425

2025-08-09T16:58:40.407Z,1754758720.407 [DAT](INFO): Ping request sent.
2025-08-09T16:58:40.407Z,1754758720.407 [DAT](INFO): transmitted an acoustic signal
2025-08-09T16:58:40.407Z,1754758720.407 [DAT](INFO): #Rx 56: Read range and direction messages.
2025-08-09T16:58:40.408Z,1754758720.408 [DAT](INFO): direction in FSK: [-0.387735,-0.913446,-0.123601]
2025-08-09T16:58:40.408Z,1754758720.408 [DAT](INFO): publishing transmit ping time
2025-08-09T16:58:40.409Z,1754758720.409 [DAT](INFO): publishing direction and range info
2025-08-09T16:58:40.414Z,1754758720.414 [DAT](INFO): publishing transmit ping time
2025-08-09T16:58:40.415Z,1754758720.415 [DAT](INFO): publishing direction and range info
2025-08-09T16:58:40.419Z,1754758720.419 [DAT](INFO): checking for new query: numPingsReceived=56, elapsed TxPingTime=0.011087
2025-08-09T16:58:40.639Z,1754758720.639 [DAT](INFO): checking for new query: numPingsReceived=56, elapsed TxPingTime=0.232459
2025-08-09T16:58:40.651Z,1754758720.651 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 59.799999 m,
      deltaT: 3.527538 s,
      deltaX: 0.700001 m,
      approachRate: 0.198439 m/s,
      rangeRepo size: 4

2025-08-09T16:58:40.653Z,1754758720.653 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 59.799999 m,
      bearing: 237.629327 deg,
      lat: 36.906087 deg,
      lon: -122.115839 deg,
      deltaT: 3.527538 s,
      deltaX: 0.700001 m,
      approachRate: 0.198439 m/s,
      posRepo size: 4

2025-08-09T16:58:40.654Z,1754758720.654 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.80 m.
2025-08-09T16:58:40.891Z,1754758720.891 [DAT](INFO): checking for new query: numPingsReceived=56, elapsed TxPingTime=0.484402
2025-08-09T16:58:40.930Z,1754758720.930 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.80 m.
2025-08-09T16:58:41.144Z,1754758721.144 [DAT](INFO): checking for new query: numPingsReceived=56, elapsed TxPingTime=0.736880
2025-08-09T16:58:41.382Z,1754758721.382 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.80 m.
2025-08-09T16:58:41.395Z,1754758721.395 [DAT](INFO): checking for new query: numPingsReceived=56, elapsed TxPingTime=0.988394
2025-08-09T16:58:41.647Z,1754758721.647 [DAT](INFO): checking for new query: numPingsReceived=56, elapsed TxPingTime=1.240346
2025-08-09T16:58:41.756Z,1754758721.756 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.80 m.
2025-08-09T16:58:41.899Z,1754758721.899 [DAT](INFO): checking for new query: numPingsReceived=56, elapsed TxPingTime=1.492387
2025-08-09T16:58:42.152Z,1754758722.152 [DAT](INFO): checking for new query: numPingsReceived=56, elapsed TxPingTime=1.744586
2025-08-09T16:58:42.177Z,1754758722.177 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.80 m.
2025-08-09T16:58:42.404Z,1754758722.404 [DAT](INFO): checking for new query: numPingsReceived=56, elapsed TxPingTime=1.996563
2025-08-09T16:58:42.596Z,1754758722.596 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.80 m.
2025-08-09T16:58:42.656Z,1754758722.656 [DAT](INFO): checking for new query: numPingsReceived=56, elapsed TxPingTime=2.248576
2025-08-09T16:58:42.907Z,1754758722.907 [DAT](INFO): checking for new query: numPingsReceived=56, elapsed TxPingTime=2.500352
2025-08-09T16:58:42.966Z,1754758722.966 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.80 m.
2025-08-09T16:58:43.159Z,1754758723.159 [DAT](INFO): checking for new query: numPingsReceived=56, elapsed TxPingTime=2.752358
2025-08-09T16:58:43.404Z,1754758723.404 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.80 m.
2025-08-09T16:58:43.411Z,1754758723.411 [DAT](INFO): DAT read: Rx Time:16:58:42.3277

2025-08-09T16:58:43.412Z,1754758723.412 [DAT](INFO): Rx dataTimestamp_ set to:1754758723.411558
2025-08-09T16:58:43.412Z,1754758723.412 [DAT](INFO): checking for new query: numPingsReceived=56, elapsed TxPingTime=3.005460
2025-08-09T16:58:43.663Z,1754758723.663 [DAT](INFO): checking for new query: numPingsReceived=56, elapsed TxPingTime=3.256321
2025-08-09T16:58:43.786Z,1754758723.786 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.80 m.
2025-08-09T16:58:43.921Z,1754758723.921 [DAT](INFO): DAT read: 16:58:42.3277 LVL= 27184, 18401, 20258, 28755, AGC= 62, IDX= 458, 0.13,-0.613, 0.937, 1.519, 0.664, PHS=-1.175, 0.317, 0.811, RAW= 256.2,   0.5, CAL= 252.3,  -2.5, ROT= 257.7,   2.5

2025-08-09T16:58:43.922Z,1754758723.922 [DAT](INFO): got valid direction response:
 16:58:42.3277 LVL= 27184, 18401, 20258, 28755, AGC= 62, IDX= 458, 0.13,-0.613, 0.937, 1.519, 0.664, PHS=-1.175, 0.317, 0.811, RAW= 256.2,   0.5, CAL= 252.3,  -2.5, ROT= 257.7,   2.5

2025-08-09T16:58:43.923Z,1754758723.923 [DAT](INFO): DAT read: Bearing 357.2, -68.5 (Local)

2025-08-09T16:58:43.924Z,1754758723.924 [DAT](INFO): Local bearing/azimuth received:
 Bearing 357.2, -68.5 (Local)

2025-08-09T16:58:43.925Z,1754758723.925 [DAT](INFO): DAT read: Range 11 to 50 : 60.7 m  (Round-trip  81.0 ms) speed -0.3 m/s

2025-08-09T16:58:43.926Z,1754758723.926 [DAT](INFO): DAT read: user:264>

2025-08-09T16:58:43.927Z,1754758723.927 [DAT](INFO): DAT read: Tx time:16:58:43.4425

2025-08-09T16:58:43.927Z,1754758723.927 [DAT](INFO): Ping request sent.
2025-08-09T16:58:43.927Z,1754758723.927 [DAT](INFO): transmitted an acoustic signal
2025-08-09T16:58:43.928Z,1754758723.928 [DAT](INFO): #Rx 57: Read range and direction messages.
2025-08-09T16:58:43.929Z,1754758723.929 [DAT](INFO): direction in FSK: [-0.212828,-0.976116,-0.043619]
2025-08-09T16:58:43.929Z,1754758723.929 [DAT](INFO): publishing transmit ping time
2025-08-09T16:58:43.929Z,1754758723.929 [DAT](INFO): publishing direction and range info
2025-08-09T16:58:43.932Z,1754758723.932 [DAT](INFO): publishing transmit ping time
2025-08-09T16:58:43.932Z,1754758723.932 [DAT](INFO): publishing direction and range info
2025-08-09T16:58:43.953Z,1754758723.953 [DAT](INFO): checking for new query: numPingsReceived=57, elapsed TxPingTime=0.025488
2025-08-09T16:58:44.167Z,1754758724.167 [DAT](INFO): checking for new query: numPingsReceived=57, elapsed TxPingTime=0.239894
2025-08-09T16:58:44.199Z,1754758724.199 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 60.700001 m,
      deltaT: 3.528054 s,
      deltaX: 0.900002 m,
      approachRate: 0.255099 m/s,
      rangeRepo size: 4

2025-08-09T16:58:44.201Z,1754758724.201 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 60.700001 m,
      bearing: 240.203588 deg,
      lat: 36.906116 deg,
      lon: -122.115867 deg,
      deltaT: 3.528054 s,
      deltaX: 0.900002 m,
      approachRate: 0.255099 m/s,
      posRepo size: 4

2025-08-09T16:58:44.201Z,1754758724.201 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 60.70 m.
2025-08-09T16:58:44.419Z,1754758724.419 [DAT](INFO): checking for new query: numPingsReceived=57, elapsed TxPingTime=0.492193
2025-08-09T16:58:44.615Z,1754758724.615 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 60.70 m.
2025-08-09T16:58:44.672Z,1754758724.672 [DAT](INFO): checking for new query: numPingsReceived=57, elapsed TxPingTime=0.744917
2025-08-09T16:58:44.923Z,1754758724.923 [DAT](INFO): checking for new query: numPingsReceived=57, elapsed TxPingTime=0.995999
2025-08-09T16:58:45.030Z,1754758725.030 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 60.70 m.
2025-08-09T16:58:45.175Z,1754758725.175 [DAT](INFO): checking for new query: numPingsReceived=57, elapsed TxPingTime=1.248013
2025-08-09T16:58:45.428Z,1754758725.428 [DAT](INFO): checking for new query: numPingsReceived=57, elapsed TxPingTime=1.500775
2025-08-09T16:58:45.527Z,1754758725.527 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 60.70 m.
2025-08-09T16:58:45.679Z,1754758725.679 [DAT](INFO): checking for new query: numPingsReceived=57, elapsed TxPingTime=1.752088
2025-08-09T16:58:45.846Z,1754758725.846 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 60.70 m.
2025-08-09T16:58:45.933Z,1754758725.933 [DAT](INFO): checking for new query: numPingsReceived=57, elapsed TxPingTime=2.005054
2025-08-09T16:58:46.183Z,1754758726.183 [DAT](INFO): checking for new query: numPingsReceived=57, elapsed TxPingTime=2.256057
2025-08-09T16:58:46.254Z,1754758726.254 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 60.70 m.
2025-08-09T16:58:46.435Z,1754758726.435 [DAT](INFO): checking for new query: numPingsReceived=57, elapsed TxPingTime=2.507964
2025-08-09T16:58:46.678Z,1754758726.678 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 60.70 m.
2025-08-09T16:58:46.687Z,1754758726.687 [DAT](INFO): checking for new query: numPingsReceived=57, elapsed TxPingTime=2.760169
2025-08-09T16:58:46.939Z,1754758726.939 [DAT](INFO): DAT read: Rx Time:16:58:45.9289

2025-08-09T16:58:46.940Z,1754758726.940 [DAT](INFO): Rx dataTimestamp_ set to:1754758726.939501
2025-08-09T16:58:46.940Z,1754758726.940 [DAT](INFO): checking for new query: numPingsReceived=57, elapsed TxPingTime=3.013092
2025-08-09T16:58:47.058Z,1754758727.058 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 60.70 m.
2025-08-09T16:58:47.191Z,1754758727.191 [DAT](INFO): checking for new query: numPingsReceived=57, elapsed TxPingTime=3.264117
2025-08-09T16:58:47.447Z,1754758727.447 [DAT](INFO): checking for new query: numPingsReceived=57, elapsed TxPingTime=3.518801
2025-08-09T16:58:47.547Z,1754758727.547 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 60.70 m.
2025-08-09T16:58:47.702Z,1754758727.702 [DAT](INFO): DAT read: 16:58:45.9289 LVL= 24528, 18977, 15266, 26995, AGC= 59, IDX= 437, 0.25, 0.131, 1.584, 2.363, 1.465, PHS=-1.232, 0.164, 0.854, RAW= 251.1,   2.4, CAL= 247.0,   1.1, ROT= 263.0,  -1.1

2025-08-09T16:58:47.703Z,1754758727.703 [DAT](INFO): got valid direction response:
 16:58:45.9289 LVL= 24528, 18977, 15266, 26995, AGC= 59, IDX= 437, 0.25, 0.131, 1.584, 2.363, 1.465, PHS=-1.232, 0.164, 0.854, RAW= 251.1,   2.4, CAL= 247.0,   1.1, ROT= 263.0,  -1.1

2025-08-09T16:58:47.704Z,1754758727.704 [DAT](INFO): DAT read: Bearing 343.8, -75.9 (Local)

2025-08-09T16:58:47.704Z,1754758727.704 [DAT](INFO): Local bearing/azimuth received:
 Bearing 343.8, -75.9 (Local)

2025-08-09T16:58:47.705Z,1754758727.705 [DAT](INFO): DAT read: Range 11 to 50 : 61.6 m  (Round-trip  82.2 ms) speed -0.1 m/s

2025-08-09T16:58:47.716Z,1754758727.716 [DAT](INFO): DAT read: user:265>

2025-08-09T16:58:47.717Z,1754758727.717 [DAT](INFO): DAT read: Tx time:16:58:47.0441

2025-08-09T16:58:47.718Z,1754758727.718 [DAT](INFO): Ping request sent.
2025-08-09T16:58:47.718Z,1754758727.718 [DAT](INFO): transmitted an acoustic signal
2025-08-09T16:58:47.718Z,1754758727.718 [DAT](INFO): #Rx 58: Read range and direction messages.
2025-08-09T16:58:47.719Z,1754758727.719 [DAT](INFO): direction in FSK: [-0.121847,-0.992363,0.019197]
2025-08-09T16:58:47.719Z,1754758727.719 [DAT](INFO): publishing transmit ping time
2025-08-09T16:58:47.720Z,1754758727.720 [DAT](INFO): publishing direction and range info
2025-08-09T16:58:47.743Z,1754758727.743 [DAT](INFO): publishing transmit ping time
2025-08-09T16:58:47.743Z,1754758727.743 [DAT](INFO): publishing direction and range info
2025-08-09T16:58:47.751Z,1754758727.751 [DAT](INFO): checking for new query: numPingsReceived=58, elapsed TxPingTime=0.033276
2025-08-09T16:58:47.947Z,1754758727.947 [DAT](INFO): checking for new query: numPingsReceived=58, elapsed TxPingTime=0.229614
2025-08-09T16:58:48.062Z,1754758728.062 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 61.599998 m,
      deltaT: 3.780031 s,
      deltaX: 0.899998 m,
      approachRate: 0.238093 m/s,
      rangeRepo size: 4

2025-08-09T16:58:48.068Z,1754758728.068 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 61.599998 m,
      bearing: 244.451895 deg,
      lat: 36.906163 deg,
      lon: -122.115896 deg,
      deltaT: 3.780031 s,
      deltaX: 0.899998 m,
      approachRate: 0.238093 m/s,
      posRepo size: 4

2025-08-09T16:58:48.069Z,1754758728.069 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 61.60 m.
2025-08-09T16:58:48.200Z,1754758728.200 [DAT](INFO): checking for new query: numPingsReceived=58, elapsed TxPingTime=0.481956
2025-08-09T16:58:48.327Z,1754758728.327 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 61.60 m.
2025-08-09T16:58:48.452Z,1754758728.452 [DAT](INFO): checking for new query: numPingsReceived=58, elapsed TxPingTime=0.734379
2025-08-09T16:58:48.703Z,1754758728.703 [DAT](INFO): checking for new query: numPingsReceived=58, elapsed TxPingTime=0.985700
2025-08-09T16:58:48.771Z,1754758728.771 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 61.60 m.
2025-08-09T16:58:48.956Z,1754758728.956 [DAT](INFO): checking for new query: numPingsReceived=58, elapsed TxPingTime=1.238570
2025-08-09T16:58:49.150Z,1754758729.150 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 61.60 m.
2025-08-09T16:58:49.208Z,1754758729.208 [DAT](INFO): checking for new query: numPingsReceived=58, elapsed TxPingTime=1.490733
2025-08-09T16:58:49.459Z,1754758729.459 [DAT](INFO): checking for new query: numPingsReceived=58, elapsed TxPingTime=1.741582
2025-08-09T16:58:49.566Z,1754758729.566 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 61.60 m.
2025-08-09T16:58:49.711Z,1754758729.711 [DAT](INFO): checking for new query: numPingsReceived=58, elapsed TxPingTime=1.993570
2025-08-09T16:58:49.946Z,1754758729.946 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 61.60 m.
2025-08-09T16:58:49.965Z,1754758729.965 [DAT](INFO): checking for new query: numPingsReceived=58, elapsed TxPingTime=2.246997
2025-08-09T16:58:50.215Z,1754758730.215 [DAT](INFO): checking for new query: numPingsReceived=58, elapsed TxPingTime=2.497548
2025-08-09T16:58:50.363Z,1754758730.363 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 61.60 m.
2025-08-09T16:58:50.469Z,1754758730.469 [DAT](INFO): checking for new query: numPingsReceived=58, elapsed TxPingTime=2.751634
2025-08-09T16:58:50.719Z,1754758730.719 [DAT](INFO): DAT read: Rx Time:16:58:49.5307

2025-08-09T16:58:50.720Z,1754758730.720 [DAT](INFO): Rx dataTimestamp_ set to:1754758730.719562
2025-08-09T16:58:50.720Z,1754758730.720 [DAT](INFO): checking for new query: numPingsReceived=58, elapsed TxPingTime=3.002765
2025-08-09T16:58:50.815Z,1754758730.815 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 61.60 m.
2025-08-09T16:58:50.972Z,1754758730.972 [DAT](INFO): checking for new query: numPingsReceived=58, elapsed TxPingTime=3.254164
2025-08-09T16:58:51.213Z,1754758731.213 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 61.60 m.
2025-08-09T16:58:51.229Z,1754758731.229 [DAT](INFO): DAT read: 16:58:49.5307 LVL= 30704, 21169, 17490, 32755, AGC= 59, IDX= 426, 0.45, 0.980, 2.349,-3.020, 2.327, PHS=-1.245, 0.067, 0.892, RAW= 247.5,   3.1, CAL= 244.2,   2.8, ROT= 265.8,  -2.8

2025-08-09T16:58:51.230Z,1754758731.230 [DAT](INFO): got valid direction response:
 16:58:49.5307 LVL= 30704, 21169, 17490, 32755, AGC= 59, IDX= 426, 0.45, 0.980, 2.349,-3.020, 2.327, PHS=-1.245, 0.067, 0.892, RAW= 247.5,   3.1, CAL= 244.2,   2.8, ROT= 265.8,  -2.8

2025-08-09T16:58:51.231Z,1754758731.231 [DAT](INFO): DAT read: Bearing 329.7, -79.9 (Local)

2025-08-09T16:58:51.232Z,1754758731.232 [DAT](INFO): Local bearing/azimuth received:
 Bearing 329.7, -79.9 (Local)

2025-08-09T16:58:51.233Z,1754758731.233 [DAT](INFO): DAT read: Range 11 to 50 : 61.9 m  (Round-trip  82.6 ms) speed -0.1 m/s

2025-08-09T16:58:51.234Z,1754758731.234 [DAT](INFO): DAT read: user:266>

2025-08-09T16:58:51.236Z,1754758731.236 [DAT](INFO): DAT read: Tx time:16:58:50.6424

2025-08-09T16:58:51.236Z,1754758731.236 [DAT](INFO): Ping request sent.
2025-08-09T16:58:51.236Z,1754758731.236 [DAT](INFO): transmitted an acoustic signal
2025-08-09T16:58:51.237Z,1754758731.237 [DAT](INFO): #Rx 59: Read range and direction messages.
2025-08-09T16:58:51.237Z,1754758731.237 [DAT](INFO): direction in FSK: [-0.073151,-0.996124,0.048850]
2025-08-09T16:58:51.238Z,1754758731.238 [DAT](INFO): publishing transmit ping time
2025-08-09T16:58:51.238Z,1754758731.238 [DAT](INFO): publishing direction and range info
2025-08-09T16:58:51.241Z,1754758731.241 [DAT](INFO): publishing transmit ping time
2025-08-09T16:58:51.241Z,1754758731.241 [DAT](INFO): publishing direction and range info
2025-08-09T16:58:51.253Z,1754758731.253 [DAT](INFO): checking for new query: numPingsReceived=59, elapsed TxPingTime=0.016340
2025-08-09T16:58:51.476Z,1754758731.476 [DAT](INFO): checking for new query: numPingsReceived=59, elapsed TxPingTime=0.240129
2025-08-09T16:58:51.675Z,1754758731.675 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 61.900002 m,
      deltaT: 3.528209 s,
      deltaX: 0.300003 m,
      approachRate: 0.085030 m/s,
      rangeRepo size: 4

2025-08-09T16:58:51.677Z,1754758731.677 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 61.900002 m,
      bearing: 249.036598 deg,
      lat: 36.906212 deg,
      lon: -122.115924 deg,
      deltaT: 3.528209 s,
      deltaX: 0.300003 m,
      approachRate: 0.085030 m/s,
      posRepo size: 4

2025-08-09T16:58:51.678Z,1754758731.678 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 61.90 m.
2025-08-09T16:58:51.728Z,1754758731.728 [DAT](INFO): checking for new query: numPingsReceived=59, elapsed TxPingTime=0.491628
2025-08-09T16:58:51.980Z,1754758731.980 [DAT](INFO): checking for new query: numPingsReceived=59, elapsed TxPingTime=0.743427
2025-08-09T16:58:52.036Z,1754758732.036 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 61.90 m.
2025-08-09T16:58:52.232Z,1754758732.232 [DAT](INFO): checking for new query: numPingsReceived=59, elapsed TxPingTime=0.995524
2025-08-09T16:58:52.503Z,1754758732.503 [DAT](INFO): checking for new query: numPingsReceived=59, elapsed TxPingTime=1.266747
2025-08-09T16:58:52.519Z,1754758732.519 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 61.90 m.
2025-08-09T16:58:52.755Z,1754758732.755 [DAT](INFO): checking for new query: numPingsReceived=59, elapsed TxPingTime=1.519086
2025-08-09T16:58:52.834Z,1754758732.834 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 61.90 m.
2025-08-09T16:58:53.008Z,1754758733.008 [DAT](INFO): checking for new query: numPingsReceived=59, elapsed TxPingTime=1.771494
2025-08-09T16:58:53.236Z,1754758733.236 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 61.90 m.
2025-08-09T16:58:53.259Z,1754758733.259 [DAT](INFO): checking for new query: numPingsReceived=59, elapsed TxPingTime=2.023069
2025-08-09T16:58:53.512Z,1754758733.512 [DAT](INFO): checking for new query: numPingsReceived=59, elapsed TxPingTime=2.275323
2025-08-09T16:58:53.671Z,1754758733.671 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 61.90 m.
2025-08-09T16:58:53.764Z,1754758733.764 [DAT](INFO): checking for new query: numPingsReceived=59, elapsed TxPingTime=2.528113
2025-08-09T16:58:54.015Z,1754758734.015 [DAT](INFO): checking for new query: numPingsReceived=59, elapsed TxPingTime=2.779127
2025-08-09T16:58:54.040Z,1754758734.040 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 61.90 m.
2025-08-09T16:58:54.268Z,1754758734.268 [DAT](INFO): DAT read: Rx Time:16:58:53.1297

2025-08-09T16:58:54.268Z,1754758734.268 [DAT](INFO): Rx dataTimestamp_ set to:1754758734.267779
2025-08-09T16:58:54.269Z,1754758734.269 [DAT](INFO): checking for new query: numPingsReceived=59, elapsed TxPingTime=3.032419
2025-08-09T16:58:54.527Z,1754758734.527 [DAT](INFO): checking for new query: numPingsReceived=59, elapsed TxPingTime=3.291150
2025-08-09T16:58:54.541Z,1754758734.541 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 61.90 m.
2025-08-09T16:58:54.785Z,1754758734.785 [DAT](INFO): DAT read: 16:58:53.1297 LVL= 27344, 22769, 16226, 28915, AGC= 61, IDX= 432,-0.33,-0.672, 0.677, 1.655, 0.702, PHS=-1.273, 0.020, 0.909, RAW= 246.1,   3.7, CAL= 243.2,   3.7, ROT= 266.8,  -3.7

2025-08-09T16:58:54.787Z,1754758734.787 [DAT](INFO): got valid direction response:
 16:58:53.1297 LVL= 27344, 22769, 16226, 28915, AGC= 61, IDX= 432,-0.33,-0.672, 0.677, 1.655, 0.702, PHS=-1.273, 0.020, 0.909, RAW= 246.1,   3.7, CAL= 243.2,   3.7, ROT= 266.8,  -3.7

2025-08-09T16:58:54.787Z,1754758734.787 [DAT](INFO): DAT read: Bearing 318.8, -81.4 (Local)

2025-08-09T16:58:54.788Z,1754758734.788 [DAT](INFO): Local bearing/azimuth received:
 Bearing 318.8, -81.4 (Local)

2025-08-09T16:58:54.789Z,1754758734.789 [DAT](INFO): DAT read: Range 11 to 50 : 62.4 m  (Round-trip  83.2 ms) speed -0.1 m/s

2025-08-09T16:58:54.790Z,1754758734.790 [DAT](INFO): DAT read: user:267>

2025-08-09T16:58:54.791Z,1754758734.791 [DAT](INFO): DAT read: Tx time:16:58:54.2440

2025-08-09T16:58:54.792Z,1754758734.792 [DAT](INFO): Ping request sent.
2025-08-09T16:58:54.792Z,1754758734.792 [DAT](INFO): transmitted an acoustic signal
2025-08-09T16:58:54.792Z,1754758734.792 [DAT](INFO): #Rx 60: Read range and direction messages.
2025-08-09T16:58:54.793Z,1754758734.793 [DAT](INFO): direction in FSK: [-0.055706,-0.996360,0.064532]
2025-08-09T16:58:54.793Z,1754758734.793 [DAT](INFO): publishing transmit ping time
2025-08-09T16:58:54.793Z,1754758734.793 [DAT](INFO): publishing direction and range info
2025-08-09T16:58:54.797Z,1754758734.797 [DAT](INFO): publishing transmit ping time
2025-08-09T16:58:54.797Z,1754758734.797 [DAT](INFO): publishing direction and range info
2025-08-09T16:58:54.800Z,1754758734.800 [DAT](INFO): checking for new query: numPingsReceived=60, elapsed TxPingTime=0.008280
2025-08-09T16:58:54.961Z,1754758734.961 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 62.400002 m,
      deltaT: 3.555692 s,
      deltaX: 0.500000 m,
      approachRate: 0.140620 m/s,
      rangeRepo size: 4

2025-08-09T16:58:54.973Z,1754758734.973 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 62.400002 m,
      bearing: 248.103192 deg,
      lat: 36.906212 deg,
      lon: -122.115924 deg,
      deltaT: 3.555692 s,
      deltaX: 0.500000 m,
      approachRate: 0.140620 m/s,
      posRepo size: 4

2025-08-09T16:58:54.974Z,1754758734.974 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 62.40 m.
2025-08-09T16:58:55.032Z,1754758735.032 [DAT](INFO): checking for new query: numPingsReceived=60, elapsed TxPingTime=0.240010
2025-08-09T16:58:55.247Z,1754758735.247 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 62.40 m.
2025-08-09T16:58:55.284Z,1754758735.284 [DAT](INFO): checking for new query: numPingsReceived=60, elapsed TxPingTime=0.492436
2025-08-09T16:58:55.535Z,1754758735.535 [DAT](INFO): checking for new query: numPingsReceived=60, elapsed TxPingTime=0.743484
2025-08-09T16:58:55.683Z,1754758735.683 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 62.40 m.
2025-08-09T16:58:55.788Z,1754758735.788 [DAT](INFO): checking for new query: numPingsReceived=60, elapsed TxPingTime=0.996259
2025-08-09T16:58:56.039Z,1754758736.039 [DAT](INFO): checking for new query: numPingsReceived=60, elapsed TxPingTime=1.247717
2025-08-09T16:58:56.077Z,1754758736.077 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 62.40 m.
2025-08-09T16:58:56.291Z,1754758736.291 [DAT](INFO): checking for new query: numPingsReceived=60, elapsed TxPingTime=1.499604
2025-08-09T16:58:56.528Z,1754758736.528 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 62.40 m.
2025-08-09T16:58:56.544Z,1754758736.544 [DAT](INFO): checking for new query: numPingsReceived=60, elapsed TxPingTime=1.751984
2025-08-09T16:58:56.796Z,1754758736.796 [DAT](INFO): checking for new query: numPingsReceived=60, elapsed TxPingTime=2.003862
2025-08-09T16:58:56.914Z,1754758736.914 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 62.40 m.
2025-08-09T16:58:57.047Z,1754758737.047 [DAT](INFO): checking for new query: numPingsReceived=60, elapsed TxPingTime=2.255562
2025-08-09T16:58:57.283Z,1754758737.283 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 62.40 m.
2025-08-09T16:58:57.301Z,1754758737.301 [DAT](INFO): checking for new query: numPingsReceived=60, elapsed TxPingTime=2.509289
2025-08-09T16:58:57.551Z,1754758737.551 [DAT](INFO): checking for new query: numPingsReceived=60, elapsed TxPingTime=2.759662
2025-08-09T16:58:57.721Z,1754758737.721 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 62.40 m.
2025-08-09T16:58:57.804Z,1754758737.804 [DAT](INFO): DAT read: Rx Time:16:58:56.7318

2025-08-09T16:58:57.804Z,1754758737.804 [DAT](INFO): Rx dataTimestamp_ set to:1754758737.803753
2025-08-09T16:58:57.805Z,1754758737.805 [DAT](INFO): checking for new query: numPingsReceived=60, elapsed TxPingTime=3.013256
2025-08-09T16:58:58.055Z,1754758738.055 [DAT](INFO): checking for new query: numPingsReceived=60, elapsed TxPingTime=3.263568
2025-08-09T16:58:58.107Z,1754758738.107 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 62.40 m.
2025-08-09T16:58:58.313Z,1754758738.313 [DAT](INFO): DAT read: 16:58:56.7318 LVL= 28640, 22065, 18034, 27171, AGC= 63, IDX= 437, 0.11,-0.127, 1.153, 2.018, 1.252, PHS=-1.277,-0.054, 0.722, RAW= 247.3,   7.0, CAL= 245.8,   7.4, ROT= 264.2,  -7.4

2025-08-09T16:58:58.314Z,1754758738.314 [DAT](INFO): got valid direction response:
 16:58:56.7318 LVL= 28640, 22065, 18034, 27171, AGC= 63, IDX= 437, 0.11,-0.127, 1.153, 2.018, 1.252, PHS=-1.277,-0.054, 0.722, RAW= 247.3,   7.0, CAL= 245.8,   7.4, ROT= 264.2,  -7.4

2025-08-09T16:58:58.315Z,1754758738.315 [DAT](INFO): DAT read: Bearing 294.1, -78.2 (Local)

2025-08-09T16:58:58.315Z,1754758738.315 [DAT](INFO): Local bearing/azimuth received:
 Bearing 294.1, -78.2 (Local)

2025-08-09T16:58:58.317Z,1754758738.317 [DAT](INFO): DAT read: Range 11 to 50 : 62.7 m  (Round-trip  83.6 ms) speed -0.1 m/s

2025-08-09T16:58:58.318Z,1754758738.318 [DAT](INFO): DAT read: user:268>

2025-08-09T16:58:58.318Z,1754758738.318 [DAT](INFO): DAT read: Tx time:16:58:57.8424

2025-08-09T16:58:58.319Z,1754758738.319 [DAT](INFO): Ping request sent.
2025-08-09T16:58:58.319Z,1754758738.319 [DAT](INFO): transmitted an acoustic signal
2025-08-09T16:58:58.319Z,1754758738.319 [DAT](INFO): #Rx 61: Read range and direction messages.
2025-08-09T16:58:58.320Z,1754758738.320 [DAT](INFO): direction in FSK: [-0.100214,-0.986595,0.128796]
2025-08-09T16:58:58.320Z,1754758738.320 [DAT](INFO): publishing transmit ping time
2025-08-09T16:58:58.321Z,1754758738.321 [DAT](INFO): publishing direction and range info
2025-08-09T16:58:58.324Z,1754758738.324 [DAT](INFO): publishing transmit ping time
2025-08-09T16:58:58.325Z,1754758738.325 [DAT](INFO): publishing direction and range info
2025-08-09T16:58:58.332Z,1754758738.332 [DAT](INFO): checking for new query: numPingsReceived=61, elapsed TxPingTime=0.013227
2025-08-09T16:58:58.559Z,1754758738.559 [DAT](INFO): checking for new query: numPingsReceived=61, elapsed TxPingTime=0.240578
2025-08-09T16:58:58.611Z,1754758738.611 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 62.700001 m,
      deltaT: 3.528133 s,
      deltaX: 0.299999 m,
      approachRate: 0.085031 m/s,
      rangeRepo size: 4

2025-08-09T16:58:58.613Z,1754758738.613 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 62.700001 m,
      bearing: 247.124256 deg,
      lat: 36.906212 deg,
      lon: -122.115924 deg,
      deltaT: 3.528133 s,
      deltaX: 0.299999 m,
      approachRate: 0.085031 m/s,
      posRepo size: 4

2025-08-09T16:58:58.613Z,1754758738.613 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 62.70 m.
2025-08-09T16:58:58.815Z,1754758738.815 [DAT](INFO): checking for new query: numPingsReceived=61, elapsed TxPingTime=0.495724
2025-08-09T16:58:58.900Z,1754758738.900 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 62.70 m.
2025-08-09T16:58:58.904Z,1754758738.904 [lineCaptureHoming:MicromodemComms:CheckIn:A](INFO): Timed out from 2025-08-09T16:48:58.7Z
2025-08-09T16:58:58.904Z,1754758738.904 [lineCaptureHoming:MicromodemComms:CheckIn:A] Stopped
2025-08-09T16:58:58.905Z,1754758738.905 [lineCaptureHoming:MicromodemComms:CheckIn](INFO): Completed lineCaptureHoming:MicromodemComms:CheckIn
2025-08-09T16:58:58.905Z,1754758738.905 [lineCaptureHoming:MicromodemComms:CheckIn] Stopped
2025-08-09T16:58:58.905Z,1754758738.905 [lineCaptureHoming:MicromodemComms:CheckIn](DEBUG): Aggregate::uninitialize lineCaptureHoming:MicromodemComms:CheckIn
2025-08-09T16:58:58.905Z,1754758738.905 [lineCaptureHoming:MicromodemComms](INFO): Completed lineCaptureHoming:MicromodemComms
2025-08-09T16:58:59.064Z,1754758739.064 [DAT](INFO): checking for new query: numPingsReceived=61, elapsed TxPingTime=0.744975
2025-08-09T16:58:59.304Z,1754758739.304 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 62.70 m.
2025-08-09T16:58:59.308Z,1754758739.308 [lineCaptureHoming:MicromodemComms] Running Loop=1
2025-08-09T16:58:59.308Z,1754758739.308 [lineCaptureHoming:MicromodemComms](DEBUG): Aggregate::initialize lineCaptureHoming:MicromodemComms
2025-08-09T16:58:59.308Z,1754758739.308 [lineCaptureHoming:MicromodemComms:CheckIn] Running Loop=1
2025-08-09T16:58:59.308Z,1754758739.308 [lineCaptureHoming:MicromodemComms:CheckIn](DEBUG): Aggregate::initialize lineCaptureHoming:MicromodemComms:CheckIn
2025-08-09T16:58:59.309Z,1754758739.309 [lineCaptureHoming:MicromodemComms:CheckIn:A] Running Loop=1
2025-08-09T16:58:59.315Z,1754758739.315 [DAT](INFO): checking for new query: numPingsReceived=61, elapsed TxPingTime=0.996596
2025-08-09T16:58:59.567Z,1754758739.567 [DAT](INFO): checking for new query: numPingsReceived=61, elapsed TxPingTime=1.248615
2025-08-09T16:58:59.819Z,1754758739.819 [DAT](INFO): checking for new query: numPingsReceived=61, elapsed TxPingTime=1.500481
2025-08-09T16:58:59.845Z,1754758739.845 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 62.70 m.
2025-08-09T16:59:00.071Z,1754758740.071 [DAT](INFO): checking for new query: numPingsReceived=61, elapsed TxPingTime=1.752501
2025-08-09T16:59:00.200Z,1754758740.200 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 62.70 m.
2025-08-09T16:59:00.323Z,1754758740.323 [DAT](INFO): checking for new query: numPingsReceived=61, elapsed TxPingTime=2.004499
2025-08-09T16:59:00.576Z,1754758740.576 [DAT](INFO): checking for new query: numPingsReceived=61, elapsed TxPingTime=2.257069
2025-08-09T16:59:00.632Z,1754758740.632 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 62.70 m.
2025-08-09T16:59:00.827Z,1754758740.827 [DAT](INFO): checking for new query: numPingsReceived=61, elapsed TxPingTime=2.508490
2025-08-09T16:59:01.021Z,1754758741.021 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 62.70 m.
2025-08-09T16:59:01.080Z,1754758741.080 [DAT](INFO): checking for new query: numPingsReceived=61, elapsed TxPingTime=2.761230
2025-08-09T16:59:01.331Z,1754758741.331 [DAT](INFO): DAT read: Rx Time:16:59:00.3304

2025-08-09T16:59:01.332Z,1754758741.332 [DAT](INFO): Rx dataTimestamp_ set to:1754758741.331532
2025-08-09T16:59:01.332Z,1754758741.332 [DAT](INFO): checking for new query: numPingsReceived=61, elapsed TxPingTime=3.013607
2025-08-09T16:59:01.412Z,1754758741.412 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 62.70 m.
2025-08-09T16:59:01.583Z,1754758741.583 [DAT](INFO): checking for new query: numPingsReceived=61, elapsed TxPingTime=3.264487
2025-08-09T16:59:01.838Z,1754758741.838 [DAT](INFO): checking for new query: numPingsReceived=61, elapsed TxPingTime=3.518660
2025-08-09T16:59:01.897Z,1754758741.897 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 62.70 m.
2025-08-09T16:59:02.093Z,1754758742.093 [DAT](INFO): DAT read: 16:59:00.3304 LVL= 31168, 20513, 14706, 28595, AGC= 59, IDX= 423,-0.13,-2.771,-1.543,-0.598,-1.412, PHS=-1.257,-0.086, 0.770, RAW= 245.1,   6.6, CAL= 243.6,   7.1, ROT= 266.4,  -7.1

2025-08-09T16:59:02.094Z,1754758742.094 [DAT](INFO): got valid direction response:
 16:59:00.3304 LVL= 31168, 20513, 14706, 28595, AGC= 59, IDX= 423,-0.13,-2.771,-1.543,-0.598,-1.412, PHS=-1.257,-0.086, 0.770, RAW= 245.1,   6.6, CAL= 243.6,   7.1, ROT= 266.4,  -7.1

2025-08-09T16:59:02.095Z,1754758742.095 [DAT](INFO): DAT read: Bearing 285.5, -80.5 (Local)

2025-08-09T16:59:02.095Z,1754758742.095 [DAT](INFO): Local bearing/azimuth received:
 Bearing 285.5, -80.5 (Local)

2025-08-09T16:59:02.097Z,1754758742.097 [DAT](INFO): DAT read: Range 11 to 50 : 62.8 m  (Round-trip  83.8 ms) speed  0.0 m/s

2025-08-09T16:59:02.098Z,1754758742.098 [DAT](INFO): DAT read: user:269>

2025-08-09T16:59:02.115Z,1754758742.115 [DAT](INFO): DAT read: Tx time:16:59:01.4440

2025-08-09T16:59:02.115Z,1754758742.115 [DAT](INFO): Ping request sent.
2025-08-09T16:59:02.115Z,1754758742.115 [DAT](INFO): transmitted an acoustic signal
2025-08-09T16:59:02.115Z,1754758742.115 [DAT](INFO): #Rx 62: Read range and direction messages.
2025-08-09T16:59:02.116Z,1754758742.116 [DAT](INFO): direction in FSK: [-0.062309,-0.990374,0.123601]
2025-08-09T16:59:02.117Z,1754758742.117 [DAT](INFO): publishing transmit ping time
2025-08-09T16:59:02.117Z,1754758742.117 [DAT](INFO): publishing direction and range info
2025-08-09T16:59:02.121Z,1754758742.121 [DAT](INFO): publishing transmit ping time
2025-08-09T16:59:02.121Z,1754758742.121 [DAT](INFO): publishing direction and range info
2025-08-09T16:59:02.153Z,1754758742.153 [DAT](INFO): checking for new query: numPingsReceived=62, elapsed TxPingTime=0.037713
2025-08-09T16:59:02.253Z,1754758742.253 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 62.799999 m,
      deltaT: 3.780091 s,
      deltaX: 0.099998 m,
      approachRate: 0.026454 m/s,
      rangeRepo size: 4

2025-08-09T16:59:02.260Z,1754758742.260 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 62.799999 m,
      bearing: 244.397065 deg,
      lat: 36.906192 deg,
      lon: -122.115924 deg,
      deltaT: 3.780091 s,
      deltaX: 0.099998 m,
      approachRate: 0.026454 m/s,
      posRepo size: 4

2025-08-09T16:59:02.261Z,1754758742.261 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 62.80 m.
2025-08-09T16:59:02.339Z,1754758742.339 [DAT](INFO): checking for new query: numPingsReceived=62, elapsed TxPingTime=0.224281
2025-08-09T16:59:02.594Z,1754758742.594 [DAT](INFO): checking for new query: numPingsReceived=62, elapsed TxPingTime=0.478290
2025-08-09T16:59:02.664Z,1754758742.664 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 62.80 m.
2025-08-09T16:59:02.848Z,1754758742.848 [DAT](INFO): checking for new query: numPingsReceived=62, elapsed TxPingTime=0.731810
2025-08-09T16:59:03.024Z,1754758743.024 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 62.80 m.
2025-08-09T16:59:03.097Z,1754758743.097 [DAT](INFO): checking for new query: numPingsReceived=62, elapsed TxPingTime=0.981579
2025-08-09T16:59:03.348Z,1754758743.348 [DAT](INFO): checking for new query: numPingsReceived=62, elapsed TxPingTime=1.232437
2025-08-09T16:59:03.436Z,1754758743.436 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 62.80 m.
2025-08-09T16:59:03.602Z,1754758743.602 [DAT](INFO): checking for new query: numPingsReceived=62, elapsed TxPingTime=1.486336
2025-08-09T16:59:03.851Z,1754758743.851 [DAT](INFO): checking for new query: numPingsReceived=62, elapsed TxPingTime=1.736288
2025-08-09T16:59:03.867Z,1754758743.867 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 62.80 m.
2025-08-09T16:59:04.103Z,1754758744.103 [DAT](INFO): checking for new query: numPingsReceived=62, elapsed TxPingTime=1.988325
2025-08-09T16:59:04.237Z,1754758744.237 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 62.80 m.
2025-08-09T16:59:04.355Z,1754758744.355 [DAT](INFO): checking for new query: numPingsReceived=62, elapsed TxPingTime=2.240246
2025-08-09T16:59:04.610Z,1754758744.610 [DAT](INFO): checking for new query: numPingsReceived=62, elapsed TxPingTime=2.494465
2025-08-09T16:59:04.692Z,1754758744.692 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 62.80 m.
2025-08-09T16:59:04.860Z,1754758744.860 [DAT](INFO): checking for new query: numPingsReceived=62, elapsed TxPingTime=2.744443
2025-08-09T16:59:05.048Z,1754758745.048 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 62.80 m.
2025-08-09T16:59:05.111Z,1754758745.111 [DAT](INFO): DAT read: Rx Time:16:59:03.9323

2025-08-09T16:59:05.112Z,1754758745.112 [DAT](INFO): Rx dataTimestamp_ set to:1754758745.111605
2025-08-09T16:59:05.112Z,1754758745.112 [DAT](INFO): checking for new query: numPingsReceived=62, elapsed TxPingTime=2.997361
2025-08-09T16:59:05.363Z,1754758745.363 [DAT](INFO): checking for new query: numPingsReceived=62, elapsed TxPingTime=3.248145
2025-08-09T16:59:05.517Z,1754758745.517 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 62.80 m.
2025-08-09T16:59:05.633Z,1754758745.633 [DAT](INFO): DAT read: 16:59:03.9323 LVL= 24912, 19665, 14194, 27635, AGC= 61, I 0.37,-0.837, 0.460, 1.497, 0.513, PHS=-1.248,-0.008,RAW= 244.4,   3.4, CAL= 241.6,   3.6, ROT= 268.4,  -3.6

2025-08-09T16:59:05.633Z,1754758745.633 [DAT](INFO): unknown deviceResponse_: 16:59:03.9323 LVL= 24912, 19665, 14194, 27635, AGC= 61, I 0.37,-0.837, 0.460, 1.497, 0.513, PHS=-1.248,-0.008,RAW= 244.4,   3.4, CAL= 241.6,   3.6, ROT= 268.4,  -3.6

2025-08-09T16:59:05.634Z,1754758745.634 [DAT](INFO): DAT read: Bearing 298.1, -83.8 (Local)

2025-08-09T16:59:05.635Z,1754758745.635 [DAT](INFO): Local bearing/azimuth received:
 Bearing 298.1, -83.8 (Local)

2025-08-09T16:59:05.636Z,1754758745.636 [DAT](INFO): DAT read: Range 11 to 50 : 63.0 m  (Round-trip  84.1 ms) speed  0.0 m/s

2025-08-09T16:59:05.637Z,1754758745.637 [DAT](INFO): DAT read: user:270>

2025-08-09T16:59:05.638Z,1754758745.638 [DAT](INFO): DAT read: Tx time:16:59:05.0424

2025-08-09T16:59:05.638Z,1754758745.638 [DAT](INFO): Ping request sent.
2025-08-09T16:59:05.638Z,1754758745.638 [DAT](INFO): transmitted an acoustic signal
2025-08-09T16:59:05.643Z,1754758745.643 [DAT](ERROR): #Rx 63: Read range message, but no direction.
2025-08-09T16:59:05.643Z,1754758745.643 [DAT](INFO): publishing transmit ping time
2025-08-09T16:59:05.643Z,1754758745.643 [DAT](INFO): publishing transmit ping time
2025-08-09T16:59:05.644Z,1754758745.644 [DAT](INFO): checking for new query: numPingsReceived=63, elapsed TxPingTime=0.006245
2025-08-09T16:59:05.868Z,1754758745.868 [DAT](INFO): checking for new query: numPingsReceived=63, elapsed TxPingTime=0.229753
2025-08-09T16:59:05.903Z,1754758745.903 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 63.000000 m,
      deltaT: 3.529630 s,
      deltaX: 0.200001 m,
      approachRate: 0.056663 m/s,
      rangeRepo size: 4

2025-08-09T16:59:05.904Z,1754758745.904 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 62.80 m.
2025-08-09T16:59:06.120Z,1754758746.120 [DAT](INFO): checking for new query: numPingsReceived=63, elapsed TxPingTime=0.481876
2025-08-09T16:59:06.316Z,1754758746.316 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 62.80 m.
2025-08-09T16:59:06.372Z,1754758746.372 [DAT](INFO): checking for new query: numPingsReceived=63, elapsed TxPingTime=0.733758
2025-08-09T16:59:06.626Z,1754758746.626 [DAT](INFO): checking for new query: numPingsReceived=63, elapsed TxPingTime=0.987095
2025-08-09T16:59:06.745Z,1754758746.745 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 62.80 m.
2025-08-09T16:59:06.876Z,1754758746.876 [DAT](INFO): checking for new query: numPingsReceived=63, elapsed TxPingTime=1.237572
2025-08-09T16:59:07.127Z,1754758747.127 [DAT](INFO): checking for new query: numPingsReceived=63, elapsed TxPingTime=1.489263
2025-08-09T16:59:07.139Z,1754758747.139 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 62.80 m.
2025-08-09T16:59:07.379Z,1754758747.379 [DAT](INFO): checking for new query: numPingsReceived=63, elapsed TxPingTime=1.741248
2025-08-09T16:59:07.524Z,1754758747.524 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 62.80 m.
2025-08-09T16:59:07.634Z,1754758747.634 [DAT](INFO): checking for new query: numPingsReceived=63, elapsed TxPingTime=1.995085
2025-08-09T16:59:07.883Z,1754758747.883 [DAT](INFO): checking for new query: numPingsReceived=63, elapsed TxPingTime=2.245264
2025-08-09T16:59:07.983Z,1754758747.983 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 62.80 m.
2025-08-09T16:59:08.136Z,1754758748.136 [DAT](INFO): checking for new query: numPingsReceived=63, elapsed TxPingTime=2.497822
2025-08-09T16:59:08.339Z,1754758748.339 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 62.80 m.
2025-08-09T16:59:08.388Z,1754758748.388 [DAT](INFO): checking for new query: numPingsReceived=63, elapsed TxPingTime=2.749718
2025-08-09T16:59:08.643Z,1754758748.643 [DAT](INFO): DAT read: Rx Time:16:59:07.5310

2025-08-09T16:59:08.644Z,1754758748.644 [DAT](INFO): Rx dataTimestamp_ set to:1754758748.643095
2025-08-09T16:59:08.646Z,1754758748.646 [DAT](INFO): checking for new query: numPingsReceived=63, elapsed TxPingTime=3.007359
2025-08-09T16:59:08.794Z,1754758748.794 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 62.80 m.
2025-08-09T16:59:08.893Z,1754758748.893 [DAT](INFO): checking for new query: numPingsReceived=63, elapsed TxPingTime=3.255241
2025-08-09T16:59:09.140Z,1754758749.140 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 62.80 m.
2025-08-09T16:59:09.149Z,1754758749.149 [DAT](INFO): DAT read: 16:59:07.5310 LVL= 31376, 21905, 13954, 28611, AGC= 61, IDX= 445, 0.20, 0.920, 2.160,-3.064, 2.284, PHS=-1.262,-0.080, 0.890, RAW= 243.3,   4.9, CAL= 241.2,   5.4, ROT= 268.8,  -5.4

2025-08-09T16:59:09.155Z,1754758749.155 [DAT](INFO): got valid direction response:
 16:59:07.5310 LVL= 31376, 21905, 13954, 28611, AGC= 61, IDX= 445, 0.20, 0.920, 2.160,-3.064, 2.284, PHS=-1.262,-0.080, 0.890, RAW= 243.3,   4.9, CAL= 241.2,   5.4, ROT= 268.8,  -5.4

2025-08-09T16:59:09.156Z,1754758749.156 [DAT](INFO): DAT read: Bearing 274.9, -83.7 (Local)

2025-08-09T16:59:09.156Z,1754758749.156 [DAT](INFO): Local bearing/azimuth received:
 Bearing 274.9, -83.7 (Local)

2025-08-09T16:59:09.158Z,1754758749.158 [DAT](INFO): DAT read: Range 11 to 50 : 63.3 m  (Round-trip  84.4 ms) speed  0.0 m/s

2025-08-09T16:59:09.158Z,1754758749.158 [DAT](INFO): DAT read: user:271>

2025-08-09T16:59:09.159Z,1754758749.159 [DAT](INFO): DAT read: Tx time:16:59:08.6440

2025-08-09T16:59:09.159Z,1754758749.159 [DAT](INFO): Ping request sent.
2025-08-09T16:59:09.159Z,1754758749.159 [DAT](INFO): transmitted an acoustic signal
2025-08-09T16:59:09.160Z,1754758749.160 [DAT](INFO): #Rx 64: Read range and direction messages.
2025-08-09T16:59:09.161Z,1754758749.161 [DAT](INFO): direction in FSK: [-0.020850,-0.995344,0.094108]
2025-08-09T16:59:09.161Z,1754758749.161 [DAT](INFO): publishing transmit ping time
2025-08-09T16:59:09.161Z,1754758749.161 [DAT](INFO): publishing direction and range info
2025-08-09T16:59:09.184Z,1754758749.184 [DAT](INFO): publishing transmit ping time
2025-08-09T16:59:09.185Z,1754758749.185 [DAT](INFO): publishing direction and range info
2025-08-09T16:59:09.197Z,1754758749.197 [DAT](INFO): checking for new query: numPingsReceived=64, elapsed TxPingTime=0.037125
2025-08-09T16:59:09.395Z,1754758749.395 [DAT](INFO): checking for new query: numPingsReceived=64, elapsed TxPingTime=0.235792
2025-08-09T16:59:09.563Z,1754758749.563 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 63.299999 m,
      deltaT: 3.526323 s,
      deltaX: 0.299999 m,
      approachRate: 0.085074 m/s,
      rangeRepo size: 4

2025-08-09T16:59:09.565Z,1754758749.565 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 63.299999 m,
      bearing: 237.990989 deg,
      lat: 36.906152 deg,
      lon: -122.115893 deg,
      deltaT: 7.055953 s,
      deltaX: 0.500000 m,
      approachRate: 0.070862 m/s,
      posRepo size: 4

2025-08-09T16:59:09.565Z,1754758749.565 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 63.30 m.
2025-08-09T16:59:09.651Z,1754758749.651 [DAT](INFO): checking for new query: numPingsReceived=64, elapsed TxPingTime=0.491064
2025-08-09T16:59:09.899Z,1754758749.899 [DAT](INFO): checking for new query: numPingsReceived=64, elapsed TxPingTime=0.739725
2025-08-09T16:59:09.986Z,1754758749.986 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 63.30 m.
2025-08-09T16:59:10.151Z,1754758750.151 [DAT](INFO): checking for new query: numPingsReceived=64, elapsed TxPingTime=0.991782
2025-08-09T16:59:10.358Z,1754758750.358 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 63.30 m.
2025-08-09T16:59:10.403Z,1754758750.403 [DAT](INFO): checking for new query: numPingsReceived=64, elapsed TxPingTime=1.244019
2025-08-09T16:59:10.658Z,1754758750.658 [DAT](INFO): checking for new query: numPingsReceived=64, elapsed TxPingTime=1.498350
2025-08-09T16:59:10.786Z,1754758750.786 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 63.30 m.
2025-08-09T16:59:10.907Z,1754758750.907 [DAT](INFO): checking for new query: numPingsReceived=64, elapsed TxPingTime=1.747800
2025-08-09T16:59:11.159Z,1754758751.159 [DAT](INFO): checking for new query: numPingsReceived=64, elapsed TxPingTime=1.999885
2025-08-09T16:59:11.200Z,1754758751.200 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 63.30 m.
2025-08-09T16:59:11.411Z,1754758751.411 [DAT](INFO): checking for new query: numPingsReceived=64, elapsed TxPingTime=2.251743
2025-08-09T16:59:11.570Z,1754758751.570 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 63.30 m.
2025-08-09T16:59:11.666Z,1754758751.666 [DAT](INFO): checking for new query: numPingsReceived=64, elapsed TxPingTime=2.506018
2025-08-09T16:59:11.915Z,1754758751.915 [DAT](INFO): checking for new query: numPingsReceived=64, elapsed TxPingTime=2.755836
2025-08-09T16:59:12.021Z,1754758752.021 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 63.30 m.
2025-08-09T16:59:12.167Z,1754758752.167 [DAT](INFO): DAT read: Rx Time:16:59:11.1327

2025-08-09T16:59:12.168Z,1754758752.168 [DAT](INFO): Rx dataTimestamp_ set to:1754758752.167460
2025-08-09T16:59:12.168Z,1754758752.168 [DAT](INFO): checking for new query: numPingsReceived=64, elapsed TxPingTime=3.008845
2025-08-09T16:59:12.376Z,1754758752.376 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 63.30 m.
2025-08-09T16:59:12.419Z,1754758752.419 [DAT](INFO): checking for new query: numPingsReceived=64, elapsed TxPingTime=3.259714
2025-08-09T16:59:12.684Z,1754758752.684 [DAT](INFO): DAT read: 16:59:11.1327 LVL= 26656, 22305, 13762, 29859, AGC= 58, IDX= 447, 0.27, 0.816, 1.985,-3.118, 2.149, PHS=-1.231,-0.119, 0.972, RAW= 240.3,   4.0, CAL= 238.0,   4.6, ROT= 272.0,  -4.6

2025-08-09T16:59:12.690Z,1754758752.690 [DAT](INFO): got valid direction response:
 16:59:11.1327 LVL= 26656, 22305, 13762, 29859, AGC= 58, IDX= 447, 0.27, 0.816, 1.985,-3.118, 2.149, PHS=-1.231,-0.119, 0.972, RAW= 240.3,   4.0, CAL= 238.0,   4.6, ROT= 272.0,  -4.6

2025-08-09T16:59:12.699Z,1754758752.699 [DAT](INFO): DAT read: Bearing 250.9, -87.0 (Local)

2025-08-09T16:59:12.700Z,1754758752.700 [DAT](INFO): Local bearing/azimuth received:
 Bearing 250.9, -87.0 (Local)

2025-08-09T16:59:12.715Z,1754758752.715 [DAT](INFO): DAT read: Range 11 to 50 : 63.4 m  (Round-trip  84.6 ms) speed  0.0 m/s

2025-08-09T16:59:12.718Z,1754758752.718 [DAT](INFO): DAT read: user:272>

2025-08-09T16:59:12.725Z,1754758752.725 [DAT](INFO): DAT read: Tx time:16:59:12.2423

2025-08-09T16:59:12.726Z,1754758752.726 [DAT](INFO): Ping request sent.
2025-08-09T16:59:12.726Z,1754758752.726 [DAT](INFO): transmitted an acoustic signal
2025-08-09T16:59:12.759Z,1754758752.759 [DAT](INFO): #Rx 65: Read range and direction messages.
2025-08-09T16:59:12.760Z,1754758752.760 [DAT](INFO): direction in FSK: [0.034787,-0.996172,0.080199]
2025-08-09T16:59:12.760Z,1754758752.760 [DAT](INFO): publishing transmit ping time
2025-08-09T16:59:12.760Z,1754758752.760 [DAT](INFO): publishing direction and range info
2025-08-09T16:59:12.775Z,1754758752.775 [DAT](INFO): publishing transmit ping time
2025-08-09T16:59:12.776Z,1754758752.776 [DAT](INFO): publishing direction and range info
2025-08-09T16:59:12.787Z,1754758752.787 [DAT](INFO): checking for new query: numPingsReceived=65, elapsed TxPingTime=0.061403
2025-08-09T16:59:12.924Z,1754758752.924 [DAT](INFO): checking for new query: numPingsReceived=65, elapsed TxPingTime=0.198685
2025-08-09T16:59:12.931Z,1754758752.931 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 63.400002 m,
      deltaT: 3.530021 s,
      deltaX: 0.100002 m,
      approachRate: 0.028329 m/s,
      rangeRepo size: 4

2025-08-09T16:59:12.935Z,1754758752.935 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 63.400002 m,
      bearing: 237.142138 deg,
      lat: 36.906148 deg,
      lon: -122.115893 deg,
      deltaT: 3.530021 s,
      deltaX: 0.100002 m,
      approachRate: 0.028329 m/s,
      posRepo size: 4

2025-08-09T16:59:12.936Z,1754758752.936 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 63.40 m.
2025-08-09T16:59:13.175Z,1754758753.175 [DAT](INFO): checking for new query: numPingsReceived=65, elapsed TxPingTime=0.449490
2025-08-09T16:59:13.200Z,1754758753.200 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 63.40 m.
2025-08-09T16:59:13.428Z,1754758753.428 [DAT](INFO): checking for new query: numPingsReceived=65, elapsed TxPingTime=0.702408
2025-08-09T16:59:13.611Z,1754758753.611 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 63.40 m.
2025-08-09T16:59:13.680Z,1754758753.680 [DAT](INFO): checking for new query: numPingsReceived=65, elapsed TxPingTime=0.954171
2025-08-09T16:59:13.932Z,1754758753.932 [DAT](INFO): checking for new query: numPingsReceived=65, elapsed TxPingTime=1.206658
2025-08-09T16:59:14.036Z,1754758754.036 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 63.40 m.
2025-08-09T16:59:14.183Z,1754758754.183 [DAT](INFO): checking for new query: numPingsReceived=65, elapsed TxPingTime=1.457642
2025-08-09T16:59:14.400Z,1754758754.400 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 63.40 m.
2025-08-09T16:59:14.436Z,1754758754.436 [DAT](INFO): checking for new query: numPingsReceived=65, elapsed TxPingTime=1.710420
2025-08-09T16:59:14.687Z,1754758754.687 [DAT](INFO): checking for new query: numPingsReceived=65, elapsed TxPingTime=1.961805
2025-08-09T16:59:14.869Z,1754758754.869 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 63.40 m.
2025-08-09T16:59:14.940Z,1754758754.940 [DAT](INFO): checking for new query: numPingsReceived=65, elapsed TxPingTime=2.214572
2025-08-09T16:59:15.191Z,1754758755.191 [DAT](INFO): checking for new query: numPingsReceived=65, elapsed TxPingTime=2.465690
2025-08-09T16:59:15.199Z,1754758755.199 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 63.40 m.
2025-08-09T16:59:15.444Z,1754758755.444 [DAT](INFO): checking for new query: numPingsReceived=65, elapsed TxPingTime=2.717883
2025-08-09T16:59:15.619Z,1754758755.619 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 63.40 m.
2025-08-09T16:59:15.706Z,1754758755.706 [DAT](INFO): DAT read: Rx Time:16:59:14.7311

2025-08-09T16:59:15.707Z,1754758755.707 [DAT](INFO): Rx dataTimestamp_ set to:1754758755.705975
2025-08-09T16:59:15.707Z,1754758755.707 [DAT](INFO): checking for new query: numPingsReceived=65, elapsed TxPingTime=2.981524
2025-08-09T16:59:15.959Z,1754758755.959 [DAT](INFO): checking for new query: numPingsReceived=65, elapsed TxPingTime=3.233600
2025-08-09T16:59:16.040Z,1754758756.040 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 63.40 m.
2025-08-09T16:59:16.211Z,1754758756.211 [DAT](INFO): checking for new query: numPingsReceived=65, elapsed TxPingTime=3.485544
2025-08-09T16:59:16.410Z,1754758756.410 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 63.40 m.
2025-08-09T16:59:16.470Z,1754758756.470 [DAT](INFO): DAT read: 16:59:14.7311 LVL= 25056, 21409, 14418, 25651, AGC= 62, IDX= 447, 0.33, 1.592, 2.679,-2.258, 2.880, PHS=-1.186,-0.156, 1.101, RAW= 236.7,   2.5, CAL= 234.1,   3.1, ROT= 275.9,  -3.1

2025-08-09T16:59:16.472Z,1754758756.472 [DAT](INFO): got valid direction response:
 16:59:14.7311 LVL= 25056, 21409, 14418, 25651, AGC= 62, IDX= 447, 0.33, 1.592, 2.679,-2.258, 2.880, PHS=-1.186,-0.156, 1.101, RAW= 236.7,   2.5, CAL= 234.1,   3.1, ROT= 275.9,  -3.1

2025-08-09T16:59:16.473Z,1754758756.473 [DAT](INFO): DAT read: Bearing 153.1, -87.4 (Local)

2025-08-09T16:59:16.473Z,1754758756.473 [DAT](INFO): Local bearing/azimuth received:
 Bearing 153.1, -87.4 (Local)

2025-08-09T16:59:16.475Z,1754758756.475 [DAT](INFO): DAT read: Range 11 to 50 : 63.4 m  (Round-trip  84.6 ms) speed  0.0 m/s

2025-08-09T16:59:16.476Z,1754758756.476 [DAT](INFO): DAT read: user:273>

2025-08-09T16:59:16.477Z,1754758756.477 [DAT](INFO): DAT read: Tx time:16:59:15.8439

2025-08-09T16:59:16.478Z,1754758756.478 [DAT](INFO): Ping request sent.
2025-08-09T16:59:16.478Z,1754758756.478 [DAT](INFO): transmitted an acoustic signal
2025-08-09T16:59:16.484Z,1754758756.484 [DAT](INFO): #Rx 66: Read range and direction messages.
2025-08-09T16:59:16.486Z,1754758756.486 [DAT](INFO): direction in FSK: [0.102642,-0.993247,0.054079]
2025-08-09T16:59:16.486Z,1754758756.486 [DAT](INFO): publishing transmit ping time
2025-08-09T16:59:16.491Z,1754758756.491 [DAT](INFO): publishing direction and range info
2025-08-09T16:59:16.499Z,1754758756.499 [DAT](INFO): publishing transmit ping time
2025-08-09T16:59:16.499Z,1754758756.499 [DAT](INFO): publishing direction and range info
2025-08-09T16:59:16.513Z,1754758756.513 [DAT](INFO): checking for new query: numPingsReceived=66, elapsed TxPingTime=0.024190
2025-08-09T16:59:16.715Z,1754758756.715 [DAT](INFO): checking for new query: numPingsReceived=66, elapsed TxPingTime=0.237518
2025-08-09T16:59:16.896Z,1754758756.896 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 63.400002 m,
      deltaT: 3.789974 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-08-09T16:59:16.898Z,1754758756.898 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 63.400002 m,
      bearing: 235.571185 deg,
      lat: 36.906138 deg,
      lon: -122.115893 deg,
      deltaT: 3.789974 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      posRepo size: 4

2025-08-09T16:59:16.898Z,1754758756.898 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 63.40 m.
2025-08-09T16:59:16.967Z,1754758756.967 [DAT](INFO): checking for new query: numPingsReceived=66, elapsed TxPingTime=0.489495
2025-08-09T16:59:17.220Z,1754758757.220 [DAT](INFO): checking for new query: numPingsReceived=66, elapsed TxPingTime=0.741692
2025-08-09T16:59:17.234Z,1754758757.234 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 63.40 m.
2025-08-09T16:59:17.471Z,1754758757.471 [DAT](INFO): checking for new query: numPingsReceived=66, elapsed TxPingTime=0.993379
2025-08-09T16:59:17.648Z,1754758757.648 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 63.40 m.
2025-08-09T16:59:17.724Z,1754758757.724 [DAT](INFO): checking for new query: numPingsReceived=66, elapsed TxPingTime=1.245611
2025-08-09T16:59:17.975Z,1754758757.975 [DAT](INFO): checking for new query: numPingsReceived=66, elapsed TxPingTime=1.497417
2025-08-09T16:59:18.058Z,1754758758.058 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 63.40 m.
2025-08-09T16:59:18.227Z,1754758758.227 [DAT](INFO): checking for new query: numPingsReceived=66, elapsed TxPingTime=1.749311
2025-08-09T16:59:18.454Z,1754758758.454 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 63.40 m.
2025-08-09T16:59:18.480Z,1754758758.480 [DAT](INFO): checking for new query: numPingsReceived=66, elapsed TxPingTime=2.001637
2025-08-09T16:59:18.731Z,1754758758.731 [DAT](INFO): checking for new query: numPingsReceived=66, elapsed TxPingTime=2.253433
2025-08-09T16:59:18.968Z,1754758758.968 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 63.40 m.
2025-08-09T16:59:18.984Z,1754758758.984 [DAT](INFO): DAT read: Rx Time:16:59:18.0578 

2025-08-09T16:59:18.985Z,1754758758.985 [DAT](INFO): Rx dataTimestamp_ set to:1754758758.984228
2025-08-09T16:59:18.986Z,1754758758.986 [DAT](INFO): DAT read: Bearing 124.5, -84.9 (Local)

2025-08-09T16:59:18.987Z,1754758758.987 [DAT](INFO): Local bearing/azimuth received:
 Bearing 124.5, -84.9 (Local)

2025-08-09T16:59:18.989Z,1754758758.989 [DAT](INFO): DAT read: Range 11 to 50 :    63.5 m (trip time 42.3 ms) speed 0.0

2025-08-09T16:59:18.994Z,1754758758.994 [DAT](INFO): DAT read: 16:59:18.0578 LVL= 15712, 14497,  9794, 16739, AGC= 62, IDX= 192,-0.00,-1.390,-0.342, 1.166,-0.103, PHS=-1.185,-0.194, 1.225, RAW= 234.2,   1.5, CAL= 231.3,   2.2, ROT= 278.7,  -2.2

2025-08-09T16:59:18.995Z,1754758758.995 [DAT](INFO): got valid direction response:
 16:59:18.0578 LVL= 15712, 14497,  9794, 16739, AGC= 62, IDX= 192,-0.00,-1.390,-0.342, 1.166,-0.103, PHS=-1.185,-0.194, 1.225, RAW= 234.2,   1.5, CAL= 231.3,   2.2, ROT= 278.7,  -2.2

2025-08-09T16:59:18.995Z,1754758758.995 [DAT](INFO): #Rx 67: Read range and direction messages.
2025-08-09T16:59:18.996Z,1754758758.996 [DAT](INFO): direction in FSK: [0.151150,-0.987765,0.038388]
2025-08-09T16:59:18.996Z,1754758758.996 [DAT](INFO): publishing direction and range info
2025-08-09T16:59:19.004Z,1754758759.004 [DAT](INFO): checking for new query: numPingsReceived=67, elapsed TxPingTime=2.526066
2025-08-09T16:59:19.236Z,1754758759.236 [DAT](INFO): checking for new query: numPingsReceived=67, elapsed TxPingTime=2.758475
2025-08-09T16:59:19.283Z,1754758759.283 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 63.500000 m,
      deltaT: 2.521411 s,
      deltaX: 0.099998 m,
      approachRate: 0.039660 m/s,
      rangeRepo size: 4

2025-08-09T16:59:19.285Z,1754758759.285 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 63.500000 m,
      bearing: 235.139466 deg,
      lat: 36.906138 deg,
      lon: -122.115893 deg,
      deltaT: 2.521411 s,
      deltaX: 0.099998 m,
      approachRate: 0.039660 m/s,
      posRepo size: 4

2025-08-09T16:59:19.286Z,1754758759.286 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 63.50 m.
2025-08-09T16:59:19.488Z,1754758759.488 [DAT](INFO): DAT read: Rx Time:16:59:18.5578 

2025-08-09T16:59:19.489Z,1754758759.489 [DAT](INFO): Rx dataTimestamp_ set to:1754758759.488485
2025-08-09T16:59:19.490Z,1754758759.490 [DAT](INFO): DAT read: Range 11 to 50 :    63.5 m (trip time 42.3 ms) speed 0.1

2025-08-09T16:59:19.491Z,1754758759.491 [DAT](ERROR): #Rx 68: Read range message, but no direction.
2025-08-09T16:59:19.492Z,1754758759.492 [DAT](INFO): checking for new query: numPingsReceived=68, elapsed TxPingTime=3.013683
2025-08-09T16:59:19.666Z,1754758759.666 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 63.500000 m,
      deltaT: 0.504257 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-08-09T16:59:19.666Z,1754758759.666 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 63.50 m.
2025-08-09T16:59:19.739Z,1754758759.739 [DAT](INFO): checking for new query: numPingsReceived=68, elapsed TxPingTime=3.261516
2025-08-09T16:59:19.991Z,1754758759.991 [DAT](INFO): DAT read: Rx Time:16:59:19.0578 

2025-08-09T16:59:19.992Z,1754758759.992 [DAT](INFO): Rx dataTimestamp_ set to:1754758759.991591
2025-08-09T16:59:19.993Z,1754758759.993 [DAT](INFO): DAT read: Range 11 to 50 :    63.5 m (trip time 42.3 ms) speed -0.1

2025-08-09T16:59:19.994Z,1754758759.994 [DAT](ERROR): #Rx 69: Read range message, but no direction.
2025-08-09T16:59:19.995Z,1754758759.995 [DAT](INFO): checking for new query: numPingsReceived=69, elapsed TxPingTime=3.516837
2025-08-09T16:59:20.113Z,1754758760.113 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 63.500000 m,
      deltaT: 0.503106 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-08-09T16:59:20.114Z,1754758760.114 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 63.50 m.
2025-08-09T16:59:20.243Z,1754758760.243 [DAT](INFO): checking for new query: numPingsReceived=69, elapsed TxPingTime=3.765444
2025-08-09T16:59:20.495Z,1754758760.495 [DAT](INFO): DAT read: Rx Time:16:59:19.5579 

2025-08-09T16:59:20.496Z,1754758760.496 [DAT](INFO): Rx dataTimestamp_ set to:1754758760.495681
2025-08-09T16:59:20.497Z,1754758760.497 [DAT](INFO): DAT read: Range 11 to 50 :    63.6 m (trip time 42.4 ms) speed 0.0

2025-08-09T16:59:20.498Z,1754758760.498 [DAT](ERROR): #Rx 70: Read range message, but no direction.
2025-08-09T16:59:20.499Z,1754758760.499 [DAT](INFO): checking for new query: numPingsReceived=70, elapsed TxPingTime=4.020886
2025-08-09T16:59:20.506Z,1754758760.506 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 63.599998 m,
      deltaT: 0.504090 s,
      deltaX: 0.099998 m,
      approachRate: 0.198374 m/s,
      rangeRepo size: 4

2025-08-09T16:59:20.506Z,1754758760.506 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 63.50 m.
2025-08-09T16:59:20.747Z,1754758760.747 [DAT](INFO): checking for new query: numPingsReceived=70, elapsed TxPingTime=4.269387
2025-08-09T16:59:20.957Z,1754758760.957 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 63.50 m.
2025-08-09T16:59:20.000Z,1754758761.000 [DAT](INFO): DAT read: Rx Time:16:59:20.0578 

2025-08-09T16:59:21.000Z,1754758761.000 [DAT](INFO): Rx dataTimestamp_ set to:1754758760.999731
2025-08-09T16:59:21.001Z,1754758761.001 [DAT](INFO): DAT read: Range 11 to 50 :    63.5 m (trip time 42.3 ms) speed 0.0

2025-08-09T16:59:21.002Z,1754758761.002 [DAT](ERROR): #Rx 71: Read range message, but no direction.
2025-08-09T16:59:21.003Z,1754758761.003 [DAT](INFO): checking for new query: numPingsReceived=71, elapsed TxPingTime=4.524984
2025-08-09T16:59:21.251Z,1754758761.251 [DAT](INFO): checking for new query: numPingsReceived=71, elapsed TxPingTime=4.773456
2025-08-09T16:59:21.266Z,1754758761.266 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 63.500000 m,
      deltaT: 0.504050 s,
      deltaX: -0.099998 m,
      approachRate: -0.198390 m/s,
      rangeRepo size: 4

2025-08-09T16:59:21.267Z,1754758761.267 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 63.50 m.
2025-08-09T16:59:21.504Z,1754758761.504 [DAT](INFO): DAT read: Rx Time:16:59:20.5579 

2025-08-09T16:59:21.504Z,1754758761.504 [DAT](INFO): Rx dataTimestamp_ set to:1754758761.503856
2025-08-09T16:59:21.505Z,1754758761.505 [DAT](INFO): DAT read: Range 11 to 50 :    63.6 m (trip time 42.4 ms) speed 0.0

2025-08-09T16:59:21.506Z,1754758761.506 [DAT](ERROR): #Rx 72: Read range message, but no direction.
2025-08-09T16:59:21.507Z,1754758761.507 [DAT](INFO): checking for new query: numPingsReceived=72, elapsed TxPingTime=5.029042
2025-08-09T16:59:21.675Z,1754758761.675 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 63.599998 m,
      deltaT: 0.504125 s,
      deltaX: 0.099998 m,
      approachRate: 0.198360 m/s,
      rangeRepo size: 4

2025-08-09T16:59:21.675Z,1754758761.675 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 63.50 m.
2025-08-09T16:59:21.755Z,1754758761.755 [DAT](INFO): checking for new query: numPingsReceived=72, elapsed TxPingTime=5.277585
2025-08-09T16:59:22.008Z,1754758762.008 [DAT](INFO): DAT read: Rx Time:16:59:21.0579 

2025-08-09T16:59:22.008Z,1754758762.008 [DAT](INFO): Rx dataTimestamp_ set to:1754758762.008032
2025-08-09T16:59:22.010Z,1754758762.010 [DAT](INFO): DAT read: Bearing  95.4, -78.1 (Local)

2025-08-09T16:59:22.010Z,1754758762.010 [DAT](INFO): Local bearing/azimuth received:
 Bearing  95.4, -78.1 (Local)

2025-08-09T16:59:22.012Z,1754758762.012 [DAT](INFO): DAT read: Range 11 to 50 :    63.6 m (trip time 42.4 ms) speed 0.0

2025-08-09T16:59:22.017Z,1754758762.017 [DAT](INFO): DAT read: 16:59:21.0579 LVL= 25056, 22209, 13058, 24819, AGC= 60, IDX= 513,-0.24, 2.403, 2.931,-2.235, 3.122, PHS=-0.617,-0.146, 0.882, RAW= 227.9,  -1.8, CAL= 225.2,  -2.4, ROT= 284.8,   2.4

2025-08-09T16:59:22.018Z,1754758762.018 [DAT](INFO): got valid direction response:
 16:59:21.0579 LVL= 25056, 22209, 13058, 24819, AGC= 60, IDX= 513,-0.24, 2.403, 2.931,-2.235, 3.122, PHS=-0.617,-0.146, 0.882, RAW= 227.9,  -1.8, CAL= 225.2,  -2.4, ROT= 284.8,   2.4

2025-08-09T16:59:22.018Z,1754758762.018 [DAT](INFO): #Rx 73: Read range and direction messages.
2025-08-09T16:59:22.019Z,1754758762.019 [DAT](INFO): direction in FSK: [0.255221,-0.965975,-0.041876]
2025-08-09T16:59:22.019Z,1754758762.019 [DAT](INFO): publishing direction and range info
2025-08-09T16:59:22.059Z,1754758762.059 [DAT](INFO): checking for new query: numPingsReceived=73, elapsed TxPingTime=5.581031
2025-08-09T16:59:22.175Z,1754758762.175 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 63.599998 m,
      deltaT: 0.504176 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-08-09T16:59:22.177Z,1754758762.177 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 63.599998 m,
      bearing: 234.895941 deg,
      lat: 36.906138 deg,
      lon: -122.115898 deg,
      deltaT: 3.023804 s,
      deltaX: 0.099998 m,
      approachRate: 0.033070 m/s,
      posRepo size: 4

2025-08-09T16:59:22.177Z,1754758762.177 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 63.60 m.
2025-08-09T16:59:22.260Z,1754758762.260 [DAT](INFO): checking for new query: numPingsReceived=73, elapsed TxPingTime=5.781903
2025-08-09T16:59:22.483Z,1754758762.483 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 63.60 m.
2025-08-09T16:59:22.513Z,1754758762.513 [DAT](INFO): DAT read: Rx Time:16:59:21.5579 

2025-08-09T16:59:22.513Z,1754758762.513 [DAT](INFO): Rx dataTimestamp_ set to:1754758762.513035
2025-08-09T16:59:22.515Z,1754758762.515 [DAT](INFO): DAT read: Bearing 201.0, -80.9 (Local)

2025-08-09T16:59:22.516Z,1754758762.516 [DAT](INFO): Local bearing/azimuth received:
 Bearing 201.0, -80.9 (Local)

2025-08-09T16:59:22.520Z,1754758762.520 [DAT](INFO): DAT read: Range 11 to 50 :    63.6 m (trip time 42.4 ms) speed 0.0

2025-08-09T16:59:22.526Z,1754758762.526 [DAT](INFO): DAT read: 16:59:21.5579 LVL= 24944, 22001, 13266, 23379, AGC= 59, IDX= 513,-0.05, 1.786, 2.892,-1.930,-2.918, PHS=-1.478,-0.429, 0.944, RAW= 235.6,   9.2, CAL= 235.8,  10.6, ROT= 274.2, -10.6

2025-08-09T16:59:22.528Z,1754758762.528 [DAT](INFO): got valid direction response:
 16:59:21.5579 LVL= 24944, 22001, 13266, 23379, AGC= 59, IDX= 513,-0.05, 1.786, 2.892,-1.930,-2.918, PHS=-1.478,-0.429, 0.944, RAW= 235.6,   9.2, CAL= 235.8,  10.6, ROT= 274.2, -10.6

2025-08-09T16:59:22.528Z,1754758762.528 [DAT](INFO): #Rx 74: Read range and direction messages.
2025-08-09T16:59:22.529Z,1754758762.529 [DAT](INFO): direction in FSK: [0.071989,-0.980296,0.183951]
2025-08-09T16:59:22.530Z,1754758762.530 [DAT](INFO): publishing direction and range info
2025-08-09T16:59:22.542Z,1754758762.542 [DAT](INFO): checking for new query: numPingsReceived=74, elapsed TxPingTime=6.064427
2025-08-09T16:59:22.763Z,1754758762.763 [DAT](INFO): checking for new query: numPingsReceived=74, elapsed TxPingTime=6.285353
2025-08-09T16:59:23.016Z,1754758763.016 [DAT](INFO): DAT read: Rx Time:16:59:22.0578 

2025-08-09T16:59:23.016Z,1754758763.016 [DAT](INFO): Rx dataTimestamp_ set to:1754758763.016099
2025-08-09T16:59:23.018Z,1754758763.018 [DAT](INFO): DAT read: Bearing 185.5, -80.0 (Local)

2025-08-09T16:59:23.018Z,1754758763.018 [DAT](INFO): Local bearing/azimuth received:
 Bearing 185.5, -80.0 (Local)

2025-08-09T16:59:23.020Z,1754758763.020 [DAT](INFO): DAT read: Range 11 to 50 :    63.5 m (trip time 42.3 ms) speed 0.0

2025-08-09T16:59:23.025Z,1754758763.025 [DAT](INFO): DAT read: 16:59:22.0578 LVL= 25648, 23537, 13074, 27923, AGC= 58, IDX= 512, 0.07, 1.736, 2.551,-2.451, 3.007, PHS=-1.169,-0.411, 0.781, RAW= 232.7,   9.4, CAL= 233.1,  11.0, ROT= 276.9, -11.0

2025-08-09T16:59:23.026Z,1754758763.026 [DAT](INFO): got valid direction response:
 16:59:22.0578 LVL= 25648, 23537, 13074, 27923, AGC= 58, IDX= 512, 0.07, 1.736, 2.551,-2.451, 3.007, PHS=-1.169,-0.411, 0.781, RAW= 232.7,   9.4, CAL= 233.1,  11.0, ROT= 276.9, -11.0

2025-08-09T16:59:23.026Z,1754758763.026 [DAT](INFO): #Rx 75: Read range and direction messages.
2025-08-09T16:59:23.027Z,1754758763.027 [DAT](INFO): direction in FSK: [0.117929,-0.974518,0.190809]
2025-08-09T16:59:23.027Z,1754758763.027 [DAT](INFO): publishing direction and range info
2025-08-09T16:59:23.032Z,1754758763.032 [DAT](INFO): checking for new query: numPingsReceived=75, elapsed TxPingTime=6.554374
2025-08-09T16:59:23.042Z,1754758763.042 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 63.500000 m,
      deltaT: 1.008067 s,
      deltaX: -0.099998 m,
      approachRate: -0.099198 m/s,
      rangeRepo size: 4

2025-08-09T16:59:23.048Z,1754758763.048 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 63.599998 m,
      bearing: 234.778437 deg,
      lat: 36.906138 deg,
      lon: -122.115898 deg,
      deltaT: 0.505003 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      posRepo size: 4

2025-08-09T16:59:23.049Z,1754758763.049 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 63.60 m.
2025-08-09T16:59:23.268Z,1754758763.268 [DAT](INFO): checking for new query: numPingsReceived=75, elapsed TxPingTime=6.790497
2025-08-09T16:59:23.319Z,1754758763.319 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 63.60 m.
2025-08-09T16:59:23.519Z,1754758763.519 [DAT](INFO): DAT read: Rx Time:16:59:22.5579 

2025-08-09T16:59:23.520Z,1754758763.520 [DAT](INFO): Rx dataTimestamp_ set to:1754758763.519624
2025-08-09T16:59:23.521Z,1754758763.521 [DAT](INFO): DAT read: Range 11 to 50 :    63.6 m (trip time 42.4 ms) speed 0.0

2025-08-09T16:59:23.522Z,1754758763.522 [DAT](ERROR): #Rx 76: Read range message, but no direction.
2025-08-09T16:59:23.523Z,1754758763.523 [DAT](INFO): checking for new query: numPingsReceived=76, elapsed TxPingTime=7.044851
2025-08-09T16:59:23.732Z,1754758763.732 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 63.599998 m,
      deltaT: 0.503525 s,
      deltaX: 0.099998 m,
      approachRate: 0.198597 m/s,
      rangeRepo size: 4

2025-08-09T16:59:23.732Z,1754758763.732 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 63.60 m.
2025-08-09T16:59:23.771Z,1754758763.771 [DAT](INFO): checking for new query: numPingsReceived=76, elapsed TxPingTime=7.293436
2025-08-09T16:59:24.023Z,1754758764.023 [DAT](INFO): DAT read: Rx Time:16:59:23.0578 

2025-08-09T16:59:24.024Z,1754758764.024 [DAT](INFO): Rx dataTimestamp_ set to:1754758764.023585
2025-08-09T16:59:24.025Z,1754758764.025 [DAT](INFO): DAT read: Range 11 to 50 :    63.5 m (trip time 42.3 ms) speed 0.0

2025-08-09T16:59:24.026Z,1754758764.026 [DAT](ERROR): #Rx 77: Read range message, but no direction.
2025-08-09T16:59:24.027Z,1754758764.027 [DAT](INFO): checking for new query: numPingsReceived=77, elapsed TxPingTime=7.548797
2025-08-09T16:59:24.154Z,1754758764.154 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 63.500000 m,
      deltaT: 0.503961 s,
      deltaX: -0.099998 m,
      approachRate: -0.198425 m/s,
      rangeRepo size: 4

2025-08-09T16:59:24.159Z,1754758764.159 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 63.60 m.
2025-08-09T16:59:24.275Z,1754758764.275 [DAT](INFO): checking for new query: numPingsReceived=77, elapsed TxPingTime=7.797341
2025-08-09T16:59:24.528Z,1754758764.528 [DAT](INFO): DAT read: Rx Time:16:59:23.5579 

2025-08-09T16:59:24.528Z,1754758764.528 [DAT](INFO): Rx dataTimestamp_ set to:1754758764.527952
2025-08-09T16:59:24.529Z,1754758764.529 [DAT](INFO): DAT read: Range 11 to 50 :    63.6 m (trip time 42.4 ms) speed 0.0

2025-08-09T16:59:24.530Z,1754758764.530 [DAT](ERROR): #Rx 78: Read range message, but no direction.
2025-08-09T16:59:24.531Z,1754758764.531 [DAT](INFO): checking for new query: numPingsReceived=78, elapsed TxPingTime=8.053167
2025-08-09T16:59:24.537Z,1754758764.537 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 63.599998 m,
      deltaT: 0.504367 s,
      deltaX: 0.099998 m,
      approachRate: 0.198265 m/s,
      rangeRepo size: 4

2025-08-09T16:59:24.538Z,1754758764.538 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 63.60 m.
2025-08-09T16:59:24.779Z,1754758764.779 [DAT](INFO): checking for new query: numPingsReceived=78, elapsed TxPingTime=8.301421
2025-08-09T16:59:25.044Z,1754758765.044 [DAT](INFO): DAT read: Rx Time:16:59:24.0578 

2025-08-09T16:59:25.044Z,1754758765.044 [DAT](INFO): Rx dataTimestamp_ set to:1754758765.044047
2025-08-09T16:59:25.046Z,1754758765.046 [DAT](INFO): DAT read: Bearing 204.4, -77.8 (Local)

2025-08-09T16:59:25.046Z,1754758765.046 [DAT](INFO): Local bearing/azimuth received:
 Bearing 204.4, -77.8 (Local)

2025-08-09T16:59:25.048Z,1754758765.048 [DAT](INFO): DAT read: Range 11 to 50 :    63.5 m (trip time 42.3 ms) speed 0.0

2025-08-09T16:59:25.053Z,1754758765.053 [DAT](INFO): DAT read: 16:59:24.0578 LVL= 22240, 20113, 15058, 23267, AGC= 59, IDX= 512, 0.12,-2.895,-1.842,-0.428,-1.289, PHS=-1.504,-0.508, 0.817, RAW= 235.3,  11.8, CAL= 236.7,  13.6, ROT= 273.3, -13.6

2025-08-09T16:59:25.054Z,1754758765.054 [DAT](INFO): got valid direction response:
 16:59:24.0578 LVL= 22240, 20113, 15058, 23267, AGC= 59, IDX= 512, 0.12,-2.895,-1.842,-0.428,-1.289, PHS=-1.504,-0.508, 0.817, RAW= 235.3,  11.8, CAL= 236.7,  13.6, ROT= 273.3, -13.6

2025-08-09T16:59:25.054Z,1754758765.054 [DAT](INFO): #Rx 79: Read range and direction messages.
2025-08-09T16:59:25.055Z,1754758765.055 [DAT](INFO): direction in FSK: [0.055950,-0.970349,0.235142]
2025-08-09T16:59:25.056Z,1754758765.056 [DAT](INFO): publishing direction and range info
2025-08-09T16:59:25.059Z,1754758765.059 [DAT](INFO): checking for new query: numPingsReceived=79, elapsed TxPingTime=8.581402
2025-08-09T16:59:25.101Z,1754758765.101 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 63.500000 m,
      deltaT: 0.516095 s,
      deltaX: -0.099998 m,
      approachRate: -0.193760 m/s,
      rangeRepo size: 4

2025-08-09T16:59:25.112Z,1754758765.112 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 63.500000 m,
      bearing: 231.992670 deg,
      lat: 36.906124 deg,
      lon: -122.115870 deg,
      deltaT: 2.531012 s,
      deltaX: -0.099998 m,
      approachRate: -0.039509 m/s,
      posRepo size: 4

2025-08-09T16:59:25.112Z,1754758765.112 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 63.50 m.
2025-08-09T16:59:25.295Z,1754758765.295 [DAT](INFO): checking for new query: numPingsReceived=79, elapsed TxPingTime=8.817329
2025-08-09T16:59:25.344Z,1754758765.344 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 63.50 m.
2025-08-09T16:59:25.548Z,1754758765.548 [DAT](INFO): DAT read: Rx Time:16:59:24.5579 

2025-08-09T16:59:25.549Z,1754758765.549 [DAT](INFO): Rx dataTimestamp_ set to:1754758765.548232
2025-08-09T16:59:25.550Z,1754758765.550 [DAT](INFO): DAT read: Bearing  54.9, -76.2 (Local)

2025-08-09T16:59:25.550Z,1754758765.550 [DAT](INFO): Local bearing/azimuth received:
 Bearing  54.9, -76.2 (Local)

2025-08-09T16:59:25.552Z,1754758765.552 [DAT](INFO): DAT read: Range 11 to 50 :    63.6 m (trip time 42.4 ms) speed 0.0

2025-08-09T16:59:25.557Z,1754758765.557 [DAT](INFO): DAT read: 16:59:24.5579 LVL= 26400, 22097, 15090, 25379, AGC= 61, IDX= 513, 0.06,-1.785,-1.183,-0.124,-1.147, PHS=-0.535, 0.009, 0.979, RAW= 230.8,  -6.9, CAL= 229.0, -10.2, ROT= 281.0,  10.2

2025-08-09T16:59:25.558Z,1754758765.558 [DAT](INFO): got valid direction response:
 16:59:24.5579 LVL= 26400, 22097, 15090, 25379, AGC= 61, IDX= 513, 0.06,-1.785,-1.183,-0.124,-1.147, PHS=-0.535, 0.009, 0.979, RAW= 230.8,  -6.9, CAL= 229.0, -10.2, ROT= 281.0,  10.2

2025-08-09T16:59:25.559Z,1754758765.559 [DAT](INFO): #Rx 80: Read range and direction messages.
2025-08-09T16:59:25.560Z,1754758765.560 [DAT](INFO): direction in FSK: [0.187793,-0.966113,-0.177085]
2025-08-09T16:59:25.560Z,1754758765.560 [DAT](INFO): publishing direction and range info
2025-08-09T16:59:25.564Z,1754758765.564 [DAT](INFO): checking for new query: numPingsReceived=80, elapsed TxPingTime=9.085634
2025-08-09T16:59:25.756Z,1754758765.756 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 63.599998 m,
      deltaT: 0.504185 s,
      deltaX: 0.099998 m,
      approachRate: 0.198337 m/s,
      rangeRepo size: 4

2025-08-09T16:59:25.758Z,1754758765.758 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 63.599998 m,
      bearing: 231.911129 deg,
      lat: 36.906124 deg,
      lon: -122.115870 deg,
      deltaT: 0.504185 s,
      deltaX: 0.099998 m,
      approachRate: 0.198337 m/s,
      posRepo size: 4

2025-08-09T16:59:25.763Z,1754758765.763 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 63.60 m.
2025-08-09T16:59:25.800Z,1754758765.800 [DAT](INFO): checking for new query: numPingsReceived=80, elapsed TxPingTime=9.321863
2025-08-09T16:59:26.052Z,1754758766.052 [DAT](INFO): DAT read: Rx Time:16:59:25.0578 

2025-08-09T16:59:26.052Z,1754758766.052 [DAT](INFO): Rx dataTimestamp_ set to:1754758766.052041
2025-08-09T16:59:26.054Z,1754758766.054 [DAT](INFO): DAT read: Bearing 205.4, -49.3 (Local)

2025-08-09T16:59:26.054Z,1754758766.054 [DAT](INFO): Local bearing/azimuth received:
 Bearing 205.4, -49.3 (Local)

2025-08-09T16:59:26.056Z,1754758766.056 [DAT](INFO): DAT read: Range 11 to 50 :    63.5 m (trip time 42.3 ms) speed 0.0

2025-08-09T16:59:26.061Z,1754758766.061 [DAT](INFO): DAT read: 16:59:25.0578 LVL= 23984, 21985, 15442, 23379, AGC= 63, IDX= 512,-0.04,-2.598,-2.012,-1.216,-1.275, PHS=-1.221,-0.692, 0.015, RAW= 235.3,  32.0, CAL= 239.1,  42.0, ROT= 270.9, -42.0

2025-08-09T16:59:26.062Z,1754758766.062 [DAT](INFO): got valid direction response:
 16:59:25.0578 LVL= 23984, 21985, 15442, 23379, AGC= 63, IDX= 512,-0.04,-2.598,-2.012,-1.216,-1.275, PHS=-1.221,-0.692, 0.015, RAW= 235.3,  32.0, CAL= 239.1,  42.0, ROT= 270.9, -42.0

2025-08-09T16:59:26.063Z,1754758766.063 [DAT](INFO): #Rx 81: Read range and direction messages.
2025-08-09T16:59:26.064Z,1754758766.064 [DAT](INFO): direction in FSK: [0.011673,-0.743053,0.669131]
2025-08-09T16:59:26.064Z,1754758766.064 [DAT](INFO): publishing direction and range info
2025-08-09T16:59:26.089Z,1754758766.089 [DAT](INFO): checking for new query: numPingsReceived=81, elapsed TxPingTime=9.610644
2025-08-09T16:59:26.199Z,1754758766.199 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 63.500000 m,
      deltaT: 0.503809 s,
      deltaX: -0.099998 m,
      approachRate: -0.198485 m/s,
      rangeRepo size: 4

2025-08-09T16:59:26.201Z,1754758766.201 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 63.500000 m,
      bearing: 231.049917 deg,
      lat: 36.906124 deg,
      lon: -122.115854 deg,
      deltaT: 0.503809 s,
      deltaX: -0.099998 m,
      approachRate: -0.198485 m/s,
      posRepo size: 4

2025-08-09T16:59:26.202Z,1754758766.202 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 63.50 m.
2025-08-09T16:59:26.303Z,1754758766.303 [DAT](INFO): checking for new query: numPingsReceived=81, elapsed TxPingTime=9.825594
2025-08-09T16:59:26.556Z,1754758766.556 [DAT](INFO): DAT read: Rx Time:16:59:25.5578 

2025-08-09T16:59:26.556Z,1754758766.556 [DAT](INFO): Rx dataTimestamp_ set to:1754758766.555711
2025-08-09T16:59:26.557Z,1754758766.557 [DAT](INFO): DAT read: Range 11 to 50 :    63.5 m (trip time 42.3 ms) speed 0.0

2025-08-09T16:59:26.558Z,1754758766.558 [DAT](ERROR): #Rx 82: Read range message, but no direction.
2025-08-09T16:59:26.559Z,1754758766.559 [DAT](INFO): checking for new query: numPingsReceived=82, elapsed TxPingTime=10.080926
2025-08-09T16:59:26.561Z,1754758766.561 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 63.500000 m,
      deltaT: 0.503670 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-08-09T16:59:26.561Z,1754758766.561 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 63.50 m.
2025-08-09T16:59:26.807Z,1754758766.807 [DAT](INFO): checking for new query: numPingsReceived=82, elapsed TxPingTime=10.329424
2025-08-09T16:59:27.033Z,1754758767.033 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 63.50 m.
2025-08-09T16:59:27.069Z,1754758767.069 [DAT](INFO): DAT read: Rx Time:16:59:26.0577 

2025-08-09T16:59:27.070Z,1754758767.070 [DAT](INFO): Rx dataTimestamp_ set to:1754758767.069588
2025-08-09T16:59:27.072Z,1754758767.072 [DAT](INFO): DAT read: Bearing 123.2, -80.4 (Local)

2025-08-09T16:59:27.072Z,1754758767.072 [DAT](INFO): Local bearing/azimuth received:
 Bearing 123.2, -80.4 (Local)

2025-08-09T16:59:27.075Z,1754758767.075 [DAT](INFO): DAT read: Range 11 to 50 :    63.3 m (trip time 42.2 ms) speed 0.0

2025-08-09T16:59:27.081Z,1754758767.081 [DAT](INFO): DAT read: 16:59:26.0577 LVL= 24624, 24049, 14946, 22211, AGC= 63, IDX= 511,-0.19,-1.546,-0.697, 0.986,-0.292, PHS=-1.152,-0.360, 1.234, RAW= 229.0,   2.7, CAL= 227.0,   3.4, ROT= 283.0,  -3.4

2025-08-09T16:59:27.091Z,1754758767.091 [DAT](INFO): got valid direction response:
 16:59:26.0577 LVL= 24624, 24049, 14946, 22211, AGC= 63, IDX= 511,-0.19,-1.546,-0.697, 0.986,-0.292, PHS=-1.152,-0.360, 1.234, RAW= 229.0,   2.7, CAL= 227.0,   3.4, ROT= 283.0,  -3.4

2025-08-09T16:59:27.091Z,1754758767.091 [DAT](INFO): #Rx 83: Read range and direction messages.
2025-08-09T16:59:27.092Z,1754758767.092 [DAT](INFO): direction in FSK: [0.224555,-0.972655,0.059306]
2025-08-09T16:59:27.092Z,1754758767.092 [DAT](INFO): publishing direction and range info
2025-08-09T16:59:27.107Z,1754758767.107 [DAT](INFO): checking for new query: numPingsReceived=83, elapsed TxPingTime=10.629376
2025-08-09T16:59:27.319Z,1754758767.319 [DAT](INFO): checking for new query: numPingsReceived=83, elapsed TxPingTime=10.841347
2025-08-09T16:59:27.363Z,1754758767.363 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 63.299999 m,
      deltaT: 0.513877 s,
      deltaX: -0.200001 m,
      approachRate: -0.389200 m/s,
      rangeRepo size: 4

2025-08-09T16:59:27.365Z,1754758767.365 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 63.299999 m,
      bearing: 232.259414 deg,
      lat: 36.906130 deg,
      lon: -122.115870 deg,
      deltaT: 1.017547 s,
      deltaX: -0.200001 m,
      approachRate: -0.196552 m/s,
      posRepo size: 4

2025-08-09T16:59:27.365Z,1754758767.365 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 63.30 m.
2025-08-09T16:59:27.572Z,1754758767.572 [DAT](INFO): DAT read: Rx Time:16:59:26.5578 

2025-08-09T16:59:27.572Z,1754758767.572 [DAT](INFO): Rx dataTimestamp_ set to:1754758767.572055
2025-08-09T16:59:27.574Z,1754758767.574 [DAT](INFO): DAT read: Bearing 148.0, -79.8 (Local)

2025-08-09T16:59:27.574Z,1754758767.574 [DAT](INFO): Local bearing/azimuth received:
 Bearing 148.0, -79.8 (Local)

2025-08-09T16:59:27.576Z,1754758767.576 [DAT](INFO): DAT read: Range 11 to 50 :    63.5 m (trip time 42.3 ms) speed 0.0

2025-08-09T16:59:27.581Z,1754758767.581 [DAT](INFO): DAT read: 16:59:26.5578 LVL= 25104, 23281, 18418, 28243, AGC= 61, IDX= 512,-0.04,-2.498,-1.778,-0.333,-1.318, PHS=-1.078,-0.415, 0.941, RAW= 228.8,   6.3, CAL= 228.2,   7.5, ROT= 281.8,  -7.5

2025-08-09T16:59:27.582Z,1754758767.582 [DAT](INFO): got valid direction response:
 16:59:26.5578 LVL= 25104, 23281, 18418, 28243, AGC= 61, IDX= 512,-0.04,-2.498,-1.778,-0.333,-1.318, PHS=-1.078,-0.415, 0.941, RAW= 228.8,   6.3, CAL= 228.2,   7.5, ROT= 281.8,  -7.5

2025-08-09T16:59:27.582Z,1754758767.582 [DAT](INFO): #Rx 84: Read range and direction messages.
2025-08-09T16:59:27.583Z,1754758767.583 [DAT](INFO): direction in FSK: [0.202747,-0.970493,0.130526]
2025-08-09T16:59:27.584Z,1754758767.584 [DAT](INFO): publishing direction and range info
2025-08-09T16:59:27.587Z,1754758767.587 [DAT](INFO): checking for new query: numPingsReceived=84, elapsed TxPingTime=11.109108
2025-08-09T16:59:27.758Z,1754758767.758 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 63.500000 m,
      deltaT: 0.502467 s,
      deltaX: 0.200001 m,
      approachRate: 0.398038 m/s,
      rangeRepo size: 4

2025-08-09T16:59:27.760Z,1754758767.760 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 63.500000 m,
      bearing: 233.684947 deg,
      lat: 36.906139 deg,
      lon: -122.115885 deg,
      deltaT: 0.502467 s,
      deltaX: 0.200001 m,
      approachRate: 0.398038 m/s,
      posRepo size: 4

2025-08-09T16:59:27.761Z,1754758767.761 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 63.50 m.
2025-08-09T16:59:27.824Z,1754758767.824 [DAT](INFO): checking for new query: numPingsReceived=84, elapsed TxPingTime=11.346217
2025-08-09T16:59:28.076Z,1754758768.076 [DAT](INFO): DAT read: Rx Time:16:59:27.0577 

2025-08-09T16:59:28.076Z,1754758768.076 [DAT](INFO): Rx dataTimestamp_ set to:1754758768.075989
2025-08-09T16:59:28.078Z,1754758768.078 [DAT](INFO): DAT read: Bearing 124.4, -80.0 (Local)

2025-08-09T16:59:28.078Z,1754758768.078 [DAT](INFO): Local bearing/azimuth received:
 Bearing 124.4, -80.0 (Local)

2025-08-09T16:59:28.080Z,1754758768.080 [DAT](INFO): DAT read: Range 11 to 50 :    63.3 m (trip time 42.2 ms) speed 0.0

2025-08-09T16:59:28.085Z,1754758768.085 [DAT](INFO): DAT read: 16:59:27.0577 LVL= 20704, 20465, 16098, 23107, AGC= 60, IDX= 511, 0.09,-2.206,-1.411, 0.212,-1.003, PHS=-1.101,-0.363, 1.171, RAW= 228.5,   2.9, CAL= 226.7,   3.7, ROT= 283.3,  -3.7

2025-08-09T16:59:28.086Z,1754758768.086 [DAT](INFO): got valid direction response:
 16:59:27.0577 LVL= 20704, 20465, 16098, 23107, AGC= 60, IDX= 511, 0.09,-2.206,-1.411, 0.212,-1.003, PHS=-1.101,-0.363, 1.171, RAW= 228.5,   2.9, CAL= 226.7,   3.7, ROT= 283.3,  -3.7

2025-08-09T16:59:28.087Z,1754758768.087 [DAT](INFO): #Rx 85: Read range and direction messages.
2025-08-09T16:59:28.087Z,1754758768.087 [DAT](INFO): direction in FSK: [0.229570,-0.971150,0.064532]
2025-08-09T16:59:28.088Z,1754758768.088 [DAT](INFO): publishing direction and range info
2025-08-09T16:59:28.093Z,1754758768.093 [DAT](INFO): checking for new query: numPingsReceived=85, elapsed TxPingTime=11.615112
2025-08-09T16:59:28.204Z,1754758768.204 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 63.299999 m,
      deltaT: 0.503934 s,
      deltaX: -0.200001 m,
      approachRate: -0.396879 m/s,
      rangeRepo size: 4

2025-08-09T16:59:28.206Z,1754758768.206 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 63.299999 m,
      bearing: 234.742512 deg,
      lat: 36.906146 deg,
      lon: -122.115896 deg,
      deltaT: 0.503934 s,
      deltaX: -0.200001 m,
      approachRate: -0.396879 m/s,
      posRepo size: 4

2025-08-09T16:59:28.211Z,1754758768.211 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 63.30 m.
2025-08-09T16:59:28.328Z,1754758768.328 [DAT](INFO): checking for new query: numPingsReceived=85, elapsed TxPingTime=11.849614
2025-08-09T16:59:28.580Z,1754758768.580 [DAT](INFO): DAT read: Rx Time:16:59:27.5578 

2025-08-09T16:59:28.580Z,1754758768.580 [DAT](INFO): Rx dataTimestamp_ set to:1754758768.580102
2025-08-09T16:59:28.582Z,1754758768.582 [DAT](INFO): DAT read: Bearing 107.3, -74.8 (Local)

2025-08-09T16:59:28.582Z,1754758768.582 [DAT](INFO): Local bearing/azimuth received:
 Bearing 107.3, -74.8 (Local)

2025-08-09T16:59:28.584Z,1754758768.584 [DAT](INFO): DAT read: Range 11 to 50 :    63.5 m (trip time 42.3 ms) speed 0.0

2025-08-09T16:59:28.589Z,1754758768.589 [DAT](INFO): DAT read: 16:59:27.5578 LVL= 22208, 20721, 17474, 24227, AGC= 61, IDX= 512, 0.32, 3.077,-2.629,-0.952,-2.214, PHS=-0.890,-0.369, 1.218, RAW= 223.7,   0.4, CAL= 221.3,   0.5, ROT= 288.7,  -0.5

2025-08-09T16:59:28.590Z,1754758768.590 [DAT](INFO): got valid direction response:
 16:59:27.5578 LVL= 22208, 20721, 17474, 24227, AGC= 61, IDX= 512, 0.32, 3.077,-2.629,-0.952,-2.214, PHS=-0.890,-0.369, 1.218, RAW= 223.7,   0.4, CAL= 221.3,   0.5, ROT= 288.7,  -0.5

2025-08-09T16:59:28.590Z,1754758768.590 [DAT](INFO): #Rx 86: Read range and direction messages.
2025-08-09T16:59:28.591Z,1754758768.591 [DAT](INFO): direction in FSK: [0.320601,-0.947174,0.008727]
2025-08-09T16:59:28.591Z,1754758768.591 [DAT](INFO): publishing direction and range info
2025-08-09T16:59:28.597Z,1754758768.597 [DAT](INFO): checking for new query: numPingsReceived=86, elapsed TxPingTime=12.118610
2025-08-09T16:59:28.626Z,1754758768.626 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 63.500000 m,
      deltaT: 0.504113 s,
      deltaX: 0.200001 m,
      approachRate: 0.396738 m/s,
      rangeRepo size: 4

2025-08-09T16:59:28.644Z,1754758768.644 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 63.500000 m,
      bearing: 235.182349 deg,
      lat: 36.906146 deg,
      lon: -122.115906 deg,
      deltaT: 0.504113 s,
      deltaX: 0.200001 m,
      approachRate: 0.396738 m/s,
      posRepo size: 4

2025-08-09T16:59:28.644Z,1754758768.644 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 63.50 m.
2025-08-09T16:59:28.832Z,1754758768.832 [DAT](INFO): checking for new query: numPingsReceived=86, elapsed TxPingTime=12.353892
2025-08-09T16:59:29.036Z,1754758769.036 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 63.50 m.
2025-08-09T16:59:29.084Z,1754758769.084 [DAT](INFO): DAT read: Rx Time:16:59:28.0578 

2025-08-09T16:59:29.085Z,1754758769.085 [DAT](INFO): Rx dataTimestamp_ set to:1754758769.084319
2025-08-09T16:59:29.086Z,1754758769.086 [DAT](INFO): DAT read: Range 11 to 50 :    63.5 m (trip time 42.3 ms) speed 0.0

2025-08-09T16:59:29.087Z,1754758769.087 [DAT](ERROR): #Rx 87: Read range message, but no direction.
2025-08-09T16:59:29.089Z,1754758769.089 [DAT](INFO): checking for new query: numPingsReceived=87, elapsed TxPingTime=12.610646
2025-08-09T16:59:29.335Z,1754758769.335 [DAT](INFO): checking for new query: numPingsReceived=87, elapsed TxPingTime=12.857384
2025-08-09T16:59:29.407Z,1754758769.407 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 63.500000 m,
      deltaT: 0.504217 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-08-09T16:59:29.408Z,1754758769.408 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 63.50 m.
2025-08-09T16:59:29.588Z,1754758769.588 [DAT](INFO): DAT read: Rx Time:16:59:28.5579 

2025-08-09T16:59:29.588Z,1754758769.588 [DAT](INFO): Rx dataTimestamp_ set to:1754758769.588110
2025-08-09T16:59:29.590Z,1754758769.590 [DAT](INFO): DAT read: Range 11 to 50 :    63.6 m (trip time 42.4 ms) speed 0.0

2025-08-09T16:59:29.591Z,1754758769.591 [DAT](ERROR): #Rx 88: Read range message, but no direction.
2025-08-09T16:59:29.592Z,1754758769.592 [DAT](INFO): checking for new query: numPingsReceived=88, elapsed TxPingTime=13.114415
2025-08-09T16:59:29.775Z,1754758769.775 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 63.599998 m,
      deltaT: 0.503791 s,
      deltaX: 0.099998 m,
      approachRate: 0.198492 m/s,
      rangeRepo size: 4

2025-08-09T16:59:29.775Z,1754758769.775 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 63.50 m.
2025-08-09T16:59:29.840Z,1754758769.840 [DAT](INFO): checking for new query: numPingsReceived=88, elapsed TxPingTime=13.362043
2025-08-09T16:59:30.091Z,1754758770.091 [DAT](INFO): DAT read: Rx Time:16:59:29.0578 

2025-08-09T16:59:30.092Z,1754758770.092 [DAT](INFO): Rx dataTimestamp_ set to:1754758770.091625
2025-08-09T16:59:30.093Z,1754758770.093 [DAT](INFO): DAT read: Range 11 to 50 :    63.5 m (trip time 42.3 ms) speed 0.0

2025-08-09T16:59:30.094Z,1754758770.094 [DAT](ERROR): #Rx 89: Read range message, but no direction.
2025-08-09T16:59:30.095Z,1754758770.095 [DAT](INFO): checking for new query: numPingsReceived=89, elapsed TxPingTime=13.617042
2025-08-09T16:59:30.198Z,1754758770.198 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 63.500000 m,
      deltaT: 0.503515 s,
      deltaX: -0.099998 m,
      approachRate: -0.198601 m/s,
      rangeRepo size: 4

2025-08-09T16:59:30.199Z,1754758770.199 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 63.50 m.
2025-08-09T16:59:30.346Z,1754758770.346 [DAT](INFO): checking for new query: numPingsReceived=89, elapsed TxPingTime=13.868102
2025-08-09T16:59:30.593Z,1754758770.593 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 63.50 m.
2025-08-09T16:59:30.596Z,1754758770.596 [DAT](INFO): DAT read: Rx Time:16:59:29.5578 

2025-08-09T16:59:30.596Z,1754758770.596 [DAT](INFO): Rx dataTimestamp_ set to:1754758770.595733
2025-08-09T16:59:30.597Z,1754758770.597 [DAT](INFO): DAT read: Range 11 to 50 :    63.5 m (trip time 42.3 ms) speed 0.0

2025-08-09T16:59:30.598Z,1754758770.598 [DAT](ERROR): #Rx 90: Read range message, but no direction.
2025-08-09T16:59:30.599Z,1754758770.599 [DAT](INFO): checking for new query: numPingsReceived=90, elapsed TxPingTime=14.120921
2025-08-09T16:59:30.848Z,1754758770.848 [DAT](INFO): checking for new query: numPingsReceived=90, elapsed TxPingTime=14.370211
2025-08-09T16:59:31.033Z,1754758771.033 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 63.500000 m,
      deltaT: 0.504108 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-08-09T16:59:31.033Z,1754758771.033 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 63.50 m.
2025-08-09T16:59:31.100Z,1754758771.100 [DAT](INFO): DAT read: Rx Time:16:59:30.0578 

2025-08-09T16:59:31.100Z,1754758771.100 [DAT](INFO): Rx dataTimestamp_ set to:1754758771.100132
2025-08-09T16:59:31.102Z,1754758771.102 [DAT](INFO): DAT read: Bearing  48.1, -75.7 (Local)

2025-08-09T16:59:31.102Z,1754758771.102 [DAT](INFO): Local bearing/azimuth received:
 Bearing  48.1, -75.7 (Local)

2025-08-09T16:59:31.104Z,1754758771.104 [DAT](INFO): DAT read: Range 11 to 50 :    63.5 m (trip time 42.3 ms) speed 0.0

2025-08-09T16:59:31.109Z,1754758771.109 [DAT](INFO): DAT read: 16:59:30.0578 LVL= 19072, 19393, 14194, 22195, AGC= 62, IDX= 512,-0.20,-1.460,-0.855, 0.184,-0.833, PHS=-0.525, 0.023, 0.973, RAW= 231.2,  -7.2, CAL= 229.5, -10.8, ROT= 280.5,  10.8

2025-08-09T16:59:31.111Z,1754758771.111 [DAT](INFO): got valid direction response:
 16:59:30.0578 LVL= 19072, 19393, 14194, 22195, AGC= 62, IDX= 512,-0.20,-1.460,-0.855, 0.184,-0.833, PHS=-0.525, 0.023, 0.973, RAW= 231.2,  -7.2, CAL= 229.5, -10.8, ROT= 280.5,  10.8

2025-08-09T16:59:31.112Z,1754758771.112 [DAT](INFO): #Rx 91: Read range and direction messages.
2025-08-09T16:59:31.113Z,1754758771.113 [DAT](INFO): direction in FSK: [0.179008,-0.965839,-0.187381]
2025-08-09T16:59:31.114Z,1754758771.114 [DAT](INFO): publishing direction and range info
2025-08-09T16:59:31.123Z,1754758771.123 [DAT](INFO): checking for new query: numPingsReceived=91, elapsed TxPingTime=14.645144
2025-08-09T16:59:31.351Z,1754758771.351 [DAT](INFO): checking for new query: numPingsReceived=91, elapsed TxPingTime=14.873380
2025-08-09T16:59:31.473Z,1754758771.473 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 63.500000 m,
      deltaT: 0.504399 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-08-09T16:59:31.476Z,1754758771.476 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 63.500000 m,
      bearing: 234.845147 deg,
      lat: 36.906146 deg,
      lon: -122.115906 deg,
      deltaT: 2.520030 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      posRepo size: 4

2025-08-09T16:59:31.476Z,1754758771.476 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 63.50 m.
2025-08-09T16:59:31.604Z,1754758771.604 [DAT](INFO): DAT read: Rx Time:16:59:30.5579 

2025-08-09T16:59:31.604Z,1754758771.604 [DAT](INFO): Rx dataTimestamp_ set to:1754758771.604080
2025-08-09T16:59:31.606Z,1754758771.606 [DAT](INFO): DAT read: Bearing 120.3, -81.8 (Local)

2025-08-09T16:59:31.606Z,1754758771.606 [DAT](INFO): Local bearing/azimuth received:
 Bearing 120.3, -81.8 (Local)

2025-08-09T16:59:31.608Z,1754758771.608 [DAT](INFO): DAT read: Range 11 to 50 :    63.6 m (trip time 42.4 ms) speed 0.0

2025-08-09T16:59:31.613Z,1754758771.613 [DAT](INFO): DAT read: 16:59:30.5579 LVL= 19552, 18785, 13010, 21459, AGC= 61, IDX= 513, 0.04, 0.687, 1.502, 2.966, 1.832, PHS=-1.042,-0.284, 1.091, RAW= 230.5,   2.5, CAL= 228.4,   3.3, ROT= 281.6,  -3.3

2025-08-09T16:59:31.615Z,1754758771.615 [DAT](INFO): got valid direction response:
 16:59:30.5579 LVL= 19552, 18785, 13010, 21459, AGC= 61, IDX= 513, 0.04, 0.687, 1.502, 2.966, 1.832, PHS=-1.042,-0.284, 1.091, RAW= 230.5,   2.5, CAL= 228.4,   3.3, ROT= 281.6,  -3.3

2025-08-09T16:59:31.615Z,1754758771.615 [DAT](INFO): #Rx 92: Read range and direction messages.
2025-08-09T16:59:31.616Z,1754758771.616 [DAT](INFO): direction in FSK: [0.200745,-0.977951,0.057564]
2025-08-09T16:59:31.616Z,1754758771.616 [DAT](INFO): publishing direction and range info
2025-08-09T16:59:31.620Z,1754758771.620 [DAT](INFO): checking for new query: numPingsReceived=92, elapsed TxPingTime=15.141923
2025-08-09T16:59:31.800Z,1754758771.800 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 63.599998 m,
      deltaT: 0.503948 s,
      deltaX: 0.099998 m,
      approachRate: 0.198430 m/s,
      rangeRepo size: 4

2025-08-09T16:59:31.803Z,1754758771.803 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 63.599998 m,
      bearing: 233.723693 deg,
      lat: 36.906139 deg,
      lon: -122.115896 deg,
      deltaT: 0.503948 s,
      deltaX: 0.099998 m,
      approachRate: 0.198430 m/s,
      posRepo size: 4

2025-08-09T16:59:31.803Z,1754758771.803 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 63.60 m.
2025-08-09T16:59:31.856Z,1754758771.856 [DAT](INFO): checking for new query: numPingsReceived=92, elapsed TxPingTime=15.378245
2025-08-09T16:59:32.108Z,1754758772.108 [DAT](INFO): DAT read: Rx Time:16:59:31.0578 

2025-08-09T16:59:32.108Z,1754758772.108 [DAT](INFO): Rx dataTimestamp_ set to:1754758772.107845
2025-08-09T16:59:32.109Z,1754758772.109 [DAT](INFO): DAT read: Range 11 to 50 :    63.5 m (trip time 42.3 ms) speed -0.1

2025-08-09T16:59:32.110Z,1754758772.110 [DAT](ERROR): #Rx 93: Read range message, but no direction.
2025-08-09T16:59:32.111Z,1754758772.111 [DAT](INFO): checking for new query: numPingsReceived=93, elapsed TxPingTime=15.633037
2025-08-09T16:59:32.227Z,1754758772.227 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 63.500000 m,
      deltaT: 0.503765 s,
      deltaX: -0.099998 m,
      approachRate: -0.198502 m/s,
      rangeRepo size: 4

2025-08-09T16:59:32.227Z,1754758772.227 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 63.60 m.
2025-08-09T16:59:32.362Z,1754758772.362 [DAT](INFO): checking for new query: numPingsReceived=93, elapsed TxPingTime=15.884139
2025-08-09T16:59:32.598Z,1754758772.598 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 63.60 m.
2025-08-09T16:59:32.612Z,1754758772.612 [DAT](INFO): DAT read: Rx Time:16:59:31.5580 

2025-08-09T16:59:32.612Z,1754758772.612 [DAT](INFO): Rx dataTimestamp_ set to:1754758772.612103
2025-08-09T16:59:32.614Z,1754758772.614 [DAT](INFO): DAT read: Bearing 116.7, -76.7 (Local)

2025-08-09T16:59:32.614Z,1754758772.614 [DAT](INFO): Local bearing/azimuth received:
 Bearing 116.7, -76.7 (Local)

2025-08-09T16:59:32.616Z,1754758772.616 [DAT](INFO): DAT read: Range 11 to 50 :    63.8 m (trip time 42.5 ms) speed 0.0

2025-08-09T16:59:32.621Z,1754758772.621 [DAT](INFO): DAT read: 16:59:31.5580 LVL= 13056, 13633, 10418, 12595, AGC= 64, IDX=   2,-0.22, 0.152, 0.841, 2.656, 1.357, PHS=-1.103,-0.470, 1.255, RAW= 225.0,   3.0, CAL= 223.4,   3.6, ROT= 286.6,  -3.6

2025-08-09T16:59:32.622Z,1754758772.622 [DAT](INFO): got valid direction response:
 16:59:31.5580 LVL= 13056, 13633, 10418, 12595, AGC= 64, IDX=   2,-0.22, 0.152, 0.841, 2.656, 1.357, PHS=-1.103,-0.470, 1.255, RAW= 225.0,   3.0, CAL= 223.4,   3.6, ROT= 286.6,  -3.6

2025-08-09T16:59:32.622Z,1754758772.622 [DAT](INFO): #Rx 94: Read range and direction messages.
2025-08-09T16:59:32.623Z,1754758772.623 [DAT](INFO): direction in FSK: [0.285125,-0.956431,0.062791]
2025-08-09T16:59:32.623Z,1754758772.623 [DAT](INFO): publishing direction and range info
2025-08-09T16:59:32.628Z,1754758772.628 [DAT](INFO): checking for new query: numPingsReceived=94, elapsed TxPingTime=16.150173
2025-08-09T16:59:32.864Z,1754758772.864 [DAT](INFO): checking for new query: numPingsReceived=94, elapsed TxPingTime=16.386126
2025-08-09T16:59:33.086Z,1754758773.086 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 63.799999 m,
      deltaT: 0.504258 s,
      deltaX: 0.299999 m,
      approachRate: 0.594932 m/s,
      rangeRepo size: 4

2025-08-09T16:59:33.088Z,1754758773.088 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 63.799999 m,
      bearing: 234.616501 deg,
      lat: 36.906146 deg,
      lon: -122.115906 deg,
      deltaT: 1.008023 s,
      deltaX: 0.200001 m,
      approachRate: 0.198409 m/s,
      posRepo size: 4

2025-08-09T16:59:33.089Z,1754758773.089 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 63.80 m.
2025-08-09T16:59:33.116Z,1754758773.116 [DAT](INFO): DAT read: Rx Time:16:59:32.0578 

2025-08-09T16:59:33.117Z,1754758773.117 [DAT](INFO): Rx dataTimestamp_ set to:1754758773.116336
2025-08-09T16:59:33.118Z,1754758773.118 [DAT](INFO): DAT read: Bearing 116.7, -76.7 (Local)

2025-08-09T16:59:33.118Z,1754758773.118 [DAT](INFO): Local bearing/azimuth received:
 Bearing 116.7, -76.7 (Local)

2025-08-09T16:59:33.120Z,1754758773.120 [DAT](INFO): DAT read: Range 11 to 50 :    63.5 m (trip time 42.3 ms) speed 0.0

2025-08-09T16:59:33.125Z,1754758773.125 [DAT](INFO): DAT read: 16:59:32.0578 LVL= 20512, 19233, 13298, 22067, AGC= 61, IDX= 497, 0.12,-0.043, 0.649, 2.476, 1.170, PHS=-1.111,-0.476, 1.262, RAW= 225.0,   3.1, CAL= 223.4,   3.7, ROT= 286.6,  -3.7

2025-08-09T16:59:33.126Z,1754758773.126 [DAT](INFO): got valid direction response:
 16:59:32.0578 LVL= 20512, 19233, 13298, 22067, AGC= 61, IDX= 497, 0.12,-0.043, 0.649, 2.476, 1.170, PHS=-1.111,-0.476, 1.262, RAW= 225.0,   3.1, CAL= 223.4,   3.7, ROT= 286.6,  -3.7

2025-08-09T16:59:33.127Z,1754758773.127 [DAT](INFO): #Rx 95: Read range and direction messages.
2025-08-09T16:59:33.128Z,1754758773.128 [DAT](INFO): direction in FSK: [0.285093,-0.956325,0.064532]
2025-08-09T16:59:33.128Z,1754758773.128 [DAT](INFO): publishing direction and range info
2025-08-09T16:59:33.131Z,1754758773.131 [DAT](INFO): checking for new query: numPingsReceived=95, elapsed TxPingTime=16.653551
2025-08-09T16:59:33.367Z,1754758773.367 [DAT](INFO): checking for new query: numPingsReceived=95, elapsed TxPingTime=16.889357
2025-08-09T16:59:33.489Z,1754758773.489 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 63.500000 m,
      deltaT: 0.504233 s,
      deltaX: -0.299999 m,
      approachRate: -0.594962 m/s,
      rangeRepo size: 4

2025-08-09T16:59:33.491Z,1754758773.491 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 63.500000 m,
      bearing: 235.846884 deg,
      lat: 36.906156 deg,
      lon: -122.115917 deg,
      deltaT: 0.504233 s,
      deltaX: -0.299999 m,
      approachRate: -0.594962 m/s,
      posRepo size: 4

2025-08-09T16:59:33.491Z,1754758773.491 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 63.50 m.
2025-08-09T16:59:33.620Z,1754758773.620 [DAT](INFO): DAT read: Rx Time:16:59:32.5579 

2025-08-09T16:59:33.620Z,1754758773.620 [DAT](INFO): Rx dataTimestamp_ set to:1754758773.620123
2025-08-09T16:59:33.622Z,1754758773.622 [DAT](INFO): DAT read: Bearing 118.0, -76.6 (Local)

2025-08-09T16:59:33.622Z,1754758773.622 [DAT](INFO): Local bearing/azimuth received:
 Bearing 118.0, -76.6 (Local)

2025-08-09T16:59:33.624Z,1754758773.624 [DAT](INFO): DAT read: Range 11 to 50 :    63.6 m (trip time 42.4 ms) speed 0.0

2025-08-09T16:59:33.629Z,1754758773.629 [DAT](INFO): DAT read: 16:59:32.5579 LVL= 16208, 17585, 12962, 12435, AGC= 64, IDX=   2, 0.39, 1.244, 1.900,-2.625, 2.418, PHS=-1.071,-0.472, 1.196, RAW= 224.8,   3.5, CAL= 223.4,   4.1, ROT= 286.6,  -4.1

2025-08-09T16:59:33.630Z,1754758773.630 [DAT](INFO): got valid direction response:
 16:59:32.5579 LVL= 16208, 17585, 12962, 12435, AGC= 64, IDX=   2, 0.39, 1.244, 1.900,-2.625, 2.418, PHS=-1.071,-0.472, 1.196, RAW= 224.8,   3.5, CAL= 223.4,   4.1, ROT= 286.6,  -4.1

2025-08-09T16:59:33.630Z,1754758773.630 [DAT](INFO): #Rx 96: Read range and direction messages.
2025-08-09T16:59:33.631Z,1754758773.631 [DAT](INFO): direction in FSK: [0.284957,-0.955870,0.071497]
2025-08-09T16:59:33.632Z,1754758773.632 [DAT](INFO): publishing direction and range info
2025-08-09T16:59:33.639Z,1754758773.639 [DAT](INFO): checking for new query: numPingsReceived=96, elapsed TxPingTime=17.161154
2025-08-09T16:59:33.840Z,1754758773.840 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 63.599998 m,
      deltaT: 0.503787 s,
      deltaX: 0.099998 m,
      approachRate: 0.198494 m/s,
      rangeRepo size: 4

2025-08-09T16:59:33.848Z,1754758773.848 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 63.599998 m,
      bearing: 235.679623 deg,
      lat: 36.906155 deg,
      lon: -122.115917 deg,
      deltaT: 0.503787 s,
      deltaX: 0.099998 m,
      approachRate: 0.198494 m/s,
      posRepo size: 4

2025-08-09T16:59:33.848Z,1754758773.848 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 63.60 m.
2025-08-09T16:59:33.876Z,1754758773.876 [DAT](INFO): checking for new query: numPingsReceived=96, elapsed TxPingTime=17.397129
2025-08-09T16:59:34.124Z,1754758774.124 [DAT](INFO): DAT read: Rx Time:16:59:33.0579 

2025-08-09T16:59:34.124Z,1754758774.124 [DAT](INFO): Rx dataTimestamp_ set to:1754758774.123967
2025-08-09T16:59:34.126Z,1754758774.126 [DAT](INFO): DAT read: Bearing 118.0, -76.4 (Local)

2025-08-09T16:59:34.126Z,1754758774.126 [DAT](INFO): Local bearing/azimuth received:
 Bearing 118.0, -76.4 (Local)

2025-08-09T16:59:34.128Z,1754758774.128 [DAT](INFO): DAT read: Range 11 to 50 :    63.6 m (trip time 42.4 ms) speed 0.0

2025-08-09T16:59:34.133Z,1754758774.133 [DAT](INFO): DAT read: 16:59:33.0579 LVL= 22512, 21473, 13506, 25443, AGC= 60, IDX= 498,-0.21,-1.394,-0.730, 1.070,-0.197, PHS=-1.095,-0.488, 1.222, RAW= 224.6,   3.5, CAL= 223.2,   4.1, ROT= 286.8,  -4.1

2025-08-09T16:59:34.134Z,1754758774.134 [DAT](INFO): got valid direction response:
 16:59:33.0579 LVL= 22512, 21473, 13506, 25443, AGC= 60, IDX= 498,-0.21,-1.394,-0.730, 1.070,-0.197, PHS=-1.095,-0.488, 1.222, RAW= 224.6,   3.5, CAL= 223.2,   4.1, ROT= 286.8,  -4.1

2025-08-09T16:59:34.134Z,1754758774.134 [DAT](INFO): #Rx 97: Read range and direction messages.
2025-08-09T16:59:34.135Z,1754758774.135 [DAT](INFO): direction in FSK: [0.288292,-0.954870,0.071497]
2025-08-09T16:59:34.135Z,1754758774.135 [DAT](INFO): publishing direction and range info
2025-08-09T16:59:34.139Z,1754758774.139 [DAT](INFO): checking for new query: numPingsReceived=97, elapsed TxPingTime=17.660711
2025-08-09T16:59:34.299Z,1754758774.299 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 63.599998 m,
      deltaT: 0.503844 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-08-09T16:59:34.301Z,1754758774.301 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 63.599998 m,
      bearing: 235.649719 deg,
      lat: 36.906155 deg,
      lon: -122.115917 deg,
      deltaT: 0.503844 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      posRepo size: 4

2025-08-09T16:59:34.302Z,1754758774.302 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 63.60 m.
2025-08-09T16:59:34.379Z,1754758774.379 [DAT](INFO): DAT read: Rx Time:16:59:33.5579 

2025-08-09T16:59:34.381Z,1754758774.381 [DAT](INFO): Rx dataTimestamp_ set to:1754758774.380148
2025-08-09T16:59:34.384Z,1754758774.384 [DAT](INFO): DAT read: Bearing 118.5, -76.4 (Local)

2025-08-09T16:59:34.385Z,1754758774.385 [DAT](INFO): Local bearing/azimuth received:
 Bearing 118.5, -76.4 (Local)

2025-08-09T16:59:34.389Z,1754758774.389 [DAT](INFO): checking for new query: numPingsReceived=97, elapsed TxPingTime=17.910418
2025-08-09T16:59:34.624Z,1754758774.624 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-09T16:59:34.629Z,1754758774.629 [DAT](INFO): DAT read: Range 11 to 50 :    63.6 m (trip time 42.4 ms) speed 0.0

2025-08-09T16:59:34.634Z,1754758774.634 [DAT](INFO): DAT read: 16:59:33.5579 LVL= 23024, 21905, 15634, 24483, AGC= 60, IDX= 498, 0.01,-0.324, 0.333, 2.111, 0.865, PHS=-1.088,-0.488, 1.201, RAW= 224.6,   3.7, CAL= 223.3,   4.3, ROT= 286.7,  -4.3

2025-08-09T16:59:34.635Z,1754758774.635 [DAT](INFO): got valid direction response:
 16:59:33.5579 LVL= 23024, 21905, 15634, 24483, AGC= 60, IDX= 498, 0.01,-0.324, 0.333, 2.111, 0.865, PHS=-1.088,-0.488, 1.201, RAW= 224.6,   3.7, CAL= 223.3,   4.3, ROT= 286.7,  -4.3

2025-08-09T16:59:34.636Z,1754758774.636 [DAT](INFO): #Rx 98: Read range and direction messages.
2025-08-09T16:59:34.637Z,1754758774.637 [DAT](INFO): direction in FSK: [0.286552,-0.955126,0.074979]
2025-08-09T16:59:34.637Z,1754758774.637 [DAT](INFO): publishing direction and range info
2025-08-09T16:59:34.640Z,1754758774.640 [DAT](INFO): checking for new query: numPingsReceived=98, elapsed TxPingTime=18.162548
2025-08-09T16:59:34.641Z,1754758774.641 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 63.60 m.
2025-08-09T16:59:34.882Z,1754758774.882 [DAT](INFO): DAT read: Rx Time:16:59:34.0578 

2025-08-09T16:59:34.884Z,1754758774.884 [DAT](INFO): Rx dataTimestamp_ set to:1754758774.882983
2025-08-09T16:59:34.888Z,1754758774.888 [DAT](INFO): DAT read: Bearing 116.9, -76.7 (Local)

2025-08-09T16:59:34.889Z,1754758774.889 [DAT](INFO): Local bearing/azimuth received:
 Bearing 116.9, -76.7 (Local)

2025-08-09T16:59:34.893Z,1754758774.893 [DAT](INFO): DAT read: Range 11 to 50 :    63.5 m (trip time 42.3 ms) speed 0.0

2025-08-09T16:59:34.903Z,1754758774.903 [DAT](ERROR): #Rx 99: Read range message, but no direction.
2025-08-09T16:59:34.906Z,1754758774.906 [DAT](INFO): checking for new query: numPingsReceived=99, elapsed TxPingTime=18.427530
2025-08-09T16:59:35.107Z,1754758775.107 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 63.500000 m,
      deltaT: 0.759016 s,
      deltaX: -0.099998 m,
      approachRate: -0.131748 m/s,
      rangeRepo size: 4

2025-08-09T16:59:35.109Z,1754758775.109 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 63.500000 m,
      bearing: 235.514559 deg,
      lat: 36.906155 deg,
      lon: -122.115917 deg,
      deltaT: 0.759016 s,
      deltaX: -0.099998 m,
      approachRate: -0.131748 m/s,
      posRepo size: 4

2025-08-09T16:59:35.109Z,1754758775.109 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 63.50 m.
2025-08-09T16:59:35.135Z,1754758775.135 [DAT](INFO): DAT read: 16:59:34.0578 LVL= 20720, 20177, 15058, 24211, AGC= 62, IDX= 497, 0.06, 1.401, 2.089,-2.385, 2.614, PHS=-1.110,-0.480, 1.240, RAW= 225.0,   3.4, CAL= 223.6,   4.0, ROT= 286.4,  -4.0

2025-08-09T16:59:35.136Z,1754758775.136 [DAT](INFO): got valid direction response:
 16:59:34.0578 LVL= 20720, 20177, 15058, 24211, AGC= 62, IDX= 497, 0.06, 1.401, 2.089,-2.385, 2.614, PHS=-1.110,-0.480, 1.240, RAW= 225.0,   3.4, CAL= 223.6,   4.0, ROT= 286.4,  -4.0

2025-08-09T16:59:35.137Z,1754758775.137 [DAT](INFO): #Rx 100: Read direction message, but no range.
2025-08-09T16:59:35.138Z,1754758775.138 [DAT](INFO): direction in FSK: [0.281654,-0.956977,0.069756]
2025-08-09T16:59:35.141Z,1754758775.141 [DAT](INFO): checking for new query: numPingsReceived=100, elapsed TxPingTime=18.663067
2025-08-09T16:59:35.387Z,1754758775.387 [DAT](INFO): DAT read: Rx Time:16:59:34.5579 

2025-08-09T16:59:35.389Z,1754758775.389 [DAT](INFO): Rx dataTimestamp_ set to:1754758775.388276
2025-08-09T16:59:35.392Z,1754758775.392 [DAT](INFO): DAT read: Bearing 113.7, -76.4 (Local)

2025-08-09T16:59:35.393Z,1754758775.393 [DAT](INFO): Local bearing/azimuth received:
 Bearing 113.7, -76.4 (Local)

2025-08-09T16:59:35.416Z,1754758775.416 [DAT](INFO): DAT read: Range 11 to 50 :    63.6 m (trip time 42.4 ms) speed 0.0

2025-08-09T16:59:35.430Z,1754758775.430 [DAT](ERROR): #Rx 101: Read range message, but no direction.
2025-08-09T16:59:35.432Z,1754758775.432 [DAT](INFO): checking for new query: numPingsReceived=101, elapsed TxPingTime=18.953596
2025-08-09T16:59:35.584Z,1754758775.584 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 63.599998 m,
      deltaT: 0.505293 s,
      deltaX: 0.099998 m,
      approachRate: 0.197902 m/s,
      rangeRepo size: 4

2025-08-09T16:59:35.586Z,1754758775.586 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 63.599998 m,
      bearing: 235.393393 deg,
      lat: 36.906155 deg,
      lon: -122.115917 deg,
      deltaT: 0.505293 s,
      deltaX: 0.099998 m,
      approachRate: 0.197902 m/s,
      posRepo size: 4

2025-08-09T16:59:35.590Z,1754758775.590 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 63.60 m.
2025-08-09T16:59:35.639Z,1754758775.639 [DAT](INFO): DAT read: 16:59:34.5579 LVL= 25728, 24561, 23442, 21235, AGC= 68, IDX=   2, 0.14,-2.549,-1.880,-0.098,-1.377, PHS=-1.071,-0.459, 1.234, RAW= 224.9,   2.9, CAL= 223.2,   3.4, ROT= 286.8,  -3.4

2025-08-09T16:59:35.641Z,1754758775.641 [DAT](INFO): got valid direction response:
 16:59:34.5579 LVL= 25728, 24561, 23442, 21235, AGC= 68, IDX=   2, 0.14,-2.549,-1.880,-0.098,-1.377, PHS=-1.071,-0.459, 1.234, RAW= 224.9,   2.9, CAL= 223.2,   3.4, ROT= 286.8,  -3.4

2025-08-09T16:59:35.641Z,1754758775.641 [DAT](INFO): #Rx 102: Read direction message, but no range.
2025-08-09T16:59:35.643Z,1754758775.643 [DAT](INFO): direction in FSK: [0.288523,-0.955634,0.059306]
2025-08-09T16:59:35.652Z,1754758775.652 [DAT](INFO): checking for new query: numPingsReceived=102, elapsed TxPingTime=19.174025
2025-08-09T16:59:35.839Z,1754758775.839 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 63.60 m.
2025-08-09T16:59:35.891Z,1754758775.891 [DAT](INFO): DAT read: Rx Time:16:59:35.0579 

2025-08-09T16:59:35.893Z,1754758775.893 [DAT](INFO): Rx dataTimestamp_ set to:1754758775.891574
2025-08-09T16:59:35.896Z,1754758775.896 [DAT](INFO): DAT read: Bearing 111.5, -76.1 (Local)

2025-08-09T16:59:35.897Z,1754758775.897 [DAT](INFO): Local bearing/azimuth received:
 Bearing 111.5, -76.1 (Local)

2025-08-09T16:59:35.901Z,1754758775.901 [DAT](INFO): DAT read: Range 11 to 50 :    63.6 m (trip time 42.4 ms) speed 0.0

2025-08-09T16:59:35.904Z,1754758775.904 [DAT](ERROR): #Rx 103: Read range message, but no direction.
2025-08-09T16:59:35.908Z,1754758775.908 [DAT](INFO): checking for new query: numPingsReceived=103, elapsed TxPingTime=19.428965
2025-08-09T16:59:36.143Z,1754758776.143 [DAT](INFO): DAT read: 16:59:35.0579 LVL= 22496, 20241, 13378, 25795, AGC= 61, IDX= 498,-0.48, 0.143, 0.819, 2.660, 1.333, PHS=-1.089,-0.470, 1.282, RAW= 224.6,   2.6, CAL= 222.9,   3.1, ROT= 287.1,  -3.1

2025-08-09T16:59:36.144Z,1754758776.144 [DAT](INFO): got valid direction response:
 16:59:35.0579 LVL= 22496, 20241, 13378, 25795, AGC= 61, IDX= 498,-0.48, 0.143, 0.819, 2.660, 1.333, PHS=-1.089,-0.470, 1.282, RAW= 224.6,   2.6, CAL= 222.9,   3.1, ROT= 287.1,  -3.1

2025-08-09T16:59:36.144Z,1754758776.144 [DAT](INFO): #Rx 104: Read direction message, but no range.
2025-08-09T16:59:36.145Z,1754758776.145 [DAT](INFO): direction in FSK: [0.293610,-0.954394,0.054079]
2025-08-09T16:59:36.149Z,1754758776.149 [DAT](INFO): checking for new query: numPingsReceived=104, elapsed TxPingTime=19.670794
2025-08-09T16:59:36.310Z,1754758776.310 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 63.599998 m,
      deltaT: 0.503298 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-08-09T16:59:36.312Z,1754758776.312 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 63.599998 m,
      bearing: 235.077803 deg,
      lat: 36.906153 deg,
      lon: -122.115915 deg,
      deltaT: 0.503298 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      posRepo size: 4

2025-08-09T16:59:36.313Z,1754758776.313 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 63.60 m.
2025-08-09T16:59:36.395Z,1754758776.395 [DAT](INFO): DAT read: Rx Time:16:59:35.5580 

2025-08-09T16:59:36.397Z,1754758776.397 [DAT](INFO): Rx dataTimestamp_ set to:1754758776.395911
2025-08-09T16:59:36.400Z,1754758776.400 [DAT](INFO): DAT read: Bearing 113.5, -75.8 (Local)

2025-08-09T16:59:36.402Z,1754758776.402 [DAT](INFO): Local bearing/azimuth received:
 Bearing 113.5, -75.8 (Local)

2025-08-09T16:59:36.406Z,1754758776.406 [DAT](INFO): DAT read: Range 11 to 50 :    63.8 m (trip time 42.5 ms) speed 0.0

2025-08-09T16:59:36.409Z,1754758776.409 [DAT](ERROR): #Rx 105: Read range message, but no direction.
2025-08-09T16:59:36.415Z,1754758776.415 [DAT](INFO): checking for new query: numPingsReceived=105, elapsed TxPingTime=19.935860
2025-08-09T16:59:36.647Z,1754758776.647 [DAT](INFO): DAT read: 16:59:35.5580 LVL= 28128, 25969, 19026, 29715, AGC= 61, IDX= 499,-0.08,-0.674,-0.015, 1.829, 0.525, PHS=-1.097,-0.495, 1.260, RAW= 224.2,   3.2, CAL= 222.8,   3.7, ROT= 287.2,  -3.7

2025-08-09T16:59:36.648Z,1754758776.648 [DAT](INFO): got valid direction response:
 16:59:35.5580 LVL= 28128, 25969, 19026, 29715, AGC= 61, IDX= 499,-0.08,-0.674,-0.015, 1.829, 0.525, PHS=-1.097,-0.495, 1.260, RAW= 224.2,   3.2, CAL= 222.8,   3.7, ROT= 287.2,  -3.7

2025-08-09T16:59:36.649Z,1754758776.649 [DAT](INFO): #Rx 106: Read direction message, but no range.
2025-08-09T16:59:36.650Z,1754758776.650 [DAT](INFO): direction in FSK: [0.295092,-0.953287,0.064532]
2025-08-09T16:59:36.657Z,1754758776.657 [DAT](INFO): checking for new query: numPingsReceived=106, elapsed TxPingTime=20.178991
2025-08-09T16:59:36.664Z,1754758776.664 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 63.799999 m,
      deltaT: 0.504337 s,
      deltaX: 0.200001 m,
      approachRate: 0.396562 m/s,
      rangeRepo size: 4

2025-08-09T16:59:36.665Z,1754758776.665 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 63.60 m.
2025-08-09T16:59:36.902Z,1754758776.902 [DAT](INFO): DAT read: Rx Time:16:59:36.0579 

2025-08-09T16:59:36.903Z,1754758776.903 [DAT](INFO): Rx dataTimestamp_ set to:1754758776.902770
2025-08-09T16:59:36.907Z,1754758776.907 [DAT](INFO): DAT read: Bearing 111.9, -75.9 (Local)

2025-08-09T16:59:36.908Z,1754758776.908 [DAT](INFO): Local bearing/azimuth received:
 Bearing 111.9, -75.9 (Local)

2025-08-09T16:59:36.929Z,1754758776.929 [DAT](INFO): DAT read: Range 11 to 50 :    63.6 m (trip time 42.4 ms) speed 0.0

2025-08-09T16:59:36.938Z,1754758776.938 [DAT](INFO): DAT read: 16:59:36.0579 LVL= 22864, 20721, 14162, 24035, AGC= 58, IDX= 498, 0.06,-0.653, 0.011, 1.837, 0.533, PHS=-1.084,-0.477, 1.260, RAW= 224.4,   2.9, CAL= 222.9,   3.4, ROT= 287.1,  -3.4

2025-08-09T16:59:36.943Z,1754758776.943 [DAT](INFO): got valid direction response:
 16:59:36.0579 LVL= 22864, 20721, 14162, 24035, AGC= 58, IDX= 498, 0.06,-0.653, 0.011, 1.837, 0.533, PHS=-1.084,-0.477, 1.260, RAW= 224.4,   2.9, CAL= 222.9,   3.4, ROT= 287.1,  -3.4

2025-08-09T16:59:36.944Z,1754758776.944 [DAT](INFO): #Rx 107: Read range and direction messages.
2025-08-09T16:59:36.945Z,1754758776.945 [DAT](INFO): direction in FSK: [0.293523,-0.954111,0.059306]
2025-08-09T16:59:36.945Z,1754758776.945 [DAT](INFO): publishing direction and range info
2025-08-09T16:59:36.953Z,1754758776.953 [DAT](INFO): checking for new query: numPingsReceived=107, elapsed TxPingTime=20.474655
2025-08-09T16:59:37.129Z,1754758777.129 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 63.599998 m,
      deltaT: 0.506859 s,
      deltaX: -0.200001 m,
      approachRate: -0.394589 m/s,
      rangeRepo size: 4

2025-08-09T16:59:37.135Z,1754758777.135 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 63.599998 m,
      bearing: 234.810318 deg,
      lat: 36.906152 deg,
      lon: -122.115914 deg,
      deltaT: 1.011196 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      posRepo size: 4

2025-08-09T16:59:37.136Z,1754758777.136 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 63.60 m.
2025-08-09T16:59:37.147Z,1754758777.147 [DAT](INFO): checking for new query: numPingsReceived=107, elapsed TxPingTime=20.669485
2025-08-09T16:59:37.403Z,1754758777.403 [DAT](INFO): DAT read: Rx Time:16:59:36.5580 

2025-08-09T16:59:37.404Z,1754758777.404 [DAT](INFO): Rx dataTimestamp_ set to:1754758777.403371
2025-08-09T16:59:37.409Z,1754758777.409 [DAT](INFO): DAT read: Bearing 110.4, -75.8 (Local)

2025-08-09T16:59:37.410Z,1754758777.410 [DAT](INFO): Local bearing/azimuth received:
 Bearing 110.4, -75.8 (Local)

2025-08-09T16:59:37.442Z,1754758777.442 [DAT](INFO): DAT read: Range 11 to 50 :    63.8 m (trip time 42.5 ms) speed 0.0

2025-08-09T16:59:37.447Z,1754758777.447 [DAT](INFO): DAT read: 16:59:36.5580 LVL= 21488, 19873, 13714, 22963, AGC= 57, IDX= 499, 0.16, 0.766, 1.435,-3.004, 1.954, PHS=-1.086,-0.474, 1.281, RAW= 224.4,   2.7, CAL= 222.8,   3.1, ROT= 287.2,  -3.1

2025-08-09T16:59:37.448Z,1754758777.448 [DAT](INFO): got valid direction response:
 16:59:36.5580 LVL= 21488, 19873, 13714, 22963, AGC= 57, IDX= 499, 0.16, 0.766, 1.435,-3.004, 1.954, PHS=-1.086,-0.474, 1.281, RAW= 224.4,   2.7, CAL= 222.8,   3.1, ROT= 287.2,  -3.1

2025-08-09T16:59:37.448Z,1754758777.448 [DAT](INFO): #Rx 108: Read range and direction messages.
2025-08-09T16:59:37.449Z,1754758777.449 [DAT](INFO): direction in FSK: [0.295275,-0.953880,0.054079]
2025-08-09T16:59:37.450Z,1754758777.450 [DAT](INFO): publishing direction and range info
2025-08-09T16:59:37.473Z,1754758777.473 [DAT](INFO): checking for new query: numPingsReceived=108, elapsed TxPingTime=20.995363
2025-08-09T16:59:37.549Z,1754758777.549 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 63.799999 m,
      deltaT: 0.500601 s,
      deltaX: 0.200001 m,
      approachRate: 0.399521 m/s,
      rangeRepo size: 4

2025-08-09T16:59:37.556Z,1754758777.556 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 63.799999 m,
      bearing: 234.626142 deg,
      lat: 36.906150 deg,
      lon: -122.115914 deg,
      deltaT: 0.500601 s,
      deltaX: 0.200001 m,
      approachRate: 0.399521 m/s,
      posRepo size: 4

2025-08-09T16:59:37.556Z,1754758777.556 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 63.80 m.
2025-08-09T16:59:37.654Z,1754758777.654 [DAT](INFO): checking for new query: numPingsReceived=108, elapsed TxPingTime=21.176043
2025-08-09T16:59:37.859Z,1754758777.859 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 63.80 m.
2025-08-09T16:59:37.908Z,1754758777.908 [DAT](INFO): DAT read: Rx Time:16:59:37.0579 

2025-08-09T16:59:37.909Z,1754758777.909 [DAT](INFO): Rx dataTimestamp_ set to:1754758777.908248
2025-08-09T16:59:37.913Z,1754758777.913 [DAT](INFO): DAT read: Bearing 110.9, -75.3 (Local)

2025-08-09T16:59:37.914Z,1754758777.914 [DAT](INFO): Local bearing/azimuth received:
 Bearing 110.9, -75.3 (Local)

2025-08-09T16:59:37.921Z,1754758777.921 [DAT](INFO): DAT read: Range 11 to 50 :    63.6 m (trip time 42.4 ms) speed 0.0

2025-08-09T16:59:37.924Z,1754758777.924 [DAT](ERROR): #Rx 109: Read range message, but no direction.
2025-08-09T16:59:37.927Z,1754758777.927 [DAT](INFO): checking for new query: numPingsReceived=109, elapsed TxPingTime=21.448029
2025-08-09T16:59:38.159Z,1754758778.159 [DAT](INFO): DAT read: 16:59:37.0579 LVL= 25264, 21329, 16866, 26563, AGC= 57, IDX= 498, 0.28,-0.481, 0.162, 2.005, 0.697, PHS=-1.076,-0.490, 1.264, RAW= 223.9,   2.9, CAL= 222.4,   3.4, ROT= 287.6,  -3.4

2025-08-09T16:59:38.160Z,1754758778.160 [DAT](INFO): got valid direction response:
 16:59:37.0579 LVL= 25264, 21329, 16866, 26563, AGC= 57, IDX= 498, 0.28,-0.481, 0.162, 2.005, 0.697, PHS=-1.076,-0.490, 1.264, RAW= 223.9,   2.9, CAL= 222.4,   3.4, ROT= 287.6,  -3.4

2025-08-09T16:59:38.160Z,1754758778.160 [DAT](INFO): #Rx 110: Read direction message, but no range.
2025-08-09T16:59:38.161Z,1754758778.161 [DAT](INFO): direction in FSK: [0.301838,-0.951513,0.059306]
2025-08-09T16:59:38.165Z,1754758778.165 [DAT](INFO): checking for new query: numPingsReceived=110, elapsed TxPingTime=21.686728
2025-08-09T16:59:38.353Z,1754758778.353 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 63.599998 m,
      deltaT: 0.504877 s,
      deltaX: -0.200001 m,
      approachRate: -0.396138 m/s,
      rangeRepo size: 4

2025-08-09T16:59:38.356Z,1754758778.356 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 63.599998 m,
      bearing: 234.599887 deg,
      lat: 36.906150 deg,
      lon: -122.115915 deg,
      deltaT: 0.504877 s,
      deltaX: -0.200001 m,
      approachRate: -0.396138 m/s,
      posRepo size: 4

2025-08-09T16:59:38.356Z,1754758778.356 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 63.60 m.
2025-08-09T16:59:38.412Z,1754758778.412 [DAT](INFO): DAT read: Rx Time:16:59:37.5579 

2025-08-09T16:59:38.413Z,1754758778.413 [DAT](INFO): Rx dataTimestamp_ set to:1754758778.412280
2025-08-09T16:59:38.416Z,1754758778.416 [DAT](INFO): DAT read: Bearing 110.8, -74.5 (Local)

2025-08-09T16:59:38.417Z,1754758778.417 [DAT](INFO): Local bearing/azimuth received:
 Bearing 110.8, -74.5 (Local)

2025-08-09T16:59:38.424Z,1754758778.424 [DAT](INFO): DAT read: Range 11 to 50 :    63.6 m (trip time 42.4 ms) speed 0.0

2025-08-09T16:59:38.441Z,1754758778.441 [DAT](ERROR): #Rx 111: Read range message, but no direction.
2025-08-09T16:59:38.447Z,1754758778.447 [DAT](INFO): checking for new query: numPingsReceived=111, elapsed TxPingTime=21.969042
2025-08-09T16:59:38.663Z,1754758778.663 [DAT](INFO): DAT read: 16:59:37.5579 LVL= 23152, 20257, 16514, 25235, AGC= 57, IDX= 498, 0.38,-0.855,-0.243, 1.627, 0.315, PHS=-1.069,-0.513, 1.268, RAW= 223.2,   3.0, CAL= 221.7,   3.5, ROT= 288.3,  -3.5

2025-08-09T16:59:38.664Z,1754758778.664 [DAT](INFO): got valid direction response:
 16:59:37.5579 LVL= 23152, 20257, 16514, 25235, AGC= 57, IDX= 498, 0.38,-0.855,-0.243, 1.627, 0.315, PHS=-1.069,-0.513, 1.268, RAW= 223.2,   3.0, CAL= 221.7,   3.5, ROT= 288.3,  -3.5

2025-08-09T16:59:38.664Z,1754758778.664 [DAT](INFO): #Rx 112: Read direction message, but no range.
2025-08-09T16:59:38.665Z,1754758778.665 [DAT](INFO): direction in FSK: [0.313407,-0.947655,0.061049]
2025-08-09T16:59:38.673Z,1754758778.673 [DAT](INFO): checking for new query: numPingsReceived=112, elapsed TxPingTime=22.194845
2025-08-09T16:59:38.708Z,1754758778.708 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 63.599998 m,
      deltaT: 0.504032 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-08-09T16:59:38.710Z,1754758778.710 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 63.599998 m,
      bearing: 234.703568 deg,
      lat: 36.906152 deg,
      lon: -122.115915 deg,
      deltaT: 0.504032 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      posRepo size: 4

2025-08-09T16:59:38.715Z,1754758778.715 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 63.60 m.
2025-08-09T16:59:38.916Z,1754758778.916 [DAT](INFO): DAT read: Rx Time:16:59:38.0578 

2025-08-09T16:59:38.918Z,1754758778.918 [DAT](INFO): Rx dataTimestamp_ set to:1754758778.916691
2025-08-09T16:59:38.924Z,1754758778.924 [DAT](INFO): DAT read: Bearing 109.1, -74.3 (Local)

2025-08-09T16:59:38.924Z,1754758778.924 [DAT](INFO): Local bearing/azimuth received:
 Bearing 109.1, -74.3 (Local)

2025-08-09T16:59:38.935Z,1754758778.935 [DAT](INFO): DAT read: Range 11 to 50 :    63.5 m (trip time 42.3 ms) speed 0.0

2025-08-09T16:59:38.940Z,1754758778.940 [DAT](INFO): DAT read: 16:59:38.0578 LVL= 19872, 18849, 15138, 22115, AGC= 58, IDX= 497, 0.44,-2.080,-1.467, 0.423,-0.912, PHS=-1.066,-0.509, 1.291, RAW= 223.1,   2.7, CAL= 221.5,   3.1, ROT= 288.5,  -3.1

2025-08-09T16:59:38.941Z,1754758778.941 [DAT](INFO): got valid direction response:
 16:59:38.0578 LVL= 19872, 18849, 15138, 22115, AGC= 58, IDX= 497, 0.44,-2.080,-1.467, 0.423,-0.912, PHS=-1.066,-0.509, 1.291, RAW= 223.1,   2.7, CAL= 221.5,   3.1, ROT= 288.5,  -3.1

2025-08-09T16:59:38.941Z,1754758778.941 [DAT](INFO): #Rx 113: Read range and direction messages.
2025-08-09T16:59:38.942Z,1754758778.942 [DAT](INFO): direction in FSK: [0.316840,-0.946936,0.054079]
2025-08-09T16:59:38.942Z,1754758778.942 [DAT](INFO): publishing direction and range info
2025-08-09T16:59:38.946Z,1754758778.946 [DAT](INFO): checking for new query: numPingsReceived=113, elapsed TxPingTime=22.467760
2025-08-09T16:59:39.156Z,1754758779.156 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 63.500000 m,
      deltaT: 0.504411 s,
      deltaX: -0.099998 m,
      approachRate: -0.198248 m/s,
      rangeRepo size: 4

2025-08-09T16:59:39.161Z,1754758779.161 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 63.500000 m,
      bearing: 234.663168 deg,
      lat: 36.906152 deg,
      lon: -122.115915 deg,
      deltaT: 0.504411 s,
      deltaX: -0.099998 m,
      approachRate: -0.198248 m/s,
      posRepo size: 4

2025-08-09T16:59:39.162Z,1754758779.162 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 63.50 m.
2025-08-09T16:59:39.163Z,1754758779.163 [DAT](INFO): checking for new query: numPingsReceived=113, elapsed TxPingTime=22.685558
2025-08-09T16:59:39.419Z,1754758779.419 [DAT](INFO): DAT read: Rx Time:16:59:38.5579 

2025-08-09T16:59:39.420Z,1754758779.420 [DAT](INFO): Rx dataTimestamp_ set to:1754758779.419199
2025-08-09T16:59:39.423Z,1754758779.423 [DAT](INFO): DAT read: Bearing 109.1, -73.9 (Local)

2025-08-09T16:59:39.424Z,1754758779.424 [DAT](INFO): Local bearing/azimuth received:
 Bearing 109.1, -73.9 (Local)

2025-08-09T16:59:39.429Z,1754758779.429 [DAT](INFO): DAT read: Range 11 to 50 :    63.6 m (trip time 42.4 ms) speed 0.0

2025-08-09T16:59:39.459Z,1754758779.459 [DAT](INFO): DAT read: 16:59:38.5579 LVL= 18096, 16449, 10930, 16659, AGC= 60, IDX=   2, 0.49,-0.473, 0.126, 2.023, 0.690, PHS=-1.062,-0.519, 1.289, RAW= 222.7,   2.8, CAL= 221.2,   3.2, ROT= 288.8,  -3.2

2025-08-09T16:59:39.460Z,1754758779.460 [DAT](INFO): got valid direction response:
 16:59:38.5579 LVL= 18096, 16449, 10930, 16659, AGC= 60, IDX=   2, 0.49,-0.473, 0.126, 2.023, 0.690, PHS=-1.062,-0.519, 1.289, RAW= 222.7,   2.8, CAL= 221.2,   3.2, ROT= 288.8,  -3.2

2025-08-09T16:59:39.460Z,1754758779.460 [DAT](INFO): #Rx 114: Read range and direction messages.
2025-08-09T16:59:39.461Z,1754758779.461 [DAT](INFO): direction in FSK: [0.321763,-0.945173,0.055822]
2025-08-09T16:59:39.462Z,1754758779.462 [DAT](INFO): publishing direction and range info
2025-08-09T16:59:39.473Z,1754758779.473 [DAT](INFO): checking for new query: numPingsReceived=114, elapsed TxPingTime=22.995256
2025-08-09T16:59:39.563Z,1754758779.563 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 63.599998 m,
      deltaT: 0.502508 s,
      deltaX: 0.099998 m,
      approachRate: 0.198999 m/s,
      rangeRepo size: 4

2025-08-09T16:59:39.565Z,1754758779.565 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 63.599998 m,
      bearing: 235.185400 deg,
      lat: 36.906156 deg,
      lon: -122.115919 deg,
      deltaT: 0.502508 s,
      deltaX: 0.099998 m,
      approachRate: 0.198999 m/s,
      posRepo size: 4

2025-08-09T16:59:39.566Z,1754758779.566 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 63.60 m.
2025-08-09T16:59:39.668Z,1754758779.668 [DAT](INFO): checking for new query: numPingsReceived=114, elapsed TxPingTime=23.189812
2025-08-09T16:59:39.923Z,1754758779.923 [DAT](INFO): DAT read: Rx Time:16:59:39.0578 

2025-08-09T16:59:39.924Z,1754758779.924 [DAT](INFO): Rx dataTimestamp_ set to:1754758779.923518
2025-08-09T16:59:39.925Z,1754758779.925 [DAT](INFO): DAT read: Bearing 108.8, -73.6 (Local)

2025-08-09T16:59:39.925Z,1754758779.925 [DAT](INFO): Local bearing/azimuth received:
 Bearing 108.8, -73.6 (Local)

2025-08-09T16:59:39.928Z,1754758779.928 [DAT](INFO): DAT read: Range 11 to 50 :    63.5 m (trip time 42.3 ms) speed 0.0

2025-08-09T16:59:39.932Z,1754758779.932 [DAT](INFO): DAT read: 16:59:39.0578 LVL= 22736, 20705, 13650, 24819, AGC= 57, IDX= 498,-0.49,-2.889,-2.297,-0.385,-1.724, PHS=-1.063,-0.529, 1.295, RAW= 222.5,   2.8, CAL= 221.0,   3.2, ROT= 289.0,  -3.2

2025-08-09T16:59:39.933Z,1754758779.933 [DAT](INFO): got valid direction response:
 16:59:39.0578 LVL= 22736, 20705, 13650, 24819, AGC= 57, IDX= 498,-0.49,-2.889,-2.297,-0.385,-1.724, PHS=-1.063,-0.529, 1.295, RAW= 222.5,   2.8, CAL= 221.0,   3.2, ROT= 289.0,  -3.2

2025-08-09T16:59:39.934Z,1754758779.934 [DAT](INFO): #Rx 115: Read range and direction messages.
2025-08-09T16:59:39.939Z,1754758779.939 [DAT](INFO): direction in FSK: [0.325061,-0.944044,0.055822]
2025-08-09T16:59:39.939Z,1754758779.939 [DAT](INFO): publishing direction and range info
2025-08-09T16:59:39.951Z,1754758779.951 [DAT](INFO): checking for new query: numPingsReceived=115, elapsed TxPingTime=23.473309
2025-08-09T16:59:39.968Z,1754758779.968 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 63.500000 m,
      deltaT: 0.504319 s,
      deltaX: -0.099998 m,
      approachRate: -0.198284 m/s,
      rangeRepo size: 4

2025-08-09T16:59:39.970Z,1754758779.970 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 63.500000 m,
      bearing: 235.229086 deg,
      lat: 36.906157 deg,
      lon: -122.115919 deg,
      deltaT: 0.504319 s,
      deltaX: -0.099998 m,
      approachRate: -0.198284 m/s,
      posRepo size: 4

2025-08-09T16:59:39.970Z,1754758779.970 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 63.50 m.
2025-08-09T16:59:40.171Z,1754758780.171 [DAT](INFO): checking for new query: numPingsReceived=115, elapsed TxPingTime=23.693516
2025-08-09T16:59:40.298Z,1754758780.298 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 63.50 m.
2025-08-09T16:59:40.428Z,1754758780.428 [DAT](INFO): DAT read: Rx Time:16:59:39.5580 

2025-08-09T16:59:40.429Z,1754758780.429 [DAT](INFO): Rx dataTimestamp_ set to:1754758780.428139
2025-08-09T16:59:40.431Z,1754758780.431 [DAT](INFO): DAT read: Bearing 108.6, -73.1 (Local)

2025-08-09T16:59:40.431Z,1754758780.431 [DAT](INFO): Local bearing/azimuth received:
 Bearing 108.6, -73.1 (Local)

2025-08-09T16:59:40.433Z,1754758780.433 [DAT](INFO): DAT read: Range 11 to 50 :    63.8 m (trip time 42.5 ms) speed 0.0

2025-08-09T16:59:40.438Z,1754758780.438 [DAT](INFO): DAT read: 16:59:39.5580 LVL= 15952, 15841, 10786, 14899, AGC= 60, IDX=   3,-0.44,-1.472,-0.896, 1.053,-0.302, PHS=-1.068,-0.549, 1.311, RAW= 222.0,   2.9, CAL= 220.6,   3.2, ROT= 289.4,  -3.2

2025-08-09T16:59:40.439Z,1754758780.439 [DAT](INFO): got valid direction response:
 16:59:39.5580 LVL= 15952, 15841, 10786, 14899, AGC= 60, IDX=   3,-0.44,-1.472,-0.896, 1.053,-0.302, PHS=-1.068,-0.549, 1.311, RAW= 222.0,   2.9, CAL= 220.6,   3.2, ROT= 289.4,  -3.2

2025-08-09T16:59:40.439Z,1754758780.439 [DAT](INFO): #Rx 116: Read range and direction messages.
2025-08-09T16:59:40.440Z,1754758780.440 [DAT](INFO): direction in FSK: [0.331643,-0.941752,0.055822]
2025-08-09T16:59:40.441Z,1754758780.441 [DAT](INFO): publishing direction and range info
2025-08-09T16:59:40.444Z,1754758780.444 [DAT](INFO): checking for new query: numPingsReceived=116, elapsed TxPingTime=23.966019
2025-08-09T16:59:40.675Z,1754758780.675 [DAT](INFO): checking for new query: numPingsReceived=116, elapsed TxPingTime=24.197529
2025-08-09T16:59:40.722Z,1754758780.722 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 63.799999 m,
      deltaT: 0.504621 s,
      deltaX: 0.299999 m,
      approachRate: 0.594504 m/s,
      rangeRepo size: 4

2025-08-09T16:59:40.729Z,1754758780.729 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 63.799999 m,
      bearing: 235.286259 deg,
      lat: 36.906158 deg,
      lon: -122.115921 deg,
      deltaT: 0.504621 s,
      deltaX: 0.299999 m,
      approachRate: 0.594504 m/s,
      posRepo size: 4

2025-08-09T16:59:40.729Z,1754758780.729 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 63.80 m.
2025-08-09T16:59:40.928Z,1754758780.928 [DAT](INFO): DAT read: Rx Time:16:59:40.0578 

2025-08-09T16:59:40.928Z,1754758780.928 [DAT](INFO): Rx dataTimestamp_ set to:1754758780.928076
2025-08-09T16:59:40.930Z,1754758780.930 [DAT](INFO): DAT read: Bearing 109.3, -72.8 (Local)

2025-08-09T16:59:40.930Z,1754758780.930 [DAT](INFO): Local bearing/azimuth received:
 Bearing 109.3, -72.8 (Local)

2025-08-09T16:59:40.933Z,1754758780.933 [DAT](INFO): DAT read: Range 11 to 50 :    63.5 m (trip time 42.3 ms) speed 0.0

2025-08-09T16:59:40.940Z,1754758780.940 [DAT](INFO): DAT read: 16:59:40.0578 LVL= 21936, 20657, 16562, 23731, AGC= 59, IDX= 497, 0.35, 0.356, 0.904, 2.806, 1.497, PHS=-1.039,-0.548, 1.265, RAW= 221.7,   3.1, CAL= 220.4,   3.5, ROT= 289.6,  -3.5

2025-08-09T16:59:40.941Z,1754758780.941 [DAT](INFO): got valid direction response:
 16:59:40.0578 LVL= 21936, 20657, 16562, 23731, AGC= 59, IDX= 497, 0.35, 0.356, 0.904, 2.806, 1.497, PHS=-1.039,-0.548, 1.265, RAW= 221.7,   3.1, CAL= 220.4,   3.5, ROT= 289.6,  -3.5

2025-08-09T16:59:40.942Z,1754758780.942 [DAT](INFO): #Rx 117: Read range and direction messages.
2025-08-09T16:59:40.957Z,1754758780.957 [DAT](INFO): direction in FSK: [0.334826,-0.940300,0.061049]
2025-08-09T16:59:40.957Z,1754758780.957 [DAT](INFO): publishing direction and range info
2025-08-09T16:59:40.962Z,1754758780.962 [DAT](INFO): checking for new query: numPingsReceived=117, elapsed TxPingTime=24.483824
2025-08-09T16:59:41.153Z,1754758781.153 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 63.500000 m,
      deltaT: 0.499937 s,
      deltaX: -0.299999 m,
      approachRate: -0.600074 m/s,
      rangeRepo size: 4

2025-08-09T16:59:41.169Z,1754758781.169 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 63.500000 m,
      bearing: 235.286066 deg,
      lat: 36.906158 deg,
      lon: -122.115921 deg,
      deltaT: 0.499937 s,
      deltaX: -0.299999 m,
      approachRate: -0.600074 m/s,
      posRepo size: 4

2025-08-09T16:59:41.174Z,1754758781.174 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 63.50 m.
2025-08-09T16:59:41.179Z,1754758781.179 [DAT](INFO): checking for new query: numPingsReceived=117, elapsed TxPingTime=24.701523
2025-08-09T16:59:41.431Z,1754758781.431 [DAT](INFO): DAT read: Rx Time:16:59:40.5578 

2025-08-09T16:59:41.432Z,1754758781.432 [DAT](INFO): Rx dataTimestamp_ set to:1754758781.431672
2025-08-09T16:59:41.433Z,1754758781.433 [DAT](INFO): DAT read: Range 11 to 50 :    63.5 m (trip time 42.3 ms) speed 0.0

2025-08-09T16:59:41.434Z,1754758781.434 [DAT](ERROR): #Rx 118: Read range message, but no direction.
2025-08-09T16:59:41.435Z,1754758781.435 [DAT](INFO): checking for new query: numPingsReceived=118, elapsed TxPingTime=24.956881
2025-08-09T16:59:41.546Z,1754758781.546 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 63.500000 m,
      deltaT: 0.503596 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-08-09T16:59:41.547Z,1754758781.547 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 63.50 m.
2025-08-09T16:59:41.684Z,1754758781.684 [DAT](INFO): checking for new query: numPingsReceived=118, elapsed TxPingTime=25.205818
2025-08-09T16:59:41.915Z,1754758781.915 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 63.50 m.
2025-08-09T16:59:41.935Z,1754758781.935 [DAT](INFO): DAT read: Rx Time:16:59:41.0578 

2025-08-09T16:59:41.936Z,1754758781.936 [DAT](INFO): Rx dataTimestamp_ set to:1754758781.935681
2025-08-09T16:59:41.937Z,1754758781.937 [DAT](INFO): DAT read: Range 11 to 50 :    63.5 m (trip time 42.3 ms) speed 0.0

2025-08-09T16:59:41.938Z,1754758781.938 [DAT](ERROR): #Rx 119: Read range message, but no direction.
2025-08-09T16:59:41.947Z,1754758781.947 [DAT](INFO): checking for new query: numPingsReceived=119, elapsed TxPingTime=25.469316
2025-08-09T16:59:42.187Z,1754758782.187 [DAT](INFO): checking for new query: numPingsReceived=119, elapsed TxPingTime=25.709303
2025-08-09T16:59:42.333Z,1754758782.333 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 63.500000 m,
      deltaT: 0.504009 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-08-09T16:59:42.333Z,1754758782.333 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 63.50 m.
2025-08-09T16:59:42.440Z,1754758782.440 [DAT](INFO): DAT read: Rx Time:16:59:41.5579 

2025-08-09T16:59:42.441Z,1754758782.441 [DAT](INFO): Rx dataTimestamp_ set to:1754758782.440250
2025-08-09T16:59:42.442Z,1754758782.442 [DAT](INFO): DAT read: Bearing 107.9, -70.9 (Local)

2025-08-09T16:59:42.442Z,1754758782.442 [DAT](INFO): Local bearing/azimuth received:
 Bearing 107.9, -70.9 (Local)

2025-08-09T16:59:42.444Z,1754758782.444 [DAT](INFO): DAT read: Range 11 to 50 :    63.6 m (trip time 42.4 ms) speed 0.0

2025-08-09T16:59:42.449Z,1754758782.449 [DAT](INFO): DAT read: 16:59:41.5579 LVL= 11616, 12385,  9410, 11107, AGC= 63, IDX=   2,-0.16, 2.525, 2.999,-1.311,-2.634, PHS=-1.023,-0.606, 1.278, RAW= 219.8,   3.3, CAL= 218.7,   3.6, ROT= 291.3,  -3.6

2025-08-09T16:59:42.450Z,1754758782.450 [DAT](INFO): got valid direction response:
 16:59:41.5579 LVL= 11616, 12385,  9410, 11107, AGC= 63, IDX=   2,-0.16, 2.525, 2.999,-1.311,-2.634, PHS=-1.023,-0.606, 1.278, RAW= 219.8,   3.3, CAL= 218.7,   3.6, ROT= 291.3,  -3.6

2025-08-09T16:59:42.450Z,1754758782.450 [DAT](INFO): #Rx 120: Read range and direction messages.
2025-08-09T16:59:42.451Z,1754758782.451 [DAT](INFO): direction in FSK: [0.362534,-0.929853,0.062791]
2025-08-09T16:59:42.452Z,1754758782.452 [DAT](INFO): publishing direction and range info
2025-08-09T16:59:42.469Z,1754758782.469 [DAT](INFO): ****** received valid address query ******
2025-08-09T16:59:42.469Z,1754758782.469 [DAT](INFO): ****** received valid ping request ******
2025-08-09T16:59:42.469Z,1754758782.469 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-09T16:59:42.691Z,1754758782.691 [DAT](INFO): Reached modem response timeout
2025-08-09T16:59:42.691Z,1754758782.691 [DAT](DEBUG): Acoustic response timeout
2025-08-09T16:59:42.692Z,1754758782.692 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-09T16:59:42.716Z,1754758782.716 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 63.599998 m,
      deltaT: 0.504569 s,
      deltaX: 0.099998 m,
      approachRate: 0.198186 m/s,
      rangeRepo size: 4

2025-08-09T16:59:42.719Z,1754758782.719 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 63.599998 m,
      bearing: 235.220442 deg,
      lat: 36.906159 deg,
      lon: -122.115922 deg,
      deltaT: 1.512174 s,
      deltaX: 0.099998 m,
      approachRate: 0.066129 m/s,
      posRepo size: 4

2025-08-09T16:59:42.719Z,1754758782.719 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 63.60 m.
2025-08-09T16:59:42.944Z,1754758782.944 [DAT](INFO): DAT read: Rx Time:16:59:42.0578 

2025-08-09T16:59:42.944Z,1754758782.944 [DAT](INFO): Rx dataTimestamp_ set to:1754758782.944041
2025-08-09T16:59:42.946Z,1754758782.946 [DAT](INFO): DAT read: Bearing 106.6, -70.3 (Local)

2025-08-09T16:59:42.946Z,1754758782.946 [DAT](INFO): Local bearing/azimuth received:
 Bearing 106.6, -70.3 (Local)

2025-08-09T16:59:42.948Z,1754758782.948 [DAT](INFO): DAT read: Range 11 to 50 :    63.5 m (trip time 42.3 ms) speed 0.0

2025-08-09T16:59:42.953Z,1754758782.953 [DAT](INFO): DAT read: 16:59:42.0578 LVL= 23888, 20385, 16754, 25715, AGC= 59, IDX= 497,-0.02, 1.463, 1.905,-2.435, 2.547, PHS=-0.982,-0.596, 1.257, RAW= 219.3,   3.1, CAL= 218.1,   3.3, ROT= 291.9,  -3.3

2025-08-09T16:59:42.954Z,1754758782.954 [DAT](INFO): got valid direction response:
 16:59:42.0578 LVL= 23888, 20385, 16754, 25715, AGC= 59, IDX= 497,-0.02, 1.463, 1.905,-2.435, 2.547, PHS=-0.982,-0.596, 1.257, RAW= 219.3,   3.1, CAL= 218.1,   3.3, ROT= 291.9,  -3.3

2025-08-09T16:59:42.954Z,1754758782.954 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-09T16:59:42.955Z,1754758782.955 [DAT](INFO): direction in FSK: [0.372369,-0.926298,0.057564]
2025-08-09T16:59:42.956Z,1754758782.956 [DAT](INFO): publishing direction and range info
2025-08-09T16:59:42.959Z,1754758782.959 [DAT](DEBUG): Acoustic response timeout
2025-08-09T16:59:42.959Z,1754758782.959 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-09T16:59:43.133Z,1754758783.133 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 63.500000 m,
      deltaT: 0.503791 s,
      deltaX: -0.099998 m,
      approachRate: -0.198492 m/s,
      rangeRepo size: 4

2025-08-09T16:59:43.153Z,1754758783.153 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 63.500000 m,
      bearing: 235.387501 deg,
      lat: 36.906160 deg,
      lon: -122.115924 deg,
      deltaT: 0.503791 s,
      deltaX: -0.099998 m,
      approachRate: -0.198492 m/s,
      posRepo size: 4

2025-08-09T16:59:43.159Z,1754758783.159 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 63.50 m.
2025-08-09T16:59:43.197Z,1754758783.197 [DAT](INFO): Reached modem response timeout
2025-08-09T16:59:43.197Z,1754758783.197 [DAT](DEBUG): Acoustic response timeout
2025-08-09T16:59:43.198Z,1754758783.198 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-09T16:59:43.448Z,1754758783.448 [DAT](INFO): DAT read: Rx Time:16:59:42.5579 

2025-08-09T16:59:43.448Z,1754758783.448 [DAT](INFO): Rx dataTimestamp_ set to:1754758783.448090
2025-08-09T16:59:43.450Z,1754758783.450 [DAT](INFO): DAT read: Bearing 106.4, -70.1 (Local)

2025-08-09T16:59:43.450Z,1754758783.450 [DAT](INFO): Local bearing/azimuth received:
 Bearing 106.4, -70.1 (Local)

2025-08-09T16:59:43.452Z,1754758783.452 [DAT](INFO): DAT read: Range 11 to 50 :    63.6 m (trip time 42.4 ms) speed 0.0

2025-08-09T16:59:43.457Z,1754758783.457 [DAT](INFO): DAT read: 16:59:42.5579 LVL= 15136, 18177, 12066, 13299, AGC= 64, IDX=   2, 0.10,-2.527,-2.089,-0.117,-1.433, PHS=-0.992,-0.611, 1.271, RAW= 219.0,   3.2, CAL= 218.0,   3.3, ROT= 292.0,  -3.3

2025-08-09T16:59:43.458Z,1754758783.458 [DAT](INFO): got valid direction response:
 16:59:42.5579 LVL= 15136, 18177, 12066, 13299, AGC= 64, IDX=   2, 0.10,-2.527,-2.089,-0.117,-1.433, PHS=-0.992,-0.611, 1.271, RAW= 219.0,   3.2, CAL= 218.0,   3.3, ROT= 292.0,  -3.3

2025-08-09T16:59:43.458Z,1754758783.458 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-09T16:59:43.459Z,1754758783.459 [DAT](INFO): direction in FSK: [0.373986,-0.925646,0.057564]
2025-08-09T16:59:43.459Z,1754758783.459 [DAT](INFO): publishing direction and range info
2025-08-09T16:59:43.463Z,1754758783.463 [DAT](DEBUG): Acoustic response timeout
2025-08-09T16:59:43.463Z,1754758783.463 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-09T16:59:43.619Z,1754758783.619 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 63.599998 m,
      deltaT: 0.504049 s,
      deltaX: 0.099998 m,
      approachRate: 0.198390 m/s,
      rangeRepo size: 4

2025-08-09T16:59:43.621Z,1754758783.621 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 63.599998 m,
      bearing: 236.283173 deg,
      lat: 36.906168 deg,
      lon: -122.115930 deg,
      deltaT: 0.504049 s,
      deltaX: 0.099998 m,
      approachRate: 0.198390 m/s,
      posRepo size: 4

2025-08-09T16:59:43.621Z,1754758783.621 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 63.60 m.
2025-08-09T16:59:43.699Z,1754758783.699 [DAT](INFO): Reached modem response timeout
2025-08-09T16:59:43.699Z,1754758783.699 [DAT](DEBUG): Acoustic response timeout
2025-08-09T16:59:43.700Z,1754758783.700 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-09T16:59:43.952Z,1754758783.952 [DAT](INFO): DAT read: Rx Time:16:59:43.0578 

2025-08-09T16:59:43.952Z,1754758783.952 [DAT](INFO): Rx dataTimestamp_ set to:1754758783.951912
2025-08-09T16:59:43.953Z,1754758783.953 [DAT](INFO): DAT read: Bearing 106.5, -70.3 (Local)

2025-08-09T16:59:43.954Z,1754758783.954 [DAT](INFO): Local bearing/azimuth received:
 Bearing 106.5, -70.3 (Local)

2025-08-09T16:59:43.956Z,1754758783.956 [DAT](INFO): DAT read: Range 11 to 50 :    63.5 m (trip time 42.3 ms) speed 0.0

2025-08-09T16:59:43.961Z,1754758783.961 [DAT](INFO): DAT read: 16:59:43.0578 LVL= 22320, 18577, 15346, 24115, AGC= 62, IDX= 497, 0.24,-2.703,-2.259,-0.334,-1.621, PHS=-0.980,-0.593, 1.243, RAW= 219.4,   3.3, CAL= 218.3,   3.4, ROT= 291.7,  -3.4

2025-08-09T16:59:43.961Z,1754758783.961 [DAT](INFO): got valid direction response:
 16:59:43.0578 LVL= 22320, 18577, 15346, 24115, AGC= 62, IDX= 497, 0.24,-2.703,-2.259,-0.334,-1.621, PHS=-0.980,-0.593, 1.243, RAW= 219.4,   3.3, CAL= 218.3,   3.4, ROT= 291.7,  -3.4

2025-08-09T16:59:43.962Z,1754758783.962 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-09T16:59:43.963Z,1754758783.963 [DAT](INFO): direction in FSK: [0.369096,-0.927497,0.059306]
2025-08-09T16:59:43.963Z,1754758783.963 [DAT](INFO): publishing direction and range info
2025-08-09T16:59:43.967Z,1754758783.967 [DAT](DEBUG): Acoustic response timeout
2025-08-09T16:59:43.967Z,1754758783.967 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-09T16:59:43.984Z,1754758783.984 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 63.500000 m,
      deltaT: 0.503822 s,
      deltaX: -0.099998 m,
      approachRate: -0.198480 m/s,
      rangeRepo size: 4

2025-08-09T16:59:43.991Z,1754758783.991 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 63.500000 m,
      bearing: 236.242783 deg,
      lat: 36.906168 deg,
      lon: -122.115930 deg,
      deltaT: 0.503822 s,
      deltaX: -0.099998 m,
      approachRate: -0.198480 m/s,
      posRepo size: 4

2025-08-09T16:59:43.992Z,1754758783.992 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 63.50 m.
2025-08-09T16:59:44.204Z,1754758784.204 [DAT](INFO): Reached modem response timeout
2025-08-09T16:59:44.204Z,1754758784.204 [DAT](DEBUG): Acoustic response timeout
2025-08-09T16:59:44.205Z,1754758784.205 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-09T16:59:44.345Z,1754758784.345 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 63.50 m.
2025-08-09T16:59:44.460Z,1754758784.460 [DAT](INFO): DAT read: Rx Time:16:59:43.5579 

2025-08-09T16:59:44.461Z,1754758784.461 [DAT](INFO): Rx dataTimestamp_ set to:1754758784.460390
2025-08-09T16:59:44.462Z,1754758784.462 [DAT](INFO): DAT read: Bearing 105.7, -69.4 (Local)

2025-08-09T16:59:44.463Z,1754758784.463 [DAT](INFO): Local bearing/azimuth received:
 Bearing 105.7, -69.4 (Local)

2025-08-09T16:59:44.465Z,1754758784.465 [DAT](INFO): DAT read: Range 11 to 50 :    63.6 m (trip time 42.4 ms) speed 0.0

2025-08-09T16:59:44.469Z,1754758784.469 [DAT](INFO): DAT read: 16:59:43.5579 LVL= 16736, 14545, 12706, 12371, AGC= 64, IDX=   3,-0.43, 2.698, 3.113,-1.174,-2.495, PHS=-0.989,-0.630, 1.277, RAW= 218.5,   3.3, CAL= 217.4,   3.4, ROT= 292.6,  -3.4

2025-08-09T16:59:44.483Z,1754758784.483 [DAT](INFO): got valid direction response:
 16:59:43.5579 LVL= 16736, 14545, 12706, 12371, AGC= 64, IDX=   3,-0.43, 2.698, 3.113,-1.174,-2.495, PHS=-0.989,-0.630, 1.277, RAW= 218.5,   3.3, CAL= 217.4,   3.4, ROT= 292.6,  -3.4

2025-08-09T16:59:44.483Z,1754758784.483 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-09T16:59:44.484Z,1754758784.484 [DAT](INFO): direction in FSK: [0.383619,-0.921585,0.059306]
2025-08-09T16:59:44.484Z,1754758784.484 [DAT](INFO): publishing direction and range info
2025-08-09T16:59:44.492Z,1754758784.492 [DAT](DEBUG): Acoustic response timeout
2025-08-09T16:59:44.492Z,1754758784.492 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-09T16:59:44.707Z,1754758784.707 [DAT](INFO): Reached modem response timeout
2025-08-09T16:59:44.707Z,1754758784.707 [DAT](DEBUG): Acoustic response timeout
2025-08-09T16:59:44.707Z,1754758784.707 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-09T16:59:44.753Z,1754758784.753 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 63.599998 m,
      deltaT: 0.508478 s,
      deltaX: 0.099998 m,
      approachRate: 0.196662 m/s,
      rangeRepo size: 4

2025-08-09T16:59:44.755Z,1754758784.755 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 63.599998 m,
      bearing: 236.518334 deg,
      lat: 36.906171 deg,
      lon: -122.115933 deg,
      deltaT: 0.508478 s,
      deltaX: 0.099998 m,
      approachRate: 0.196662 m/s,
      posRepo size: 4

2025-08-09T16:59:44.755Z,1754758784.755 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 63.60 m.
2025-08-09T16:59:44.961Z,1754758784.961 [DAT](INFO): DAT read: Rx Time:16:59:44.0579 

2025-08-09T16:59:44.962Z,1754758784.962 [DAT](INFO): Rx dataTimestamp_ set to:1754758784.961426
2025-08-09T16:59:44.964Z,1754758784.964 [DAT](INFO): DAT read: Bearing 104.9, -69.3 (Local)

2025-08-09T16:59:44.964Z,1754758784.964 [DAT](INFO): Local bearing/azimuth received:
 Bearing 104.9, -69.3 (Local)

2025-08-09T16:59:44.967Z,1754758784.967 [DAT](INFO): DAT read: Range 11 to 50 :    63.6 m (trip time 42.4 ms) speed 0.0

2025-08-09T16:59:44.972Z,1754758784.972 [DAT](INFO): DAT read: 16:59:44.0579 LVL= 19696, 18129, 14130, 22259, AGC= 62, IDX= 498,-0.08, 1.450, 1.865,-2.389, 2.549, PHS=-0.997,-0.639, 1.301, RAW= 218.3,   3.2, CAL= 217.3,   3.2, ROT= 292.7,  -3.2

2025-08-09T16:59:44.973Z,1754758784.973 [DAT](INFO): got valid direction response:
 16:59:44.0579 LVL= 19696, 18129, 14130, 22259, AGC= 62, IDX= 498,-0.08, 1.450, 1.865,-2.389, 2.549, PHS=-0.997,-0.639, 1.301, RAW= 218.3,   3.2, CAL= 217.3,   3.2, ROT= 292.7,  -3.2

2025-08-09T16:59:44.974Z,1754758784.974 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-09T16:59:44.975Z,1754758784.975 [DAT](INFO): direction in FSK: [0.385305,-0.921099,0.055822]
2025-08-09T16:59:44.975Z,1754758784.975 [DAT](INFO): publishing direction and range info
2025-08-09T16:59:44.985Z,1754758784.985 [DAT](DEBUG): Acoustic response timeout
2025-08-09T16:59:44.986Z,1754758784.986 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-09T16:59:45.131Z,1754758785.131 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 63.599998 m,
      deltaT: 0.501036 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-08-09T16:59:45.133Z,1754758785.133 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 63.599998 m,
      bearing: 236.518869 deg,
      lat: 36.906171 deg,
      lon: -122.115934 deg,
      deltaT: 0.501036 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      posRepo size: 4

2025-08-09T16:59:45.134Z,1754758785.134 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 63.60 m.
2025-08-09T16:59:45.213Z,1754758785.213 [DAT](INFO): Reached modem response timeout
2025-08-09T16:59:45.214Z,1754758785.214 [DAT](DEBUG): Acoustic response timeout
2025-08-09T16:59:45.217Z,1754758785.217 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-09T16:59:45.464Z,1754758785.464 [DAT](INFO): DAT read: Rx Time:16:59:44.5579 

2025-08-09T16:59:45.464Z,1754758785.464 [DAT](INFO): Rx dataTimestamp_ set to:1754758785.463960
2025-08-09T16:59:45.466Z,1754758785.466 [DAT](INFO): DAT read: Bearing 105.4, -69.2 (Local)

2025-08-09T16:59:45.466Z,1754758785.466 [DAT](INFO): Local bearing/azimuth received:
 Bearing 105.4, -69.2 (Local)

2025-08-09T16:59:45.468Z,1754758785.468 [DAT](INFO): DAT read: Range 11 to 50 :    63.6 m (trip time 42.4 ms) speed -0.1

2025-08-09T16:59:45.518Z,1754758785.518 [DAT](INFO): DAT read: 16:59:44.5579 LVL= 19872, 20113, 13602, 21235, AGC= 62, IDX= 498, 0.19, 2.272, 2.670,-1.629,-2.931, PHS=-0.978,-0.637, 1.258, RAW= 218.1,   3.5, CAL= 217.2,   3.6, ROT= 292.8,  -3.6

2025-08-09T16:59:45.519Z,1754758785.519 [DAT](INFO): got valid direction response:
 16:59:44.5579 LVL= 19872, 20113, 13602, 21235, AGC= 62, IDX= 498, 0.19, 2.272, 2.670,-1.629,-2.931, PHS=-0.978,-0.637, 1.258, RAW= 218.1,   3.5, CAL= 217.2,   3.6, ROT= 292.8,  -3.6

2025-08-09T16:59:45.519Z,1754758785.519 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-09T16:59:45.520Z,1754758785.520 [DAT](INFO): direction in FSK: [0.386751,-0.920044,0.062791]
2025-08-09T16:59:45.520Z,1754758785.520 [DAT](INFO): publishing direction and range info
2025-08-09T16:59:45.548Z,1754758785.548 [DAT](DEBUG): Acoustic response timeout
2025-08-09T16:59:45.548Z,1754758785.548 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-09T16:59:45.630Z,1754758785.630 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 63.599998 m,
      deltaT: 0.502534 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-08-09T16:59:45.636Z,1754758785.636 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 63.599998 m,
      bearing: 236.581728 deg,
      lat: 36.906172 deg,
      lon: -122.115935 deg,
      deltaT: 0.502534 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      posRepo size: 4

2025-08-09T16:59:45.637Z,1754758785.637 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 63.60 m.
2025-08-09T16:59:45.715Z,1754758785.715 [DAT](INFO): Reached modem response timeout
2025-08-09T16:59:45.715Z,1754758785.715 [DAT](DEBUG): Acoustic response timeout
2025-08-09T16:59:45.715Z,1754758785.715 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-09T16:59:45.955Z,1754758785.955 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 63.60 m.
2025-08-09T16:59:45.968Z,1754758785.968 [DAT](INFO): DAT read: Rx Time:16:59:45.0579 

2025-08-09T16:59:45.969Z,1754758785.969 [DAT](INFO): Rx dataTimestamp_ set to:1754758785.968285
2025-08-09T16:59:45.970Z,1754758785.970 [DAT](INFO): DAT read: Bearing 103.9, -68.3 (Local)

2025-08-09T16:59:45.970Z,1754758785.970 [DAT](INFO): Local bearing/azimuth received:
 Bearing 103.9, -68.3 (Local)

2025-08-09T16:59:45.972Z,1754758785.972 [DAT](INFO): DAT read: Range 11 to 50 :    63.6 m (trip time 42.4 ms) speed -0.1

2025-08-09T16:59:45.978Z,1754758785.978 [DAT](INFO): DAT read: 16:59:45.0579 LVL= 23184, 20641, 15202, 22883, AGC= 62, IDX= 498,-0.43, 0.094, 0.457, 2.465, 1.154, PHS=-0.957,-0.652, 1.267, RAW= 217.3,   3.3, CAL= 216.3,   3.3, ROT= 293.7,  -3.3

2025-08-09T16:59:45.979Z,1754758785.979 [DAT](INFO): got valid direction response:
 16:59:45.0579 LVL= 23184, 20641, 15202, 22883, AGC= 62, IDX= 498,-0.43, 0.094, 0.457, 2.465, 1.154, PHS=-0.957,-0.652, 1.267, RAW= 217.3,   3.3, CAL= 216.3,   3.3, ROT= 293.7,  -3.3

2025-08-09T16:59:45.979Z,1754758785.979 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-09T16:59:45.980Z,1754758785.980 [DAT](INFO): direction in FSK: [0.401282,-0.914144,0.057564]
2025-08-09T16:59:45.981Z,1754758785.981 [DAT](INFO): publishing direction and range info
2025-08-09T16:59:45.984Z,1754758785.984 [DAT](DEBUG): Acoustic response timeout
2025-08-09T16:59:45.984Z,1754758785.984 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-09T16:59:46.221Z,1754758786.221 [DAT](INFO): Reached modem response timeout
2025-08-09T16:59:46.221Z,1754758786.221 [DAT](DEBUG): Acoustic response timeout
2025-08-09T16:59:46.222Z,1754758786.222 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-09T16:59:46.433Z,1754758786.433 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 63.599998 m,
      deltaT: 0.504325 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-08-09T16:59:46.439Z,1754758786.439 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 63.599998 m,
      bearing: 236.527399 deg,
      lat: 36.906172 deg,
      lon: -122.115935 deg,
      deltaT: 0.504325 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      posRepo size: 4

2025-08-09T16:59:46.440Z,1754758786.440 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 63.60 m.
2025-08-09T16:59:46.472Z,1754758786.472 [DAT](INFO): DAT read: Rx Time:16:59:45.5580 

2025-08-09T16:59:46.473Z,1754758786.473 [DAT](INFO): Rx dataTimestamp_ set to:1754758786.472280
2025-08-09T16:59:46.474Z,1754758786.474 [DAT](INFO): DAT read: Bearing 103.5, -68.1 (Local)

2025-08-09T16:59:46.474Z,1754758786.474 [DAT](INFO): Local bearing/azimuth received:
 Bearing 103.5, -68.1 (Local)

2025-08-09T16:59:46.476Z,1754758786.476 [DAT](INFO): DAT read: Range 11 to 50 :    63.8 m (trip time 42.5 ms) speed -0.1

2025-08-09T16:59:46.481Z,1754758786.481 [DAT](INFO): DAT read: 16:59:45.5580 LVL= 22096, 20209, 15090, 23891, AGC= 61, IDX= 499,-0.04, 0.733, 1.089, 3.106, 1.792, PHS=-0.957,-0.658, 1.270, RAW= 217.1,   3.3, CAL= 216.2,   3.3, ROT= 293.8,  -3.3

2025-08-09T16:59:46.482Z,1754758786.482 [DAT](INFO): got valid direction response:
 16:59:45.5580 LVL= 22096, 20209, 15090, 23891, AGC= 61, IDX= 499,-0.04, 0.733, 1.089, 3.106, 1.792, PHS=-0.957,-0.658, 1.270, RAW= 217.1,   3.3, CAL= 216.2,   3.3, ROT= 293.8,  -3.3

2025-08-09T16:59:46.483Z,1754758786.483 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-09T16:59:46.484Z,1754758786.484 [DAT](INFO): direction in FSK: [0.402876,-0.913443,0.057564]
2025-08-09T16:59:46.484Z,1754758786.484 [DAT](INFO): publishing direction and range info
2025-08-09T16:59:46.487Z,1754758786.487 [DAT](DEBUG): Acoustic response timeout
2025-08-09T16:59:46.487Z,1754758786.487 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-09T16:59:46.723Z,1754758786.723 [DAT](INFO): Reached modem response timeout
2025-08-09T16:59:46.723Z,1754758786.723 [DAT](DEBUG): Acoustic response timeout
2025-08-09T16:59:46.724Z,1754758786.724 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-09T16:59:46.775Z,1754758786.775 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 63.799999 m,
      deltaT: 0.503995 s,
      deltaX: 0.200001 m,
      approachRate: 0.396831 m/s,
      rangeRepo size: 4

2025-08-09T16:59:46.777Z,1754758786.777 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 63.799999 m,
      bearing: 236.493465 deg,
      lat: 36.906173 deg,
      lon: -122.115935 deg,
      deltaT: 0.503995 s,
      deltaX: 0.200001 m,
      approachRate: 0.396831 m/s,
      posRepo size: 4

2025-08-09T16:59:46.778Z,1754758786.778 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 63.80 m.
2025-08-09T16:59:46.976Z,1754758786.976 [DAT](INFO): DAT read: Rx Time:16:59:46.0579 

2025-08-09T16:59:46.976Z,1754758786.976 [DAT](INFO): Rx dataTimestamp_ set to:1754758786.976002
2025-08-09T16:59:46.978Z,1754758786.978 [DAT](INFO): DAT read: Bearing 103.5, -69.2 (Local)

2025-08-09T16:59:46.978Z,1754758786.978 [DAT](INFO): Local bearing/azimuth received:
 Bearing 103.5, -69.2 (Local)

2025-08-09T16:59:46.981Z,1754758786.981 [DAT](INFO): DAT read: Range 11 to 50 :    63.6 m (trip time 42.4 ms) speed 0.0

2025-08-09T16:59:46.986Z,1754758786.986 [DAT](INFO): DAT read: 16:59:46.0579 LVL= 22512, 20145, 15858, 23827, AGC= 60, IDX= 498, 0.17, 1.544, 1.947,-2.346, 2.623, PHS=-0.977,-0.630, 1.270, RAW= 218.2,   3.3, CAL= 217.2,   3.3, ROT= 292.8,  -3.3

2025-08-09T16:59:46.987Z,1754758786.987 [DAT](INFO): got valid direction response:
 16:59:46.0579 LVL= 22512, 20145, 15858, 23827, AGC= 60, IDX= 498, 0.17, 1.544, 1.947,-2.346, 2.623, PHS=-0.977,-0.630, 1.270, RAW= 218.2,   3.3, CAL= 217.2,   3.3, ROT= 292.8,  -3.3

2025-08-09T16:59:46.988Z,1754758786.988 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-09T16:59:46.989Z,1754758786.989 [DAT](INFO): direction in FSK: [0.386873,-0.920335,0.057564]
2025-08-09T16:59:46.989Z,1754758786.989 [DAT](INFO): publishing direction and range info
2025-08-09T16:59:46.992Z,1754758786.992 [DAT](DEBUG): Acoustic response timeout
2025-08-09T16:59:46.992Z,1754758786.992 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-09T16:59:47.172Z,1754758787.172 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 63.599998 m,
      deltaT: 0.503722 s,
      deltaX: -0.200001 m,
      approachRate: -0.397046 m/s,
      rangeRepo size: 4

2025-08-09T16:59:47.174Z,1754758787.174 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 63.599998 m,
      bearing: 236.428016 deg,
      lat: 36.906172 deg,
      lon: -122.115935 deg,
      deltaT: 0.503722 s,
      deltaX: -0.200001 m,
      approachRate: -0.397046 m/s,
      posRepo size: 4

2025-08-09T16:59:47.179Z,1754758787.179 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 63.60 m.
2025-08-09T16:59:47.229Z,1754758787.229 [DAT](INFO): Reached modem response timeout
2025-08-09T16:59:47.230Z,1754758787.230 [DAT](DEBUG): Acoustic response timeout
2025-08-09T16:59:47.231Z,1754758787.231 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-09T16:59:47.480Z,1754758787.480 [DAT](INFO): DAT read: Rx Time:16:59:46.5580 

2025-08-09T16:59:47.480Z,1754758787.480 [DAT](INFO): Rx dataTimestamp_ set to:1754758787.480059
2025-08-09T16:59:47.482Z,1754758787.482 [DAT](INFO): DAT read: Bearing 103.0, -69.0 (Local)

2025-08-09T16:59:47.482Z,1754758787.482 [DAT](INFO): Local bearing/azimuth received:
 Bearing 103.0, -69.0 (Local)

2025-08-09T16:59:47.484Z,1754758787.484 [DAT](INFO): DAT read: Range 11 to 50 :    63.8 m (trip time 42.5 ms) speed 0.0

2025-08-09T16:59:47.489Z,1754758787.489 [DAT](INFO): DAT read: 16:59:46.5580 LVL= 20672, 22337, 14114, 21971, AGC= 63, IDX= 499, 0.25,-1.869,-1.460, 0.601,-0.760, PHS=-1.006,-0.655, 1.318, RAW= 218.1,   3.2, CAL= 217.0,   3.2, ROT= 293.0,  -3.2

2025-08-09T16:59:47.490Z,1754758787.490 [DAT](INFO): got valid direction response:
 16:59:46.5580 LVL= 20672, 22337, 14114, 21971, AGC= 63, IDX= 499, 0.25,-1.869,-1.460, 0.601,-0.760, PHS=-1.006,-0.655, 1.318, RAW= 218.1,   3.2, CAL= 217.0,   3.2, ROT= 293.0,  -3.2

2025-08-09T16:59:47.490Z,1754758787.490 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-09T16:59:47.491Z,1754758787.491 [DAT](INFO): direction in FSK: [0.390122,-0.919070,0.055822]
2025-08-09T16:59:47.491Z,1754758787.491 [DAT](INFO): publishing direction and range info
2025-08-09T16:59:47.495Z,1754758787.495 [DAT](DEBUG): Acoustic response timeout
2025-08-09T16:59:47.495Z,1754758787.495 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-09T16:59:47.656Z,1754758787.656 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 63.799999 m,
      deltaT: 0.504057 s,
      deltaX: 0.200001 m,
      approachRate: 0.396782 m/s,
      rangeRepo size: 4

2025-08-09T16:59:47.664Z,1754758787.664 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 63.799999 m,
      bearing: 236.367552 deg,
      lat: 36.906172 deg,
      lon: -122.115935 deg,
      deltaT: 0.504057 s,
      deltaX: 0.200001 m,
      approachRate: 0.396782 m/s,
      posRepo size: 4

2025-08-09T16:59:47.664Z,1754758787.664 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 63.80 m.
2025-08-09T16:59:47.731Z,1754758787.731 [DAT](INFO): Reached modem response timeout
2025-08-09T16:59:47.731Z,1754758787.731 [DAT](DEBUG): Acoustic response timeout
2025-08-09T16:59:47.732Z,1754758787.732 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-09T16:59:47.958Z,1754758787.958 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 63.80 m.
2025-08-09T16:59:47.984Z,1754758787.984 [DAT](INFO): DAT read: Rx Time:16:59:47.0578 

2025-08-09T16:59:47.984Z,1754758787.984 [DAT](INFO): Rx dataTimestamp_ set to:1754758787.984069
2025-08-09T16:59:47.986Z,1754758787.986 [DAT](INFO): DAT read: Bearing 102.4, -69.0 (Local)

2025-08-09T16:59:47.986Z,1754758787.986 [DAT](INFO): Local bearing/azimuth received:
 Bearing 102.4, -69.0 (Local)

2025-08-09T16:59:47.988Z,1754758787.988 [DAT](INFO): DAT read: Range 11 to 50 :    63.5 m (trip time 42.3 ms) speed 0.0

2025-08-09T16:59:47.993Z,1754758787.993 [DAT](INFO): DAT read: 16:59:47.0578 LVL= 25520, 21217, 15986, 25043, AGC= 62, IDX= 498, 0.34,-1.206,-0.804, 1.190,-0.131, PHS=-0.972,-0.628, 1.277, RAW= 218.2,   3.1, CAL= 217.1,   3.1, ROT= 292.9,  -3.1

2025-08-09T16:59:47.994Z,1754758787.994 [DAT](INFO): got valid direction response:
 16:59:47.0578 LVL= 25520, 21217, 15986, 25043, AGC= 62, IDX= 498, 0.34,-1.206,-0.804, 1.190,-0.131, PHS=-0.972,-0.628, 1.277, RAW= 218.2,   3.1, CAL= 217.1,   3.1, ROT= 292.9,  -3.1

2025-08-09T16:59:47.994Z,1754758787.994 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-09T16:59:47.995Z,1754758787.995 [DAT](INFO): direction in FSK: [0.388554,-0.919838,0.054079]
2025-08-09T16:59:47.995Z,1754758787.995 [DAT](INFO): publishing direction and range info
2025-08-09T16:59:47.999Z,1754758787.999 [DAT](DEBUG): Acoustic response timeout
2025-08-09T16:59:47.999Z,1754758787.999 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-09T16:59:48.237Z,1754758788.237 [DAT](INFO): Reached modem response timeout
2025-08-09T16:59:48.237Z,1754758788.237 [DAT](DEBUG): Acoustic response timeout
2025-08-09T16:59:48.238Z,1754758788.238 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-09T16:59:48.445Z,1754758788.445 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 63.500000 m,
      deltaT: 0.504010 s,
      deltaX: -0.299999 m,
      approachRate: -0.595225 m/s,
      rangeRepo size: 4

2025-08-09T16:59:48.451Z,1754758788.451 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 63.500000 m,
      bearing: 235.902622 deg,
      lat: 36.906168 deg,
      lon: -122.115934 deg,
      deltaT: 0.504010 s,
      deltaX: -0.299999 m,
      approachRate: -0.595225 m/s,
      posRepo size: 4

2025-08-09T16:59:48.451Z,1754758788.451 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 63.50 m.
2025-08-09T16:59:48.488Z,1754758788.488 [DAT](INFO): DAT read: Rx Time:16:59:47.5580 

2025-08-09T16:59:48.489Z,1754758788.489 [DAT](INFO): Rx dataTimestamp_ set to:1754758788.488161
2025-08-09T16:59:48.490Z,1754758788.490 [DAT](INFO): DAT read: Bearing 102.3, -68.1 (Local)

2025-08-09T16:59:48.491Z,1754758788.491 [DAT](INFO): Local bearing/azimuth received:
 Bearing 102.3, -68.1 (Local)

2025-08-09T16:59:48.494Z,1754758788.494 [DAT](INFO): DAT read: Range 11 to 50 :    63.8 m (trip time 42.5 ms) speed 0.0

2025-08-09T16:59:48.500Z,1754758788.500 [DAT](INFO): DAT read: 16:59:47.5580 LVL= 22560, 26545, 14578, 22179, AGC= 62, IDX= 500,-0.18, 2.107, 2.477,-1.701,-3.074, PHS=-1.000,-0.687, 1.329, RAW= 217.1,   3.3, CAL= 216.2,   3.3, ROT= 293.8,  -3.3

2025-08-09T16:59:48.501Z,1754758788.501 [DAT](INFO): got valid direction response:
 16:59:47.5580 LVL= 22560, 26545, 14578, 22179, AGC= 62, IDX= 500,-0.18, 2.107, 2.477,-1.701,-3.074, PHS=-1.000,-0.687, 1.329, RAW= 217.1,   3.3, CAL= 216.2,   3.3, ROT= 293.8,  -3.3

2025-08-09T16:59:48.501Z,1754758788.501 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-09T16:59:48.502Z,1754758788.502 [DAT](INFO): direction in FSK: [0.402876,-0.913443,0.057564]
2025-08-09T16:59:48.503Z,1754758788.503 [DAT](INFO): publishing direction and range info
2025-08-09T16:59:48.506Z,1754758788.506 [DAT](DEBUG): Acoustic response timeout
2025-08-09T16:59:48.506Z,1754758788.506 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-09T16:59:48.739Z,1754758788.739 [DAT](INFO): Reached modem response timeout
2025-08-09T16:59:48.739Z,1754758788.739 [DAT](DEBUG): Acoustic response timeout
2025-08-09T16:59:48.739Z,1754758788.739 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-09T16:59:48.795Z,1754758788.795 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 63.799999 m,
      deltaT: 0.504092 s,
      deltaX: 0.299999 m,
      approachRate: 0.595128 m/s,
      rangeRepo size: 4

2025-08-09T16:59:48.797Z,1754758788.797 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 63.799999 m,
      bearing: 235.867113 deg,
      lat: 36.906168 deg,
      lon: -122.115934 deg,
      deltaT: 0.504092 s,
      deltaX: 0.299999 m,
      approachRate: 0.595128 m/s,
      posRepo size: 4

2025-08-09T16:59:48.798Z,1754758788.798 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 63.80 m.
2025-08-09T16:59:48.993Z,1754758788.993 [DAT](INFO): DAT read: Rx Time:16:59:48.0579 

2025-08-09T16:59:48.993Z,1754758788.993 [DAT](INFO): Rx dataTimestamp_ set to:1754758788.992886
2025-08-09T16:59:48.995Z,1754758788.995 [DAT](INFO): DAT read: Bearing 100.8, -68.0 (Local)

2025-08-09T16:59:48.995Z,1754758788.995 [DAT](INFO): Local bearing/azimuth received:
 Bearing 100.8, -68.0 (Local)

2025-08-09T16:59:48.997Z,1754758788.997 [DAT](INFO): DAT read: Range 11 to 50 :    63.6 m (trip time 42.4 ms) speed 0.0

2025-08-09T16:59:49.002Z,1754758789.002 [DAT](INFO): DAT read: 16:59:48.0579 LVL= 22816, 24817, 15890, 25075, AGC= 60, IDX= 499,-0.02, 0.925, 1.294,-2.888, 2.011, PHS=-0.984,-0.672, 1.339, RAW= 217.1,   2.9, CAL= 216.1,   2.8, ROT= 293.9,  -2.8

2025-08-09T16:59:49.009Z,1754758789.009 [DAT](INFO): got valid direction response:
 16:59:48.0579 LVL= 22816, 24817, 15890, 25075, AGC= 60, IDX= 499,-0.02, 0.925, 1.294,-2.888, 2.011, PHS=-0.984,-0.672, 1.339, RAW= 217.1,   2.9, CAL= 216.1,   2.8, ROT= 293.9,  -2.8

2025-08-09T16:59:49.009Z,1754758789.009 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-09T16:59:49.010Z,1754758789.010 [DAT](INFO): direction in FSK: [0.404658,-0.913162,0.048850]
2025-08-09T16:59:49.011Z,1754758789.011 [DAT](INFO): publishing direction and range info
2025-08-09T16:59:49.014Z,1754758789.014 [DAT](DEBUG): Acoustic response timeout
2025-08-09T16:59:49.014Z,1754758789.014 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-09T16:59:49.183Z,1754758789.183 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 63.599998 m,
      deltaT: 0.504725 s,
      deltaX: -0.200001 m,
      approachRate: -0.396257 m/s,
      rangeRepo size: 4

2025-08-09T16:59:49.185Z,1754758789.185 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 63.599998 m,
      bearing: 235.828692 deg,
      lat: 36.906168 deg,
      lon: -122.115934 deg,
      deltaT: 0.504725 s,
      deltaX: -0.200001 m,
      approachRate: -0.396257 m/s,
      posRepo size: 4

2025-08-09T16:59:49.186Z,1754758789.186 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 63.60 m.
2025-08-09T16:59:49.245Z,1754758789.245 [DAT](INFO): Reached modem response timeout
2025-08-09T16:59:49.246Z,1754758789.246 [DAT](DEBUG): Acoustic response timeout
2025-08-09T16:59:49.247Z,1754758789.247 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-09T16:59:49.496Z,1754758789.496 [DAT](INFO): DAT read: Rx Time:16:59:48.5579 

2025-08-09T16:59:49.497Z,1754758789.497 [DAT](INFO): Rx dataTimestamp_ set to:1754758789.496232
2025-08-09T16:59:49.498Z,1754758789.498 [DAT](INFO): DAT read: Bearing 101.5, -68.1 (Local)

2025-08-09T16:59:49.498Z,1754758789.498 [DAT](INFO): Local bearing/azimuth received:
 Bearing 101.5, -68.1 (Local)

2025-08-09T16:59:49.500Z,1754758789.500 [DAT](INFO): DAT read: Range 11 to 50 :    63.6 m (trip time 42.4 ms) speed 0.0

2025-08-09T16:59:49.505Z,1754758789.505 [DAT](INFO): DAT read: 16:59:48.5579 LVL= 24048, 25809, 16514, 24659, AGC= 59, IDX= 499, 0.04, 1.800, 2.170,-2.031, 2.890, PHS=-0.987,-0.674, 1.319, RAW= 217.2,   3.2, CAL= 216.2,   3.1, ROT= 293.8,  -3.1

2025-08-09T16:59:49.506Z,1754758789.506 [DAT](INFO): got valid direction response:
 16:59:48.5579 LVL= 24048, 25809, 16514, 24659, AGC= 59, IDX= 499, 0.04, 1.800, 2.170,-2.031, 2.890, PHS=-0.987,-0.674, 1.319, RAW= 217.2,   3.2, CAL= 216.2,   3.1, ROT= 293.8,  -3.1

2025-08-09T16:59:49.506Z,1754758789.506 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-09T16:59:49.507Z,1754758789.507 [DAT](INFO): direction in FSK: [0.402955,-0.913621,0.054079]
2025-08-09T16:59:49.507Z,1754758789.507 [DAT](INFO): publishing direction and range info
2025-08-09T16:59:49.511Z,1754758789.511 [DAT](DEBUG): Acoustic response timeout
2025-08-09T16:59:49.511Z,1754758789.511 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-09T16:59:49.692Z,1754758789.692 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 63.599998 m,
      deltaT: 0.503346 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-08-09T16:59:49.694Z,1754758789.694 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 63.599998 m,
      bearing: 235.935611 deg,
      lat: 36.906170 deg,
      lon: -122.115934 deg,
      deltaT: 0.503346 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      posRepo size: 4

2025-08-09T16:59:49.698Z,1754758789.698 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 63.60 m.
2025-08-09T16:59:49.748Z,1754758789.748 [DAT](INFO): Reached modem response timeout
2025-08-09T16:59:49.748Z,1754758789.748 [DAT](DEBUG): Acoustic response timeout
2025-08-09T16:59:49.748Z,1754758789.748 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-09T16:59:49.975Z,1754758789.975 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 63.60 m.
2025-08-09T16:59:49.000Z,1754758790.000 [DAT](INFO): DAT read: Rx Time:16:59:49.0578 

2025-08-09T16:59:50.000Z,1754758790.000 [DAT](INFO): Rx dataTimestamp_ set to:1754758790.000147
2025-08-09T16:59:50.002Z,1754758790.002 [DAT](INFO): DAT read: Bearing 100.8, -68.0 (Local)

2025-08-09T16:59:50.002Z,1754758790.002 [DAT](INFO): Local bearing/azimuth received:
 Bearing 100.8, -68.0 (Local)

2025-08-09T16:59:50.004Z,1754758790.004 [DAT](INFO): DAT read: Range 11 to 50 :    63.5 m (trip time 42.3 ms) speed 0.0

2025-08-09T16:59:50.009Z,1754758790.009 [DAT](INFO): DAT read: 16:59:49.0578 LVL= 23216, 23857, 15922, 23635, AGC= 58, IDX= 498, 0.04, 0.814, 1.183,-3.008, 1.901, PHS=-0.985,-0.673, 1.330, RAW= 217.1,   3.0, CAL= 216.1,   2.9, ROT= 293.9,  -2.9

2025-08-09T16:59:50.011Z,1754758790.011 [DAT](INFO): got valid direction response:
 16:59:49.0578 LVL= 23216, 23857, 15922, 23635, AGC= 58, IDX= 498, 0.04, 0.814, 1.183,-3.008, 1.901, PHS=-0.985,-0.673, 1.330, RAW= 217.1,   3.0, CAL= 216.1,   2.9, ROT= 293.9,  -2.9

2025-08-09T16:59:50.011Z,1754758790.011 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-09T16:59:50.012Z,1754758790.012 [DAT](INFO): direction in FSK: [0.404623,-0.913083,0.050593]
2025-08-09T16:59:50.012Z,1754758790.012 [DAT](INFO): publishing direction and range info
2025-08-09T16:59:50.016Z,1754758790.016 [DAT](DEBUG): Acoustic response timeout
2025-08-09T16:59:50.016Z,1754758790.016 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-09T16:59:50.253Z,1754758790.253 [DAT](INFO): Reached modem response timeout
2025-08-09T16:59:50.255Z,1754758790.255 [DAT](DEBUG): Acoustic response timeout
2025-08-09T16:59:50.256Z,1754758790.256 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-09T16:59:50.451Z,1754758790.451 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 63.500000 m,
      deltaT: 0.503915 s,
      deltaX: -0.099998 m,
      approachRate: -0.198443 m/s,
      rangeRepo size: 4

2025-08-09T16:59:50.453Z,1754758790.453 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 63.500000 m,
      bearing: 235.833628 deg,
      lat: 36.906170 deg,
      lon: -122.115933 deg,
      deltaT: 0.503915 s,
      deltaX: -0.099998 m,
      approachRate: -0.198443 m/s,
      posRepo size: 4

2025-08-09T16:59:50.454Z,1754758790.454 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 63.50 m.
2025-08-09T16:59:50.504Z,1754758790.504 [DAT](INFO): DAT read: Rx Time:16:59:49.5579 

2025-08-09T16:59:50.504Z,1754758790.504 [DAT](INFO): Rx dataTimestamp_ set to:1754758790.504194
2025-08-09T16:59:50.506Z,1754758790.506 [DAT](INFO): DAT read: Bearing 100.3, -67.5 (Local)

2025-08-09T16:59:50.506Z,1754758790.506 [DAT](INFO): Local bearing/azimuth received:
 Bearing 100.3, -67.5 (Local)

2025-08-09T16:59:50.508Z,1754758790.508 [DAT](INFO): DAT read: Range 11 to 50 :    63.6 m (trip time 42.4 ms) speed 0.0

2025-08-09T16:59:50.513Z,1754758790.513 [DAT](INFO): DAT read: 16:59:49.5579 LVL= 25776, 25633, 15698, 26275, AGC= 59, IDX= 499, 0.00, 1.681, 2.026,-2.134, 2.764, PHS=-0.981,-0.693, 1.341, RAW= 216.5,   3.1, CAL= 215.6,   2.9, ROT= 294.4,  -2.9

2025-08-09T16:59:50.514Z,1754758790.514 [DAT](INFO): got valid direction response:
 16:59:49.5579 LVL= 25776, 25633, 15698, 26275, AGC= 59, IDX= 499, 0.00, 1.681, 2.026,-2.134, 2.764, PHS=-0.981,-0.693, 1.341, RAW= 216.5,   3.1, CAL= 215.6,   2.9, ROT= 294.4,  -2.9

2025-08-09T16:59:50.514Z,1754758790.514 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-09T16:59:50.515Z,1754758790.515 [DAT](INFO): direction in FSK: [0.412575,-0.909517,0.050593]
2025-08-09T16:59:50.516Z,1754758790.516 [DAT](INFO): publishing direction and range info
2025-08-09T16:59:50.523Z,1754758790.523 [DAT](DEBUG): Acoustic response timeout
2025-08-09T16:59:50.523Z,1754758790.523 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-09T16:59:50.755Z,1754758790.755 [DAT](INFO): Reached modem response timeout
2025-08-09T16:59:50.755Z,1754758790.755 [DAT](DEBUG): Acoustic response timeout
2025-08-09T16:59:50.755Z,1754758790.755 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-09T16:59:50.820Z,1754758790.820 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 63.599998 m,
      deltaT: 0.504047 s,
      deltaX: 0.099998 m,
      approachRate: 0.198391 m/s,
      rangeRepo size: 4

2025-08-09T16:59:50.827Z,1754758790.827 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 63.599998 m,
      bearing: 235.970744 deg,
      lat: 36.906171 deg,
      lon: -122.115935 deg,
      deltaT: 0.504047 s,
      deltaX: 0.099998 m,
      approachRate: 0.198391 m/s,
      posRepo size: 4

2025-08-09T16:59:50.827Z,1754758790.827 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 63.60 m.
2025-08-09T16:59:51.008Z,1754758791.008 [DAT](INFO): DAT read: Rx Time:16:59:50.0578 

2025-08-09T16:59:51.008Z,1754758791.008 [DAT](INFO): Rx dataTimestamp_ set to:1754758791.008036
2025-08-09T16:59:51.010Z,1754758791.010 [DAT](INFO): DAT read: Bearing  99.4, -67.0 (Local)

2025-08-09T16:59:51.010Z,1754758791.010 [DAT](INFO): Local bearing/azimuth received:
 Bearing  99.4, -67.0 (Local)

2025-08-09T16:59:51.013Z,1754758791.013 [DAT](INFO): DAT read: Range 11 to 50 :    63.5 m (trip time 42.3 ms) speed 0.0

2025-08-09T16:59:51.017Z,1754758791.017 [DAT](INFO): DAT read: 16:59:50.0578 LVL= 26096, 26049, 14322, 24819, AGC= 59, IDX= 498,-0.04,-0.110, 0.216, 2.368, 0.967, PHS=-0.976,-0.706, 1.356, RAW= 216.1,   3.0, CAL= 215.1,   2.7, ROT= 294.9,  -2.7

2025-08-09T16:59:51.019Z,1754758791.019 [DAT](INFO): got valid direction response:
 16:59:50.0578 LVL= 26096, 26049, 14322, 24819, AGC= 59, IDX= 498,-0.04,-0.110, 0.216, 2.368, 0.967, PHS=-0.976,-0.706, 1.356, RAW= 216.1,   3.0, CAL= 215.1,   2.7, ROT= 294.9,  -2.7

2025-08-09T16:59:51.019Z,1754758791.019 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-09T16:59:51.020Z,1754758791.020 [DAT](INFO): direction in FSK: [0.420568,-0.906037,0.047106]
2025-08-09T16:59:51.020Z,1754758791.020 [DAT](INFO): publishing direction and range info
2025-08-09T16:59:51.023Z,1754758791.023 [DAT](DEBUG): Acoustic response timeout
2025-08-09T16:59:51.024Z,1754758791.024 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-09T16:59:51.216Z,1754758791.216 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 63.500000 m,
      deltaT: 0.503842 s,
      deltaX: -0.099998 m,
      approachRate: -0.198472 m/s,
      rangeRepo size: 4

2025-08-09T16:59:51.223Z,1754758791.223 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 63.500000 m,
      bearing: 235.936457 deg,
      lat: 36.906171 deg,
      lon: -122.115935 deg,
      deltaT: 0.503842 s,
      deltaX: -0.099998 m,
      approachRate: -0.198472 m/s,
      posRepo size: 4

2025-08-09T16:59:51.223Z,1754758791.223 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 63.50 m.
2025-08-09T16:59:51.262Z,1754758791.262 [DAT](INFO): Reached modem response timeout
2025-08-09T16:59:51.263Z,1754758791.263 [DAT](DEBUG): Acoustic response timeout
2025-08-09T16:59:51.264Z,1754758791.264 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-09T16:59:51.512Z,1754758791.512 [DAT](INFO): DAT read: Rx Time:16:59:50.5579 

2025-08-09T16:59:51.512Z,1754758791.512 [DAT](INFO): Rx dataTimestamp_ set to:1754758791.512141
2025-08-09T16:59:51.514Z,1754758791.514 [DAT](INFO): DAT read: Bearing  98.9, -66.7 (Local)

2025-08-09T16:59:51.514Z,1754758791.514 [DAT](INFO): Local bearing/azimuth received:
 Bearing  98.9, -66.7 (Local)

2025-08-09T16:59:51.516Z,1754758791.516 [DAT](INFO): DAT read: Range 11 to 50 :    63.6 m (trip time 42.4 ms) speed 0.0

2025-08-09T16:59:51.521Z,1754758791.521 [DAT](INFO): DAT read: 16:59:50.5579 LVL= 25696, 22065, 16370, 27379, AGC= 59, IDX= 499,-0.11, 1.066, 1.373,-2.756, 2.129, PHS=-0.962,-0.711, 1.354, RAW= 215.7,   2.9, CAL= 214.7,   2.6, ROT= 295.3,  -2.6

2025-08-09T16:59:51.522Z,1754758791.522 [DAT](INFO): got valid direction response:
 16:59:50.5579 LVL= 25696, 22065, 16370, 27379, AGC= 59, IDX= 499,-0.11, 1.066, 1.373,-2.756, 2.129, PHS=-0.962,-0.711, 1.354, RAW= 215.7,   2.9, CAL= 214.7,   2.6, ROT= 295.3,  -2.6

2025-08-09T16:59:51.522Z,1754758791.522 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-09T16:59:51.523Z,1754758791.523 [DAT](INFO): direction in FSK: [0.426918,-0.903152,0.045363]
2025-08-09T16:59:51.523Z,1754758791.523 [DAT](INFO): publishing direction and range info
2025-08-09T16:59:51.527Z,1754758791.527 [DAT](DEBUG): Acoustic response timeout
2025-08-09T16:59:51.527Z,1754758791.527 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-09T16:59:51.602Z,1754758791.602 [RDI_Pathfinder](ERROR): only read 3 of 4 data items for beam range. Device response is::RA,  0.00,  81.76,  78.71,  81.76
2025-08-09T16:59:51.671Z,1754758791.671 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 63.599998 m,
      deltaT: 0.504105 s,
      deltaX: 0.099998 m,
      approachRate: 0.198368 m/s,
      rangeRepo size: 4

2025-08-09T16:59:51.673Z,1754758791.673 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 63.599998 m,
      bearing: 235.896817 deg,
      lat: 36.906171 deg,
      lon: -122.115935 deg,
      deltaT: 0.504105 s,
      deltaX: 0.099998 m,
      approachRate: 0.198368 m/s,
      posRepo size: 4

2025-08-09T16:59:51.674Z,1754758791.674 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 63.60 m.
2025-08-09T16:59:51.763Z,1754758791.763 [DAT](INFO): Reached modem response timeout
2025-08-09T16:59:51.764Z,1754758791.764 [DAT](DEBUG): Acoustic response timeout
2025-08-09T16:59:51.764Z,1754758791.764 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-09T16:59:52.003Z,1754758792.003 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 63.60 m.
2025-08-09T16:59:52.016Z,1754758792.016 [DAT](INFO): DAT read: Rx Time:16:59:51.0578 

2025-08-09T16:59:52.016Z,1754758792.016 [DAT](INFO): Rx dataTimestamp_ set to:1754758792.016117
2025-08-09T16:59:52.018Z,1754758792.018 [DAT](INFO): DAT read: Bearing  98.1, -66.1 (Local)

2025-08-09T16:59:52.018Z,1754758792.018 [DAT](INFO): Local bearing/azimuth received:
 Bearing  98.1, -66.1 (Local)

2025-08-09T16:59:52.020Z,1754758792.020 [DAT](INFO): DAT read: Range 11 to 50 :    63.5 m (trip time 42.3 ms) speed 0.0

2025-08-09T16:59:52.025Z,1754758792.025 [DAT](INFO): DAT read: 16:59:51.0578 LVL= 23952, 26353, 15794, 25715, AGC= 61, IDX= 498,-0.25, 0.580, 0.866, 3.064, 1.640, PHS=-0.959,-0.729, 1.380, RAW= 215.1,   2.8, CAL= 214.2,   2.4, ROT= 295.8,  -2.4

2025-08-09T16:59:52.026Z,1754758792.026 [DAT](INFO): got valid direction response:
 16:59:51.0578 LVL= 23952, 26353, 15794, 25715, AGC= 61, IDX= 498,-0.25, 0.580, 0.866, 3.064, 1.640, PHS=-0.959,-0.729, 1.380, RAW= 215.1,   2.8, CAL= 214.2,   2.4, ROT= 295.8,  -2.4

2025-08-09T16:59:52.026Z,1754758792.026 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-09T16:59:52.027Z,1754758792.027 [DAT](INFO): direction in FSK: [0.434849,-0.899529,0.041876]
2025-08-09T16:59:52.028Z,1754758792.028 [DAT](INFO): publishing direction and range info
2025-08-09T16:59:52.031Z,1754758792.031 [DAT](DEBUG): Acoustic response timeout
2025-08-09T16:59:52.031Z,1754758792.031 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-09T16:59:52.269Z,1754758792.269 [DAT](INFO): Reached modem response timeout
2025-08-09T16:59:52.270Z,1754758792.270 [DAT](DEBUG): Acoustic response timeout
2025-08-09T16:59:52.271Z,1754758792.271 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-09T16:59:52.483Z,1754758792.483 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 63.500000 m,
      deltaT: 0.503976 s,
      deltaX: -0.099998 m,
      approachRate: -0.198419 m/s,
      rangeRepo size: 4

2025-08-09T16:59:52.485Z,1754758792.485 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 63.500000 m,
      bearing: 236.178643 deg,
      lat: 36.906175 deg,
      lon: -122.115936 deg,
      deltaT: 0.503976 s,
      deltaX: -0.099998 m,
      approachRate: -0.198419 m/s,
      posRepo size: 4

2025-08-09T16:59:52.485Z,1754758792.485 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 63.50 m.
2025-08-09T16:59:52.521Z,1754758792.521 [DAT](INFO): DAT read: Rx Time:16:59:51.5578 

2025-08-09T16:59:52.522Z,1754758792.522 [DAT](INFO): Rx dataTimestamp_ set to:1754758792.521569
2025-08-09T16:59:52.523Z,1754758792.523 [DAT](INFO): DAT read: Bearing  99.7, -66.9 (Local)

2025-08-09T16:59:52.524Z,1754758792.524 [DAT](INFO): Local bearing/azimuth received:
 Bearing  99.7, -66.9 (Local)

2025-08-09T16:59:52.526Z,1754758792.526 [DAT](INFO): DAT read: Range 11 to 50 :    63.5 m (trip time 42.3 ms) speed 0.0

2025-08-09T16:59:52.532Z,1754758792.532 [DAT](INFO): DAT read: 16:59:51.5578 LVL= 22896, 20465, 15026, 23539, AGC= 63, IDX= 498, 0.40,-0.204, 0.109, 2.218, 0.857, PHS=-0.958,-0.702, 1.317, RAW= 215.9,   3.2, CAL= 215.0,   3.0, ROT= 295.0,  -3.0

2025-08-09T16:59:52.533Z,1754758792.533 [DAT](INFO): got valid direction response:
 16:59:51.5578 LVL= 22896, 20465, 15026, 23539, AGC= 63, IDX= 498, 0.40,-0.204, 0.109, 2.218, 0.857, PHS=-0.958,-0.702, 1.317, RAW= 215.9,   3.2, CAL= 215.0,   3.0, ROT= 295.0,  -3.0

2025-08-09T16:59:52.533Z,1754758792.533 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-09T16:59:52.535Z,1754758792.535 [DAT](INFO): direction in FSK: [0.422039,-0.905066,0.052336]
2025-08-09T16:59:52.536Z,1754758792.536 [DAT](INFO): publishing direction and range info
2025-08-09T16:59:52.561Z,1754758792.561 [DAT](DEBUG): Acoustic response timeout
2025-08-09T16:59:52.561Z,1754758792.561 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-09T16:59:52.771Z,1754758792.771 [DAT](INFO): Reached modem response timeout
2025-08-09T16:59:52.771Z,1754758792.771 [DAT](DEBUG): Acoustic response timeout
2025-08-09T16:59:52.771Z,1754758792.771 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-09T16:59:52.825Z,1754758792.825 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 63.500000 m,
      deltaT: 0.505452 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-08-09T16:59:52.828Z,1754758792.828 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 63.500000 m,
      bearing: 236.145989 deg,
      lat: 36.906175 deg,
      lon: -122.115936 deg,
      deltaT: 0.505452 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      posRepo size: 4

2025-08-09T16:59:52.828Z,1754758792.828 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 63.50 m.
2025-08-09T16:59:53.024Z,1754758793.024 [DAT](INFO): DAT read: Rx Time:16:59:52.0577 

2025-08-09T16:59:53.024Z,1754758793.024 [DAT](INFO): Rx dataTimestamp_ set to:1754758793.023997
2025-08-09T16:59:53.026Z,1754758793.026 [DAT](INFO): DAT read: Bearing  98.8, -66.6 (Local)

2025-08-09T16:59:53.026Z,1754758793.026 [DAT](INFO): Local bearing/azimuth received:
 Bearing  98.8, -66.6 (Local)

2025-08-09T16:59:53.028Z,1754758793.028 [DAT](INFO): DAT read: Range 11 to 50 :    63.3 m (trip time 42.2 ms) speed 0.0

2025-08-09T16:59:53.033Z,1754758793.033 [DAT](INFO): DAT read: 16:59:52.0577 LVL= 20624, 21009, 14290, 22099, AGC= 63, IDX= 497, 0.43,-1.559,-1.256, 0.856,-0.510, PHS=-0.947,-0.701, 1.321, RAW= 215.7,   3.1, CAL= 214.8,   2.8, ROT= 295.2,  -2.8

2025-08-09T16:59:53.034Z,1754758793.034 [DAT](INFO): got valid direction response:
 16:59:52.0577 LVL= 20624, 21009, 14290, 22099, AGC= 63, IDX= 497, 0.43,-1.559,-1.256, 0.856,-0.510, PHS=-0.947,-0.701, 1.321, RAW= 215.7,   3.1, CAL= 214.8,   2.8, ROT= 295.2,  -2.8

2025-08-09T16:59:53.034Z,1754758793.034 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-09T16:59:53.035Z,1754758793.035 [DAT](INFO): direction in FSK: [0.425271,-0.903747,0.048850]
2025-08-09T16:59:53.036Z,1754758793.036 [DAT](INFO): publishing direction and range info
2025-08-09T16:59:53.039Z,1754758793.039 [DAT](DEBUG): Acoustic response timeout
2025-08-09T16:59:53.040Z,1754758793.040 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-09T16:59:53.233Z,1754758793.233 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 63.299999 m,
      deltaT: 0.502428 s,
      deltaX: -0.200001 m,
      approachRate: -0.398069 m/s,
      rangeRepo size: 4

2025-08-09T16:59:53.236Z,1754758793.236 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 63.299999 m,
      bearing: 236.111131 deg,
      lat: 36.906175 deg,
      lon: -122.115936 deg,
      deltaT: 0.502428 s,
      deltaX: -0.200001 m,
      approachRate: -0.398069 m/s,
      posRepo size: 4

2025-08-09T16:59:53.236Z,1754758793.236 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 63.30 m.
2025-08-09T16:59:53.275Z,1754758793.275 [DAT](INFO): Reached modem response timeout
2025-08-09T16:59:53.276Z,1754758793.276 [DAT](DEBUG): Acoustic response timeout
2025-08-09T16:59:53.276Z,1754758793.276 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-09T16:59:53.528Z,1754758793.528 [DAT](INFO): DAT read: Rx Time:16:59:52.5578 

2025-08-09T16:59:53.528Z,1754758793.528 [DAT](INFO): Rx dataTimestamp_ set to:1754758793.528048
2025-08-09T16:59:53.530Z,1754758793.530 [DAT](INFO): DAT read: Bearing  96.8, -65.5 (Local)

2025-08-09T16:59:53.530Z,1754758793.530 [DAT](INFO): Local bearing/azimuth received:
 Bearing  96.8, -65.5 (Local)

2025-08-09T16:59:53.533Z,1754758793.533 [DAT](INFO): DAT read: Range 11 to 50 :    63.5 m (trip time 42.3 ms) speed 0.0

2025-08-09T16:59:53.537Z,1754758793.537 [DAT](INFO): DAT read: 16:59:52.5578 LVL= 15232, 17457, 12178, 14563, AGC= 65, IDX=   2,-0.22, 0.270, 0.532, 2.704, 1.300, PHS=-0.929,-0.723, 1.359, RAW= 214.7,   2.7, CAL= 213.7,   2.2, ROT= 296.3,  -2.2

2025-08-09T16:59:53.539Z,1754758793.539 [DAT](INFO): got valid direction response:
 16:59:52.5578 LVL= 15232, 17457, 12178, 14563, AGC= 65, IDX=   2,-0.22, 0.270, 0.532, 2.704, 1.300, PHS=-0.929,-0.723, 1.359, RAW= 214.7,   2.7, CAL= 213.7,   2.2, ROT= 296.3,  -2.2

2025-08-09T16:59:53.539Z,1754758793.539 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-09T16:59:53.540Z,1754758793.540 [DAT](INFO): direction in FSK: [0.442745,-0.895826,0.038388]
2025-08-09T16:59:53.540Z,1754758793.540 [DAT](INFO): publishing direction and range info
2025-08-09T16:59:53.557Z,1754758793.557 [DAT](DEBUG): Acoustic response timeout
2025-08-09T16:59:53.557Z,1754758793.557 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-09T16:59:53.693Z,1754758793.693 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 63.500000 m,
      deltaT: 0.504051 s,
      deltaX: 0.200001 m,
      approachRate: 0.396787 m/s,
      rangeRepo size: 4

2025-08-09T16:59:53.704Z,1754758793.704 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 63.500000 m,
      bearing: 236.309253 deg,
      lat: 36.906176 deg,
      lon: -122.115939 deg,
      deltaT: 0.504051 s,
      deltaX: 0.200001 m,
      approachRate: 0.396787 m/s,
      posRepo size: 4

2025-08-09T16:59:53.704Z,1754758793.704 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 63.50 m.
2025-08-09T16:59:53.779Z,1754758793.779 [DAT](INFO): Reached modem response timeout
2025-08-09T16:59:53.779Z,1754758793.779 [DAT](DEBUG): Acoustic response timeout
2025-08-09T16:59:53.780Z,1754758793.780 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-09T16:59:54.032Z,1754758794.032 [DAT](INFO): DAT read: Rx Time:16:59:53.0577 

2025-08-09T16:59:54.033Z,1754758794.033 [DAT](INFO): Rx dataTimestamp_ set to:1754758794.032418
2025-08-09T16:59:54.034Z,1754758794.034 [DAT](INFO): DAT read: Bearing  96.0, -65.4 (Local)

2025-08-09T16:59:54.034Z,1754758794.034 [DAT](INFO): Local bearing/azimuth received:
 Bearing  96.0, -65.4 (Local)

2025-08-09T16:59:54.036Z,1754758794.036 [DAT](INFO): DAT read: Range 11 to 50 :    63.3 m (trip time 42.2 ms) speed 0.0

2025-08-09T16:59:54.041Z,1754758794.041 [DAT](INFO): DAT read: 16:59:53.0577 LVL= 22208, 19393, 16338, 21987, AGC= 61, IDX= 497,-0.09,-1.245,-0.990, 1.174,-0.226, PHS=-0.916,-0.719, 1.356, RAW= 214.5,   2.6, CAL= 213.6,   2.0, ROT= 296.4,  -2.0

2025-08-09T16:59:54.043Z,1754758794.043 [DAT](INFO): got valid direction response:
 16:59:53.0577 LVL= 22208, 19393, 16338, 21987, AGC= 61, IDX= 497,-0.09,-1.245,-0.990, 1.174,-0.226, PHS=-0.916,-0.719, 1.356, RAW= 214.5,   2.6, CAL= 213.6,   2.0, ROT= 296.4,  -2.0

2025-08-09T16:59:54.043Z,1754758794.043 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-09T16:59:54.044Z,1754758794.044 [DAT](INFO): direction in FSK: [0.444364,-0.895166,0.034899]
2025-08-09T16:59:54.045Z,1754758794.045 [DAT](INFO): publishing direction and range info
2025-08-09T16:59:54.048Z,1754758794.048 [DAT](DEBUG): Acoustic response timeout
2025-08-09T16:59:54.048Z,1754758794.048 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-09T16:59:54.052Z,1754758794.052 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 63.299999 m,
      deltaT: 0.504370 s,
      deltaX: -0.200001 m,
      approachRate: -0.396536 m/s,
      rangeRepo size: 4

2025-08-09T16:59:54.053Z,1754758794.053 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 63.50 m.
2025-08-09T16:59:54.284Z,1754758794.284 [DAT](INFO): Reached modem response timeout
2025-08-09T16:59:54.285Z,1754758794.285 [DAT](DEBUG): Acoustic response timeout
2025-08-09T16:59:54.286Z,1754758794.286 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-09T16:59:54.479Z,1754758794.479 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 63.50 m.
2025-08-09T16:59:54.536Z,1754758794.536 [DAT](INFO): DAT read: Rx Time:16:59:53.5578 

2025-08-09T16:59:54.537Z,1754758794.537 [DAT](INFO): Rx dataTimestamp_ set to:1754758794.536239
2025-08-09T16:59:54.538Z,1754758794.538 [DAT](INFO): DAT read: Bearing  97.4, -65.6 (Local)

2025-08-09T16:59:54.538Z,1754758794.538 [DAT](INFO): Local bearing/azimuth received:
 Bearing  97.4, -65.6 (Local)

2025-08-09T16:59:54.541Z,1754758794.541 [DAT](INFO): DAT read: Range 11 to 50 :    63.5 m (trip time 42.3 ms) speed 0.0

2025-08-09T16:59:54.548Z,1754758794.548 [DAT](INFO): DAT read: 16:59:53.5578 LVL= 19360, 20385, 15858, 14163, AGC= 64, IDX=   2, 0.03, 1.175, 1.431,-2.707, 2.206, PHS=-0.929,-0.730, 1.326, RAW= 214.6,   3.1, CAL= 213.8,   2.7, ROT= 296.2,  -2.7

2025-08-09T16:59:54.549Z,1754758794.549 [DAT](INFO): got valid direction response:
 16:59:53.5578 LVL= 19360, 20385, 15858, 14163, AGC= 64, IDX=   2, 0.03, 1.175, 1.431,-2.707, 2.206, PHS=-0.929,-0.730, 1.326, RAW= 214.6,   3.1, CAL= 213.8,   2.7, ROT= 296.2,  -2.7

2025-08-09T16:59:54.551Z,1754758794.551 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-09T16:59:54.552Z,1754758794.552 [DAT](INFO): direction in FSK: [0.441016,-0.896262,0.047106]
2025-08-09T16:59:54.552Z,1754758794.552 [DAT](INFO): publishing direction and range info
2025-08-09T16:59:54.562Z,1754758794.562 [DAT](DEBUG): Acoustic response timeout
2025-08-09T16:59:54.566Z,1754758794.566 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-09T16:59:54.787Z,1754758794.787 [DAT](INFO): Reached modem response timeout
2025-08-09T16:59:54.787Z,1754758794.787 [DAT](DEBUG): Acoustic response timeout
2025-08-09T16:59:54.788Z,1754758794.788 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-09T16:59:54.864Z,1754758794.864 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 63.500000 m,
      deltaT: 0.503821 s,
      deltaX: 0.200001 m,
      approachRate: 0.396968 m/s,
      rangeRepo size: 4

2025-08-09T16:59:54.889Z,1754758794.889 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 63.500000 m,
      bearing: 235.930070 deg,
      lat: 36.906174 deg,
      lon: -122.115937 deg,
      deltaT: 1.008191 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      posRepo size: 4

2025-08-09T16:59:54.895Z,1754758794.895 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 63.50 m.
2025-08-09T16:59:55.040Z,1754758795.040 [DAT](INFO): DAT read: Rx Time:16:59:54.0577 

2025-08-09T16:59:55.040Z,1754758795.040 [DAT](INFO): Rx dataTimestamp_ set to:1754758795.040018
2025-08-09T16:59:55.042Z,1754758795.042 [DAT](INFO): DAT read: Bearing  95.9, -65.3 (Local)

2025-08-09T16:59:55.042Z,1754758795.042 [DAT](INFO): Local bearing/azimuth received:
 Bearing  95.9, -65.3 (Local)

2025-08-09T16:59:55.044Z,1754758795.044 [DAT](INFO): DAT read: Range 11 to 50 :    63.3 m (trip time 42.2 ms) speed 0.0

2025-08-09T16:59:55.049Z,1754758795.049 [DAT](INFO): DAT read: 16:59:54.0577 LVL= 20400, 17809, 14162, 20659, AGC= 61, IDX= 497, 0.22, 0.690, 0.939, 3.102, 1.708, PHS=-0.916,-0.724, 1.350, RAW= 214.4,   2.7, CAL= 213.5,   2.1, ROT= 296.5,  -2.1

2025-08-09T16:59:55.051Z,1754758795.051 [DAT](INFO): got valid direction response:
 16:59:54.0577 LVL= 20400, 17809, 14162, 20659, AGC= 61, IDX= 497, 0.22, 0.690, 0.939, 3.102, 1.708, PHS=-0.916,-0.724, 1.350, RAW= 214.4,   2.7, CAL= 213.5,   2.1, ROT= 296.5,  -2.1

2025-08-09T16:59:55.051Z,1754758795.051 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-09T16:59:55.052Z,1754758795.052 [DAT](INFO): direction in FSK: [0.445898,-0.894333,0.036644]
2025-08-09T16:59:55.052Z,1754758795.052 [DAT](INFO): publishing direction and range info
2025-08-09T16:59:55.059Z,1754758795.059 [DAT](DEBUG): Acoustic response timeout
2025-08-09T16:59:55.060Z,1754758795.060 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-09T16:59:55.237Z,1754758795.237 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 63.299999 m,
      deltaT: 0.503779 s,
      deltaX: -0.200001 m,
      approachRate: -0.397001 m/s,
      rangeRepo size: 4

2025-08-09T16:59:55.240Z,1754758795.240 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 63.299999 m,
      bearing: 236.044683 deg,
      lat: 36.906176 deg,
      lon: -122.115937 deg,
      deltaT: 0.503779 s,
      deltaX: -0.200001 m,
      approachRate: -0.397001 m/s,
      posRepo size: 4

2025-08-09T16:59:55.240Z,1754758795.240 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 63.30 m.
2025-08-09T16:59:55.291Z,1754758795.291 [DAT](INFO): Reached modem response timeout
2025-08-09T16:59:55.291Z,1754758795.291 [DAT](DEBUG): Acoustic response timeout
2025-08-09T16:59:55.291Z,1754758795.291 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-09T16:59:55.544Z,1754758795.544 [DAT](INFO): DAT read: Rx Time:16:59:54.5579 

2025-08-09T16:59:55.544Z,1754758795.544 [DAT](INFO): Rx dataTimestamp_ set to:1754758795.544010
2025-08-09T16:59:55.546Z,1754758795.546 [DAT](INFO): DAT read: Bearing  93.6, -64.5 (Local)

2025-08-09T16:59:55.546Z,1754758795.546 [DAT](INFO): Local bearing/azimuth received:
 Bearing  93.6, -64.5 (Local)

2025-08-09T16:59:55.548Z,1754758795.548 [DAT](INFO): DAT read: Range 11 to 50 :    63.6 m (trip time 42.4 ms) speed -0.1

2025-08-09T16:59:55.553Z,1754758795.553 [DAT](INFO): DAT read: 16:59:54.5579 LVL= 14704, 14321, 14066, 11251, AGC= 63, IDX=   3,-0.34,-0.101, 0.114, 2.329, 0.895, PHS=-0.893,-0.736, 1.390, RAW= 213.5,   2.2, CAL= 212.6,   1.4, ROT= 297.4,  -1.4

2025-08-09T16:59:55.555Z,1754758795.555 [DAT](INFO): got valid direction response:
 16:59:54.5579 LVL= 14704, 14321, 14066, 11251, AGC= 63, IDX=   3,-0.34,-0.101, 0.114, 2.329, 0.895, PHS=-0.893,-0.736, 1.390, RAW= 213.5,   2.2, CAL= 212.6,   1.4, ROT= 297.4,  -1.4

2025-08-09T16:59:55.555Z,1754758795.555 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-09T16:59:55.556Z,1754758795.556 [DAT](INFO): direction in FSK: [0.460062,-0.887550,0.024432]
2025-08-09T16:59:55.556Z,1754758795.556 [DAT](INFO): publishing direction and range info
2025-08-09T16:59:55.559Z,1754758795.559 [DAT](DEBUG): Acoustic response timeout
2025-08-09T16:59:55.559Z,1754758795.559 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-09T16:59:55.715Z,1754758795.715 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 63.599998 m,
      deltaT: 0.503992 s,
      deltaX: 0.299999 m,
      approachRate: 0.595246 m/s,
      rangeRepo size: 4

2025-08-09T16:59:55.717Z,1754758795.717 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 63.599998 m,
      bearing: 236.185433 deg,
      lat: 36.906178 deg,
      lon: -122.115938 deg,
      deltaT: 0.503992 s,
      deltaX: 0.299999 m,
      approachRate: 0.595246 m/s,
      posRepo size: 4

2025-08-09T16:59:55.717Z,1754758795.717 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 63.60 m.
2025-08-09T16:59:55.795Z,1754758795.795 [DAT](INFO): Reached modem response timeout
2025-08-09T16:59:55.796Z,1754758795.796 [DAT](DEBUG): Acoustic response timeout
2025-08-09T16:59:55.796Z,1754758795.796 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-09T16:59:56.048Z,1754758796.048 [DAT](INFO): DAT read: Rx Time:16:59:55.0578 

2025-08-09T16:59:56.048Z,1754758796.048 [DAT](INFO): Rx dataTimestamp_ set to:1754758796.048064
2025-08-09T16:59:56.050Z,1754758796.050 [DAT](INFO): DAT read: Bearing  93.5, -64.7 (Local)

2025-08-09T16:59:56.050Z,1754758796.050 [DAT](INFO): Local bearing/azimuth received:
 Bearing  93.5, -64.7 (Local)

2025-08-09T16:59:56.053Z,1754758796.053 [DAT](INFO): DAT read: Range 11 to 50 :    63.5 m (trip time 42.3 ms) speed 0.0

2025-08-09T16:59:56.057Z,1754758796.057 [DAT](INFO): DAT read: 16:59:55.0578 LVL= 18864, 16993, 14802, 18371, AGC= 61, IDX= 498, 0.02,-0.515,-0.293, 1.899, 0.478, PHS=-0.891,-0.726, 1.377, RAW= 213.7,   2.2, CAL= 212.8,   1.4, ROT= 297.2,  -1.4

2025-08-09T16:59:56.059Z,1754758796.059 [DAT](INFO): got valid direction response:
 16:59:55.0578 LVL= 18864, 16993, 14802, 18371, AGC= 61, IDX= 498, 0.02,-0.515,-0.293, 1.899, 0.478, PHS=-0.891,-0.726, 1.377, RAW= 213.7,   2.2, CAL= 212.8,   1.4, ROT= 297.2,  -1.4

2025-08-09T16:59:56.059Z,1754758796.059 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-09T16:59:56.060Z,1754758796.060 [DAT](INFO): direction in FSK: [0.456961,-0.889151,0.024432]
2025-08-09T16:59:56.060Z,1754758796.060 [DAT](INFO): publishing direction and range info
2025-08-09T16:59:56.063Z,1754758796.063 [DAT](DEBUG): Acoustic response timeout
2025-08-09T16:59:56.064Z,1754758796.064 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-09T16:59:56.080Z,1754758796.080 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 63.500000 m,
      deltaT: 0.504054 s,
      deltaX: -0.099998 m,
      approachRate: -0.198388 m/s,
      rangeRepo size: 4

2025-08-09T16:59:56.094Z,1754758796.094 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 63.500000 m,
      bearing: 236.150489 deg,
      lat: 36.906178 deg,
      lon: -122.115938 deg,
      deltaT: 0.504054 s,
      deltaX: -0.099998 m,
      approachRate: -0.198388 m/s,
      posRepo size: 4

2025-08-09T16:59:56.095Z,1754758796.095 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 63.50 m.
2025-08-09T16:59:56.301Z,1754758796.301 [DAT](INFO): Reached modem response timeout
2025-08-09T16:59:56.302Z,1754758796.302 [DAT](DEBUG): Acoustic response timeout
2025-08-09T16:59:56.302Z,1754758796.302 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-09T16:59:56.483Z,1754758796.483 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 63.50 m.
2025-08-09T16:59:56.552Z,1754758796.552 [DAT](INFO): DAT read: Rx Time:16:59:55.5579 

2025-08-09T16:59:56.553Z,1754758796.553 [DAT](INFO): Rx dataTimestamp_ set to:1754758796.552403
2025-08-09T16:59:56.554Z,1754758796.554 [DAT](INFO): DAT read: Bearing  94.0, -64.9 (Local)

2025-08-09T16:59:56.554Z,1754758796.554 [DAT](INFO): Local bearing/azimuth received:
 Bearing  94.0, -64.9 (Local)

2025-08-09T16:59:56.556Z,1754758796.556 [DAT](INFO): DAT read: Range 11 to 50 :    63.6 m (trip time 42.4 ms) speed -0.1

2025-08-09T16:59:56.561Z,1754758796.561 [DAT](INFO): DAT read: 16:59:55.5579 LVL= 22976, 19441, 14930, 22003, AGC= 60, IDX= 499, 0.39, 1.225, 1.452,-2.690, 2.215, PHS=-0.888,-0.718, 1.335, RAW= 213.9,   2.6, CAL= 213.0,   1.9, ROT= 297.0,  -1.9

2025-08-09T16:59:56.562Z,1754758796.562 [DAT](INFO): got valid direction response:
 16:59:55.5579 LVL= 22976, 19441, 14930, 22003, AGC= 60, IDX= 499, 0.39, 1.225, 1.452,-2.690, 2.215, PHS=-0.888,-0.718, 1.335, RAW= 213.9,   2.6, CAL= 213.0,   1.9, ROT= 297.0,  -1.9

2025-08-09T16:59:56.563Z,1754758796.563 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-09T16:59:56.563Z,1754758796.563 [DAT](INFO): direction in FSK: [0.453741,-0.890517,0.033155]
2025-08-09T16:59:56.564Z,1754758796.564 [DAT](INFO): publishing direction and range info
2025-08-09T16:59:56.567Z,1754758796.567 [DAT](DEBUG): Acoustic response timeout
2025-08-09T16:59:56.567Z,1754758796.567 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-09T16:59:56.803Z,1754758796.803 [DAT](INFO): Reached modem response timeout
2025-08-09T16:59:56.803Z,1754758796.803 [DAT](DEBUG): Acoustic response timeout
2025-08-09T16:59:56.803Z,1754758796.803 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-09T16:59:56.911Z,1754758796.911 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 63.599998 m,
      deltaT: 0.504339 s,
      deltaX: 0.099998 m,
      approachRate: 0.198276 m/s,
      rangeRepo size: 4

2025-08-09T16:59:56.927Z,1754758796.927 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 63.599998 m,
      bearing: 235.961217 deg,
      lat: 36.906176 deg,
      lon: -122.115939 deg,
      deltaT: 0.504339 s,
      deltaX: 0.099998 m,
      approachRate: 0.198276 m/s,
      posRepo size: 4

2025-08-09T16:59:56.927Z,1754758796.927 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 63.60 m.
2025-08-09T16:59:57.056Z,1754758797.056 [DAT](INFO): DAT read: Rx Time:16:59:56.0579 

2025-08-09T16:59:57.056Z,1754758797.056 [DAT](INFO): Rx dataTimestamp_ set to:1754758797.055957
2025-08-09T16:59:57.057Z,1754758797.057 [DAT](INFO): DAT read: Bearing  92.1, -64.5 (Local)

2025-08-09T16:59:57.058Z,1754758797.058 [DAT](INFO): Local bearing/azimuth received:
 Bearing  92.1, -64.5 (Local)

2025-08-09T16:59:57.060Z,1754758797.060 [DAT](INFO): DAT read: Range 11 to 50 :    63.6 m (trip time 42.4 ms) speed 0.0

2025-08-09T16:59:57.065Z,1754758797.065 [DAT](INFO): DAT read: 16:59:56.0579 LVL= 24368, 21937, 15058, 24099, AGC= 60, IDX= 499,-0.03,-1.715,-1.502, 0.691,-0.731, PHS=-0.882,-0.726, 1.377, RAW= 213.5,   2.1, CAL= 212.6,   1.3, ROT= 297.4,  -1.3

2025-08-09T16:59:57.065Z,1754758797.065 [DAT](INFO): got valid direction response:
 16:59:56.0579 LVL= 24368, 21937, 15058, 24099, AGC= 60, IDX= 499,-0.03,-1.715,-1.502, 0.691,-0.731, PHS=-0.882,-0.726, 1.377, RAW= 213.5,   2.1, CAL= 212.6,   1.3, ROT= 297.4,  -1.3

2025-08-09T16:59:57.066Z,1754758797.066 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-09T16:59:57.067Z,1754758797.067 [DAT](INFO): direction in FSK: [0.460081,-0.887587,0.022687]
2025-08-09T16:59:57.067Z,1754758797.067 [DAT](INFO): publishing direction and range info
2025-08-09T16:59:57.071Z,1754758797.071 [DAT](DEBUG): Acoustic response timeout
2025-08-09T16:59:57.071Z,1754758797.071 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-09T16:59:57.277Z,1754758797.277 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 63.599998 m,
      deltaT: 0.503554 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-08-09T16:59:57.288Z,1754758797.288 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 63.599998 m,
      bearing: 236.028819 deg,
      lat: 36.906176 deg,
      lon: -122.115941 deg,
      deltaT: 0.503554 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      posRepo size: 4

2025-08-09T16:59:57.288Z,1754758797.288 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 63.60 m.
2025-08-09T16:59:57.307Z,1754758797.307 [DAT](INFO): Reached modem response timeout
2025-08-09T16:59:57.307Z,1754758797.307 [DAT](DEBUG): Acoustic response timeout
2025-08-09T16:59:57.308Z,1754758797.308 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-09T16:59:57.560Z,1754758797.560 [DAT](INFO): DAT read: Rx Time:16:59:56.5579 

2025-08-09T16:59:57.560Z,1754758797.560 [DAT](INFO): Rx dataTimestamp_ set to:1754758797.559989
2025-08-09T16:59:57.562Z,1754758797.562 [DAT](INFO): DAT read: Bearing  93.1, -65.3 (Local)

2025-08-09T16:59:57.562Z,1754758797.562 [DAT](INFO): Local bearing/azimuth received:
 Bearing  93.1, -65.3 (Local)

2025-08-09T16:59:57.564Z,1754758797.564 [DAT](INFO): DAT read: Range 11 to 50 :    63.6 m (trip time 42.4 ms) speed -0.1

2025-08-09T16:59:57.569Z,1754758797.569 [DAT](INFO): DAT read: 16:59:56.5579 LVL= 22432, 21601, 16354, 22867, AGC= 61, IDX= 499, 0.36, 0.041, 0.288, 2.436, 1.044, PHS=-0.901,-0.711, 1.348, RAW= 214.4,   2.5, CAL= 213.4,   1.8, ROT= 296.6,  -1.8

2025-08-09T16:59:57.570Z,1754758797.570 [DAT](INFO): got valid direction response:
 16:59:56.5579 LVL= 22432, 21601, 16354, 22867, AGC= 61, IDX= 499, 0.36, 0.041, 0.288, 2.436, 1.044, PHS=-0.901,-0.711, 1.348, RAW= 214.4,   2.5, CAL= 213.4,   1.8, ROT= 296.6,  -1.8

2025-08-09T16:59:57.570Z,1754758797.570 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-09T16:59:57.574Z,1754758797.574 [DAT](INFO): direction in FSK: [0.447538,-0.893713,0.031411]
2025-08-09T16:59:57.575Z,1754758797.575 [DAT](INFO): publishing direction and range info
2025-08-09T16:59:57.578Z,1754758797.578 [DAT](DEBUG): Acoustic response timeout
2025-08-09T16:59:57.578Z,1754758797.578 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-09T16:59:57.725Z,1754758797.725 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 63.599998 m,
      deltaT: 0.504032 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-08-09T16:59:57.732Z,1754758797.732 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 63.599998 m,
      bearing: 235.985303 deg,
      lat: 36.906176 deg,
      lon: -122.115941 deg,
      deltaT: 0.504032 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      posRepo size: 4

2025-08-09T16:59:57.732Z,1754758797.732 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 63.60 m.
2025-08-09T16:59:57.811Z,1754758797.811 [DAT](INFO): Reached modem response timeout
2025-08-09T16:59:57.811Z,1754758797.811 [DAT](DEBUG): Acoustic response timeout
2025-08-09T16:59:57.812Z,1754758797.812 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-09T16:59:58.053Z,1754758798.053 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 63.60 m.
2025-08-09T16:59:58.064Z,1754758798.064 [DAT](INFO): DAT read: Rx Time:16:59:57.0579 

2025-08-09T16:59:58.064Z,1754758798.064 [DAT](INFO): Rx dataTimestamp_ set to:1754758798.064216
2025-08-09T16:59:58.066Z,1754758798.066 [DAT](INFO): DAT read: Bearing  91.5, -64.5 (Local)

2025-08-09T16:59:58.066Z,1754758798.066 [DAT](INFO): Local bearing/azimuth received:
 Bearing  91.5, -64.5 (Local)

2025-08-09T16:59:58.073Z,1754758798.073 [DAT](INFO): DAT read: Range 11 to 50 :    63.6 m (trip time 42.4 ms) speed -0.1

2025-08-09T16:59:58.094Z,1754758798.094 [DAT](INFO): DAT read: 16:59:57.0579 LVL= 22000, 21537, 16498, 22723, AGC= 62, IDX= 499,-0.08,-2.796,-2.579,-0.381,-1.807, PHS=-0.887,-0.726, 1.382, RAW= 213.6,   2.1, CAL= 212.7,   1.3, ROT= 297.3,  -1.3

2025-08-09T16:59:58.095Z,1754758798.095 [DAT](INFO): got valid direction response:
 16:59:57.0579 LVL= 22000, 21537, 16498, 22723, AGC= 62, IDX= 499,-0.08,-2.796,-2.579,-0.381,-1.807, PHS=-0.887,-0.726, 1.382, RAW= 213.6,   2.1, CAL= 212.7,   1.3, ROT= 297.3,  -1.3

2025-08-09T16:59:58.096Z,1754758798.096 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-09T16:59:58.097Z,1754758798.097 [DAT](INFO): direction in FSK: [0.458531,-0.888389,0.022687]
2025-08-09T16:59:58.097Z,1754758798.097 [DAT](INFO): publishing direction and range info
2025-08-09T16:59:58.108Z,1754758798.108 [DAT](DEBUG): Acoustic response timeout
2025-08-09T16:59:58.109Z,1754758798.109 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-09T16:59:58.315Z,1754758798.315 [DAT](INFO): Reached modem response timeout
2025-08-09T16:59:58.315Z,1754758798.315 [DAT](DEBUG): Acoustic response timeout
2025-08-09T16:59:58.316Z,1754758798.316 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-09T16:59:58.497Z,1754758798.497 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 63.599998 m,
      deltaT: 0.504227 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-08-09T16:59:58.499Z,1754758798.499 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 63.599998 m,
      bearing: 235.653270 deg,
      lat: 36.906174 deg,
      lon: -122.115939 deg,
      deltaT: 0.504227 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      posRepo size: 4

2025-08-09T16:59:58.500Z,1754758798.500 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 63.60 m.
2025-08-09T16:59:58.568Z,1754758798.568 [DAT](INFO): DAT read: Rx Time:16:59:57.5580 

2025-08-09T16:59:58.568Z,1754758798.568 [DAT](INFO): Rx dataTimestamp_ set to:1754758798.568191
2025-08-09T16:59:58.570Z,1754758798.570 [DAT](INFO): DAT read: Bearing  94.1, -65.2 (Local)

2025-08-09T16:59:58.570Z,1754758798.570 [DAT](INFO): Local bearing/azimuth received:
 Bearing  94.1, -65.2 (Local)

2025-08-09T16:59:58.572Z,1754758798.572 [DAT](INFO): DAT read: Range 11 to 50 :    63.8 m (trip time 42.5 ms) speed 0.0

2025-08-09T16:59:58.577Z,1754758798.577 [DAT](INFO): DAT read: 16:59:57.5580 LVL= 24528, 21425, 16786, 22755, AGC= 61, IDX= 500, 0.12, 1.923, 2.167,-1.953, 2.948, PHS=-0.923,-0.736, 1.338, RAW= 214.3,   3.0, CAL= 213.5,   2.5, ROT= 296.5,  -2.5

2025-08-09T16:59:58.578Z,1754758798.578 [DAT](INFO): got valid direction response:
 16:59:57.5580 LVL= 24528, 21425, 16786, 22755, AGC= 61, IDX= 500, 0.12, 1.923, 2.167,-1.953, 2.948, PHS=-0.923,-0.736, 1.338, RAW= 214.3,   3.0, CAL= 213.5,   2.5, ROT= 296.5,  -2.5

2025-08-09T16:59:58.578Z,1754758798.578 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-09T16:59:58.579Z,1754758798.579 [DAT](INFO): direction in FSK: [0.445773,-0.894083,0.043619]
2025-08-09T16:59:58.580Z,1754758798.580 [DAT](INFO): publishing direction and range info
2025-08-09T16:59:58.584Z,1754758798.584 [DAT](DEBUG): Acoustic response timeout
2025-08-09T16:59:58.584Z,1754758798.584 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-09T16:59:58.819Z,1754758798.819 [DAT](INFO): Reached modem response timeout
2025-08-09T16:59:58.819Z,1754758798.819 [DAT](DEBUG): Acoustic response timeout
2025-08-09T16:59:58.819Z,1754758798.819 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-09T16:59:58.953Z,1754758798.953 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 63.799999 m,
      deltaT: 0.503975 s,
      deltaX: 0.200001 m,
      approachRate: 0.396847 m/s,
      rangeRepo size: 4

2025-08-09T16:59:58.959Z,1754758798.959 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 63.799999 m,
      bearing: 235.443708 deg,
      lat: 36.906173 deg,
      lon: -122.115938 deg,
      deltaT: 0.503975 s,
      deltaX: 0.200001 m,
      approachRate: 0.396847 m/s,
      posRepo size: 4

2025-08-09T16:59:58.960Z,1754758798.960 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 63.80 m.
2025-08-09T16:59:59.072Z,1754758799.072 [DAT](INFO): DAT read: Rx Time:16:59:58.0579 

2025-08-09T16:59:59.072Z,1754758799.072 [DAT](INFO): Rx dataTimestamp_ set to:1754758799.071945
2025-08-09T16:59:59.073Z,1754758799.073 [DAT](INFO): DAT read: Bearing  92.0, -64.9 (Local)

2025-08-09T16:59:59.074Z,1754758799.074 [DAT](INFO): Local bearing/azimuth received:
 Bearing  92.0, -64.9 (Local)

2025-08-09T16:59:59.076Z,1754758799.076 [DAT](INFO): DAT read: Range 11 to 50 :    63.6 m (trip time 42.4 ms) speed 0.0

2025-08-09T16:59:59.081Z,1754758799.081 [DAT](INFO): DAT read: 16:59:58.0579 LVL= 24032, 25137, 15842, 19939, AGC= 63, IDX= 499, 0.36, 2.544, 2.781,-1.329,-2.732, PHS=-0.905,-0.725, 1.360, RAW= 214.1,   2.5, CAL= 213.2,   1.9, ROT= 296.8,  -1.9

2025-08-09T16:59:59.082Z,1754758799.082 [DAT](INFO): got valid direction response:
 16:59:58.0579 LVL= 24032, 25137, 15842, 19939, AGC= 63, IDX= 499, 0.36, 2.544, 2.781,-1.329,-2.732, PHS=-0.905,-0.725, 1.360, RAW= 214.1,   2.5, CAL= 213.2,   1.9, ROT= 296.8,  -1.9

2025-08-09T16:59:59.083Z,1754758799.083 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-09T16:59:59.084Z,1754758799.084 [DAT](INFO): direction in FSK: [0.450630,-0.892095,0.033155]
2025-08-09T16:59:59.084Z,1754758799.084 [DAT](INFO): publishing direction and range info
2025-08-09T16:59:59.090Z,1754758799.090 [DAT](DEBUG): Acoustic response timeout
2025-08-09T16:59:59.101Z,1754758799.101 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-09T16:59:59.292Z,1754758799.292 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 63.599998 m,
      deltaT: 0.503754 s,
      deltaX: -0.200001 m,
      approachRate: -0.397021 m/s,
      rangeRepo size: 4

2025-08-09T16:59:59.294Z,1754758799.294 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 63.599998 m,
      bearing: 234.953683 deg,
      lat: 36.906169 deg,
      lon: -122.115934 deg,
      deltaT: 0.503754 s,
      deltaX: -0.200001 m,
      approachRate: -0.397021 m/s,
      posRepo size: 4

2025-08-09T16:59:59.314Z,1754758799.314 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 63.60 m.
2025-08-09T16:59:59.324Z,1754758799.324 [DAT](INFO): Reached modem response timeout
2025-08-09T16:59:59.324Z,1754758799.324 [DAT](DEBUG): Acoustic response timeout
2025-08-09T16:59:59.324Z,1754758799.324 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-09T16:59:59.576Z,1754758799.576 [DAT](INFO): DAT read: Rx Time:16:59:58.5581 

2025-08-09T16:59:59.577Z,1754758799.577 [DAT](INFO): Rx dataTimestamp_ set to:1754758799.576395
2025-08-09T16:59:59.578Z,1754758799.578 [DAT](INFO): DAT read: Range 11 to 50 :    63.9 m (trip time 42.6 ms) speed 0.0

2025-08-09T16:59:59.579Z,1754758799.579 [DAT](ERROR): #Rx 1: Read range message, but no direction.
2025-08-09T16:59:59.579Z,1754758799.579 [DAT](DEBUG): Acoustic response timeout
2025-08-09T16:59:59.580Z,1754758799.580 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-09T16:59:59.718Z,1754758799.718 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 63.900002 m,
      deltaT: 0.504450 s,
      deltaX: 0.300003 m,
      approachRate: 0.594713 m/s,
      rangeRepo size: 4

2025-08-09T16:59:59.718Z,1754758799.718 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 63.60 m.
2025-08-09T16:59:59.827Z,1754758799.827 [DAT](INFO): Reached modem response timeout
2025-08-09T16:59:59.827Z,1754758799.827 [DAT](DEBUG): Acoustic response timeout
2025-08-09T16:59:59.827Z,1754758799.827 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-09T17:00:00.080Z,1754758800.080 [DAT](INFO): DAT read: Rx Time:16:59:59.0580 

2025-08-09T17:00:00.080Z,1754758800.080 [DAT](INFO): Rx dataTimestamp_ set to:1754758800.080160
2025-08-09T17:00:00.082Z,1754758800.082 [DAT](INFO): DAT read: Bearing  90.2, -64.5 (Local)

2025-08-09T17:00:00.082Z,1754758800.082 [DAT](INFO): Local bearing/azimuth received:
 Bearing  90.2, -64.5 (Local)

2025-08-09T17:00:00.085Z,1754758800.085 [DAT](INFO): DAT read: Range 11 to 50 :    63.8 m (trip time 42.5 ms) speed 0.0

2025-08-09T17:00:00.089Z,1754758800.089 [DAT](INFO): DAT read: 16:59:59.0580 LVL= 24704, 26913, 18594, 25715, AGC= 61, IDX= 500, 0.17, 0.289, 0.516, 2.721, 1.290, PHS=-0.899,-0.729, 1.387, RAW= 213.8,   2.2, CAL= 212.9,   1.4, ROT= 297.1,  -1.4

2025-08-09T17:00:00.091Z,1754758800.091 [DAT](INFO): got valid direction response:
 16:59:59.0580 LVL= 24704, 26913, 18594, 25715, AGC= 61, IDX= 500, 0.17, 0.289, 0.516, 2.721, 1.290, PHS=-0.899,-0.729, 1.387, RAW= 213.8,   2.2, CAL= 212.9,   1.4, ROT= 297.1,  -1.4

2025-08-09T17:00:00.091Z,1754758800.091 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-09T17:00:00.092Z,1754758800.092 [DAT](INFO): direction in FSK: [0.455409,-0.889947,0.024432]
2025-08-09T17:00:00.092Z,1754758800.092 [DAT](INFO): publishing direction and range info
2025-08-09T17:00:00.096Z,1754758800.096 [DAT](DEBUG): Acoustic response timeout
2025-08-09T17:00:00.096Z,1754758800.096 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-09T17:00:00.135Z,1754758800.135 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 63.799999 m,
      deltaT: 0.503765 s,
      deltaX: -0.100002 m,
      approachRate: -0.198510 m/s,
      rangeRepo size: 4

2025-08-09T17:00:00.137Z,1754758800.137 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 63.799999 m,
      bearing: 234.808991 deg,
      lat: 36.906168 deg,
      lon: -122.115934 deg,
      deltaT: 1.008215 s,
      deltaX: 0.200001 m,
      approachRate: 0.198371 m/s,
      posRepo size: 4

2025-08-09T17:00:00.137Z,1754758800.137 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 63.80 m.
2025-08-09T17:00:00.331Z,1754758800.331 [DAT](INFO): Reached modem response timeout
2025-08-09T17:00:00.331Z,1754758800.331 [DAT](DEBUG): Acoustic response timeout
2025-08-09T17:00:00.331Z,1754758800.331 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-09T17:00:00.540Z,1754758800.540 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 63.80 m.
2025-08-09T17:00:00.584Z,1754758800.584 [DAT](INFO): DAT read: Rx Time:16:59:59.5581 

2025-08-09T17:00:00.584Z,1754758800.584 [DAT](INFO): Rx dataTimestamp_ set to:1754758800.584143
2025-08-09T17:00:00.586Z,1754758800.586 [DAT](INFO): DAT read: Bearing  89.5, -64.2 (Local)

2025-08-09T17:00:00.586Z,1754758800.586 [DAT](INFO): Local bearing/azimuth received:
 Bearing  89.5, -64.2 (Local)

2025-08-09T17:00:00.588Z,1754758800.588 [DAT](INFO): DAT read: Range 11 to 50 :    63.9 m (trip time 42.6 ms) speed 0.0

2025-08-09T17:00:00.594Z,1754758800.594 [DAT](INFO): DAT read: 16:59:59.5581 LVL= 23792, 26337, 17202, 25667, AGC= 61, IDX= 501, 0.32, 1.398, 1.613,-2.445, 2.395, PHS=-0.896,-0.738, 1.399, RAW= 213.5,   2.1, CAL= 212.6,   1.3, ROT= 297.4,  -1.3

2025-08-09T17:00:00.596Z,1754758800.596 [DAT](INFO): got valid direction response:
 16:59:59.5581 LVL= 23792, 26337, 17202, 25667, AGC= 61, IDX= 501, 0.32, 1.398, 1.613,-2.445, 2.395, PHS=-0.896,-0.738, 1.399, RAW= 213.5,   2.1, CAL= 212.6,   1.3, ROT= 297.4,  -1.3

2025-08-09T17:00:00.596Z,1754758800.596 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-09T17:00:00.598Z,1754758800.598 [DAT](INFO): direction in FSK: [0.460081,-0.887587,0.022687]
2025-08-09T17:00:00.603Z,1754758800.603 [DAT](INFO): publishing direction and range info
2025-08-09T17:00:00.606Z,1754758800.606 [DAT](DEBUG): Acoustic response timeout
2025-08-09T17:00:00.606Z,1754758800.606 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-09T17:00:00.835Z,1754758800.835 [DAT](INFO): Reached modem response timeout
2025-08-09T17:00:00.835Z,1754758800.835 [DAT](DEBUG): Acoustic response timeout
2025-08-09T17:00:00.836Z,1754758800.836 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-09T17:00:00.961Z,1754758800.961 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 63.900002 m,
      deltaT: 0.503983 s,
      deltaX: 0.100002 m,
      approachRate: 0.198424 m/s,
      rangeRepo size: 4

2025-08-09T17:00:00.963Z,1754758800.963 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 63.900002 m,
      bearing: 234.533180 deg,
      lat: 36.906166 deg,
      lon: -122.115934 deg,
      deltaT: 0.503983 s,
      deltaX: 0.100002 m,
      approachRate: 0.198424 m/s,
      posRepo size: 4

2025-08-09T17:00:00.964Z,1754758800.964 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 63.90 m.
2025-08-09T17:00:01.088Z,1754758801.088 [DAT](INFO): DAT read: Rx Time:17:00:00.0580 

2025-08-09T17:00:01.088Z,1754758801.088 [DAT](INFO): Rx dataTimestamp_ set to:1754758801.088039
2025-08-09T17:00:01.090Z,1754758801.090 [DAT](INFO): DAT read: Bearing  89.3, -63.9 (Local)

2025-08-09T17:00:01.090Z,1754758801.090 [DAT](INFO): Local bearing/azimuth received:
 Bearing  89.3, -63.9 (Local)

2025-08-09T17:00:01.093Z,1754758801.093 [DAT](INFO): DAT read: Range 11 to 50 :    63.8 m (trip time 42.5 ms) speed 0.0

2025-08-09T17:00:01.097Z,1754758801.097 [DAT](INFO): DAT read: 17:00:00.0580 LVL= 20896, 25233, 16178, 22611, AGC= 62, IDX= 500, 0.39, 0.660, 0.865, 3.103, 1.656, PHS=-0.894,-0.746, 1.403, RAW= 213.3,   2.2, CAL= 212.4,   1.3, ROT= 297.6,  -1.3

2025-08-09T17:00:01.101Z,1754758801.101 [DAT](INFO): got valid direction response:
 17:00:00.0580 LVL= 20896, 25233, 16178, 22611, AGC= 62, IDX= 500, 0.39, 0.660, 0.865, 3.103, 1.656, PHS=-0.894,-0.746, 1.403, RAW= 213.3,   2.2, CAL= 212.4,   1.3, ROT= 297.6,  -1.3

2025-08-09T17:00:01.101Z,1754758801.101 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-09T17:00:01.103Z,1754758801.103 [DAT](INFO): direction in FSK: [0.463177,-0.885975,0.022687]
2025-08-09T17:00:01.103Z,1754758801.103 [DAT](INFO): publishing direction and range info
2025-08-09T17:00:01.120Z,1754758801.120 [DAT](DEBUG): Acoustic response timeout
2025-08-09T17:00:01.121Z,1754758801.121 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-09T17:00:01.307Z,1754758801.307 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 63.799999 m,
      deltaT: 0.503896 s,
      deltaX: -0.100002 m,
      approachRate: -0.198458 m/s,
      rangeRepo size: 4

2025-08-09T17:00:01.309Z,1754758801.309 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 63.799999 m,
      bearing: 234.379501 deg,
      lat: 36.906165 deg,
      lon: -122.115933 deg,
      deltaT: 0.503896 s,
      deltaX: -0.100002 m,
      approachRate: -0.198458 m/s,
      posRepo size: 4

2025-08-09T17:00:01.310Z,1754758801.310 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 63.80 m.
2025-08-09T17:00:01.339Z,1754758801.339 [DAT](INFO): Reached modem response timeout
2025-08-09T17:00:01.339Z,1754758801.339 [DAT](DEBUG): Acoustic response timeout
2025-08-09T17:00:01.339Z,1754758801.339 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-09T17:00:01.592Z,1754758801.592 [DAT](INFO): DAT read: Rx Time:17:00:00.5581 

2025-08-09T17:00:01.592Z,1754758801.592 [DAT](INFO): Rx dataTimestamp_ set to:1754758801.592020
2025-08-09T17:00:01.594Z,1754758801.594 [DAT](INFO): DAT read: Bearing  89.9, -64.0 (Local)

2025-08-09T17:00:01.594Z,1754758801.594 [DAT](INFO): Local bearing/azimuth received:
 Bearing  89.9, -64.0 (Local)

2025-08-09T17:00:01.596Z,1754758801.596 [DAT](INFO): DAT read: Range 11 to 50 :    63.9 m (trip time 42.6 ms) speed 0.0

2025-08-09T17:00:01.601Z,1754758801.601 [DAT](INFO): DAT read: 17:00:00.5581 LVL= 23376, 24977, 17634, 21619, AGC= 63, IDX= 501, 0.30,-2.722,-2.516,-0.318,-1.728, PHS=-0.892,-0.743, 1.366, RAW= 213.4,   2.5, CAL= 212.5,   1.7, ROT= 297.5,  -1.7

2025-08-09T17:00:01.602Z,1754758801.602 [DAT](INFO): got valid direction response:
 17:00:00.5581 LVL= 23376, 24977, 17634, 21619, AGC= 63, IDX= 501, 0.30,-2.722,-2.516,-0.318,-1.728, PHS=-0.892,-0.743, 1.366, RAW= 213.4,   2.5, CAL= 212.5,   1.7, ROT= 297.5,  -1.7

2025-08-09T17:00:01.602Z,1754758801.602 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-09T17:00:01.613Z,1754758801.613 [DAT](INFO): direction in FSK: [0.461546,-0.886620,0.029666]
2025-08-09T17:00:01.613Z,1754758801.613 [DAT](INFO): publishing direction and range info
2025-08-09T17:00:01.616Z,1754758801.616 [DAT](DEBUG): Acoustic response timeout
2025-08-09T17:00:01.617Z,1754758801.617 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-09T17:00:01.796Z,1754758801.796 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 63.900002 m,
      deltaT: 0.503981 s,
      deltaX: 0.100002 m,
      approachRate: 0.198425 m/s,
      rangeRepo size: 4

2025-08-09T17:00:01.798Z,1754758801.798 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 63.900002 m,
      bearing: 234.324104 deg,
      lat: 36.906165 deg,
      lon: -122.115933 deg,
      deltaT: 0.503981 s,
      deltaX: 0.100002 m,
      approachRate: 0.198425 m/s,
      posRepo size: 4

2025-08-09T17:00:01.802Z,1754758801.802 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 63.90 m.
2025-08-09T17:00:01.845Z,1754758801.845 [DAT](INFO): Reached modem response timeout
2025-08-09T17:00:01.845Z,1754758801.845 [DAT](DEBUG): Acoustic response timeout
2025-08-09T17:00:01.846Z,1754758801.846 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-09T17:00:02.096Z,1754758802.096 [DAT](INFO): DAT read: Rx Time:17:00:01.0580 

2025-08-09T17:00:02.096Z,1754758802.096 [DAT](INFO): Rx dataTimestamp_ set to:1754758802.096058
2025-08-09T17:00:02.098Z,1754758802.098 [DAT](INFO): DAT read: Bearing  89.1, -63.8 (Local)

2025-08-09T17:00:02.098Z,1754758802.098 [DAT](INFO): Local bearing/azimuth received:
 Bearing  89.1, -63.8 (Local)

2025-08-09T17:00:02.100Z,1754758802.100 [DAT](INFO): DAT read: Range 11 to 50 :    63.8 m (trip time 42.5 ms) speed 0.0

2025-08-09T17:00:02.105Z,1754758802.105 [DAT](INFO): DAT read: 17:00:01.0580 LVL= 22816, 24753, 17826, 24211, AGC= 64, IDX= 500, 0.15,-2.846,-2.641,-0.407,-1.844, PHS=-0.900,-0.752, 1.393, RAW= 213.3,   2.4, CAL= 212.4,   1.6, ROT= 297.6,  -1.6

2025-08-09T17:00:02.106Z,1754758802.106 [DAT](INFO): got valid direction response:
 17:00:01.0580 LVL= 22816, 24753, 17826, 24211, AGC= 64, IDX= 500, 0.15,-2.846,-2.641,-0.407,-1.844, PHS=-0.900,-0.752, 1.393, RAW= 213.3,   2.4, CAL= 212.4,   1.6, ROT= 297.6,  -1.6

2025-08-09T17:00:02.106Z,1754758802.106 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-09T17:00:02.107Z,1754758802.107 [DAT](INFO): direction in FSK: [0.463115,-0.885858,0.027922]
2025-08-09T17:00:02.107Z,1754758802.107 [DAT](INFO): publishing direction and range info
2025-08-09T17:00:02.112Z,1754758802.112 [DAT](DEBUG): Acoustic response timeout
2025-08-09T17:00:02.112Z,1754758802.112 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-09T17:00:02.183Z,1754758802.183 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 63.799999 m,
      deltaT: 0.504038 s,
      deltaX: -0.100002 m,
      approachRate: -0.198402 m/s,
      rangeRepo size: 4

2025-08-09T17:00:02.186Z,1754758802.186 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 63.799999 m,
      bearing: 234.223767 deg,
      lat: 36.906164 deg,
      lon: -122.115933 deg,
      deltaT: 0.504038 s,
      deltaX: -0.100002 m,
      approachRate: -0.198402 m/s,
      posRepo size: 4

2025-08-09T17:00:02.190Z,1754758802.190 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 63.80 m.
2025-08-09T17:00:02.348Z,1754758802.348 [DAT](INFO): Reached modem response timeout
2025-08-09T17:00:02.348Z,1754758802.348 [DAT](DEBUG): Acoustic response timeout
2025-08-09T17:00:02.349Z,1754758802.349 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-09T17:00:02.535Z,1754758802.535 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 63.80 m.
2025-08-09T17:00:02.600Z,1754758802.600 [DAT](INFO): DAT read: Rx Time:17:00:01.5581 

2025-08-09T17:00:02.600Z,1754758802.600 [DAT](INFO): Rx dataTimestamp_ set to:1754758802.600191
2025-08-09T17:00:02.602Z,1754758802.602 [DAT](INFO): DAT read: Bearing  88.4, -63.3 (Local)

2025-08-09T17:00:02.602Z,1754758802.602 [DAT](INFO): Local bearing/azimuth received:
 Bearing  88.4, -63.3 (Local)

2025-08-09T17:00:02.604Z,1754758802.604 [DAT](INFO): DAT read: Range 11 to 50 :    63.9 m (trip time 42.6 ms) speed 0.0

2025-08-09T17:00:02.609Z,1754758802.609 [DAT](INFO): DAT read: 17:00:01.5581 LVL= 18912, 19361, 13506, 19443, AGC= 62, IDX= 501, 0.03,-1.182,-0.998, 1.227,-0.202, PHS=-0.879,-0.752, 1.385, RAW= 212.9,   2.3, CAL= 212.0,   1.3, ROT= 298.0,  -1.3

2025-08-09T17:00:02.610Z,1754758802.610 [DAT](INFO): got valid direction response:
 17:00:01.5581 LVL= 18912, 19361, 13506, 19443, AGC= 62, IDX= 501, 0.03,-1.182,-0.998, 1.227,-0.202, PHS=-0.879,-0.752, 1.385, RAW= 212.9,   2.3, CAL= 212.0,   1.3, ROT= 298.0,  -1.3

2025-08-09T17:00:02.613Z,1754758802.613 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-09T17:00:02.623Z,1754758802.623 [DAT](INFO): direction in FSK: [0.469351,-0.882720,0.022687]
2025-08-09T17:00:02.623Z,1754758802.623 [DAT](INFO): publishing direction and range info
2025-08-09T17:00:02.626Z,1754758802.626 [DAT](DEBUG): Acoustic response timeout
2025-08-09T17:00:02.634Z,1754758802.634 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-09T17:00:02.851Z,1754758802.851 [DAT](INFO): Reached modem response timeout
2025-08-09T17:00:02.851Z,1754758802.851 [DAT](DEBUG): Acoustic response timeout
2025-08-09T17:00:02.852Z,1754758802.852 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-09T17:00:02.999Z,1754758802.999 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 63.900002 m,
      deltaT: 0.504133 s,
      deltaX: 0.100002 m,
      approachRate: 0.198365 m/s,
      rangeRepo size: 4

2025-08-09T17:00:03.001Z,1754758803.001 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 63.900002 m,
      bearing: 233.935735 deg,
      lat: 36.906162 deg,
      lon: -122.115932 deg,
      deltaT: 0.504133 s,
      deltaX: 0.100002 m,
      approachRate: 0.198365 m/s,
      posRepo size: 4

2025-08-09T17:00:03.001Z,1754758803.001 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 63.90 m.
2025-08-09T17:00:03.105Z,1754758803.105 [DAT](INFO): DAT read: Rx Time:17:00:02.0580 

2025-08-09T17:00:03.105Z,1754758803.105 [DAT](INFO): Rx dataTimestamp_ set to:1754758803.104828
2025-08-09T17:00:03.107Z,1754758803.107 [DAT](INFO): DAT read: Bearing  87.0, -62.6 (Local)

2025-08-09T17:00:03.107Z,1754758803.107 [DAT](INFO): Local bearing/azimuth received:
 Bearing  87.0, -62.6 (Local)

2025-08-09T17:00:03.109Z,1754758803.109 [DAT](INFO): DAT read: Range 11 to 50 :    63.8 m (trip time 42.5 ms) speed 0.0

2025-08-09T17:00:03.113Z,1754758803.113 [DAT](INFO): DAT read: 17:00:02.0580 LVL= 20512, 21857, 16498, 22131, AGC= 63, IDX= 500,-0.04, 2.530, 2.690,-1.329,-2.787, PHS=-0.864,-0.760, 1.415, RAW= 212.3,   1.9, CAL= 211.4,   0.8, ROT= 298.6,  -0.8

2025-08-09T17:00:03.115Z,1754758803.115 [DAT](INFO): got valid direction response:
 17:00:02.0580 LVL= 20512, 21857, 16498, 22131, AGC= 63, IDX= 500,-0.04, 2.530, 2.690,-1.329,-2.787, PHS=-0.864,-0.760, 1.415, RAW= 212.3,   1.9, CAL= 211.4,   0.8, ROT= 298.6,  -0.8

2025-08-09T17:00:03.115Z,1754758803.115 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-09T17:00:03.116Z,1754758803.116 [DAT](INFO): direction in FSK: [0.478645,-0.877897,0.013962]
2025-08-09T17:00:03.117Z,1754758803.117 [DAT](INFO): publishing direction and range info
2025-08-09T17:00:03.124Z,1754758803.124 [DAT](DEBUG): Acoustic response timeout
2025-08-09T17:00:03.124Z,1754758803.124 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-09T17:00:03.331Z,1754758803.331 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 63.799999 m,
      deltaT: 0.504637 s,
      deltaX: -0.100002 m,
      approachRate: -0.198167 m/s,
      rangeRepo size: 4

2025-08-09T17:00:03.333Z,1754758803.333 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 63.799999 m,
      bearing: 233.904510 deg,
      lat: 36.906162 deg,
      lon: -122.115932 deg,
      deltaT: 0.504637 s,
      deltaX: -0.100002 m,
      approachRate: -0.198167 m/s,
      posRepo size: 4

2025-08-09T17:00:03.334Z,1754758803.334 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 63.80 m.
2025-08-09T17:00:03.356Z,1754758803.356 [DAT](INFO): Reached modem response timeout
2025-08-09T17:00:03.356Z,1754758803.356 [DAT](DEBUG): Acoustic response timeout
2025-08-09T17:00:03.357Z,1754758803.357 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-09T17:00:03.608Z,1754758803.608 [DAT](INFO): DAT read: Rx Time:17:00:02.5581 

2025-08-09T17:00:03.608Z,1754758803.608 [DAT](INFO): Rx dataTimestamp_ set to:1754758803.608040
2025-08-09T17:00:03.610Z,1754758803.610 [DAT](INFO): DAT read: Bearing  87.0, -62.3 (Local)

2025-08-09T17:00:03.610Z,1754758803.610 [DAT](INFO): Local bearing/azimuth received:
 Bearing  87.0, -62.3 (Local)

2025-08-09T17:00:03.612Z,1754758803.612 [DAT](INFO): DAT read: Range 11 to 50 :    63.9 m (trip time 42.6 ms) speed 0.0

2025-08-09T17:00:03.617Z,1754758803.617 [DAT](INFO): DAT read: 17:00:02.5581 LVL= 23456, 22097, 16498, 23187, AGC= 62, IDX= 501,-0.09, 2.653, 2.796,-1.245,-2.680, PHS=-0.848,-0.763, 1.390, RAW= 211.9,   2.0, CAL= 211.1,   0.9, ROT= 298.9,  -0.9

2025-08-09T17:00:03.618Z,1754758803.618 [DAT](INFO): got valid direction response:
 17:00:02.5581 LVL= 23456, 22097, 16498, 23187, AGC= 62, IDX= 501,-0.09, 2.653, 2.796,-1.245,-2.680, PHS=-0.848,-0.763, 1.390, RAW= 211.9,   2.0, CAL= 211.1,   0.9, ROT= 298.9,  -0.9

2025-08-09T17:00:03.619Z,1754758803.619 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-09T17:00:03.620Z,1754758803.620 [DAT](INFO): direction in FSK: [0.483223,-0.875356,0.015707]
2025-08-09T17:00:03.620Z,1754758803.620 [DAT](INFO): publishing direction and range info
2025-08-09T17:00:03.623Z,1754758803.623 [DAT](DEBUG): Acoustic response timeout
2025-08-09T17:00:03.624Z,1754758803.624 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-09T17:00:03.799Z,1754758803.799 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 63.900002 m,
      deltaT: 0.503212 s,
      deltaX: 0.100002 m,
      approachRate: 0.198728 m/s,
      rangeRepo size: 4

2025-08-09T17:00:03.801Z,1754758803.801 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 63.900002 m,
      bearing: 233.869442 deg,
      lat: 36.906162 deg,
      lon: -122.115932 deg,
      deltaT: 0.503212 s,
      deltaX: 0.100002 m,
      approachRate: 0.198728 m/s,
      posRepo size: 4

2025-08-09T17:00:03.802Z,1754758803.802 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 63.90 m.
2025-08-09T17:00:03.860Z,1754758803.860 [DAT](INFO): Reached modem response timeout
2025-08-09T17:00:03.860Z,1754758803.860 [DAT](DEBUG): Acoustic response timeout
2025-08-09T17:00:03.860Z,1754758803.860 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-09T17:00:04.112Z,1754758804.112 [DAT](INFO): DAT read: Rx Time:17:00:03.0580 

2025-08-09T17:00:04.112Z,1754758804.112 [DAT](INFO): Rx dataTimestamp_ set to:1754758804.111779
2025-08-09T17:00:04.113Z,1754758804.113 [DAT](INFO): DAT read: Range 11 to 50 :    63.8 m (trip time 42.5 ms) speed 0.0

2025-08-09T17:00:04.114Z,1754758804.114 [DAT](ERROR): #Rx 1: Read range message, but no direction.
2025-08-09T17:00:04.115Z,1754758804.115 [DAT](DEBUG): Acoustic response timeout
2025-08-09T17:00:04.115Z,1754758804.115 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-09T17:00:04.167Z,1754758804.167 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 63.799999 m,
      deltaT: 0.503739 s,
      deltaX: -0.100002 m,
      approachRate: -0.198520 m/s,
      rangeRepo size: 4

2025-08-09T17:00:04.168Z,1754758804.168 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 63.90 m.
2025-08-09T17:00:04.363Z,1754758804.363 [DAT](INFO): Reached modem response timeout
2025-08-09T17:00:04.364Z,1754758804.364 [DAT](DEBUG): Acoustic response timeout
2025-08-09T17:00:04.364Z,1754758804.364 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-09T17:00:04.558Z,1754758804.558 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 63.90 m.
2025-08-09T17:00:04.617Z,1754758804.617 [DAT](INFO): DAT read: Rx Time:17:00:03.5580 

2025-08-09T17:00:04.617Z,1754758804.617 [DAT](INFO): Rx dataTimestamp_ set to:1754758804.616708
2025-08-09T17:00:04.619Z,1754758804.619 [DAT](INFO): DAT read: Bearing  84.7, -61.9 (Local)

2025-08-09T17:00:04.619Z,1754758804.619 [DAT](INFO): Local bearing/azimuth received:
 Bearing  84.7, -61.9 (Local)

2025-08-09T17:00:04.623Z,1754758804.623 [DAT](INFO): DAT read: Range 11 to 50 :    63.8 m (trip time 42.5 ms) speed 0.0

2025-08-09T17:00:04.630Z,1754758804.630 [DAT](INFO): DAT read: 17:00:03.5580 LVL= 22448, 23233, 18754, 26467, AGC= 62, IDX= 500,-0.25,-0.164,-0.026, 2.267, 0.784, PHS=-0.846,-0.766, 1.438, RAW= 211.8,   1.6, CAL= 210.9,   0.3, ROT= 299.1,  -0.3

2025-08-09T17:00:04.632Z,1754758804.632 [DAT](INFO): got valid direction response:
 17:00:03.5580 LVL= 22448, 23233, 18754, 26467, AGC= 62, IDX= 500,-0.25,-0.164,-0.026, 2.267, 0.784, PHS=-0.846,-0.766, 1.438, RAW= 211.8,   1.6, CAL= 210.9,   0.3, ROT= 299.1,  -0.3

2025-08-09T17:00:04.632Z,1754758804.632 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-09T17:00:04.633Z,1754758804.633 [DAT](INFO): direction in FSK: [0.486329,-0.873760,0.005236]
2025-08-09T17:00:04.634Z,1754758804.634 [DAT](INFO): publishing direction and range info
2025-08-09T17:00:04.656Z,1754758804.656 [DAT](DEBUG): Acoustic response timeout
2025-08-09T17:00:04.656Z,1754758804.656 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-09T17:00:04.869Z,1754758804.869 [DAT](INFO): Reached modem response timeout
2025-08-09T17:00:04.869Z,1754758804.869 [DAT](DEBUG): Acoustic response timeout
2025-08-09T17:00:04.870Z,1754758804.870 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-09T17:00:05.022Z,1754758805.022 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 63.799999 m,
      deltaT: 0.504929 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-08-09T17:00:05.028Z,1754758805.028 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 63.799999 m,
      bearing: 234.002974 deg,
      lat: 36.906163 deg,
      lon: -122.115934 deg,
      deltaT: 1.008668 s,
      deltaX: -0.100002 m,
      approachRate: -0.099143 m/s,
      posRepo size: 4

2025-08-09T17:00:05.028Z,1754758805.028 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 63.80 m.
2025-08-09T17:00:05.120Z,1754758805.120 [DAT](INFO): DAT read: Rx Time:17:00:0.579 

2025-08-09T17:00:05.120Z,1754758805.120 [DAT](INFO): Rx dataTimestamp_ set to:1754758805.120150
2025-08-09T17:00:05.122Z,1754758805.122 [DAT](INFO): DAT read: Bearing  84.5, -61.4 (Local)

2025-08-09T17:00:05.122Z,1754758805.122 [DAT](INFO): Local bearing/azimuth received:
 Bearing  84.5, -61.4 (Local)

2025-08-09T17:00:05.125Z,1754758805.125 [DAT](INFO): DAT read: Range 11 to 50 :    63.6 m (trip time 42.4 ms) speed 0.0

2025-08-09T17:00:05.131Z,1754758805.131 [DAT](INFO): DAT read: 17:00:04.0579 LVL= 20896, 21153, 17570, 22307, AGC= 62, IDX= 499,-0.36,-2.006,-1.891, 0.401,-1.069, PHS=-0.835,-0.777, 1.426, RAW= 211.3,   1.7, CAL= 210.5,   0.4, ROT= 299.5,  -0.4

2025-08-09T17:00:05.132Z,1754758805.132 [DAT](INFO): got valid direction response:
 17:00:04.0579 LVL= 20896, 21153, 17570, 22307, AGC= 62, IDX= 499,-0.36,-2.006,-1.891, 0.401,-1.069, PHS=-0.835,-0.777, 1.426, RAW= 211.3,   1.7, CAL= 210.5,   0.4, ROT= 299.5,  -0.4

2025-08-09T17:00:05.133Z,1754758805.133 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-09T17:00:05.134Z,1754758805.134 [DAT](INFO): direction in FSK: [0.492412,-0.870335,0.006981]
2025-08-09T17:00:05.135Z,1754758805.135 [DAT](INFO): publishing direction and range info
2025-08-09T17:00:05.159Z,1754758805.159 [DAT](DEBUG): Acoustic response timeout
2025-08-09T17:00:05.159Z,1754758805.159 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-09T17:00:05.344Z,1754758805.344 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 63.599998 m,
      deltaT: 0.503442 s,
      deltaX: -0.200001 m,
      approachRate: -0.397267 m/s,
      rangeRepo size: 4

2025-08-09T17:00:05.347Z,1754758805.347 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 63.599998 m,
      bearing: 234.074033 deg,
      lat: 36.906165 deg,
      lon: -122.115935 deg,
      deltaT: 0.503442 s,
      deltaX: -0.200001 m,
      approachRate: -0.397267 m/s,
      posRepo size: 4

2025-08-09T17:00:05.349Z,1754758805.349 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 63.60 m.
2025-08-09T17:00:05.372Z,1754758805.372 [DAT](INFO): Reached modem response timeout
2025-08-09T17:00:05.373Z,1754758805.373 [DAT](DEBUG): Acoustic response timeout
2025-08-09T17:00:05.374Z,1754758805.374 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-09T17:00:05.624Z,1754758805.624 [DAT](INFO): DAT read: Rx Time:17:00:04.5579 

2025-08-09T17:00:05.624Z,1754758805.624 [DAT](INFO): Rx dataTimestamp_ set to:1754758805.624016
2025-08-09T17:00:05.625Z,1754758805.625 [DAT](INFO): DAT read: Bearing 3.8 -61.5 (Local)

2025-08-09T17:00:05.626Z,1754758805.626 [DAT](INFO): Local bearing/azimuth received:
 Bearing 3.8 -61.5 (Local)

2025-08-09T17:00:05.628Z,1754758805.628 [DAT](INFO): DAT read: Range 11 to 50 :    63.6 m (trip time 42.4 ms) speed 0.0

2025-08-09T17:00:05.632Z,1754758805.632 [DAT](INFO): DAT read: 17:00:04.5579 LVL= 21104, 21281, 18274, 22659, AGC= 62, IDX= 500,-0.44,-0.298,-0.176, 2.121, 0.639, PHS=-0.835,-0.770, 1.438, RAW= 211.4,   1.5, CAL= 210.6,   0.1, ROT= 299.4,  -0.1

2025-08-09T17:00:05.633Z,1754758805.633 [DAT](INFO): got valid direction response:
 17:00:04.5579 LVL= 21104, 21281, 18274, 22659, AGC= 62, IDX= 500,-0.44,-0.298,-0.176, 2.121, 0.639, PHS=-0.835,-0.770, 1.438, RAW= 211.4,   1.5, CAL= 210.6,   0.1, ROT= 299.4,  -0.1

2025-08-09T17:00:05.634Z,1754758805.634 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-09T17:00:05.635Z,1754758805.635 [DAT](INFO): direction in FSK: [0.490903,-0.871212,0.001745]
2025-08-09T17:00:05.635Z,1754758805.635 [DAT](INFO): publishing direction and range info
2025-08-09T17:00:05.638Z,1754758805.638 [DAT](DEBUG): Acoustic response timeout
2025-08-09T17:00:05.639Z,1754758805.639 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-09T17:00:05.753Z,1754758805.753 [RDI_Pathfinder](ERROR): only read 3 of 4 data items for water velocity. Device response is::WS,-32768,-32768,-3

2025-08-09T17:00:05.801Z,1754758805.801 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 63.599998 m,
      deltaT: 0.503866 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-08-09T17:00:05.803Z,1754758805.803 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 63.599998 m,
      bearing: 234.047869 deg,
      lat: 36.906165 deg,
      lon: -122.115935 deg,
      deltaT: 0.503866 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      posRepo size: 4

2025-08-09T17:00:05.804Z,1754758805.804 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 63.60 m.
2025-08-09T17:00:05.878Z,1754758805.878 [DAT](INFO): DAT read: Rx Time:17:00:05.0578 

2025-08-09T17:00:05.880Z,1754758805.880 [DAT](INFO): Rx dataTimestamp_ set to:1754758805.878997
2025-08-09T17:00:05.885Z,1754758805.885 [DAT](INFO): DAT read: Bearing  84.3, -61.4 (Local)

2025-08-09T17:00:05.886Z,1754758805.886 [DAT](INFO): Local bearing/azimuth received:
 Bearing  84.3, -61.4 (Local)

2025-08-09T17:00:05.912Z,1754758805.912 [DAT](INFO): DAT read: Range 11 to 50 :    63.5 m (trip time 42.3 ms) speed 0.0

2025-08-09T17:00:05.914Z,1754758805.914 [DAT](ERROR): #Rx 1: Read range message, but no direction.
2025-08-09T17:00:05.920Z,1754758805.920 [DAT](DEBUG): Acoustic response timeout
2025-08-09T17:00:05.921Z,1754758805.921 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-09T17:00:06.131Z,1754758806.131 [DAT](INFO): DAT read: 17:00:05.0578 LVL= 21264, 20817, 18706, 23763, AGC= 61, IDX= 499,-0.48,-1.825,-1.710, 0.587,-0.882, PHS=-0.842,-0.783, 1.424, RAW= 211.3,   1.8, CAL= 20.5,   0.5, ROT= 299.5,  -0.5

2025-08-09T17:00:06.133Z,1754758806.133 [DAT](INFO): got valid direction response:
 17:00:05.0578 LVL= 21264, 20817, 18706, 23763, AGC= 61, IDX= 499,-0.48,-1.825,-1.710, 0.587,-0.882, PHS=-0.842,-0.783, 1.424, RAW= 211.3,   1.8, CAL= 20.5,   0.5, ROT= 299.5,  -0.5

2025-08-09T17:00:06.133Z,1754758806.133 [DAT](INFO): #Rx 1: Read direction message, but no range.
2025-08-09T17:00:06.134Z,1754758806.134 [DAT](INFO): direction in FSK: [0.492405,-0.870323,0.008727]
2025-08-09T17:00:06.137Z,1754758806.137 [DAT](INFO): Reached modem response timeout
2025-08-09T17:00:06.137Z,1754758806.137 [DAT](DEBUG): Acoustic response timeout
2025-08-09T17:00:06.137Z,1754758806.137 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-09T17:00:06.212Z,1754758806.212 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 63.500000 m,
      deltaT: 0.254981 s,
      deltaX: -0.099998 m,
      approachRate: -0.392180 m/s,
      rangeRepo size: 4

2025-08-09T17:00:06.214Z,1754758806.214 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 63.500000 m,
      bearing: 234.043487 deg,
      lat: 36.906165 deg,
      lon: -122.115935 deg,
      deltaT: 0.254981 s,
      deltaX: -0.099998 m,
      approachRate: -0.392180 m/s,
      posRepo size: 4

2025-08-09T17:00:06.219Z,1754758806.219 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 63.50 m.
2025-08-09T17:00:06.382Z,1754758806.382 [DAT](INFO): DAT read: Rx Time:17:00:05.5579 

2025-08-09T17:00:06.384Z,1754758806.384 [DAT](INFO): Rx dataTimestamp_ set to:1754758806.382754
2025-08-09T17:00:06.384Z,1754758806.384 [DAT](INFO): Reached modem response timeout
2025-08-09T17:00:06.385Z,1754758806.385 [DAT](DEBUG): Acoustic response timeout
2025-08-09T17:00:06.385Z,1754758806.385 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-09T17:00:06.578Z,1754758806.578 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 63.50 m.
2025-08-09T17:00:06.633Z,1754758806.633 [DAT](INFO): DAT read: Range 11 to 50 :    63.6 m (trip time 42.4 ms) speed 0.0

2025-08-09T17:00:06.634Z,1754758806.634 [DAT](ERROR): #Rx 1: Read range message, but no direction.
2025-08-09T17:00:06.635Z,1754758806.635 [DAT](DEBUG): Acoustic response timeout
2025-08-09T17:00:06.635Z,1754758806.635 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-09T17:00:06.885Z,1754758806.885 [DAT](INFO): DAT read: Rx Time:17:00:06.0579 

2025-08-09T17:00:06.886Z,1754758806.886 [DAT](INFO): Rx dataTimestamp_ set to:1754758806.885550
2025-08-09T17:00:06.887Z,1754758806.887 [DAT](INFO): DAT read: Range 11 to 50 :    63.6 m (trip time 42.4 ms) speed 0.0

2025-08-09T17:00:06.888Z,1754758806.888 [DAT](ERROR): #Rx 1: Read range message, but no direction.
2025-08-09T17:00:06.888Z,1754758806.888 [DAT](DEBUG): Acoustic response timeout
2025-08-09T17:00:06.889Z,1754758806.889 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-09T17:00:06.975Z,1754758806.975 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 63.599998 m,
      deltaT: 1.006553 s,
      deltaX: 0.099998 m,
      approachRate: 0.099347 m/s,
      rangeRepo size: 4

2025-08-09T17:00:06.976Z,1754758806.976 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 63.50 m.
2025-08-09T17:00:07.135Z,1754758807.135 [DAT](INFO): Reached modem response timeout
2025-08-09T17:00:07.135Z,1754758807.135 [DAT](DEBUG): Acoustic response timeout
2025-08-09T17:00:07.135Z,1754758807.135 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-09T17:00:07.366Z,1754758807.366 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 63.50 m.
2025-08-09T17:00:07.390Z,1754758807.390 [DAT](INFO): DAT read: Rx Time:17:00:06.5580 

2025-08-09T17:00:07.392Z,1754758807.392 [DAT](INFO): Rx dataTimestamp_ set to:1754758807.390708
2025-08-09T17:00:07.394Z,1754758807.394 [DAT](INFO): DAT read: Bearing  82.4, -60.2 (Local)

2025-08-09T17:00:07.395Z,1754758807.395 [DAT](INFO): Local bearing/azimuth received:
 Bearing  82.4, -60.2 (Local)

2025-08-09T17:00:07.399Z,1754758807.399 [DAT](INFO): DAT read: Range 11 to 50 :    63.8 m (trip time 42.5 ms) speed 0.0

2025-08-09T17:00:07.401Z,1754758807.401 [DAT](ERROR): #Rx 1: Read range message, but no direction.
2025-08-09T17:00:07.411Z,1754758807.411 [DAT](DEBUG): Acoustic response timeout
2025-08-09T17:00:07.412Z,1754758807.412 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-09T17:00:07.643Z,1754758807.643 [DAT](INFO): DAT read: 17:00:06.5580 LVL= 24976, 21633, 17186, 25795, AGC= 61, IDX= 500,-0.19,-1.422,-1.353, 0.962,-0.513,PH=-.807,-0.795, 1.431, RAW= 210.3,   1.5, CAL= 209.5,   0.0, ROT= 300.5,  -0.0

2025-08-09T17:00:07.644Z,1754758807.644 [DAT](INFO): unknown deviceResponse_: 17:00:06.5580 LVL= 24976, 21633, 17186, 25795, AGC= 61, IDX= 500,-0.19,-1.422,-1.353, 0.962,-0.513,PH=-.807,-0.795, 1.431, RAW= 210.3,   1.5, CAL= 209.5,   0.0, ROT= 300.5,  -0.0

2025-08-09T17:00:07.644Z,1754758807.644 [DAT](INFO): Reached modem response timeout
2025-08-09T17:00:07.644Z,1754758807.644 [DAT](DEBUG): Acoustic response timeout
2025-08-09T17:00:07.645Z,1754758807.645 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-09T17:00:07.793Z,1754758807.793 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 63.799999 m,
      deltaT: 0.505158 s,
      deltaX: 0.200001 m,
      approachRate: 0.395917 m/s,
      rangeRepo size: 4

2025-08-09T17:00:07.793Z,1754758807.793 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 63.50 m.
2025-08-09T17:00:07.894Z,1754758807.894 [DAT](INFO): DAT read: Rx Time:17:00:07.0579 

2025-08-09T17:00:07.895Z,1754758807.895 [DAT](INFO): Rx dataTimestamp_ set to:1754758807.894416
2025-08-09T17:00:07.897Z,1754758807.897 [DAT](INFO): DAT read: Bearing  84.2, -60.2 (Local)

2025-08-09T17:00:07.898Z,1754758807.898 [DAT](INFO): Local bearing/azimuth received:
 Bearing  84.2, -60.2 (Local)

2025-08-09T17:00:07.901Z,1754758807.901 [DAT](INFO): DAT read: Range 11 to 50 :    63.6 m (trip time 42.4 ms) speed 0.0

2025-08-09T17:00:07.903Z,1754758807.903 [DAT](ERROR): #Rx 1: Read range message, but no direction.
2025-08-09T17:00:07.905Z,1754758807.905 [DAT](DEBUG): Acoustic response timeout
2025-08-09T17:00:07.905Z,1754758807.905 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-09T17:00:08.147Z,1754758808.147 [DAT](INFO): DAT read: 17:00:07.0579 LVL= 26496, 26241, 23570, 28915, AGC= 60, IDX= 499, 0.03-.87,-1.821, 0.418,-0.981, PHS=-0.804,-0.795, 1.355, RAW= 210.2,   2.3, CAL= 209.6,   1.0, ROT= 300.4,  -1.0

2025-08-09T17:00:08.148Z,1754758808.148 [DAT](INFO): unknown deviceResponse_: 17:00:07.0579 LVL= 26496, 26241, 23570, 28915, AGC= 60, IDX= 499, 0.03-.87,-1.821, 0.418,-0.981, PHS=-0.804,-0.795, 1.355, RAW= 210.2,   2.3, CAL= 209.6,   1.0, ROT= 300.4,  -1.0

2025-08-09T17:00:08.148Z,1754758808.148 [DAT](INFO): Reached modem response timeout
2025-08-09T17:00:08.148Z,1754758808.148 [DAT](DEBUG): Acoustic response timeout
2025-08-09T17:00:08.148Z,1754758808.148 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-09T17:00:08.197Z,1754758808.197 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 63.599998 m,
      deltaT: 0.503708 s,
      deltaX: -0.200001 m,
      approachRate: -0.397057 m/s,
      rangeRepo size: 4

2025-08-09T17:00:08.197Z,1754758808.197 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 63.50 m.
2025-08-09T17:00:08.397Z,1754758808.397 [DAT](INFO): DAT read: Rx Time:17:00:07.5579 

2025-08-09T17:00:08.399Z,1754758808.399 [DAT](INFO): Rx dataTimestamp_ set to:1754758808.397708
2025-08-09T17:00:08.401Z,1754758808.401 [DAT](INFO): DAT read: Bearing  81.6, -60.4 (Local)

2025-08-09T17:00:08.401Z,1754758808.401 [DAT](INFO): Local bearing/azimuth received:
 Bearing  81.6, -60.4 (Local)

2025-08-09T17:00:08.405Z,1754758808.405 [DAT](INFO): DAT read: Range 11 to 50 :    63.6 m (trip time 42.4 ms) speed 0.0

2025-08-09T17:00:08.406Z,1754758808.406 [DAT](ERROR): #Rx 1: Read range message, but no direction.
2025-08-09T17:00:08.408Z,1754758808.408 [DAT](DEBUG): Acoustic response timeout
2025-08-09T17:00:08.409Z,1754758808.409 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-09T17:00:08.610Z,1754758808.610 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 63.599998 m,
      deltaT: 0.503292 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-08-09T17:00:08.611Z,1754758808.611 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 63.50 m.
2025-08-09T17:00:08.651Z,1754758808.651 [DAT](INFO): DAT read: 17:00:07.5579 LVL= 23152, 20817, 17250, 25059, AGC= 62, IDX= 499, 0.18,-0.935,-0.848,1.47-0.025, PHS=-0.808,-0.778, 1.428, RAW= 210.7,   1.4, CAL= 209.9,  -0.1, ROT= 300.1,   0.1

2025-08-09T17:00:08.652Z,1754758808.652 [DAT](INFO): unknown deviceResponse_: 17:00:07.5579 LVL= 23152, 20817, 17250, 25059, AGC= 62, IDX= 499, 0.18,-0.935,-0.848,1.47-0.025, PHS=-0.808,-0.778, 1.428, RAW= 210.7,   1.4, CAL= 209.9,  -0.1, ROT= 300.1,   0.1

2025-08-09T17:00:08.652Z,1754758808.652 [DAT](INFO): Reached modem response timeout
2025-08-09T17:00:08.653Z,1754758808.653 [DAT](DEBUG): Acoustic response timeout
2025-08-09T17:00:08.653Z,1754758808.653 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-09T17:00:08.902Z,1754758808.902 [DAT](INFO): DAT read: Rx Time:17:00:08.0578 

2025-08-09T17:00:08.904Z,1754758808.904 [DAT](INFO): Rx dataTimestamp_ set to:1754758808.902887
2025-08-09T17:00:08.906Z,1754758808.906 [DAT](INFO): DAT read: Bearing  84.2, -60.1 (Local)

2025-08-09T17:00:08.907Z,1754758808.907 [DAT](INFO): Local bearing/azimuth received:
 Bearing  84.2, -60.1 (Local)

2025-08-09T17:00:08.912Z,1754758808.912 [DAT](INFO): DAT read: Range 11 to 50 :    63.5 m (trip time 42.3 ms) speed 0.0

2025-08-09T17:00:08.914Z,1754758808.914 [DAT](ERROR): #Rx 1: Read range message, but no direction.
2025-08-09T17:00:08.917Z,1754758808.917 [DAT](DEBUG): Acoustic response timeout
2025-08-09T17:00:08.917Z,1754758808.917 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-09T17:00:09.040Z,1754758809.040 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 63.500000 m,
      deltaT: 0.505179 s,
      deltaX: -0.099998 m,
      approachRate: -0.197947 m/s,
      rangeRepo size: 4

2025-08-09T17:00:09.040Z,1754758809.040 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 63.50 m.
2025-08-09T17:00:09.155Z,1754758809.155 [DAT](INFO): DAT read: 17:00:08.0578 LVL= 32240, 29841, 24882, 32755, AGC= 60, IDX= 498, 0.42,-2.323,-2.259,-0.016,-1.408, PHS=-0.813,-0.806, 1.348, A= 1.,   2.5, CAL= 209.6,   1.4, ROT= 300.4,  -1.4

2025-08-09T17:00:09.156Z,1754758809.156 [DAT](INFO): unknown deviceResponse_: 17:00:08.0578 LVL= 32240, 29841, 24882, 32755, AGC= 60, IDX= 498, 0.42,-2.323,-2.259,-0.016,-1.408, PHS=-0.813,-0.806, 1.348, A= 1.,   2.5, CAL= 209.6,   1.4, ROT= 300.4,  -1.4

2025-08-09T17:00:09.156Z,1754758809.156 [DAT](INFO): Reached modem response timeout
2025-08-09T17:00:09.156Z,1754758809.156 [DAT](DEBUG): Acoustic response timeout
2025-08-09T17:00:09.157Z,1754758809.157 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-09T17:00:09.404Z,1754758809.404 [DAT](INFO): DAT read: Rx Time:17:00:08.5580 

2025-08-09T17:00:09.404Z,1754758809.404 [DAT](INFO): Rx dataTimestamp_ set to:1754758809.403776
2025-08-09T17:00:09.405Z,1754758809.405 [DAT](INFO): DAT read: Range 11 to 50 :    63.8 m (trip time 42.5 ms) speed 0.0

2025-08-09T17:00:09.406Z,1754758809.406 [DAT](ERROR): #Rx 1: Read range message, but no direction.
2025-08-09T17:00:09.407Z,1754758809.407 [DAT](DEBUG): Acoustic response timeout
2025-08-09T17:00:09.407Z,1754758809.407 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-09T17:00:09.414Z,1754758809.414 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 63.799999 m,
      deltaT: 0.500889 s,
      deltaX: 0.299999 m,
      approachRate: 0.598934 m/s,
      rangeRepo size: 4

2025-08-09T17:00:09.422Z,1754758809.422 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 63.50 m.
2025-08-09T17:00:09.655Z,1754758809.655 [DAT](INFO): Reached modem response timeout
2025-08-09T17:00:09.655Z,1754758809.655 [DAT](DEBUG): Acoustic response timeout
2025-08-09T17:00:09.655Z,1754758809.655 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-09T17:00:09.824Z,1754758809.824 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 63.50 m.
2025-08-09T17:00:09.908Z,1754758809.908 [DAT](INFO): DAT read: Rx Time:17:00:09.0579 

2025-08-09T17:00:09.909Z,1754758809.909 [DAT](INFO): Rx dataTimestamp_ set to:1754758809.908471
2025-08-09T17:00:09.911Z,1754758809.911 [DAT](INFO): DAT read: Range 11 to 50 :    63.6 m (trip time 42.4 ms) speed 0.0

2025-08-09T17:00:09.912Z,1754758809.912 [DAT](ERROR): #Rx 1: Read range message, but no direction.
2025-08-09T17:00:09.912Z,1754758809.912 [DAT](DEBUG): Acoustic response timeout
2025-08-09T17:00:09.913Z,1754758809.913 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-09T17:00:10.159Z,1754758810.159 [DAT](INFO): Reached modem response timeout
2025-08-09T17:00:10.159Z,1754758810.159 [DAT](DEBUG): Acoustic response timeout
2025-08-09T17:00:10.159Z,1754758810.159 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-09T17:00:10.215Z,1754758810.215 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 63.599998 m,
      deltaT: 0.504695 s,
      deltaX: -0.200001 m,
      approachRate: -0.396280 m/s,
      rangeRepo size: 4

2025-08-09T17:00:10.215Z,1754758810.215 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 63.50 m.
2025-08-09T17:00:10.415Z,1754758810.415 [DAT](INFO): DAT read: Rx Time:17:00:09.5580 

2025-08-09T17:00:10.417Z,1754758810.417 [DAT](INFO): Rx dataTimestamp_ set to:1754758810.416044
2025-08-09T17:00:10.421Z,1754758810.421 [DAT](INFO): DAT read: Bearing  81.6, -60.5 (Local)

2025-08-09T17:00:10.422Z,1754758810.422 [DAT](INFO): Local bearing/azimuth received:
 Bearing  81.6, -60.5 (Local)

2025-08-09T17:00:10.429Z,1754758810.429 [DAT](INFO): DAT read: Range 11 to 50 :    63.8 m (trip time 42.5 ms) speed 0.0

2025-08-09T17:00:10.431Z,1754758810.431 [DAT](ERROR): #Rx 1: Read range message, but no direction.
2025-08-09T17:00:10.432Z,1754758810.432 [DAT](DEBUG): Acoustic response timeout
2025-08-09T17:00:10.432Z,1754758810.432 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-09T17:00:10.667Z,1754758810.667 [DAT](INFO): DAT read: 17:00:09.5580 LVL= 21856, 25393, 17602, 22899, AGC= 63, IDX= 500, 0.18,-0.895,-0.794, 1.482, 0.035, PHS=-0.827,-0.784, 1.404, RAW= 211.0,   1.9, CAL= 210.2,   0.6, ROT= 299.8,  -0.6

2025-08-09T17:00:10.668Z,1754758810.668 [DAT](INFO): got valid direction response:
 17:00:09.5580 LVL= 21856, 25393, 17602, 22899, AGC= 63, IDX= 500, 0.18,-0.895,-0.794, 1.482, 0.035, PHS=-0.827,-0.784, 1.404, RAW= 211.0,   1.9, CAL= 210.2,   0.6, ROT= 299.8,  -0.6

2025-08-09T17:00:10.669Z,1754758810.669 [DAT](INFO): #Rx 1: Read direction message, but no range.
2025-08-09T17:00:10.670Z,1754758810.670 [DAT](INFO): direction in FSK: [0.496946,-0.867718,0.010472]
2025-08-09T17:00:10.673Z,1754758810.673 [DAT](INFO): Reached modem response timeout
2025-08-09T17:00:10.673Z,1754758810.673 [DAT](DEBUG): Acoustic response timeout
2025-08-09T17:00:10.673Z,1754758810.673 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-09T17:00:10.698Z,1754758810.698 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 63.799999 m,
      deltaT: 0.507573 s,
      deltaX: 0.200001 m,
      approachRate: 0.394033 m/s,
      rangeRepo size: 4

2025-08-09T17:00:10.700Z,1754758810.700 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 63.799999 m,
      bearing: 233.666591 deg,
      lat: 36.906165 deg,
      lon: -122.115934 deg,
      deltaT: 4.537047 s,
      deltaX: 0.299999 m,
      approachRate: 0.066122 m/s,
      posRepo size: 4

2025-08-09T17:00:10.701Z,1754758810.701 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 63.80 m.
2025-08-09T17:00:10.919Z,1754758810.919 [DAT](INFO): DAT read: Rx Time:17:00:10.0579 

2025-08-09T17:00:10.920Z,1754758810.920 [DAT](INFO): Rx dataTimestamp_ set to:1754758810.919651
2025-08-09T17:00:10.924Z,1754758810.924 [DAT](INFO): DAT read: Bearing  80.0, -60.0 (Local)

2025-08-09T17:00:10.925Z,1754758810.925 [DAT](INFO): Local bearing/azimuth received:
 Bearing  80.0, -60.0 (Local)

2025-08-09T17:00:10.931Z,1754758810.931 [DAT](INFO): DAT read: Range 11 to 50 :    63.6 m (trip time 42.4 ms) speed -0.1

2025-08-09T17:00:10.936Z,1754758810.936 [DAT](INFO): DAT read: 17:00:10.0579 LVL= 28720, 28465, 21842, 28243, AGC= 65, IDX= 499, 0.38,-2.088,-2.004, 0.314,-1.172, PHS=-0.814,-0.787, 1.441, RAW= 210.6,   1.4, CAL= 209.8,  -0.1, ROT= 300.2,   0.1

2025-08-09T17:00:10.937Z,1754758810.937 [DAT](INFO): got valid direction response:
 17:00:10.0579 LVL= 28720, 28465, 21842, 28243, AGC= 65, IDX= 499, 0.38,-2.088,-2.004, 0.314,-1.172, PHS=-0.814,-0.787, 1.441, RAW= 210.6,   1.4, CAL= 209.8,  -0.1, ROT= 300.2,   0.1

2025-08-09T17:00:10.938Z,1754758810.938 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-09T17:00:10.939Z,1754758810.939 [DAT](INFO): direction in FSK: [0.503019,-0.864273,-0.001745]
2025-08-09T17:00:10.939Z,1754758810.939 [DAT](INFO): publishing direction and range info
2025-08-09T17:00:10.942Z,1754758810.942 [DAT](DEBUG): Acoustic response timeout
2025-08-09T17:00:10.942Z,1754758810.942 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-09T17:00:11.012Z,1754758811.012 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 63.599998 m,
      deltaT: 0.503607 s,
      deltaX: -0.200001 m,
      approachRate: -0.397137 m/s,
      rangeRepo size: 4

2025-08-09T17:00:11.023Z,1754758811.023 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 63.599998 m,
      bearing: 233.604035 deg,
      lat: 36.906165 deg,
      lon: -122.115933 deg,
      deltaT: 0.503607 s,
      deltaX: -0.200001 m,
      approachRate: -0.397137 m/s,
      posRepo size: 4

2025-08-09T17:00:11.023Z,1754758811.023 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 63.60 m.
2025-08-09T17:00:11.167Z,1754758811.167 [DAT](INFO): Reached modem response timeout
2025-08-09T17:00:11.167Z,1754758811.167 [DAT](DEBUG): Acoustic response timeout
2025-08-09T17:00:11.168Z,1754758811.168 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-09T17:00:11.408Z,1754758811.408 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 63.60 m.
2025-08-09T17:00:11.420Z,1754758811.420 [DAT](INFO): DAT read: Rx Time:17:00:10.5580 

2025-08-09T17:00:11.420Z,1754758811.420 [DAT](INFO): Rx dataTimestamp_ set to:1754758811.419959
2025-08-09T17:00:11.421Z,1754758811.421 [DAT](INFO): DAT read: Range 11 to 50 :    63.8 m (trip time 42.5 ms) speed 0.0

2025-08-09T17:00:11.422Z,1754758811.422 [DAT](ERROR): #Rx 1: Read range message, but no direction.
2025-08-09T17:00:11.423Z,1754758811.423 [DAT](DEBUG): Acoustic response timeout
2025-08-09T17:00:11.423Z,1754758811.423 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-09T17:00:11.671Z,1754758811.671 [DAT](INFO): Reached modem response timeout
2025-08-09T17:00:11.671Z,1754758811.671 [DAT](DEBUG): Acoustic response timeout
2025-08-09T17:00:11.671Z,1754758811.671 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-09T17:00:11.836Z,1754758811.836 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 63.799999 m,
      deltaT: 0.500308 s,
      deltaX: 0.200001 m,
      approachRate: 0.399755 m/s,
      rangeRepo size: 4

2025-08-09T17:00:11.837Z,1754758811.837 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 63.60 m.
2025-08-09T17:00:11.924Z,1754758811.924 [DAT](INFO): DAT read: Rx Time:17:00:11.0580 

2025-08-09T17:00:11.925Z,1754758811.925 [DAT](INFO): Rx dataTimestamp_ set to:1754758811.924453
2025-08-09T17:00:11.927Z,1754758811.927 [DAT](INFO): DAT read: Range 11 to 50 :    63.8 m (trip time 42.5 ms) speed 0.0

2025-08-09T17:00:11.927Z,1754758811.927 [DAT](ERROR): #Rx 1: Read range message, but no direction.
2025-08-09T17:00:11.928Z,1754758811.928 [DAT](DEBUG): Acoustic response timeout
2025-08-09T17:00:11.928Z,1754758811.928 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-09T17:00:12.175Z,1754758812.175 [DAT](INFO): Reached modem response timeout
2025-08-09T17:00:12.175Z,1754758812.175 [DAT](DEBUG): Acoustic response timeout
2025-08-09T17:00:12.176Z,1754758812.176 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-09T17:00:12.230Z,1754758812.230 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 63.799999 m,
      deltaT: 0.504494 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-08-09T17:00:12.231Z,1754758812.231 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 63.60 m.
2025-08-09T17:00:12.428Z,1754758812.428 [DAT](INFO): DAT read: Rx Time:17:00:11.5580 

2025-08-09T17:00:12.429Z,1754758812.429 [DAT](INFO): Rx dataTimestamp_ set to:1754758812.428147
2025-08-09T17:00:12.430Z,1754758812.430 [DAT](INFO): DAT read: Range 11 to 50 :    63.8 m (trip time 42.5 ms) speed 0.0

2025-08-09T17:00:12.431Z,1754758812.431 [DAT](ERROR): #Rx 1: Read range message, but no direction.
2025-08-09T17:00:12.432Z,1754758812.432 [DAT](DEBUG): Acoustic response timeout
2025-08-09T17:00:12.432Z,1754758812.432 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-09T17:00:12.666Z,1754758812.666 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 63.799999 m,
      deltaT: 0.503694 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-08-09T17:00:12.667Z,1754758812.667 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 63.60 m.
2025-08-09T17:00:12.679Z,1754758812.679 [DAT](INFO): Reached modem response timeout
2025-08-09T17:00:12.679Z,1754758812.679 [DAT](DEBUG): Acoustic response timeout
2025-08-09T17:00:12.679Z,1754758812.679 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-09T17:00:12.933Z,1754758812.932 [DAT](INFO): DAT read: Rx Time:17:00:12.0579 

2025-08-09T17:00:12.933Z,1754758812.933 [DAT](INFO): Rx dataTimestamp_ set to:1754758812.932680
2025-08-09T17:00:12.934Z,1754758812.934 [DAT](INFO): DAT read: Bearing  79.7, -59.8 (Local)

2025-08-09T17:00:12.935Z,1754758812.935 [DAT](INFO): Local bearing/azimuth received:
 Bearing  79.7, -59.8 (Local)

2025-08-09T17:00:12.937Z,1754758812.937 [DAT](INFO): DAT read: Range 11 to 50 :    63.6 m (trip time 42.4 ms) speed 0.0

2025-08-09T17:00:12.941Z,1754758812.941 [DAT](INFO): DAT read: 17:00:12.0579 LVL= 24112, 25041, 18018, 24339, AGC= 64, IDX= 499, 0.10,-1.050,-0.965, 1.341,-0.127, PHS=-0.821,-0.793, 1.424, RAW= 210.6,   1.7, CAL= 209.9,   0.3, ROT= 300.1,  -0.3

2025-08-09T17:00:12.942Z,1754758812.942 [DAT](INFO): got valid direction response:
 17:00:12.0579 LVL= 24112, 25041, 18018, 24339, AGC= 64, IDX= 499, 0.10,-1.050,-0.965, 1.341,-0.127, PHS=-0.821,-0.793, 1.424, RAW= 210.6,   1.7, CAL= 209.9,   0.3, ROT= 300.1,  -0.3

2025-08-09T17:00:12.943Z,1754758812.943 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-09T17:00:12.944Z,1754758812.944 [DAT](INFO): direction in FSK: [0.501504,-0.865139,0.005236]
2025-08-09T17:00:12.944Z,1754758812.944 [DAT](INFO): publishing direction and range info
2025-08-09T17:00:12.947Z,1754758812.947 [DAT](DEBUG): Acoustic response timeout
2025-08-09T17:00:12.947Z,1754758812.947 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-09T17:00:13.038Z,1754758813.038 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 63.599998 m,
      deltaT: 0.504533 s,
      deltaX: -0.200001 m,
      approachRate: -0.396408 m/s,
      rangeRepo size: 4

2025-08-09T17:00:13.040Z,1754758813.040 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 63.599998 m,
      bearing: 232.586516 deg,
      lat: 36.906157 deg,
      lon: -122.115928 deg,
      deltaT: 2.013029 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      posRepo size: 4

2025-08-09T17:00:13.041Z,1754758813.041 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 63.60 m.
2025-08-09T17:00:13.183Z,1754758813.183 [DAT](INFO): Reached modem response timeout
2025-08-09T17:00:13.183Z,1754758813.183 [DAT](DEBUG): Acoustic response timeout
2025-08-09T17:00:13.184Z,1754758813.184 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-09T17:00:13.436Z,1754758813.436 [DAT](INFO): DAT read: Rx Time:17:00:12.5580 

2025-08-09T17:00:13.436Z,1754758813.436 [DAT](INFO): Rx dataTimestamp_ set to:1754758813.435918
2025-08-09T17:00:13.437Z,1754758813.437 [DAT](INFO): DAT read: Bearing  80.9, -59.5 (Local)

2025-08-09T17:00:13.438Z,1754758813.438 [DAT](INFO): Local bearing/azimuth received:
 Bearing  80.9, -59.5 (Local)

2025-08-09T17:00:13.440Z,1754758813.440 [DAT](INFO): DAT read: Range 11 to 50 :    63.8 m (trip time 42.5 ms) speed 0.0

2025-08-09T17:00:13.444Z,1754758813.444 [DAT](INFO): DAT read: 17:00:12.5580 LVL= 26544, 25745, 19298, 27539, AGC= 60, IDX= 500, 0.36,-0.446,-0.380, 1.876, 0.468, PHS=-0.812,-0.803, 1.364, RAW= 210.2,   2.3, CAL= 209.6,   1.1, ROT= 300.4,  -1.1

2025-08-09T17:00:13.445Z,1754758813.445 [DAT](INFO): got valid direction response:
 17:00:12.5580 LVL= 26544, 25745, 19298, 27539, AGC= 60, IDX= 500, 0.36,-0.446,-0.380, 1.876, 0.468, PHS=-0.812,-0.803, 1.364, RAW= 210.2,   2.3, CAL= 209.6,   1.1, ROT= 300.4,  -1.1

2025-08-09T17:00:13.446Z,1754758813.446 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-09T17:00:13.447Z,1754758813.447 [DAT](INFO): direction in FSK: [0.505940,-0.862355,0.019197]
2025-08-09T17:00:13.447Z,1754758813.447 [DAT](INFO): publishing direction and range info
2025-08-09T17:00:13.454Z,1754758813.454 [DAT](DEBUG): Acoustic response timeout
2025-08-09T17:00:13.455Z,1754758813.455 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-09T17:00:13.535Z,1754758813.535 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 63.799999 m,
      deltaT: 0.503238 s,
      deltaX: 0.200001 m,
      approachRate: 0.397428 m/s,
      rangeRepo size: 4

2025-08-09T17:00:13.537Z,1754758813.537 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 63.799999 m,
      bearing: 232.299924 deg,
      lat: 36.906154 deg,
      lon: -122.115927 deg,
      deltaT: 0.503238 s,
      deltaX: 0.200001 m,
      approachRate: 0.397428 m/s,
      posRepo size: 4

2025-08-09T17:00:13.538Z,1754758813.538 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 63.80 m.
2025-08-09T17:00:13.689Z,1754758813.689 [DAT](INFO): Reached modem response timeout
2025-08-09T17:00:13.689Z,1754758813.689 [DAT](DEBUG): Acoustic response timeout
2025-08-09T17:00:13.689Z,1754758813.689 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-09T17:00:13.903Z,1754758813.903 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 63.80 m.
2025-08-09T17:00:13.939Z,1754758813.939 [DAT](INFO): DAT read: Rx Time:17:00:13.0580 

2025-08-09T17:00:13.940Z,1754758813.940 [DAT](INFO): Rx dataTimestamp_ set to:1754758813.939668
2025-08-09T17:00:13.941Z,1754758813.941 [DAT](INFO): DAT read: Range 11 to 50 :    63.8 m (trip time 42.5 ms) speed 0.0

2025-08-09T17:00:13.942Z,1754758813.942 [DAT](ERROR): #Rx 1: Read range message, but no direction.
2025-08-09T17:00:13.943Z,1754758813.943 [DAT](DEBUG): Acoustic response timeout
2025-08-09T17:00:13.943Z,1754758813.943 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-09T17:00:14.191Z,1754758814.191 [DAT](INFO): Reached modem response timeout
2025-08-09T17:00:14.191Z,1754758814.191 [DAT](DEBUG): Acoustic response timeout
2025-08-09T17:00:14.191Z,1754758814.191 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-09T17:00:14.238Z,1754758814.238 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 63.799999 m,
      deltaT: 0.503750 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-08-09T17:00:14.239Z,1754758814.239 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 63.80 m.
2025-08-09T17:00:14.444Z,1754758814.444 [DAT](INFO): DAT read: Rx Time:17:00:13.5581 

2025-08-09T17:00:14.444Z,1754758814.444 [DAT](INFO): Rx dataTimestamp_ set to:1754758814.444042
2025-08-09T17:00:14.446Z,1754758814.446 [DAT](INFO): DAT read: Bearing  77.5, -58.8 (Local)

2025-08-09T17:00:14.446Z,1754758814.446 [DAT](INFO): Local bearing/azimuth received:
 Bearing  77.5, -58.8 (Local)

2025-08-09T17:00:14.448Z,1754758814.448 [DAT](INFO): DAT read: Range 11 to 50 :    63.9 m (trip time 42.6 ms) speed 0.0

2025-08-09T17:00:14.453Z,1754758814.453 [DAT](INFO): DAT read: 17:00:13.5581 LVL= 22192, 26065, 17986, 22483, AGC= 63, IDX= 501,-0.03, 2.542, 2.588,-1.366,-2.855, PHS=-0.784,-0.794, 1.446, RAW= 209.8,   1.2, CAL= 209.0,  -0.4, ROT= 301.0,   0.4

2025-08-09T17:00:14.454Z,1754758814.454 [DAT](INFO): got valid direction response:
 17:00:13.5581 LVL= 22192, 26065, 17986, 22483, AGC= 63, IDX= 501,-0.03, 2.542, 2.588,-1.366,-2.855, PHS=-0.784,-0.794, 1.446, RAW= 209.8,   1.2, CAL= 209.0,  -0.4, ROT= 301.0,   0.4

2025-08-09T17:00:14.454Z,1754758814.454 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-09T17:00:14.455Z,1754758814.455 [DAT](INFO): direction in FSK: [0.515025,-0.857147,-0.006981]
2025-08-09T17:00:14.455Z,1754758814.455 [DAT](INFO): publishing direction and range info
2025-08-09T17:00:14.459Z,1754758814.459 [DAT](DEBUG): Acoustic response timeout
2025-08-09T17:00:14.459Z,1754758814.459 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-09T17:00:14.695Z,1754758814.695 [DAT](INFO): Reached modem response timeout
2025-08-09T17:00:14.695Z,1754758814.695 [DAT](DEBUG): Acoustic response timeout
2025-08-09T17:00:14.696Z,1754758814.696 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-09T17:00:14.707Z,1754758814.707 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 63.900002 m,
      deltaT: 0.504374 s,
      deltaX: 0.100002 m,
      approachRate: 0.198270 m/s,
      rangeRepo size: 4

2025-08-09T17:00:14.709Z,1754758814.709 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 63.900002 m,
      bearing: 232.111922 deg,
      lat: 36.906153 deg,
      lon: -122.115927 deg,
      deltaT: 1.008124 s,
      deltaX: 0.100002 m,
      approachRate: 0.099196 m/s,
      posRepo size: 4

2025-08-09T17:00:14.709Z,1754758814.709 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 63.90 m.
2025-08-09T17:00:14.948Z,1754758814.948 [DAT](INFO): DAT read: Rx Time:17:00:14.0580 

2025-08-09T17:00:14.948Z,1754758814.948 [DAT](INFO): Rx dataTimestamp_ set to:1754758814.948011
2025-08-09T17:00:14.950Z,1754758814.950 [DAT](INFO): DAT read: Bearing  79.4, -58.5 (Local)

2025-08-09T17:00:14.950Z,1754758814.950 [DAT](INFO): Local bearing/azimuth received:
 Bearing  79.4, -58.5 (Local)

2025-08-09T17:00:14.952Z,1754758814.952 [DAT](INFO): DAT read: Range 11 to 50 :    63.8 m (trip time 42.5 ms) speed 0.0

2025-08-09T17:00:14.957Z,1754758814.957 [DAT](INFO): DAT read: 17:00:14.0580 LVL= 23136, 24945, 16850, 25395, AGC= 61, IDX= 500, 0.16, 2.299, 2.327,-1.660,-3.090, PHS=-0.792,-0.821, 1.386, RAW= 209.3,   2.1, CAL= 208.7,   0.7, ROT= 301.3,  -0.7

2025-08-09T17:00:14.958Z,1754758814.958 [DAT](INFO): got valid direction response:
 17:00:14.0580 LVL= 23136, 24945, 16850, 25395, AGC= 61, IDX= 500, 0.16, 2.299, 2.327,-1.660,-3.090, PHS=-0.792,-0.821, 1.386, RAW= 209.3,   2.1, CAL= 208.7,   0.7, ROT= 301.3,  -0.7

2025-08-09T17:00:14.958Z,1754758814.958 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-09T17:00:14.959Z,1754758814.959 [DAT](INFO): direction in FSK: [0.519480,-0.854395,0.012217]
2025-08-09T17:00:14.959Z,1754758814.959 [DAT](INFO): publishing direction and range info
2025-08-09T17:00:15.019Z,1754758815.019 [DAT](DEBUG): Acoustic response timeout
2025-08-09T17:00:15.019Z,1754758815.019 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-09T17:00:15.068Z,1754758815.068 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 63.799999 m,
      deltaT: 0.503969 s,
      deltaX: -0.100002 m,
      approachRate: -0.198429 m/s,
      rangeRepo size: 4

2025-08-09T17:00:15.075Z,1754758815.075 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 63.799999 m,
      bearing: 232.095587 deg,
      lat: 36.906153 deg,
      lon: -122.115928 deg,
      deltaT: 0.503969 s,
      deltaX: -0.100002 m,
      approachRate: -0.198429 m/s,
      posRepo size: 4

2025-08-09T17:00:15.075Z,1754758815.075 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 63.80 m.
2025-08-09T17:00:15.199Z,1754758815.199 [DAT](INFO): Reached modem response timeout
2025-08-09T17:00:15.199Z,1754758815.199 [DAT](DEBUG): Acoustic response timeout
2025-08-09T17:00:15.200Z,1754758815.200 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-09T17:00:15.452Z,1754758815.452 [DAT](INFO): DAT read: Rx Time:17:00:14.5581 

2025-08-09T17:00:15.452Z,1754758815.452 [DAT](INFO): Rx dataTimestamp_ set to:1754758815.452200
2025-08-09T17:00:15.454Z,1754758815.454 [DAT](INFO): DAT read: Bearing  77.8, -58.4 (Local)

2025-08-09T17:00:15.454Z,1754758815.454 [DAT](INFO): Local bearing/azimuth received:
 Bearing  77.8, -58.4 (Local)

2025-08-09T17:00:15.456Z,1754758815.456 [DAT](INFO): DAT read: Range 11 to 50 :    63.9 m (trip time 42.6 ms) speed 0.0

2025-08-09T17:00:15.461Z,1754758815.461 [DAT](INFO): DAT read: 17:00:14.5581 LVL= 25536, 24161, 17266, 25507, AGC= 63, IDX= 501, 0.35,-2.491,-2.461,-0.172,-1.615, PHS=-0.774,-0.801, 1.399, RAW= 209.4,   1.6, CAL= 208.7,   0.0, ROT= 301.3,  -0.0

2025-08-09T17:00:15.462Z,1754758815.462 [DAT](INFO): got valid direction response:
 17:00:14.5581 LVL= 25536, 24161, 17266, 25507, AGC= 63, IDX= 501, 0.35,-2.491,-2.461,-0.172,-1.615, PHS=-0.774,-0.801, 1.399, RAW= 209.4,   1.6, CAL= 208.7,   0.0, ROT= 301.3,  -0.0

2025-08-09T17:00:15.463Z,1754758815.463 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-09T17:00:15.464Z,1754758815.464 [DAT](INFO): direction in FSK: [0.519519,-0.854459,0.000000]
2025-08-09T17:00:15.464Z,1754758815.464 [DAT](INFO): publishing direction and range info
2025-08-09T17:00:15.467Z,1754758815.467 [DAT](DEBUG): Acoustic response timeout
2025-08-09T17:00:15.467Z,1754758815.467 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-09T17:00:15.535Z,1754758815.535 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 63.900002 m,
      deltaT: 0.504189 s,
      deltaX: 0.100002 m,
      approachRate: 0.198343 m/s,
      rangeRepo size: 4

2025-08-09T17:00:15.537Z,1754758815.537 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 63.900002 m,
      bearing: 232.068697 deg,
      lat: 36.906153 deg,
      lon: -122.115928 deg,
      deltaT: 0.504189 s,
      deltaX: 0.100002 m,
      approachRate: 0.198343 m/s,
      posRepo size: 4

2025-08-09T17:00:15.537Z,1754758815.537 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 63.90 m.
2025-08-09T17:00:15.703Z,1754758815.703 [DAT](INFO): Reached modem response timeout
2025-08-09T17:00:15.703Z,1754758815.703 [DAT](DEBUG): Acoustic response timeout
2025-08-09T17:00:15.704Z,1754758815.704 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-09T17:00:15.956Z,1754758815.956 [DAT](INFO): DAT read: Rx Time:17:00:15.0580 

2025-08-09T17:00:15.957Z,1754758815.957 [DAT](INFO): Rx dataTimestamp_ set to:1754758815.956387
2025-08-09T17:00:15.958Z,1754758815.958 [DAT](INFO): DAT read: Bearing  76.5, -57.5 (Local)

2025-08-09T17:00:15.959Z,1754758815.959 [DAT](INFO): Local bearing/azimuth received:
 Bearing  76.5, -57.5 (Local)

2025-08-09T17:00:15.961Z,1754758815.961 [DAT](INFO): DAT read: Range 11 to 50 :    63.8 m (trip time 42.5 ms) speed 0.0

2025-08-09T17:00:15.966Z,1754758815.966 [DAT](INFO): DAT read: 17:00:15.0580 LVL= 23648, 25585, 16530, 26691, AGC= 63, IDX= 501,-0.31, 0.197, 0.185, 2.550, 1.058, PHS=-0.758,-0.828, 1.449, RAW= 208.5,   1.2, CAL= 207.8,  -0.5, ROT= 302.2,   0.5

2025-08-09T17:00:15.967Z,1754758815.967 [DAT](INFO): got valid direction response:
 17:00:15.0580 LVL= 23648, 25585, 16530, 26691, AGC= 63, IDX= 501,-0.31, 0.197, 0.185, 2.550, 1.058, PHS=-0.758,-0.828, 1.449, RAW= 208.5,   1.2, CAL= 207.8,  -0.5, ROT= 302.2,   0.5

2025-08-09T17:00:15.967Z,1754758815.967 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-09T17:00:15.968Z,1754758815.968 [DAT](INFO): direction in FSK: [0.532856,-0.846161,-0.008727]
2025-08-09T17:00:15.968Z,1754758815.968 [DAT](INFO): publishing direction and range info
2025-08-09T17:00:15.972Z,1754758815.972 [DAT](DEBUG): Acoustic response timeout
2025-08-09T17:00:15.972Z,1754758815.972 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-09T17:00:15.991Z,1754758815.991 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 63.799999 m,
      deltaT: 0.504187 s,
      deltaX: -0.100002 m,
      approachRate: -0.198344 m/s,
      rangeRepo size: 4

2025-08-09T17:00:15.993Z,1754758815.993 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 63.799999 m,
      bearing: 232.105584 deg,
      lat: 36.906154 deg,
      lon: -122.115928 deg,
      deltaT: 0.504187 s,
      deltaX: -0.100002 m,
      approachRate: -0.198344 m/s,
      posRepo size: 4

2025-08-09T17:00:15.993Z,1754758815.993 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 63.80 m.
2025-08-09T17:00:16.207Z,1754758816.207 [DAT](INFO): Reached modem response timeout
2025-08-09T17:00:16.207Z,1754758816.207 [DAT](DEBUG): Acoustic response timeout
2025-08-09T17:00:16.207Z,1754758816.207 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-09T17:00:16.279Z,1754758816.279 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 63.80 m.
2025-08-09T17:00:16.459Z,1754758816.459 [DAT](INFO): DAT read: Rx Time:17:00:15.5581 

2025-08-09T17:00:16.460Z,1754758816.460 [DAT](INFO): Rx dataTimestamp_ set to:1754758816.459633
2025-08-09T17:00:16.461Z,1754758816.461 [DAT](INFO): DAT read: Range 11 to 50 :    63.9 m (trip time 42.6 ms) speed 0.0

2025-08-09T17:00:16.462Z,1754758816.462 [DAT](ERROR): #Rx 1: Read range message, but no direction.
2025-08-09T17:00:16.462Z,1754758816.462 [DAT](DEBUG): Acoustic response timeout
2025-08-09T17:00:16.463Z,1754758816.463 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-09T17:00:16.711Z,1754758816.711 [DAT](INFO): Reached modem response timeout
2025-08-09T17:00:16.711Z,1754758816.711 [DAT](DEBUG): Acoustic response timeout
2025-08-09T17:00:16.711Z,1754758816.711 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-09T17:00:16.722Z,1754758816.722 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 63.900002 m,
      deltaT: 0.503246 s,
      deltaX: 0.100002 m,
      approachRate: 0.198715 m/s,
      rangeRepo size: 4

2025-08-09T17:00:16.723Z,1754758816.723 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 63.80 m.
2025-08-09T17:00:16.964Z,1754758816.964 [DAT](INFO): DAT read: Rx Time:17:00:16.0579 

2025-08-09T17:00:16.964Z,1754758816.964 [DAT](INFO): Rx dataTimestamp_ set to:1754758816.964015
2025-08-09T17:00:16.966Z,1754758816.966 [DAT](INFO): DAT read: Bearing  76.6, -57.9 (Local)

2025-08-09T17:00:16.966Z,1754758816.966 [DAT](INFO): Local bearing/azimuth received:
 Bearing  76.6, -57.9 (Local)

2025-08-09T17:00:16.968Z,1754758816.968 [DAT](INFO): DAT read: Range 11 to 50 :    63.6 m (trip time 42.4 ms) speed 0.0

2025-08-09T17:00:16.973Z,1754758816.973 [DAT](INFO): DAT read: 17:00:16.0579 LVL= 22432, 23281, 15522, 25491, AGC= 62, IDX= 500, 0.09, 0.798, 0.806, 3.109, 1.663, PHS=-0.763,-0.812, 1.402, RAW= 208.9,   1.6, CAL= 208.2,  -0.1, ROT= 301.8,   0.1

2025-08-09T17:00:16.974Z,1754758816.974 [DAT](INFO): got valid direction response:
 17:00:16.0579 LVL= 22432, 23281, 15522, 25491, AGC= 62, IDX= 500, 0.09, 0.798, 0.806, 3.109, 1.663, PHS=-0.763,-0.812, 1.402, RAW= 208.9,   1.6, CAL= 208.2,  -0.1, ROT= 301.8,   0.1

2025-08-09T17:00:16.974Z,1754758816.974 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-09T17:00:16.975Z,1754758816.975 [DAT](INFO): direction in FSK: [0.526955,-0.849891,-0.001745]
2025-08-09T17:00:16.975Z,1754758816.975 [DAT](INFO): publishing direction and range info
2025-08-09T17:00:16.978Z,1754758816.978 [DAT](DEBUG): Acoustic response timeout
2025-08-09T17:00:16.979Z,1754758816.979 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-09T17:00:17.088Z,1754758817.088 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 63.599998 m,
      deltaT: 0.504382 s,
      deltaX: -0.300003 m,
      approachRate: -0.594793 m/s,
      rangeRepo size: 4

2025-08-09T17:00:17.095Z,1754758817.095 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 63.599998 m,
      bearing: 232.123833 deg,
      lat: 36.906155 deg,
      lon: -122.115928 deg,
      deltaT: 1.007628 s,
      deltaX: -0.200001 m,
      approachRate: -0.198487 m/s,
      posRepo size: 4

2025-08-09T17:00:17.095Z,1754758817.095 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 63.60 m.
2025-08-09T17:00:17.215Z,1754758817.215 [DAT](INFO): Reached modem response timeout
2025-08-09T17:00:17.215Z,1754758817.215 [DAT](DEBUG): Acoustic response timeout
2025-08-09T17:00:17.215Z,1754758817.215 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-09T17:00:17.476Z,1754758817.476 [DAT](INFO): DAT read: Rx Time:17:00:16.5580 

2025-08-09T17:00:17.476Z,1754758817.476 [DAT](INFO): Rx dataTimestamp_ set to:1754758817.476100
2025-08-09T17:00:17.478Z,1754758817.478 [DAT](INFO): DAT read: Bearing  76.7, -57.6 (Local)

2025-08-09T17:00:17.478Z,1754758817.478 [DAT](INFO): Local bearing/azimuth received:
 Bearing  76.7, -57.6 (Local)

2025-08-09T17:00:17.480Z,1754758817.480 [DAT](INFO): DAT read: Range 11 to 50 :    63.8 m (trip time 42.5 ms) speed -0.1

2025-08-09T17:00:17.485Z,1754758817.485 [DAT](INFO): DAT read: 17:00:16.5580 LVL= 24256, 23521, 18210, 26403, AGC= 62, IDX= 501, 0.35, 2.076, 2.073,-1.919, 2.935, PHS=-0.757,-0.817, 1.385, RAW= 208.6,   1.8, CAL= 208.0,   0.1, ROT= 302.0,  -0.1

2025-08-09T17:00:17.486Z,1754758817.486 [DAT](INFO): got valid direction response:
 17:00:16.5580 LVL= 24256, 23521, 18210, 26403, AGC= 62, IDX= 501, 0.35, 2.076, 2.073,-1.919, 2.935, PHS=-0.757,-0.817, 1.385, RAW= 208.6,   1.8, CAL= 208.0,   0.1, ROT= 302.0,  -0.1

2025-08-09T17:00:17.486Z,1754758817.486 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-09T17:00:17.487Z,1754758817.487 [DAT](INFO): direction in FSK: [0.529919,-0.848047,0.001745]
2025-08-09T17:00:17.487Z,1754758817.487 [DAT](INFO): publishing direction and range info
2025-08-09T17:00:17.499Z,1754758817.499 [DAT](DEBUG): Acoustic response timeout
2025-08-09T17:00:17.499Z,1754758817.499 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-09T17:00:17.502Z,1754758817.502 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 63.799999 m,
      deltaT: 0.512085 s,
      deltaX: 0.200001 m,
      approachRate: 0.390562 m/s,
      rangeRepo size: 4

2025-08-09T17:00:17.503Z,1754758817.503 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 63.60 m.
2025-08-09T17:00:17.727Z,1754758817.727 [DAT](INFO): Reached modem response timeout
2025-08-09T17:00:17.727Z,1754758817.727 [DAT](DEBUG): Acoustic response timeout
2025-08-09T17:00:17.727Z,1754758817.727 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-09T17:00:17.970Z,1754758817.970 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 63.60 m.
2025-08-09T17:00:17.980Z,1754758817.980 [DAT](INFO): DAT read: Rx Time:17:00:17.0579 

2025-08-09T17:00:17.980Z,1754758817.980 [DAT](INFO): Rx dataTimestamp_ set to:1754758817.980136
2025-08-09T17:00:17.982Z,1754758817.982 [DAT](INFO): DAT read: Bearing  75.8, -57.5 (Local)

2025-08-09T17:00:17.982Z,1754758817.982 [DAT](INFO): Local bearing/azimuth received:
 Bearing  75.8, -57.5 (Local)

2025-08-09T17:00:17.984Z,1754758817.984 [DAT](INFO): DAT read: Range 11 to 50 :    63.6 m (trip time 42.4 ms) speed -0.1

2025-08-09T17:00:17.989Z,1754758817.989 [DAT](INFO): DAT read: 17:00:17.0579 LVL= 23728, 25489, 16818, 26099, AGC= 62, IDX= 501,-0.25,-0.891,-0.897, 1.458,-0.024, PHS=-0.765,-0.828, 1.438, RAW= 208.6,   1.4, CAL= 208.0,  -0.3, ROT= 302.0,   0.3

2025-08-09T17:00:17.990Z,1754758817.990 [DAT](INFO): got valid direction response:
 17:00:17.0579 LVL= 23728, 25489, 16818, 26099, AGC= 62, IDX= 501,-0.25,-0.891,-0.897, 1.458,-0.024, PHS=-0.765,-0.828, 1.438, RAW= 208.6,   1.4, CAL= 208.0,  -0.3, ROT= 302.0,   0.3

2025-08-09T17:00:17.990Z,1754758817.990 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-09T17:00:17.991Z,1754758817.991 [DAT](INFO): direction in FSK: [0.529912,-0.848036,-0.005236]
2025-08-09T17:00:17.992Z,1754758817.992 [DAT](INFO): publishing direction and range info
2025-08-09T17:00:17.995Z,1754758817.995 [DAT](DEBUG): Acoustic response timeout
2025-08-09T17:00:17.995Z,1754758817.995 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-09T17:00:18.231Z,1754758818.231 [DAT](INFO): Reached modem response timeout
2025-08-09T17:00:18.231Z,1754758818.231 [DAT](DEBUG): Acoustic response timeout
2025-08-09T17:00:18.232Z,1754758818.232 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-09T17:00:18.367Z,1754758818.367 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 63.599998 m,
      deltaT: 0.504036 s,
      deltaX: -0.200001 m,
      approachRate: -0.396799 m/s,
      rangeRepo size: 4

2025-08-09T17:00:18.369Z,1754758818.369 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 63.599998 m,
      bearing: 231.994744 deg,
      lat: 36.906155 deg,
      lon: -122.115928 deg,
      deltaT: 1.016121 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      posRepo size: 4

2025-08-09T17:00:18.370Z,1754758818.370 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 63.60 m.
2025-08-09T17:00:18.484Z,1754758818.484 [DAT](INFO): DAT read: Rx Time:17:00:17.5581 

2025-08-09T17:00:18.485Z,1754758818.485 [DAT](INFO): Rx dataTimestamp_ set to:1754758818.484249
2025-08-09T17:00:18.486Z,1754758818.486 [DAT](INFO): DAT read: Bearing  77.2, -57.8 (Local)

2025-08-09T17:00:18.486Z,1754758818.486 [DAT](INFO): Local bearing/azimuth received:
 Bearing  77.2, -57.8 (Local)

2025-08-09T17:00:18.493Z,1754758818.493 [DAT](INFO): DAT read: Range 11 to 50 :    63.9 m (trip time 42.6 ms) speed 0.0

2025-08-09T17:00:18.498Z,1754758818.498 [DAT](INFO): DAT read: 17:00:17.5581 LVL= 24464, 26609, 18258, 27475, AGC= 64, IDX= 502,-0.03, 0.691, 0.694, 3.033, 1.583, PHS=-0.790,-0.844, 1.407, RAW= 208.8,   2.1, CAL= 208.2,   0.6, ROT= 301.8,  -0.6

2025-08-09T17:00:18.499Z,1754758818.499 [DAT](INFO): got valid direction response:
 17:00:17.5581 LVL= 24464, 26609, 18258, 27475, AGC= 64, IDX= 502,-0.03, 0.691, 0.694, 3.033, 1.583, PHS=-0.790,-0.844, 1.407, RAW= 208.8,   2.1, CAL= 208.2,   0.6, ROT= 301.8,  -0.6

2025-08-09T17:00:18.500Z,1754758818.500 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-09T17:00:18.501Z,1754758818.501 [DAT](INFO): direction in FSK: [0.526927,-0.849846,0.010472]
2025-08-09T17:00:18.501Z,1754758818.501 [DAT](INFO): publishing direction and range info
2025-08-09T17:00:18.504Z,1754758818.504 [DAT](DEBUG): Acoustic response timeout
2025-08-09T17:00:18.504Z,1754758818.504 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-09T17:00:18.735Z,1754758818.735 [DAT](INFO): Reached modem response timeout
2025-08-09T17:00:18.735Z,1754758818.735 [DAT](DEBUG): Acoustic response timeout
2025-08-09T17:00:18.735Z,1754758818.735 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-09T17:00:18.796Z,1754758818.796 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 63.900002 m,
      deltaT: 0.504113 s,
      deltaX: 0.300003 m,
      approachRate: 0.595111 m/s,
      rangeRepo size: 4

2025-08-09T17:00:18.798Z,1754758818.798 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 63.900002 m,
      bearing: 231.865255 deg,
      lat: 36.906155 deg,
      lon: -122.115926 deg,
      deltaT: 0.504113 s,
      deltaX: 0.300003 m,
      approachRate: 0.595111 m/s,
      posRepo size: 4

2025-08-09T17:00:18.802Z,1754758818.802 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 63.90 m.
2025-08-09T17:00:18.987Z,1754758818.987 [DAT](INFO): DAT read: user:274>

2025-08-09T17:00:18.988Z,1754758818.988 [DAT](INFO): DAT read: 50

2025-08-09T17:00:18.988Z,1754758818.988 [DAT](INFO): unknown deviceResponse_: 50

2025-08-09T17:00:18.988Z,1754758818.988 [DAT](INFO): DAT read: Ok

2025-08-09T17:00:18.988Z,1754758818.988 [DAT](INFO): unknown deviceResponse_: Ok

2025-08-09T17:00:18.989Z,1754758818.989 [DAT](INFO): DAT read: user:275>

2025-08-09T17:00:18.990Z,1754758818.990 [DAT](INFO): DAT read: Tx time:17:00:18.4936

2025-08-09T17:00:18.990Z,1754758818.990 [DAT](INFO): Ping request sent.
2025-08-09T17:00:18.990Z,1754758818.990 [DAT](INFO): transmitted an acoustic signal
2025-08-09T17:00:18.990Z,1754758818.990 [DAT](INFO): publishing transmit ping time
2025-08-09T17:00:18.991Z,1754758818.991 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000849
2025-08-09T17:00:19.096Z,1754758819.096 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 63.90 m.
2025-08-09T17:00:19.239Z,1754758819.239 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.249352
2025-08-09T17:00:19.491Z,1754758819.491 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.501379
2025-08-09T17:00:19.504Z,1754758819.504 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 63.90 m.
2025-08-09T17:00:19.743Z,1754758819.743 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.753442
2025-08-09T17:00:19.941Z,1754758819.941 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 63.90 m.
2025-08-09T17:00:19.996Z,1754758819.996 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.005898
2025-08-09T17:00:20.249Z,1754758820.249 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258963
2025-08-09T17:00:20.292Z,1754758820.292 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 63.90 m.
2025-08-09T17:00:20.499Z,1754758820.499 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.509536
2025-08-09T17:00:20.751Z,1754758820.751 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.761383
2025-08-09T17:00:20.762Z,1754758820.762 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 63.90 m.
2025-08-09T17:00:21.003Z,1754758821.003 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.013328
2025-08-09T17:00:21.128Z,1754758821.128 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 63.90 m.
2025-08-09T17:00:21.255Z,1754758821.255 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.265300
2025-08-09T17:00:21.500Z,1754758821.500 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 63.90 m.
2025-08-09T17:00:21.507Z,1754758821.507 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.517503
2025-08-09T17:00:21.762Z,1754758821.762 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.771258
2025-08-09T17:00:21.960Z,1754758821.960 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 63.90 m.
2025-08-09T17:00:22.012Z,1754758822.012 [DAT](INFO): DAT read: Rx Time:17:00:20.9831

2025-08-09T17:00:22.012Z,1754758822.012 [DAT](INFO): Rx dataTimestamp_ set to:1754758822.011795
2025-08-09T17:00:22.013Z,1754758822.013 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.022968
2025-08-09T17:00:22.263Z,1754758822.263 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.273357
2025-08-09T17:00:22.329Z,1754758822.329 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 63.90 m.
2025-08-09T17:00:22.518Z,1754758822.518 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.527207
2025-08-09T17:00:22.776Z,1754758822.776 [DAT](INFO): DAT read: 17:00:20.9831 LVL= 28320, 30785, 18402, 31267, AGC= 61, IDX= 471,-0.20,-0.842,-0.861, 1.505, 0.040, PHS=-0.780,-0.856, 1.422, RAW= 208.3,   1.9, CAL= 207.7,   0.3, ROT= 302.3,  -0.3

2025-08-09T17:00:22.777Z,1754758822.777 [DAT](INFO): got valid direction response:
 17:00:20.9831 LVL= 28320, 30785, 18402, 31267, AGC= 61, IDX= 471,-0.20,-0.842,-0.861, 1.505, 0.040, PHS=-0.780,-0.856, 1.422, RAW= 208.3,   1.9, CAL= 207.7,   0.3, ROT= 302.3,  -0.3

2025-08-09T17:00:22.778Z,1754758822.778 [DAT](INFO): DAT read: Bearing  74.5, -57.3 (Local)

2025-08-09T17:00:22.779Z,1754758822.779 [DAT](INFO): Local bearing/azimuth received:
 Bearing  74.5, -57.3 (Local)

2025-08-09T17:00:22.780Z,1754758822.780 [DAT](INFO): DAT read: Range 11 to 50 : 63.9 m  (Round-trip  85.3 ms) speed  0.0 m/s

2025-08-09T17:00:22.781Z,1754758822.781 [DAT](INFO): DAT read: user:276>

2025-08-09T17:00:22.781Z,1754758822.781 [DAT](INFO): DAT read: Tx time:17:00:22.0920

2025-08-09T17:00:22.782Z,1754758822.782 [DAT](INFO): Ping request sent.
2025-08-09T17:00:22.782Z,1754758822.782 [DAT](INFO): transmitted an acoustic signal
2025-08-09T17:00:22.785Z,1754758822.785 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 63.90 m.
2025-08-09T17:00:22.791Z,1754758822.791 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-09T17:00:22.792Z,1754758822.792 [DAT](INFO): direction in FSK: [0.534345,-0.845250,0.005236]
2025-08-09T17:00:22.792Z,1754758822.792 [DAT](INFO): publishing transmit ping time
2025-08-09T17:00:22.792Z,1754758822.792 [DAT](INFO): publishing direction and range info
2025-08-09T17:00:22.796Z,1754758822.796 [DAT](INFO): publishing transmit ping time
2025-08-09T17:00:22.797Z,1754758822.797 [DAT](INFO): publishing direction and range info
2025-08-09T17:00:23.143Z,1754758823.143 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 63.900002 m,
      deltaT: 4.284492 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-08-09T17:00:23.145Z,1754758823.145 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 63.900002 m,
      bearing: 231.479592 deg,
      lat: 36.906155 deg,
      lon: -122.115926 deg,
      deltaT: 4.284492 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      posRepo size: 4

2025-08-09T17:00:23.145Z,1754758823.145 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 63.90 m.
2025-08-09T17:00:23.528Z,1754758823.528 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 63.90 m.
2025-08-09T17:00:23.951Z,1754758823.951 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 63.90 m.
2025-08-09T17:00:24.345Z,1754758824.345 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 63.90 m.
2025-08-09T17:00:24.767Z,1754758824.767 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 63.90 m.
2025-08-09T17:00:25.155Z,1754758825.155 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 63.90 m.
2025-08-09T17:00:25.540Z,1754758825.540 [DAT](INFO): DAT read: Rx Time:17:00:24.5814

2025-08-09T17:00:25.540Z,1754758825.540 [DAT](INFO): Rx dataTimestamp_ set to:1754758825.540072
2025-08-09T17:00:25.572Z,1754758825.572 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 63.90 m.
2025-08-09T17:00:25.975Z,1754758825.975 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 63.90 m.
2025-08-09T17:00:26.302Z,1754758826.302 [DAT](INFO): DAT read: 17:00:24.5814 LVL= 28384, 29633, 20386, 31203, AGC= 65, IDX= 437,-0.12, 1.300, 1.216,-2.730, 2.160, PHS=-0.757,-0.899, 1.349, RAW= 206.8,   2.8, CAL= 206.5,   1.4, ROT= 303.5,  -1.4

2025-08-09T17:00:26.304Z,1754758826.304 [DAT](INFO): got valid direction response:
 17:00:24.5814 LVL= 28384, 29633, 20386, 31203, AGC= 65, IDX= 437,-0.12, 1.300, 1.216,-2.730, 2.160, PHS=-0.757,-0.899, 1.349, RAW= 206.8,   2.8, CAL= 206.5,   1.4, ROT= 303.5,  -1.4

2025-08-09T17:00:26.305Z,1754758826.305 [DAT](INFO): DAT read: Bearing  74.2, -56.0 (Local)

2025-08-09T17:00:26.306Z,1754758826.306 [DAT](INFO): Local bearing/azimuth received:
 Bearing  74.2, -56.0 (Local)

2025-08-09T17:00:26.311Z,1754758826.311 [DAT](INFO): DAT read: Range 11 to 50 : 63.9 m  (Round-trip  85.2 ms) speed  0.0 m/s

2025-08-09T17:00:26.313Z,1754758826.313 [DAT](INFO): DAT read: user:277>

2025-08-09T17:00:26.313Z,1754758826.313 [DAT](INFO): DAT read: Tx time:17:00:25.6920

2025-08-09T17:00:26.314Z,1754758826.314 [DAT](INFO): Ping request sent.
2025-08-09T17:00:26.333Z,1754758826.333 [DAT](INFO): transmitted an acoustic signal
2025-08-09T17:00:26.333Z,1754758826.333 [DAT](INFO): #Rx 2: Read range and direction messages.
2025-08-09T17:00:26.334Z,1754758826.334 [DAT](INFO): direction in FSK: [0.551772,-0.833637,0.024432]
2025-08-09T17:00:26.335Z,1754758826.335 [DAT](INFO): publishing transmit ping time
2025-08-09T17:00:26.335Z,1754758826.335 [DAT](INFO): publishing direction and range info
2025-08-09T17:00:26.338Z,1754758826.338 [DAT](INFO): publishing transmit ping time
2025-08-09T17:00:26.338Z,1754758826.338 [DAT](INFO): publishing direction and range info
2025-08-09T17:00:26.440Z,1754758826.440 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 63.900002 m,
      deltaT: 3.525893 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-08-09T17:00:26.442Z,1754758826.442 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 63.900002 m,
      bearing: 231.045956 deg,
      lat: 36.906151 deg,
      lon: -122.115925 deg,
      deltaT: 3.525893 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      posRepo size: 4

2025-08-09T17:00:26.447Z,1754758826.447 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 63.90 m.
2025-08-09T17:00:26.767Z,1754758826.767 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 63.90 m.
2025-08-09T17:00:27.178Z,1754758827.178 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 63.90 m.
2025-08-09T17:00:27.574Z,1754758827.574 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 63.90 m.
2025-08-09T17:00:27.998Z,1754758827.998 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 63.90 m.
2025-08-09T17:00:28.367Z,1754758828.367 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 63.90 m.
2025-08-09T17:00:28.773Z,1754758828.773 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 63.90 m.
2025-08-09T17:00:29.199Z,1754758829.199 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 63.90 m.
2025-08-09T17:00:29.324Z,1754758829.324 [DAT](INFO): DAT read: Rx Time:17:00:28.1810

2025-08-09T17:00:29.325Z,1754758829.325 [DAT](INFO): Rx dataTimestamp_ set to:1754758829.324481
2025-08-09T17:00:29.580Z,1754758829.580 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 63.90 m.
2025-08-09T17:00:29.850Z,1754758829.850 [DAT](INFO): DAT read: 17:00:28.1810 LVL= 28848, 31985, 18402, 30131, AGC= 66, IDX= 434,-0.34, 0.432, 0.286, 2.632, 1.279, PHS=-0.745,-0.947, 1.309, RAW= 205.3,   3.6, CAL= 205.2,   2.4, ROT= 304.8,  -2.4

2025-08-09T17:00:29.853Z,1754758829.853 [DAT](INFO): got valid direction response:
 17:00:28.1810 LVL= 28848, 31985, 18402, 30131, AGC= 66, IDX= 434,-0.34, 0.432, 0.286, 2.632, 1.279, PHS=-0.745,-0.947, 1.309, RAW= 205.3,   3.6, CAL= 205.2,   2.4, ROT= 304.8,  -2.4

2025-08-09T17:00:29.856Z,1754758829.856 [DAT](INFO): DAT read: Bearing  74.2, -54.4 (Local)

2025-08-09T17:00:29.857Z,1754758829.857 [DAT](INFO): Local bearing/azimuth received:
 Bearing  74.2, -54.4 (Local)

2025-08-09T17:00:29.862Z,1754758829.862 [DAT](INFO): DAT read: Range 11 to 50 : 63.6 m  (Round-trip  84.8 ms) speed  0.0 m/s

2025-08-09T17:00:29.865Z,1754758829.865 [DAT](INFO): DAT read: user:278>

2025-08-09T17:00:29.868Z,1754758829.868 [DAT](INFO): DAT read: Tx time:17:00:29.2936

2025-08-09T17:00:29.869Z,1754758829.869 [DAT](INFO): Ping request sent.
2025-08-09T17:00:29.869Z,1754758829.869 [DAT](INFO): transmitted an acoustic signal
2025-08-09T17:00:29.871Z,1754758829.871 [DAT](INFO): #Rx 3: Read range and direction messages.
2025-08-09T17:00:29.875Z,1754758829.875 [DAT](INFO): direction in FSK: [0.570213,-0.820429,0.041876]
2025-08-09T17:00:29.876Z,1754758829.876 [DAT](INFO): publishing transmit ping time
2025-08-09T17:00:29.876Z,1754758829.876 [DAT](INFO): publishing direction and range info
2025-08-09T17:00:29.892Z,1754758829.892 [DAT](INFO): publishing transmit ping time
2025-08-09T17:00:29.892Z,1754758829.892 [DAT](INFO): publishing direction and range info
2025-08-09T17:00:30.073Z,1754758830.073 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 63.599998 m,
      deltaT: 3.533751 s,
      deltaX: -0.300003 m,
      approachRate: -0.084896 m/s,
      rangeRepo size: 4

2025-08-09T17:00:30.083Z,1754758830.083 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 63.599998 m,
      bearing: 230.123624 deg,
      lat: 36.906146 deg,
      lon: -122.115920 deg,
      deltaT: 3.533751 s,
      deltaX: -0.300003 m,
      approachRate: -0.084896 m/s,
      posRepo size: 4

2025-08-09T17:00:30.083Z,1754758830.083 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 63.60 m.
2025-08-09T17:00:30.391Z,1754758830.391 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 63.60 m.
2025-08-09T17:00:30.795Z,1754758830.795 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 63.60 m.
2025-08-09T17:00:31.223Z,1754758831.223 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 63.60 m.
2025-08-09T17:00:31.623Z,1754758831.623 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 63.60 m.
2025-08-09T17:00:32.096Z,1754758832.096 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 63.60 m.
2025-08-09T17:00:32.409Z,1754758832.409 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 63.60 m.
2025-08-09T17:00:32.830Z,1754758832.830 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 63.60 m.
2025-08-09T17:00:32.867Z,1754758832.867 [DAT](INFO): DAT read: Rx Time:17:00:31.7829

2025-08-09T17:00:32.869Z,1754758832.869 [DAT](INFO): Rx dataTimestamp_ set to:1754758832.867505
2025-08-09T17:00:33.253Z,1754758833.253 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 63.60 m.
2025-08-09T17:00:33.373Z,1754758833.373 [DAT](INFO): DAT read: 17:00:31.7829 LVL= 32496, 32753, 21218, 32755, AGC= 65, IDX= 452,-0.10, 1.757, 1.580,-2.386, 2.553, PHS=-0.694,-0.928, 1.301, RAW= 204.5,   3.1, CAL= 204.4,   1.5, ROT= 305.6,  -1.5

2025-08-09T17:00:33.374Z,1754758833.374 [DAT](INFO): got valid direction response:
 17:00:31.7829 LVL= 32496, 32753, 21218, 32755, AGC= 65, IDX= 452,-0.10, 1.757, 1.580,-2.386, 2.553, PHS=-0.694,-0.928, 1.301, RAW= 204.5,   3.1, CAL= 204.4,   1.5, ROT= 305.6,  -1.5

2025-08-09T17:00:33.375Z,1754758833.375 [DAT](INFO): DAT read: Bearing  70.5, -53.4 (Local)

2025-08-09T17:00:33.375Z,1754758833.375 [DAT](INFO): Local bearing/azimuth received:
 Bearing  70.5, -53.4 (Local)

2025-08-09T17:00:33.377Z,1754758833.377 [DAT](INFO): DAT read: Range 11 to 50 : 63.8 m  (Round-trip  85.1 ms) speed -0.1 m/s

2025-08-09T17:00:33.377Z,1754758833.377 [DAT](INFO): DAT read: user:279>

2025-08-09T17:00:33.378Z,1754758833.378 [DAT](INFO): DAT read: Tx time:17:00:32.8920

2025-08-09T17:00:33.379Z,1754758833.379 [DAT](INFO): Ping request sent.
2025-08-09T17:00:33.379Z,1754758833.379 [DAT](INFO): transmitted an acoustic signal
2025-08-09T17:00:33.379Z,1754758833.379 [DAT](INFO): #Rx 4: Read range and direction messages.
2025-08-09T17:00:33.380Z,1754758833.380 [DAT](INFO): direction in FSK: [0.581924,-0.812822,0.026177]
2025-08-09T17:00:33.380Z,1754758833.380 [DAT](INFO): publishing transmit ping time
2025-08-09T17:00:33.380Z,1754758833.380 [DAT](INFO): publishing direction and range info
2025-08-09T17:00:33.424Z,1754758833.424 [DAT](INFO): publishing transmit ping time
2025-08-09T17:00:33.425Z,1754758833.425 [DAT](INFO): publishing direction and range info
2025-08-09T17:00:33.636Z,1754758833.636 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 63.799999 m,
      deltaT: 3.538326 s,
      deltaX: 0.200001 m,
      approachRate: 0.056524 m/s,
      rangeRepo size: 4

2025-08-09T17:00:33.639Z,1754758833.639 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 63.799999 m,
      bearing: 229.672114 deg,
      lat: 36.906144 deg,
      lon: -122.115919 deg,
      deltaT: 3.538326 s,
      deltaX: 0.200001 m,
      approachRate: 0.056524 m/s,
      posRepo size: 4

2025-08-09T17:00:33.639Z,1754758833.639 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 63.80 m.
2025-08-09T17:00:34.055Z,1754758834.055 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 63.80 m.
2025-08-09T17:00:34.467Z,1754758834.467 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 63.80 m.
2025-08-09T17:00:34.839Z,1754758834.839 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-09T17:00:34.843Z,1754758834.843 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 63.80 m.
2025-08-09T17:00:34.891Z,1754758834.891 [DAT](INFO): ****** received valid address query ******
2025-08-09T17:00:34.891Z,1754758834.891 [DAT](INFO): ****** received valid ping request ******
2025-08-09T17:00:34.892Z,1754758834.892 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-09T17:00:35.139Z,1754758835.139 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.760537
2025-08-09T17:00:35.260Z,1754758835.260 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 63.80 m.
2025-08-09T17:00:35.391Z,1754758835.391 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.012502
2025-08-09T17:00:35.643Z,1754758835.643 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.264740
2025-08-09T17:00:35.674Z,1754758835.674 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 63.80 m.
2025-08-09T17:00:35.895Z,1754758835.895 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.516583
2025-08-09T17:00:36.065Z,1754758836.065 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 63.80 m.
2025-08-09T17:00:36.154Z,1754758836.154 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.774900
2025-08-09T17:00:36.407Z,1754758836.407 [DAT](INFO): DAT read: Rx Time:17:00:35.3816

2025-08-09T17:00:36.408Z,1754758836.408 [DAT](INFO): Rx dataTimestamp_ set to:1754758836.407675
2025-08-09T17:00:36.408Z,1754758836.408 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.029787
2025-08-09T17:00:36.477Z,1754758836.477 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 63.80 m.
2025-08-09T17:00:36.659Z,1754758836.659 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.280569
2025-08-09T17:00:36.872Z,1754758836.872 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 63.80 m.
2025-08-09T17:00:36.914Z,1754758836.914 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.534569
2025-08-09T17:00:37.169Z,1754758837.169 [DAT](INFO): DAT read: 17:00:35.3816 LVL= 32752, 32753, 24818, 32755, AGC= 65, IDX= 424,-0.37, 2.921, 2.698,-1.281,-2.584, PHS=-0.676,-0.956, 1.260, RAW= 203.3,   3.6, CAL= 203.3,   2.2, ROT= 306.7,  -2.2

2025-08-09T17:00:37.170Z,1754758837.170 [DAT](INFO): got valid direction response:
 17:00:35.3816 LVL= 32752, 32753, 24818, 32755, AGC= 65, IDX= 424,-0.37, 2.921, 2.698,-1.281,-2.584, PHS=-0.676,-0.956, 1.260, RAW= 203.3,   3.6, CAL= 203.3,   2.2, ROT= 306.7,  -2.2

2025-08-09T17:00:37.171Z,1754758837.171 [DAT](INFO): DAT read: Bearing  69.5, -51.9 (Local)

2025-08-09T17:00:37.171Z,1754758837.171 [DAT](INFO): Local bearing/azimuth received:
 Bearing  69.5, -51.9 (Local)

2025-08-09T17:00:37.173Z,1754758837.173 [DAT](INFO): DAT read: Range 11 to 50 : 64.0 m  (Round-trip  85.4 ms) speed  0.0 m/s

2025-08-09T17:00:37.173Z,1754758837.173 [DAT](INFO): DAT read: user:280>

2025-08-09T17:00:37.174Z,1754758837.174 [DAT](INFO): DAT read: Tx time:17:00:36.4920

2025-08-09T17:00:37.175Z,1754758837.175 [DAT](INFO): Ping request sent.
2025-08-09T17:00:37.175Z,1754758837.175 [DAT](INFO): transmitted an acoustic signal
2025-08-09T17:00:37.175Z,1754758837.175 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-09T17:00:37.176Z,1754758837.176 [DAT](INFO): direction in FSK: [0.597185,-0.801185,0.038388]
2025-08-09T17:00:37.176Z,1754758837.176 [DAT](INFO): publishing transmit ping time
2025-08-09T17:00:37.176Z,1754758837.176 [DAT](INFO): publishing direction and range info
2025-08-09T17:00:37.180Z,1754758837.180 [DAT](INFO): publishing transmit ping time
2025-08-09T17:00:37.180Z,1754758837.180 [DAT](INFO): publishing direction and range info
2025-08-09T17:00:37.367Z,1754758837.367 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 64.000000 m,
      deltaT: 3.796030 s,
      deltaX: 0.200001 m,
      approachRate: 0.052687 m/s,
      rangeRepo size: 4

2025-08-09T17:00:37.369Z,1754758837.369 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 64.000000 m,
      bearing: 229.339910 deg,
      lat: 36.906144 deg,
      lon: -122.115918 deg,
      deltaT: 3.796030 s,
      deltaX: 0.200001 m,
      approachRate: 0.052687 m/s,
      posRepo size: 4

2025-08-09T17:00:37.370Z,1754758837.370 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.00 m.
2025-08-09T17:00:37.679Z,1754758837.679 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.00 m.
2025-08-09T17:00:38.092Z,1754758838.092 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.00 m.
2025-08-09T17:00:38.482Z,1754758838.482 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.00 m.
2025-08-09T17:00:38.897Z,1754758838.897 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.00 m.
2025-08-09T17:00:39.337Z,1754758839.337 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.00 m.
2025-08-09T17:00:39.690Z,1754758839.690 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.00 m.
2025-08-09T17:00:40.122Z,1754758840.122 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.00 m.
2025-08-09T17:00:40.187Z,1754758840.187 [DAT](INFO): DAT read: Rx Time:17:00:38.9815

2025-08-09T17:00:40.188Z,1754758840.188 [DAT](INFO): Rx dataTimestamp_ set to:1754758840.187480
2025-08-09T17:00:40.567Z,1754758840.567 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.00 m.
2025-08-09T17:00:40.697Z,1754758840.697 [DAT](INFO): DAT read: 17:00:38.9815 LVL= 32752, 31633, 18418, 32755, AGC= 61, IDX= 438,-0.10, 0.343, 0.083, 2.388, 1.151, PHS=-0.706,-1.023, 1.193, RAW= 202.4,   5.2, CAL= 202.5,   4.5, ROT= 307.5,  -4.5

2025-08-09T17:00:40.698Z,1754758840.698 [DAT](INFO): got valid direction response:
 17:00:38.9815 LVL= 32752, 31633, 18418, 32755, AGC= 61, IDX= 438,-0.10, 0.343, 0.083, 2.388, 1.151, PHS=-0.706,-1.023, 1.193, RAW= 202.4,   5.2, CAL= 202.5,   4.5, ROT= 307.5,  -4.5

2025-08-09T17:00:40.699Z,1754758840.699 [DAT](INFO): DAT read: Bearing  71.4, -50.9 (Local)

2025-08-09T17:00:40.699Z,1754758840.699 [DAT](INFO): Local bearing/azimuth received:
 Bearing  71.4, -50.9 (Local)

2025-08-09T17:00:40.701Z,1754758840.701 [DAT](INFO): DAT read: Range 11 to 50 : 63.9 m  (Round-trip  85.3 ms) speed  0.1 m/s

2025-08-09T17:00:40.701Z,1754758840.701 [DAT](INFO): DAT read: user:281>

2025-08-09T17:00:40.703Z,1754758840.703 [DAT](INFO): DAT read: Tx time:17:00:40.0920

2025-08-09T17:00:40.704Z,1754758840.704 [DAT](INFO): Ping request sent.
2025-08-09T17:00:40.705Z,1754758840.705 [DAT](INFO): transmitted an acoustic signal
2025-08-09T17:00:40.706Z,1754758840.706 [DAT](INFO): #Rx 2: Read range and direction messages.
2025-08-09T17:00:40.710Z,1754758840.710 [DAT](INFO): direction in FSK: [0.606885,-0.790908,0.078459]
2025-08-09T17:00:40.710Z,1754758840.710 [DAT](INFO): publishing transmit ping time
2025-08-09T17:00:40.711Z,1754758840.711 [DAT](INFO): publishing direction and range info
2025-08-09T17:00:40.714Z,1754758840.714 [DAT](INFO): publishing transmit ping time
2025-08-09T17:00:40.714Z,1754758840.714 [DAT](INFO): publishing direction and range info
2025-08-09T17:00:40.940Z,1754758840.940 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 63.900002 m,
      deltaT: 3.527951 s,
      deltaX: -0.099998 m,
      approachRate: -0.028345 m/s,
      rangeRepo size: 4

2025-08-09T17:00:40.947Z,1754758840.947 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 63.900002 m,
      bearing: 228.810483 deg,
      lat: 36.906141 deg,
      lon: -122.115915 deg,
      deltaT: 3.527951 s,
      deltaX: -0.099998 m,
      approachRate: -0.028345 m/s,
      posRepo size: 4

2025-08-09T17:00:40.947Z,1754758840.947 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 63.90 m.
2025-08-09T17:00:41.352Z,1754758841.352 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 63.90 m.
2025-08-09T17:00:41.715Z,1754758841.715 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 63.90 m.
2025-08-09T17:00:42.141Z,1754758842.141 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 63.90 m.
2025-08-09T17:00:42.514Z,1754758842.514 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 63.90 m.
2025-08-09T17:00:42.995Z,1754758842.995 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 63.90 m.
2025-08-09T17:00:43.361Z,1754758843.361 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 63.90 m.
2025-08-09T17:00:43.717Z,1754758843.717 [DAT](INFO): DAT read: Rx Time:17:00:42.5810

2025-08-09T17:00:43.718Z,1754758843.718 [DAT](INFO): Rx dataTimestamp_ set to:1754758843.717352
2025-08-09T17:00:43.725Z,1754758843.725 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 63.90 m.
2025-08-09T17:00:44.202Z,1754758844.202 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 63.90 m.
2025-08-09T17:00:44.225Z,1754758844.225 [DAT](INFO): DAT read: 17:00:42.5810 LVL= 25184, 24801, 16306, 28051, AGC= 63, IDX= 433, 0.26, 2.854, 2.540,-1.537,-2.698, PHS=-0.629,-1.000, 1.117, RAW= 200.6,   5.3, CAL= 200.8,   4.5, ROT= 309.2,  -4.5

2025-08-09T17:00:44.226Z,1754758844.226 [DAT](INFO): got valid direction response:
 17:00:42.5810 LVL= 25184, 24801, 16306, 28051, AGC= 63, IDX= 433, 0.26, 2.854, 2.540,-1.537,-2.698, PHS=-0.629,-1.000, 1.117, RAW= 200.6,   5.3, CAL= 200.8,   4.5, ROT= 309.2,  -4.5

2025-08-09T17:00:44.227Z,1754758844.227 [DAT](INFO): DAT read: Bearing  69.9, -48.9 (Local)

2025-08-09T17:00:44.228Z,1754758844.228 [DAT](INFO): Local bearing/azimuth received:
 Bearing  69.9, -48.9 (Local)

2025-08-09T17:00:44.229Z,1754758844.229 [DAT](INFO): DAT read: Range 11 to 50 : 63.6 m  (Round-trip  84.8 ms) speed  0.0 m/s

2025-08-09T17:00:44.230Z,1754758844.230 [DAT](INFO): DAT read: user:282>

2025-08-09T17:00:44.231Z,1754758844.231 [DAT](INFO): DAT read: Tx time:17:00:43.6936

2025-08-09T17:00:44.231Z,1754758844.231 [DAT](INFO): Ping request sent.
2025-08-09T17:00:44.231Z,1754758844.231 [DAT](INFO): transmitted an acoustic signal
2025-08-09T17:00:44.231Z,1754758844.231 [DAT](INFO): #Rx 3: Read range and direction messages.
2025-08-09T17:00:44.232Z,1754758844.232 [DAT](INFO): direction in FSK: [0.630081,-0.772555,0.078459]
2025-08-09T17:00:44.233Z,1754758844.233 [DAT](INFO): publishing transmit ping time
2025-08-09T17:00:44.233Z,1754758844.233 [DAT](INFO): publishing direction and range info
2025-08-09T17:00:44.236Z,1754758844.236 [DAT](INFO): publishing transmit ping time
2025-08-09T17:00:44.236Z,1754758844.236 [DAT](INFO): publishing direction and range info
2025-08-09T17:00:44.547Z,1754758844.547 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 63.599998 m,
      deltaT: 3.528090 s,
      deltaX: -0.300003 m,
      approachRate: -0.085033 m/s,
      rangeRepo size: 4

2025-08-09T17:00:44.549Z,1754758844.549 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 63.599998 m,
      bearing: 228.411373 deg,
      lat: 36.906139 deg,
      lon: -122.115913 deg,
      deltaT: 3.528090 s,
      deltaX: -0.300003 m,
      approachRate: -0.085033 m/s,
      posRepo size: 4

2025-08-09T17:00:44.549Z,1754758844.549 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 63.60 m.
2025-08-09T17:00:44.958Z,1754758844.958 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 63.60 m.
2025-08-09T17:00:45.376Z,1754758845.376 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 63.60 m.
2025-08-09T17:00:45.811Z,1754758845.811 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 63.60 m.
2025-08-09T17:00:46.182Z,1754758846.182 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 63.60 m.
2025-08-09T17:00:46.554Z,1754758846.554 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 63.60 m.
2025-08-09T17:00:46.958Z,1754758846.958 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 63.60 m.
2025-08-09T17:00:47.243Z,1754758847.243 [DAT](INFO): DAT read: Rx Time:17:00:46.1828

2025-08-09T17:00:47.244Z,1754758847.244 [DAT](INFO): Rx dataTimestamp_ set to:1754758847.243512
2025-08-09T17:00:47.379Z,1754758847.379 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 63.60 m.
2025-08-09T17:00:47.753Z,1754758847.753 [DAT](INFO): DAT read: 17:00:46.1828 LVL= 32752, 32753, 19906, 31731, AGC= 67, IDX= 452, 0.02, 0.013,-0.378, 1.902, 0.762, PHS=-0.648,-1.095, 1.095, RAW= 198.9,   6.5, CAL= 199.1,   6.3, ROT= 310.9,  -6.3

2025-08-09T17:00:47.754Z,1754758847.754 [DAT](INFO): got valid direction response:
 17:00:46.1828 LVL= 32752, 32753, 19906, 31731, AGC= 67, IDX= 452, 0.02, 0.013,-0.378, 1.902, 0.762, PHS=-0.648,-1.095, 1.095, RAW= 198.9,   6.5, CAL= 199.1,   6.3, ROT= 310.9,  -6.3

2025-08-09T17:00:47.755Z,1754758847.755 [DAT](INFO): DAT read: Bearing  70.9, -47.1 (Local)

2025-08-09T17:00:47.756Z,1754758847.756 [DAT](INFO): Local bearing/azimuth received:
 Bearing  70.9, -47.1 (Local)

2025-08-09T17:00:47.757Z,1754758847.757 [DAT](INFO): DAT read: Range 11 to 50 : 63.8 m  (Round-trip  85.1 ms) speed  0.0 m/s

2025-08-09T17:00:47.758Z,1754758847.758 [DAT](INFO): DAT read: user:283>

2025-08-09T17:00:47.758Z,1754758847.758 [DAT](INFO): DAT read: Tx time:17:00:47.2919

2025-08-09T17:00:47.759Z,1754758847.759 [DAT](INFO): Ping request sent.
2025-08-09T17:00:47.759Z,1754758847.759 [DAT](INFO): transmitted an acoustic signal
2025-08-09T17:00:47.759Z,1754758847.759 [DAT](INFO): #Rx 4: Read range and direction messages.
2025-08-09T17:00:47.760Z,1754758847.760 [DAT](INFO): direction in FSK: [0.650787,-0.751289,0.109734]
2025-08-09T17:00:47.760Z,1754758847.760 [DAT](INFO): publishing transmit ping time
2025-08-09T17:00:47.761Z,1754758847.761 [DAT](INFO): publishing direction and range info
2025-08-09T17:00:47.786Z,1754758847.786 [DAT](INFO): publishing transmit ping time
2025-08-09T17:00:47.802Z,1754758847.802 [DAT](INFO): publishing direction and range info
2025-08-09T17:00:47.863Z,1754758847.863 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 63.799999 m,
      deltaT: 3.528041 s,
      deltaX: 0.200001 m,
      approachRate: 0.056689 m/s,
      rangeRepo size: 4

2025-08-09T17:00:47.866Z,1754758847.866 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 63.799999 m,
      bearing: 227.875318 deg,
      lat: 36.906139 deg,
      lon: -122.115908 deg,
      deltaT: 3.528041 s,
      deltaX: 0.200001 m,
      approachRate: 0.056689 m/s,
      posRepo size: 4

2025-08-09T17:00:47.871Z,1754758847.871 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 63.80 m.
2025-08-09T17:00:48.224Z,1754758848.224 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 63.80 m.
2025-08-09T17:00:48.588Z,1754758848.588 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 63.80 m.
2025-08-09T17:00:48.974Z,1754758848.974 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 63.80 m.
2025-08-09T17:00:49.410Z,1754758849.410 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 63.80 m.
2025-08-09T17:00:49.795Z,1754758849.795 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 63.80 m.
2025-08-09T17:00:50.255Z,1754758850.255 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 63.80 m.
2025-08-09T17:00:50.611Z,1754758850.611 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 63.80 m.
2025-08-09T17:00:50.776Z,1754758850.776 [DAT](INFO): DAT read: Rx Time:17:00:49.7813

2025-08-09T17:00:50.777Z,1754758850.777 [DAT](INFO): Rx dataTimestamp_ set to:1754758850.776709
2025-08-09T17:00:51.002Z,1754758851.002 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 63.80 m.
2025-08-09T17:00:51.416Z,1754758851.416 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 63.80 m.
2025-08-09T17:00:51.538Z,1754758851.538 [DAT](INFO): DAT read: 17:00:49.7813 LVL= 30832, 28657, 24050, 32755, AGC= 63, IDX= 437, 0.18, 2.044, 1.613,-2.425, 2.777, PHS=-0.630,-1.119, 1.038, RAW= 197.5,   7.3, CAL= 197.8,   7.5, ROT= 312.2,  -7.5

2025-08-09T17:00:51.539Z,1754758851.539 [DAT](INFO): got valid direction response:
 17:00:49.7813 LVL= 30832, 28657, 24050, 32755, AGC= 63, IDX= 437, 0.18, 2.044, 1.613,-2.425, 2.777, PHS=-0.630,-1.119, 1.038, RAW= 197.5,   7.3, CAL= 197.8,   7.5, ROT= 312.2,  -7.5

2025-08-09T17:00:51.540Z,1754758851.540 [DAT](INFO): DAT read: Bearing  70.7, -45.6 (Local)

2025-08-09T17:00:51.540Z,1754758851.540 [DAT](INFO): Local bearing/azimuth received:
 Bearing  70.7, -45.6 (Local)

2025-08-09T17:00:51.542Z,1754758851.542 [DAT](INFO): DAT read: Range 11 to 50 : 63.9 m  (Round-trip  85.2 ms) speed  0.0 m/s

2025-08-09T17:00:51.543Z,1754758851.543 [DAT](INFO): DAT read: user:284>

2025-08-09T17:00:51.543Z,1754758851.543 [DAT](INFO): DAT read: Tx time:17:00:50.8919

2025-08-09T17:00:51.544Z,1754758851.544 [DAT](INFO): Ping request sent.
2025-08-09T17:00:51.544Z,1754758851.544 [DAT](INFO): transmitted an acoustic signal
2025-08-09T17:00:51.544Z,1754758851.544 [DAT](INFO): #Rx 5: Read range and direction messages.
2025-08-09T17:00:51.545Z,1754758851.545 [DAT](INFO): direction in FSK: [0.665974,-0.734467,0.130526]
2025-08-09T17:00:51.545Z,1754758851.545 [DAT](INFO): publishing transmit ping time
2025-08-09T17:00:51.546Z,1754758851.546 [DAT](INFO): publishing direction and range info
2025-08-09T17:00:51.549Z,1754758851.549 [DAT](INFO): publishing transmit ping time
2025-08-09T17:00:51.549Z,1754758851.549 [DAT](INFO): publishing direction and range info
2025-08-09T17:00:51.816Z,1754758851.816 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 63.900002 m,
      deltaT: 3.784174 s,
      deltaX: 0.100002 m,
      approachRate: 0.026426 m/s,
      rangeRepo size: 4

2025-08-09T17:00:51.819Z,1754758851.819 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 63.900002 m,
      bearing: 227.607641 deg,
      lat: 36.906139 deg,
      lon: -122.115907 deg,
      deltaT: 3.784174 s,
      deltaX: 0.100002 m,
      approachRate: 0.026426 m/s,
      posRepo size: 4

2025-08-09T17:00:51.819Z,1754758851.819 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 63.90 m.
2025-08-09T17:00:52.281Z,1754758852.281 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 63.90 m.
2025-08-09T17:00:52.610Z,1754758852.610 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 63.90 m.
2025-08-09T17:00:53.022Z,1754758853.022 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 63.90 m.
2025-08-09T17:00:53.439Z,1754758853.439 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 63.90 m.
2025-08-09T17:00:53.840Z,1754758853.840 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 63.90 m.
2025-08-09T17:00:54.312Z,1754758854.312 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 63.90 m.
2025-08-09T17:00:54.555Z,1754758854.555 [DAT](INFO): DAT read: Rx Time:17:00:53.3810

2025-08-09T17:00:54.556Z,1754758854.556 [DAT](INFO): Rx dataTimestamp_ set to:1754758854.555426
2025-08-09T17:00:54.646Z,1754758854.646 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 63.90 m.
2025-08-09T17:00:55.038Z,1754758855.038 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 63.90 m.
2025-08-09T17:00:55.066Z,1754758855.066 [DAT](INFO): DAT read: 17:00:53.3810 LVL= 30640, 29921, 20610, 31411, AGC= 64, IDX= 435,-0.21,-1.548,-2.051, 0.233,-0.864, PHS=-0.582,-1.142, 1.053, RAW= 195.8,   6.8, CAL= 196.0,   6.6, ROT= 314.0,  -6.6

2025-08-09T17:00:55.076Z,1754758855.076 [DAT](INFO): got valid direction response:
 17:00:53.3810 LVL= 30640, 29921, 20610, 31411, AGC= 64, IDX= 435,-0.21,-1.548,-2.051, 0.233,-0.864, PHS=-0.582,-1.142, 1.053, RAW= 195.8,   6.8, CAL= 196.0,   6.6, ROT= 314.0,  -6.6

2025-08-09T17:00:55.077Z,1754758855.077 [DAT](INFO): DAT read: Bearing  68.3, -43.8 (Local)

2025-08-09T17:00:55.077Z,1754758855.077 [DAT](INFO): Local bearing/azimuth received:
 Bearing  68.3, -43.8 (Local)

2025-08-09T17:00:55.078Z,1754758855.078 [DAT](INFO): DAT read: Range 11 to 50 : 63.6 m  (Round-trip  84.9 ms) speed -0.1 m/s

2025-08-09T17:00:55.079Z,1754758855.079 [DAT](INFO): DAT read: user:285>

2025-08-09T17:00:55.080Z,1754758855.080 [DAT](INFO): DAT read: Tx time:17:00:54.4919

2025-08-09T17:00:55.080Z,1754758855.080 [DAT](INFO): Ping request sent.
2025-08-09T17:00:55.080Z,1754758855.080 [DAT](INFO): transmitted an acoustic signal
2025-08-09T17:00:55.080Z,1754758855.080 [DAT](INFO): #Rx 6: Read range and direction messages.
2025-08-09T17:00:55.081Z,1754758855.081 [DAT](INFO): direction in FSK: [0.690055,-0.714573,0.114937]
2025-08-09T17:00:55.082Z,1754758855.082 [DAT](INFO): publishing transmit ping time
2025-08-09T17:00:55.082Z,1754758855.082 [DAT](INFO): publishing direction and range info
2025-08-09T17:00:55.097Z,1754758855.097 [DAT](INFO): publishing transmit ping time
2025-08-09T17:00:55.097Z,1754758855.097 [DAT](INFO): publishing direction and range info
2025-08-09T17:00:55.483Z,1754758855.483 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 63.599998 m,
      deltaT: 3.527748 s,
      deltaX: -0.300003 m,
      approachRate: -0.085041 m/s,
      rangeRepo size: 4

2025-08-09T17:00:55.485Z,1754758855.485 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 63.599998 m,
      bearing: 227.643379 deg,
      lat: 36.906140 deg,
      lon: -122.115907 deg,
      deltaT: 3.527748 s,
      deltaX: -0.300003 m,
      approachRate: -0.085041 m/s,
      posRepo size: 4

2025-08-09T17:00:55.486Z,1754758855.486 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 63.60 m.
2025-08-09T17:00:55.840Z,1754758855.840 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 63.60 m.
2025-08-09T17:00:56.335Z,1754758856.335 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 63.60 m.
2025-08-09T17:00:56.656Z,1754758856.656 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 63.60 m.
2025-08-09T17:00:57.064Z,1754758857.064 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 63.60 m.
2025-08-09T17:00:57.484Z,1754758857.484 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 63.60 m.
2025-08-09T17:00:57.918Z,1754758857.918 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 63.60 m.
2025-08-09T17:00:58.087Z,1754758858.087 [DAT](INFO): DAT read: Rx Time:17:00:56.9810

2025-08-09T17:00:58.088Z,1754758858.088 [DAT](INFO): Rx dataTimestamp_ set to:1754758858.087468
2025-08-09T17:00:58.326Z,1754758858.326 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 63.60 m.
2025-08-09T17:00:58.597Z,1754758858.597 [DAT](INFO): DAT read: 17:00:56.9810 LVL= 31696, 32081, 18786, 32755, AGC= 66, IDX= 418, 0.34, 1.722, 1.170,-2.780, 2.377, PHS=-0.553,-1.161, 1.083, RAW= 194.8,   6.3, CAL= 195.0,   5.8, ROT= 315.0,  -5.8

2025-08-09T17:00:58.598Z,1754758858.598 [DAT](INFO): got valid direction response:
 17:00:56.9810 LVL= 31696, 32081, 18786, 32755, AGC= 66, IDX= 418, 0.34, 1.722, 1.170,-2.780, 2.377, PHS=-0.553,-1.161, 1.083, RAW= 194.8,   6.3, CAL= 195.0,   5.8, ROT= 315.0,  -5.8

2025-08-09T17:00:58.599Z,1754758858.599 [DAT](INFO): DAT read: Bearing  65.5, -43.0 (Local)

2025-08-09T17:00:58.599Z,1754758858.599 [DAT](INFO): Local bearing/azimuth received:
 Bearing  65.5, -43.0 (Local)

2025-08-09T17:00:58.601Z,1754758858.601 [DAT](INFO): DAT read: Range 11 to 50 : 63.6 m  (Round-trip  84.9 ms) speed  0.1 m/s

2025-08-09T17:00:58.601Z,1754758858.601 [DAT](INFO): DAT read: user:286>

2025-08-09T17:00:58.602Z,1754758858.602 [DAT](INFO): DAT read: Tx time:17:00:58.0919

2025-08-09T17:00:58.603Z,1754758858.603 [DAT](INFO): Ping request sent.
2025-08-09T17:00:58.603Z,1754758858.603 [DAT](INFO): transmitted an acoustic signal
2025-08-09T17:00:58.603Z,1754758858.603 [DAT](INFO): #Rx 7: Read range and direction messages.
2025-08-09T17:00:58.604Z,1754758858.604 [DAT](INFO): direction in FSK: [0.703487,-0.703487,0.101056]
2025-08-09T17:00:58.604Z,1754758858.604 [DAT](INFO): publishing transmit ping time
2025-08-09T17:00:58.604Z,1754758858.604 [DAT](INFO): publishing direction and range info
2025-08-09T17:00:58.608Z,1754758858.608 [DAT](INFO): publishing transmit ping time
2025-08-09T17:00:58.608Z,1754758858.608 [DAT](INFO): publishing direction and range info
2025-08-09T17:00:58.782Z,1754758858.782 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 63.599998 m,
      deltaT: 3.531989 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-08-09T17:00:58.788Z,1754758858.788 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 63.599998 m,
      bearing: 227.570149 deg,
      lat: 36.906141 deg,
      lon: -122.115908 deg,
      deltaT: 3.531989 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      posRepo size: 4

2025-08-09T17:00:58.788Z,1754758858.788 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 63.60 m.
2025-08-09T17:00:59.102Z,1754758859.102 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 63.60 m.
2025-08-09T17:00:59.506Z,1754758859.506 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 63.60 m.
2025-08-09T17:00:59.888Z,1754758859.888 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 63.60 m.
2025-08-09T17:01:00.367Z,1754758860.367 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 63.60 m.
2025-08-09T17:01:00.718Z,1754758860.718 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 63.60 m.
2025-08-09T17:01:01.112Z,1754758861.112 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 63.60 m.
2025-08-09T17:01:01.529Z,1754758861.529 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 63.60 m.
2025-08-09T17:01:01.620Z,1754758861.620 [DAT](INFO): DAT read: Rx Time:17:01:00.5812

2025-08-09T17:01:01.621Z,1754758861.621 [DAT](INFO): Rx dataTimestamp_ set to:1754758861.620636
2025-08-09T17:01:01.903Z,1754758861.903 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 63.60 m.
2025-08-09T17:01:02.142Z,1754758862.142 [DAT](INFO): DAT read: 17:01:00.5812 LVL= 27952, 24801, 21810, 32019, AGC= 65, IDX= 437,-0.26,-1.696,-2.280, 0.017,-1.076, PHS=-0.518,-1.159, 1.049, RAW= 193.6,   6.4, CAL= 193.8,   5.9, ROT= 316.2,  -5.9

2025-08-09T17:01:02.145Z,1754758862.145 [DAT](INFO): got valid direction response:
 17:01:00.5812 LVL= 27952, 24801, 21810, 32019, AGC= 65, IDX= 437,-0.26,-1.696,-2.280, 0.017,-1.076, PHS=-0.518,-1.159, 1.049, RAW= 193.6,   6.4, CAL= 193.8,   5.9, ROT= 316.2,  -5.9

2025-08-09T17:01:02.146Z,1754758862.146 [DAT](INFO): DAT read: Bearing  64.4, -41.7 (Local)

2025-08-09T17:01:02.146Z,1754758862.146 [DAT](INFO): Local bearing/azimuth received:
 Bearing  64.4, -41.7 (Local)

2025-08-09T17:01:02.148Z,1754758862.148 [DAT](INFO): DAT read: Range 11 to 50 : 63.8 m  (Round-trip  85.1 ms) speed  0.0 m/s

2025-08-09T17:01:02.148Z,1754758862.148 [DAT](INFO): DAT read: user:287>

2025-08-09T17:01:02.149Z,1754758862.149 [DAT](INFO): DAT read: Tx time:17:01:01.6919

2025-08-09T17:01:02.149Z,1754758862.149 [DAT](INFO): Ping request sent.
2025-08-09T17:01:02.149Z,1754758862.149 [DAT](INFO): transmitted an acoustic signal
2025-08-09T17:01:02.150Z,1754758862.150 [DAT](INFO): #Rx 8: Read range and direction messages.
2025-08-09T17:01:02.151Z,1754758862.151 [DAT](INFO): direction in FSK: [0.717937,-0.688477,0.102793]
2025-08-09T17:01:02.151Z,1754758862.151 [DAT](INFO): publishing transmit ping time
2025-08-09T17:01:02.151Z,1754758862.151 [DAT](INFO): publishing direction and range info
2025-08-09T17:01:02.155Z,1754758862.155 [DAT](INFO): publishing transmit ping time
2025-08-09T17:01:02.155Z,1754758862.155 [DAT](INFO): publishing direction and range info
2025-08-09T17:01:02.389Z,1754758862.389 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 63.799999 m,
      deltaT: 3.533110 s,
      deltaX: 0.200001 m,
      approachRate: 0.056608 m/s,
      rangeRepo size: 4

2025-08-09T17:01:02.396Z,1754758862.396 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 63.799999 m,
      bearing: 228.068469 deg,
      lat: 36.906147 deg,
      lon: -122.115914 deg,
      deltaT: 3.533110 s,
      deltaX: 0.200001 m,
      approachRate: 0.056608 m/s,
      posRepo size: 4

2025-08-09T17:01:02.396Z,1754758862.396 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 63.80 m.
2025-08-09T17:01:02.762Z,1754758862.762 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 63.80 m.
2025-08-09T17:01:03.112Z,1754758863.112 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 63.80 m.
2025-08-09T17:01:03.543Z,1754758863.543 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 63.80 m.
2025-08-09T17:01:03.941Z,1754758863.941 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 63.80 m.
2025-08-09T17:01:04.326Z,1754758864.326 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 63.80 m.
2025-08-09T17:01:04.786Z,1754758864.786 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 63.80 m.
2025-08-09T17:01:05.147Z,1754758865.147 [DAT](INFO): DAT read: Rx Time:17:01:04.1812

2025-08-09T17:01:05.148Z,1754758865.148 [DAT](INFO): Rx dataTimestamp_ set to:1754758865.147614
2025-08-09T17:01:05.150Z,1754758865.150 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 63.80 m.
2025-08-09T17:01:05.595Z,1754758865.595 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 63.80 m.
2025-08-09T17:01:05.915Z,1754758865.915 [DAT](INFO): DAT read: 17:01:04.1812 LVL= 31312, 31649, 22066, 32755, AGC= 60, IDX= 437,-0.22, 2.182, 1.531,-2.416, 2.764, PHS=-0.480,-1.188, 1.059, RAW= 192.1,   6.2, CAL= 192.2,   5.4, ROT= 317.8,  -5.4

2025-08-09T17:01:05.916Z,1754758865.916 [DAT](INFO): got valid direction response:
 17:01:04.1812 LVL= 31312, 31649, 22066, 32755, AGC= 60, IDX= 437,-0.22, 2.182, 1.531,-2.416, 2.764, PHS=-0.480,-1.188, 1.059, RAW= 192.1,   6.2, CAL= 192.2,   5.4, ROT= 317.8,  -5.4

2025-08-09T17:01:05.917Z,1754758865.917 [DAT](INFO): DAT read: Bearing  62.2, -40.0 (Local)

2025-08-09T17:01:05.918Z,1754758865.918 [DAT](INFO): Local bearing/azimuth received:
 Bearing  62.2, -40.0 (Local)

2025-08-09T17:01:05.934Z,1754758865.934 [DAT](INFO): DAT read: Range 11 to 50 : 63.8 m  (Round-trip  85.1 ms) speed  0.0 m/s

2025-08-09T17:01:05.935Z,1754758865.935 [DAT](INFO): DAT read: user:288>

2025-08-09T17:01:05.936Z,1754758865.936 [DAT](INFO): DAT read: Tx time:17:01:05.2919

2025-08-09T17:01:05.936Z,1754758865.936 [DAT](INFO): Ping request sent.
2025-08-09T17:01:05.936Z,1754758865.936 [DAT](INFO): transmitted an acoustic signal
2025-08-09T17:01:05.937Z,1754758865.937 [DAT](INFO): #Rx 9: Read range and direction messages.
2025-08-09T17:01:05.938Z,1754758865.938 [DAT](INFO): direction in FSK: [0.737517,-0.668740,0.094108]
2025-08-09T17:01:05.938Z,1754758865.938 [DAT](INFO): publishing transmit ping time
2025-08-09T17:01:05.962Z,1754758865.962 [DAT](INFO): publishing direction and range info
2025-08-09T17:01:05.965Z,1754758865.965 [DAT](INFO): publishing transmit ping time
2025-08-09T17:01:05.966Z,1754758865.966 [DAT](INFO): publishing direction and range info
2025-08-09T17:01:06.023Z,1754758866.023 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 63.799999 m,
      deltaT: 3.779094 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-08-09T17:01:06.025Z,1754758866.025 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 63.799999 m,
      bearing: 228.355316 deg,
      lat: 36.906149 deg,
      lon: -122.115917 deg,
      deltaT: 3.779094 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      posRepo size: 4

2025-08-09T17:01:06.026Z,1754758866.026 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 63.80 m.
2025-08-09T17:01:06.382Z,1754758866.382 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 63.80 m.
2025-08-09T17:01:06.804Z,1754758866.804 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 63.80 m.
2025-08-09T17:01:07.167Z,1754758867.167 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 63.80 m.
2025-08-09T17:01:07.591Z,1754758867.591 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 63.80 m.
2025-08-09T17:01:07.959Z,1754758867.959 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 63.80 m.
2025-08-09T17:01:08.370Z,1754758868.370 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 63.80 m.
2025-08-09T17:01:08.811Z,1754758868.811 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 63.80 m.
2025-08-09T17:01:08.927Z,1754758868.927 [DAT](INFO): DAT read: Rx Time:17:01:07.7807

2025-08-09T17:01:08.928Z,1754758868.928 [DAT](INFO): Rx dataTimestamp_ set to:1754758868.927496
2025-08-09T17:01:09.188Z,1754758869.188 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 63.80 m.
2025-08-09T17:01:09.450Z,1754758869.450 [DAT](INFO): DAT read: 17:01:07.7807 LVL= 28384, 28657, 25394, 30691, AGC= 64, IDX= 432, 0.19,-1.604,-2.278, 0.071,-1.062, PHS=-0.440,-1.171, 1.089, RAW= 191.5,   5.3, CAL= 191.7,   3.9, ROT= 318.3,  -3.9

2025-08-09T17:01:09.465Z,1754758869.465 [DAT](INFO): got valid direction response:
 17:01:07.7807 LVL= 28384, 28657, 25394, 30691, AGC= 64, IDX= 432, 0.19,-1.604,-2.278, 0.071,-1.062, PHS=-0.440,-1.171, 1.089, RAW= 191.5,   5.3, CAL= 191.7,   3.9, ROT= 318.3,  -3.9

2025-08-09T17:01:09.466Z,1754758869.466 [DAT](INFO): DAT read: Bearing  59.3, -39.2 (Local)

2025-08-09T17:01:09.467Z,1754758869.467 [DAT](INFO): Local bearing/azimuth received:
 Bearing  59.3, -39.2 (Local)

2025-08-09T17:01:09.468Z,1754758869.468 [DAT](INFO): DAT read: Range 11 to 50 : 63.5 m  (Round-trip  84.7 ms) speed  0.0 m/s

2025-08-09T17:01:09.469Z,1754758869.469 [DAT](INFO): DAT read: user:289>

2025-08-09T17:01:09.469Z,1754758869.469 [DAT](INFO): DAT read: Tx time:17:01:08.8934

2025-08-09T17:01:09.470Z,1754758869.470 [DAT](INFO): Ping request sent.
2025-08-09T17:01:09.470Z,1754758869.470 [DAT](INFO): transmitted an acoustic signal
2025-08-09T17:01:09.471Z,1754758869.471 [DAT](INFO): #Rx 10: Read range and direction messages.
2025-08-09T17:01:09.472Z,1754758869.472 [DAT](INFO): direction in FSK: [0.744909,-0.663690,0.068015]
2025-08-09T17:01:09.472Z,1754758869.472 [DAT](INFO): publishing transmit ping time
2025-08-09T17:01:09.472Z,1754758869.472 [DAT](INFO): publishing direction and range info
2025-08-09T17:01:09.476Z,1754758869.476 [DAT](INFO): publishing transmit ping time
2025-08-09T17:01:09.476Z,1754758869.476 [DAT](INFO): publishing direction and range info
2025-08-09T17:01:09.643Z,1754758869.643 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 63.500000 m,
      deltaT: 3.529023 s,
      deltaX: -0.299999 m,
      approachRate: -0.085009 m/s,
      rangeRepo size: 4

2025-08-09T17:01:09.645Z,1754758869.645 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 63.500000 m,
      bearing: 228.760577 deg,
      lat: 36.906152 deg,
      lon: -122.115922 deg,
      deltaT: 3.529023 s,
      deltaX: -0.299999 m,
      approachRate: -0.085009 m/s,
      posRepo size: 4

2025-08-09T17:01:09.646Z,1754758869.646 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 63.50 m.
2025-08-09T17:01:09.986Z,1754758869.986 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 63.50 m.
2025-08-09T17:01:10.402Z,1754758870.402 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 63.50 m.
2025-08-09T17:01:10.815Z,1754758870.815 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 63.50 m.
2025-08-09T17:01:11.207Z,1754758871.207 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 63.50 m.
2025-08-09T17:01:11.624Z,1754758871.624 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 63.50 m.
2025-08-09T17:01:11.999Z,1754758871.999 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 63.50 m.
2025-08-09T17:01:12.458Z,1754758872.458 [DAT](INFO): DAT read: Rx Time:17:01:11.3824

2025-08-09T17:01:12.459Z,1754758872.459 [DAT](INFO): Rx dataTimestamp_ set to:1754758872.458439
2025-08-09T17:01:12.546Z,1754758872.546 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 63.50 m.
2025-08-09T17:01:12.845Z,1754758872.845 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 63.50 m.
2025-08-09T17:01:12.965Z,1754758872.965 [DAT](INFO): DAT read: 17:01:11.3824 LVL= 27760, 27553, 21042, 30195, AGC= 66, IDX= 449,-0.13, 2.668, 1.957,-1.971,-3.109, PHS=-0.404,-1.172, 1.094, RAW= 190.5,   4.9, CAL= 190.7,   3.2, ROT= 319.3,  -3.2

2025-08-09T17:01:12.966Z,1754758872.966 [DAT](INFO): got valid direction response:
 17:01:11.3824 LVL= 27760, 27553, 21042, 30195, AGC= 66, IDX= 449,-0.13, 2.668, 1.957,-1.971,-3.109, PHS=-0.404,-1.172, 1.094, RAW= 190.5,   4.9, CAL= 190.7,   3.2, ROT= 319.3,  -3.2

2025-08-09T17:01:12.967Z,1754758872.967 [DAT](INFO): DAT read: Bearing  57.2, -37.9 (Local)

2025-08-09T17:01:12.967Z,1754758872.967 [DAT](INFO): Local bearing/azimuth received:
 Bearing  57.2, -37.9 (Local)

2025-08-09T17:01:12.969Z,1754758872.969 [DAT](INFO): DAT read: Range 11 to 50 : 63.6 m  (Round-trip  84.8 ms) speed  0.0 m/s

2025-08-09T17:01:12.970Z,1754758872.970 [DAT](INFO): DAT read: user:290>

2025-08-09T17:01:12.970Z,1754758872.970 [DAT](INFO): DAT read: Tx time:17:01:12.4918

2025-08-09T17:01:12.971Z,1754758872.971 [DAT](INFO): Ping request sent.
2025-08-09T17:01:12.971Z,1754758872.971 [DAT](INFO): transmitted an acoustic signal
2025-08-09T17:01:12.971Z,1754758872.971 [DAT](INFO): #Rx 11: Read range and direction messages.
2025-08-09T17:01:12.972Z,1754758872.972 [DAT](INFO): direction in FSK: [0.756952,-0.651082,0.055822]
2025-08-09T17:01:12.972Z,1754758872.972 [DAT](INFO): publishing transmit ping time
2025-08-09T17:01:12.973Z,1754758872.973 [DAT](INFO): publishing direction and range info
2025-08-09T17:01:12.980Z,1754758872.980 [DAT](INFO): publishing transmit ping time
2025-08-09T17:01:12.980Z,1754758872.980 [DAT](INFO): publishing direction and range info
2025-08-09T17:01:13.239Z,1754758873.239 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 63.599998 m,
      deltaT: 3.526842 s,
      deltaX: 0.099998 m,
      approachRate: 0.028354 m/s,
      rangeRepo size: 4

2025-08-09T17:01:13.243Z,1754758873.243 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 63.599998 m,
      bearing: 228.889309 deg,
      lat: 36.906153 deg,
      lon: -122.115926 deg,
      deltaT: 3.526842 s,
      deltaX: 0.099998 m,
      approachRate: 0.028354 m/s,
      posRepo size: 4

2025-08-09T17:01:13.244Z,1754758873.244 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 63.60 m.
2025-08-09T17:01:13.648Z,1754758873.648 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 63.60 m.
2025-08-09T17:01:14.026Z,1754758874.026 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 63.60 m.
2025-08-09T17:01:14.429Z,1754758874.429 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 63.60 m.
2025-08-09T17:01:14.870Z,1754758874.870 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 63.60 m.
2025-08-09T17:01:15.249Z,1754758875.249 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 63.60 m.
2025-08-09T17:01:15.665Z,1754758875.665 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 63.60 m.
2025-08-09T17:01:15.995Z,1754758875.995 [DAT](INFO): DAT read: Rx Time:17:01:14.9809

2025-08-09T17:01:15.996Z,1754758875.996 [DAT](INFO): Rx dataTimestamp_ set to:1754758875.995465
2025-08-09T17:01:16.055Z,1754758876.055 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 63.60 m.
2025-08-09T17:01:16.455Z,1754758876.455 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 63.60 m.
2025-08-09T17:01:16.757Z,1754758876.757 [DAT](INFO): DAT read: 17:01:14.9809 LVL= 30608, 26577, 20706, 32755, AGC= 64, IDX= 450, 0.35, 0.420,-0.301, 2.081, 0.931, PHS=-0.409,-1.187, 1.106, RAW= 190.5,   4.9, CAL= 190.7,   3.2, ROT= 319.3,  -3.2

2025-08-09T17:01:16.758Z,1754758876.758 [DAT](INFO): got valid direction response:
 17:01:14.9809 LVL= 30608, 26577, 20706, 32755, AGC= 64, IDX= 450, 0.35, 0.420,-0.301, 2.081, 0.931, PHS=-0.409,-1.187, 1.106, RAW= 190.5,   4.9, CAL= 190.7,   3.2, ROT= 319.3,  -3.2

2025-08-09T17:01:16.759Z,1754758876.759 [DAT](INFO): DAT read: Bearing  56.0, -37.7 (Local)

2025-08-09T17:01:16.760Z,1754758876.760 [DAT](INFO): Local bearing/azimuth received:
 Bearing  56.0, -37.7 (Local)

2025-08-09T17:01:16.761Z,1754758876.761 [DAT](INFO): DAT read: Range 11 to 50 : 63.6 m  (Round-trip  84.9 ms) speed  0.0 m/s

2025-08-09T17:01:16.762Z,1754758876.762 [DAT](INFO): DAT read: user:291>

2025-08-09T17:01:16.764Z,1754758876.764 [DAT](INFO): DAT read: Tx time:17:01:16.0918

2025-08-09T17:01:16.764Z,1754758876.764 [DAT](INFO): Ping request sent.
2025-08-09T17:01:16.764Z,1754758876.764 [DAT](INFO): transmitted an acoustic signal
2025-08-09T17:01:16.764Z,1754758876.764 [DAT](INFO): #Rx 12: Read range and direction messages.
2025-08-09T17:01:16.765Z,1754758876.765 [DAT](INFO): direction in FSK: [0.756952,-0.651082,0.055822]
2025-08-09T17:01:16.766Z,1754758876.766 [DAT](INFO): publishing transmit ping time
2025-08-09T17:01:16.766Z,1754758876.766 [DAT](INFO): publishing direction and range info
2025-08-09T17:01:16.769Z,1754758876.769 [DAT](INFO): publishing transmit ping time
2025-08-09T17:01:16.769Z,1754758876.769 [DAT](INFO): publishing direction and range info
2025-08-09T17:01:16.959Z,1754758876.959 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 63.599998 m,
      deltaT: 3.792082 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-08-09T17:01:16.961Z,1754758876.961 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 63.599998 m,
      bearing: 228.673771 deg,
      lat: 36.906153 deg,
      lon: -122.115926 deg,
      deltaT: 3.792082 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      posRepo size: 4

2025-08-09T17:01:16.962Z,1754758876.962 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 63.60 m.
2025-08-09T17:01:17.284Z,1754758877.284 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 63.60 m.
2025-08-09T17:01:17.705Z,1754758877.705 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 63.60 m.
2025-08-09T17:01:18.078Z,1754758878.078 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 63.60 m.
2025-08-09T17:01:18.557Z,1754758878.557 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 63.60 m.
2025-08-09T17:01:18.913Z,1754758878.913 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 63.60 m.
2025-08-09T17:01:19.279Z,1754758879.279 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 63.60 m.
2025-08-09T17:01:19.703Z,1754758879.703 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 63.60 m.
2025-08-09T17:01:19.776Z,1754758879.776 [DAT](INFO): DAT read: Rx Time:17:01:18.5809

2025-08-09T17:01:19.777Z,1754758879.777 [DAT](INFO): Rx dataTimestamp_ set to:1754758879.776088
2025-08-09T17:01:20.142Z,1754758880.142 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 63.60 m.
2025-08-09T17:01:20.285Z,1754758880.285 [DAT](INFO): DAT read: 17:01:18.5809 LVL= 27472, 25041, 21266, 28403, AGC= 63, IDX= 435,-0.20, 2.363, 1.595,-2.264, 2.831, PHS=-0.366,-1.191, 1.144, RAW= 189.6,   4.1, CAL= 189.8,   1.8, ROT= 320.2,  -1.8

2025-08-09T17:01:20.286Z,1754758880.286 [DAT](INFO): got valid direction response:
 17:01:18.5809 LVL= 27472, 25041, 21266, 28403, AGC= 63, IDX= 435,-0.20, 2.363, 1.595,-2.264, 2.831, PHS=-0.366,-1.191, 1.144, RAW= 189.6,   4.1, CAL= 189.8,   1.8, ROT= 320.2,  -1.8

2025-08-09T17:01:20.287Z,1754758880.287 [DAT](INFO): DAT read: Bearing  53.1, -36.8 (Local)

2025-08-09T17:01:20.287Z,1754758880.287 [DAT](INFO): Local bearing/azimuth received:
 Bearing  53.1, -36.8 (Local)

2025-08-09T17:01:20.289Z,1754758880.289 [DAT](INFO): DAT read: Range 11 to 50 : 63.6 m  (Round-trip  84.9 ms) speed  0.0 m/s

2025-08-09T17:01:20.289Z,1754758880.289 [DAT](INFO): DAT read: user:292>

2025-08-09T17:01:20.290Z,1754758880.290 [DAT](INFO): DAT read: Tx time:17:01:19.6918

2025-08-09T17:01:20.290Z,1754758880.290 [DAT](INFO): Ping request sent.
2025-08-09T17:01:20.291Z,1754758880.291 [DAT](INFO): transmitted an acoustic signal
2025-08-09T17:01:20.291Z,1754758880.291 [DAT](INFO): #Rx 13: Read range and direction messages.
2025-08-09T17:01:20.292Z,1754758880.292 [DAT](INFO): direction in FSK: [0.767904,-0.639794,0.031411]
2025-08-09T17:01:20.292Z,1754758880.292 [DAT](INFO): publishing transmit ping time
2025-08-09T17:01:20.292Z,1754758880.292 [DAT](INFO): publishing direction and range info
2025-08-09T17:01:20.296Z,1754758880.296 [DAT](INFO): publishing transmit ping time
2025-08-09T17:01:20.296Z,1754758880.296 [DAT](INFO): publishing direction and range info
2025-08-09T17:01:20.500Z,1754758880.500 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 63.599998 m,
      deltaT: 3.527826 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-08-09T17:01:20.502Z,1754758880.502 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 63.599998 m,
      bearing: 228.712008 deg,
      lat: 36.906153 deg,
      lon: -122.115929 deg,
      deltaT: 3.527826 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      posRepo size: 4

2025-08-09T17:01:20.502Z,1754758880.502 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 63.60 m.
2025-08-09T17:01:20.952Z,1754758880.952 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 63.60 m.
2025-08-09T17:01:21.305Z,1754758881.305 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 63.60 m.
2025-08-09T17:01:21.738Z,1754758881.738 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 63.60 m.
2025-08-09T17:01:22.107Z,1754758882.107 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 63.60 m.
2025-08-09T17:01:22.508Z,1754758882.508 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 63.60 m.
2025-08-09T17:01:22.943Z,1754758882.943 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 63.60 m.
2025-08-09T17:01:23.304Z,1754758883.304 [DAT](INFO): DAT read: Rx Time:17:01:22.1810

2025-08-09T17:01:23.304Z,1754758883.304 [DAT](INFO): Rx dataTimestamp_ set to:1754758883.303697
2025-08-09T17:01:23.317Z,1754758883.317 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 63.60 m.
2025-08-09T17:01:23.786Z,1754758883.786 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 63.60 m.
2025-08-09T17:01:23.813Z,1754758883.813 [DAT](INFO): DAT read: 17:01:22.1810 LVL= 32752, 29489, 22050, 32755, AGC= 64, IDX= 435,-0.05, 0.988, 0.204, 2.673, 1.438, PHS=-0.348,-1.189, 1.192, RAW= 189.6,   3.3, CAL= 189.8,   0.6, ROT= 320.2,  -0.6

2025-08-09T17:01:23.814Z,1754758883.814 [DAT](INFO): got valid direction response:
 17:01:22.1810 LVL= 32752, 29489, 22050, 32755, AGC= 64, IDX= 435,-0.05, 0.988, 0.204, 2.673, 1.438, PHS=-0.348,-1.189, 1.192, RAW= 189.6,   3.3, CAL= 189.8,   0.6, ROT= 320.2,  -0.6

2025-08-09T17:01:23.815Z,1754758883.815 [DAT](INFO): DAT read: Bearing  50.5, -37.1 (Local)

2025-08-09T17:01:23.815Z,1754758883.815 [DAT](INFO): Local bearing/azimuth received:
 Bearing  50.5, -37.1 (Local)

2025-08-09T17:01:23.817Z,1754758883.817 [DAT](INFO): DAT read: Range 11 to 50 : 63.7 m  (Round-trip  85.0 ms) speed  0.0 m/s

2025-08-09T17:01:23.817Z,1754758883.817 [DAT](INFO): DAT read: user:293>

2025-08-09T17:01:23.818Z,1754758883.818 [DAT](INFO): DAT read: Tx time:17:01:23.2918

2025-08-09T17:01:23.818Z,1754758883.818 [DAT](INFO): Ping request sent.
2025-08-09T17:01:23.818Z,1754758883.818 [DAT](INFO): transmitted an acoustic signal
2025-08-09T17:01:23.819Z,1754758883.819 [DAT](INFO): #Rx 14: Read range and direction messages.
2025-08-09T17:01:23.820Z,1754758883.820 [DAT](INFO): direction in FSK: [0.768241,-0.640075,0.010472]
2025-08-09T17:01:23.820Z,1754758883.820 [DAT](INFO): publishing transmit ping time
2025-08-09T17:01:23.820Z,1754758883.820 [DAT](INFO): publishing direction and range info
2025-08-09T17:01:23.823Z,1754758883.823 [DAT](INFO): publishing transmit ping time
2025-08-09T17:01:23.823Z,1754758883.823 [DAT](INFO): publishing direction and range info
2025-08-09T17:01:24.170Z,1754758884.170 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 63.700001 m,
      deltaT: 3.527874 s,
      deltaX: 0.100002 m,
      approachRate: 0.028346 m/s,
      rangeRepo size: 4

2025-08-09T17:01:24.172Z,1754758884.172 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 63.700001 m,
      bearing: 228.537290 deg,
      lat: 36.906152 deg,
      lon: -122.115928 deg,
      deltaT: 3.527874 s,
      deltaX: 0.100002 m,
      approachRate: 0.028346 m/s,
      posRepo size: 4

2025-08-09T17:01:24.173Z,1754758884.173 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 63.70 m.
2025-08-09T17:01:24.530Z,1754758884.530 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 63.70 m.
2025-08-09T17:01:24.986Z,1754758884.986 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 63.70 m.
2025-08-09T17:01:25.339Z,1754758885.339 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 63.70 m.
2025-08-09T17:01:25.828Z,1754758885.828 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 63.70 m.
2025-08-09T17:01:26.149Z,1754758886.149 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 63.70 m.
2025-08-09T17:01:26.553Z,1754758886.553 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 63.70 m.
2025-08-09T17:01:26.831Z,1754758886.831 [DAT](INFO): DAT read: Rx Time:17:01:25.7809

2025-08-09T17:01:26.832Z,1754758886.832 [DAT](INFO): Rx dataTimestamp_ set to:1754758886.831421
2025-08-09T17:01:26.983Z,1754758886.983 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 63.70 m.
2025-08-09T17:01:27.346Z,1754758887.346 [DAT](INFO): DAT read: 17:01:25.7809 LVL= 31120, 30193, 22674, 32755, AGC= 64, IDX= 435,-0.28, 0.369,-0.407, 2.056, 0.813, PHS=-0.342,-1.175, 1.199, RAW= 189.8,   3.1, CAL= 190.0,   0.2, ROT= 320.0,  -0.2

2025-08-09T17:01:27.347Z,1754758887.347 [DAT](INFO): got valid direction response:
 17:01:25.7809 LVL= 31120, 30193, 22674, 32755, AGC= 64, IDX= 435,-0.28, 0.369,-0.407, 2.056, 0.813, PHS=-0.342,-1.175, 1.199, RAW= 189.8,   3.1, CAL= 190.0,   0.2, ROT= 320.0,  -0.2

2025-08-09T17:01:27.348Z,1754758887.348 [DAT](INFO): DAT read: Bearing  49.2, -37.4 (Local)

2025-08-09T17:01:27.348Z,1754758887.348 [DAT](INFO): Local bearing/azimuth received:
 Bearing  49.2, -37.4 (Local)

2025-08-09T17:01:27.350Z,1754758887.350 [DAT](INFO): DAT read: Range 11 to 50 : 63.6 m  (Round-trip  84.9 ms) speed  0.0 m/s

2025-08-09T17:01:27.363Z,1754758887.363 [DAT](INFO): DAT read: user:294>

2025-08-09T17:01:27.363Z,1754758887.363 [DAT](INFO): DAT read: Tx time:17:01:26.8918

2025-08-09T17:01:27.364Z,1754758887.364 [DAT](INFO): Ping request sent.
2025-08-09T17:01:27.364Z,1754758887.364 [DAT](INFO): transmitted an acoustic signal
2025-08-09T17:01:27.364Z,1754758887.364 [DAT](INFO): #Rx 15: Read range and direction messages.
2025-08-09T17:01:27.365Z,1754758887.365 [DAT](INFO): direction in FSK: [0.766040,-0.642784,0.003491]
2025-08-09T17:01:27.365Z,1754758887.365 [DAT](INFO): publishing transmit ping time
2025-08-09T17:01:27.366Z,1754758887.366 [DAT](INFO): publishing direction and range info
2025-08-09T17:01:27.377Z,1754758887.377 [DAT](INFO): publishing transmit ping time
2025-08-09T17:01:27.377Z,1754758887.377 [DAT](INFO): publishing direction and range info
2025-08-09T17:01:27.484Z,1754758887.484 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 63.599998 m,
      deltaT: 3.529527 s,
      deltaX: -0.100002 m,
      approachRate: -0.028333 m/s,
      rangeRepo size: 4

2025-08-09T17:01:27.486Z,1754758887.486 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 63.599998 m,
      bearing: 228.296809 deg,
      lat: 36.906150 deg,
      lon: -122.115928 deg,
      deltaT: 3.529527 s,
      deltaX: -0.100002 m,
      approachRate: -0.028333 m/s,
      posRepo size: 4

2025-08-09T17:01:27.495Z,1754758887.495 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 63.60 m.
2025-08-09T17:01:27.804Z,1754758887.804 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 63.60 m.
2025-08-09T17:01:28.224Z,1754758888.224 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 63.60 m.
2025-08-09T17:01:28.586Z,1754758888.586 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 63.60 m.
2025-08-09T17:01:29.012Z,1754758889.012 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 63.60 m.
2025-08-09T17:01:29.414Z,1754758889.414 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 63.60 m.
2025-08-09T17:01:29.827Z,1754758889.827 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 63.60 m.
2025-08-09T17:01:30.213Z,1754758890.213 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 63.60 m.
2025-08-09T17:01:30.363Z,1754758890.363 [DAT](INFO): DAT read: Rx Time:17:01:29.3807

2025-08-09T17:01:30.364Z,1754758890.364 [DAT](INFO): Rx dataTimestamp_ set to:1754758890.363562
2025-08-09T17:01:30.631Z,1754758890.631 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 63.60 m.
2025-08-09T17:01:31.027Z,1754758891.027 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 63.60 m.
2025-08-09T17:01:31.125Z,1754758891.125 [DAT](INFO): DAT read: 17:01:29.3807 LVL= 27760, 25889, 21810, 29523, AGC= 64, IDX= 432, 0.03,-0.273,-1.052, 1.392, 0.183, PHS=-0.354,-1.190, 1.165, RAW= 189.5,   3.7, CAL= 189.7,   1.2, ROT= 320.3,  -1.2

2025-08-09T17:01:31.126Z,1754758891.126 [DAT](INFO): got valid direction response:
 17:01:29.3807 LVL= 27760, 25889, 21810, 29523, AGC= 64, IDX= 432, 0.03,-0.273,-1.052, 1.392, 0.183, PHS=-0.354,-1.190, 1.165, RAW= 189.5,   3.7, CAL= 189.7,   1.2, ROT= 320.3,  -1.2

2025-08-09T17:01:31.127Z,1754758891.127 [DAT](INFO): DAT read: Bearing  49.4, -37.2 (Local)

2025-08-09T17:01:31.127Z,1754758891.127 [DAT](INFO): Local bearing/azimuth received:
 Bearing  49.4, -37.2 (Local)

2025-08-09T17:01:31.129Z,1754758891.129 [DAT](INFO): DAT read: Range 11 to 50 : 63.5 m  (Round-trip  84.7 ms) speed  0.0 m/s

2025-08-09T17:01:31.130Z,1754758891.130 [DAT](INFO): DAT read: user:295>

2025-08-09T17:01:31.135Z,1754758891.135 [DAT](INFO): DAT read: Tx time:17:01:30.4934

2025-08-09T17:01:31.136Z,1754758891.136 [DAT](INFO): Ping request sent.
2025-08-09T17:01:31.136Z,1754758891.136 [DAT](INFO): transmitted an acoustic signal
2025-08-09T17:01:31.136Z,1754758891.136 [DAT](INFO): #Rx 16: Read range and direction messages.
2025-08-09T17:01:31.137Z,1754758891.137 [DAT](INFO): direction in FSK: [0.769231,-0.638628,0.020942]
2025-08-09T17:01:31.137Z,1754758891.137 [DAT](INFO): publishing transmit ping time
2025-08-09T17:01:31.138Z,1754758891.138 [DAT](INFO): publishing direction and range info
2025-08-09T17:01:31.141Z,1754758891.141 [DAT](INFO): publishing transmit ping time
2025-08-09T17:01:31.142Z,1754758891.142 [DAT](INFO): publishing direction and range info
2025-08-09T17:01:31.412Z,1754758891.412 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 63.500000 m,
      deltaT: 3.782762 s,
      deltaX: -0.099998 m,
      approachRate: -0.026435 m/s,
      rangeRepo size: 4

2025-08-09T17:01:31.414Z,1754758891.414 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 63.500000 m,
      bearing: 227.872441 deg,
      lat: 36.906148 deg,
      lon: -122.115925 deg,
      deltaT: 3.782762 s,
      deltaX: -0.099998 m,
      approachRate: -0.026435 m/s,
      posRepo size: 4

2025-08-09T17:01:31.419Z,1754758891.419 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 63.50 m.
2025-08-09T17:01:31.842Z,1754758891.842 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 63.50 m.
2025-08-09T17:01:32.221Z,1754758892.221 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 63.50 m.
2025-08-09T17:01:32.613Z,1754758892.613 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 63.50 m.
2025-08-09T17:01:33.042Z,1754758893.042 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 63.50 m.
2025-08-09T17:01:33.439Z,1754758893.439 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 63.50 m.
2025-08-09T17:01:33.880Z,1754758893.880 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 63.50 m.
2025-08-09T17:01:34.143Z,1754758894.143 [DAT](INFO): DAT read: Rx Time:17:01:32.9821

2025-08-09T17:01:34.144Z,1754758894.144 [DAT](INFO): Rx dataTimestamp_ set to:1754758894.143411
2025-08-09T17:01:34.233Z,1754758894.233 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 63.50 m.
2025-08-09T17:01:34.639Z,1754758894.639 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 63.50 m.
2025-08-09T17:01:34.653Z,1754758894.653 [DAT](INFO): DAT read: 17:01:32.9821 LVL= 26192, 24017, 20290, 28307, AGC= 65, IDX= 446,-0.03, 0.313,-0.479, 2.004, 0.759, PHS=-0.345,-1.193, 1.200, RAW= 189.5,   3.3, CAL= 189.7,   0.5, ROT= 320.3,  -0.5

2025-08-09T17:01:34.654Z,1754758894.654 [DAT](INFO): got valid direction response:
 17:01:32.9821 LVL= 26192, 24017, 20290, 28307, AGC= 65, IDX= 446,-0.03, 0.313,-0.479, 2.004, 0.759, PHS=-0.345,-1.193, 1.200, RAW= 189.5,   3.3, CAL= 189.7,   0.5, ROT= 320.3,  -0.5

2025-08-09T17:01:34.655Z,1754758894.655 [DAT](INFO): DAT read: Bearing  46.9, -37.2 (Local)

2025-08-09T17:01:34.656Z,1754758894.656 [DAT](INFO): Local bearing/azimuth received:
 Bearing  46.9, -37.2 (Local)

2025-08-09T17:01:34.657Z,1754758894.657 [DAT](INFO): DAT read: Range 11 to 50 : 63.3 m  (Round-trip  84.5 ms) speed  0.0 m/s

2025-08-09T17:01:34.658Z,1754758894.658 [DAT](INFO): DAT read: user:296>

2025-08-09T17:01:34.659Z,1754758894.659 [DAT](INFO): DAT read: Tx time:17:01:34.0918

2025-08-09T17:01:34.659Z,1754758894.659 [DAT](INFO): Ping request sent.
2025-08-09T17:01:34.659Z,1754758894.659 [DAT](INFO): transmitted an acoustic signal
2025-08-09T17:01:34.659Z,1754758894.659 [DAT](INFO): #Rx 17: Read range and direction messages.
2025-08-09T17:01:34.660Z,1754758894.660 [DAT](INFO): direction in FSK: [0.769370,-0.638743,0.008727]
2025-08-09T17:01:34.661Z,1754758894.661 [DAT](INFO): publishing transmit ping time
2025-08-09T17:01:34.661Z,1754758894.661 [DAT](INFO): publishing direction and range info
2025-08-09T17:01:34.664Z,1754758894.664 [DAT](INFO): publishing transmit ping time
2025-08-09T17:01:34.664Z,1754758894.664 [DAT](INFO): publishing direction and range info
2025-08-09T17:01:35.078Z,1754758895.078 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 63.299999 m,
      deltaT: 3.527939 s,
      deltaX: -0.200001 m,
      approachRate: -0.056691 m/s,
      rangeRepo size: 4

2025-08-09T17:01:35.088Z,1754758895.088 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 63.299999 m,
      bearing: 227.193220 deg,
      lat: 36.906143 deg,
      lon: -122.115922 deg,
      deltaT: 3.527939 s,
      deltaX: -0.200001 m,
      approachRate: -0.056691 m/s,
      posRepo size: 4

2025-08-09T17:01:35.088Z,1754758895.088 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 63.30 m.
2025-08-09T17:01:35.445Z,1754758895.445 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-09T17:01:35.451Z,1754758895.451 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 63.30 m.
2025-08-09T17:01:35.655Z,1754758895.655 [DAT](INFO): ****** received valid address query ******
2025-08-09T17:01:35.655Z,1754758895.655 [DAT](INFO): ****** received valid ping request ******
2025-08-09T17:01:35.655Z,1754758895.655 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-09T17:01:35.907Z,1754758895.907 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.248312
2025-08-09T17:01:35.915Z,1754758895.915 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 63.30 m.
2025-08-09T17:01:36.159Z,1754758896.159 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.500246
2025-08-09T17:01:36.267Z,1754758896.267 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 63.30 m.
2025-08-09T17:01:36.412Z,1754758896.412 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.752826
2025-08-09T17:01:36.654Z,1754758896.654 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 63.30 m.
2025-08-09T17:01:36.663Z,1754758896.663 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.004393
2025-08-09T17:01:36.915Z,1754758896.915 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.256173
2025-08-09T17:01:37.078Z,1754758897.078 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 63.30 m.
2025-08-09T17:01:37.167Z,1754758897.167 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.508249
2025-08-09T17:01:37.419Z,1754758897.419 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.760285
2025-08-09T17:01:37.479Z,1754758897.479 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 63.30 m.
2025-08-09T17:01:37.672Z,1754758897.672 [DAT](INFO): DAT read: Rx Time:17:01:36.5807

2025-08-09T17:01:37.673Z,1754758897.673 [DAT](INFO): Rx dataTimestamp_ set to:1754758897.672339
2025-08-09T17:01:37.674Z,1754758897.674 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.014603
2025-08-09T17:01:37.923Z,1754758897.923 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.264277
2025-08-09T17:01:37.944Z,1754758897.944 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 63.30 m.
2025-08-09T17:01:38.184Z,1754758898.184 [DAT](INFO): DAT read: 17:01:36.5807 LVL= 31008, 27825, 19522, 32147, AGC= 64, IDX= 449,-0.28,-0.570,-1.387, 1.121,-0.120, PHS=-0.349,-1.222, 1.197, RAW= 189.1,   3.6, CAL= 189.3,   1.0, ROT= 320.7,  -1.0

2025-08-09T17:01:38.186Z,1754758898.186 [DAT](INFO): got valid direction response:
 17:01:36.5807 LVL= 31008, 27825, 19522, 32147, AGC= 64, IDX= 449,-0.28,-0.570,-1.387, 1.121,-0.120, PHS=-0.349,-1.222, 1.197, RAW= 189.1,   3.6, CAL= 189.3,   1.0, ROT= 320.7,  -1.0

2025-08-09T17:01:38.187Z,1754758898.187 [DAT](INFO): DAT read: Bearing  46.1, -36.8 (Local)

2025-08-09T17:01:38.187Z,1754758898.187 [DAT](INFO): Local bearing/azimuth received:
 Bearing  46.1, -36.8 (Local)

2025-08-09T17:01:38.190Z,1754758898.190 [DAT](INFO): DAT read: Range 11 to 50 : 63.5 m  (Round-trip  84.7 ms) speed  0.0 m/s

2025-08-09T17:01:38.191Z,1754758898.191 [DAT](INFO): DAT read: user:297>

2025-08-09T17:01:38.193Z,1754758898.193 [DAT](INFO): DAT read: Tx time:17:01:37.6934

2025-08-09T17:01:38.193Z,1754758898.193 [DAT](INFO): Ping request sent.
2025-08-09T17:01:38.193Z,1754758898.193 [DAT](INFO): transmitted an acoustic signal
2025-08-09T17:01:38.194Z,1754758898.194 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-09T17:01:38.204Z,1754758898.204 [DAT](INFO): direction in FSK: [0.773722,-0.633284,0.017452]
2025-08-09T17:01:38.204Z,1754758898.204 [DAT](INFO): publishing transmit ping time
2025-08-09T17:01:38.204Z,1754758898.204 [DAT](INFO): publishing direction and range info
2025-08-09T17:01:38.207Z,1754758898.207 [DAT](INFO): publishing transmit ping time
2025-08-09T17:01:38.207Z,1754758898.207 [DAT](INFO): publishing direction and range info
2025-08-09T17:01:38.315Z,1754758898.315 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 63.500000 m,
      deltaT: 3.528420 s,
      deltaX: 0.200001 m,
      approachRate: 0.056683 m/s,
      rangeRepo size: 4

2025-08-09T17:01:38.317Z,1754758898.317 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 63.500000 m,
      bearing: 226.810877 deg,
      lat: 36.906141 deg,
      lon: -122.115920 deg,
      deltaT: 3.528420 s,
      deltaX: 0.200001 m,
      approachRate: 0.056683 m/s,
      posRepo size: 4

2025-08-09T17:01:38.318Z,1754758898.318 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 63.50 m.
2025-08-09T17:01:38.700Z,1754758898.700 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 63.50 m.
2025-08-09T17:01:39.161Z,1754758899.161 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 63.50 m.
2025-08-09T17:01:39.489Z,1754758899.489 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 63.50 m.
2025-08-09T17:01:39.957Z,1754758899.957 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 63.50 m.
2025-08-09T17:01:40.286Z,1754758900.286 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 63.50 m.
2025-08-09T17:01:40.707Z,1754758900.707 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 63.50 m.
2025-08-09T17:01:41.121Z,1754758901.121 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 63.50 m.
2025-08-09T17:01:41.199Z,1754758901.199 [DAT](INFO): DAT read: Rx Time:17:01:40.1825

2025-08-09T17:01:41.200Z,1754758901.200 [DAT](INFO): Rx dataTimestamp_ set to:1754758901.199663
2025-08-09T17:01:41.530Z,1754758901.530 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 63.50 m.
2025-08-09T17:01:41.961Z,1754758901.961 [DAT](INFO): DAT read: 17:01:40.1825 LVL= 30192, 28497, 22226, 32755, AGC= 64, IDX= 451, 0.17,-2.278,-3.106,-0.616,-1.855, PHS=-0.321,-1.206, 1.195, RAW= 188.6,   3.2, CAL= 188.8,   0.4, ROT= 321.2,  -0.4

2025-08-09T17:01:41.962Z,1754758901.962 [DAT](INFO): got valid direction response:
 17:01:40.1825 LVL= 30192, 28497, 22226, 32755, AGC= 64, IDX= 451, 0.17,-2.278,-3.106,-0.616,-1.855, PHS=-0.321,-1.206, 1.195, RAW= 188.6,   3.2, CAL= 188.8,   0.4, ROT= 321.2,  -0.4

2025-08-09T17:01:41.963Z,1754758901.963 [DAT](INFO): DAT read: Bearing  44.1, -36.2 (Local)

2025-08-09T17:01:41.964Z,1754758901.964 [DAT](INFO): Local bearing/azimuth received:
 Bearing  44.1, -36.2 (Local)

2025-08-09T17:01:41.965Z,1754758901.965 [DAT](INFO): DAT read: Range 11 to 50 : 63.7 m  (Round-trip  85.0 ms) speed  0.0 m/s

2025-08-09T17:01:41.966Z,1754758901.966 [DAT](INFO): DAT read: user:298>

2025-08-09T17:01:41.966Z,1754758901.966 [DAT](INFO): DAT read: Tx time:17:01:41.2917

2025-08-09T17:01:41.967Z,1754758901.967 [DAT](INFO): Ping request sent.
2025-08-09T17:01:41.967Z,1754758901.967 [DAT](INFO): transmitted an acoustic signal
2025-08-09T17:01:41.967Z,1754758901.967 [DAT](INFO): #Rx 2: Read range and direction messages.
2025-08-09T17:01:41.968Z,1754758901.968 [DAT](INFO): direction in FSK: [0.779319,-0.626589,0.006981]
2025-08-09T17:01:41.968Z,1754758901.968 [DAT](INFO): publishing transmit ping time
2025-08-09T17:01:41.969Z,1754758901.969 [DAT](INFO): publishing direction and range info
2025-08-09T17:01:41.992Z,1754758901.992 [DAT](INFO): publishing transmit ping time
2025-08-09T17:01:41.992Z,1754758901.992 [DAT](INFO): publishing direction and range info
2025-08-09T17:01:42.072Z,1754758902.072 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 63.700001 m,
      deltaT: 3.779575 s,
      deltaX: 0.200001 m,
      approachRate: 0.052916 m/s,
      rangeRepo size: 4

2025-08-09T17:01:42.074Z,1754758902.074 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 63.700001 m,
      bearing: 226.513059 deg,
      lat: 36.906139 deg,
      lon: -122.115919 deg,
      deltaT: 3.779575 s,
      deltaX: 0.200001 m,
      approachRate: 0.052916 m/s,
      posRepo size: 4

2025-08-09T17:01:42.079Z,1754758902.079 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 63.70 m.
2025-08-09T17:01:42.331Z,1754758902.331 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 63.70 m.
2025-08-09T17:01:42.718Z,1754758902.718 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 63.70 m.
2025-08-09T17:01:43.141Z,1754758903.141 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 63.70 m.
2025-08-09T17:01:43.539Z,1754758903.539 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 63.70 m.
2025-08-09T17:01:43.984Z,1754758903.984 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 63.70 m.
2025-08-09T17:01:44.353Z,1754758904.353 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 63.70 m.
2025-08-09T17:01:44.749Z,1754758904.749 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 63.70 m.
2025-08-09T17:01:44.982Z,1754758904.982 [DAT](INFO): DAT read: Rx Time:17:01:43.7807

2025-08-09T17:01:44.983Z,1754758904.983 [DAT](INFO): Rx dataTimestamp_ set to:1754758904.982451
2025-08-09T17:01:45.177Z,1754758905.177 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 63.70 m.
2025-08-09T17:01:45.489Z,1754758905.489 [DAT](INFO): DAT read: 17:01:43.7807 LVL= 28432, 27425, 20434, 29987, AGC= 66, IDX= 433, 0.21,-1.645,-2.484,-0.034,-1.228, PHS=-0.315,-1.211, 1.149, RAW= 187.9,   3.7, CAL= 188.0,   1.2, ROT= 322.0,  -1.2

2025-08-09T17:01:45.490Z,1754758905.490 [DAT](INFO): got valid direction response:
 17:01:43.7807 LVL= 28432, 27425, 20434, 29987, AGC= 66, IDX= 433, 0.21,-1.645,-2.484,-0.034,-1.228, PHS=-0.315,-1.211, 1.149, RAW= 187.9,   3.7, CAL= 188.0,   1.2, ROT= 322.0,  -1.2

2025-08-09T17:01:45.493Z,1754758905.493 [DAT](INFO): DAT read: Bearing  44.4, -35.2 (Local)

2025-08-09T17:01:45.493Z,1754758905.493 [DAT](INFO): Local bearing/azimuth received:
 Bearing  44.4, -35.2 (Local)

2025-08-09T17:01:45.495Z,1754758905.495 [DAT](INFO): DAT read: Range 11 to 50 : 63.6 m  (Round-trip  84.8 ms) speed  0.0 m/s

2025-08-09T17:01:45.496Z,1754758905.496 [DAT](INFO): DAT read: user:299>

2025-08-09T17:01:45.496Z,1754758905.496 [DAT](INFO): DAT read: Tx time:17:01:44.8933

2025-08-09T17:01:45.497Z,1754758905.497 [DAT](INFO): Ping request sent.
2025-08-09T17:01:45.497Z,1754758905.497 [DAT](INFO): transmitted an acoustic signal
2025-08-09T17:01:45.497Z,1754758905.497 [DAT](INFO): #Rx 3: Read range and direction messages.
2025-08-09T17:01:45.498Z,1754758905.498 [DAT](INFO): direction in FSK: [0.787838,-0.615526,0.020942]
2025-08-09T17:01:45.498Z,1754758905.498 [DAT](INFO): publishing transmit ping time
2025-08-09T17:01:45.499Z,1754758905.499 [DAT](INFO): publishing direction and range info
2025-08-09T17:01:45.502Z,1754758905.502 [DAT](INFO): publishing transmit ping time
2025-08-09T17:01:45.502Z,1754758905.502 [DAT](INFO): publishing direction and range info
2025-08-09T17:01:45.637Z,1754758905.637 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 63.599998 m,
      deltaT: 3.527903 s,
      deltaX: -0.100002 m,
      approachRate: -0.028346 m/s,
      rangeRepo size: 4

2025-08-09T17:01:45.644Z,1754758905.644 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 63.599998 m,
      bearing: 226.455920 deg,
      lat: 36.906139 deg,
      lon: -122.115919 deg,
      deltaT: 3.527903 s,
      deltaX: -0.100002 m,
      approachRate: -0.028346 m/s,
      posRepo size: 4

2025-08-09T17:01:45.644Z,1754758905.644 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 63.60 m.
2025-08-09T17:01:46.038Z,1754758906.038 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 63.60 m.
2025-08-09T17:01:46.382Z,1754758906.382 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 63.60 m.
2025-08-09T17:01:46.797Z,1754758906.797 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 63.60 m.
2025-08-09T17:01:47.238Z,1754758907.238 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 63.60 m.
2025-08-09T17:01:47.584Z,1754758907.584 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 63.60 m.
2025-08-09T17:01:48.042Z,1754758908.042 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 63.60 m.
2025-08-09T17:01:48.420Z,1754758908.420 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 63.60 m.
2025-08-09T17:01:48.515Z,1754758908.515 [DAT](INFO): DAT read: Rx Time:17:01:47.3822

2025-08-09T17:01:48.516Z,1754758908.516 [DAT](INFO): Rx dataTimestamp_ set to:1754758908.515467
2025-08-09T17:01:48.800Z,1754758908.800 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 63.60 m.
2025-08-09T17:01:49.042Z,1754758909.042 [DAT](INFO): DAT read: 17:01:47.3822 LVL= 32752, 31889, 22546, 32755, AGC= 67, IDX= 448, 0.42, 1.422, 0.603, 3.053, 1.846, PHS=-0.322,-1.198, 1.163, RAW= 188.5,   3.5, CAL= 188.6,   0.9, ROT= 321.4,  -0.9

2025-08-09T17:01:49.048Z,1754758909.048 [DAT](INFO): got valid direction response:
 17:01:47.3822 LVL= 32752, 31889, 22546, 32755, AGC= 67, IDX= 448, 0.42, 1.422, 0.603, 3.053, 1.846, PHS=-0.322,-1.198, 1.163, RAW= 188.5,   3.5, CAL= 188.6,   0.9, ROT= 321.4,  -0.9

2025-08-09T17:01:49.051Z,1754758909.051 [DAT](INFO): DAT read: Bearing  43.4, -35.6 (Local)

2025-08-09T17:01:49.052Z,1754758909.052 [DAT](INFO): Local bearing/azimuth received:
 Bearing  43.4, -35.6 (Local)

2025-08-09T17:01:49.056Z,1754758909.056 [DAT](INFO): DAT read: Range 11 to 50 : 63.5 m  (Round-trip  84.7 ms) speed  0.0 m/s

2025-08-09T17:01:49.059Z,1754758909.059 [DAT](INFO): DAT read: user:300>

2025-08-09T17:01:49.060Z,1754758909.060 [DAT](INFO): DAT read: Tx time:17:01:48.4917

2025-08-09T17:01:49.060Z,1754758909.060 [DAT](INFO): Ping request sent.
2025-08-09T17:01:49.060Z,1754758909.060 [DAT](INFO): transmitted an acoustic signal
2025-08-09T17:01:49.060Z,1754758909.060 [DAT](INFO): #Rx 4: Read range and direction messages.
2025-08-09T17:01:49.061Z,1754758909.061 [DAT](INFO): direction in FSK: [0.781424,-0.623803,0.015707]
2025-08-09T17:01:49.061Z,1754758909.061 [DAT](INFO): publishing transmit ping time
2025-08-09T17:01:49.062Z,1754758909.062 [DAT](INFO): publishing direction and range info
2025-08-09T17:01:49.065Z,1754758909.065 [DAT](INFO): publishing transmit ping time
2025-08-09T17:01:49.065Z,1754758909.065 [DAT](INFO): publishing direction and range info
2025-08-09T17:01:49.273Z,1754758909.273 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 63.500000 m,
      deltaT: 3.541421 s,
      deltaX: -0.099998 m,
      approachRate: -0.028237 m/s,
      rangeRepo size: 4

2025-08-09T17:01:49.279Z,1754758909.279 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 63.500000 m,
      bearing: 226.206021 deg,
      lat: 36.906139 deg,
      lon: -122.115917 deg,
      deltaT: 3.541421 s,
      deltaX: -0.099998 m,
      approachRate: -0.028237 m/s,
      posRepo size: 4

2025-08-09T17:01:49.279Z,1754758909.279 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 63.50 m.
2025-08-09T17:01:49.629Z,1754758909.629 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 63.50 m.
2025-08-09T17:01:50.067Z,1754758910.067 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 63.50 m.
2025-08-09T17:01:50.427Z,1754758910.427 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 63.50 m.
2025-08-09T17:01:50.820Z,1754758910.820 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 63.50 m.
2025-08-09T17:01:51.249Z,1754758911.249 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 63.50 m.
2025-08-09T17:01:51.630Z,1754758911.630 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 63.50 m.
2025-08-09T17:01:52.050Z,1754758912.050 [DAT](INFO): DAT read: Rx Time:17:01:50.9803

2025-08-09T17:01:52.060Z,1754758912.060 [DAT](INFO): Rx dataTimestamp_ set to:1754758912.059033
2025-08-09T17:01:52.076Z,1754758912.076 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 63.50 m.
2025-08-09T17:01:52.503Z,1754758912.503 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 63.50 m.
2025-08-09T17:01:52.557Z,1754758912.557 [DAT](INFO): DAT read: 17:01:50.9803 LVL= 29120, 27697, 21202, 32755, AGC= 65, IDX= 445, 0.10,-2.947, 2.502,-1.301,-2.544, PHS=-0.301,-1.192, 1.199, RAW= 188.4,   2.8, CAL= 188.5,  -0.1, ROT= 321.5,   0.1

2025-08-09T17:01:52.558Z,1754758912.558 [DAT](INFO): got valid direction response:
 17:01:50.9803 LVL= 29120, 27697, 21202, 32755, AGC= 65, IDX= 445, 0.10,-2.947, 2.502,-1.301,-2.544, PHS=-0.301,-1.192, 1.199, RAW= 188.4,   2.8, CAL= 188.5,  -0.1, ROT= 321.5,   0.1

2025-08-09T17:01:52.559Z,1754758912.559 [DAT](INFO): DAT read: Bearing  41.2, -35.5 (Local)

2025-08-09T17:01:52.559Z,1754758912.559 [DAT](INFO): Local bearing/azimuth received:
 Bearing  41.2, -35.5 (Local)

2025-08-09T17:01:52.561Z,1754758912.561 [DAT](INFO): DAT read: Range 11 to 50 : 63.3 m  (Round-trip  84.4 ms) speed  0.0 m/s

2025-08-09T17:01:52.562Z,1754758912.562 [DAT](INFO): DAT read: user:301>

2025-08-09T17:01:52.562Z,1754758912.562 [DAT](INFO): DAT read: Tx time:17:01:52.0933

2025-08-09T17:01:52.563Z,1754758912.563 [DAT](INFO): Ping request sent.
2025-08-09T17:01:52.563Z,1754758912.563 [DAT](INFO): transmitted an acoustic signal
2025-08-09T17:01:52.563Z,1754758912.563 [DAT](INFO): #Rx 5: Read range and direction messages.
2025-08-09T17:01:52.564Z,1754758912.564 [DAT](INFO): direction in FSK: [0.782607,-0.622514,-0.001745]
2025-08-09T17:01:52.564Z,1754758912.564 [DAT](INFO): publishing transmit ping time
2025-08-09T17:01:52.565Z,1754758912.565 [DAT](INFO): publishing direction and range info
2025-08-09T17:01:52.568Z,1754758912.568 [DAT](INFO): publishing transmit ping time
2025-08-09T17:01:52.568Z,1754758912.568 [DAT](INFO): publishing direction and range info
2025-08-09T17:01:52.893Z,1754758912.893 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 63.299999 m,
      deltaT: 3.526677 s,
      deltaX: -0.200001 m,
      approachRate: -0.056711 m/s,
      rangeRepo size: 4

2025-08-09T17:01:52.916Z,1754758912.916 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 63.299999 m,
      bearing: 226.075357 deg,
      lat: 36.906139 deg,
      lon: -122.115917 deg,
      deltaT: 3.526677 s,
      deltaX: -0.200001 m,
      approachRate: -0.056711 m/s,
      posRepo size: 4

2025-08-09T17:01:52.916Z,1754758912.916 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 63.30 m.
2025-08-09T17:01:53.285Z,1754758913.285 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 63.30 m.
2025-08-09T17:01:53.657Z,1754758913.657 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 63.30 m.
2025-08-09T17:01:54.087Z,1754758914.087 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 63.30 m.
2025-08-09T17:01:54.484Z,1754758914.484 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 63.30 m.
2025-08-09T17:01:54.853Z,1754758914.853 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 63.30 m.
2025-08-09T17:01:55.285Z,1754758915.285 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 63.30 m.
2025-08-09T17:01:55.579Z,1754758915.579 [DAT](INFO): DAT read: Rx Time:17:01:54.5819

2025-08-09T17:01:55.580Z,1754758915.580 [DAT](INFO): Rx dataTimestamp_ set to:1754758915.579502
2025-08-09T17:01:55.689Z,1754758915.689 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 63.30 m.
2025-08-09T17:01:56.067Z,1754758916.067 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 63.30 m.
2025-08-09T17:01:56.345Z,1754758916.345 [DAT](INFO): DAT read: 17:01:54.5819 LVL= 29632, 28481, 19634, 32243, AGC= 65, IDX= 445,-0.02,-1.776,-2.609,-0.129,-1.369, PHS=-0.305,-1.194, 1.197, RAW= 188.4,   2.9, CAL= 188.5,  -0.0, ROT= 321.5,   0.0

2025-08-09T17:01:56.346Z,1754758916.346 [DAT](INFO): got valid direction response:
 17:01:54.5819 LVL= 29632, 28481, 19634, 32243, AGC= 65, IDX= 445,-0.02,-1.776,-2.609,-0.129,-1.369, PHS=-0.305,-1.194, 1.197, RAW= 188.4,   2.9, CAL= 188.5,  -0.0, ROT= 321.5,   0.0

2025-08-09T17:01:56.357Z,1754758916.357 [DAT](INFO): DAT read: Bearing  40.6, -35.5 (Local)

2025-08-09T17:01:56.357Z,1754758916.357 [DAT](INFO): Local bearing/azimuth received:
 Bearing  40.6, -35.5 (Local)

2025-08-09T17:01:56.359Z,1754758916.359 [DAT](INFO): DAT read: Range 11 to 50 : 63.3 m  (Round-trip  84.4 ms) speed  0.0 m/s

2025-08-09T17:01:56.359Z,1754758916.359 [DAT](INFO): DAT read: user:302>

2025-08-09T17:01:56.360Z,1754758916.360 [DAT](INFO): DAT read: Tx time:17:01:55.6917

2025-08-09T17:01:56.360Z,1754758916.360 [DAT](INFO): Ping request sent.
2025-08-09T17:01:56.361Z,1754758916.361 [DAT](INFO): transmitted an acoustic signal
2025-08-09T17:01:56.361Z,1754758916.361 [DAT](INFO): #Rx 6: Read range and direction messages.
2025-08-09T17:01:56.362Z,1754758916.362 [DAT](INFO): direction in FSK: [0.782608,-0.622515,-0.000000]
2025-08-09T17:01:56.375Z,1754758916.375 [DAT](INFO): publishing transmit ping time
2025-08-09T17:01:56.375Z,1754758916.375 [DAT](INFO): publishing direction and range info
2025-08-09T17:01:56.378Z,1754758916.378 [DAT](INFO): publishing transmit ping time
2025-08-09T17:01:56.382Z,1754758916.382 [DAT](INFO): publishing direction and range info
2025-08-09T17:01:56.531Z,1754758916.531 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 63.299999 m,
      deltaT: 3.787909 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-08-09T17:01:56.533Z,1754758916.533 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 63.299999 m,
      bearing: 225.589835 deg,
      lat: 36.906135 deg,
      lon: -122.115914 deg,
      deltaT: 3.787909 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      posRepo size: 4

2025-08-09T17:01:56.533Z,1754758916.533 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 63.30 m.
2025-08-09T17:01:56.882Z,1754758916.882 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 63.30 m.
2025-08-09T17:01:57.298Z,1754758917.298 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 63.30 m.
2025-08-09T17:01:57.700Z,1754758917.700 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 63.30 m.
2025-08-09T17:01:58.083Z,1754758918.083 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 63.30 m.
2025-08-09T17:01:58.507Z,1754758918.507 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 63.30 m.
2025-08-09T17:01:58.901Z,1754758918.901 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 63.30 m.
2025-08-09T17:01:59.348Z,1754758919.348 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 63.30 m.
2025-08-09T17:01:59.363Z,1754758919.363 [DAT](INFO): DAT read: Rx Time:17:01:58.1806

2025-08-09T17:01:59.364Z,1754758919.364 [DAT](INFO): Rx dataTimestamp_ set to:1754758919.363673
2025-08-09T17:01:59.762Z,1754758919.762 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 63.30 m.
2025-08-09T17:01:59.875Z,1754758919.875 [DAT](INFO): DAT read: 17:01:58.1806 LVL= 25232, 23153, 18210, 26899, AGC= 64, IDX= 449,-0.21, 0.008,-0.786, 1.628, 0.391, PHS=-0.281,-1.133, 1.193, RAW= 188.8,   2.2, CAL= 188.9,  -0.7, ROT= 321.1,   0.7

2025-08-09T17:01:59.876Z,1754758919.876 [DAT](INFO): got valid direction response:
 17:01:58.1806 LVL= 25232, 23153, 18210, 26899, AGC= 64, IDX= 449,-0.21, 0.008,-0.786, 1.628, 0.391, PHS=-0.281,-1.133, 1.193, RAW= 188.8,   2.2, CAL= 188.9,  -0.7, ROT= 321.1,   0.7

2025-08-09T17:01:59.877Z,1754758919.877 [DAT](INFO): DAT read: Bearing  38.8, -36.1 (Local)

2025-08-09T17:01:59.877Z,1754758919.877 [DAT](INFO): Local bearing/azimuth received:
 Bearing  38.8, -36.1 (Local)

2025-08-09T17:01:59.879Z,1754758919.879 [DAT](INFO): DAT read: Range 11 to 50 : 63.5 m  (Round-trip  84.7 ms) speed -0.1 m/s

2025-08-09T17:01:59.879Z,1754758919.879 [DAT](INFO): DAT read: user:303>

2025-08-09T17:01:59.880Z,1754758919.880 [DAT](INFO): DAT read: Tx time:17:01:59.2917

2025-08-09T17:01:59.880Z,1754758919.880 [DAT](INFO): Ping request sent.
2025-08-09T17:01:59.880Z,1754758919.880 [DAT](INFO): transmitted an acoustic signal
2025-08-09T17:01:59.881Z,1754758919.881 [DAT](INFO): #Rx 7: Read range and direction messages.
2025-08-09T17:01:59.882Z,1754758919.882 [DAT](INFO): direction in FSK: [0.778185,-0.627916,-0.012217]
2025-08-09T17:01:59.882Z,1754758919.882 [DAT](INFO): publishing transmit ping time
2025-08-09T17:01:59.886Z,1754758919.886 [DAT](INFO): publishing direction and range info
2025-08-09T17:01:59.889Z,1754758919.889 [DAT](INFO): publishing transmit ping time
2025-08-09T17:01:59.889Z,1754758919.889 [DAT](INFO): publishing direction and range info
2025-08-09T17:02:00.117Z,1754758920.117 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 63.500000 m,
      deltaT: 3.528057 s,
      deltaX: 0.200001 m,
      approachRate: 0.056689 m/s,
      rangeRepo size: 4

2025-08-09T17:02:00.121Z,1754758920.121 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 63.500000 m,
      bearing: 225.376309 deg,
      lat: 36.906135 deg,
      lon: -122.115912 deg,
      deltaT: 3.528057 s,
      deltaX: 0.200001 m,
      approachRate: 0.056689 m/s,
      posRepo size: 4

2025-08-09T17:02:00.121Z,1754758920.121 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 63.50 m.
2025-08-09T17:02:00.546Z,1754758920.546 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 63.50 m.
2025-08-09T17:02:00.912Z,1754758920.912 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 63.50 m.
2025-08-09T17:02:01.361Z,1754758921.361 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 63.50 m.
2025-08-09T17:02:01.740Z,1754758921.740 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 63.50 m.
2025-08-09T17:02:02.122Z,1754758922.122 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 63.50 m.
2025-08-09T17:02:02.555Z,1754758922.555 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 63.50 m.
2025-08-09T17:02:02.891Z,1754758922.891 [DAT](INFO): DAT read: Rx Time:17:02:01.7808

2025-08-09T17:02:02.892Z,1754758922.892 [DAT](INFO): Rx dataTimestamp_ set to:1754758922.891513
2025-08-09T17:02:02.938Z,1754758922.938 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 63.50 m.
2025-08-09T17:02:03.384Z,1754758923.384 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 63.50 m.
2025-08-09T17:02:03.401Z,1754758923.401 [DAT](INFO): DAT read: 17:02:01.7808 LVL= 28080, 29073, 20674, 29363, AGC= 66, IDX= 434,-0.11, 2.235, 1.386,-2.406, 2.644, PHS=-0.307,-1.213, 1.189, RAW= 188.1,   3.2, CAL= 188.2,   0.4, ROT= 321.8,  -0.4

2025-08-09T17:02:03.402Z,1754758923.402 [DAT](INFO): got valid direction response:
 17:02:01.7808 LVL= 28080, 29073, 20674, 29363, AGC= 66, IDX= 434,-0.11, 2.235, 1.386,-2.406, 2.644, PHS=-0.307,-1.213, 1.189, RAW= 188.1,   3.2, CAL= 188.2,   0.4, ROT= 321.8,  -0.4

2025-08-09T17:02:03.403Z,1754758923.403 [DAT](INFO): DAT read: Bearing  39.6, -35.5 (Local)

2025-08-09T17:02:03.404Z,1754758923.404 [DAT](INFO): Local bearing/azimuth received:
 Bearing  39.6, -35.5 (Local)

2025-08-09T17:02:03.405Z,1754758923.405 [DAT](INFO): DAT read: Range 11 to 50 : 63.6 m  (Round-trip  84.9 ms) speed  0.0 m/s

2025-08-09T17:02:03.406Z,1754758923.406 [DAT](INFO): DAT read: user:304>

2025-08-09T17:02:03.423Z,1754758923.423 [DAT](INFO): DAT read: Tx time:17:02:02.8917

2025-08-09T17:02:03.423Z,1754758923.423 [DAT](INFO): Ping request sent.
2025-08-09T17:02:03.423Z,1754758923.423 [DAT](INFO): transmitted an acoustic signal
2025-08-09T17:02:03.423Z,1754758923.423 [DAT](INFO): #Rx 8: Read range and direction messages.
2025-08-09T17:02:03.424Z,1754758923.424 [DAT](INFO): direction in FSK: [0.785838,-0.618393,0.006981]
2025-08-09T17:02:03.425Z,1754758923.425 [DAT](INFO): publishing transmit ping time
2025-08-09T17:02:03.425Z,1754758923.425 [DAT](INFO): publishing direction and range info
2025-08-09T17:02:03.432Z,1754758923.432 [DAT](INFO): publishing transmit ping time
2025-08-09T17:02:03.432Z,1754758923.432 [DAT](INFO): publishing direction and range info
2025-08-09T17:02:03.760Z,1754758923.760 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 63.599998 m,
      deltaT: 3.528066 s,
      deltaX: 0.099998 m,
      approachRate: 0.028344 m/s,
      rangeRepo size: 4

2025-08-09T17:02:03.762Z,1754758923.762 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 63.599998 m,
      bearing: 225.271605 deg,
      lat: 36.906135 deg,
      lon: -122.115912 deg,
      deltaT: 3.528066 s,
      deltaX: 0.099998 m,
      approachRate: 0.028344 m/s,
      posRepo size: 4

2025-08-09T17:02:03.762Z,1754758923.762 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 63.60 m.
2025-08-09T17:02:04.176Z,1754758924.176 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 63.60 m.
2025-08-09T17:02:04.573Z,1754758924.573 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 63.60 m.
2025-08-09T17:02:04.961Z,1754758924.961 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 63.60 m.
2025-08-09T17:02:05.386Z,1754758925.386 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 63.60 m.
2025-08-09T17:02:05.814Z,1754758925.814 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 63.60 m.
2025-08-09T17:02:06.170Z,1754758926.170 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 63.60 m.
2025-08-09T17:02:06.431Z,1754758926.431 [DAT](INFO): DAT read: Rx Time:17:02:05.3806

2025-08-09T17:02:06.432Z,1754758926.432 [DAT](INFO): Rx dataTimestamp_ set to:1754758926.431446
2025-08-09T17:02:06.597Z,1754758926.597 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 63.60 m.
2025-08-09T17:02:06.951Z,1754758926.951 [DAT](INFO): DAT read: 17:02:05.3806 LVL= 25472, 25041, 21890, 27731, AGC= 65, IDX= 432,-0.06, 1.323, 0.461, 2.980, 1.723, PHS=-0.298,-1.216, 1.213, RAW= 188.0,   2.9, CAL= 188.1,  -0.1, ROT= 321.9,   0.1

2025-08-09T17:02:06.952Z,1754758926.952 [DAT](INFO): got valid direction response:
 17:02:05.3806 LVL= 25472, 25041, 21890, 27731, AGC= 65, IDX= 432,-0.06, 1.323, 0.461, 2.980, 1.723, PHS=-0.298,-1.216, 1.213, RAW= 188.0,   2.9, CAL= 188.1,  -0.1, ROT= 321.9,   0.1

2025-08-09T17:02:06.953Z,1754758926.953 [DAT](INFO): DAT read: Bearing  38.6, -35.5 (Local)

2025-08-09T17:02:06.953Z,1754758926.953 [DAT](INFO): Local bearing/azimuth received:
 Bearing  38.6, -35.5 (Local)

2025-08-09T17:02:06.963Z,1754758926.963 [DAT](INFO): DAT read: Range 11 to 50 : 63.5 m  (Round-trip  84.7 ms) speed -0.1 m/s

2025-08-09T17:02:06.964Z,1754758926.964 [DAT](INFO): DAT read: user:305>

2025-08-09T17:02:06.965Z,1754758926.965 [DAT](INFO): DAT read: Tx time:17:02:06.4917

2025-08-09T17:02:06.965Z,1754758926.965 [DAT](INFO): Ping request sent.
2025-08-09T17:02:06.965Z,1754758926.965 [DAT](INFO): transmitted an acoustic signal
2025-08-09T17:02:06.965Z,1754758926.965 [DAT](INFO): #Rx 9: Read range and direction messages.
2025-08-09T17:02:06.967Z,1754758926.967 [DAT](INFO): direction in FSK: [0.786934,-0.617035,-0.001745]
2025-08-09T17:02:06.967Z,1754758926.967 [DAT](INFO): publishing transmit ping time
2025-08-09T17:02:06.967Z,1754758926.967 [DAT](INFO): publishing direction and range info
2025-08-09T17:02:06.970Z,1754758926.970 [DAT](INFO): publishing transmit ping time
2025-08-09T17:02:06.970Z,1754758926.970 [DAT](INFO): publishing direction and range info
2025-08-09T17:02:07.036Z,1754758927.036 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 63.500000 m,
      deltaT: 3.540772 s,
      deltaX: -0.099998 m,
      approachRate: -0.028242 m/s,
      rangeRepo size: 4

2025-08-09T17:02:07.038Z,1754758927.038 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 63.500000 m,
      bearing: 225.187563 deg,
      lat: 36.906135 deg,
      lon: -122.115912 deg,
      deltaT: 3.540772 s,
      deltaX: -0.099998 m,
      approachRate: -0.028242 m/s,
      posRepo size: 4

2025-08-09T17:02:07.046Z,1754758927.046 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 63.50 m.
2025-08-09T17:02:07.404Z,1754758927.404 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 63.50 m.
2025-08-09T17:02:07.806Z,1754758927.806 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 63.50 m.
2025-08-09T17:02:08.188Z,1754758928.188 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 63.50 m.
2025-08-09T17:02:08.647Z,1754758928.647 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 63.50 m.
2025-08-09T17:02:09.001Z,1754758929.001 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 63.50 m.
2025-08-09T17:02:09.424Z,1754758929.424 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 63.50 m.
2025-08-09T17:02:09.823Z,1754758929.823 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 63.50 m.
2025-08-09T17:02:09.963Z,1754758929.963 [DAT](INFO): DAT read: Rx Time:17:02:08.9804

2025-08-09T17:02:09.964Z,1754758929.964 [DAT](INFO): Rx dataTimestamp_ set to:1754758929.963519
2025-08-09T17:02:10.209Z,1754758930.209 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 63.50 m.
2025-08-09T17:02:10.674Z,1754758930.674 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 63.50 m.
2025-08-09T17:02:10.727Z,1754758930.727 [DAT](INFO): DAT read: 17:02:08.9804 LVL= 25408, 25121, 19762, 28067, AGC= 64, IDX= 431,-0.09,-2.258,-3.076,-0.621,-1.917, PHS=-0.239,-1.114, 1.252, RAW= 188.6,   1.0, CAL= 188.7,  -1.8, ROT= 321.3,   1.8

2025-08-09T17:02:10.728Z,1754758930.728 [DAT](INFO): got valid direction response:
 17:02:08.9804 LVL= 25408, 25121, 19762, 28067, AGC= 64, IDX= 431,-0.09,-2.258,-3.076,-0.621,-1.917, PHS=-0.239,-1.114, 1.252, RAW= 188.6,   1.0, CAL= 188.7,  -1.8, ROT= 321.3,   1.8

2025-08-09T17:02:10.730Z,1754758930.730 [DAT](INFO): DAT read: Bearing  36.3, -35.9 (Local)

2025-08-09T17:02:10.730Z,1754758930.730 [DAT](INFO): Local bearing/azimuth received:
 Bearing  36.3, -35.9 (Local)

2025-08-09T17:02:10.732Z,1754758930.732 [DAT](INFO): DAT read: Range 11 to 50 : 63.4 m  (Round-trip  84.6 ms) speed -0.1 m/s

2025-08-09T17:02:10.733Z,1754758930.733 [DAT](INFO): DAT read: user:306>

2025-08-09T17:02:10.734Z,1754758930.734 [DAT](INFO): DAT read: Tx time:17:02:10.0916

2025-08-09T17:02:10.734Z,1754758930.734 [DAT](INFO): Ping request sent.
2025-08-09T17:02:10.734Z,1754758930.734 [DAT](INFO): transmitted an acoustic signal
2025-08-09T17:02:10.734Z,1754758930.734 [DAT](INFO): #Rx 10: Read range and direction messages.
2025-08-09T17:02:10.735Z,1754758930.735 [DAT](INFO): direction in FSK: [0.780045,-0.624934,-0.031411]
2025-08-09T17:02:10.736Z,1754758930.736 [DAT](INFO): publishing transmit ping time
2025-08-09T17:02:10.736Z,1754758930.736 [DAT](INFO): publishing direction and range info
2025-08-09T17:02:10.743Z,1754758930.743 [DAT](INFO): publishing transmit ping time
2025-08-09T17:02:10.743Z,1754758930.743 [DAT](INFO): publishing direction and range info
2025-08-09T17:02:11.071Z,1754758931.071 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 63.400002 m,
      deltaT: 3.783153 s,
      deltaX: -0.099998 m,
      approachRate: -0.026433 m/s,
      rangeRepo size: 4

2025-08-09T17:02:11.073Z,1754758931.073 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 63.400002 m,
      bearing: 225.134301 deg,
      lat: 36.906135 deg,
      lon: -122.115912 deg,
      deltaT: 3.783153 s,
      deltaX: -0.099998 m,
      approachRate: -0.026433 m/s,
      posRepo size: 4

2025-08-09T17:02:11.073Z,1754758931.073 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 63.40 m.
2025-08-09T17:02:11.469Z,1754758931.469 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 63.40 m.
2025-08-09T17:02:11.836Z,1754758931.836 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 63.40 m.
2025-08-09T17:02:12.242Z,1754758932.242 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 63.40 m.
2025-08-09T17:02:12.670Z,1754758932.670 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 63.40 m.
2025-08-09T17:02:13.035Z,1754758933.035 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 63.40 m.
2025-08-09T17:02:13.466Z,1754758933.466 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 63.40 m.
2025-08-09T17:02:13.743Z,1754758933.743 [DAT](INFO): DAT read: Rx Time:17:02:12.5801

2025-08-09T17:02:13.744Z,1754758933.744 [DAT](INFO): Rx dataTimestamp_ set to:1754758933.743528
2025-08-09T17:02:13.867Z,1754758933.867 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 63.40 m.
2025-08-09T17:02:14.243Z,1754758934.243 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 63.40 m.
2025-08-09T17:02:14.253Z,1754758934.253 [DAT](INFO): DAT read: 17:02:12.5801 LVL= 25520, 24401, 19138, 26595, AGC= 64, IDX= 429,-0.41,-0.514,-1.335, 1.159,-0.114, PHS=-0.298,-1.176, 1.229, RAW= 188.8,   2.4, CAL= 189.0,  -0.6, ROT= 321.0,   0.6

2025-08-09T17:02:14.254Z,1754758934.254 [DAT](INFO): got valid direction response:
 17:02:12.5801 LVL= 25520, 24401, 19138, 26595, AGC= 64, IDX= 429,-0.41,-0.514,-1.335, 1.159,-0.114, PHS=-0.298,-1.176, 1.229, RAW= 188.8,   2.4, CAL= 189.0,  -0.6, ROT= 321.0,   0.6

2025-08-09T17:02:14.255Z,1754758934.255 [DAT](INFO): DAT read: Bearing  37.4, -36.2 (Local)

2025-08-09T17:02:14.256Z,1754758934.256 [DAT](INFO): Local bearing/azimuth received:
 Bearing  37.4, -36.2 (Local)

2025-08-09T17:02:14.257Z,1754758934.257 [DAT](INFO): DAT read: Range 11 to 50 : 63.2 m  (Round-trip  84.3 ms) speed  0.0 m/s

2025-08-09T17:02:14.258Z,1754758934.258 [DAT](INFO): DAT read: user:307>

2025-08-09T17:02:14.267Z,1754758934.267 [DAT](INFO): DAT read: Tx time:17:02:13.6932

2025-08-09T17:02:14.267Z,1754758934.267 [DAT](INFO): Ping request sent.
2025-08-09T17:02:14.267Z,1754758934.267 [DAT](INFO): transmitted an acoustic signal
2025-08-09T17:02:14.267Z,1754758934.267 [DAT](INFO): #Rx 11: Read range and direction messages.
2025-08-09T17:02:14.268Z,1754758934.268 [DAT](INFO): direction in FSK: [0.777103,-0.629286,-0.010472]
2025-08-09T17:02:14.269Z,1754758934.269 [DAT](INFO): publishing transmit ping time
2025-08-09T17:02:14.269Z,1754758934.269 [DAT](INFO): publishing direction and range info
2025-08-09T17:02:14.272Z,1754758934.272 [DAT](INFO): publishing transmit ping time
2025-08-09T17:02:14.272Z,1754758934.272 [DAT](INFO): publishing direction and range info
2025-08-09T17:02:14.684Z,1754758934.684 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 63.200001 m,
      deltaT: 3.528088 s,
      deltaX: -0.200001 m,
      approachRate: -0.056688 m/s,
      rangeRepo size: 4

2025-08-09T17:02:14.686Z,1754758934.686 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 63.200001 m,
      bearing: 224.638398 deg,
      lat: 36.906131 deg,
      lon: -122.115910 deg,
      deltaT: 3.528088 s,
      deltaX: -0.200001 m,
      approachRate: -0.056688 m/s,
      posRepo size: 4

2025-08-09T17:02:14.687Z,1754758934.687 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 63.20 m.
2025-08-09T17:02:15.059Z,1754758935.059 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 63.20 m.
2025-08-09T17:02:15.515Z,1754758935.515 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 63.20 m.
2025-08-09T17:02:15.881Z,1754758935.881 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 63.20 m.
2025-08-09T17:02:16.271Z,1754758936.271 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 63.20 m.
2025-08-09T17:02:16.688Z,1754758936.688 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 63.20 m.
2025-08-09T17:02:17.077Z,1754758937.077 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 63.20 m.
2025-08-09T17:02:17.272Z,1754758937.272 [DAT](INFO): DAT read: Rx Time:17:02:16.1819

2025-08-09T17:02:17.272Z,1754758937.272 [DAT](INFO): Rx dataTimestamp_ set to:1754758937.272141
2025-08-09T17:02:17.523Z,1754758937.523 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 63.20 m.
2025-08-09T17:02:17.781Z,1754758937.781 [DAT](INFO): DAT read: 17:02:16.1819 LVL= 25904, 26433, 18978, 29107, AGC= 64, IDX= 447,-0.10,-1.969,-2.796,-0.322,-1.555, PHS=-0.311,-1.196, 1.189, RAW= 188.5,   3.1, CAL= 188.6,   0.2, ROT= 321.4,  -0.2

2025-08-09T17:02:17.782Z,1754758937.782 [DAT](INFO): got valid direction response:
 17:02:16.1819 LVL= 25904, 26433, 18978, 29107, AGC= 64, IDX= 447,-0.10,-1.969,-2.796,-0.322,-1.555, PHS=-0.311,-1.196, 1.189, RAW= 188.5,   3.1, CAL= 188.6,   0.2, ROT= 321.4,  -0.2

2025-08-09T17:02:17.783Z,1754758937.783 [DAT](INFO): DAT read: Bearing  38.1, -35.7 (Local)

2025-08-09T17:02:17.783Z,1754758937.783 [DAT](INFO): Local bearing/azimuth received:
 Bearing  38.1, -35.7 (Local)

2025-08-09T17:02:17.785Z,1754758937.785 [DAT](INFO): DAT read: Range 11 to 50 : 63.3 m  (Round-trip  84.5 ms) speed  0.0 m/s

2025-08-09T17:02:17.785Z,1754758937.785 [DAT](INFO): DAT read: user:308>

2025-08-09T17:02:17.787Z,1754758937.787 [DAT](INFO): DAT read: Tx time:17:02:17.2916

2025-08-09T17:02:17.787Z,1754758937.787 [DAT](INFO): Ping request sent.
2025-08-09T17:02:17.787Z,1754758937.787 [DAT](INFO): transmitted an acoustic signal
2025-08-09T17:02:17.788Z,1754758937.788 [DAT](INFO): #Rx 12: Read range and direction messages.
2025-08-09T17:02:17.789Z,1754758937.789 [DAT](INFO): direction in FSK: [0.781516,-0.623876,0.003491]
2025-08-09T17:02:17.789Z,1754758937.789 [DAT](INFO): publishing transmit ping time
2025-08-09T17:02:17.789Z,1754758937.789 [DAT](INFO): publishing direction and range info
2025-08-09T17:02:17.808Z,1754758937.808 [DAT](INFO): publishing transmit ping time
2025-08-09T17:02:17.809Z,1754758937.809 [DAT](INFO): publishing direction and range info
2025-08-09T17:02:17.958Z,1754758937.958 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 63.299999 m,
      deltaT: 3.527830 s,
      deltaX: 0.099998 m,
      approachRate: 0.028346 m/s,
      rangeRepo size: 4

2025-08-09T17:02:17.965Z,1754758937.965 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 63.299999 m,
      bearing: 224.835222 deg,
      lat: 36.906135 deg,
      lon: -122.115911 deg,
      deltaT: 3.527830 s,
      deltaX: 0.099998 m,
      approachRate: 0.028346 m/s,
      posRepo size: 4

2025-08-09T17:02:17.965Z,1754758937.965 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 63.30 m.
2025-08-09T17:02:18.298Z,1754758938.298 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 63.30 m.
2025-08-09T17:02:18.718Z,1754758938.718 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 63.30 m.
2025-08-09T17:02:19.146Z,1754758939.146 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 63.30 m.
2025-08-09T17:02:19.560Z,1754758939.560 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 63.30 m.
2025-08-09T17:02:19.917Z,1754758939.917 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 63.30 m.
2025-08-09T17:02:20.304Z,1754758940.304 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 63.30 m.
2025-08-09T17:02:20.730Z,1754758940.730 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 63.30 m.
2025-08-09T17:02:20.807Z,1754758940.807 [DAT](INFO): DAT read: Rx Time:17:02:19.7806

2025-08-09T17:02:20.808Z,1754758940.808 [DAT](INFO): Rx dataTimestamp_ set to:1754758940.807479
2025-08-09T17:02:21.131Z,1754758941.131 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 63.30 m.
2025-08-09T17:02:21.328Z,1754758941.328 [DAT](INFO): DAT read: 17:02:19.7806 LVL= 29616, 29857, 22834, 30819, AGC= 66, IDX= 449, 0.47, 2.605, 1.778,-2.109, 3.016, PHS=-0.308,-1.192, 1.115, RAW= 187.7,   3.9, CAL= 187.8,   1.5, ROT= 322.2,  -1.5

2025-08-09T17:02:21.332Z,1754758941.332 [DAT](INFO): got valid direction response:
 17:02:19.7806 LVL= 29616, 29857, 22834, 30819, AGC= 66, IDX= 449, 0.47, 2.605, 1.778,-2.109, 3.016, PHS=-0.308,-1.192, 1.115, RAW= 187.7,   3.9, CAL= 187.8,   1.5, ROT= 322.2,  -1.5

2025-08-09T17:02:21.335Z,1754758941.335 [DAT](INFO): DAT read: Bearing  39.5, -34.7 (Local)

2025-08-09T17:02:21.336Z,1754758941.336 [DAT](INFO): Local bearing/azimuth received:
 Bearing  39.5, -34.7 (Local)

2025-08-09T17:02:21.338Z,1754758941.338 [DAT](INFO): DAT read: Range 11 to 50 : 63.6 m  (Round-trip  84.8 ms) speed  0.0 m/s

2025-08-09T17:02:21.339Z,1754758941.339 [DAT](INFO): DAT read: user:309>

2025-08-09T17:02:21.340Z,1754758941.340 [DAT](INFO): DAT read: Tx time:17:02:20.8932

2025-08-09T17:02:21.340Z,1754758941.340 [DAT](INFO): Ping request sent.
2025-08-09T17:02:21.340Z,1754758941.340 [DAT](INFO): transmitted an acoustic signal
2025-08-09T17:02:21.340Z,1754758941.340 [DAT](INFO): #Rx 13: Read range and direction messages.
2025-08-09T17:02:21.341Z,1754758941.341 [DAT](INFO): direction in FSK: [0.789884,-0.612697,0.026177]
2025-08-09T17:02:21.342Z,1754758941.342 [DAT](INFO): publishing transmit ping time
2025-08-09T17:02:21.342Z,1754758941.342 [DAT](INFO): publishing direction and range info
2025-08-09T17:02:21.345Z,1754758941.345 [DAT](INFO): publishing transmit ping time
2025-08-09T17:02:21.345Z,1754758941.345 [DAT](INFO): publishing direction and range info
2025-08-09T17:02:21.629Z,1754758941.629 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 63.599998 m,
      deltaT: 3.537129 s,
      deltaX: 0.299999 m,
      approachRate: 0.084814 m/s,
      rangeRepo size: 4

2025-08-09T17:02:21.651Z,1754758941.651 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 63.599998 m,
      bearing: 224.772947 deg,
      lat: 36.906135 deg,
      lon: -122.115911 deg,
      deltaT: 3.537129 s,
      deltaX: 0.299999 m,
      approachRate: 0.084814 m/s,
      posRepo size: 4

2025-08-09T17:02:21.651Z,1754758941.651 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 63.60 m.
2025-08-09T17:02:21.928Z,1754758941.928 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 63.60 m.
2025-08-09T17:02:22.334Z,1754758942.334 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 63.60 m.
2025-08-09T17:02:22.759Z,1754758942.759 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 63.60 m.
2025-08-09T17:02:23.138Z,1754758943.138 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 63.60 m.
2025-08-09T17:02:23.642Z,1754758943.642 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 63.60 m.
2025-08-09T17:02:23.955Z,1754758943.955 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 63.60 m.
2025-08-09T17:02:24.347Z,1754758944.347 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 63.60 m.
2025-08-09T17:02:24.588Z,1754758944.588 [DAT](INFO): DAT read: Rx Time:17:02:23.3823

2025-08-09T17:02:24.589Z,1754758944.589 [DAT](INFO): Rx dataTimestamp_ set to:1754758944.588521
2025-08-09T17:02:24.801Z,1754758944.801 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 63.60 m.
2025-08-09T17:02:25.100Z,1754758945.100 [DAT](INFO): DAT read: 17:02:23.3823 LVL= 31872, 28401, 20802, 31603, AGC= 65, IDX= 451,-0.18, 0.268,-0.579, 1.927, 0.677, PHS=-0.307,-1.211, 1.206, RAW= 188.3,   3.0, CAL= 188.4,   0.1, ROT= 321.6,  -0.1

2025-08-09T17:02:25.102Z,1754758945.102 [DAT](INFO): got valid direction response:
 17:02:23.3823 LVL= 31872, 28401, 20802, 31603, AGC= 65, IDX= 451,-0.18, 0.268,-0.579, 1.927, 0.677, PHS=-0.307,-1.211, 1.206, RAW= 188.3,   3.0, CAL= 188.4,   0.1, ROT= 321.6,  -0.1

2025-08-09T17:02:25.103Z,1754758945.103 [DAT](INFO): DAT read: Bearing  37.5, -35.2 (Local)

2025-08-09T17:02:25.103Z,1754758945.103 [DAT](INFO): Local bearing/azimuth received:
 Bearing  37.5, -35.2 (Local)

2025-08-09T17:02:25.106Z,1754758945.106 [DAT](INFO): DAT read: Range 11 to 50 : 63.6 m  (Round-trip  84.9 ms) speed  0.0 m/s

2025-08-09T17:02:25.107Z,1754758945.107 [DAT](INFO): DAT read: user:310>

2025-08-09T17:02:25.108Z,1754758945.108 [DAT](INFO): DAT read: Tx time:17:02:24.4916

2025-08-09T17:02:25.109Z,1754758945.109 [DAT](INFO): Ping request sent.
2025-08-09T17:02:25.109Z,1754758945.109 [DAT](INFO): transmitted an acoustic signal
2025-08-09T17:02:25.109Z,1754758945.109 [DAT](INFO): #Rx 14: Read range and direction messages.
2025-08-09T17:02:25.111Z,1754758945.111 [DAT](INFO): direction in FSK: [0.783692,-0.621147,0.001745]
2025-08-09T17:02:25.111Z,1754758945.111 [DAT](INFO): publishing transmit ping time
2025-08-09T17:02:25.112Z,1754758945.112 [DAT](INFO): publishing direction and range info
2025-08-09T17:02:25.117Z,1754758945.117 [DAT](INFO): publishing transmit ping time
2025-08-09T17:02:25.117Z,1754758945.117 [DAT](INFO): publishing direction and range info
2025-08-09T17:02:25.217Z,1754758945.217 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 63.599998 m,
      deltaT: 3.779764 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-08-09T17:02:25.223Z,1754758945.223 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 63.599998 m,
      bearing: 224.695060 deg,
      lat: 36.906135 deg,
      lon: -122.115911 deg,
      deltaT: 3.779764 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      posRepo size: 4

2025-08-09T17:02:25.224Z,1754758945.224 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 63.60 m.
2025-08-09T17:02:25.642Z,1754758945.642 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 63.60 m.
2025-08-09T17:02:25.983Z,1754758945.983 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 63.60 m.
2025-08-09T17:02:26.371Z,1754758946.371 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 63.60 m.
2025-08-09T17:02:26.791Z,1754758946.791 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 63.60 m.
2025-08-09T17:02:27.178Z,1754758947.178 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 63.60 m.
2025-08-09T17:02:27.643Z,1754758947.643 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 63.60 m.
2025-08-09T17:02:28.008Z,1754758948.008 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 63.60 m.
2025-08-09T17:02:28.123Z,1754758948.123 [DAT](INFO): DAT read: Rx Time:17:02:26.9804

2025-08-09T17:02:28.124Z,1754758948.124 [DAT](INFO): Rx dataTimestamp_ set to:1754758948.123529
2025-08-09T17:02:28.418Z,1754758948.418 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 63.60 m.
2025-08-09T17:02:28.635Z,1754758948.635 [DAT](INFO): DAT read: 17:02:26.9804 LVL= 31728, 30577, 25442, 32755, AGC= 65, IDX= 432,-0.29,-2.495, 2.942,-0.808,-2.081, PHS=-0.312,-1.215, 1.229, RAW= 188.6,   2.8, CAL= 188.7,  -0.1, ROT= 321.3,   0.1

2025-08-09T17:02:28.636Z,1754758948.636 [DAT](INFO): got valid direction response:
 17:02:26.9804 LVL= 31728, 30577, 25442, 32755, AGC= 65, IDX= 432,-0.29,-2.495, 2.942,-0.808,-2.081, PHS=-0.312,-1.215, 1.229, RAW= 188.6,   2.8, CAL= 188.7,  -0.1, ROT= 321.3,   0.1

2025-08-09T17:02:28.637Z,1754758948.637 [DAT](INFO): DAT read: Bearing  37.0, -35.5 (Local)

2025-08-09T17:02:28.637Z,1754758948.637 [DAT](INFO): Local bearing/azimuth received:
 Bearing  37.0, -35.5 (Local)

2025-08-09T17:02:28.639Z,1754758948.639 [DAT](INFO): DAT read: Range 11 to 50 : 63.4 m  (Round-trip  84.6 ms) speed  0.0 m/s

2025-08-09T17:02:28.639Z,1754758948.639 [DAT](INFO): DAT read: user:311>

2025-08-09T17:02:28.640Z,1754758948.640 [DAT](INFO): DAT read: Tx time:17:02:28.0932

2025-08-09T17:02:28.640Z,1754758948.640 [DAT](INFO): Ping request sent.
2025-08-09T17:02:28.641Z,1754758948.641 [DAT](INFO): transmitted an acoustic signal
2025-08-09T17:02:28.641Z,1754758948.641 [DAT](INFO): #Rx 15: Read range and direction messages.
2025-08-09T17:02:28.642Z,1754758948.642 [DAT](INFO): direction in FSK: [0.780429,-0.625242,-0.001745]
2025-08-09T17:02:28.642Z,1754758948.642 [DAT](INFO): publishing transmit ping time
2025-08-09T17:02:28.643Z,1754758948.643 [DAT](INFO): publishing direction and range info
2025-08-09T17:02:28.646Z,1754758948.646 [DAT](INFO): publishing transmit ping time
2025-08-09T17:02:28.646Z,1754758948.646 [DAT](INFO): publishing direction and range info
2025-08-09T17:02:28.852Z,1754758948.852 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 63.400002 m,
      deltaT: 3.537072 s,
      deltaX: -0.199997 m,
      approachRate: -0.056543 m/s,
      rangeRepo size: 4

2025-08-09T17:02:28.858Z,1754758948.858 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 63.400002 m,
      bearing: 224.796279 deg,
      lat: 36.906135 deg,
      lon: -122.115915 deg,
      deltaT: 3.537072 s,
      deltaX: -0.199997 m,
      approachRate: -0.056543 m/s,
      posRepo size: 4

2025-08-09T17:02:28.859Z,1754758948.859 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 63.40 m.
2025-08-09T17:02:29.198Z,1754758949.198 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 63.40 m.
2025-08-09T17:02:29.676Z,1754758949.676 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 63.40 m.
2025-08-09T17:02:30.040Z,1754758950.040 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 63.40 m.
2025-08-09T17:02:30.409Z,1754758950.409 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 63.40 m.
2025-08-09T17:02:30.819Z,1754758950.819 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for water mass range. Device response is::WD,        +0.00 +0.00,        +0.00,  20.00,1372.18
2025-08-09T17:02:30.833Z,1754758950.833 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 63.40 m.
2025-08-09T17:02:31.215Z,1754758951.215 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 63.40 m.
2025-08-09T17:02:31.653Z,1754758951.653 [DAT](INFO): DAT read: Rx Time:17:02:30.5817

2025-08-09T17:02:31.655Z,1754758951.655 [DAT](INFO): Rx dataTimestamp_ set to:1754758951.654309
2025-08-09T17:02:31.672Z,1754758951.672 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 63.40 m.
2025-08-09T17:02:32.046Z,1754758952.046 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 63.40 m.
2025-08-09T17:02:32.161Z,1754758952.161 [DAT](INFO): DAT read: 17:02:30.5817 LVL= 30192, 27249, 23410, 30419, AGC= 65, IDX= 444, 0.47, 1.102, 0.298, 2.734, 1.491, PHS=-0.287,-1.148, 1.199, RAW= 188.7,   2.3, CAL= 188.9,  -0.6, ROT= 321.1,   0.6

2025-08-09T17:02:32.166Z,1754758952.166 [DAT](INFO): got valid direction response:
 17:02:30.5817 LVL= 30192, 27249, 23410, 30419, AGC= 65, IDX= 444, 0.47, 1.102, 0.298, 2.734, 1.491, PHS=-0.287,-1.148, 1.199, RAW= 188.7,   2.3, CAL= 188.9,  -0.6, ROT= 321.1,   0.6

2025-08-09T17:02:32.167Z,1754758952.167 [DAT](INFO): DAT read: Bearing  36.2, -35.4 (Local)

2025-08-09T17:02:32.168Z,1754758952.168 [DAT](INFO): Local bearing/azimuth received:
 Bearing  36.2, -35.4 (Local)

2025-08-09T17:02:32.169Z,1754758952.169 [DAT](INFO): DAT read: Range 11 to 50 : 63.2 m  (Round-trip  84.3 ms) speed  0.0 m/s

2025-08-09T17:02:32.170Z,1754758952.170 [DAT](INFO): DAT read: user:312>

2025-08-09T17:02:32.171Z,1754758952.171 [DAT](INFO): DAT read: Tx time:17:02:31.6916

2025-08-09T17:02:32.171Z,1754758952.171 [DAT](INFO): Ping request sent.
2025-08-09T17:02:32.171Z,1754758952.171 [DAT](INFO): transmitted an acoustic signal
2025-08-09T17:02:32.171Z,1754758952.171 [DAT](INFO): #Rx 16: Read range and direction messages.
2025-08-09T17:02:32.172Z,1754758952.172 [DAT](INFO): direction in FSK: [0.778201,-0.627929,-0.010472]
2025-08-09T17:02:32.172Z,1754758952.172 [DAT](INFO): publishing transmit ping time
2025-08-09T17:02:32.173Z,1754758952.173 [DAT](INFO): publishing direction and range info
2025-08-09T17:02:32.180Z,1754758952.180 [DAT](INFO): publishing transmit ping time
2025-08-09T17:02:32.181Z,1754758952.181 [DAT](INFO): publishing direction and range info
2025-08-09T17:02:32.481Z,1754758952.481 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 63.200001 m,
      deltaT: 3.526154 s,
      deltaX: -0.200001 m,
      approachRate: -0.056719 m/s,
      rangeRepo size: 4

2025-08-09T17:02:32.491Z,1754758952.491 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 63.200001 m,
      bearing: 224.839973 deg,
      lat: 36.906136 deg,
      lon: -122.115915 deg,
      deltaT: 3.526154 s,
      deltaX: -0.200001 m,
      approachRate: -0.056719 m/s,
      posRepo size: 4

2025-08-09T17:02:32.492Z,1754758952.492 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 63.20 m.
2025-08-09T17:02:32.868Z,1754758952.868 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 63.20 m.
2025-08-09T17:02:33.231Z,1754758953.231 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 63.20 m.
2025-08-09T17:02:33.643Z,1754758953.643 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 63.20 m.
2025-08-09T17:02:34.067Z,1754758954.067 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 63.20 m.
2025-08-09T17:02:34.459Z,1754758954.459 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 63.20 m.
2025-08-09T17:02:34.895Z,1754758954.895 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 63.20 m.
2025-08-09T17:02:35.195Z,1754758955.195 [DAT](INFO): DAT read: Rx Time:17:02:34.1802

2025-08-09T17:02:35.196Z,1754758955.196 [DAT](INFO): Rx dataTimestamp_ set to:1754758955.195469
2025-08-09T17:02:35.262Z,1754758955.262 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 63.20 m.
2025-08-09T17:02:35.731Z,1754758955.731 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-09T17:02:35.749Z,1754758955.749 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 63.20 m.
2025-08-09T17:02:35.957Z,1754758955.957 [DAT](INFO): DAT read: 17:02:34.1802 LVL= 28976, 26673, 20706, 31267, AGC= 65, IDX= 446,-0.12, 3.053, 2.248,-1.617,-2.870, PHS=-0.258,-1.120, 1.209, RAW= 188.5,   1.7, CAL= 188.7,  -1.2, ROT= 321.3,   1.2

2025-08-09T17:02:35.958Z,1754758955.958 [DAT](INFO): got valid direction response:
 17:02:34.1802 LVL= 28976, 26673, 20706, 31267, AGC= 65, IDX= 446,-0.12, 3.053, 2.248,-1.617,-2.870, PHS=-0.258,-1.120, 1.209, RAW= 188.5,   1.7, CAL= 188.7,  -1.2, ROT= 321.3,   1.2

2025-08-09T17:02:35.959Z,1754758955.959 [DAT](INFO): DAT read: Bearing  35.2, -35.1 (Local)

2025-08-09T17:02:35.959Z,1754758955.959 [DAT](INFO): Local bearing/azimuth received:
 Bearing  35.2, -35.1 (Local)

2025-08-09T17:02:35.961Z,1754758955.961 [DAT](INFO): DAT read: Range 11 to 50 : 63.3 m  (Round-trip  84.4 ms) speed  0.0 m/s

2025-08-09T17:02:35.961Z,1754758955.961 [DAT](INFO): DAT read: user:313>

2025-08-09T17:02:35.962Z,1754758955.962 [DAT](INFO): DAT read: Tx time:17:02:35.2932

2025-08-09T17:02:35.962Z,1754758955.962 [DAT](INFO): Ping request sent.
2025-08-09T17:02:35.963Z,1754758955.963 [DAT](INFO): transmitted an acoustic signal
2025-08-09T17:02:35.963Z,1754758955.963 [DAT](INFO): #Rx 17: Read range and direction messages.
2025-08-09T17:02:35.964Z,1754758955.964 [DAT](INFO): direction in FSK: [0.780259,-0.625106,-0.020942]
2025-08-09T17:02:35.964Z,1754758955.964 [DAT](INFO): publishing transmit ping time
2025-08-09T17:02:35.964Z,1754758955.964 [DAT](INFO): publishing direction and range info
2025-08-09T17:02:35.973Z,1754758955.973 [DAT](INFO): publishing transmit ping time
2025-08-09T17:02:35.973Z,1754758955.973 [DAT](INFO): publishing direction and range info
2025-08-09T17:02:36.141Z,1754758956.141 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 63.299999 m,
      deltaT: 3.795890 s,
      deltaX: 0.099998 m,
      approachRate: 0.026344 m/s,
      rangeRepo size: 4

2025-08-09T17:02:36.147Z,1754758956.147 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 63.299999 m,
      bearing: 225.063545 deg,
      lat: 36.906138 deg,
      lon: -122.115917 deg,
      deltaT: 3.795890 s,
      deltaX: 0.099998 m,
      approachRate: 0.026344 m/s,
      posRepo size: 4

2025-08-09T17:02:36.147Z,1754758956.147 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 63.30 m.
2025-08-09T17:02:36.483Z,1754758956.483 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 63.30 m.
2025-08-09T17:02:36.903Z,1754758956.903 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 63.30 m.
2025-08-09T17:02:37.274Z,1754758957.274 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 63.30 m.
2025-08-09T17:02:37.676Z,1754758957.676 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 63.30 m.
2025-08-09T17:02:38.116Z,1754758958.116 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 63.30 m.
2025-08-09T17:02:38.490Z,1754758958.490 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 63.30 m.
2025-08-09T17:02:38.913Z,1754758958.913 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 63.30 m.
2025-08-09T17:02:38.976Z,1754758958.976 [DAT](INFO): DAT read: Rx Time:17:02:37.7822

2025-08-09T17:02:38.976Z,1754758958.976 [DAT](INFO): Rx dataTimestamp_ set to:1754758958.976028
2025-08-09T17:02:39.356Z,1754758959.356 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 63.30 m.
2025-08-09T17:02:39.485Z,1754758959.485 [DAT](INFO): DAT read: 17:02:37.7822 LVL= 32752, 32753, 23538, 32755, AGC= 64, IDX= 449, 0.36, 0.269,-0.550, 1.917, 0.707, PHS=-0.336,-1.212, 1.167, RAW= 188.7,   3.7, CAL= 188.8,   1.2, ROT= 321.2,  -1.2

2025-08-09T17:02:39.486Z,1754758959.486 [DAT](INFO): got valid direction response:
 17:02:37.7822 LVL= 32752, 32753, 23538, 32755, AGC= 64, IDX= 449, 0.36, 0.269,-0.550, 1.917, 0.707, PHS=-0.336,-1.212, 1.167, RAW= 188.7,   3.7, CAL= 188.8,   1.2, ROT= 321.2,  -1.2

2025-08-09T17:02:39.488Z,1754758959.488 [DAT](INFO): DAT read: Bearing  37.8, -35.3 (Local)

2025-08-09T17:02:39.488Z,1754758959.488 [DAT](INFO): Local bearing/azimuth received:
 Bearing  37.8, -35.3 (Local)

2025-08-09T17:02:39.489Z,1754758959.489 [DAT](INFO): DAT read: Range 11 to 50 : 63.6 m  (Round-trip  84.8 ms) speed  0.1 m/s

2025-08-09T17:02:39.516Z,1754758959.516 [DAT](INFO): DAT read: user:314>

2025-08-09T17:02:39.517Z,1754758959.517 [DAT](INFO): DAT read: Tx time:17:02:38.8916

2025-08-09T17:02:39.517Z,1754758959.517 [DAT](INFO): Ping request sent.
2025-08-09T17:02:39.517Z,1754758959.517 [DAT](INFO): transmitted an acoustic signal
2025-08-09T17:02:39.518Z,1754758959.518 [DAT](INFO): #Rx 18: Read range and direction messages.
2025-08-09T17:02:39.537Z,1754758959.537 [DAT](INFO): direction in FSK: [0.779167,-0.626466,0.020942]
2025-08-09T17:02:39.538Z,1754758959.538 [DAT](INFO): publishing transmit ping time
2025-08-09T17:02:39.538Z,1754758959.538 [DAT](INFO): publishing direction and range info
2025-08-09T17:02:39.541Z,1754758959.541 [DAT](INFO): publishing transmit ping time
2025-08-09T17:02:39.541Z,1754758959.541 [DAT](INFO): publishing direction and range info
2025-08-09T17:02:39.721Z,1754758959.721 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 63.599998 m,
      deltaT: 3.528045 s,
      deltaX: 0.299999 m,
      approachRate: 0.085033 m/s,
      rangeRepo size: 4

2025-08-09T17:02:39.723Z,1754758959.723 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 63.599998 m,
      bearing: 224.910147 deg,
      lat: 36.906137 deg,
      lon: -122.115917 deg,
      deltaT: 3.528045 s,
      deltaX: 0.299999 m,
      approachRate: 0.085033 m/s,
      posRepo size: 4

2025-08-09T17:02:39.724Z,1754758959.724 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 63.60 m.
2025-08-09T17:02:40.138Z,1754758960.138 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 63.60 m.
2025-08-09T17:02:40.516Z,1754758960.516 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 63.60 m.
2025-08-09T17:02:40.944Z,1754758960.944 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 63.60 m.
2025-08-09T17:02:41.318Z,1754758961.318 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 63.60 m.
2025-08-09T17:02:41.717Z,1754758961.717 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 63.60 m.
2025-08-09T17:02:42.151Z,1754758962.151 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 63.60 m.
2025-08-09T17:02:42.507Z,1754758962.507 [DAT](INFO): DAT read: Rx Time:17:02:41.3808

2025-08-09T17:02:42.508Z,1754758962.508 [DAT](INFO): Rx dataTimestamp_ set to:1754758962.507631
2025-08-09T17:02:42.526Z,1754758962.526 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 63.60 m.
2025-08-09T17:02:42.989Z,1754758962.989 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 63.60 m.
2025-08-09T17:02:43.035Z,1754758963.035 [DAT](INFO): DAT read: 17:02:41.3808 LVL= 31616, 29137, 24994, 32755, AGC= 65, IDX= 451, 0.05, 1.284, 0.444, 2.915, 1.668, PHS=-0.282,-1.179, 1.203, RAW= 188.1,   2.5, CAL= 188.2,  -0.4, ROT= 321.8,   0.4

2025-08-09T17:02:43.037Z,1754758963.037 [DAT](INFO): got valid direction response:
 17:02:41.3808 LVL= 31616, 29137, 24994, 32755, AGC= 65, IDX= 451, 0.05, 1.284, 0.444, 2.915, 1.668, PHS=-0.282,-1.179, 1.203, RAW= 188.1,   2.5, CAL= 188.2,  -0.4, ROT= 321.8,   0.4

2025-08-09T17:02:43.038Z,1754758963.038 [DAT](INFO): DAT read: Bearing  35.7, -34.9 (Local)

2025-08-09T17:02:43.038Z,1754758963.038 [DAT](INFO): Local bearing/azimuth received:
 Bearing  35.7, -34.9 (Local)

2025-08-09T17:02:43.040Z,1754758963.040 [DAT](INFO): DAT read: Range 11 to 50 : 63.7 m  (Round-trip  85.0 ms) speed  0.0 m/s

2025-08-09T17:02:43.041Z,1754758963.041 [DAT](INFO): DAT read: user:315>

2025-08-09T17:02:43.070Z,1754758963.070 [DAT](INFO): DAT read: Tx time:17:02:42.4916

2025-08-09T17:02:43.071Z,1754758963.071 [DAT](INFO): Ping request sent.
2025-08-09T17:02:43.071Z,1754758963.071 [DAT](INFO): transmitted an acoustic signal
2025-08-09T17:02:43.071Z,1754758963.071 [DAT](INFO): #Rx 19: Read range and direction messages.
2025-08-09T17:02:43.073Z,1754758963.073 [DAT](INFO): direction in FSK: [0.785838,-0.618393,-0.006981]
2025-08-09T17:02:43.073Z,1754758963.073 [DAT](INFO): publishing transmit ping time
2025-08-09T17:02:43.074Z,1754758963.074 [DAT](INFO): publishing direction and range info
2025-08-09T17:02:43.087Z,1754758963.087 [DAT](INFO): publishing transmit ping time
2025-08-09T17:02:43.087Z,1754758963.087 [DAT](INFO): publishing direction and range info
2025-08-09T17:02:43.360Z,1754758963.360 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 63.700001 m,
      deltaT: 3.532044 s,
      deltaX: 0.100002 m,
      approachRate: 0.028313 m/s,
      rangeRepo size: 4

2025-08-09T17:02:43.366Z,1754758963.366 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 63.700001 m,
      bearing: 224.825938 deg,
      lat: 36.906137 deg,
      lon: -122.115917 deg,
      deltaT: 3.532044 s,
      deltaX: 0.100002 m,
      approachRate: 0.028313 m/s,
      posRepo size: 4

2025-08-09T17:02:43.367Z,1754758963.367 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 63.70 m.
2025-08-09T17:02:43.742Z,1754758963.742 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 63.70 m.
2025-08-09T17:02:44.167Z,1754758964.167 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 63.70 m.
2025-08-09T17:02:44.546Z,1754758964.546 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 63.70 m.
2025-08-09T17:02:44.967Z,1754758964.967 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 63.70 m.
2025-08-09T17:02:45.414Z,1754758965.414 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 63.70 m.
2025-08-09T17:02:45.783Z,1754758965.783 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 63.70 m.
2025-08-09T17:02:46.035Z,1754758966.035 [DAT](INFO): DAT read: Rx Time:17:02:44.9807

2025-08-09T17:02:46.036Z,1754758966.036 [DAT](INFO): Rx dataTimestamp_ set to:1754758966.035589
2025-08-09T17:02:46.194Z,1754758966.194 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 63.70 m.
2025-08-09T17:02:46.556Z,1754758966.556 [DAT](INFO): DAT read: 17:02:44.9807 LVL= 32752, 29089, 20818, 32755, AGC= 64, IDX= 435, 0.18,-0.325,-1.136, 1.302, 0.091, PHS=-0.313,-1.181, 1.167, RAW= 188.6,   3.2, CAL= 188.7,   0.4, ROT= 321.3,  -0.4

2025-08-09T17:02:46.557Z,1754758966.557 [DAT](INFO): got valid direction response:
 17:02:44.9807 LVL= 32752, 29089, 20818, 32755, AGC= 64, IDX= 435, 0.18,-0.325,-1.136, 1.302, 0.091, PHS=-0.313,-1.181, 1.167, RAW= 188.6,   3.2, CAL= 188.7,   0.4, ROT= 321.3,  -0.4

2025-08-09T17:02:46.559Z,1754758966.559 [DAT](INFO): DAT read: Bearing  35.4, -35.6 (Local)

2025-08-09T17:02:46.560Z,1754758966.560 [DAT](INFO): Local bearing/azimuth received:
 Bearing  35.4, -35.6 (Local)

2025-08-09T17:02:46.561Z,1754758966.561 [DAT](INFO): DAT read: Range 11 to 50 : 63.7 m  (Round-trip  85.0 ms) speed  0.0 m/s

2025-08-09T17:02:46.571Z,1754758966.571 [DAT](INFO): DAT read: user:316>

2025-08-09T17:02:46.572Z,1754758966.572 [DAT](INFO): DAT read: Tx time:17:02:46.0916

2025-08-09T17:02:46.572Z,1754758966.572 [DAT](INFO): Ping request sent.
2025-08-09T17:02:46.573Z,1754758966.573 [DAT](INFO): transmitted an acoustic signal
2025-08-09T17:02:46.573Z,1754758966.573 [DAT](INFO): #Rx 20: Read range and direction messages.
2025-08-09T17:02:46.583Z,1754758966.583 [DAT](INFO): direction in FSK: [0.780411,-0.625227,0.006981]
2025-08-09T17:02:46.583Z,1754758966.583 [DAT](INFO): publishing transmit ping time
2025-08-09T17:02:46.583Z,1754758966.583 [DAT](INFO): publishing direction and range info
2025-08-09T17:02:46.590Z,1754758966.590 [DAT](INFO): publishing transmit ping time
2025-08-09T17:02:46.591Z,1754758966.591 [DAT](INFO): publishing direction and range info
2025-08-09T17:02:46.674Z,1754758966.674 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 63.700001 m,
      deltaT: 3.529035 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-08-09T17:02:46.680Z,1754758966.680 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 63.700001 m,
      bearing: 224.712684 deg,
      lat: 36.906137 deg,
      lon: -122.115917 deg,
      deltaT: 3.529035 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      posRepo size: 4

2025-08-09T17:02:46.680Z,1754758966.680 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 63.70 m.
2025-08-09T17:02:46.993Z,1754758966.993 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 63.70 m.
2025-08-09T17:02:47.372Z,1754758967.372 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 63.70 m.
2025-08-09T17:02:47.784Z,1754758967.784 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 63.70 m.
2025-08-09T17:02:48.203Z,1754758968.203 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 63.70 m.
2025-08-09T17:02:48.591Z,1754758968.591 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 63.70 m.
2025-08-09T17:02:49.009Z,1754758969.009 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 63.70 m.
2025-08-09T17:02:49.402Z,1754758969.402 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 63.70 m.
2025-08-09T17:02:49.568Z,1754758969.568 [DAT](INFO): DAT read: Rx Time:17:02:48.5804

2025-08-09T17:02:49.569Z,1754758969.569 [DAT](INFO): Rx dataTimestamp_ set to:1754758969.568517
2025-08-09T17:02:49.816Z,1754758969.816 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 63.70 m.
2025-08-09T17:02:50.240Z,1754758970.240 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 63.70 m.
2025-08-09T17:02:50.330Z,1754758970.330 [DAT](INFO): DAT read: 17:02:48.5804 LVL= 32752, 32753, 24354, 32755, AGC= 65, IDX= 433,-0.19,-0.719,-1.559, 0.919,-0.307, PHS=-0.310,-1.207, 1.182, RAW= 188.2,   3.2, CAL= 188.3,   0.5, ROT= 321.7,  -0.5

2025-08-09T17:02:50.331Z,1754758970.331 [DAT](INFO): got valid direction response:
 17:02:48.5804 LVL= 32752, 32753, 24354, 32755, AGC= 65, IDX= 433,-0.19,-0.719,-1.559, 0.919,-0.307, PHS=-0.310,-1.207, 1.182, RAW= 188.2,   3.2, CAL= 188.3,   0.5, ROT= 321.7,  -0.5

2025-08-09T17:02:50.332Z,1754758970.332 [DAT](INFO): DAT read: Bearing  35.0, -35.2 (Local)

2025-08-09T17:02:50.332Z,1754758970.332 [DAT](INFO): Local bearing/azimuth received:
 Bearing  35.0, -35.2 (Local)

2025-08-09T17:02:50.333Z,1754758970.333 [DAT](INFO): DAT read: Range 11 to 50 : 63.5 m  (Round-trip  84.7 ms) speed  0.0 m/s

2025-08-09T17:02:50.334Z,1754758970.334 [DAT](INFO): DAT read: user:317>

2025-08-09T17:02:50.335Z,1754758970.335 [DAT](INFO): DAT read: Tx time:17:02:49.6931

2025-08-09T17:02:50.335Z,1754758970.335 [DAT](INFO): Ping request sent.
2025-08-09T17:02:50.335Z,1754758970.335 [DAT](INFO): transmitted an acoustic signal
2025-08-09T17:02:50.336Z,1754758970.336 [DAT](INFO): #Rx 21: Read range and direction messages.
2025-08-09T17:02:50.337Z,1754758970.337 [DAT](INFO): direction in FSK: [0.784747,-0.619755,0.008727]
2025-08-09T17:02:50.337Z,1754758970.337 [DAT](INFO): publishing transmit ping time
2025-08-09T17:02:50.337Z,1754758970.337 [DAT](INFO): publishing direction and range info
2025-08-09T17:02:50.340Z,1754758970.340 [DAT](INFO): publishing transmit ping time
2025-08-09T17:02:50.340Z,1754758970.340 [DAT](INFO): publishing direction and range info
2025-08-09T17:02:50.623Z,1754758970.623 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 63.500000 m,
      deltaT: 3.782871 s,
      deltaX: -0.200001 m,
      approachRate: -0.052870 m/s,
      rangeRepo size: 4

2025-08-09T17:02:50.625Z,1754758970.625 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 63.500000 m,
      bearing: 224.746519 deg,
      lat: 36.906137 deg,
      lon: -122.115917 deg,
      deltaT: 3.782871 s,
      deltaX: -0.200001 m,
      approachRate: -0.052870 m/s,
      posRepo size: 4

2025-08-09T17:02:50.626Z,1754758970.626 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 63.50 m.
2025-08-09T17:02:51.056Z,1754758971.056 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 63.50 m.
2025-08-09T17:02:51.412Z,1754758971.412 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 63.50 m.
2025-08-09T17:02:51.823Z,1754758971.823 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 63.50 m.
2025-08-09T17:02:52.251Z,1754758972.251 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 63.50 m.
2025-08-09T17:02:52.623Z,1754758972.623 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 63.50 m.
2025-08-09T17:02:53.081Z,1754758973.081 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 63.50 m.
2025-08-09T17:02:53.347Z,1754758973.347 [DAT](INFO): DAT read: Rx Time:17:02:52.1818

2025-08-09T17:02:53.348Z,1754758973.348 [DAT](INFO): Rx dataTimestamp_ set to:1754758973.347448
2025-08-09T17:02:53.432Z,1754758973.432 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 63.50 m.
2025-08-09T17:02:53.859Z,1754758973.859 [DAT](INFO): DAT read: 17:02:52.1818 LVL= 28912, 27969, 20162, 29843, AGC= 65, IDX= 446,-0.09,-0.712,-1.533, 0.952,-0.316, PHS=-0.293,-1.172, 1.225, RAW= 188.8,   2.3, CAL= 188.9,  -0.6, ROT= 321.1,   0.6

2025-08-09T17:02:53.861Z,1754758973.861 [DAT](INFO): got valid direction response:
 17:02:52.1818 LVL= 28912, 27969, 20162, 29843, AGC= 65, IDX= 446,-0.09,-0.712,-1.533, 0.952,-0.316, PHS=-0.293,-1.172, 1.225, RAW= 188.8,   2.3, CAL= 188.9,  -0.6, ROT= 321.1,   0.6

2025-08-09T17:02:53.862Z,1754758973.862 [DAT](INFO): DAT read: Bearing  33.4, -35.8 (Local)

2025-08-09T17:02:53.862Z,1754758973.862 [DAT](INFO): Local bearing/azimuth received:
 Bearing  33.4, -35.8 (Local)

2025-08-09T17:02:53.864Z,1754758973.864 [DAT](INFO): DAT read: Range 11 to 50 : 63.3 m  (Round-trip  84.5 ms) speed  0.0 m/s

2025-08-09T17:02:53.865Z,1754758973.865 [DAT](INFO): DAT read: user:318>

2025-08-09T17:02:53.867Z,1754758973.867 [DAT](INFO): DAT read: Tx time:17:02:53.2916

2025-08-09T17:02:53.867Z,1754758973.867 [DAT](INFO): Ping request sent.
2025-08-09T17:02:53.867Z,1754758973.867 [DAT](INFO): transmitted an acoustic signal
2025-08-09T17:02:53.868Z,1754758973.868 [DAT](INFO): #Rx 22: Read range and direction messages.
2025-08-09T17:02:53.869Z,1754758973.869 [DAT](INFO): direction in FSK: [0.778201,-0.627929,-0.010472]
2025-08-09T17:02:53.869Z,1754758973.869 [DAT](INFO): publishing transmit ping time
2025-08-09T17:02:53.870Z,1754758973.870 [DAT](INFO): publishing direction and range info
2025-08-09T17:02:53.885Z,1754758973.885 [DAT](INFO): publishing transmit ping time
2025-08-09T17:02:53.885Z,1754758973.885 [DAT](INFO): publishing direction and range info
2025-08-09T17:02:53.900Z,1754758973.900 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 63.299999 m,
      deltaT: 3.528480 s,
      deltaX: -0.200001 m,
      approachRate: -0.056682 m/s,
      rangeRepo size: 4

2025-08-09T17:02:53.906Z,1754758973.906 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 63.299999 m,
      bearing: 224.700241 deg,
      lat: 36.906137 deg,
      lon: -122.115917 deg,
      deltaT: 3.528480 s,
      deltaX: -0.200001 m,
      approachRate: -0.056682 m/s,
      posRepo size: 4

2025-08-09T17:02:53.907Z,1754758973.907 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 63.30 m.
2025-08-09T17:02:54.270Z,1754758974.270 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 63.30 m.
2025-08-09T17:02:54.664Z,1754758974.664 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 63.30 m.
2025-08-09T17:02:55.092Z,1754758975.092 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 63.30 m.
2025-08-09T17:02:55.456Z,1754758975.456 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 63.30 m.
2025-08-09T17:02:55.908Z,1754758975.908 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 63.30 m.
2025-08-09T17:02:56.291Z,1754758976.291 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 63.30 m.
2025-08-09T17:02:56.687Z,1754758976.687 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 63.30 m.
2025-08-09T17:02:56.876Z,1754758976.876 [DAT](INFO): DAT read: Rx Time:17:02:55.7802

2025-08-09T17:02:56.876Z,1754758976.876 [DAT](INFO): Rx dataTimestamp_ set to:1754758976.876085
2025-08-09T17:02:57.104Z,1754758977.104 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 63.30 m.
2025-08-09T17:02:57.385Z,1754758977.385 [DAT](INFO): DAT read: 17:02:55.7802 LVL= 32752, 32753, 22114, 32755, AGC= 67, IDX= 446, 0.37,-2.979, 2.458,-1.357,-2.559, PHS=-0.317,-1.221, 1.158, RAW= 187.9,   3.7, CAL= 188.0,   1.2, ROT= 322.0,  -1.2

2025-08-09T17:02:57.386Z,1754758977.386 [DAT](INFO): got valid direction response:
 17:02:55.7802 LVL= 32752, 32753, 22114, 32755, AGC= 67, IDX= 446, 0.37,-2.979, 2.458,-1.357,-2.559, PHS=-0.317,-1.221, 1.158, RAW= 187.9,   3.7, CAL= 188.0,   1.2, ROT= 322.0,  -1.2

2025-08-09T17:02:57.387Z,1754758977.387 [DAT](INFO): DAT read: Bearing  34.7, -34.8 (Local)

2025-08-09T17:02:57.387Z,1754758977.387 [DAT](INFO): Local bearing/azimuth received:
 Bearing  34.7, -34.8 (Local)

2025-08-09T17:02:57.389Z,1754758977.389 [DAT](INFO): DAT read: Range 11 to 50 : 63.3 m  (Round-trip  84.5 ms) speed  0.0 m/s

2025-08-09T17:02:57.389Z,1754758977.389 [DAT](INFO): DAT read: user:319>

2025-08-09T17:02:57.390Z,1754758977.390 [DAT](INFO): DAT read: Tx time:17:02:56.8931

2025-08-09T17:02:57.401Z,1754758977.401 [DAT](INFO): Ping request sent.
2025-08-09T17:02:57.401Z,1754758977.401 [DAT](INFO): transmitted an acoustic signal
2025-08-09T17:02:57.402Z,1754758977.402 [DAT](INFO): #Rx 23: Read range and direction messages.
2025-08-09T17:02:57.403Z,1754758977.403 [DAT](INFO): direction in FSK: [0.787838,-0.615526,0.020942]
2025-08-09T17:02:57.403Z,1754758977.403 [DAT](INFO): publishing transmit ping time
2025-08-09T17:02:57.403Z,1754758977.403 [DAT](INFO): publishing direction and range info
2025-08-09T17:02:57.427Z,1754758977.427 [DAT](INFO): publishing transmit ping time
2025-08-09T17:02:57.427Z,1754758977.427 [DAT](INFO): publishing direction and range info
2025-08-09T17:02:57.521Z,1754758977.521 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 63.299999 m,
      deltaT: 3.527500 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-08-09T17:02:57.533Z,1754758977.533 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 63.299999 m,
      bearing: 224.429765 deg,
      lat: 36.906136 deg,
      lon: -122.115917 deg,
      deltaT: 3.527500 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      posRepo size: 4

2025-08-09T17:02:57.534Z,1754758977.534 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 63.30 m.
2025-08-09T17:02:57.892Z,1754758977.892 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 63.30 m.
2025-08-09T17:02:58.307Z,1754758978.307 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 63.30 m.
2025-08-09T17:02:58.686Z,1754758978.686 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 63.30 m.
2025-08-09T17:02:59.189Z,1754758979.189 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 63.30 m.
2025-08-09T17:02:59.496Z,1754758979.496 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 63.30 m.
2025-08-09T17:02:59.914Z,1754758979.914 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 63.30 m.
2025-08-09T17:03:00.340Z,1754758980.340 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 63.30 m.
2025-08-09T17:03:00.403Z,1754758980.403 [DAT](INFO): DAT read: Rx Time:17:02:59.3821

2025-08-09T17:03:00.404Z,1754758980.404 [DAT](INFO): Rx dataTimestamp_ set to:1754758980.403543
2025-08-09T17:03:00.727Z,1754758980.727 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 63.30 m.
2025-08-09T17:03:01.165Z,1754758981.165 [DAT](INFO): DAT read: 17:02:59.3821 LVL= 24416, 22401, 18018, 26419, AGC= 64, IDX= 450,-0.30, 3.077, 2.264,-1.555,-2.816, PHS=-0.289,-1.159, 1.217, RAW= 188.8,   2.2, CAL= 188.9,  -0.7, ROT= 321.1,   0.7

2025-08-09T17:03:01.166Z,1754758981.166 [DAT](INFO): got valid direction response:
 17:02:59.3821 LVL= 24416, 22401, 18018, 26419, AGC= 64, IDX= 450,-0.30, 3.077, 2.264,-1.555,-2.816, PHS=-0.289,-1.159, 1.217, RAW= 188.8,   2.2, CAL= 188.9,  -0.7, ROT= 321.1,   0.7

2025-08-09T17:03:01.167Z,1754758981.167 [DAT](INFO): DAT read: Bearing  31.8, -35.6 (Local)

2025-08-09T17:03:01.167Z,1754758981.167 [DAT](INFO): Local bearing/azimuth received:
 Bearing  31.8, -35.6 (Local)

2025-08-09T17:03:01.169Z,1754758981.169 [DAT](INFO): DAT read: Range 11 to 50 : 63.6 m  (Round-trip  84.8 ms) speed  0.0 m/s

2025-08-09T17:03:01.169Z,1754758981.169 [DAT](INFO): DAT read: user:320>

2025-08-09T17:03:01.170Z,1754758981.170 [DAT](INFO): DAT read: Tx time:17:03:00.4916

2025-08-09T17:03:01.170Z,1754758981.170 [DAT](INFO): Ping request sent.
2025-08-09T17:03:01.170Z,1754758981.170 [DAT](INFO): transmitted an acoustic signal
2025-08-09T17:03:01.171Z,1754758981.171 [DAT](INFO): #Rx 24: Read range and direction messages.
2025-08-09T17:03:01.172Z,1754758981.172 [DAT](INFO): direction in FSK: [0.778185,-0.627916,-0.012217]
2025-08-09T17:03:01.172Z,1754758981.172 [DAT](INFO): publishing transmit ping time
2025-08-09T17:03:01.172Z,1754758981.172 [DAT](INFO): publishing direction and range info
2025-08-09T17:03:01.183Z,1754758981.183 [DAT](INFO): publishing transmit ping time
2025-08-09T17:03:01.184Z,1754758981.184 [DAT](INFO): publishing direction and range info
2025-08-09T17:03:01.188Z,1754758981.188 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 63.599998 m,
      deltaT: 3.779962 s,
      deltaX: 0.299999 m,
      approachRate: 0.079366 m/s,
      rangeRepo size: 4

2025-08-09T17:03:01.189Z,1754758981.189 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 63.30 m.
2025-08-09T17:03:01.536Z,1754758981.536 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 63.30 m.
2025-08-09T17:03:01.926Z,1754758981.926 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 63.30 m.
2025-08-09T17:03:02.352Z,1754758982.352 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 63.30 m.
2025-08-09T17:03:02.734Z,1754758982.734 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 63.30 m.
2025-08-09T17:03:03.187Z,1754758983.187 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 63.30 m.
2025-08-09T17:03:03.566Z,1754758983.566 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 63.30 m.
2025-08-09T17:03:03.939Z,1754758983.939 [DAT](INFO): DAT read: Rx Time:17:03:02.9809

2025-08-09T17:03:03.940Z,1754758983.940 [DAT](INFO): Rx dataTimestamp_ set to:1754758983.939618
2025-08-09T17:03:03.993Z,1754758983.993 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 63.30 m.
2025-08-09T17:03:04.365Z,1754758984.365 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 63.30 m.
2025-08-09T17:03:04.701Z,1754758984.701 [DAT](INFO): DAT read: 17:03:02.9809 LVL= 28016, 26609, 19362, 29347, AGC= 65, IDX= 453, 0.05, 0.621,-0.179, 2.213, 0.988, PHS=-0.264,-1.122, 1.182, RAW= 188.4,   2.0, CAL= 188.5,  -0.8, ROT= 321.5,   0.8

2025-08-09T17:03:04.702Z,1754758984.702 [DAT](INFO): got valid direction response:
 17:03:02.9809 LVL= 28016, 26609, 19362, 29347, AGC= 65, IDX= 453, 0.05, 0.621,-0.179, 2.213, 0.988, PHS=-0.264,-1.122, 1.182, RAW= 188.4,   2.0, CAL= 188.5,  -0.8, ROT= 321.5,   0.8

2025-08-09T17:03:04.703Z,1754758984.703 [DAT](INFO): DAT read: Bearing  30.6, -35.1 (Local)

2025-08-09T17:03:04.703Z,1754758984.703 [DAT](INFO): Local bearing/azimuth received:
 Bearing  30.6, -35.1 (Local)

2025-08-09T17:03:04.705Z,1754758984.705 [DAT](INFO): DAT read: Range 11 to 50 : 63.9 m  (Round-trip  85.2 ms) speed  0.0 m/s

2025-08-09T17:03:04.706Z,1754758984.706 [DAT](INFO): DAT read: user:321>

2025-08-09T17:03:04.706Z,1754758984.706 [DAT](INFO): DAT read: Tx time:17:03:04.0916

2025-08-09T17:03:04.707Z,1754758984.707 [DAT](INFO): Ping request sent.
2025-08-09T17:03:04.707Z,1754758984.707 [DAT](INFO): transmitted an acoustic signal
2025-08-09T17:03:04.707Z,1754758984.707 [DAT](INFO): #Rx 25: Read range and direction messages.
2025-08-09T17:03:04.708Z,1754758984.708 [DAT](INFO): direction in FSK: [0.782532,-0.622454,-0.013962]
2025-08-09T17:03:04.708Z,1754758984.708 [DAT](INFO): publishing transmit ping time
2025-08-09T17:03:04.709Z,1754758984.709 [DAT](INFO): publishing direction and range info
2025-08-09T17:03:04.720Z,1754758984.720 [DAT](INFO): publishing transmit ping time
2025-08-09T17:03:04.720Z,1754758984.720 [DAT](INFO): publishing direction and range info
2025-08-09T17:03:04.837Z,1754758984.837 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 63.900002 m,
      deltaT: 3.536016 s,
      deltaX: 0.300003 m,
      approachRate: 0.084842 m/s,
      rangeRepo size: 4

2025-08-09T17:03:04.845Z,1754758984.845 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 63.900002 m,
      bearing: 223.574225 deg,
      lat: 36.906131 deg,
      lon: -122.115910 deg,
      deltaT: 7.315978 s,
      deltaX: 0.600002 m,
      approachRate: 0.082013 m/s,
      posRepo size: 4

2025-08-09T17:03:04.846Z,1754758984.846 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 63.90 m.
2025-08-09T17:03:05.209Z,1754758985.209 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 63.90 m.
2025-08-09T17:03:05.565Z,1754758985.565 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 63.90 m.
2025-08-09T17:03:05.968Z,1754758985.968 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 63.90 m.
2025-08-09T17:03:06.386Z,1754758986.386 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 63.90 m.
2025-08-09T17:03:06.766Z,1754758986.766 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 63.90 m.
2025-08-09T17:03:07.238Z,1754758987.238 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 63.90 m.
2025-08-09T17:03:07.584Z,1754758987.584 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 63.90 m.
2025-08-09T17:03:07.721Z,1754758987.721 [DAT](INFO): DAT read: Rx Time:17:03:06.5808

2025-08-09T17:03:07.721Z,1754758987.721 [DAT](INFO): Rx dataTimestamp_ set to:1754758987.720823
2025-08-09T17:03:07.992Z,1754758987.992 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 63.90 m.
2025-08-09T17:03:08.233Z,1754758988.233 [DAT](INFO): DAT read: 17:03:06.5808 LVL= 32752, 32753, 27218, 32755, AGC= 66, IDX= 437, 0.37, 3.051, 2.222,-1.632,-2.863, PHS=-0.267,-1.153, 1.187, RAW= 188.0,   2.3, CAL= 188.1,  -0.6, ROT= 321.9,   0.6

2025-08-09T17:03:08.234Z,1754758988.234 [DAT](INFO): got valid direction response:
 17:03:06.5808 LVL= 32752, 32753, 27218, 32755, AGC= 66, IDX= 437, 0.37, 3.051, 2.222,-1.632,-2.863, PHS=-0.267,-1.153, 1.187, RAW= 188.0,   2.3, CAL= 188.1,  -0.6, ROT= 321.9,   0.6

2025-08-09T17:03:08.235Z,1754758988.235 [DAT](INFO): DAT read: Bearing  30.2, -34.7 (Local)

2025-08-09T17:03:08.235Z,1754758988.235 [DAT](INFO): Local bearing/azimuth received:
 Bearing  30.2, -34.7 (Local)

2025-08-09T17:03:08.237Z,1754758988.237 [DAT](INFO): DAT read: Range 11 to 50 : 63.9 m  (Round-trip  85.2 ms) speed  0.0 m/s

2025-08-09T17:03:08.238Z,1754758988.238 [DAT](INFO): DAT read: user:322>

2025-08-09T17:03:08.256Z,1754758988.256 [DAT](INFO): DAT read: Tx time:17:03:07.6915

2025-08-09T17:03:08.256Z,1754758988.256 [DAT](INFO): Ping request sent.
2025-08-09T17:03:08.256Z,1754758988.256 [DAT](INFO): transmitted an acoustic signal
2025-08-09T17:03:08.257Z,1754758988.257 [DAT](INFO): #Rx 26: Read range and direction messages.
2025-08-09T17:03:08.257Z,1754758988.257 [DAT](INFO): direction in FSK: [0.786892,-0.617002,-0.010472]
2025-08-09T17:03:08.258Z,1754758988.258 [DAT](INFO): publishing transmit ping time
2025-08-09T17:03:08.258Z,1754758988.258 [DAT](INFO): publishing direction and range info
2025-08-09T17:03:08.261Z,1754758988.261 [DAT](INFO): publishing transmit ping time
2025-08-09T17:03:08.261Z,1754758988.261 [DAT](INFO): publishing direction and range info
2025-08-09T17:03:08.442Z,1754758988.442 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 63.900002 m,
      deltaT: 3.529175 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-08-09T17:03:08.444Z,1754758988.444 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 63.900002 m,
      bearing: 222.981510 deg,
      lat: 36.906128 deg,
      lon: -122.115905 deg,
      deltaT: 3.529175 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      posRepo size: 4

2025-08-09T17:03:08.445Z,1754758988.445 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 63.90 m.
2025-08-09T17:03:08.810Z,1754758988.810 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 63.90 m.
2025-08-09T17:03:09.281Z,1754758989.281 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 63.90 m.
2025-08-09T17:03:09.603Z,1754758989.603 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 63.90 m.
2025-08-09T17:03:10.011Z,1754758990.011 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 63.90 m.
2025-08-09T17:03:10.427Z,1754758990.427 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 63.90 m.
2025-08-09T17:03:10.844Z,1754758990.844 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 63.90 m.
2025-08-09T17:03:11.250Z,1754758991.250 [DAT](INFO): DAT read: Rx Time:17:03:10.1804

2025-08-09T17:03:11.252Z,1754758991.252 [DAT](INFO): Rx dataTimestamp_ set to:1754758991.250761
2025-08-09T17:03:11.269Z,1754758991.269 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 63.90 m.
2025-08-09T17:03:11.639Z,1754758991.639 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 63.90 m.
2025-08-09T17:03:11.757Z,1754758991.757 [DAT](INFO): DAT read: 17:03:10.1804 LVL= 30400, 31137, 18626, 32755, AGC= 64, IDX= 434,-0.39,-2.614, 2.812,-0.961,-2.255, PHS=-0.258,-1.172, 1.250, RAW= 188.1,   1.7, CAL= 188.2,  -1.1, ROT= 321.8,   1.1

2025-08-09T17:03:11.758Z,1754758991.758 [DAT](INFO): got valid direction response:
 17:03:10.1804 LVL= 30400, 31137, 18626, 32755, AGC= 64, IDX= 434,-0.39,-2.614, 2.812,-0.961,-2.255, PHS=-0.258,-1.172, 1.250, RAW= 188.1,   1.7, CAL= 188.2,  -1.1, ROT= 321.8,   1.1

2025-08-09T17:03:11.762Z,1754758991.762 [DAT](INFO): DAT read: Bearing  28.7, -34.7 (Local)

2025-08-09T17:03:11.762Z,1754758991.762 [DAT](INFO): Local bearing/azimuth received:
 Bearing  28.7, -34.7 (Local)

2025-08-09T17:03:11.764Z,1754758991.764 [DAT](INFO): DAT read: Range 11 to 50 : 63.6 m  (Round-trip  84.8 ms) speed  0.0 m/s

2025-08-09T17:03:11.765Z,1754758991.765 [DAT](INFO): DAT read: user:323>

2025-08-09T17:03:11.765Z,1754758991.765 [DAT](INFO): DAT read: Tx time:17:03:11.2930

2025-08-09T17:03:11.766Z,1754758991.766 [DAT](INFO): Ping request sent.
2025-08-09T17:03:11.766Z,1754758991.766 [DAT](INFO): transmitted an acoustic signal
2025-08-09T17:03:11.766Z,1754758991.766 [DAT](INFO): #Rx 27: Read range and direction messages.
2025-08-09T17:03:11.783Z,1754758991.783 [DAT](INFO): direction in FSK: [0.785712,-0.618295,-0.019197]
2025-08-09T17:03:11.783Z,1754758991.783 [DAT](INFO): publishing transmit ping time
2025-08-09T17:03:11.784Z,1754758991.784 [DAT](INFO): publishing direction and range info
2025-08-09T17:03:11.811Z,1754758991.811 [DAT](INFO): publishing transmit ping time
2025-08-09T17:03:11.812Z,1754758991.812 [DAT](INFO): publishing direction and range info
2025-08-09T17:03:12.054Z,1754758992.054 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 63.599998 m,
      deltaT: 3.526914 s,
      deltaX: -0.300003 m,
      approachRate: -0.085061 m/s,
      rangeRepo size: 4

2025-08-09T17:03:12.069Z,1754758992.069 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 63.599998 m,
      bearing: 222.802118 deg,
      lat: 36.906125 deg,
      lon: -122.115904 deg,
      deltaT: 3.526914 s,
      deltaX: -0.300003 m,
      approachRate: -0.085061 m/s,
      posRepo size: 4

2025-08-09T17:03:12.069Z,1754758992.069 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 63.60 m.
2025-08-09T17:03:12.479Z,1754758992.479 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 63.60 m.
2025-08-09T17:03:12.903Z,1754758992.903 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 63.60 m.
2025-08-09T17:03:13.290Z,1754758993.290 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 63.60 m.
2025-08-09T17:03:13.655Z,1754758993.655 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 63.60 m.
2025-08-09T17:03:14.060Z,1754758994.060 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 63.60 m.
2025-08-09T17:03:14.481Z,1754758994.481 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 63.60 m.
2025-08-09T17:03:14.775Z,1754758994.775 [DAT](INFO): DAT read: Rx Time:17:03:13.7816

2025-08-09T17:03:14.776Z,1754758994.776 [DAT](INFO): Rx dataTimestamp_ set to:1754758994.775495
2025-08-09T17:03:14.881Z,1754758994.881 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 63.60 m.
2025-08-09T17:03:15.311Z,1754758995.311 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 63.60 m.
2025-08-09T17:03:15.537Z,1754758995.537 [DAT](INFO): DAT read: 17:03:13.7816 LVL= 32752, 32321, 22802, 32499, AGC= 67, IDX= 445, 0.03,-1.061,-1.866, 0.538,-0.678, PHS=-0.281,-1.143, 1.172, RAW= 188.4,   2.5, CAL= 188.5,  -0.4, ROT= 321.5,   0.4

2025-08-09T17:03:15.538Z,1754758995.538 [DAT](INFO): got valid direction response:
 17:03:13.7816 LVL= 32752, 32321, 22802, 32499, AGC= 67, IDX= 445, 0.03,-1.061,-1.866, 0.538,-0.678, PHS=-0.281,-1.143, 1.172, RAW= 188.4,   2.5, CAL= 188.5,  -0.4, ROT= 321.5,   0.4

2025-08-09T17:03:15.539Z,1754758995.539 [DAT](INFO): DAT read: Bearing  28.7, -35.3 (Local)

2025-08-09T17:03:15.540Z,1754758995.540 [DAT](INFO): Local bearing/azimuth received:
 Bearing  28.7, -35.3 (Local)

2025-08-09T17:03:15.541Z,1754758995.541 [DAT](INFO): DAT read: Range 11 to 50 : 63.3 m  (Round-trip  84.4 ms) speed  0.0 m/s

2025-08-09T17:03:15.542Z,1754758995.542 [DAT](INFO): DAT read: user:324>

2025-08-09T17:03:15.543Z,1754758995.543 [DAT](INFO): DAT read: Tx time:17:03:14.8915

2025-08-09T17:03:15.543Z,1754758995.543 [DAT](INFO): Ping request sent.
2025-08-09T17:03:15.543Z,1754758995.543 [DAT](INFO): transmitted an acoustic signal
2025-08-09T17:03:15.544Z,1754758995.544 [DAT](INFO): #Rx 28: Read range and direction messages.
2025-08-09T17:03:15.544Z,1754758995.544 [DAT](INFO): direction in FSK: [0.782589,-0.622499,-0.006981]
2025-08-09T17:03:15.545Z,1754758995.545 [DAT](INFO): publishing transmit ping time
2025-08-09T17:03:15.545Z,1754758995.545 [DAT](INFO): publishing direction and range info
2025-08-09T17:03:15.548Z,1754758995.548 [DAT](INFO): publishing transmit ping time
2025-08-09T17:03:15.548Z,1754758995.548 [DAT](INFO): publishing direction and range info
2025-08-09T17:03:15.755Z,1754758995.755 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 63.299999 m,
      deltaT: 3.780248 s,
      deltaX: -0.299999 m,
      approachRate: -0.079360 m/s,
      rangeRepo size: 4

2025-08-09T17:03:15.757Z,1754758995.757 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 63.299999 m,
      bearing: 222.555017 deg,
      lat: 36.906123 deg,
      lon: -122.115904 deg,
      deltaT: 3.780248 s,
      deltaX: -0.299999 m,
      approachRate: -0.079360 m/s,
      posRepo size: 4

2025-08-09T17:03:15.758Z,1754758995.758 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 63.30 m.
2025-08-09T17:03:16.063Z,1754758996.063 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 63.30 m.
2025-08-09T17:03:16.485Z,1754758996.485 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 63.30 m.
2025-08-09T17:03:16.893Z,1754758996.893 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 63.30 m.
2025-08-09T17:03:17.271Z,1754758997.271 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 63.30 m.
2025-08-09T17:03:17.699Z,1754758997.699 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 63.30 m.
2025-08-09T17:03:18.102Z,1754758998.102 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 63.30 m.
2025-08-09T17:03:18.539Z,1754758998.539 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 63.30 m.
2025-08-09T17:03:18.559Z,1754758998.559 [DAT](INFO): DAT read: Rx Time:17:03:17.3800

2025-08-09T17:03:18.560Z,1754758998.560 [DAT](INFO): Rx dataTimestamp_ set to:1754758998.559580
2025-08-09T17:03:18.951Z,1754758998.951 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 63.30 m.
2025-08-09T17:03:19.071Z,1754758999.071 [DAT](INFO): DAT read: 17:03:17.3800 LVL= 28000, 28401, 21874, 31859, AGC= 62, IDX= 445, 0.07, 0.592,-0.242, 2.290, 0.974, PHS=-0.280,-1.171, 1.272, RAW= 188.9,   1.7, CAL= 189.1,  -1.2, ROT= 320.9,   1.2

2025-08-09T17:03:19.072Z,1754758999.072 [DAT](INFO): got valid direction response:
 17:03:17.3800 LVL= 28000, 28401, 21874, 31859, AGC= 62, IDX= 445, 0.07, 0.592,-0.242, 2.290, 0.974, PHS=-0.280,-1.171, 1.272, RAW= 188.9,   1.7, CAL= 189.1,  -1.2, ROT= 320.9,   1.2

2025-08-09T17:03:19.073Z,1754758999.073 [DAT](INFO): DAT read: Bearing  26.2, -35.9 (Local)

2025-08-09T17:03:19.073Z,1754758999.073 [DAT](INFO): Local bearing/azimuth received:
 Bearing  26.2, -35.9 (Local)

2025-08-09T17:03:19.075Z,1754758999.075 [DAT](INFO): DAT read: Range 11 to 50 : 63.3 m  (Round-trip  84.4 ms) speed -0.2 m/s

2025-08-09T17:03:19.076Z,1754758999.076 [DAT](INFO): DAT read: user:325>

2025-08-09T17:03:19.076Z,1754758999.076 [DAT](INFO): DAT read: Tx time:17:03:18.4915

2025-08-09T17:03:19.077Z,1754758999.077 [DAT](INFO): Ping request sent.
2025-08-09T17:03:19.077Z,1754758999.077 [DAT](INFO): transmitted an acoustic signal
2025-08-09T17:03:19.077Z,1754758999.077 [DAT](INFO): #Rx 29: Read range and direction messages.
2025-08-09T17:03:19.078Z,1754758999.078 [DAT](INFO): direction in FSK: [0.775876,-0.630538,-0.020942]
2025-08-09T17:03:19.078Z,1754758999.078 [DAT](INFO): publishing transmit ping time
2025-08-09T17:03:19.079Z,1754758999.079 [DAT](INFO): publishing direction and range info
2025-08-09T17:03:19.081Z,1754758999.081 [DAT](INFO): publishing transmit ping time
2025-08-09T17:03:19.082Z,1754758999.082 [DAT](INFO): publishing direction and range info
2025-08-09T17:03:19.297Z,1754758999.297 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 63.299999 m,
      deltaT: 3.533566 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-08-09T17:03:19.333Z,1754758999.333 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 63.299999 m,
      bearing: 221.774261 deg,
      lat: 36.906119 deg,
      lon: -122.115897 deg,
      deltaT: 3.533566 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      posRepo size: 4

2025-08-09T17:03:19.339Z,1754758999.339 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 63.30 m.
2025-08-09T17:03:19.715Z,1754758999.715 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 63.30 m.
2025-08-09T17:03:20.102Z,1754759000.102 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 63.30 m.
2025-08-09T17:03:20.555Z,1754759000.555 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 63.30 m.
2025-08-09T17:03:20.927Z,1754759000.927 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 63.30 m.
2025-08-09T17:03:21.306Z,1754759001.306 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 63.30 m.
2025-08-09T17:03:21.743Z,1754759001.743 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 63.30 m.
2025-08-09T17:03:22.091Z,1754759002.091 [DAT](INFO): DAT read: Rx Time:17:03:20.9808

2025-08-09T17:03:22.092Z,1754759002.092 [DAT](INFO): Rx dataTimestamp_ set to:1754759002.091555
2025-08-09T17:03:22.133Z,1754759002.133 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 63.30 m.
2025-08-09T17:03:22.577Z,1754759002.577 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 63.30 m.
2025-08-09T17:03:22.601Z,1754759002.601 [DAT](INFO): DAT read: 17:03:20.9808 LVL= 23792, 21585, 18066, 26675, AGC= 65, IDX= 438,-0.32,-2.223,-3.048,-0.473,-1.831, PHS=-0.290,-1.172, 1.314, RAW= 189.5,   1.4, CAL= 189.7,  -1.5, ROT= 320.3,   1.5

2025-08-09T17:03:22.602Z,1754759002.602 [DAT](INFO): got valid direction response:
 17:03:20.9808 LVL= 23792, 21585, 18066, 26675, AGC= 65, IDX= 438,-0.32,-2.223,-3.048,-0.473,-1.831, PHS=-0.290,-1.172, 1.314, RAW= 189.5,   1.4, CAL= 189.7,  -1.5, ROT= 320.3,   1.5

2025-08-09T17:03:22.603Z,1754759002.603 [DAT](INFO): DAT read: Bearing  24.5, -36.6 (Local)

2025-08-09T17:03:22.604Z,1754759002.604 [DAT](INFO): Local bearing/azimuth received:
 Bearing  24.5, -36.6 (Local)

2025-08-09T17:03:22.605Z,1754759002.605 [DAT](INFO): DAT read: Range 11 to 50 : 63.9 m  (Round-trip  85.2 ms) speed  0.0 m/s

2025-08-09T17:03:22.606Z,1754759002.606 [DAT](INFO): DAT read: user:326>

2025-08-09T17:03:22.612Z,1754759002.612 [DAT](INFO): DAT read: Tx time:17:03:22.0915

2025-08-09T17:03:22.612Z,1754759002.612 [DAT](INFO): Ping request sent.
2025-08-09T17:03:22.612Z,1754759002.612 [DAT](INFO): transmitted an acoustic signal
2025-08-09T17:03:22.612Z,1754759002.612 [DAT](INFO): #Rx 30: Read range and direction messages.
2025-08-09T17:03:22.613Z,1754759002.613 [DAT](INFO): direction in FSK: [0.769136,-0.638549,-0.026177]
2025-08-09T17:03:22.614Z,1754759002.614 [DAT](INFO): publishing transmit ping time
2025-08-09T17:03:22.614Z,1754759002.614 [DAT](INFO): publishing direction and range info
2025-08-09T17:03:22.617Z,1754759002.617 [DAT](INFO): publishing transmit ping time
2025-08-09T17:03:22.617Z,1754759002.617 [DAT](INFO): publishing direction and range info
2025-08-09T17:03:22.935Z,1754759002.935 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 63.900002 m,
      deltaT: 3.530269 s,
      deltaX: 0.600002 m,
      approachRate: 0.169959 m/s,
      rangeRepo size: 4

2025-08-09T17:03:22.937Z,1754759002.937 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 63.900002 m,
      bearing: 220.634416 deg,
      lat: 36.906113 deg,
      lon: -122.115885 deg,
      deltaT: 3.530269 s,
      deltaX: 0.600002 m,
      approachRate: 0.169959 m/s,
      posRepo size: 4

2025-08-09T17:03:22.938Z,1754759002.938 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 63.90 m.
2025-08-09T17:03:23.331Z,1754759003.331 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 63.90 m.
2025-08-09T17:03:23.751Z,1754759003.751 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 63.90 m.
2025-08-09T17:03:24.143Z,1754759004.143 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 63.90 m.
2025-08-09T17:03:24.571Z,1754759004.571 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 63.90 m.
2025-08-09T17:03:24.946Z,1754759004.946 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 63.90 m.
2025-08-09T17:03:25.409Z,1754759005.409 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 63.90 m.
2025-08-09T17:03:25.619Z,1754759005.619 [DAT](INFO): DAT read: Rx Time:17:03:24.5811

2025-08-09T17:03:25.620Z,1754759005.620 [DAT](INFO): Rx dataTimestamp_ set to:1754759005.619510
2025-08-09T17:03:25.825Z,1754759005.825 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 63.90 m.
2025-08-09T17:03:26.135Z,1754759006.135 [DAT](INFO): DAT read: 17:03:24.5811 LVL= 26912, 29137, 20962, 27235, AGC= 66, IDX= 440,-0.01, 1.187, 0.379, 2.920, 1.578, PHS=-0.290,-1.155, 1.298, RAW= 189.7,   1.4, CAL= 189.9,  -1.5, ROT= 320.1,   1.5

2025-08-09T17:03:26.138Z,1754759006.138 [DAT](INFO): got valid direction response:
 17:03:24.5811 LVL= 26912, 29137, 20962, 27235, AGC= 66, IDX= 440,-0.01, 1.187, 0.379, 2.920, 1.578, PHS=-0.290,-1.155, 1.298, RAW= 189.7,   1.4, CAL= 189.9,  -1.5, ROT= 320.1,   1.5

2025-08-09T17:03:26.140Z,1754759006.140 [DAT](INFO): DAT read: Bearing  23.7, -37.1 (Local)

2025-08-09T17:03:26.141Z,1754759006.141 [DAT](INFO): Local bearing/azimuth received:
 Bearing  23.7, -37.1 (Local)

2025-08-09T17:03:26.144Z,1754759006.144 [DAT](INFO): DAT read: Range 11 to 50 : 64.1 m  (Round-trip  85.5 ms) speed  0.1 m/s

2025-08-09T17:03:26.144Z,1754759006.144 [DAT](INFO): DAT read: user:327>

2025-08-09T17:03:26.145Z,1754759006.145 [DAT](INFO): DAT read: Tx time:17:03:25.6915

2025-08-09T17:03:26.145Z,1754759006.145 [DAT](INFO): Ping request sent.
2025-08-09T17:03:26.146Z,1754759006.146 [DAT](INFO): transmitted an acoustic signal
2025-08-09T17:03:26.146Z,1754759006.146 [DAT](INFO): #Rx 31: Read range and direction messages.
2025-08-09T17:03:26.159Z,1754759006.159 [DAT](INFO): direction in FSK: [0.766902,-0.641230,-0.026177]
2025-08-09T17:03:26.159Z,1754759006.159 [DAT](INFO): publishing transmit ping time
2025-08-09T17:03:26.160Z,1754759006.160 [DAT](INFO): publishing direction and range info
2025-08-09T17:03:26.184Z,1754759006.184 [DAT](INFO): publishing transmit ping time
2025-08-09T17:03:26.185Z,1754759006.185 [DAT](INFO): publishing direction and range info
2025-08-09T17:03:26.245Z,1754759006.245 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 64.099998 m,
      deltaT: 3.528944 s,
      deltaX: 0.199997 m,
      approachRate: 0.056673 m/s,
      rangeRepo size: 4

2025-08-09T17:03:26.252Z,1754759006.252 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 64.099998 m,
      bearing: 219.734951 deg,
      lat: 36.906109 deg,
      lon: -122.115876 deg,
      deltaT: 3.528944 s,
      deltaX: 0.199997 m,
      approachRate: 0.056673 m/s,
      posRepo size: 4

2025-08-09T17:03:26.252Z,1754759006.252 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.10 m.
2025-08-09T17:03:26.620Z,1754759006.620 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.10 m.
2025-08-09T17:03:27.015Z,1754759007.015 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.10 m.
2025-08-09T17:03:27.402Z,1754759007.402 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.10 m.
2025-08-09T17:03:27.832Z,1754759007.832 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.10 m.
2025-08-09T17:03:28.210Z,1754759008.210 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.10 m.
2025-08-09T17:03:28.640Z,1754759008.640 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.10 m.
2025-08-09T17:03:29.036Z,1754759009.036 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.10 m.
2025-08-09T17:03:29.147Z,1754759009.147 [DAT](INFO): DAT read: Rx Time:17:03:28.1805

2025-08-09T17:03:29.148Z,1754759009.148 [DAT](INFO): Rx dataTimestamp_ set to:1754759009.147481
2025-08-09T17:03:29.416Z,1754759009.416 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.10 m.
2025-08-09T17:03:29.861Z,1754759009.861 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.10 m.
2025-08-09T17:03:29.909Z,1754759009.909 [DAT](INFO): DAT read: 17:03:28.1804 LVL= 28000, 30353, 20194, 29427, AGC= 66, IDX= 434,-0.06, 0.377,-0.424, 2.151, 0.767, PHS=-0.288,-1.146, 1.340, RAW= 190.1,   0.9, CAL= 190.3,  -1.9, ROT= 319.7,   1.9

2025-08-09T17:03:29.910Z,1754759009.910 [DAT](INFO): got valid direction response:
 17:03:28.1804 LVL= 28000, 30353, 20194, 29427, AGC= 66, IDX= 434,-0.06, 0.377,-0.424, 2.151, 0.767, PHS=-0.288,-1.146, 1.340, RAW= 190.1,   0.9, CAL= 190.3,  -1.9, ROT= 319.7,   1.9

2025-08-09T17:03:29.911Z,1754759009.911 [DAT](INFO): DAT read: Bearing  22.3, -37.9 (Local)

2025-08-09T17:03:29.912Z,1754759009.912 [DAT](INFO): Local bearing/azimuth received:
 Bearing  22.3, -37.9 (Local)

2025-08-09T17:03:29.913Z,1754759009.913 [DAT](INFO): DAT read: Range 11 to 50 : 63.6 m  (Round-trip  84.9 ms) speed  0.0 m/s

2025-08-09T17:03:29.914Z,1754759009.914 [DAT](INFO): DAT read: user:328>

2025-08-09T17:03:29.915Z,1754759009.915 [DAT](INFO): DAT read: Tx time:17:03:29.2914

2025-08-09T17:03:29.915Z,1754759009.915 [DAT](INFO): Ping request sent.
2025-08-09T17:03:29.915Z,1754759009.915 [DAT](INFO): transmitted an acoustic signal
2025-08-09T17:03:29.915Z,1754759009.915 [DAT](INFO): #Rx 32: Read range and direction messages.
2025-08-09T17:03:29.916Z,1754759009.916 [DAT](INFO): direction in FSK: [0.762249,-0.646434,-0.033155]
2025-08-09T17:03:29.917Z,1754759009.917 [DAT](INFO): publishing transmit ping time
2025-08-09T17:03:29.917Z,1754759009.917 [DAT](INFO): publishing direction and range info
2025-08-09T17:03:29.928Z,1754759009.928 [DAT](INFO): publishing transmit ping time
2025-08-09T17:03:29.928Z,1754759009.928 [DAT](INFO): publishing direction and range info
2025-08-09T17:03:30.242Z,1754759010.242 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 63.599998 m,
      deltaT: 3.779053 s,
      deltaX: -0.500000 m,
      approachRate: -0.132308 m/s,
      rangeRepo size: 4

2025-08-09T17:03:30.244Z,1754759010.244 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 63.599998 m,
      bearing: 218.547289 deg,
      lat: 36.906099 deg,
      lon: -122.115866 deg,
      deltaT: 3.779053 s,
      deltaX: -0.500000 m,
      approachRate: -0.132308 m/s,
      posRepo size: 4

2025-08-09T17:03:30.245Z,1754759010.245 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 63.60 m.
2025-08-09T17:03:30.717Z,1754759010.717 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 63.60 m.
2025-08-09T17:03:31.062Z,1754759011.062 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 63.60 m.
2025-08-09T17:03:31.457Z,1754759011.457 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 63.60 m.
2025-08-09T17:03:31.870Z,1754759011.870 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 63.60 m.
2025-08-09T17:03:32.262Z,1754759012.262 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 63.60 m.
2025-08-09T17:03:32.691Z,1754759012.691 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 63.60 m.
2025-08-09T17:03:32.928Z,1754759012.928 [DAT](INFO): DAT read: Rx Time:17:03:31.7801

2025-08-09T17:03:32.928Z,1754759012.928 [DAT](INFO): Rx dataTimestamp_ set to:1754759012.927739
2025-08-09T17:03:33.060Z,1754759013.060 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 63.60 m.
2025-08-09T17:03:33.437Z,1754759013.437 [DAT](INFO): DAT read: 17:03:31.7801 LVL= 30608, 32753, 23778, 32755, AGC= 66, IDX= 431, 0.04, 0.501,-0.327, 2.266, 0.908, PHS=-0.305,-1.191, 1.314, RAW= 189.6,   1.7, CAL= 189.8,  -1.2, ROT= 320.2,   1.2

2025-08-09T17:03:33.438Z,1754759013.438 [DAT](INFO): got valid direction response:
 17:03:31.7801 LVL= 30608, 32753, 23778, 32755, AGC= 66, IDX= 431, 0.04, 0.501,-0.327, 2.266, 0.908, PHS=-0.305,-1.191, 1.314, RAW= 189.6,   1.7, CAL= 189.8,  -1.2, ROT= 320.2,   1.2

2025-08-09T17:03:33.439Z,1754759013.439 [DAT](INFO): DAT read: Bearing  22.2, -37.8 (Local)

2025-08-09T17:03:33.439Z,1754759013.439 [DAT](INFO): Local bearing/azimuth received:
 Bearing  22.2, -37.8 (Local)

2025-08-09T17:03:33.441Z,1754759013.441 [DAT](INFO): DAT read: Range 11 to 50 : 63.4 m  (Round-trip  84.6 ms) speed  0.0 m/s

2025-08-09T17:03:33.441Z,1754759013.441 [DAT](INFO): DAT read: user:329>

2025-08-09T17:03:33.442Z,1754759013.442 [DAT](INFO): DAT read: Tx time:17:03:32.8929

2025-08-09T17:03:33.443Z,1754759013.443 [DAT](INFO): Ping request sent.
2025-08-09T17:03:33.443Z,1754759013.443 [DAT](INFO): transmitted an acoustic signal
2025-08-09T17:03:33.443Z,1754759013.443 [DAT](INFO): #Rx 33: Read range and direction messages.
2025-08-09T17:03:33.444Z,1754759013.444 [DAT](INFO): direction in FSK: [0.768115,-0.639969,-0.020942]
2025-08-09T17:03:33.444Z,1754759013.444 [DAT](INFO): publishing transmit ping time
2025-08-09T17:03:33.444Z,1754759013.444 [DAT](INFO): publishing direction and range info
2025-08-09T17:03:33.484Z,1754759013.484 [DAT](INFO): publishing transmit ping time
2025-08-09T17:03:33.485Z,1754759013.485 [DAT](INFO): publishing direction and range info
2025-08-09T17:03:33.611Z,1754759013.611 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 63.400002 m,
      deltaT: 3.527959 s,
      deltaX: -0.199997 m,
      approachRate: -0.056689 m/s,
      rangeRepo size: 4

2025-08-09T17:03:33.613Z,1754759013.613 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 63.400002 m,
      bearing: 217.401880 deg,
      lat: 36.906091 deg,
      lon: -122.115857 deg,
      deltaT: 3.527959 s,
      deltaX: -0.199997 m,
      approachRate: -0.056689 m/s,
      posRepo size: 4

2025-08-09T17:03:33.613Z,1754759013.613 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 63.40 m.
2025-08-09T17:03:33.622Z,1754759013.622 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Resuming propulsion at range: 63.40 m and bearing: 217.401880 deg. Not drifting fast enough.
2025-08-09T17:03:33.910Z,1754759013.910 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 63.40 m.
2025-08-09T17:03:33.912Z,1754759013.912 [lineCaptureHoming:LineCapture:HoldBuoyancy] Running Loop=1
2025-08-09T17:03:33.912Z,1754759013.912 [lineCaptureHoming:LineCapture:HoldBuoyancy](DEBUG): Aggregate::initialize lineCaptureHoming:LineCapture:HoldBuoyancy
2025-08-09T17:03:33.912Z,1754759013.912 [lineCaptureHoming:LineCapture:HoldBuoyancy:A.Buoyancy] Running Loop=1
2025-08-09T17:03:33.912Z,1754759013.912 [lineCaptureHoming:LineCapture:HoldBuoyancy:A.Buoyancy](DEBUG): Initialize Buoyancy Component.
2025-08-09T17:03:34.283Z,1754759014.283 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 63.40 m.
2025-08-09T17:03:34.706Z,1754759014.706 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 63.40 m.
2025-08-09T17:03:35.081Z,1754759015.081 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 63.40 m.
2025-08-09T17:03:35.497Z,1754759015.497 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 63.40 m.
2025-08-09T17:03:35.914Z,1754759015.914 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-09T17:03:35.916Z,1754759015.916 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 63.40 m.
2025-08-09T17:03:35.951Z,1754759015.951 [DAT](INFO): ****** received valid address query ******
2025-08-09T17:03:35.951Z,1754759015.951 [DAT](INFO): ****** received valid ping request ******
2025-08-09T17:03:35.951Z,1754759015.951 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-09T17:03:36.206Z,1754759016.206 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.763731
2025-08-09T17:03:36.300Z,1754759016.300 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 63.40 m.
2025-08-09T17:03:36.457Z,1754759016.457 [DAT](INFO): DAT read: Rx Time:17:03:35.3817

2025-08-09T17:03:36.458Z,1754759016.458 [DAT](INFO): Rx dataTimestamp_ set to:1754759016.457055
2025-08-09T17:03:36.459Z,1754759016.459 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.016133
2025-08-09T17:03:36.707Z,1754759016.707 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.264422
2025-08-09T17:03:36.732Z,1754759016.732 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 63.40 m.
2025-08-09T17:03:36.970Z,1754759016.970 [DAT](INFO): DAT read: 17:03:35.3817 LVL= 22704, 24881, 21474, 26035, AGC= 63, IDX= 447,-0.08, 2.928, 2.120,-1.618,-2.937, PHS=-0.316,-1.181, 1.275, RAW= 189.7,   2.1, CAL= 189.9,  -0.8, ROT= 320.1,   0.8

2025-08-09T17:03:36.971Z,1754759016.971 [DAT](INFO): got valid direction response:
 17:03:35.3817 LVL= 22704, 24881, 21474, 26035, AGC= 63, IDX= 447,-0.08, 2.928, 2.120,-1.618,-2.937, PHS=-0.316,-1.181, 1.275, RAW= 189.7,   2.1, CAL= 189.9,  -0.8, ROT= 320.1,   0.8

2025-08-09T17:03:36.973Z,1754759016.973 [DAT](INFO): DAT read: Bearing  21.4, -38.2 (Local)

2025-08-09T17:03:36.974Z,1754759016.974 [DAT](INFO): Local bearing/azimuth received:
 Bearing  21.4, -38.2 (Local)

2025-08-09T17:03:36.976Z,1754759016.976 [DAT](INFO): DAT read: Range 11 to 50 : 63.4 m  (Round-trip  84.6 ms) speed  0.0 m/s

2025-08-09T17:03:36.978Z,1754759016.978 [DAT](INFO): DAT read: user:330>

2025-08-09T17:03:36.979Z,1754759016.979 [DAT](INFO): DAT read: Tx time:17:03:36.4914

2025-08-09T17:03:36.980Z,1754759016.980 [DAT](INFO): Ping request sent.
2025-08-09T17:03:36.980Z,1754759016.980 [DAT](INFO): transmitted an acoustic signal
2025-08-09T17:03:36.980Z,1754759016.980 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-09T17:03:36.982Z,1754759016.982 [DAT](INFO): direction in FSK: [0.767091,-0.641387,-0.013962]
2025-08-09T17:03:36.988Z,1754759016.988 [DAT](INFO): publishing transmit ping time
2025-08-09T17:03:36.988Z,1754759016.988 [DAT](INFO): publishing direction and range info
2025-08-09T17:03:36.991Z,1754759016.991 [DAT](INFO): publishing transmit ping time
2025-08-09T17:03:36.991Z,1754759016.991 [DAT](INFO): publishing direction and range info
2025-08-09T17:03:37.119Z,1754759017.119 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 63.400002 m,
      deltaT: 3.528855 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-08-09T17:03:37.121Z,1754759017.121 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 63.400002 m,
      bearing: 216.061519 deg,
      lat: 36.906084 deg,
      lon: -122.115843 deg,
      deltaT: 3.528855 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      posRepo size: 4

2025-08-09T17:03:37.122Z,1754759017.122 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 63.40 m.
2025-08-09T17:03:37.529Z,1754759017.529 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 63.40 m.
2025-08-09T17:03:37.925Z,1754759017.925 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 63.40 m.
2025-08-09T17:03:38.424Z,1754759018.424 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 63.40 m.
2025-08-09T17:03:38.859Z,1754759018.859 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 63.40 m.
2025-08-09T17:03:39.251Z,1754759019.251 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 63.40 m.
2025-08-09T17:03:39.704Z,1754759019.704 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 63.40 m.
2025-08-09T17:03:39.983Z,1754759019.983 [DAT](INFO): DAT read: Rx Time:17:03:38.9804

2025-08-09T17:03:39.984Z,1754759019.984 [DAT](INFO): Rx dataTimestamp_ set to:1754759019.983586
2025-08-09T17:03:40.087Z,1754759020.087 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 63.40 m.
2025-08-09T17:03:40.447Z,1754759020.447 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 63.40 m.
2025-08-09T17:03:40.745Z,1754759020.745 [DAT](INFO): DAT read: 17:03:38.9804 LVL= 23728, 25073, 20050, 26723, AGC= 65, IDX= 450, 0.42, 0.107,-0.731, 1.775, 0.469, PHS=-0.260,-1.155, 1.262, RAW= 188.5,   1.5, CAL= 188.7,  -1.4, ROT= 321.3,   1.4

2025-08-09T17:03:40.746Z,1754759020.746 [DAT](INFO): got valid direction response:
 17:03:38.9804 LVL= 23728, 25073, 20050, 26723, AGC= 65, IDX= 450, 0.42, 0.107,-0.731, 1.775, 0.469, PHS=-0.260,-1.155, 1.262, RAW= 188.5,   1.5, CAL= 188.7,  -1.4, ROT= 321.3,   1.4

2025-08-09T17:03:40.747Z,1754759020.747 [DAT](INFO): DAT read: Bearing  18.7, -36.9 (Local)

2025-08-09T17:03:40.747Z,1754759020.747 [DAT](INFO): Local bearing/azimuth received:
 Bearing  18.7, -36.9 (Local)

2025-08-09T17:03:40.749Z,1754759020.749 [DAT](INFO): DAT read: Range 11 to 50 : 63.6 m  (Round-trip  84.9 ms) speed  0.0 m/s

2025-08-09T17:03:40.750Z,1754759020.750 [DAT](INFO): DAT read: user:331>

2025-08-09T17:03:40.750Z,1754759020.750 [DAT](INFO): DAT read: Tx time:17:03:40.0914

2025-08-09T17:03:40.751Z,1754759020.751 [DAT](INFO): Ping request sent.
2025-08-09T17:03:40.751Z,1754759020.751 [DAT](INFO): transmitted an acoustic signal
2025-08-09T17:03:40.751Z,1754759020.751 [DAT](INFO): #Rx 2: Read range and direction messages.
2025-08-09T17:03:40.752Z,1754759020.752 [DAT](INFO): direction in FSK: [0.780197,-0.625056,-0.024432]
2025-08-09T17:03:40.752Z,1754759020.752 [DAT](INFO): publishing transmit ping time
2025-08-09T17:03:40.753Z,1754759020.753 [DAT](INFO): publishing direction and range info
2025-08-09T17:03:40.756Z,1754759020.756 [DAT](INFO): publishing transmit ping time
2025-08-09T17:03:40.756Z,1754759020.756 [DAT](INFO): publishing direction and range info
2025-08-09T17:03:40.900Z,1754759020.900 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for water mass range. Device response is::WD +0.00,        +0.0  +0.00,  2BI,   -28,   -24,    -2,    -5,A
2025-08-09T17:03:40.942Z,1754759020.942 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 63.599998 m,
      deltaT: 3.779109 s,
      deltaX: 0.199997 m,
      approachRate: 0.052922 m/s,
      rangeRepo size: 4

2025-08-09T17:03:40.959Z,1754759020.959 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 63.599998 m,
      bearing: 216.043824 deg,
      lat: 36.906084 deg,
      lon: -122.115843 deg,
      deltaT: 3.779109 s,
      deltaX: 0.199997 m,
      approachRate: 0.052922 m/s,
      posRepo size: 4

2025-08-09T17:03:40.960Z,1754759020.960 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 63.60 m.
2025-08-09T17:03:41.251Z,1754759021.251 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 63.60 m.
2025-08-09T17:03:41.728Z,1754759021.728 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 63.60 m.
2025-08-09T17:03:42.112Z,1754759022.112 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 63.60 m.
2025-08-09T17:03:42.479Z,1754759022.479 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 63.60 m.
2025-08-09T17:03:43.108Z,1754759023.108 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 63.60 m.
2025-08-09T17:03:43.497Z,1754759023.497 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 63.60 m.
2025-08-09T17:03:43.767Z,1754759023.767 [DAT](INFO): DAT read: Rx Time:17:03:42.5803

2025-08-09T17:03:43.768Z,1754759023.768 [DAT](INFO): Rx dataTimestamp_ set to:1754759023.767498
2025-08-09T17:03:43.920Z,1754759023.920 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 63.60 m.
2025-08-09T17:03:44.273Z,1754759024.273 [DAT](INFO): DAT read: 17:03:42.5803 LVL= 21200, 25617, 21362, 25299, AGC= 64, IDX= 433, 0.11, 1.824, 1.022,-2.780, 2.232, PHS=-0.307,-1.165, 1.227, RAW= 189.2,   2.4, CAL= 189.4,  -0.6, ROT= 320.6,   0.6

2025-08-09T17:03:44.282Z,1754759024.282 [DAT](INFO): got valid direction response:
 17:03:42.5803 LVL= 21200, 25617, 21362, 25299, AGC= 64, IDX= 433, 0.11, 1.824, 1.022,-2.780, 2.232, PHS=-0.307,-1.165, 1.227, RAW= 189.2,   2.4, CAL= 189.4,  -0.6, ROT= 320.6,   0.6

2025-08-09T17:03:44.293Z,1754759024.293 [DAT](INFO): DAT read: Bearing  20.2, -37.9 (Local)

2025-08-09T17:03:44.295Z,1754759024.295 [DAT](INFO): Local bearing/azimuth received:
 Bearing  20.2, -37.9 (Local)

2025-08-09T17:03:44.297Z,1754759024.297 [DAT](INFO): DAT read: Range 11 to 50 : 63.6 m  (Round-trip  84.8 ms) speed  0.2 m/s

2025-08-09T17:03:44.298Z,1754759024.298 [DAT](INFO): DAT read: user:332>

2025-08-09T17:03:44.299Z,1754759024.299 [DAT](INFO): DAT read: Tx time:17:03:43.6929

2025-08-09T17:03:44.299Z,1754759024.299 [DAT](INFO): Ping request sent.
2025-08-09T17:03:44.299Z,1754759024.299 [DAT](INFO): transmitted an acoustic signal
2025-08-09T17:03:44.300Z,1754759024.300 [DAT](INFO): #Rx 3: Read range and direction messages.
2025-08-09T17:03:44.301Z,1754759024.301 [DAT](INFO): direction in FSK: [0.772691,-0.634696,-0.010472]
2025-08-09T17:03:44.301Z,1754759024.301 [DAT](INFO): publishing transmit ping time
2025-08-09T17:03:44.301Z,1754759024.301 [DAT](INFO): publishing direction and range info
2025-08-09T17:03:44.305Z,1754759024.305 [DAT](INFO): publishing transmit ping time
2025-08-09T17:03:44.305Z,1754759024.305 [DAT](INFO): publishing direction and range info
2025-08-09T17:03:44.503Z,1754759024.503 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 63.599998 m,
      deltaT: 3.528212 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-08-09T17:03:44.505Z,1754759024.505 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 63.599998 m,
      bearing: 215.760847 deg,
      lat: 36.906084 deg,
      lon: -122.115843 deg,
      deltaT: 3.528212 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      posRepo size: 4

2025-08-09T17:03:44.506Z,1754759024.506 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 63.60 m.
2025-08-09T17:03:44.999Z,1754759024.999 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 63.60 m.
2025-08-09T17:03:45.454Z,1754759025.454 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 63.60 m.
2025-08-09T17:03:45.884Z,1754759025.884 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 63.60 m.
2025-08-09T17:03:46.247Z,1754759026.247 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 63.60 m.
2025-08-09T17:03:46.662Z,1754759026.662 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 63.60 m.
2025-08-09T17:03:47.081Z,1754759027.081 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 63.60 m.
2025-08-09T17:03:47.292Z,1754759027.292 [DAT](INFO): DAT read: Rx Time:17:03:46.1810

2025-08-09T17:03:47.292Z,1754759027.292 [DAT](INFO): Rx dataTimestamp_ set to:1754759027.291685
2025-08-09T17:03:47.485Z,1754759027.485 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 63.60 m.
2025-08-09T17:03:47.804Z,1754759027.804 [DAT](INFO): DAT read: 17:03:46.1810 LVL= 30512, 28993, 26402, 32755, AGC= 66, IDX= 440, 0.31,-1.065,-1.857, 0.665,-0.612, PHS=-0.351,-1.200, 1.233, RAW= 189.9,   3.0, CAL= 190.1,   0.1, ROT= 319.9,  -0.1

2025-08-09T17:03:47.805Z,1754759027.805 [DAT](INFO): got valid direction response:
 17:03:46.1810 LVL= 30512, 28993, 26402, 32755, AGC= 66, IDX= 440, 0.31,-1.065,-1.857, 0.665,-0.612, PHS=-0.351,-1.200, 1.233, RAW= 189.9,   3.0, CAL= 190.1,   0.1, ROT= 319.9,  -0.1

2025-08-09T17:03:47.806Z,1754759027.806 [DAT](INFO): DAT read: Bearing  24.1, -39.2 (Local)

2025-08-09T17:03:47.806Z,1754759027.806 [DAT](INFO): Local bearing/azimuth received:
 Bearing  24.1, -39.2 (Local)

2025-08-09T17:03:47.808Z,1754759027.808 [DAT](INFO): DAT read: Range 11 to 50 : 62.9 m  (Round-trip  83.9 ms) speed  0.2 m/s

2025-08-09T17:03:47.808Z,1754759027.808 [DAT](INFO): DAT read: user:333>

2025-08-09T17:03:47.809Z,1754759027.809 [DAT](INFO): DAT read: Tx time:17:03:47.2914

2025-08-09T17:03:47.809Z,1754759027.809 [DAT](INFO): Ping request sent.
2025-08-09T17:03:47.809Z,1754759027.809 [DAT](INFO): transmitted an acoustic signal
2025-08-09T17:03:47.810Z,1754759027.810 [DAT](INFO): #Rx 4: Read range and direction messages.
2025-08-09T17:03:47.814Z,1754759027.814 [DAT](INFO): direction in FSK: [0.764920,-0.644123,0.001745]
2025-08-09T17:03:47.814Z,1754759027.814 [DAT](INFO): publishing transmit ping time
2025-08-09T17:03:47.815Z,1754759027.815 [DAT](INFO): publishing direction and range info
2025-08-09T17:03:47.817Z,1754759027.817 [DAT](INFO): publishing transmit ping time
2025-08-09T17:03:47.818Z,1754759027.818 [DAT](INFO): publishing direction and range info
2025-08-09T17:03:48.018Z,1754759028.018 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 62.900002 m,
      deltaT: 3.529417 s,
      deltaX: -0.699997 m,
      approachRate: -0.198332 m/s,
      rangeRepo size: 4

2025-08-09T17:03:48.028Z,1754759028.028 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 62.900002 m,
      bearing: 215.219993 deg,
      lat: 36.906086 deg,
      lon: -122.115844 deg,
      deltaT: 3.529417 s,
      deltaX: -0.699997 m,
      approachRate: -0.198332 m/s,
      posRepo size: 4

2025-08-09T17:03:48.028Z,1754759028.028 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 62.90 m.
2025-08-09T17:03:48.365Z,1754759028.365 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 62.90 m.
2025-08-09T17:03:48.836Z,1754759028.836 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 62.90 m.
2025-08-09T17:03:49.223Z,1754759029.223 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 62.90 m.
2025-08-09T17:03:49.587Z,1754759029.587 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 62.90 m.
2025-08-09T17:03:50.049Z,1754759030.049 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 62.90 m.
2025-08-09T17:03:50.427Z,1754759030.427 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 62.90 m.
2025-08-09T17:03:50.822Z,1754759030.822 [DAT](INFO): DAT read: Rx Time:17:03:49.7778

2025-08-09T17:03:50.824Z,1754759030.824 [DAT](INFO): Rx dataTimestamp_ set to:1754759030.823060
2025-08-09T17:03:50.958Z,1754759030.958 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 62.90 m.
2025-08-09T17:03:51.359Z,1754759031.359 [DAT](INFO): DAT read: 17:03:49.7778 LVL= 31728, 26353, 25138, 32755, AGC= 66, IDX= 424,-0.33, 0.394,-0.356, 2.123, 0.941, PHS=-0.445,-1.252, 1.138, RAW= 190.6,   5.3, CAL= 190.8,   3.9, ROT= 319.2,  -3.9

2025-08-09T17:03:51.360Z,1754759031.360 [DAT](INFO): got valid direction response:
 17:03:49.7778 LVL= 31728, 26353, 25138, 32755, AGC= 66, IDX= 424,-0.33, 0.394,-0.356, 2.123, 0.941, PHS=-0.445,-1.252, 1.138, RAW= 190.6,   5.3, CAL= 190.8,   3.9, ROT= 319.2,  -3.9

2025-08-09T17:03:51.361Z,1754759031.361 [DAT](INFO): DAT read: Bearing  35.7, -40.9 (Local)

2025-08-09T17:03:51.362Z,1754759031.362 [DAT](INFO): Local bearing/azimuth received:
 Bearing  35.7, -40.9 (Local)

2025-08-09T17:03:51.367Z,1754759031.367 [DAT](INFO): DAT read: Range 11 to 50 : 61.7 m  (Round-trip  82.3 ms) speed  0.3 m/s

2025-08-09T17:03:51.368Z,1754759031.368 [DAT](INFO): DAT read: user:334>

2025-08-09T17:03:51.369Z,1754759031.369 [DAT](INFO): DAT read: Tx time:17:03:50.8914

2025-08-09T17:03:51.369Z,1754759031.369 [DAT](INFO): Ping request sent.
2025-08-09T17:03:51.369Z,1754759031.369 [DAT](INFO): transmitted an acoustic signal
2025-08-09T17:03:51.369Z,1754759031.369 [DAT](INFO): #Rx 5: Read range and direction messages.
2025-08-09T17:03:51.375Z,1754759031.375 [DAT](INFO): direction in FSK: [0.755242,-0.651907,0.068015]
2025-08-09T17:03:51.375Z,1754759031.375 [DAT](INFO): publishing transmit ping time
2025-08-09T17:03:51.375Z,1754759031.375 [DAT](INFO): publishing direction and range info
2025-08-09T17:03:51.382Z,1754759031.382 [DAT](INFO): publishing transmit ping time
2025-08-09T17:03:51.383Z,1754759031.383 [DAT](INFO): publishing direction and range info
2025-08-09T17:03:51.445Z,1754759031.445 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 61.700001 m,
      deltaT: 3.527778 s,
      deltaX: -1.200001 m,
      approachRate: -0.340158 m/s,
      rangeRepo size: 4

2025-08-09T17:03:51.454Z,1754759031.454 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 61.700001 m,
      bearing: 214.884763 deg,
      lat: 36.906088 deg,
      lon: -122.115851 deg,
      deltaT: 3.527778 s,
      deltaX: -1.200001 m,
      approachRate: -0.340158 m/s,
      posRepo size: 4

2025-08-09T17:03:51.459Z,1754759031.459 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 61.70 m.
2025-08-09T17:03:51.852Z,1754759031.852 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 61.70 m.
2025-08-09T17:03:52.225Z,1754759032.225 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 61.70 m.
2025-08-09T17:03:52.589Z,1754759032.589 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 61.70 m.
2025-08-09T17:03:53.041Z,1754759033.041 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 61.70 m.
2025-08-09T17:03:53.401Z,1754759033.401 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 61.70 m.
2025-08-09T17:03:53.816Z,1754759033.816 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 61.70 m.
2025-08-09T17:03:54.351Z,1754759034.351 [DAT](INFO): DAT read: Rx Time:17:03:53.3760

2025-08-09T17:03:54.352Z,1754759034.352 [DAT](INFO): Rx dataTimestamp_ set to:1754759034.351599
2025-08-09T17:03:54.395Z,1754759034.395 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 61.70 m.
2025-08-09T17:03:54.770Z,1754759034.770 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 61.70 m.
2025-08-09T17:03:55.114Z,1754759035.114 [DAT](INFO): DAT read: 17:03:53.3760 LVL= 26448, 26193, 21490, 29619, AGC= 65, IDX= 423,-0.41,-2.161,-2.526,-0.161,-1.356, PHS=-0.704,-1.125, 1.151, RAW= 200.0,   6.5, CAL= 200.2,   6.3, ROT= 309.8,  -6.3

2025-08-09T17:03:55.115Z,1754759035.115 [DAT](INFO): got valid direction response:
 17:03:53.3760 LVL= 26448, 26193, 21490, 29619, AGC= 65, IDX= 423,-0.41,-2.161,-2.526,-0.161,-1.356, PHS=-0.704,-1.125, 1.151, RAW= 200.0,   6.5, CAL= 200.2,   6.3, ROT= 309.8,  -6.3

2025-08-09T17:03:55.116Z,1754759035.116 [DAT](INFO): DAT read: Bearing  49.8, -51.1 (Local)

2025-08-09T17:03:55.116Z,1754759035.116 [DAT](INFO): Local bearing/azimuth received:
 Bearing  49.8, -51.1 (Local)

2025-08-09T17:03:55.118Z,1754759035.118 [DAT](INFO): DAT read: Range 11 to 50 : 60.4 m  (Round-trip  80.6 ms) speed  0.2 m/s

2025-08-09T17:03:55.121Z,1754759035.121 [DAT](INFO): DAT read: user:335>

2025-08-09T17:03:55.124Z,1754759035.124 [DAT](INFO): DAT read: Tx time:17:03:54.4913

2025-08-09T17:03:55.124Z,1754759035.124 [DAT](INFO): Ping request sent.
2025-08-09T17:03:55.124Z,1754759035.124 [DAT](INFO): transmitted an acoustic signal
2025-08-09T17:03:55.125Z,1754759035.125 [DAT](INFO): #Rx 6: Read range and direction messages.
2025-08-09T17:03:55.126Z,1754759035.126 [DAT](INFO): direction in FSK: [0.636244,-0.763644,0.109734]
2025-08-09T17:03:55.127Z,1754759035.127 [DAT](INFO): publishing transmit ping time
2025-08-09T17:03:55.127Z,1754759035.127 [DAT](INFO): publishing direction and range info
2025-08-09T17:03:55.132Z,1754759035.132 [DAT](INFO): publishing transmit ping time
2025-08-09T17:03:55.133Z,1754759035.133 [DAT](INFO): publishing direction and range info
2025-08-09T17:03:55.309Z,1754759035.309 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 60.400002 m,
      deltaT: 3.783530 s,
      deltaX: -1.299999 m,
      approachRate: -0.343594 m/s,
      rangeRepo size: 4

2025-08-09T17:03:55.315Z,1754759035.315 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 60.400002 m,
      bearing: 216.906162 deg,
      lat: 36.906107 deg,
      lon: -122.115883 deg,
      deltaT: 3.783530 s,
      deltaX: -1.299999 m,
      approachRate: -0.343594 m/s,
      posRepo size: 4

2025-08-09T17:03:55.316Z,1754759035.316 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 60.40 m.
2025-08-09T17:03:55.658Z,1754759035.658 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 60.40 m.
2025-08-09T17:03:56.120Z,1754759036.120 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 60.40 m.
2025-08-09T17:03:56.482Z,1754759036.482 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 60.40 m.
2025-08-09T17:03:56.960Z,1754759036.960 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 60.40 m.
2025-08-09T17:03:57.309Z,1754759037.309 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 60.40 m.
2025-08-09T17:03:57.678Z,1754759037.678 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 60.40 m.
2025-08-09T17:03:58.115Z,1754759038.115 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 60.40 m.
2025-08-09T17:03:58.131Z,1754759038.131 [DAT](INFO): DAT read: Rx Time:17:03:56.9750

2025-08-09T17:03:58.132Z,1754759038.132 [DAT](INFO): Rx dataTimestamp_ set to:1754759038.131616
2025-08-09T17:03:58.544Z,1754759038.544 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 60.40 m.
2025-08-09T17:03:58.642Z,1754759038.642 [DAT](INFO): DAT read: 17:03:56.9750 LVL= 26656, 32497, 20722, 30579, AGC= 64, IDX= 427,-0.18, 2.756, 2.611,-1.257,-2.569, PHS=-0.856,-1.058, 1.268, RAW= 205.5,   5.8, CAL= 205.6,   5.6, ROT= 304.4,  -5.6

2025-08-09T17:03:58.643Z,1754759038.643 [DAT](INFO): got valid direction response:
 17:03:56.9750 LVL= 26656, 32497, 20722, 30579, AGC= 64, IDX= 427,-0.18, 2.756, 2.611,-1.257,-2.569, PHS=-0.856,-1.058, 1.268, RAW= 205.5,   5.8, CAL= 205.6,   5.6, ROT= 304.4,  -5.6

2025-08-09T17:03:58.644Z,1754759038.644 [DAT](INFO): DAT read: Bearing  59.7, -57.3 (Local)

2025-08-09T17:03:58.645Z,1754759038.645 [DAT](INFO): Local bearing/azimuth received:
 Bearing  59.7, -57.3 (Local)

2025-08-09T17:03:58.647Z,1754759038.647 [DAT](INFO): DAT read: Range 11 to 50 : 59.6 m  (Round-trip  79.5 ms) speed  0.0 m/s

2025-08-09T17:03:58.648Z,1754759038.648 [DAT](INFO): DAT read: user:336>

2025-08-09T17:03:58.649Z,1754759038.649 [DAT](INFO): DAT read: Tx time:17:03:58.0913

2025-08-09T17:03:58.649Z,1754759038.649 [DAT](INFO): Ping request sent.
2025-08-09T17:03:58.650Z,1754759038.650 [DAT](INFO): transmitted an acoustic signal
2025-08-09T17:03:58.651Z,1754759038.651 [DAT](INFO): #Rx 7: Read range and direction messages.
2025-08-09T17:03:58.652Z,1754759038.652 [DAT](INFO): direction in FSK: [0.562271,-0.821176,0.097583]
2025-08-09T17:03:58.653Z,1754759038.653 [DAT](INFO): publishing transmit ping time
2025-08-09T17:03:58.653Z,1754759038.653 [DAT](INFO): publishing direction and range info
2025-08-09T17:03:58.657Z,1754759038.657 [DAT](INFO): publishing transmit ping time
2025-08-09T17:03:58.657Z,1754759038.657 [DAT](INFO): publishing direction and range info
2025-08-09T17:03:58.920Z,1754759038.920 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 59.599998 m,
      deltaT: 3.528279 s,
      deltaX: -0.800003 m,
      approachRate: -0.226740 m/s,
      rangeRepo size: 4

2025-08-09T17:03:58.930Z,1754759038.930 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 59.599998 m,
      bearing: 220.805123 deg,
      lat: 36.906142 deg,
      lon: -122.115929 deg,
      deltaT: 3.528279 s,
      deltaX: -0.800003 m,
      approachRate: -0.226740 m/s,
      posRepo size: 4

2025-08-09T17:03:58.933Z,1754759038.933 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.60 m.
2025-08-09T17:03:59.317Z,1754759039.317 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.60 m.
2025-08-09T17:03:59.784Z,1754759039.784 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.60 m.
2025-08-09T17:04:00.236Z,1754759040.236 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.60 m.
2025-08-09T17:04:00.670Z,1754759040.670 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.60 m.
2025-08-09T17:04:01.119Z,1754759041.119 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.60 m.
2025-08-09T17:04:01.479Z,1754759041.479 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.60 m.
2025-08-09T17:04:01.667Z,1754759041.667 [DAT](INFO): DAT read: Rx Time:17:04:00.5743

2025-08-09T17:04:01.668Z,1754759041.668 [DAT](INFO): Rx dataTimestamp_ set to:1754759041.667437
2025-08-09T17:04:01.897Z,1754759041.897 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.60 m.
2025-08-09T17:04:02.177Z,1754759042.177 [DAT](INFO): DAT read: 17:04:00.5743 LVL= 23328, 24753, 16754, 23443, AGC= 62, IDX= 436, 0.35,-0.377,-0.091, 2.022, 0.783, PHS=-1.058,-0.829, 1.195, RAW= 215.3,   6.5, CAL= 215.3,   7.2, ROT= 294.7,  -7.2

2025-08-09T17:04:02.178Z,1754759042.178 [DAT](INFO): got valid direction response:
 17:04:00.5743 LVL= 23328, 24753, 16754, 23443, AGC= 62, IDX= 436, 0.35,-0.377,-0.091, 2.022, 0.783, PHS=-1.058,-0.829, 1.195, RAW= 215.3,   6.5, CAL= 215.3,   7.2, ROT= 294.7,  -7.2

2025-08-09T17:04:02.179Z,1754759042.179 [DAT](INFO): DAT read: Bearing  78.2, -66.6 (Local)

2025-08-09T17:04:02.179Z,1754759042.179 [DAT](INFO): Local bearing/azimuth received:
 Bearing  78.2, -66.6 (Local)

2025-08-09T17:04:02.181Z,1754759042.181 [DAT](INFO): DAT read: Range 11 to 50 : 59.1 m  (Round-trip  78.9 ms) speed  0.0 m/s

2025-08-09T17:04:02.182Z,1754759042.182 [DAT](INFO): DAT read: user:337>

2025-08-09T17:04:02.182Z,1754759042.182 [DAT](INFO): DAT read: Tx time:17:04:01.6913

2025-08-09T17:04:02.183Z,1754759042.183 [DAT](INFO): Ping request sent.
2025-08-09T17:04:02.183Z,1754759042.183 [DAT](INFO): transmitted an acoustic signal
2025-08-09T17:04:02.183Z,1754759042.183 [DAT](INFO): #Rx 8: Read range and direction messages.
2025-08-09T17:04:02.184Z,1754759042.184 [DAT](INFO): direction in FSK: [0.414572,-0.901344,0.125333]
2025-08-09T17:04:02.184Z,1754759042.184 [DAT](INFO): publishing transmit ping time
2025-08-09T17:04:02.184Z,1754759042.184 [DAT](INFO): publishing direction and range info
2025-08-09T17:04:02.188Z,1754759042.188 [DAT](INFO): publishing transmit ping time
2025-08-09T17:04:02.188Z,1754759042.188 [DAT](INFO): publishing direction and range info
2025-08-09T17:04:02.365Z,1754759042.365 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 59.099998 m,
      deltaT: 3.534814 s,
      deltaX: -0.500000 m,
      approachRate: -0.141450 m/s,
      rangeRepo size: 4

2025-08-09T17:04:02.371Z,1754759042.371 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 59.099998 m,
      bearing: 219.252004 deg,
      lat: 36.906143 deg,
      lon: -122.115931 deg,
      deltaT: 3.534814 s,
      deltaX: -0.500000 m,
      approachRate: -0.141450 m/s,
      posRepo size: 4

2025-08-09T17:04:02.371Z,1754759042.371 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.10 m.
2025-08-09T17:04:02.688Z,1754759042.688 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.10 m.
2025-08-09T17:04:03.189Z,1754759043.189 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.10 m.
2025-08-09T17:04:03.562Z,1754759043.562 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.10 m.
2025-08-09T17:04:04.094Z,1754759044.094 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.10 m.
2025-08-09T17:04:04.548Z,1754759044.548 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.10 m.
2025-08-09T17:04:04.975Z,1754759044.975 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.10 m.
2025-08-09T17:04:05.196Z,1754759045.196 [DAT](INFO): DAT read: Rx Time:17:04:04.1739

2025-08-09T17:04:05.197Z,1754759045.197 [DAT](INFO): Rx dataTimestamp_ set to:1754759045.196251
2025-08-09T17:04:05.403Z,1754759045.403 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.10 m.
2025-08-09T17:04:05.741Z,1754759045.741 [DAT](INFO): DAT read: 17:04:04.1739 LVL= 23744, 22289, 17202, 25139, AGC= 60, IDX= 432,-0.11, 0.692, 1.631,-2.896, 2.104, PHS=-1.310,-0.428, 1.239, RAW= 229.9,   4.5, CAL= 228.6,   5.5, ROT= 281.4,  -5.5

2025-08-09T17:04:05.758Z,1754759045.758 [DAT](INFO): got valid direction response:
 17:04:04.1739 LVL= 23744, 22289, 17202, 25139, AGC= 60, IDX= 432,-0.11, 0.692, 1.631,-2.896, 2.104, PHS=-1.310,-0.428, 1.239, RAW= 229.9,   4.5, CAL= 228.6,   5.5, ROT= 281.4,  -5.5

2025-08-09T17:04:05.781Z,1754759045.781 [DAT](INFO): DAT read: Bearing 109.4, -78.9 (Local)

2025-08-09T17:04:05.781Z,1754759045.781 [DAT](INFO): Local bearing/azimuth received:
 Bearing 109.4, -78.9 (Local)

2025-08-09T17:04:05.800Z,1754759045.800 [DAT](INFO): DAT read: Range 11 to 50 : 58.8 m  (Round-trip  78.5 ms) speed  0.0 m/s

2025-08-09T17:04:05.800Z,1754759045.800 [DAT](INFO): DAT read: user:338>

2025-08-09T17:04:05.801Z,1754759045.801 [DAT](INFO): DAT read: Tx time:17:04:05.2913

2025-08-09T17:04:05.801Z,1754759045.801 [DAT](INFO): Ping request sent.
2025-08-09T17:04:05.801Z,1754759045.801 [DAT](INFO): transmitted an acoustic signal
2025-08-09T17:04:05.802Z,1754759045.802 [DAT](INFO): #Rx 9: Read range and direction messages.
2025-08-09T17:04:05.815Z,1754759045.815 [DAT](INFO): direction in FSK: [0.196747,-0.975758,0.095846]
2025-08-09T17:04:05.815Z,1754759045.815 [DAT](INFO): publishing transmit ping time
2025-08-09T17:04:05.815Z,1754759045.815 [DAT](INFO): publishing direction and range info
2025-08-09T17:04:05.831Z,1754759045.831 [DAT](INFO): publishing transmit ping time
2025-08-09T17:04:05.831Z,1754759045.831 [DAT](INFO): publishing direction and range info
2025-08-09T17:04:05.940Z,1754759045.940 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 58.799999 m,
      deltaT: 3.550279 s,
      deltaX: -0.299999 m,
      approachRate: -0.084500 m/s,
      rangeRepo size: 4

2025-08-09T17:04:05.950Z,1754759045.950 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 58.799999 m,
      bearing: 218.586294 deg,
      lat: 36.906147 deg,
      lon: -122.115945 deg,
      deltaT: 3.550279 s,
      deltaX: -0.299999 m,
      approachRate: -0.084500 m/s,
      posRepo size: 4

2025-08-09T17:04:05.951Z,1754759045.951 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 58.80 m.
2025-08-09T17:04:06.360Z,1754759046.360 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 58.80 m.
2025-08-09T17:04:06.725Z,1754759046.725 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 58.80 m.
2025-08-09T17:04:07.236Z,1754759047.236 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 58.80 m.
2025-08-09T17:04:07.598Z,1754759047.598 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 58.80 m.
2025-08-09T17:04:08.007Z,1754759048.007 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 58.80 m.
2025-08-09T17:04:08.443Z,1754759048.443 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 58.80 m.
2025-08-09T17:04:08.744Z,1754759048.744 [DAT](INFO): DAT read: Rx Time:17:04:07.7734

2025-08-09T17:04:08.744Z,1754759048.744 [DAT](INFO): Rx dataTimestamp_ set to:1754759048.743743
2025-08-09T17:04:08.835Z,1754759048.835 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 58.80 m.
2025-08-09T17:04:09.362Z,1754759049.362 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 58.80 m.
2025-08-09T17:04:09.506Z,1754759049.506 [DAT](INFO): DAT read: 17:04:07.7734 LVL= 25968, 21553, 15586, 27123, AGC= 61, IDX= 443, 0.04, 2.018,-2.924,-1.884,-2.841, PHS=-1.322,-0.038, 0.913, RAW= 244.9,   4.7, CAL= 242.6,   5.0, ROT= 267.4,  -5.0

2025-08-09T17:04:09.509Z,1754759049.509 [DAT](INFO): got valid direction response:
 17:04:07.7734 LVL= 25968, 21553, 15586, 27123, AGC= 61, IDX= 443, 0.04, 2.018,-2.924,-1.884,-2.841, PHS=-1.322,-0.038, 0.913, RAW= 244.9,   4.7, CAL= 242.6,   5.0, ROT= 267.4,  -5.0

2025-08-09T17:04:09.513Z,1754759049.513 [DAT](INFO): DAT read: Bearing 199.1, -79.7 (Local)

2025-08-09T17:04:09.513Z,1754759049.513 [DAT](INFO): Local bearing/azimuth received:
 Bearing 199.1, -79.7 (Local)

2025-08-09T17:04:09.516Z,1754759049.516 [DAT](INFO): DAT read: Range 11 to 50 : 58.5 m  (Round-trip  78.0 ms) speed  0.0 m/s

2025-08-09T17:04:09.516Z,1754759049.516 [DAT](INFO): DAT read: user:339>

2025-08-09T17:04:09.517Z,1754759049.517 [DAT](INFO): DAT read: Tx time:17:04:08.8913

2025-08-09T17:04:09.517Z,1754759049.517 [DAT](INFO): Ping request sent.
2025-08-09T17:04:09.517Z,1754759049.517 [DAT](INFO): transmitted an acoustic signal
2025-08-09T17:04:09.518Z,1754759049.518 [DAT](INFO): #Rx 10: Read range and direction messages.
2025-08-09T17:04:09.519Z,1754759049.519 [DAT](INFO): direction in FSK: [-0.045190,-0.995169,0.087156]
2025-08-09T17:04:09.519Z,1754759049.519 [DAT](INFO): publishing transmit ping time
2025-08-09T17:04:09.519Z,1754759049.519 [DAT](INFO): publishing direction and range info
2025-08-09T17:04:09.528Z,1754759049.528 [DAT](INFO): publishing transmit ping time
2025-08-09T17:04:09.528Z,1754759049.528 [DAT](INFO): publishing direction and range info
2025-08-09T17:04:09.673Z,1754759049.673 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 58.500000 m,
      deltaT: 3.778624 s,
      deltaX: -0.299999 m,
      approachRate: -0.079394 m/s,
      rangeRepo size: 4

2025-08-09T17:04:09.679Z,1754759049.679 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 58.500000 m,
      bearing: 216.522829 deg,
      lat: 36.906147 deg,
      lon: -122.115945 deg,
      deltaT: 3.778624 s,
      deltaX: -0.299999 m,
      approachRate: -0.079394 m/s,
      posRepo size: 4

2025-08-09T17:04:09.679Z,1754759049.679 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 58.50 m.
2025-08-09T17:04:10.038Z,1754759050.038 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 58.50 m.
2025-08-09T17:04:10.471Z,1754759050.471 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 58.50 m.
2025-08-09T17:04:10.842Z,1754759050.842 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 58.50 m.
2025-08-09T17:04:11.252Z,1754759051.252 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 58.50 m.
2025-08-09T17:04:11.649Z,1754759051.649 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 58.50 m.
2025-08-09T17:04:12.041Z,1754759052.041 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 58.50 m.
2025-08-09T17:04:12.487Z,1754759052.487 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 58.50 m.
2025-08-09T17:04:12.540Z,1754759052.540 [DAT](INFO): DAT read: Rx Time:17:04:11.3737

2025-08-09T17:04:12.541Z,1754759052.541 [DAT](INFO): Rx dataTimestamp_ set to:1754759052.540005
2025-08-09T17:04:12.908Z,1754759052.908 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 58.50 m.
2025-08-09T17:04:13.049Z,1754759053.049 [DAT](INFO): DAT read: 17:04:11.3737 LVL= 25712, 21489, 17330, 26547, AGC= 65, IDX= 446,-0.31, 2.268,-2.624,-1.735,-2.528, PHS=-1.386,-0.051, 0.749, RAW= 248.2,   7.4, CAL= 246.8,   7.8, ROT= 263.2,  -7.8

2025-08-09T17:04:13.050Z,1754759053.050 [DAT](INFO): got valid direction response:
 17:04:11.3737 LVL= 25712, 21489, 17330, 26547, AGC= 65, IDX= 446,-0.31, 2.268,-2.624,-1.735,-2.528, PHS=-1.386,-0.051, 0.749, RAW= 248.2,   7.4, CAL= 246.8,   7.8, ROT= 263.2,  -7.8

2025-08-09T17:04:13.052Z,1754759053.052 [DAT](INFO): DAT read: Bearing 214.2, -75.1 (Local)

2025-08-09T17:04:13.052Z,1754759053.052 [DAT](INFO): Local bearing/azimuth received:
 Bearing 214.2, -75.1 (Local)

2025-08-09T17:04:13.053Z,1754759053.053 [DAT](INFO): DAT read: Range 11 to 50 : 58.7 m  (Round-trip  78.3 ms) speed -0.1 m/s

2025-08-09T17:04:13.054Z,1754759053.054 [DAT](INFO): DAT read: user:340>

2025-08-09T17:04:13.058Z,1754759053.058 [DAT](INFO): DAT read: Tx time:17:04:12.4913

2025-08-09T17:04:13.059Z,1754759053.059 [DAT](INFO): Ping request sent.
2025-08-09T17:04:13.059Z,1754759053.059 [DAT](INFO): transmitted an acoustic signal
2025-08-09T17:04:13.059Z,1754759053.059 [DAT](INFO): #Rx 11: Read range and direction messages.
2025-08-09T17:04:13.061Z,1754759053.061 [DAT](INFO): direction in FSK: [-0.117308,-0.983778,0.135716]
2025-08-09T17:04:13.061Z,1754759053.061 [DAT](INFO): publishing transmit ping time
2025-08-09T17:04:13.061Z,1754759053.061 [DAT](INFO): publishing direction and range info
2025-08-09T17:04:13.066Z,1754759053.066 [DAT](INFO): publishing transmit ping time
2025-08-09T17:04:13.067Z,1754759053.067 [DAT](INFO): publishing direction and range info
2025-08-09T17:04:13.331Z,1754759053.331 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 58.700001 m,
      deltaT: 3.543058 s,
      deltaX: 0.200001 m,
      approachRate: 0.056449 m/s,
      rangeRepo size: 4

2025-08-09T17:04:13.333Z,1754759053.333 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 58.700001 m,
      bearing: 217.056842 deg,
      lat: 36.906165 deg,
      lon: -122.115965 deg,
      deltaT: 3.543058 s,
      deltaX: 0.200001 m,
      approachRate: 0.056449 m/s,
      posRepo size: 4

2025-08-09T17:04:13.334Z,1754759053.334 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 58.70 m.
2025-08-09T17:04:13.664Z,1754759053.664 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 58.70 m.
2025-08-09T17:04:14.086Z,1754759054.086 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 58.70 m.
2025-08-09T17:04:14.498Z,1754759054.498 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 58.70 m.
2025-08-09T17:04:14.894Z,1754759054.894 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 58.70 m.
2025-08-09T17:04:15.297Z,1754759055.297 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 58.70 m.
2025-08-09T17:04:15.725Z,1754759055.725 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 58.70 m.
2025-08-09T17:04:16.079Z,1754759056.079 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 58.70 m.
2025-08-09T17:04:16.091Z,1754759056.091 [DAT](INFO): DAT read: Rx Time:17:04:14.9746

2025-08-09T17:04:16.092Z,1754759056.092 [DAT](INFO): Rx dataTimestamp_ set to:1754759056.091561
2025-08-09T17:04:16.565Z,1754759056.565 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 58.70 m.
2025-08-09T17:04:16.603Z,1754759056.603 [DAT](INFO): DAT read: 17:04:14.9746 LVL= 25680, 17793, 20258, 25827, AGC= 64, IDX= 440, 0.27, 1.023, 2.718, 3.109, 2.584, PHS=-1.459, 0.180, 0.481, RAW= 261.7,   8.9, CAL= 260.6,   8.4, ROT= 249.4,  -8.4

2025-08-09T17:04:16.604Z,1754759056.604 [DAT](INFO): got valid direction response:
 17:04:14.9746 LVL= 25680, 17793, 20258, 25827, AGC= 64, IDX= 440, 0.27, 1.023, 2.718, 3.109, 2.584, PHS=-1.459, 0.180, 0.481, RAW= 261.7,   8.9, CAL= 260.6,   8.4, ROT= 249.4,  -8.4

2025-08-09T17:04:16.605Z,1754759056.605 [DAT](INFO): DAT read: Bearing 243.6, -64.7 (Local)

2025-08-09T17:04:16.605Z,1754759056.605 [DAT](INFO): Local bearing/azimuth received:
 Bearing 243.6, -64.7 (Local)

2025-08-09T17:04:16.607Z,1754759056.607 [DAT](INFO): DAT read: Range 11 to 50 : 59.4 m  (Round-trip  79.2 ms) speed -0.4 m/s

2025-08-09T17:04:16.608Z,1754759056.608 [DAT](INFO): DAT read: user:341>

2025-08-09T17:04:16.609Z,1754759056.609 [DAT](INFO): DAT read: Tx time:17:04:16.0912

2025-08-09T17:04:16.610Z,1754759056.610 [DAT](INFO): Ping request sent.
2025-08-09T17:04:16.610Z,1754759056.610 [DAT](INFO): transmitted an acoustic signal
2025-08-09T17:04:16.623Z,1754759056.623 [DAT](INFO): #Rx 12: Read range and direction messages.
2025-08-09T17:04:16.624Z,1754759056.624 [DAT](INFO): direction in FSK: [-0.348067,-0.926018,0.146083]
2025-08-09T17:04:16.625Z,1754759056.625 [DAT](INFO): publishing transmit ping time
2025-08-09T17:04:16.625Z,1754759056.625 [DAT](INFO): publishing direction and range info
2025-08-09T17:04:16.633Z,1754759056.633 [DAT](INFO): publishing transmit ping time
2025-08-09T17:04:16.634Z,1754759056.634 [DAT](INFO): publishing direction and range info
2025-08-09T17:04:16.942Z,1754759056.942 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 59.400002 m,
      deltaT: 3.553972 s,
      deltaX: 0.700001 m,
      approachRate: 0.196963 m/s,
      rangeRepo size: 4

2025-08-09T17:04:16.956Z,1754759056.956 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 59.400002 m,
      bearing: 215.029452 deg,
      lat: 36.906165 deg,
      lon: -122.115965 deg,
      deltaT: 3.553972 s,
      deltaX: 0.700001 m,
      approachRate: 0.196963 m/s,
      posRepo size: 4

2025-08-09T17:04:16.957Z,1754759056.957 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.40 m.
2025-08-09T17:04:17.316Z,1754759057.316 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.40 m.
2025-08-09T17:04:17.695Z,1754759057.695 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.40 m.
2025-08-09T17:04:18.115Z,1754759058.115 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.40 m.
2025-08-09T17:04:18.538Z,1754759058.538 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.40 m.
2025-08-09T17:04:18.943Z,1754759058.943 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.40 m.
2025-08-09T17:04:19.440Z,1754759059.440 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.40 m.
2025-08-09T17:04:19.619Z,1754759059.619 [DAT](INFO): DAT read: Rx Time:17:04:18.5761

2025-08-09T17:04:19.620Z,1754759059.620 [DAT](INFO): Rx dataTimestamp_ set to:1754759059.619499
2025-08-09T17:04:19.750Z,1754759059.750 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.40 m.
2025-08-09T17:04:20.143Z,1754759060.143 [DAT](INFO): DAT read: 17:04:18.5761 LVL= 26944, 19297, 21282, 27315, AGC= 64, IDX= 456,-0.14,-2.973,-0.973,-1.560,-1.535, PHS=-1.336, 0.607,-0.069, RAW= 290.0,   9.4, CAL= 287.7,  11.2, ROT= 222.3, -11.2

2025-08-09T17:04:20.144Z,1754759060.144 [DAT](INFO): got valid direction response:
 17:04:18.5761 LVL= 26944, 19297, 21282, 27315, AGC= 64, IDX= 456,-0.14,-2.973,-0.973,-1.560,-1.535, PHS=-1.336, 0.607,-0.069, RAW= 290.0,   9.4, CAL= 287.7,  11.2, ROT= 222.3, -11.2

2025-08-09T17:04:20.145Z,1754759060.145 [DAT](INFO): DAT read: Bearing 262.6, -39.7 (Local)

2025-08-09T17:04:20.145Z,1754759060.145 [DAT](INFO): Local bearing/azimuth received:
 Bearing 262.6, -39.7 (Local)

2025-08-09T17:04:20.187Z,1754759060.187 [DAT](INFO): DAT read: Range 11 to 50 : 60.6 m  (Round-trip  80.8 ms) speed -0.4 m/s

2025-08-09T17:04:20.187Z,1754759060.187 [DAT](INFO): DAT read: user:342>

2025-08-09T17:04:20.188Z,1754759060.188 [DAT](INFO): DAT read: Tx time:17:04:19.6912

2025-08-09T17:04:20.188Z,1754759060.188 [DAT](INFO): Ping request sent.
2025-08-09T17:04:20.188Z,1754759060.188 [DAT](INFO): transmitted an acoustic signal
2025-08-09T17:04:20.189Z,1754759060.189 [DAT](INFO): #Rx 13: Read range and direction messages.
2025-08-09T17:04:20.190Z,1754759060.190 [DAT](INFO): direction in FSK: [-0.725545,-0.660195,0.194234]
2025-08-09T17:04:20.190Z,1754759060.190 [DAT](INFO): publishing transmit ping time
2025-08-09T17:04:20.207Z,1754759060.207 [DAT](INFO): publishing direction and range info
2025-08-09T17:04:20.210Z,1754759060.210 [DAT](INFO): publishing transmit ping time
2025-08-09T17:04:20.211Z,1754759060.211 [DAT](INFO): publishing direction and range info
2025-08-09T17:04:20.303Z,1754759060.303 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 60.599998 m,
      deltaT: 3.527495 s,
      deltaX: 1.199997 m,
      approachRate: 0.340184 m/s,
      rangeRepo size: 4

2025-08-09T17:04:20.305Z,1754759060.305 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 60.599998 m,
      bearing: 210.811241 deg,
      lat: 36.906147 deg,
      lon: -122.115945 deg,
      deltaT: 3.527495 s,
      deltaX: 1.199997 m,
      approachRate: 0.340184 m/s,
      posRepo size: 4

2025-08-09T17:04:20.306Z,1754759060.306 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 60.60 m.
2025-08-09T17:04:20.577Z,1754759060.577 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 60.60 m.
2025-08-09T17:04:20.957Z,1754759060.957 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 60.60 m.
2025-08-09T17:04:21.366Z,1754759061.366 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 60.60 m.
2025-08-09T17:04:21.737Z,1754759061.737 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 60.60 m.
2025-08-09T17:04:22.196Z,1754759062.196 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 60.60 m.
2025-08-09T17:04:22.596Z,1754759062.596 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 60.60 m.
2025-08-09T17:04:22.982Z,1754759062.982 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 60.60 m.
2025-08-09T17:04:23.148Z,1754759063.148 [DAT](INFO): DAT read: Rx Time:17:04:22.1781

2025-08-09T17:04:23.148Z,1754759063.148 [DAT](INFO): Rx dataTimestamp_ set to:1754759063.148045
2025-08-09T17:04:23.462Z,1754759063.462 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 60.60 m.
2025-08-09T17:04:23.768Z,1754759063.768 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 60.60 m.
2025-08-09T17:04:23.917Z,1754759063.917 [DAT](INFO): DAT read: 17:04:22.1781 LVL= 32080, 19281, 24050, 28403, AGC= 66, IDX= 444, 0.27, 0.052, 2.335, 1.362, 1.451, PHS=-1.297, 0.929,-0.133, RAW= 298.5,   5.2, CAL= 296.2,   2.3, ROT= 213.8,  -2.3

2025-08-09T17:04:23.918Z,1754759063.918 [DAT](INFO): got valid direction response:
 17:04:22.1781 LVL= 32080, 19281, 24050, 28403, AGC= 66, IDX= 444, 0.27, 0.052, 2.335, 1.362, 1.451, PHS=-1.297, 0.929,-0.133, RAW= 298.5,   5.2, CAL= 296.2,   2.3, ROT= 213.8,  -2.3

2025-08-09T17:04:23.919Z,1754759063.919 [DAT](INFO): DAT read: Bearing 284.5, -34.0 (Local)

2025-08-09T17:04:23.920Z,1754759063.920 [DAT](INFO): Local bearing/azimuth received:
 Bearing 284.5, -34.0 (Local)

2025-08-09T17:04:23.931Z,1754759063.931 [DAT](INFO): DAT read: Range 11 to 50 : 62.1 m  (Round-trip  82.8 ms) speed -0.6 m/s

2025-08-09T17:04:23.932Z,1754759063.932 [DAT](INFO): DAT read: user:343>

2025-08-09T17:04:23.932Z,1754759063.932 [DAT](INFO): DAT read: Tx time:17:04:23.2927

2025-08-09T17:04:23.933Z,1754759063.933 [DAT](INFO): Ping request sent.
2025-08-09T17:04:23.933Z,1754759063.933 [DAT](INFO): transmitted an acoustic signal
2025-08-09T17:04:23.933Z,1754759063.933 [DAT](INFO): #Rx 14: Read range and direction messages.
2025-08-09T17:04:23.934Z,1754759063.934 [DAT](INFO): direction in FSK: [-0.830315,-0.555847,0.040132]
2025-08-09T17:04:23.934Z,1754759063.934 [DAT](INFO): publishing transmit ping time
2025-08-09T17:04:23.935Z,1754759063.935 [DAT](INFO): publishing direction and range info
2025-08-09T17:04:23.937Z,1754759063.937 [DAT](INFO): publishing transmit ping time
2025-08-09T17:04:23.938Z,1754759063.938 [DAT](INFO): publishing direction and range info
2025-08-09T17:04:24.169Z,1754759064.169 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 62.099998 m,
      deltaT: 3.778569 s,
      deltaX: 1.500000 m,
      approachRate: 0.396976 m/s,
      rangeRepo size: 4

2025-08-09T17:04:24.188Z,1754759064.188 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 62.099998 m,
      bearing: 207.897540 deg,
      lat: 36.906140 deg,
      lon: -122.115933 deg,
      deltaT: 3.778569 s,
      deltaX: 1.500000 m,
      approachRate: 0.396976 m/s,
      posRepo size: 4

2025-08-09T17:04:24.188Z,1754759064.188 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 62.10 m.
2025-08-09T17:04:24.595Z,1754759064.595 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 62.10 m.
2025-08-09T17:04:24.972Z,1754759064.972 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 62.10 m.
2025-08-09T17:04:25.435Z,1754759065.435 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 62.10 m.
2025-08-09T17:04:25.783Z,1754759065.783 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 62.10 m.
2025-08-09T17:04:26.192Z,1754759066.192 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 62.10 m.
2025-08-09T17:04:26.619Z,1754759066.619 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 62.10 m.
2025-08-09T17:04:26.939Z,1754759066.939 [DAT](INFO): DAT read: Rx Time:17:04:25.7823

2025-08-09T17:04:26.939Z,1754759066.939 [DAT](INFO): Rx dataTimestamp_ set to:1754759066.939051
2025-08-09T17:04:27.009Z,1754759067.009 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 62.10 m.
2025-08-09T17:04:27.449Z,1754759067.449 [DAT](INFO): DAT read: 17:04:25.7823 LVL= 29648, 15905, 23122, 29907, AGC= 66, IDX= 455, 0.22, 1.964,-2.011, 3.124,-3.005, PHS=-1.212, 1.040,-0.198, RAW= 303.3,   3.8, CAL= 300.9,   0.2, ROT= 209.1,  -0.2

2025-08-09T17:04:27.450Z,1754759067.450 [DAT](INFO): got valid direction response:
 17:04:25.7823 LVL= 29648, 15905, 23122, 29907, AGC= 66, IDX= 455, 0.22, 1.964,-2.011, 3.124,-3.005, PHS=-1.212, 1.040,-0.198, RAW= 303.3,   3.8, CAL= 300.9,   0.2, ROT= 209.1,  -0.2

2025-08-09T17:04:27.451Z,1754759067.451 [DAT](INFO): DAT read: Bearing 296.9, -30.8 (Local)

2025-08-09T17:04:27.452Z,1754759067.452 [DAT](INFO): Local bearing/azimuth received:
 Bearing 296.9, -30.8 (Local)

2025-08-09T17:04:27.453Z,1754759067.453 [DAT](INFO): DAT read: Range 11 to 50 : 64.0 m  (Round-trip  85.4 ms) speed -0.8 m/s

2025-08-09T17:04:27.454Z,1754759067.454 [DAT](INFO): DAT read: user:344>

2025-08-09T17:04:27.454Z,1754759067.454 [DAT](INFO): DAT read: Tx time:17:04:26.8912

2025-08-09T17:04:27.455Z,1754759067.455 [DAT](INFO): Ping request sent.
2025-08-09T17:04:27.455Z,1754759067.455 [DAT](INFO): transmitted an acoustic signal
2025-08-09T17:04:27.455Z,1754759067.455 [DAT](INFO): #Rx 15: Read range and direction messages.
2025-08-09T17:04:27.456Z,1754759067.456 [DAT](INFO): direction in FSK: [-0.873767,-0.486333,0.003491]
2025-08-09T17:04:27.456Z,1754759067.456 [DAT](INFO): publishing transmit ping time
2025-08-09T17:04:27.457Z,1754759067.457 [DAT](INFO): publishing direction and range info
2025-08-09T17:04:27.464Z,1754759067.464 [DAT](INFO): publishing transmit ping time
2025-08-09T17:04:27.464Z,1754759067.464 [DAT](INFO): publishing direction and range info
2025-08-09T17:04:27.507Z,1754759067.507 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 64.000000 m,
      deltaT: 3.540020 s,
      deltaX: 1.900002 m,
      approachRate: 0.536721 m/s,
      rangeRepo size: 4

2025-08-09T17:04:27.509Z,1754759067.509 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 64.000000 m,
      bearing: 202.368276 deg,
      lat: 36.906121 deg,
      lon: -122.115882 deg,
      deltaT: 3.540020 s,
      deltaX: 1.900002 m,
      approachRate: 0.536721 m/s,
      posRepo size: 4

2025-08-09T17:04:27.510Z,1754759067.510 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.00 m.
2025-08-09T17:04:27.804Z,1754759067.804 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.00 m.
2025-08-09T17:04:28.204Z,1754759068.204 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.00 m.
2025-08-09T17:04:28.627Z,1754759068.627 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.00 m.
2025-08-09T17:04:29.030Z,1754759069.030 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.00 m.
2025-08-09T17:04:29.474Z,1754759069.474 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.00 m.
2025-08-09T17:04:29.817Z,1754759069.817 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.00 m.
2025-08-09T17:04:30.231Z,1754759070.231 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.00 m.
2025-08-09T17:04:30.467Z,1754759070.467 [DAT](INFO): DAT read: Rx Time:17:04:29.3833

2025-08-09T17:04:30.468Z,1754759070.468 [DAT](INFO): Rx dataTimestamp_ set to:1754759070.467528
2025-08-09T17:04:30.655Z,1754759070.655 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.00 m.
2025-08-09T17:04:30.977Z,1754759070.977 [DAT](INFO): DAT read: 17:04:29.3833 LVL= 32752, 22801, 26434, 32755, AGC= 72, IDX= 450, 0.22,-2.272, 0.053,-1.355,-1.053, PHS=-1.117, 1.151,-0.346, RAW= 310.5,   3.2, CAL= 308.0,   0.1, ROT= 202.0,  -0.1

2025-08-09T17:04:30.978Z,1754759070.978 [DAT](INFO): got valid direction response:
 17:04:29.3833 LVL= 32752, 22801, 26434, 32755, AGC= 72, IDX= 450, 0.22,-2.272, 0.053,-1.355,-1.053, PHS=-1.117, 1.151,-0.346, RAW= 310.5,   3.2, CAL= 308.0,   0.1, ROT= 202.0,  -0.1

2025-08-09T17:04:30.979Z,1754759070.979 [DAT](INFO): DAT read: Bearing 307.4, -24.4 (Local)

2025-08-09T17:04:30.979Z,1754759070.979 [DAT](INFO): Local bearing/azimuth received:
 Bearing 307.4, -24.4 (Local)

2025-08-09T17:04:30.981Z,1754759070.981 [DAT](INFO): DAT read: Range 11 to 50 : 66.0 m  (Round-trip  88.0 ms) speed -0.5 m/s

2025-08-09T17:04:30.982Z,1754759070.982 [DAT](INFO): DAT read: user:345>

2025-08-09T17:04:30.982Z,1754759070.982 [DAT](INFO): DAT read: Tx time:17:04:30.4912

2025-08-09T17:04:30.983Z,1754759070.983 [DAT](INFO): Ping request sent.
2025-08-09T17:04:30.983Z,1754759070.983 [DAT](INFO): transmitted an acoustic signal
2025-08-09T17:04:30.983Z,1754759070.983 [DAT](INFO): #Rx 16: Read range and direction messages.
2025-08-09T17:04:30.984Z,1754759070.984 [DAT](INFO): direction in FSK: [-0.927182,-0.374606,0.001745]
2025-08-09T17:04:30.984Z,1754759070.984 [DAT](INFO): publishing transmit ping time
2025-08-09T17:04:30.984Z,1754759070.984 [DAT](INFO): publishing direction and range info
2025-08-09T17:04:30.988Z,1754759070.988 [DAT](INFO): publishing transmit ping time
2025-08-09T17:04:30.988Z,1754759070.988 [DAT](INFO): publishing direction and range info
2025-08-09T17:04:31.096Z,1754759071.096 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 66.000000 m,
      deltaT: 3.528031 s,
      deltaX: 2.000000 m,
      approachRate: 0.566888 m/s,
      rangeRepo size: 4

2025-08-09T17:04:31.103Z,1754759071.103 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 66.000000 m,
      bearing: 201.549433 deg,
      lat: 36.906121 deg,
      lon: -122.115882 deg,
      deltaT: 3.528031 s,
      deltaX: 2.000000 m,
      approachRate: 0.566888 m/s,
      posRepo size: 4

2025-08-09T17:04:31.103Z,1754759071.103 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 66.00 m.
2025-08-09T17:04:31.523Z,1754759071.523 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 66.00 m.
2025-08-09T17:04:31.837Z,1754759071.837 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 66.00 m.
2025-08-09T17:04:32.248Z,1754759072.248 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 66.00 m.
2025-08-09T17:04:32.672Z,1754759072.672 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 66.00 m.
2025-08-09T17:04:33.048Z,1754759073.048 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 66.00 m.
2025-08-09T17:04:33.601Z,1754759073.601 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 66.00 m.
2025-08-09T17:04:33.902Z,1754759073.902 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 66.00 m.
2025-08-09T17:04:33.999Z,1754759073.999 [DAT](INFO): DAT read: Rx Time:17:04:32.9856

2025-08-09T17:04:33.000Z,1754759074.000 [DAT](INFO): Rx dataTimestamp_ set to:1754759073.999666
2025-08-09T17:04:34.289Z,1754759074.289 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 66.00 m.
2025-08-09T17:04:34.717Z,1754759074.717 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 66.00 m.
2025-08-09T17:04:34.761Z,1754759074.761 [DAT](INFO): DAT read: 17:04:32.9856 LVL= 32752, 28449, 32754, 32755, AGC= 73, IDX= 441,-0.03,-2.205, 0.006,-1.392,-1.251, PHS=-0.852, 1.302,-0.186, RAW= 312.4,  -2.8, CAL= 311.1,  -6.1, ROT= 198.9,   6.1

2025-08-09T17:04:34.763Z,1754759074.763 [DAT](INFO): got valid direction response:
 17:04:32.9856 LVL= 32752, 28449, 32754, 32755, AGC= 73, IDX= 441,-0.03,-2.205, 0.006,-1.392,-1.251, PHS=-0.852, 1.302,-0.186, RAW= 312.4,  -2.8, CAL= 311.1,  -6.1, ROT= 198.9,   6.1

2025-08-09T17:04:34.764Z,1754759074.764 [DAT](INFO): DAT read: $Error in header

2025-08-09T17:04:34.764Z,1754759074.764 [DAT](INFO): Received a bad header
2025-08-09T17:04:34.779Z,1754759074.779 [DAT](INFO): #Rx 17: Read direction message, but no range.
2025-08-09T17:04:34.780Z,1754759074.780 [DAT](INFO): direction in FSK: [-0.940729,-0.322083,-0.106264]
2025-08-09T17:04:35.068Z,1754759075.068 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 66.00 m.
2025-08-09T17:04:35.615Z,1754759075.615 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 66.00 m.
2025-08-09T17:04:35.899Z,1754759075.899 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 66.00 m.
2025-08-09T17:04:36.302Z,1754759076.302 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-09T17:04:36.304Z,1754759076.304 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 66.00 m.
2025-08-09T17:04:36.519Z,1754759076.519 [DAT](DEBUG): Acoustic response timeout
2025-08-09T17:04:36.519Z,1754759076.519 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-09T17:04:36.722Z,1754759076.722 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 66.00 m.
2025-08-09T17:04:36.772Z,1754759076.772 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.788731
2025-08-09T17:04:37.023Z,1754759077.023 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.040565
2025-08-09T17:04:37.115Z,1754759077.115 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 66.00 m.
2025-08-09T17:04:37.275Z,1754759077.275 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.292420
2025-08-09T17:04:37.530Z,1754759077.530 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.546922
2025-08-09T17:04:37.569Z,1754759077.569 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 66.00 m.
2025-08-09T17:04:37.780Z,1754759077.780 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.797494
2025-08-09T17:04:37.996Z,1754759077.996 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 66.00 m.
2025-08-09T17:04:38.031Z,1754759078.031 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.048558
2025-08-09T17:04:38.283Z,1754759078.283 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.300449
2025-08-09T17:04:38.354Z,1754759078.354 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 66.00 m.
2025-08-09T17:04:38.538Z,1754759078.538 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.555001
2025-08-09T17:04:38.762Z,1754759078.762 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 66.00 m.
2025-08-09T17:04:38.787Z,1754759078.787 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.804512
2025-08-09T17:04:39.039Z,1754759079.039 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.056499
2025-08-09T17:04:39.171Z,1754759079.171 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 66.00 m.
2025-08-09T17:04:39.291Z,1754759079.291 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.308497
2025-08-09T17:04:39.546Z,1754759079.546 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.562535
2025-08-09T17:04:39.640Z,1754759079.640 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 66.00 m.
2025-08-09T17:04:39.795Z,1754759079.795 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.812567
2025-08-09T17:04:40.005Z,1754759080.005 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 66.00 m.
2025-08-09T17:04:40.047Z,1754759080.047 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.064632
2025-08-09T17:04:40.299Z,1754759080.299 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.316388
2025-08-09T17:04:40.397Z,1754759080.397 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 66.00 m.
2025-08-09T17:04:40.554Z,1754759080.554 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.570776
2025-08-09T17:04:40.803Z,1754759080.803 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.820441
2025-08-09T17:04:40.870Z,1754759080.870 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 66.00 m.
2025-08-09T17:04:41.055Z,1754759081.055 [DAT](INFO): Reached modem response timeout
2025-08-09T17:04:41.055Z,1754759081.055 [DAT](DEBUG): Acoustic response timeout
2025-08-09T17:04:41.056Z,1754759081.056 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-09T17:04:41.209Z,1754759081.209 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 66.00 m.
2025-08-09T17:04:41.307Z,1754759081.307 [DAT](INFO): Reached modem response timeout
2025-08-09T17:04:41.307Z,1754759081.307 [DAT](DEBUG): Acoustic response timeout
2025-08-09T17:04:41.308Z,1754759081.308 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-09T17:04:41.561Z,1754759081.561 [DAT](INFO): Reached modem response timeout
2025-08-09T17:04:41.562Z,1754759081.562 [DAT](DEBUG): Acoustic response timeout
2025-08-09T17:04:41.562Z,1754759081.562 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-09T17:04:41.672Z,1754759081.672 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 66.00 m.
2025-08-09T17:04:41.811Z,1754759081.811 [DAT](INFO): Reached modem response timeout
2025-08-09T17:04:41.811Z,1754759081.811 [DAT](DEBUG): Acoustic response timeout
2025-08-09T17:04:41.811Z,1754759081.811 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-09T17:04:42.018Z,1754759082.018 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 66.00 m.
2025-08-09T17:04:42.063Z,1754759082.063 [DAT](INFO): Reached modem response timeout
2025-08-09T17:04:42.064Z,1754759082.064 [DAT](DEBUG): Acoustic response timeout
2025-08-09T17:04:42.064Z,1754759082.064 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-09T17:04:42.315Z,1754759082.315 [DAT](INFO): Reached modem response timeout
2025-08-09T17:04:42.315Z,1754759082.315 [DAT](DEBUG): Acoustic response timeout
2025-08-09T17:04:42.315Z,1754759082.315 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-09T17:04:42.430Z,1754759082.430 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 66.00 m.
2025-08-09T17:04:42.569Z,1754759082.569 [DAT](INFO): Reached modem response timeout
2025-08-09T17:04:42.573Z,1754759082.573 [DAT](DEBUG): Acoustic response timeout
2025-08-09T17:04:42.574Z,1754759082.574 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-09T17:04:42.819Z,1754759082.819 [DAT](INFO): Reached modem response timeout
2025-08-09T17:04:42.819Z,1754759082.819 [DAT](DEBUG): Acoustic response timeout
2025-08-09T17:04:42.819Z,1754759082.819 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-09T17:04:42.906Z,1754759082.906 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 66.00 m.
2025-08-09T17:04:43.071Z,1754759083.071 [DAT](INFO): Reached modem response timeout
2025-08-09T17:04:43.071Z,1754759083.071 [DAT](DEBUG): Acoustic response timeout
2025-08-09T17:04:43.071Z,1754759083.071 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-09T17:04:43.323Z,1754759083.323 [DAT](INFO): Reached modem response timeout
2025-08-09T17:04:43.324Z,1754759083.324 [DAT](DEBUG): Acoustic response timeout
2025-08-09T17:04:43.324Z,1754759083.324 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-09T17:04:43.414Z,1754759083.414 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 66.00 m.
2025-08-09T17:04:43.579Z,1754759083.579 [DAT](INFO): DAT read: Response Not Received

2025-08-09T17:04:43.580Z,1754759083.580 [DAT](INFO): response not received
2025-08-09T17:04:43.582Z,1754759083.582 [DAT](INFO): DAT read: user:347>

2025-08-09T17:04:43.584Z,1754759083.584 [DAT](INFO): DAT read: Tx time:17:04:42.9411

2025-08-09T17:04:43.585Z,1754759083.585 [DAT](INFO): Ping request sent.
2025-08-09T17:04:43.586Z,1754759083.586 [DAT](INFO): transmitted an acoustic signal
2025-08-09T17:04:43.588Z,1754759083.588 [DAT](INFO): publishing transmit ping time
2025-08-09T17:04:43.592Z,1754759083.592 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.005434
2025-08-09T17:04:43.802Z,1754759083.802 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 66.00 m.
2025-08-09T17:04:43.827Z,1754759083.827 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.241931
2025-08-09T17:04:44.079Z,1754759084.079 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.493866
2025-08-09T17:04:44.256Z,1754759084.256 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 66.00 m.
2025-08-09T17:04:44.333Z,1754759084.333 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.747155
2025-08-09T17:04:44.586Z,1754759084.586 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.000062
2025-08-09T17:04:44.691Z,1754759084.691 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 66.00 m.
2025-08-09T17:04:44.837Z,1754759084.837 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.251161
2025-08-09T17:04:45.086Z,1754759085.086 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 66.00 m.
2025-08-09T17:04:45.087Z,1754759085.087 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.502127
2025-08-09T17:04:45.340Z,1754759085.340 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.754221
2025-08-09T17:04:45.471Z,1754759085.471 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 66.00 m.
2025-08-09T17:04:45.591Z,1754759085.591 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.006195
2025-08-09T17:04:45.844Z,1754759085.844 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.258972
2025-08-09T17:04:45.923Z,1754759085.923 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 66.00 m.
2025-08-09T17:04:46.095Z,1754759086.095 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.510166
2025-08-09T17:04:46.283Z,1754759086.283 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 66.00 m.
2025-08-09T17:04:46.349Z,1754759086.349 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.763653
2025-08-09T17:04:46.599Z,1754759086.599 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.014014
2025-08-09T17:04:46.761Z,1754759086.761 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 66.00 m.
2025-08-09T17:04:46.853Z,1754759086.853 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.267253
2025-08-09T17:04:47.081Z,1754759087.081 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 66.00 m.
2025-08-09T17:04:47.103Z,1754759087.103 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.518054
2025-08-09T17:04:47.356Z,1754759087.356 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.770287
2025-08-09T17:04:47.485Z,1754759087.485 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 66.00 m.
2025-08-09T17:04:47.607Z,1754759087.607 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.022100
2025-08-09T17:04:47.864Z,1754759087.864 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.278395
2025-08-09T17:04:48.010Z,1754759088.010 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 66.00 m.
2025-08-09T17:04:48.115Z,1754759088.115 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.530103
2025-08-09T17:04:48.315Z,1754759088.315 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 66.00 m.
2025-08-09T17:04:48.368Z,1754759088.368 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.782722
2025-08-09T17:04:48.620Z,1754759088.620 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.035162
2025-08-09T17:04:48.856Z,1754759088.856 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 66.00 m.
2025-08-09T17:04:48.872Z,1754759088.872 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.286782
2025-08-09T17:04:49.124Z,1754759089.124 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.538589
2025-08-09T17:04:49.217Z,1754759089.217 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 66.00 m.
2025-08-09T17:04:49.375Z,1754759089.375 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.790056
2025-08-09T17:04:49.626Z,1754759089.626 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 66.00 m.
2025-08-09T17:04:49.627Z,1754759089.627 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.042134
2025-08-09T17:04:49.880Z,1754759089.880 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.294505
2025-08-09T17:04:50.131Z,1754759090.131 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.546053
2025-08-09T17:04:50.175Z,1754759090.175 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 66.00 m.
2025-08-09T17:04:50.384Z,1754759090.384 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.798885
2025-08-09T17:04:50.635Z,1754759090.635 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.050123
2025-08-09T17:04:50.775Z,1754759090.775 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 66.00 m.
2025-08-09T17:04:50.887Z,1754759090.887 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.301942
2025-08-09T17:04:51.143Z,1754759091.143 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.557427
2025-08-09T17:04:51.251Z,1754759091.251 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 66.00 m.
2025-08-09T17:04:51.391Z,1754759091.391 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.806121
2025-08-09T17:04:51.620Z,1754759091.620 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 66.00 m.
2025-08-09T17:04:51.643Z,1754759091.643 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.058036
2025-08-09T17:04:51.895Z,1754759091.895 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.310019
2025-08-09T17:04:52.052Z,1754759092.052 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 66.00 m.
2025-08-09T17:04:52.148Z,1754759092.148 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.562449
2025-08-09T17:04:52.399Z,1754759092.399 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.814033
2025-08-09T17:04:52.428Z,1754759092.428 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 66.00 m.
2025-08-09T17:04:52.652Z,1754759092.652 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.066315
2025-08-09T17:04:52.883Z,1754759092.883 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 66.00 m.
2025-08-09T17:04:52.916Z,1754759092.916 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.330965
2025-08-09T17:04:53.167Z,1754759093.167 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.581917
2025-08-09T17:04:53.240Z,1754759093.240 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 66.00 m.
2025-08-09T17:04:53.420Z,1754759093.420 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.835155
2025-08-09T17:04:53.663Z,1754759093.663 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 66.00 m.
2025-08-09T17:04:53.671Z,1754759093.671 [DAT](INFO): Reached modem response timeout
2025-08-09T17:04:54.084Z,1754759094.084 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 66.00 m.
2025-08-09T17:04:54.458Z,1754759094.458 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 66.00 m.
2025-08-09T17:04:54.912Z,1754759094.912 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 66.00 m.
2025-08-09T17:04:55.262Z,1754759095.262 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 66.00 m.
2025-08-09T17:04:55.658Z,1754759095.658 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 66.00 m.
2025-08-09T17:04:55.939Z,1754759095.939 [DAT](INFO): DAT read: Response Not Received

2025-08-09T17:04:55.940Z,1754759095.940 [DAT](INFO): response not received
2025-08-09T17:04:55.940Z,1754759095.940 [DAT](INFO): DAT read: user:348>

2025-08-09T17:04:55.941Z,1754759095.941 [DAT](INFO): DAT read: Tx time:17:04:55.3910

2025-08-09T17:04:55.941Z,1754759095.941 [DAT](INFO): Ping request sent.
2025-08-09T17:04:55.941Z,1754759095.941 [DAT](INFO): transmitted an acoustic signal
2025-08-09T17:04:55.941Z,1754759095.941 [DAT](INFO): publishing transmit ping time
2025-08-09T17:04:55.942Z,1754759095.942 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000749
2025-08-09T17:04:56.119Z,1754759096.119 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error. Device response is::TS,00021420520423,35.0,  +9.9,   .5,  0
2025-08-09T17:04:56.134Z,1754759096.134 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 66.00 m.
2025-08-09T17:04:56.192Z,1754759096.192 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250862
2025-08-09T17:04:56.444Z,1754759096.444 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502429
2025-08-09T17:04:56.535Z,1754759096.535 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 66.00 m.
2025-08-09T17:04:56.695Z,1754759096.695 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754150
2025-08-09T17:04:56.947Z,1754759096.947 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006085
2025-08-09T17:04:57.063Z,1754759097.063 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 66.00 m.
2025-08-09T17:04:57.199Z,1754759097.199 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258249
2025-08-09T17:04:57.452Z,1754759097.452 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510482
2025-08-09T17:04:57.512Z,1754759097.512 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 66.00 m.
2025-08-09T17:04:57.703Z,1754759097.703 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762040
2025-08-09T17:04:57.959Z,1754759097.959 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.017708
2025-08-09T17:04:58.070Z,1754759098.070 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 66.00 m.
2025-08-09T17:04:58.207Z,1754759098.207 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266257
2025-08-09T17:04:58.399Z,1754759098.399 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 66.00 m.
2025-08-09T17:04:58.459Z,1754759098.459 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518211
2025-08-09T17:04:58.712Z,1754759098.712 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770393
2025-08-09T17:04:58.826Z,1754759098.826 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 66.00 m.
2025-08-09T17:04:58.964Z,1754759098.964 [DAT](INFO): DAT read: Rx Time:17:04:57.9059

2025-08-09T17:04:58.964Z,1754759098.964 [DAT](INFO): Rx dataTimestamp_ set to:1754759098.964001
2025-08-09T17:04:58.965Z,1754759098.965 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.023682
2025-08-09T17:04:59.211Z,1754759099.211 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 66.00 m.
2025-08-09T17:04:59.215Z,1754759099.215 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274204
2025-08-09T17:04:59.474Z,1754759099.474 [DAT](INFO): DAT read: 17:04:57.9059 LVL= 32752, 32753, 32754, 32755, AGC= 75, IDX=  92,-0.46, 2.046,-2.343, 1.575, 2.626, PHS=-0.478, 1.360,-1.094, RAW= 344.0,   1.9, CAL= 343.5,  -1.0, ROT= 166.5,   1.0

2025-08-09T17:04:59.475Z,1754759099.475 [DAT](INFO): got valid direction response:
 17:04:57.9059 LVL= 32752, 32753, 32754, 32755, AGC= 75, IDX=  92,-0.46, 2.046,-2.343, 1.575, 2.626, PHS=-0.478, 1.360,-1.094, RAW= 344.0,   1.9, CAL= 343.5,  -1.0, ROT= 166.5,   1.0

2025-08-09T17:04:59.475Z,1754759099.475 [DAT](INFO): DAT read: $Error in header

2025-08-09T17:04:59.476Z,1754759099.476 [DAT](INFO): Received a bad header
2025-08-09T17:04:59.486Z,1754759099.486 [DAT](INFO): #Rx 1: Read direction message, but no range.
2025-08-09T17:04:59.487Z,1754759099.487 [DAT](INFO): direction in FSK: [-0.972222,0.233410,-0.017452]
2025-08-09T17:04:59.583Z,1754759099.583 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 66.00 m.
2025-08-09T17:05:00.054Z,1754759100.054 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 66.00 m.
2025-08-09T17:05:00.425Z,1754759100.425 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 66.00 m.
2025-08-09T17:05:00.943Z,1754759100.943 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 66.00 m.
2025-08-09T17:05:01.377Z,1754759101.377 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 66.00 m.
2025-08-09T17:05:01.786Z,1754759101.786 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 66.00 m.
2025-08-09T17:05:02.352Z,1754759102.352 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 66.00 m.
2025-08-09T17:05:02.686Z,1754759102.686 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 66.00 m.
2025-08-09T17:05:03.135Z,1754759103.135 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 66.00 m.
2025-08-09T17:05:03.544Z,1754759103.544 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 66.00 m.
2025-08-09T17:05:03.990Z,1754759103.990 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 66.00 m.
2025-08-09T17:05:04.351Z,1754759104.351 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 66.00 m.
2025-08-09T17:05:04.750Z,1754759104.750 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 66.00 m.
2025-08-09T17:05:05.174Z,1754759105.174 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 66.00 m.
2025-08-09T17:05:05.549Z,1754759105.549 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 66.00 m.
2025-08-09T17:05:06.031Z,1754759106.031 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 66.00 m.
2025-08-09T17:05:06.382Z,1754759106.382 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 66.00 m.
2025-08-09T17:05:06.784Z,1754759106.784 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 66.00 m.
2025-08-09T17:05:07.213Z,1754759107.213 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 66.00 m.
2025-08-09T17:05:07.578Z,1754759107.578 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 66.00 m.
2025-08-09T17:05:08.097Z,1754759108.097 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 66.00 m.
2025-08-09T17:05:08.290Z,1754759108.290 [DAT](INFO): DAT read: Response Not Received

2025-08-09T17:05:08.291Z,1754759108.291 [DAT](INFO): response not received
2025-08-09T17:05:08.292Z,1754759108.292 [DAT](INFO): DAT read: user:350>

2025-08-09T17:05:08.293Z,1754759108.293 [DAT](INFO): DAT read: Tx time:17:05:07.8410

2025-08-09T17:05:08.294Z,1754759108.294 [DAT](INFO): Ping request sent.
2025-08-09T17:05:08.299Z,1754759108.299 [DAT](INFO): transmitted an acoustic signal
2025-08-09T17:05:08.300Z,1754759108.300 [DAT](INFO): publishing transmit ping time
2025-08-09T17:05:08.453Z,1754759108.453 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 66.00 m.
2025-08-09T17:05:08.930Z,1754759108.930 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 66.00 m.
2025-08-09T17:05:09.467Z,1754759109.467 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 66.00 m.
2025-08-09T17:05:09.851Z,1754759109.851 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 66.00 m.
2025-08-09T17:05:10.266Z,1754759110.266 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 66.00 m.
2025-08-09T17:05:10.639Z,1754759110.639 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 66.00 m.
2025-08-09T17:05:11.143Z,1754759111.143 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 66.00 m.
2025-08-09T17:05:11.520Z,1754759111.520 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 66.00 m.
2025-08-09T17:05:12.002Z,1754759112.002 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 66.00 m.
2025-08-09T17:05:12.452Z,1754759112.452 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 66.00 m.
2025-08-09T17:05:12.831Z,1754759112.831 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 66.00 m.
2025-08-09T17:05:13.228Z,1754759113.228 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 66.00 m.
2025-08-09T17:05:13.619Z,1754759113.619 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 66.00 m.
2025-08-09T17:05:14.012Z,1754759114.012 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 66.00 m.
2025-08-09T17:05:14.449Z,1754759114.449 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 66.00 m.
2025-08-09T17:05:14.846Z,1754759114.846 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 66.00 m.
2025-08-09T17:05:15.240Z,1754759115.240 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 66.00 m.
2025-08-09T17:05:15.681Z,1754759115.681 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 66.00 m.
2025-08-09T17:05:16.067Z,1754759116.067 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 66.00 m.
2025-08-09T17:05:16.696Z,1754759116.696 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 66.00 m.
2025-08-09T17:05:17.135Z,1754759117.135 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 66.00 m.
2025-08-09T17:05:17.641Z,1754759117.641 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 66.00 m.
2025-08-09T17:05:18.015Z,1754759118.015 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 66.00 m.
2025-08-09T17:05:18.442Z,1754759118.442 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 66.00 m.
2025-08-09T17:05:18.815Z,1754759118.815 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 66.00 m.
2025-08-09T17:05:19.229Z,1754759119.229 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 66.00 m.
2025-08-09T17:05:19.607Z,1754759119.607 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 66.00 m.
2025-08-09T17:05:20.012Z,1754759120.012 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 66.00 m.
2025-08-09T17:05:20.468Z,1754759120.468 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 66.00 m.
2025-08-09T17:05:20.835Z,1754759120.835 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 66.00 m.
2025-08-09T17:05:20.892Z,1754759120.892 [DAT](INFO): DAT read: Response Not Received

2025-08-09T17:05:20.893Z,1754759120.893 [DAT](INFO): response not received
2025-08-09T17:05:20.893Z,1754759120.893 [DAT](INFO): DAT read: user:351>

2025-08-09T17:05:20.895Z,1754759120.895 [DAT](INFO): DAT read: Tx time:17:05:20.2909

2025-08-09T17:05:20.895Z,1754759120.895 [DAT](INFO): Ping request sent.
2025-08-09T17:05:20.895Z,1754759120.895 [DAT](INFO): transmitted an acoustic signal
2025-08-09T17:05:20.896Z,1754759120.896 [DAT](INFO): publishing transmit ping time
2025-08-09T17:05:21.264Z,1754759121.264 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 66.00 m.
2025-08-09T17:05:21.633Z,1754759121.633 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 66.00 m.
2025-08-09T17:05:22.046Z,1754759122.046 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 66.00 m.
2025-08-09T17:05:22.469Z,1754759122.469 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 66.00 m.
2025-08-09T17:05:22.887Z,1754759122.887 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 66.00 m.
2025-08-09T17:05:23.321Z,1754759123.321 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 66.00 m.
2025-08-09T17:05:23.687Z,1754759123.687 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 66.00 m.
2025-08-09T17:05:23.916Z,1754759123.916 [DAT](INFO): DAT read: Rx Time:17:05:22.8292

2025-08-09T17:05:23.916Z,1754759123.916 [DAT](INFO): Rx dataTimestamp_ set to:1754759123.915726
2025-08-09T17:05:24.094Z,1754759124.094 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 66.00 m.
2025-08-09T17:05:24.425Z,1754759124.425 [DAT](INFO): DAT read: 17:05:22.8292 LVL= 32752, 32753, 32754, 32755, AGC= 75, IDX= 123, 0.14,-1.712,-0.014,-2.088,-1.319, PHS=-0.291, 1.350,-0.812, RAW= 343.4,  -2.6, CAL= 342.9,  -5.5, ROT= 167.1,   5.5

2025-08-09T17:05:24.427Z,1754759124.427 [DAT](INFO): got valid direction response:
 17:05:22.8292 LVL= 32752, 32753, 32754, 32755, AGC= 75, IDX= 123, 0.14,-1.712,-0.014,-2.088,-1.319, PHS=-0.291, 1.350,-0.812, RAW= 343.4,  -2.6, CAL= 342.9,  -5.5, ROT= 167.1,   5.5

2025-08-09T17:05:24.428Z,1754759124.428 [DAT](INFO): DAT read: Bearing   3.5,  19.6 (Local)

2025-08-09T17:05:24.429Z,1754759124.429 [DAT](INFO): Local bearing/azimuth received:
 Bearing   3.5,  19.6 (Local)

2025-08-09T17:05:24.431Z,1754759124.431 [DAT](INFO): DAT read: Range 11 to 50 : 100.6 m  (Round-trip  134.2 ms) speed -0.6 m/s

2025-08-09T17:05:24.432Z,1754759124.432 [DAT](INFO): DAT read: user:352>

2025-08-09T17:05:24.433Z,1754759124.433 [DAT](INFO): DAT read: Tx time:17:05:23.9409

2025-08-09T17:05:24.433Z,1754759124.433 [DAT](INFO): Ping request sent.
2025-08-09T17:05:24.433Z,1754759124.433 [DAT](INFO): transmitted an acoustic signal
2025-08-09T17:05:24.433Z,1754759124.433 [DAT](INFO): #Rx 2: Read range and direction messages.
2025-08-09T17:05:24.450Z,1754759124.450 [DAT](INFO): direction in FSK: [-0.970274,0.222222,-0.095846]
2025-08-09T17:05:24.450Z,1754759124.450 [DAT](INFO): publishing transmit ping time
2025-08-09T17:05:24.451Z,1754759124.451 [DAT](INFO): publishing direction and range info
2025-08-09T17:05:24.462Z,1754759124.462 [DAT](INFO): publishing transmit ping time
2025-08-09T17:05:24.462Z,1754759124.462 [DAT](INFO): publishing direction and range info
2025-08-09T17:05:24.647Z,1754759124.647 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 100.599998 m,
      deltaT: 53.448115 s,
      deltaX: 34.599998 m,
      approachRate: 0.647357 m/s,
      rangeRepo size: 4

2025-08-09T17:05:24.649Z,1754759124.649 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 100.599998 m,
      bearing: 204.392944 deg,
      lat: 36.906119 deg,
      lon: -122.115874 deg,
      deltaT: 53.448115 s,
      deltaX: 34.599998 m,
      approachRate: 0.647357 m/s,
      posRepo size: 4

2025-08-09T17:05:24.650Z,1754759124.650 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 100.60 m.
2025-08-09T17:05:24.991Z,1754759124.991 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 100.60 m.
2025-08-09T17:05:25.391Z,1754759125.391 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 100.60 m.
2025-08-09T17:05:25.844Z,1754759125.844 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 100.60 m.
2025-08-09T17:05:26.357Z,1754759126.357 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 100.60 m.
2025-08-09T17:05:26.820Z,1754759126.820 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 100.60 m.
2025-08-09T17:05:27.288Z,1754759127.288 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 100.60 m.
2025-08-09T17:05:27.444Z,1754759127.444 [DAT](INFO): DAT read: Rx Time:17:05:26.4825

2025-08-09T17:05:27.445Z,1754759127.445 [DAT](INFO): Rx dataTimestamp_ set to:1754759127.444501
2025-08-09T17:05:27.728Z,1754759127.728 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 100.60 m.
2025-08-09T17:05:28.117Z,1754759128.117 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 100.60 m.
2025-08-09T17:05:28.207Z,1754759128.207 [DAT](INFO): DAT read: 17:05:26.4825 LVL= 32752, 26577, 32754, 32755, AGC= 74, IDX= 460, 0.44,-1.756,-0.106,-2.128,-1.401, PHS=-0.253, 1.340,-0.771, RAW= 343.6,  -3.4, CAL= 343.2,  -6.3, ROT= 166.8,   6.3

2025-08-09T17:05:28.209Z,1754759128.209 [DAT](INFO): got valid direction response:
 17:05:26.4825 LVL= 32752, 26577, 32754, 32755, AGC= 74, IDX= 460, 0.44,-1.756,-0.106,-2.128,-1.401, PHS=-0.253, 1.340,-0.771, RAW= 343.6,  -3.4, CAL= 343.2,  -6.3, ROT= 166.8,   6.3

2025-08-09T17:05:28.210Z,1754759128.210 [DAT](INFO): DAT read: Bearing   3.9,  21.4 (Local)

2025-08-09T17:05:28.211Z,1754759128.211 [DAT](INFO): Local bearing/azimuth received:
 Bearing   3.9,  21.4 (Local)

2025-08-09T17:05:28.212Z,1754759128.212 [DAT](INFO): DAT read: Range 11 to 50 : 103.1 m  (Round-trip  137.5 ms) speed -0.4 m/s

2025-08-09T17:05:28.213Z,1754759128.213 [DAT](INFO): DAT read: user:353>

2025-08-09T17:05:28.214Z,1754759128.214 [DAT](INFO): DAT read: Tx time:17:05:27.5909

2025-08-09T17:05:28.223Z,1754759128.223 [DAT](INFO): Ping request sent.
2025-08-09T17:05:28.223Z,1754759128.223 [DAT](INFO): transmitted an acoustic signal
2025-08-09T17:05:28.223Z,1754759128.223 [DAT](INFO): #Rx 3: Read range and direction messages.
2025-08-09T17:05:28.224Z,1754759128.224 [DAT](INFO): direction in FSK: [-0.967699,0.226972,-0.109734]
2025-08-09T17:05:28.224Z,1754759128.224 [DAT](INFO): publishing transmit ping time
2025-08-09T17:05:28.225Z,1754759128.225 [DAT](INFO): publishing direction and range info
2025-08-09T17:05:28.261Z,1754759128.261 [DAT](INFO): publishing transmit ping time
2025-08-09T17:05:28.283Z,1754759128.283 [DAT](INFO): publishing direction and range info
2025-08-09T17:05:28.545Z,1754759128.545 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 103.099998 m,
      deltaT: 3.779844 s,
      deltaX: 2.500000 m,
      approachRate: 0.661403 m/s,
      rangeRepo size: 4

2025-08-09T17:05:28.547Z,1754759128.547 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 103.099998 m,
      bearing: 204.662411 deg,
      lat: 36.906119 deg,
      lon: -122.115874 deg,
      deltaT: 3.779844 s,
      deltaX: 2.500000 m,
      approachRate: 0.661403 m/s,
      posRepo size: 4

2025-08-09T17:05:28.548Z,1754759128.548 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 103.10 m.
2025-08-09T17:05:28.997Z,1754759128.997 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 103.10 m.
2025-08-09T17:05:29.385Z,1754759129.385 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 103.10 m.
2025-08-09T17:05:29.735Z,1754759129.735 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 103.10 m.
2025-08-09T17:05:30.155Z,1754759130.155 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 103.10 m.
2025-08-09T17:05:30.566Z,1754759130.566 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 103.10 m.
2025-08-09T17:05:31.032Z,1754759131.032 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 103.10 m.
2025-08-09T17:05:31.225Z,1754759131.225 [DAT](INFO): DAT read: Rx Time:17:05:30.1353

2025-08-09T17:05:31.225Z,1754759131.225 [DAT](INFO): Rx dataTimestamp_ set to:1754759131.225049
2025-08-09T17:05:31.406Z,1754759131.406 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 103.10 m.
2025-08-09T17:05:31.733Z,1754759131.733 [DAT](INFO): DAT read: 17:05:30.1353 LVL= 32752, 32753, 32754, 32755, AGC= 69, IDX= 457, 0.03,-1.733,-0.064,-2.063,-1.323, PHS=-0.309, 1.304,-0.785, RAW= 342.6,  -2.2, CAL= 342.1,  -5.2, ROT= 167.9,   5.2

2025-08-09T17:05:31.734Z,1754759131.734 [DAT](INFO): got valid direction response:
 17:05:30.1353 LVL= 32752, 32753, 32754, 32755, AGC= 69, IDX= 457, 0.03,-1.733,-0.064,-2.063,-1.323, PHS=-0.309, 1.304,-0.785, RAW= 342.6,  -2.2, CAL= 342.1,  -5.2, ROT= 167.9,   5.2

2025-08-09T17:05:31.736Z,1754759131.736 [DAT](INFO): DAT read: Bearing   2.8,  21.3 (Local)

2025-08-09T17:05:31.736Z,1754759131.736 [DAT](INFO): Local bearing/azimuth received:
 Bearing   2.8,  21.3 (Local)

2025-08-09T17:05:31.737Z,1754759131.737 [DAT](INFO): DAT read: Range 11 to 50 : 105.2 m  (Round-trip  140.3 ms) speed -0.3 m/s

2025-08-09T17:05:31.738Z,1754759131.738 [DAT](INFO): DAT read: user:354>

2025-08-09T17:05:31.739Z,1754759131.739 [DAT](INFO): DAT read: Tx time:17:05:31.2409

2025-08-09T17:05:31.739Z,1754759131.739 [DAT](INFO): Ping request sent.
2025-08-09T17:05:31.739Z,1754759131.739 [DAT](INFO): transmitted an acoustic signal
2025-08-09T17:05:31.740Z,1754759131.740 [DAT](INFO): #Rx 4: Read range and direction messages.
2025-08-09T17:05:31.741Z,1754759131.741 [DAT](INFO): direction in FSK: [-0.973759,0.208756,-0.090633]
2025-08-09T17:05:31.741Z,1754759131.741 [DAT](INFO): publishing transmit ping time
2025-08-09T17:05:31.741Z,1754759131.741 [DAT](INFO): publishing direction and range info
2025-08-09T17:05:31.775Z,1754759131.775 [DAT](INFO): publishing transmit ping time
2025-08-09T17:05:31.776Z,1754759131.776 [DAT](INFO): publishing direction and range info
2025-08-09T17:05:31.841Z,1754759131.841 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 105.199997 m,
      deltaT: 3.528001 s,
      deltaX: 2.099998 m,
      approachRate: 0.595237 m/s,
      rangeRepo size: 4

2025-08-09T17:05:31.852Z,1754759131.852 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 105.199997 m,
      bearing: 204.841608 deg,
      lat: 36.906120 deg,
      lon: -122.115874 deg,
      deltaT: 3.528001 s,
      deltaX: 2.099998 m,
      approachRate: 0.595237 m/s,
      posRepo size: 4

2025-08-09T17:05:31.852Z,1754759131.852 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 105.20 m.
2025-08-09T17:05:32.246Z,1754759132.246 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 105.20 m.
2025-08-09T17:05:32.661Z,1754759132.661 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 105.20 m.
2025-08-09T17:05:33.052Z,1754759133.052 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 105.20 m.
2025-08-09T17:05:33.499Z,1754759133.499 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 105.20 m.
2025-08-09T17:05:33.855Z,1754759133.855 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 105.20 m.
2025-08-09T17:05:34.269Z,1754759134.269 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 105.20 m.
2025-08-09T17:05:34.679Z,1754759134.679 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 105.20 m.
2025-08-09T17:05:35.003Z,1754759135.003 [DAT](INFO): DAT read: Rx Time:17:05:33.7885

2025-08-09T17:05:35.004Z,1754759135.004 [DAT](INFO): Rx dataTimestamp_ set to:1754759135.003602
2025-08-09T17:05:35.080Z,1754759135.080 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 105.20 m.
2025-08-09T17:05:35.489Z,1754759135.489 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 105.20 m.
2025-08-09T17:05:35.513Z,1754759135.513 [DAT](INFO): DAT read: 17:05:33.7885 LVL= 32752, 24721, 32754, 32755, AGC= 72, IDX= 458,-0.38, 0.887, 2.491, 0.561, 1.257, PHS=-0.268, 1.280,-0.740, RAW= 342.9,  -3.0, CAL= 342.5,  -6.0, ROT= 167.5,   6.0

2025-08-09T17:05:35.515Z,1754759135.515 [DAT](INFO): got valid direction response:
 17:05:33.7885 LVL= 32752, 24721, 32754, 32755, AGC= 72, IDX= 458,-0.38, 0.887, 2.491, 0.561, 1.257, PHS=-0.268, 1.280,-0.740, RAW= 342.9,  -3.0, CAL= 342.5,  -6.0, ROT= 167.5,   6.0

2025-08-09T17:05:35.516Z,1754759135.516 [DAT](INFO): DAT read: Bearing   3.8,  22.5 (Local)

2025-08-09T17:05:35.516Z,1754759135.516 [DAT](INFO): Local bearing/azimuth received:
 Bearing   3.8,  22.5 (Local)

2025-08-09T17:05:35.517Z,1754759135.517 [DAT](INFO): DAT read: Range 11 to 50 : 107.6 m  (Round-trip  143.5 ms) speed -0.7 m/s

2025-08-09T17:05:35.518Z,1754759135.518 [DAT](INFO): DAT read: user:355>

2025-08-09T17:05:35.519Z,1754759135.519 [DAT](INFO): DAT read: Tx time:17:05:34.8909

2025-08-09T17:05:35.519Z,1754759135.519 [DAT](INFO): Ping request sent.
2025-08-09T17:05:35.519Z,1754759135.519 [DAT](INFO): transmitted an acoustic signal
2025-08-09T17:05:35.520Z,1754759135.520 [DAT](INFO): #Rx 5: Read range and direction messages.
2025-08-09T17:05:35.520Z,1754759135.520 [DAT](INFO): direction in FSK: [-0.970948,0.215254,-0.104528]
2025-08-09T17:05:35.521Z,1754759135.521 [DAT](INFO): publishing transmit ping time
2025-08-09T17:05:35.521Z,1754759135.521 [DAT](INFO): publishing direction and range info
2025-08-09T17:05:35.524Z,1754759135.524 [DAT](INFO): publishing transmit ping time
2025-08-09T17:05:35.524Z,1754759135.524 [DAT](INFO): publishing direction and range info
2025-08-09T17:05:35.887Z,1754759135.887 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 107.599998 m,
      deltaT: 3.780456 s,
      deltaX: 2.400002 m,
      approachRate: 0.634844 m/s,
      rangeRepo size: 4

2025-08-09T17:05:35.889Z,1754759135.889 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 107.599998 m,
      bearing: 205.108812 deg,
      lat: 36.906120 deg,
      lon: -122.115874 deg,
      deltaT: 3.780456 s,
      deltaX: 2.400002 m,
      approachRate: 0.634844 m/s,
      posRepo size: 4

2025-08-09T17:05:35.890Z,1754759135.890 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 107.60 m.
2025-08-09T17:05:36.298Z,1754759136.298 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 107.60 m.
2025-08-09T17:05:36.721Z,1754759136.721 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-09T17:05:36.723Z,1754759136.723 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 107.60 m.
2025-08-09T17:05:36.768Z,1754759136.768 [DAT](INFO): ****** received valid address query ******
2025-08-09T17:05:36.768Z,1754759136.768 [DAT](INFO): ****** received valid ping request ******
2025-08-09T17:05:36.768Z,1754759136.768 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-09T17:05:37.019Z,1754759137.019 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.499899
2025-08-09T17:05:37.087Z,1754759137.087 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 107.60 m.
2025-08-09T17:05:37.274Z,1754759137.274 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.754896
2025-08-09T17:05:37.516Z,1754759137.516 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 107.60 m.
2025-08-09T17:05:37.523Z,1754759137.523 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.004197
2025-08-09T17:05:37.775Z,1754759137.775 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.256017
2025-08-09T17:05:38.027Z,1754759138.027 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.508000
2025-08-09T17:05:38.044Z,1754759138.044 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 107.60 m.
2025-08-09T17:05:38.279Z,1754759138.279 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.760086
2025-08-09T17:05:38.359Z,1754759138.359 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 107.60 m.
2025-08-09T17:05:38.531Z,1754759138.531 [DAT](INFO): DAT read: Rx Time:17:05:37.4417

2025-08-09T17:05:38.532Z,1754759138.532 [DAT](INFO): Rx dataTimestamp_ set to:1754759138.531474
2025-08-09T17:05:38.532Z,1754759138.532 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.013079
2025-08-09T17:05:38.783Z,1754759138.783 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.264089
2025-08-09T17:05:38.831Z,1754759138.831 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 107.60 m.
2025-08-09T17:05:39.045Z,1754759139.045 [DAT](INFO): DAT read: 17:05:37.4417 LVL= 32752, 32753, 32754, 32755, AGC= 73, IDX= 459, 0.42, 1.632,-3.094, 1.381, 2.075, PHS=-0.342, 1.159,-0.739, RAW= 341.4,  -0.9, CAL= 341.0,  -3.8, ROT= 169.0,   3.8

2025-08-09T17:05:39.046Z,1754759139.046 [DAT](INFO): got valid direction response:
 17:05:37.4417 LVL= 32752, 32753, 32754, 32755, AGC= 73, IDX= 459, 0.42, 1.632,-3.094, 1.381, 2.075, PHS=-0.342, 1.159,-0.739, RAW= 341.4,  -0.9, CAL= 341.0,  -3.8, ROT= 169.0,   3.8

2025-08-09T17:05:39.048Z,1754759139.048 [DAT](INFO): DAT read: Bearing   1.5,  21.7 (Local)

2025-08-09T17:05:39.048Z,1754759139.048 [DAT](INFO): Local bearing/azimuth received:
 Bearing   1.5,  21.7 (Local)

2025-08-09T17:05:39.050Z,1754759139.050 [DAT](INFO): DAT read: Range 11 to 50 : 110.0 m  (Round-trip  146.7 ms) speed -0.6 m/s

2025-08-09T17:05:39.051Z,1754759139.051 [DAT](INFO): DAT read: user:356>

2025-08-09T17:05:39.052Z,1754759139.052 [DAT](INFO): DAT read: Tx time:17:05:38.5409

2025-08-09T17:05:39.052Z,1754759139.052 [DAT](INFO): Ping request sent.
2025-08-09T17:05:39.052Z,1754759139.052 [DAT](INFO): transmitted an acoustic signal
2025-08-09T17:05:39.053Z,1754759139.053 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-09T17:05:39.054Z,1754759139.054 [DAT](INFO): direction in FSK: [-0.979469,0.190390,-0.066274]
2025-08-09T17:05:39.054Z,1754759139.054 [DAT](INFO): publishing transmit ping time
2025-08-09T17:05:39.055Z,1754759139.055 [DAT](INFO): publishing direction and range info
2025-08-09T17:05:39.058Z,1754759139.058 [DAT](INFO): publishing transmit ping time
2025-08-09T17:05:39.058Z,1754759139.058 [DAT](INFO): publishing direction and range info
2025-08-09T17:05:39.265Z,1754759139.265 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 110.000000 m,
      deltaT: 3.528763 s,
      deltaX: 2.400002 m,
      approachRate: 0.680125 m/s,
      rangeRepo size: 4

2025-08-09T17:05:39.276Z,1754759139.276 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 110.000000 m,
      bearing: 205.356317 deg,
      lat: 36.906120 deg,
      lon: -122.115874 deg,
      deltaT: 3.528763 s,
      deltaX: 2.400002 m,
      approachRate: 0.680125 m/s,
      posRepo size: 4

2025-08-09T17:05:39.276Z,1754759139.276 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 110.00 m.
2025-08-09T17:05:39.276Z,1754759139.276 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Completed rollout at range: 110.00 m. Resuming terminal guidance.
2025-08-09T17:05:39.277Z,1754759139.277 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Transitioning guidance mode to: TERMINAL_GUIDANCE
2025-08-09T17:05:39.653Z,1754759139.653 [lineCaptureHoming:UpdatePingUpdateRate_Terminal] Running Loop=1
2025-08-09T17:05:39.653Z,1754759139.653 [lineCaptureHoming:UpdatePingUpdateRate_Terminal](DEBUG): Aggregate::initialize lineCaptureHoming:UpdatePingUpdateRate_Terminal
2025-08-09T17:05:39.653Z,1754759139.653 [lineCaptureHoming:UpdatePingUpdateRate_Terminal:A] Running Loop=1
2025-08-09T17:05:39.656Z,1754759139.656 [lineCaptureHoming:UpdatePingUpdateRate_Terminal:A](INFO): Entering Terminal tracking update period  2.000000 s sec at 110.000000 m (mode  1.000000 count ).
2025-08-09T17:05:39.656Z,1754759139.656 [lineCaptureHoming:UpdatePingUpdateRate_Terminal:A] Stopped
2025-08-09T17:05:39.656Z,1754759139.656 [lineCaptureHoming:UpdatePingUpdateRate_Terminal:B] Running Loop=1
2025-08-09T17:05:40.031Z,1754759140.031 [lineCaptureHoming:UpdatePingUpdateRate_Terminal:B] Stopped
2025-08-09T17:05:40.032Z,1754759140.032 [lineCaptureHoming:UpdatePingUpdateRate_Terminal:C] Running Loop=1
2025-08-09T17:05:40.032Z,1754759140.032 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-09T17:05:40.047Z,1754759140.047 [DAT](INFO): ****** received valid address query ******
2025-08-09T17:05:40.047Z,1754759140.047 [DAT](INFO): ****** received valid ping request ******
2025-08-09T17:05:40.047Z,1754759140.047 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-09T17:05:40.299Z,1754759140.299 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.246700
2025-08-09T17:05:40.486Z,1754759140.486 [lineCaptureHoming:UpdatePingUpdateRate_Terminal:C] Stopped
2025-08-09T17:05:40.486Z,1754759140.486 [lineCaptureHoming:UpdatePingUpdateRate_Terminal:D] Running Loop=1
2025-08-09T17:05:40.551Z,1754759140.551 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.498883
2025-08-09T17:05:40.804Z,1754759140.804 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.750969
2025-08-09T17:05:40.950Z,1754759140.950 [lineCaptureHoming:UpdatePingUpdateRate_Terminal:D] Stopped
2025-08-09T17:05:40.950Z,1754759140.950 [lineCaptureHoming:UpdatePingUpdateRate_Terminal](INFO): Completed lineCaptureHoming:UpdatePingUpdateRate_Terminal
2025-08-09T17:05:40.950Z,1754759140.950 [lineCaptureHoming:UpdatePingUpdateRate_Terminal] Stopped
2025-08-09T17:05:40.950Z,1754759140.950 [lineCaptureHoming:UpdatePingUpdateRate_Terminal](DEBUG): Aggregate::uninitialize lineCaptureHoming:UpdatePingUpdateRate_Terminal
2025-08-09T17:05:41.056Z,1754759141.056 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.003090
2025-08-09T17:05:41.307Z,1754759141.307 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.254916
2025-08-09T17:05:41.559Z,1754759141.559 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.506807
2025-08-09T17:05:41.816Z,1754759141.816 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.763031
2025-08-09T17:05:42.067Z,1754759142.067 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.014782
2025-08-09T17:05:42.275Z,1754759142.275 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-09T17:05:42.319Z,1754759142.319 [DAT](INFO): DAT read: Rx Time:17:05:41.0954

2025-08-09T17:05:42.320Z,1754759142.320 [DAT](INFO): Rx dataTimestamp_ set to:1754759142.319539
2025-08-09T17:05:42.320Z,1754759142.320 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.267867
2025-08-09T17:05:42.571Z,1754759142.571 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.518832
2025-08-09T17:05:42.829Z,1754759142.829 [DAT](INFO): DAT read: 17:05:41.0954 LVL= 32752, 31041, 32754, 32755, AGC= 69, IDX= 465, 0.15,-2.730,-1.169,-3.019,-2.378, PHS=-0.250, 1.254,-0.685, RAW= 342.3,  -3.7, CAL= 341.9,  -6.6, ROT= 168.1,   6.6

2025-08-09T17:05:42.830Z,1754759142.830 [DAT](INFO): got valid direction response:
 17:05:41.0954 LVL= 32752, 31041, 32754, 32755, AGC= 69, IDX= 465, 0.15,-2.730,-1.169,-3.019,-2.378, PHS=-0.250, 1.254,-0.685, RAW= 342.3,  -3.7, CAL= 341.9,  -6.6, ROT= 168.1,   6.6

2025-08-09T17:05:42.831Z,1754759142.831 [DAT](INFO): DAT read: Bearing   4.5,  23.7 (Local)

2025-08-09T17:05:42.831Z,1754759142.831 [DAT](INFO): Local bearing/azimuth received:
 Bearing   4.5,  23.7 (Local)

2025-08-09T17:05:42.833Z,1754759142.833 [DAT](INFO): DAT read: Range 11 to 50 : 112.8 m  (Round-trip  150.4 ms) speed -0.5 m/s

2025-08-09T17:05:42.834Z,1754759142.834 [DAT](INFO): DAT read: user:357>

2025-08-09T17:05:42.835Z,1754759142.835 [DAT](INFO): DAT read: Tx time:17:05:42.1908

2025-08-09T17:05:42.835Z,1754759142.835 [DAT](INFO): Ping request sent.
2025-08-09T17:05:42.835Z,1754759142.835 [DAT](INFO): transmitted an acoustic signal
2025-08-09T17:05:42.836Z,1754759142.836 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-09T17:05:42.837Z,1754759142.837 [DAT](INFO): direction in FSK: [-0.972024,0.204837,-0.114937]
2025-08-09T17:05:42.837Z,1754759142.837 [DAT](INFO): publishing transmit ping time
2025-08-09T17:05:42.837Z,1754759142.837 [DAT](INFO): publishing direction and range info
2025-08-09T17:05:42.841Z,1754759142.841 [DAT](INFO): publishing transmit ping time
2025-08-09T17:05:42.841Z,1754759142.841 [DAT](INFO): publishing direction and range info
2025-08-09T17:05:42.967Z,1754759142.967 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 112.800003 m,
      deltaT: nan s,
      deltaX: nan m,
      approachRate: -1.000000 m/s,
      rangeRepo size: 1

2025-08-09T17:05:42.983Z,1754759142.983 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 112.800003 m,
      bearing: 205.546589 deg,
      lat: 36.906120 deg,
      lon: -122.115874 deg,
      deltaT: nan s,
      deltaX: nan m,
      approachRate: -1.000000 m/s,
      posRepo size: 1

2025-08-09T17:05:42.984Z,1754759142.984 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 112.80 m.
2025-08-09T17:05:42.991Z,1754759142.991 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 112.800003 m,
      nav range: 112.631836 m,
      bearing: 205.546589 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.000000 deg/s,
      cmd heading: 217.401880 deg,
      new cmd heading: 205.546589 deg.

2025-08-09T17:05:43.337Z,1754759143.337 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 112.80 m.
2025-08-09T17:05:43.339Z,1754759143.339 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 112.800003 m,
      nav range: 112.902382 m,
      bearing: 205.568746 deg,
      approach rate: 0.730569 m/s,
      LOS rate: 0.059687 deg/s,
      cmd heading: 205.546593 deg,
      new cmd heading: 205.568746 deg.

2025-08-09T17:05:43.796Z,1754759143.796 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 112.80 m.
2025-08-09T17:05:43.802Z,1754759143.802 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 112.800003 m,
      nav range: 113.206985 m,
      bearing: 205.595465 deg,
      approach rate: 0.663623 m/s,
      LOS rate: 0.058055 deg/s,
      cmd heading: 205.568750 deg,
      new cmd heading: 205.595465 deg.

2025-08-09T17:05:44.144Z,1754759144.144 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 112.80 m.
2025-08-09T17:05:44.146Z,1754759144.146 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 112.800003 m,
      nav range: 113.456093 m,
      bearing: 205.619197 deg,
      approach rate: 0.715682 m/s,
      LOS rate: 0.068033 deg/s,
      cmd heading: 205.595470 deg,
      new cmd heading: 205.619197 deg.

2025-08-09T17:05:44.607Z,1754759144.607 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-09T17:05:44.609Z,1754759144.609 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 112.80 m.
2025-08-09T17:05:44.616Z,1754759144.616 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 112.800003 m,
      nav range: 113.753700 m,
      bearing: 205.653867 deg,
      approach rate: 0.638904 m/s,
      LOS rate: 0.074235 deg/s,
      cmd heading: 205.619198 deg,
      new cmd heading: 205.653867 deg.

2025-08-09T17:05:44.846Z,1754759144.846 [DAT](INFO): ****** received valid address query ******
2025-08-09T17:05:44.846Z,1754759144.846 [DAT](INFO): ****** received valid ping request ******
2025-08-09T17:05:44.846Z,1754759144.846 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-09T17:05:44.964Z,1754759144.964 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 112.80 m.
2025-08-09T17:05:44.967Z,1754759144.967 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 112.800003 m,
      nav range: 113.994858 m,
      bearing: 205.684345 deg,
      approach rate: 0.680221 m/s,
      LOS rate: 0.085784 deg/s,
      cmd heading: 205.653868 deg,
      new cmd heading: 205.684345 deg.

2025-08-09T17:05:45.095Z,1754759145.095 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.259946
2025-08-09T17:05:45.347Z,1754759145.347 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.512024
2025-08-09T17:05:45.433Z,1754759145.433 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 112.80 m.
2025-08-09T17:05:45.455Z,1754759145.455 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 112.800003 m,
      nav range: 114.315445 m,
      bearing: 205.724655 deg,
      approach rate: 0.683230 m/s,
      LOS rate: 0.085668 deg/s,
      cmd heading: 205.684344 deg,
      new cmd heading: 205.724655 deg.

2025-08-09T17:05:45.603Z,1754759145.603 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.767347
2025-08-09T17:05:45.852Z,1754759145.852 [DAT](INFO): DAT read: Rx Time:17:05:44.7487

2025-08-09T17:05:45.853Z,1754759145.853 [DAT](INFO): Rx dataTimestamp_ set to:1754759145.852326
2025-08-09T17:05:45.854Z,1754759145.854 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.018107
2025-08-09T17:05:45.865Z,1754759145.865 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 112.80 m.
2025-08-09T17:05:45.884Z,1754759145.884 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 112.800003 m,
      nav range: 114.589111 m,
      bearing: 205.759669 deg,
      approach rate: 0.634776 m/s,
      LOS rate: 0.081022 deg/s,
      cmd heading: 205.724656 deg,
      new cmd heading: 205.759669 deg.

2025-08-09T17:05:46.104Z,1754759146.104 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.268530
2025-08-09T17:05:46.202Z,1754759146.202 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 112.80 m.
2025-08-09T17:05:46.205Z,1754759146.205 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 112.800003 m,
      nav range: 114.811371 m,
      bearing: 205.787979 deg,
      approach rate: 0.657851 m/s,
      LOS rate: 0.083630 deg/s,
      cmd heading: 205.759667 deg,
      new cmd heading: 205.787979 deg.

2025-08-09T17:05:46.361Z,1754759146.361 [DAT](INFO): DAT read: 17:05:44.7487 LVL= 32752, 26545, 32754, 32755, AGC= 73, IDX= 467,-0.21,-1.010, 0.368,-1.446,-0.748, PHS=-0.159, 1.162,-0.742, RAW= 347.4,  -3.1, CAL= 347.0,  -6.1, ROT= 163.0,   6.1

2025-08-09T17:05:46.362Z,1754759146.362 [DAT](INFO): got valid direction response:
 17:05:44.7487 LVL= 32752, 26545, 32754, 32755, AGC= 73, IDX= 467,-0.21,-1.010, 0.368,-1.446,-0.748, PHS=-0.159, 1.162,-0.742, RAW= 347.4,  -3.1, CAL= 347.0,  -6.1, ROT= 163.0,   6.1

2025-08-09T17:05:46.363Z,1754759146.363 [DAT](INFO): DAT read: Bearing  14.0,  28.2 (Local)

2025-08-09T17:05:46.364Z,1754759146.364 [DAT](INFO): Local bearing/azimuth received:
 Bearing  14.0,  28.2 (Local)

2025-08-09T17:05:46.365Z,1754759146.365 [DAT](INFO): DAT read: Range 11 to 50 : 115.3 m  (Round-trip  153.8 ms) speed -0.6 m/s

2025-08-09T17:05:46.366Z,1754759146.366 [DAT](INFO): DAT read: user:358>

2025-08-09T17:05:46.367Z,1754759146.367 [DAT](INFO): DAT read: Tx time:17:05:45.8408

2025-08-09T17:05:46.367Z,1754759146.367 [DAT](INFO): Ping request sent.
2025-08-09T17:05:46.367Z,1754759146.367 [DAT](INFO): transmitted an acoustic signal
2025-08-09T17:05:46.367Z,1754759146.367 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-09T17:05:46.368Z,1754759146.368 [DAT](INFO): direction in FSK: [-0.950890,0.290716,-0.106264]
2025-08-09T17:05:46.369Z,1754759146.369 [DAT](INFO): publishing transmit ping time
2025-08-09T17:05:46.369Z,1754759146.369 [DAT](INFO): publishing direction and range info
2025-08-09T17:05:46.387Z,1754759146.387 [DAT](INFO): publishing transmit ping time
2025-08-09T17:05:46.388Z,1754759146.388 [DAT](INFO): publishing direction and range info
2025-08-09T17:05:46.649Z,1754759146.649 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 115.300003 m,
      deltaT: 3.532058 s,
      deltaX: 2.500000 m,
      approachRate: 0.707803 m/s,
      rangeRepo size: 2

2025-08-09T17:05:46.651Z,1754759146.651 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 115.300003 m,
      bearing: 206.245530 deg,
      lat: 36.906124 deg,
      lon: -122.115882 deg,
      deltaT: 3.532058 s,
      deltaX: 2.500000 m,
      approachRate: 0.707803 m/s,
      posRepo size: 2

2025-08-09T17:05:46.652Z,1754759146.652 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 115.30 m.
2025-08-09T17:05:46.654Z,1754759146.654 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 115.300003 m,
      nav range: 115.014717 m,
      bearing: 206.245530 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.083630 deg/s,
      cmd heading: 205.787985 deg,
      new cmd heading: 205.899821 deg.

2025-08-09T17:05:47.109Z,1754759147.109 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-09T17:05:47.111Z,1754759147.111 [DAT](INFO): ****** received valid address query ******
2025-08-09T17:05:47.111Z,1754759147.111 [DAT](INFO): ****** received valid ping request ******
2025-08-09T17:05:47.111Z,1754759147.111 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-09T17:05:47.115Z,1754759147.115 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 115.30 m.
2025-08-09T17:05:47.117Z,1754759147.117 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 115.300003 m,
      nav range: 115.295937 m,
      bearing: 206.300094 deg,
      approach rate: 0.603434 m/s,
      LOS rate: 0.116796 deg/s,
      cmd heading: 205.899823 deg,
      new cmd heading: 206.063115 deg.

2025-08-09T17:05:47.365Z,1754759147.365 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.997461
2025-08-09T17:05:47.571Z,1754759147.571 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 115.30 m.
2025-08-09T17:05:47.574Z,1754759147.574 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 115.300003 m,
      nav range: 115.532341 m,
      bearing: 206.348716 deg,
      approach rate: 0.517086 m/s,
      LOS rate: 0.106135 deg/s,
      cmd heading: 206.063119 deg,
      new cmd heading: 206.208688 deg.

2025-08-09T17:05:47.615Z,1754759147.615 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.248335
2025-08-09T17:05:47.868Z,1754759147.868 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.500968
2025-08-09T17:05:48.048Z,1754759148.048 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 115.30 m.
2025-08-09T17:05:48.067Z,1754759148.067 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 115.300003 m,
      nav range: 115.844048 m,
      bearing: 206.419724 deg,
      approach rate: 0.653348 m/s,
      LOS rate: 0.148435 deg/s,
      cmd heading: 206.208684 deg,
      new cmd heading: 206.421134 deg.

2025-08-09T17:05:48.121Z,1754759148.121 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.753405
2025-08-09T17:05:48.371Z,1754759148.371 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.004218
2025-08-09T17:05:48.439Z,1754759148.439 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 115.30 m.
2025-08-09T17:05:48.441Z,1754759148.441 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 115.300003 m,
      nav range: 116.066605 m,
      bearing: 206.472853 deg,
      approach rate: 0.569845 m/s,
      LOS rate: 0.135772 deg/s,
      cmd heading: 206.421130 deg,
      new cmd heading: 206.580209 deg.

2025-08-09T17:05:48.626Z,1754759148.626 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.258923
2025-08-09T17:05:48.876Z,1754759148.876 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.509072
2025-08-09T17:05:48.880Z,1754759148.880 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 115.30 m.
2025-08-09T17:05:48.882Z,1754759148.882 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 115.300003 m,
      nav range: 116.316917 m,
      bearing: 206.534323 deg,
      approach rate: 0.567885 m/s,
      LOS rate: 0.139157 deg/s,
      cmd heading: 206.580205 deg,
      new cmd heading: 206.764218 deg.

2025-08-09T17:05:49.128Z,1754759149.128 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.760925
2025-08-09T17:05:49.273Z,1754759149.273 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-09T17:05:49.276Z,1754759149.276 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 115.30 m.
2025-08-09T17:05:49.279Z,1754759149.279 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 115.300003 m,
      nav range: 116.536804 m,
      bearing: 206.590833 deg,
      approach rate: 0.554381 m/s,
      LOS rate: 0.142204 deg/s,
      cmd heading: 206.764224 deg,
      new cmd heading: 206.933433 deg.

2025-08-09T17:05:49.379Z,1754759149.379 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.012283
2025-08-09T17:05:49.631Z,1754759149.631 [DAT](INFO): DAT read: Rx Time:17:05:48.4017

2025-08-09T17:05:49.632Z,1754759149.632 [DAT](INFO): Rx dataTimestamp_ set to:1754759149.631607
2025-08-09T17:05:49.632Z,1754759149.632 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.265414
2025-08-09T17:05:49.715Z,1754759149.715 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 115.30 m.
2025-08-09T17:05:49.720Z,1754759149.720 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 115.300003 m,
      nav range: 116.781181 m,
      bearing: 206.656612 deg,
      approach rate: 0.558502 m/s,
      LOS rate: 0.150019 deg/s,
      cmd heading: 206.933435 deg,
      new cmd heading: 207.130360 deg.

2025-08-09T17:05:49.883Z,1754759149.883 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.516184
2025-08-09T17:05:50.047Z,1754759150.047 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 115.30 m.
2025-08-09T17:05:50.050Z,1754759150.050 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 115.300003 m,
      nav range: 116.972267 m,
      bearing: 206.710288 deg,
      approach rate: 0.572930 m/s,
      LOS rate: 0.160674 deg/s,
      cmd heading: 207.130363 deg,
      new cmd heading: 207.291129 deg.

2025-08-09T17:05:50.141Z,1754759150.141 [DAT](INFO): DAT read: 17:05:48.4017 LVL= 32752, 28017, 32754, 32755, AGC= 69, IDX= 450,-0.02, 2.112,-2.981, 1.511, 2.300, PHS=-0.085, 1.048,-0.833, RAW= 353.3,  -1.6, CAL= 352.9,  -4.6, ROT= 157.1,   4.6

2025-08-09T17:05:50.143Z,1754759150.143 [DAT](INFO): got valid direction response:
 17:05:48.4017 LVL= 32752, 28017, 32754, 32755, AGC= 69, IDX= 450,-0.02, 2.112,-2.981, 1.511, 2.300, PHS=-0.085, 1.048,-0.833, RAW= 353.3,  -1.6, CAL= 352.9,  -4.6, ROT= 157.1,   4.6

2025-08-09T17:05:50.144Z,1754759150.144 [DAT](INFO): DAT read: Bearing  24.9,  33.5 (Local)

2025-08-09T17:05:50.144Z,1754759150.144 [DAT](INFO): Local bearing/azimuth received:
 Bearing  24.9,  33.5 (Local)

2025-08-09T17:05:50.145Z,1754759150.145 [DAT](INFO): DAT read: Range 11 to 50 : 117.6 m  (Round-trip  156.8 ms) speed -0.5 m/s

2025-08-09T17:05:50.146Z,1754759150.146 [DAT](INFO): DAT read: user:359>

2025-08-09T17:05:50.147Z,1754759150.147 [DAT](INFO): DAT read: Tx time:17:05:49.4908

2025-08-09T17:05:50.147Z,1754759150.147 [DAT](INFO): Ping request sent.
2025-08-09T17:05:50.147Z,1754759150.147 [DAT](INFO): transmitted an acoustic signal
2025-08-09T17:05:50.148Z,1754759150.148 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-09T17:05:50.149Z,1754759150.149 [DAT](INFO): direction in FSK: [-0.918218,0.387870,-0.080199]
2025-08-09T17:05:50.149Z,1754759150.149 [DAT](INFO): publishing transmit ping time
2025-08-09T17:05:50.150Z,1754759150.150 [DAT](INFO): publishing direction and range info
2025-08-09T17:05:50.153Z,1754759150.153 [DAT](INFO): publishing transmit ping time
2025-08-09T17:05:50.153Z,1754759150.153 [DAT](INFO): publishing direction and range info
2025-08-09T17:05:50.474Z,1754759150.474 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 117.599998 m,
      deltaT: 3.780006 s,
      deltaX: 2.299995 m,
      approachRate: 0.608463 m/s,
      rangeRepo size: 3

2025-08-09T17:05:50.476Z,1754759150.476 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 117.599998 m,
      bearing: 207.161717 deg,
      lat: 36.906130 deg,
      lon: -122.115887 deg,
      deltaT: 3.780006 s,
      deltaX: 2.299995 m,
      approachRate: 0.608463 m/s,
      posRepo size: 3

2025-08-09T17:05:50.476Z,1754759150.476 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 117.60 m.
2025-08-09T17:05:50.479Z,1754759150.479 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 117.599998 m,
      nav range: 116.759529 m,
      bearing: 207.161717 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.160674 deg/s,
      cmd heading: 207.291132 deg,
      new cmd heading: 207.496305 deg.

2025-08-09T17:05:50.897Z,1754759150.897 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 117.60 m.
2025-08-09T17:05:50.900Z,1754759150.900 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 117.599998 m,
      nav range: 116.999207 m,
      bearing: 207.230898 deg,
      approach rate: 0.565626 m/s,
      LOS rate: 0.162928 deg/s,
      cmd heading: 207.496311 deg,
      new cmd heading: 207.703427 deg.

2025-08-09T17:05:51.273Z,1754759151.273 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 117.60 m.
2025-08-09T17:05:51.276Z,1754759151.276 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 117.599998 m,
      nav range: 117.200836 m,
      bearing: 207.291457 deg,
      approach rate: 0.535461 m/s,
      LOS rate: 0.160549 deg/s,
      cmd heading: 207.703430 deg,
      new cmd heading: 207.884795 deg.

2025-08-09T17:05:51.705Z,1754759151.705 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-09T17:05:51.708Z,1754759151.708 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 117.60 m.
2025-08-09T17:05:51.713Z,1754759151.713 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 117.599998 m,
      nav range: 117.424866 m,
      bearing: 207.359306 deg,
      approach rate: 0.516321 m/s,
      LOS rate: 0.156073 deg/s,
      cmd heading: 207.884799 deg,
      new cmd heading: 208.087956 deg.

2025-08-09T17:05:51.899Z,1754759151.899 [DAT](INFO): ****** received valid address query ******
2025-08-09T17:05:51.899Z,1754759151.899 [DAT](INFO): ****** received valid ping request ******
2025-08-09T17:05:51.899Z,1754759151.899 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-09T17:05:52.069Z,1754759152.069 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 117.60 m.
2025-08-09T17:05:52.072Z,1754759152.072 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 117.599998 m,
      nav range: 117.607941 m,
      bearing: 207.419480 deg,
      approach rate: 0.506025 m/s,
      LOS rate: 0.166064 deg/s,
      cmd heading: 208.087956 deg,
      new cmd heading: 208.268196 deg.

2025-08-09T17:05:52.152Z,1754759152.152 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.004368
2025-08-09T17:05:52.403Z,1754759152.403 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.255932
2025-08-09T17:05:52.497Z,1754759152.497 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 117.60 m.
2025-08-09T17:05:52.504Z,1754759152.504 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 117.599998 m,
      nav range: 117.817360 m,
      bearing: 207.490907 deg,
      approach rate: 0.488624 m/s,
      LOS rate: 0.166360 deg/s,
      cmd heading: 208.268191 deg,
      new cmd heading: 208.482091 deg.

2025-08-09T17:05:52.658Z,1754759152.658 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.510511
2025-08-09T17:05:52.907Z,1754759152.907 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.759940
2025-08-09T17:05:52.917Z,1754759152.917 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 117.60 m.
2025-08-09T17:05:52.920Z,1754759152.920 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 117.599998 m,
      nav range: 118.035889 m,
      bearing: 207.564284 deg,
      approach rate: 0.520918 m/s,
      LOS rate: 0.174588 deg/s,
      cmd heading: 208.482085 deg,
      new cmd heading: 208.701807 deg.

2025-08-09T17:05:53.163Z,1754759153.163 [DAT](INFO): DAT read: Rx Time:17:05:52.0543

2025-08-09T17:05:53.164Z,1754759153.164 [DAT](INFO): Rx dataTimestamp_ set to:1754759153.163232
2025-08-09T17:05:53.164Z,1754759153.164 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.016975
2025-08-09T17:05:53.297Z,1754759153.297 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 117.60 m.
2025-08-09T17:05:53.300Z,1754759153.300 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 117.599998 m,
      nav range: 118.227577 m,
      bearing: 207.630985 deg,
      approach rate: 0.504341 m/s,
      LOS rate: 0.175208 deg/s,
      cmd heading: 208.701812 deg,
      new cmd heading: 208.901589 deg.

2025-08-09T17:05:53.411Z,1754759153.411 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.263901
2025-08-09T17:05:53.669Z,1754759153.669 [DAT](INFO): DAT read: 17:05:52.0543 LVL= 31904, 26737, 32754, 32755, AGC= 69, IDX= 445, 0.20, 2.518,-2.756, 1.721, 2.634, PHS=-0.015, 0.938,-0.958, RAW= 359.8,   0.4, CAL= 359.6,  -2.4, ROT= 150.4,   2.4

2025-08-09T17:05:53.670Z,1754759153.670 [DAT](INFO): got valid direction response:
 17:05:52.0543 LVL= 31904, 26737, 32754, 32755, AGC= 69, IDX= 445, 0.20, 2.518,-2.756, 1.721, 2.634, PHS=-0.015, 0.938,-0.958, RAW= 359.8,   0.4, CAL= 359.6,  -2.4, ROT= 150.4,   2.4

2025-08-09T17:05:53.671Z,1754759153.671 [DAT](INFO): DAT read: Bearing  32.6,  39.8 (Local)

2025-08-09T17:05:53.671Z,1754759153.671 [DAT](INFO): Local bearing/azimuth received:
 Bearing  32.6,  39.8 (Local)

2025-08-09T17:05:53.673Z,1754759153.673 [DAT](INFO): DAT read: Range 11 to 50 : 119.5 m  (Round-trip  159.4 ms) speed -0.4 m/s

2025-08-09T17:05:53.674Z,1754759153.674 [DAT](INFO): DAT read: user:360>

2025-08-09T17:05:53.674Z,1754759153.674 [DAT](INFO): DAT read: Tx time:17:05:53.1408

2025-08-09T17:05:53.675Z,1754759153.675 [DAT](INFO): Ping request sent.
2025-08-09T17:05:53.675Z,1754759153.675 [DAT](INFO): transmitted an acoustic signal
2025-08-09T17:05:53.675Z,1754759153.675 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-09T17:05:53.676Z,1754759153.676 [DAT](INFO): direction in FSK: [-0.868732,0.493509,-0.041876]
2025-08-09T17:05:53.676Z,1754759153.676 [DAT](INFO): publishing transmit ping time
2025-08-09T17:05:53.677Z,1754759153.677 [DAT](INFO): publishing direction and range info
2025-08-09T17:05:53.684Z,1754759153.684 [DAT](INFO): publishing transmit ping time
2025-08-09T17:05:53.684Z,1754759153.684 [DAT](INFO): publishing direction and range info
2025-08-09T17:05:53.834Z,1754759153.834 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 119.500000 m,
      deltaT: 3.527963 s,
      deltaX: 1.900002 m,
      approachRate: 0.538555 m/s,
      rangeRepo size: 4

2025-08-09T17:05:53.836Z,1754759153.836 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 119.500000 m,
      bearing: 209.975958 deg,
      lat: 36.906149 deg,
      lon: -122.115934 deg,
      deltaT: 3.527963 s,
      deltaX: 1.900002 m,
      approachRate: 0.538555 m/s,
      posRepo size: 4

2025-08-09T17:05:53.837Z,1754759153.837 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 119.50 m.
2025-08-09T17:05:53.844Z,1754759153.844 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 119.500000 m,
      nav range: 118.613419 m,
      bearing: 209.975958 deg,
      approach rate: -0.000000 m/s,
      LOS rate: 0.175208 deg/s,
      cmd heading: 208.901595 deg,
      new cmd heading: 209.181408 deg.

2025-08-09T17:05:54.188Z,1754759154.188 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-09T17:05:54.190Z,1754759154.190 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 119.50 m.
2025-08-09T17:05:54.193Z,1754759154.193 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 119.500000 m,
      nav range: 118.798042 m,
      bearing: 210.041924 deg,
      approach rate: 0.511851 m/s,
      LOS rate: 0.182599 deg/s,
      cmd heading: 209.181415 deg,
      new cmd heading: 209.379003 deg.

2025-08-09T17:05:54.419Z,1754759154.419 [DAT](INFO): ****** received valid address query ******
2025-08-09T17:05:54.420Z,1754759154.420 [DAT](INFO): ****** received valid ping request ******
2025-08-09T17:05:54.420Z,1754759154.420 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-09T17:05:54.674Z,1754759154.674 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.998568
2025-08-09T17:05:54.787Z,1754759154.787 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 119.50 m.
2025-08-09T17:05:54.790Z,1754759154.790 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 119.500000 m,
      nav range: 119.079025 m,
      bearing: 210.146211 deg,
      approach rate: 0.470475 m/s,
      LOS rate: 0.174205 deg/s,
      cmd heading: 209.378998 deg,
      new cmd heading: 209.691118 deg.

2025-08-09T17:05:54.923Z,1754759154.923 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.248420
2025-08-09T17:05:55.177Z,1754759155.177 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.501461
2025-08-09T17:05:55.293Z,1754759155.293 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 119.50 m.
2025-08-09T17:05:55.296Z,1754759155.296 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 119.500000 m,
      nav range: 119.323715 m,
      bearing: 210.244058 deg,
      approach rate: 0.483915 m/s,
      LOS rate: 0.193112 deg/s,
      cmd heading: 209.691124 deg,
      new cmd heading: 209.984061 deg.

2025-08-09T17:05:55.427Z,1754759155.427 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.752585
2025-08-09T17:05:55.682Z,1754759155.682 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.006575
2025-08-09T17:05:55.824Z,1754759155.824 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 119.50 m.
2025-08-09T17:05:55.831Z,1754759155.831 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 119.500000 m,
      nav range: 119.549965 m,
      bearing: 210.337346 deg,
      approach rate: 0.425908 m/s,
      LOS rate: 0.175279 deg/s,
      cmd heading: 209.984057 deg,
      new cmd heading: 210.263389 deg.

2025-08-09T17:05:55.931Z,1754759155.931 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.256416
2025-08-09T17:05:56.184Z,1754759156.184 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.509298
2025-08-09T17:05:56.293Z,1754759156.293 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-09T17:05:56.296Z,1754759156.296 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 119.50 m.
2025-08-09T17:05:56.298Z,1754759156.298 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 119.500000 m,
      nav range: 119.783401 m,
      bearing: 210.437048 deg,
      approach rate: 0.495238 m/s,
      LOS rate: 0.211107 deg/s,
      cmd heading: 210.263385 deg,
      new cmd heading: 210.561906 deg.

2025-08-09T17:05:56.435Z,1754759156.435 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.760449
2025-08-09T17:05:56.691Z,1754759156.691 [DAT](INFO): DAT read: Rx Time:17:05:55.7067

2025-08-09T17:05:56.692Z,1754759156.692 [DAT](INFO): Rx dataTimestamp_ set to:1754759156.690989
2025-08-09T17:05:56.693Z,1754759156.693 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.018208
2025-08-09T17:05:56.805Z,1754759156.805 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 119.50 m.
2025-08-09T17:05:56.819Z,1754759156.819 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 119.500000 m,
      nav range: 120.017998 m,
      bearing: 210.539321 deg,
      approach rate: 0.460303 m/s,
      LOS rate: 0.200277 deg/s,
      cmd heading: 210.561905 deg,
      new cmd heading: 210.868119 deg.

2025-08-09T17:05:56.939Z,1754759156.939 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.264431
2025-08-09T17:05:57.115Z,1754759157.115 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 119.50 m.
2025-08-09T17:05:57.118Z,1754759157.118 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 119.500000 m,
      nav range: 120.161537 m,
      bearing: 210.604079 deg,
      approach rate: 0.462666 m/s,
      LOS rate: 0.208484 deg/s,
      cmd heading: 210.868116 deg,
      new cmd heading: 211.062158 deg.

2025-08-09T17:05:57.191Z,1754759157.191 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.516582
2025-08-09T17:05:57.449Z,1754759157.449 [DAT](INFO): DAT read: 17:05:55.7067 LVL= 31184, 24833, 32754, 32755, AGC= 67, IDX= 453,-0.31, 1.818, 2.577, 0.814, 1.842, PHS= 0.078, 0.780,-1.072, RAW=   7.9,   2.7, CAL=   7.9,   0.3, ROT= 142.1,  -0.3

2025-08-09T17:05:57.450Z,1754759157.450 [DAT](INFO): got valid direction response:
 17:05:55.7067 LVL= 31184, 24833, 32754, 32755, AGC= 67, IDX= 453,-0.31, 1.818, 2.577, 0.814, 1.842, PHS= 0.078, 0.780,-1.072, RAW=   7.9,   2.7, CAL=   7.9,   0.3, ROT= 142.1,  -0.3

2025-08-09T17:05:57.451Z,1754759157.451 [DAT](INFO): DAT read: Bearing  39.3,  48.2 (Local)

2025-08-09T17:05:57.451Z,1754759157.451 [DAT](INFO): Local bearing/azimuth received:
 Bearing  39.3,  48.2 (Local)

2025-08-09T17:05:57.453Z,1754759157.453 [DAT](INFO): DAT read: Range 11 to 50 : 121.3 m  (Round-trip  161.8 ms) speed -0.4 m/s

2025-08-09T17:05:57.454Z,1754759157.454 [DAT](INFO): DAT read: user:361>

2025-08-09T17:05:57.454Z,1754759157.454 [DAT](INFO): DAT read: Tx time:17:05:56.8408

2025-08-09T17:05:57.455Z,1754759157.455 [DAT](INFO): Ping request sent.
2025-08-09T17:05:57.455Z,1754759157.455 [DAT](INFO): transmitted an acoustic signal
2025-08-09T17:05:57.455Z,1754759157.455 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-09T17:05:57.456Z,1754759157.456 [DAT](INFO): direction in FSK: [-0.789073,0.614277,0.005236]
2025-08-09T17:05:57.456Z,1754759157.456 [DAT](INFO): publishing transmit ping time
2025-08-09T17:05:57.457Z,1754759157.457 [DAT](INFO): publishing direction and range info
2025-08-09T17:05:57.460Z,1754759157.460 [DAT](INFO): publishing transmit ping time
2025-08-09T17:05:57.460Z,1754759157.460 [DAT](INFO): publishing direction and range info
2025-08-09T17:05:57.570Z,1754759157.570 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 121.300003 m,
      deltaT: 3.779922 s,
      deltaX: 1.800003 m,
      approachRate: 0.476201 m/s,
      rangeRepo size: 4

2025-08-09T17:05:57.572Z,1754759157.572 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 121.300003 m,
      bearing: 216.094107 deg,
      lat: 36.906205 deg,
      lon: -122.116041 deg,
      deltaT: 3.779922 s,
      deltaX: 1.800003 m,
      approachRate: 0.476201 m/s,
      posRepo size: 4

2025-08-09T17:05:57.573Z,1754759157.573 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 121.30 m.
2025-08-09T17:05:57.580Z,1754759157.580 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 121.300003 m,
      nav range: 120.476799 m,
      bearing: 216.094107 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.208484 deg/s,
      cmd heading: 211.062162 deg,
      new cmd heading: 211.343622 deg.

2025-08-09T17:05:57.962Z,1754759157.962 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 121.30 m.
2025-08-09T17:05:57.965Z,1754759157.965 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 121.300003 m,
      nav range: 120.672531 m,
      bearing: 216.168439 deg,
      approach rate: 0.498562 m/s,
      LOS rate: 0.189029 deg/s,
      cmd heading: 211.343620 deg,
      new cmd heading: 211.566253 deg.

2025-08-09T17:05:58.332Z,1754759158.332 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-09T17:05:58.346Z,1754759158.346 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 121.30 m.
2025-08-09T17:05:58.349Z,1754759158.349 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 121.300003 m,
      nav range: 120.851036 m,
      bearing: 216.238718 deg,
      approach rate: 0.472752 m/s,
      LOS rate: 0.185851 deg/s,
      cmd heading: 211.566257 deg,
      new cmd heading: 211.776781 deg.

2025-08-09T17:05:58.452Z,1754759158.452 [DAT](INFO): ****** received valid address query ******
2025-08-09T17:05:58.452Z,1754759158.452 [DAT](INFO): ****** received valid ping request ******
2025-08-09T17:05:58.452Z,1754759158.452 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-09T17:05:58.706Z,1754759158.706 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.250843
2025-08-09T17:05:58.801Z,1754759158.801 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 121.30 m.
2025-08-09T17:05:58.804Z,1754759158.804 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 121.300003 m,
      nav range: 121.080124 m,
      bearing: 216.329032 deg,
      approach rate: 0.492604 m/s,
      LOS rate: 0.193833 deg/s,
      cmd heading: 211.776777 deg,
      new cmd heading: 212.047205 deg.

2025-08-09T17:05:58.955Z,1754759158.955 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.500467
2025-08-09T17:05:59.147Z,1754759159.147 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 121.30 m.
2025-08-09T17:05:59.149Z,1754759159.149 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 121.300003 m,
      nav range: 121.245003 m,
      bearing: 216.393750 deg,
      approach rate: 0.476855 m/s,
      LOS rate: 0.186918 deg/s,
      cmd heading: 212.047198 deg,
      new cmd heading: 212.241085 deg.

2025-08-09T17:05:59.209Z,1754759159.209 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.753621
2025-08-09T17:05:59.459Z,1754759159.459 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.004526
2025-08-09T17:05:59.608Z,1754759159.608 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 121.30 m.
2025-08-09T17:05:59.610Z,1754759159.610 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 121.300003 m,
      nav range: 121.452271 m,
      bearing: 216.481379 deg,
      approach rate: 0.449454 m/s,
      LOS rate: 0.189697 deg/s,
      cmd heading: 212.241080 deg,
      new cmd heading: 212.503517 deg.

2025-08-09T17:05:59.715Z,1754759159.715 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.259325
2025-08-09T17:05:59.964Z,1754759159.964 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.508812
2025-08-09T17:06:00.058Z,1754759160.058 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 121.30 m.
2025-08-09T17:06:00.069Z,1754759160.069 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 121.300003 m,
      nav range: 121.663002 m,
      bearing: 216.567248 deg,
      approach rate: 0.468169 m/s,
      LOS rate: 0.190439 deg/s,
      cmd heading: 212.503523 deg,
      new cmd heading: 212.760681 deg.

2025-08-09T17:06:00.216Z,1754759160.216 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.760851
2025-08-09T17:06:00.424Z,1754759160.424 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-09T17:06:00.426Z,1754759160.426 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 121.30 m.
2025-08-09T17:06:00.429Z,1754759160.429 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 121.300003 m,
      nav range: 121.828476 m,
      bearing: 216.637028 deg,
      approach rate: 0.449489 m/s,
      LOS rate: 0.189290 deg/s,
      cmd heading: 212.760680 deg,
      new cmd heading: 212.969733 deg.

2025-08-09T17:06:00.468Z,1754759160.468 [DAT](INFO): DAT read: Rx Time:17:05:59.4089

2025-08-09T17:06:00.468Z,1754759160.468 [DAT](INFO): Rx dataTimestamp_ set to:1754759160.468044
2025-08-09T17:06:00.469Z,1754759160.469 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.014147
2025-08-09T17:06:00.723Z,1754759160.723 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.267206
2025-08-09T17:06:00.898Z,1754759160.898 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 121.30 m.
2025-08-09T17:06:00.901Z,1754759160.901 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 121.300003 m,
      nav range: 122.041008 m,
      bearing: 216.729831 deg,
      approach rate: 0.449979 m/s,
      LOS rate: 0.196144 deg/s,
      cmd heading: 212.969738 deg,
      new cmd heading: 213.247661 deg.

2025-08-09T17:06:00.977Z,1754759160.977 [DAT](INFO): DAT read: 17:05:59.4089 LVL= 23200, 19041, 24386, 26739, AGC= 68, IDX= 444, 0.10, 0.524, 0.749,-0.995, 0.192, PHS= 0.434, 0.602,-1.230, RAW=  25.2,   2.2, CAL=  25.6,   0.4, ROT= 124.4,  -0.4

2025-08-09T17:06:00.978Z,1754759160.978 [DAT](INFO): got valid direction response:
 17:05:59.4089 LVL= 23200, 19041, 24386, 26739, AGC= 68, IDX= 444, 0.10, 0.524, 0.749,-0.995, 0.192, PHS= 0.434, 0.602,-1.230, RAW=  25.2,   2.2, CAL=  25.6,   0.4, ROT= 124.4,  -0.4

2025-08-09T17:06:00.979Z,1754759160.979 [DAT](INFO): DAT read: Bearing  52.0,  64.8 (Local)

2025-08-09T17:06:00.980Z,1754759160.980 [DAT](INFO): Local bearing/azimuth received:
 Bearing  52.0,  64.8 (Local)

2025-08-09T17:06:00.984Z,1754759160.984 [DAT](INFO): DAT read: Range 11 to 50 : 123.0 m  (Round-trip  164.0 ms) speed -0.5 m/s

2025-08-09T17:06:00.985Z,1754759160.985 [DAT](INFO): DAT read: user:362>

2025-08-09T17:06:00.986Z,1754759160.986 [DAT](INFO): DAT read: Tx time:17:06:00.5408

2025-08-09T17:06:00.991Z,1754759160.991 [DAT](INFO): Ping request sent.
2025-08-09T17:06:00.992Z,1754759160.992 [DAT](INFO): transmitted an acoustic signal
2025-08-09T17:06:00.993Z,1754759160.993 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-09T17:06:00.994Z,1754759160.994 [DAT](INFO): direction in FSK: [-0.564953,0.825093,0.006981]
2025-08-09T17:06:00.994Z,1754759160.994 [DAT](INFO): publishing transmit ping time
2025-08-09T17:06:00.998Z,1754759160.998 [DAT](INFO): publishing direction and range info
2025-08-09T17:06:01.001Z,1754759161.001 [DAT](INFO): publishing transmit ping time
2025-08-09T17:06:01.002Z,1754759161.002 [DAT](INFO): publishing direction and range info
2025-08-09T17:06:01.309Z,1754759161.309 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 123.000000 m,
      deltaT: 3.528138 s,
      deltaX: 1.699997 m,
      approachRate: 0.481840 m/s,
      rangeRepo size: 4

2025-08-09T17:06:01.311Z,1754759161.311 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 123.000000 m,
      bearing: 216.809989 deg,
      lat: 36.906205 deg,
      lon: -122.116041 deg,
      deltaT: 3.528138 s,
      deltaX: 1.699997 m,
      approachRate: 0.481840 m/s,
      posRepo size: 4

2025-08-09T17:06:01.312Z,1754759161.312 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 123.00 m.
2025-08-09T17:06:01.331Z,1754759161.331 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 123.000000 m,
      nav range: 122.218636 m,
      bearing: 216.809989 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.196144 deg/s,
      cmd heading: 213.247658 deg,
      new cmd heading: 213.488991 deg.

2025-08-09T17:06:01.703Z,1754759161.703 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 123.00 m.
2025-08-09T17:06:01.711Z,1754759161.711 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 123.000000 m,
      nav range: 122.385246 m,
      bearing: 216.887720 deg,
      approach rate: 0.422960 m/s,
      LOS rate: 0.197060 deg/s,
      cmd heading: 213.488996 deg,
      new cmd heading: 213.721870 deg.

2025-08-09T17:06:02.124Z,1754759162.124 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 123.00 m.
2025-08-09T17:06:02.127Z,1754759162.127 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 123.000000 m,
      nav range: 122.564117 m,
      bearing: 216.974044 deg,
      approach rate: 0.424217 m/s,
      LOS rate: 0.204432 deg/s,
      cmd heading: 213.721865 deg,
      new cmd heading: 213.980459 deg.

2025-08-09T17:06:02.497Z,1754759162.497 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-09T17:06:02.499Z,1754759162.499 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 123.00 m.
2025-08-09T17:06:02.502Z,1754759162.502 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 123.000000 m,
      nav range: 122.716148 m,
      bearing: 217.049871 deg,
      approach rate: 0.404941 m/s,
      LOS rate: 0.201717 deg/s,
      cmd heading: 213.980456 deg,
      new cmd heading: 214.207653 deg.

2025-08-09T17:06:02.736Z,1754759162.736 [DAT](INFO): ****** received valid address query ******
2025-08-09T17:06:02.736Z,1754759162.736 [DAT](INFO): ****** received valid ping request ******
2025-08-09T17:06:02.736Z,1754759162.736 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-09T17:06:02.945Z,1754759162.945 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 123.00 m.
2025-08-09T17:06:02.948Z,1754759162.948 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 123.000000 m,
      nav range: 122.894226 m,
      bearing: 217.139704 deg,
      approach rate: 0.399551 m/s,
      LOS rate: 0.201264 deg/s,
      cmd heading: 214.207655 deg,
      new cmd heading: 214.476760 deg.

2025-08-09T17:06:02.988Z,1754759162.988 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.996720
2025-08-09T17:06:03.239Z,1754759163.239 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.248299
2025-08-09T17:06:03.322Z,1754759163.322 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 123.00 m.
2025-08-09T17:06:03.325Z,1754759163.325 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 123.000000 m,
      nav range: 123.030769 m,
      bearing: 217.213699 deg,
      approach rate: 0.365830 m/s,
      LOS rate: 0.198031 deg/s,
      cmd heading: 214.476765 deg,
      new cmd heading: 214.698504 deg.

2025-08-09T17:06:03.492Z,1754759163.492 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.501347
2025-08-09T17:06:03.747Z,1754759163.747 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.755633
2025-08-09T17:06:03.868Z,1754759163.868 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 123.00 m.
2025-08-09T17:06:03.876Z,1754759163.876 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 123.000000 m,
      nav range: 123.234123 m,
      bearing: 217.331107 deg,
      approach rate: 0.370337 m/s,
      LOS rate: 0.213463 deg/s,
      cmd heading: 214.698500 deg,
      new cmd heading: 215.050136 deg.

2025-08-09T17:06:03.996Z,1754759163.996 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.005020
2025-08-09T17:06:04.156Z,1754759164.156 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 123.00 m.
2025-08-09T17:06:04.158Z,1754759164.158 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 123.000000 m,
      nav range: 123.348610 m,
      bearing: 217.399466 deg,
      approach rate: 0.397253 m/s,
      LOS rate: 0.236979 deg/s,
      cmd heading: 215.050132 deg,
      new cmd heading: 215.255020 deg.

2025-08-09T17:06:04.247Z,1754759164.247 [DAT](INFO): DAT read: Rx Time:17:06:03.1110

2025-08-09T17:06:04.248Z,1754759164.248 [DAT](INFO): Rx dataTimestamp_ set to:1754759164.247584
2025-08-09T17:06:04.248Z,1754759164.248 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.257403
2025-08-09T17:06:04.500Z,1754759164.500 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.508558
2025-08-09T17:06:04.567Z,1754759164.567 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-09T17:06:04.569Z,1754759164.569 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 123.00 m.
2025-08-09T17:06:04.572Z,1754759164.572 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 123.000000 m,
      nav range: 123.496971 m,
      bearing: 217.491249 deg,
      approach rate: 0.358764 m/s,
      LOS rate: 0.221680 deg/s,
      cmd heading: 215.255024 deg,
      new cmd heading: 215.530038 deg.

2025-08-09T17:06:04.768Z,1754759164.768 [DAT](INFO): DAT read: 17:06:03.1110 LVL= 26192, 28049, 31890, 28467, AGC= 66, IDX= 449,-0.46, 1.617, 1.282,-0.226, 0.987, PHS= 0.732, 0.340,-1.257, RAW=  40.7,   2.1, CAL=  41.1,   0.5, ROT= 108.9,  -0.5

2025-08-09T17:06:04.769Z,1754759164.769 [DAT](INFO): got valid direction response:
 17:06:03.1110 LVL= 26192, 28049, 31890, 28467, AGC= 66, IDX= 449,-0.46, 1.617, 1.282,-0.226, 0.987, PHS= 0.732, 0.340,-1.257, RAW=  40.7,   2.1, CAL=  41.1,   0.5, ROT= 108.9,  -0.5

2025-08-09T17:06:04.773Z,1754759164.773 [DAT](INFO): DAT read: Bearing  73.6,  79.2 (Local)

2025-08-09T17:06:04.775Z,1754759164.775 [DAT](INFO): Local bearing/azimuth received:
 Bearing  73.6,  79.2 (Local)

2025-08-09T17:06:04.790Z,1754759164.790 [DAT](INFO): DAT read: Range 11 to 50 : 124.5 m  (Round-trip  166.1 ms) speed -0.3 m/s

2025-08-09T17:06:04.797Z,1754759164.797 [DAT](INFO): DAT read: user:363>

2025-08-09T17:06:04.820Z,1754759164.820 [DAT](INFO): DAT read: Tx time:17:06:04.2408

2025-08-09T17:06:04.821Z,1754759164.821 [DAT](INFO): Ping request sent.
2025-08-09T17:06:04.822Z,1754759164.822 [DAT](INFO): transmitted an acoustic signal
2025-08-09T17:06:04.828Z,1754759164.828 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-09T17:06:04.836Z,1754759164.836 [DAT](INFO): direction in FSK: [-0.323905,0.946049,0.008727]
2025-08-09T17:06:04.836Z,1754759164.836 [DAT](INFO): publishing transmit ping time
2025-08-09T17:06:04.837Z,1754759164.837 [DAT](INFO): publishing direction and range info
2025-08-09T17:06:04.846Z,1754759164.846 [DAT](INFO): publishing transmit ping time
2025-08-09T17:06:04.846Z,1754759164.846 [DAT](INFO): publishing direction and range info
2025-08-09T17:06:05.049Z,1754759165.049 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 124.500000 m,
      deltaT: 3.788257 s,
      deltaX: 1.500000 m,
      approachRate: 0.395960 m/s,
      rangeRepo size: 4

2025-08-09T17:06:05.055Z,1754759165.055 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 124.500000 m,
      bearing: 217.593866 deg,
      lat: 36.906205 deg,
      lon: -122.116041 deg,
      deltaT: 3.788257 s,
      deltaX: 1.500000 m,
      approachRate: 0.395960 m/s,
      posRepo size: 4

2025-08-09T17:06:05.056Z,1754759165.056 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 124.50 m.
2025-08-09T17:06:05.062Z,1754759165.062 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 124.500000 m,
      nav range: 123.658836 m,
      bearing: 217.593866 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.221680 deg/s,
      cmd heading: 215.530034 deg,
      new cmd heading: 215.848460 deg.

2025-08-09T17:06:05.393Z,1754759165.393 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 124.50 m.
2025-08-09T17:06:05.396Z,1754759165.396 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 124.500000 m,
      nav range: 123.778595 m,
      bearing: 217.675788 deg,
      approach rate: 0.347018 m/s,
      LOS rate: 0.237152 deg/s,
      cmd heading: 215.848458 deg,
      new cmd heading: 216.093985 deg.

2025-08-09T17:06:05.937Z,1754759165.937 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 124.50 m.
2025-08-09T17:06:05.940Z,1754759165.940 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 124.500000 m,
      nav range: 123.952141 m,
      bearing: 217.798878 deg,
      approach rate: 0.318757 m/s,
      LOS rate: 0.225766 deg/s,
      cmd heading: 216.093989 deg,
      new cmd heading: 216.462736 deg.

2025-08-09T17:06:06.314Z,1754759166.314 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 124.50 m.
2025-08-09T17:06:06.320Z,1754759166.320 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 124.500000 m,
      nav range: 124.070511 m,
      bearing: 217.886018 deg,
      approach rate: 0.314793 m/s,
      LOS rate: 0.231518 deg/s,
      cmd heading: 216.462738 deg,
      new cmd heading: 216.723905 deg.

2025-08-09T17:06:06.705Z,1754759166.705 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-09T17:06:06.709Z,1754759166.709 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 124.50 m.
2025-08-09T17:06:06.713Z,1754759166.713 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 124.500000 m,
      nav range: 124.191658 m,
      bearing: 217.978703 deg,
      approach rate: 0.306992 m/s,
      LOS rate: 0.234638 deg/s,
      cmd heading: 216.723910 deg,
      new cmd heading: 217.001691 deg.

2025-08-09T17:06:06.784Z,1754759166.784 [DAT](INFO): ****** received valid address query ******
2025-08-09T17:06:06.784Z,1754759166.784 [DAT](INFO): ****** received valid ping request ******
2025-08-09T17:06:06.785Z,1754759166.785 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-09T17:06:07.035Z,1754759167.035 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.213961
2025-08-09T17:06:07.133Z,1754759167.133 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 124.50 m.
2025-08-09T17:06:07.136Z,1754759167.136 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 124.500000 m,
      nav range: 124.318924 m,
      bearing: 218.086200 deg,
      approach rate: 0.299473 m/s,
      LOS rate: 0.252695 deg/s,
      cmd heading: 217.001694 deg,
      new cmd heading: 217.323851 deg.

2025-08-09T17:06:07.287Z,1754759167.287 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.465950
2025-08-09T17:06:07.497Z,1754759167.497 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 124.50 m.
2025-08-09T17:06:07.500Z,1754759167.500 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 124.500000 m,
      nav range: 124.418694 m,
      bearing: 218.178429 deg,
      approach rate: 0.274186 m/s,
      LOS rate: 0.253261 deg/s,
      cmd heading: 217.323847 deg,
      new cmd heading: 217.600312 deg.

2025-08-09T17:06:07.540Z,1754759167.540 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.718173
2025-08-09T17:06:07.792Z,1754759167.792 [DAT](INFO): DAT read: Rx Time:17:06:06.8121

2025-08-09T17:06:07.792Z,1754759167.792 [DAT](INFO): Rx dataTimestamp_ set to:1754759167.792071
2025-08-09T17:06:07.793Z,1754759167.793 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.971586
2025-08-09T17:06:07.950Z,1754759167.950 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 124.50 m.
2025-08-09T17:06:07.953Z,1754759167.953 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 124.500000 m,
      nav range: 124.535759 m,
      bearing: 218.292227 deg,
      approach rate: 0.265269 m/s,
      LOS rate: 0.257621 deg/s,
      cmd heading: 217.600306 deg,
      new cmd heading: 217.941373 deg.

2025-08-09T17:06:08.043Z,1754759168.043 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.221970
2025-08-09T17:06:08.295Z,1754759168.295 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.474036
2025-08-09T17:06:08.389Z,1754759168.389 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 124.50 m.
2025-08-09T17:06:08.396Z,1754759168.396 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 124.500000 m,
      nav range: 124.648453 m,
      bearing: 218.406836 deg,
      approach rate: 0.250242 m/s,
      LOS rate: 0.254264 deg/s,
      cmd heading: 217.941378 deg,
      new cmd heading: 218.284889 deg.

2025-08-09T17:06:08.555Z,1754759168.555 [DAT](INFO): DAT read: 17:06:06.8121 LVL= 21488, 25185, 29394, 32755, AGC= 67, IDX= 445, 0.38,-2.768, 3.013, 1.609, 2.854, PHS= 0.763, 0.204,-1.289, RAW=  45.3,   3.5, CAL=  45.1,   2.1, ROT= 104.9,  -2.1

2025-08-09T17:06:08.556Z,1754759168.556 [DAT](INFO): got valid direction response:
 17:06:06.8121 LVL= 21488, 25185, 29394, 32755, AGC= 67, IDX= 445, 0.38,-2.768, 3.013, 1.609, 2.854, PHS= 0.763, 0.204,-1.289, RAW=  45.3,   3.5, CAL=  45.1,   2.1, ROT= 104.9,  -2.1

2025-08-09T17:06:08.557Z,1754759168.557 [DAT](INFO): DAT read: Bearing  77.4,  82.6 (Local)

2025-08-09T17:06:08.557Z,1754759168.557 [DAT](INFO): Local bearing/azimuth received:
 Bearing  77.4,  82.6 (Local)

2025-08-09T17:06:08.559Z,1754759168.559 [DAT](INFO): DAT read: Range 11 to 50 : 125.4 m  (Round-trip  167.2 ms) speed  0.0 m/s

2025-08-09T17:06:08.560Z,1754759168.560 [DAT](INFO): DAT read: user:364>

2025-08-09T17:06:08.560Z,1754759168.560 [DAT](INFO): DAT read: Tx time:17:06:07.9407

2025-08-09T17:06:08.560Z,1754759168.560 [DAT](INFO): Ping request sent.
2025-08-09T17:06:08.561Z,1754759168.561 [DAT](INFO): transmitted an acoustic signal
2025-08-09T17:06:08.561Z,1754759168.561 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-09T17:06:08.562Z,1754759168.562 [DAT](INFO): direction in FSK: [-0.256960,0.965727,0.036644]
2025-08-09T17:06:08.562Z,1754759168.562 [DAT](INFO): publishing transmit ping time
2025-08-09T17:06:08.562Z,1754759168.562 [DAT](INFO): publishing direction and range info
2025-08-09T17:06:08.565Z,1754759168.565 [DAT](INFO): publishing transmit ping time
2025-08-09T17:06:08.566Z,1754759168.566 [DAT](INFO): publishing direction and range info
2025-08-09T17:06:08.975Z,1754759168.975 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 125.400002 m,
      deltaT: 3.788826 s,
      deltaX: 0.900002 m,
      approachRate: 0.237541 m/s,
      rangeRepo size: 4

2025-08-09T17:06:08.977Z,1754759168.977 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 125.400002 m,
      bearing: 213.896305 deg,
      lat: 36.906157 deg,
      lon: -122.115944 deg,
      deltaT: 3.788826 s,
      deltaX: 0.900002 m,
      approachRate: 0.237541 m/s,
      posRepo size: 4

2025-08-09T17:06:08.978Z,1754759168.978 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 125.40 m.
2025-08-09T17:06:08.985Z,1754759168.985 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 125.400002 m,
      nav range: 123.957664 m,
      bearing: 213.896305 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.254264 deg/s,
      cmd heading: 218.284896 deg,
      new cmd heading: 218.728454 deg.

2025-08-09T17:06:09.449Z,1754759169.449 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-09T17:06:09.451Z,1754759169.451 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 125.40 m.
2025-08-09T17:06:09.454Z,1754759169.454 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 125.400002 m,
      nav range: 124.051064 m,
      bearing: 214.035246 deg,
      approach rate: 0.194088 m/s,
      LOS rate: 0.288509 deg/s,
      cmd heading: 218.728448 deg,
      new cmd heading: 219.144949 deg.

2025-08-09T17:06:09.555Z,1754759169.555 [DAT](INFO): ****** received valid address query ******
2025-08-09T17:06:09.555Z,1754759169.555 [DAT](INFO): ****** received valid ping request ******
2025-08-09T17:06:09.555Z,1754759169.555 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-09T17:06:09.808Z,1754759169.808 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.247683
2025-08-09T17:06:09.945Z,1754759169.945 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 125.40 m.
2025-08-09T17:06:09.965Z,1754759169.965 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 125.400002 m,
      nav range: 124.134590 m,
      bearing: 214.168978 deg,
      approach rate: 0.169067 m/s,
      LOS rate: 0.270506 deg/s,
      cmd heading: 219.144953 deg,
      new cmd heading: 219.545872 deg.

2025-08-09T17:06:10.059Z,1754759170.059 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.498759
2025-08-09T17:06:10.319Z,1754759170.319 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.758671
2025-08-09T17:06:10.332Z,1754759170.332 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 125.40 m.
2025-08-09T17:06:10.339Z,1754759170.339 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 125.400002 m,
      nav range: 124.193764 m,
      bearing: 214.269656 deg,
      approach rate: 0.153132 m/s,
      LOS rate: 0.260415 deg/s,
      cmd heading: 219.545871 deg,
      new cmd heading: 219.847759 deg.

2025-08-09T17:06:10.571Z,1754759170.571 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.010616
2025-08-09T17:06:10.741Z,1754759170.741 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 125.40 m.
2025-08-09T17:06:10.744Z,1754759170.744 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 125.400002 m,
      nav range: 124.255066 m,
      bearing: 214.381095 deg,
      approach rate: 0.149907 m/s,
      LOS rate: 0.272375 deg/s,
      cmd heading: 219.847766 deg,
      new cmd heading: 220.181913 deg.

2025-08-09T17:06:10.828Z,1754759170.828 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.267536
2025-08-09T17:06:11.079Z,1754759171.079 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518608
2025-08-09T17:06:11.147Z,1754759171.147 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 125.40 m.
2025-08-09T17:06:11.150Z,1754759171.150 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 125.400002 m,
      nav range: 124.314499 m,
      bearing: 214.496489 deg,
      approach rate: 0.146279 m/s,
      LOS rate: 0.283878 deg/s,
      cmd heading: 220.181912 deg,
      new cmd heading: 220.527925 deg.

2025-08-09T17:06:11.332Z,1754759171.332 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.771727
2025-08-09T17:06:11.527Z,1754759171.527 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-09T17:06:11.529Z,1754759171.529 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 125.40 m.
2025-08-09T17:06:11.532Z,1754759171.532 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 125.400002 m,
      nav range: 124.364647 m,
      bearing: 214.601546 deg,
      approach rate: 0.131168 m/s,
      LOS rate: 0.274678 deg/s,
      cmd heading: 220.527930 deg,
      new cmd heading: 220.842970 deg.

2025-08-09T17:06:11.584Z,1754759171.584 [DAT](INFO): DAT read: Rx Time:17:06:10.5129

2025-08-09T17:06:11.585Z,1754759171.585 [DAT](INFO): Rx dataTimestamp_ set to:1754759171.584365
2025-08-09T17:06:11.586Z,1754759171.586 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.024899
2025-08-09T17:06:11.835Z,1754759171.835 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274676
2025-08-09T17:06:11.972Z,1754759171.972 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 125.40 m.
2025-08-09T17:06:11.975Z,1754759171.975 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 125.400002 m,
      nav range: 124.410995 m,
      bearing: 214.719489 deg,
      approach rate: 0.104753 m/s,
      LOS rate: 0.266465 deg/s,
      cmd heading: 220.842965 deg,
      new cmd heading: 221.196658 deg.

2025-08-09T17:06:12.096Z,1754759172.096 [DAT](INFO): DAT read: 17:06:10.5129 LVL= 20016, 26081, 29122, 29667, AGC= 67, IDX= 454, 0.30,-2.740, 2.857, 1.642, 2.856, PHS= 0.788, 0.046,-1.258, RAW=  51.0,   4.8, CAL=  50.3,   3.5, ROT=  99.7,  -3.5

2025-08-09T17:06:12.097Z,1754759172.097 [DAT](INFO): got valid direction response:
 17:06:10.5129 LVL= 20016, 26081, 29122, 29667, AGC= 67, IDX= 454, 0.30,-2.740, 2.857, 1.642, 2.856, PHS= 0.788, 0.046,-1.258, RAW=  51.0,   4.8, CAL=  50.3,   3.5, ROT=  99.7,  -3.5

2025-08-09T17:06:12.098Z,1754759172.098 [DAT](INFO): DAT read: Bearing  68.1,  86.3 (Local)

2025-08-09T17:06:12.098Z,1754759172.098 [DAT](INFO): Local bearing/azimuth received:
 Bearing  68.1,  86.3 (Local)

2025-08-09T17:06:12.100Z,1754759172.100 [DAT](INFO): DAT read: Range 11 to 50 : 126.0 m  (Round-trip  168.1 ms) speed  0.0 m/s

2025-08-09T17:06:12.100Z,1754759172.100 [DAT](INFO): DAT read: user:365>

2025-08-09T17:06:12.101Z,1754759172.101 [DAT](INFO): DAT read: Tx time:17:06:11.6407

2025-08-09T17:06:12.101Z,1754759172.101 [DAT](INFO): Ping request sent.
2025-08-09T17:06:12.101Z,1754759172.101 [DAT](INFO): transmitted an acoustic signal
2025-08-09T17:06:12.102Z,1754759172.102 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-09T17:06:12.103Z,1754759172.103 [DAT](INFO): direction in FSK: [-0.168175,0.983865,0.061049]
2025-08-09T17:06:12.103Z,1754759172.103 [DAT](INFO): publishing transmit ping time
2025-08-09T17:06:12.103Z,1754759172.103 [DAT](INFO): publishing direction and range info
2025-08-09T17:06:12.107Z,1754759172.107 [DAT](INFO): publishing transmit ping time
2025-08-09T17:06:12.107Z,1754759172.107 [DAT](INFO): publishing direction and range info
2025-08-09T17:06:12.357Z,1754759172.357 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 126.000000 m,
      deltaT: 3.540074 s,
      deltaX: 0.599998 m,
      approachRate: 0.169488 m/s,
      rangeRepo size: 4

2025-08-09T17:06:12.363Z,1754759172.363 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 126.000000 m,
      bearing: 214.817932 deg,
      lat: 36.906157 deg,
      lon: -122.115944 deg,
      deltaT: 3.540074 s,
      deltaX: 0.599998 m,
      approachRate: 0.169488 m/s,
      posRepo size: 4

2025-08-09T17:06:12.363Z,1754759172.363 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 126.00 m.
2025-08-09T17:06:12.370Z,1754759172.370 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 126.000000 m,
      nav range: 124.445946 m,
      bearing: 214.817932 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.266465 deg/s,
      cmd heading: 221.196660 deg,
      new cmd heading: 221.503614 deg.

2025-08-09T17:06:12.752Z,1754759172.752 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 126.00 m.
2025-08-09T17:06:12.755Z,1754759172.755 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 126.000000 m,
      nav range: 124.479805 m,
      bearing: 214.924316 deg,
      approach rate: 0.085520 m/s,
      LOS rate: 0.268625 deg/s,
      cmd heading: 221.503609 deg,
      new cmd heading: 221.822669 deg.

2025-08-09T17:06:13.169Z,1754759173.169 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 126.00 m.
2025-08-09T17:06:13.176Z,1754759173.176 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 126.000000 m,
      nav range: 124.511780 m,
      bearing: 215.037953 deg,
      approach rate: 0.076726 m/s,
      LOS rate: 0.272609 deg/s,
      cmd heading: 221.822674 deg,
      new cmd heading: 222.163493 deg.

2025-08-09T17:06:13.548Z,1754759173.548 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-09T17:06:13.551Z,1754759173.551 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 126.00 m.
2025-08-09T17:06:13.553Z,1754759173.553 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 126.000000 m,
      nav range: 124.536331 m,
      bearing: 215.138611 deg,
      approach rate: 0.064296 m/s,
      LOS rate: 0.263554 deg/s,
      cmd heading: 222.163487 deg,
      new cmd heading: 222.465398 deg.

2025-08-09T17:06:13.600Z,1754759173.600 [DAT](INFO): ****** received valid address query ******
2025-08-09T17:06:13.600Z,1754759173.600 [DAT](INFO): ****** received valid ping request ******
2025-08-09T17:06:13.600Z,1754759173.600 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-09T17:06:13.852Z,1754759173.852 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.750724
2025-08-09T17:06:14.070Z,1754759174.070 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 126.00 m.
2025-08-09T17:06:14.073Z,1754759174.073 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 126.000000 m,
      nav range: 124.566132 m,
      bearing: 215.275008 deg,
      approach rate: 0.057391 m/s,
      LOS rate: 0.262619 deg/s,
      cmd heading: 222.465395 deg,
      new cmd heading: 222.874481 deg.

2025-08-09T17:06:14.103Z,1754759174.103 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.002056
2025-08-09T17:06:14.355Z,1754759174.355 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.254100
2025-08-09T17:06:14.444Z,1754759174.444 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 126.00 m.
2025-08-09T17:06:14.447Z,1754759174.447 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 126.000000 m,
      nav range: 124.584206 m,
      bearing: 215.373381 deg,
      approach rate: 0.048309 m/s,
      LOS rate: 0.262899 deg/s,
      cmd heading: 222.874482 deg,
      new cmd heading: 223.169557 deg.

2025-08-09T17:06:14.607Z,1754759174.607 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.506080
2025-08-09T17:06:14.860Z,1754759174.860 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.758444
2025-08-09T17:06:14.885Z,1754759174.885 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 126.00 m.
2025-08-09T17:06:14.892Z,1754759174.892 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 126.000000 m,
      nav range: 124.600296 m,
      bearing: 215.482355 deg,
      approach rate: 0.036441 m/s,
      LOS rate: 0.246766 deg/s,
      cmd heading: 223.169560 deg,
      new cmd heading: 223.496435 deg.

2025-08-09T17:06:15.112Z,1754759175.112 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.010206
2025-08-09T17:06:15.363Z,1754759175.363 [DAT](INFO): DAT read: Rx Time:17:06:14.2132

2025-08-09T17:06:15.364Z,1754759175.364 [DAT](INFO): Rx dataTimestamp_ set to:1754759175.363589
2025-08-09T17:06:15.364Z,1754759175.364 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.263112
2025-08-09T17:06:15.484Z,1754759175.484 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 126.00 m.
2025-08-09T17:06:15.487Z,1754759175.487 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 126.000000 m,
      nav range: 124.611809 m,
      bearing: 215.643098 deg,
      approach rate: 0.019235 m/s,
      LOS rate: 0.268543 deg/s,
      cmd heading: 223.496439 deg,
      new cmd heading: 223.978613 deg.

2025-08-09T17:06:15.615Z,1754759175.615 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.513890
2025-08-09T17:06:15.877Z,1754759175.877 [DAT](INFO): DAT read: 17:06:14.2132 LVL= 19488, 23985, 25794, 28227, AGC= 68, IDX= 441, 0.07,-1.005,-2.059,-2.971,-1.778, PHS= 0.875,-0.236,-1.238, RAW=  61.7,   6.6, CAL=  60.3,   6.8, ROT=  89.7,  -6.8

2025-08-09T17:06:15.878Z,1754759175.878 [DAT](INFO): got valid direction response:
 17:06:14.2132 LVL= 19488, 23985, 25794, 28227, AGC= 68, IDX= 441, 0.07,-1.005,-2.059,-2.971,-1.778, PHS= 0.875,-0.236,-1.238, RAW=  61.7,   6.6, CAL=  60.3,   6.8, ROT=  89.7,  -6.8

2025-08-09T17:06:15.879Z,1754759175.879 [DAT](INFO): DAT read: Bearing 302.2,  84.0 (Local)

2025-08-09T17:06:15.879Z,1754759175.879 [DAT](INFO): Local bearing/azimuth received:
 Bearing 302.2,  84.0 (Local)

2025-08-09T17:06:15.880Z,1754759175.880 [DAT](INFO): DAT read: Range 11 to 50 : 126.3 m  (Round-trip  168.4 ms) speed  0.0 m/s

2025-08-09T17:06:15.881Z,1754759175.881 [DAT](INFO): DAT read: user:366>

2025-08-09T17:06:15.882Z,1754759175.882 [DAT](INFO): DAT read: Tx time:17:06:15.3407

2025-08-09T17:06:15.886Z,1754759175.886 [DAT](INFO): Ping request sent.
2025-08-09T17:06:15.887Z,1754759175.887 [DAT](INFO): transmitted an acoustic signal
2025-08-09T17:06:15.887Z,1754759175.887 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-09T17:06:15.888Z,1754759175.888 [DAT](INFO): direction in FSK: [0.005199,0.992952,0.118404]
2025-08-09T17:06:15.888Z,1754759175.888 [DAT](INFO): publishing transmit ping time
2025-08-09T17:06:15.888Z,1754759175.888 [DAT](INFO): publishing direction and range info
2025-08-09T17:06:15.891Z,1754759175.891 [DAT](INFO): publishing transmit ping time
2025-08-09T17:06:15.892Z,1754759175.892 [DAT](INFO): publishing direction and range info
2025-08-09T17:06:16.013Z,1754759176.013 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 126.300003 m,
      deltaT: 3.779976 s,
      deltaX: 0.300003 m,
      approachRate: 0.079366 m/s,
      rangeRepo size: 4

2025-08-09T17:06:16.023Z,1754759176.023 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 126.300003 m,
      bearing: 215.763563 deg,
      lat: 36.906157 deg,
      lon: -122.115944 deg,
      deltaT: 3.779976 s,
      deltaX: 0.300003 m,
      approachRate: 0.079366 m/s,
      posRepo size: 4

2025-08-09T17:06:16.024Z,1754759176.024 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 126.30 m.
2025-08-09T17:06:16.038Z,1754759176.038 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 126.300003 m,
      nav range: 124.616074 m,
      bearing: 215.763563 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.268543 deg/s,
      cmd heading: 223.978610 deg,
      new cmd heading: 224.404144 deg.

2025-08-09T17:06:16.521Z,1754759176.521 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-09T17:06:16.523Z,1754759176.523 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 126.30 m.
2025-08-09T17:06:16.526Z,1754759176.526 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 126.300003 m,
      nav range: 124.610878 m,
      bearing: 215.919938 deg,
      approach rate: -0.010164 m/s,
      LOS rate: 0.305922 deg/s,
      cmd heading: 224.404144 deg,
      new cmd heading: 224.873277 deg.

2025-08-09T17:06:16.623Z,1754759176.623 [DAT](INFO): ****** received valid address query ******
2025-08-09T17:06:16.623Z,1754759176.623 [DAT](INFO): ****** received valid ping request ******
2025-08-09T17:06:16.624Z,1754759176.624 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-09T17:06:16.876Z,1754759176.876 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.989480
2025-08-09T17:06:16.909Z,1754759176.909 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 126.30 m.
2025-08-09T17:06:16.912Z,1754759176.912 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 126.300003 m,
      nav range: 124.603737 m,
      bearing: 216.021798 deg,
      approach rate: -0.018511 m/s,
      LOS rate: 0.264053 deg/s,
      cmd heading: 224.873282 deg,
      new cmd heading: 225.178875 deg.

2025-08-09T17:06:17.127Z,1754759177.127 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.240716
2025-08-09T17:06:17.315Z,1754759177.315 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 126.30 m.
2025-08-09T17:06:17.318Z,1754759177.318 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 126.300003 m,
      nav range: 124.596458 m,
      bearing: 216.129674 deg,
      approach rate: -0.017919 m/s,
      LOS rate: 0.265594 deg/s,
      cmd heading: 225.178879 deg,
      new cmd heading: 225.502522 deg.

2025-08-09T17:06:17.380Z,1754759177.380 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.493533
2025-08-09T17:06:17.635Z,1754759177.635 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.747939
2025-08-09T17:06:17.718Z,1754759177.718 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 126.30 m.
2025-08-09T17:06:17.721Z,1754759177.721 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 126.300003 m,
      nav range: 124.585350 m,
      bearing: 216.236617 deg,
      approach rate: -0.027587 m/s,
      LOS rate: 0.265606 deg/s,
      cmd heading: 225.502520 deg,
      new cmd heading: 225.823374 deg.

2025-08-09T17:06:17.883Z,1754759177.883 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.996684
2025-08-09T17:06:18.129Z,1754759178.129 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 126.30 m.
2025-08-09T17:06:18.132Z,1754759178.132 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 126.300003 m,
      nav range: 124.577278 m,
      bearing: 216.331687 deg,
      approach rate: -0.019620 m/s,
      LOS rate: 0.231100 deg/s,
      cmd heading: 225.823375 deg,
      new cmd heading: 226.108601 deg.

2025-08-09T17:06:18.135Z,1754759178.135 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.248824
2025-08-09T17:06:18.387Z,1754759178.387 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.500689
2025-08-09T17:06:18.509Z,1754759178.509 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 126.30 m.
2025-08-09T17:06:18.512Z,1754759178.512 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 126.300003 m,
      nav range: 124.566559 m,
      bearing: 216.419503 deg,
      approach rate: -0.028205 m/s,
      LOS rate: 0.231083 deg/s,
      cmd heading: 226.108604 deg,
      new cmd heading: 226.372072 deg.

2025-08-09T17:06:18.639Z,1754759178.639 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.752702
2025-08-09T17:06:18.891Z,1754759178.891 [DAT](INFO): DAT read: Rx Time:17:06:17.9132

2025-08-09T17:06:18.892Z,1754759178.892 [DAT](INFO): Rx dataTimestamp_ set to:1754759178.891637
2025-08-09T17:06:18.892Z,1754759178.892 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.005909
2025-08-09T17:06:18.945Z,1754759178.945 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-09T17:06:18.948Z,1754759178.948 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 126.30 m.
2025-08-09T17:06:18.951Z,1754759178.951 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 126.300003 m,
      nav range: 124.554558 m,
      bearing: 216.520764 deg,
      approach rate: -0.027368 m/s,
      LOS rate: 0.230948 deg/s,
      cmd heading: 226.372072 deg,
      new cmd heading: 226.675882 deg.

2025-08-09T17:06:19.143Z,1754759179.143 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.256755
2025-08-09T17:06:19.339Z,1754759179.339 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 126.30 m.
2025-08-09T17:06:19.341Z,1754759179.341 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 126.300003 m,
      nav range: 124.533585 m,
      bearing: 216.622681 deg,
      approach rate: -0.053706 m/s,
      LOS rate: 0.261023 deg/s,
      cmd heading: 226.675879 deg,
      new cmd heading: 226.981679 deg.

2025-08-09T17:06:19.395Z,1754759179.395 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.508828
2025-08-09T17:06:19.653Z,1754759179.653 [DAT](INFO): DAT read: 17:06:17.9132 LVL= 17392, 22257, 25058, 26179, AGC= 66, IDX= 441,-0.35, 1.589, 0.234,-0.183, 0.890, PHS= 0.801,-0.611,-1.117, RAW=  75.3,  10.8, CAL=  74.4,  13.6, ROT=  75.6, -13.6

2025-08-09T17:06:19.658Z,1754759179.658 [DAT](INFO): got valid direction response:
 17:06:17.9132 LVL= 17392, 22257, 25058, 26179, AGC= 66, IDX= 441,-0.35, 1.589, 0.234,-0.183, 0.890, PHS= 0.801,-0.611,-1.117, RAW=  75.3,  10.8, CAL=  74.4,  13.6, ROT=  75.6, -13.6

2025-08-09T17:06:19.660Z,1754759179.660 [DAT](INFO): DAT read: Bearing 307.3,  70.2 (Local)

2025-08-09T17:06:19.661Z,1754759179.661 [DAT](INFO): Local bearing/azimuth received:
 Bearing 307.3,  70.2 (Local)

2025-08-09T17:06:19.667Z,1754759179.667 [DAT](INFO): DAT read: Range 11 to 50 : 126.3 m  (Round-trip  168.4 ms) speed  0.0 m/s

2025-08-09T17:06:19.668Z,1754759179.668 [DAT](INFO): DAT read: user:367>

2025-08-09T17:06:19.669Z,1754759179.669 [DAT](INFO): DAT read: Tx time:17:06:19.0407

2025-08-09T17:06:19.669Z,1754759179.669 [DAT](INFO): Ping request sent.
2025-08-09T17:06:19.670Z,1754759179.670 [DAT](INFO): transmitted an acoustic signal
2025-08-09T17:06:19.694Z,1754759179.694 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-09T17:06:19.695Z,1754759179.695 [DAT](INFO): direction in FSK: [0.241717,0.941425,0.235142]
2025-08-09T17:06:19.696Z,1754759179.696 [DAT](INFO): publishing transmit ping time
2025-08-09T17:06:19.696Z,1754759179.696 [DAT](INFO): publishing direction and range info
2025-08-09T17:06:19.715Z,1754759179.715 [DAT](INFO): publishing transmit ping time
2025-08-09T17:06:19.715Z,1754759179.715 [DAT](INFO): publishing direction and range info
2025-08-09T17:06:19.785Z,1754759179.785 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 126.300003 m,
      deltaT: 3.778838 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-08-09T17:06:19.788Z,1754759179.788 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 126.300003 m,
      bearing: 216.071513 deg,
      lat: 36.906147 deg,
      lon: -122.115933 deg,
      deltaT: 3.778838 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      posRepo size: 4

2025-08-09T17:06:19.789Z,1754759179.789 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 126.30 m.
2025-08-09T17:06:19.800Z,1754759179.800 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 126.300003 m,
      nav range: 124.814842 m,
      bearing: 216.071513 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.261023 deg/s,
      cmd heading: 226.981680 deg,
      new cmd heading: 227.331219 deg.

2025-08-09T17:06:20.145Z,1754759180.145 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 126.30 m.
2025-08-09T17:06:20.147Z,1754759180.147 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 126.300003 m,
      nav range: 124.783691 m,
      bearing: 216.165870 deg,
      approach rate: -0.086563 m/s,
      LOS rate: 0.262269 deg/s,
      cmd heading: 227.331222 deg,
      new cmd heading: 227.614360 deg.

2025-08-09T17:06:20.540Z,1754759180.540 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 126.30 m.
2025-08-09T17:06:20.543Z,1754759180.543 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 126.300003 m,
      nav range: 124.749153 m,
      bearing: 216.259709 deg,
      approach rate: -0.087309 m/s,
      LOS rate: 0.237281 deg/s,
      cmd heading: 227.614360 deg,
      new cmd heading: 227.895954 deg.

2025-08-09T17:06:20.934Z,1754759180.934 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 126.30 m.
2025-08-09T17:06:20.953Z,1754759180.953 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 126.300003 m,
      nav range: 124.707878 m,
      bearing: 216.361228 deg,
      approach rate: -0.104861 m/s,
      LOS rate: 0.257999 deg/s,
      cmd heading: 227.895955 deg,
      new cmd heading: 228.200609 deg.

2025-08-09T17:06:21.396Z,1754759181.396 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-09T17:06:21.399Z,1754759181.399 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 126.30 m.
2025-08-09T17:06:21.401Z,1754759181.401 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 126.300003 m,
      nav range: 124.664093 m,
      bearing: 216.468552 deg,
      approach rate: -0.094224 m/s,
      LOS rate: 0.231037 deg/s,
      cmd heading: 228.200609 deg,
      new cmd heading: 228.522690 deg.

2025-08-09T17:06:21.411Z,1754759181.411 [DAT](INFO): ****** received valid address query ******
2025-08-09T17:06:21.411Z,1754759181.411 [DAT](INFO): ****** received valid ping request ******
2025-08-09T17:06:21.412Z,1754759181.412 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-09T17:06:21.664Z,1754759181.664 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.994798
2025-08-09T17:06:21.745Z,1754759181.745 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 126.30 m.
2025-08-09T17:06:21.748Z,1754759181.748 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 126.300003 m,
      nav range: 124.621513 m,
      bearing: 216.564079 deg,
      approach rate: -0.122894 m/s,
      LOS rate: 0.275804 deg/s,
      cmd heading: 228.522693 deg,
      new cmd heading: 228.809370 deg.

2025-08-09T17:06:21.915Z,1754759181.915 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.246106
2025-08-09T17:06:22.168Z,1754759182.168 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.498765
2025-08-09T17:06:22.196Z,1754759182.196 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 126.30 m.
2025-08-09T17:06:22.219Z,1754759182.219 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 126.300003 m,
      nav range: 124.569031 m,
      bearing: 216.681752 deg,
      approach rate: -0.116420 m/s,
      LOS rate: 0.261141 deg/s,
      cmd heading: 228.809370 deg,
      new cmd heading: 229.162535 deg.

2025-08-09T17:06:22.419Z,1754759182.419 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.749847
2025-08-09T17:06:22.556Z,1754759182.556 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 126.30 m.
2025-08-09T17:06:22.558Z,1754759182.558 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 126.300003 m,
      nav range: 124.519829 m,
      bearing: 216.775004 deg,
      approach rate: -0.136732 m/s,
      LOS rate: 0.259248 deg/s,
      cmd heading: 229.162532 deg,
      new cmd heading: 229.442394 deg.

2025-08-09T17:06:22.673Z,1754759182.673 [DAT](INFO): DAT read: Rx Time:17:06:21.6128

2025-08-09T17:06:22.674Z,1754759182.674 [DAT](INFO): Rx dataTimestamp_ set to:1754759182.673301
2025-08-09T17:06:22.674Z,1754759182.674 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.004790
2025-08-09T17:06:22.923Z,1754759182.923 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.253812
2025-08-09T17:06:22.957Z,1754759182.957 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 126.30 m.
2025-08-09T17:06:22.968Z,1754759182.968 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 126.300003 m,
      nav range: 124.461052 m,
      bearing: 216.878646 deg,
      approach rate: -0.146392 m/s,
      LOS rate: 0.258258 deg/s,
      cmd heading: 229.442392 deg,
      new cmd heading: 229.753463 deg.

2025-08-09T17:06:23.185Z,1754759183.185 [DAT](INFO): DAT read: 17:06:21.6128 LVL= 17264, 26433, 29106, 26947, AGC= 67, IDX= 437, 0.07,-1.577, 3.017, 2.997,-2.471, PHS= 0.996,-0.750,-0.859, RAW=  87.0,   6.9, CAL=  86.3,   5.5, ROT=  63.7,  -5.5

2025-08-09T17:06:23.189Z,1754759183.189 [DAT](INFO): got valid direction response:
 17:06:21.6128 LVL= 17264, 26433, 29106, 26947, AGC= 67, IDX= 437, 0.07,-1.577, 3.017, 2.997,-2.471, PHS= 0.996,-0.750,-0.859, RAW=  87.0,   6.9, CAL=  86.3,   5.5, ROT=  63.7,  -5.5

2025-08-09T17:06:23.192Z,1754759183.192 [DAT](INFO): DAT read: Bearing 291.6,  62.2 (Local)

2025-08-09T17:06:23.194Z,1754759183.194 [DAT](INFO): Local bearing/azimuth received:
 Bearing 291.6,  62.2 (Local)

2025-08-09T17:06:23.197Z,1754759183.197 [DAT](INFO): DAT read: Range 11 to 50 : 126.0 m  (Round-trip  168.0 ms) speed  0.0 m/s

2025-08-09T17:06:23.216Z,1754759183.216 [DAT](INFO): DAT read: user:368>

2025-08-09T17:06:23.216Z,1754759183.216 [DAT](INFO): DAT read: Tx time:17:06:22.7407

2025-08-09T17:06:23.217Z,1754759183.217 [DAT](INFO): Ping request sent.
2025-08-09T17:06:23.217Z,1754759183.217 [DAT](INFO): transmitted an acoustic signal
2025-08-09T17:06:23.217Z,1754759183.217 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-09T17:06:23.224Z,1754759183.224 [DAT](INFO): direction in FSK: [0.441031,0.892359,0.095846]
2025-08-09T17:06:23.224Z,1754759183.224 [DAT](INFO): publishing transmit ping time
2025-08-09T17:06:23.224Z,1754759183.224 [DAT](INFO): publishing direction and range info
2025-08-09T17:06:23.244Z,1754759183.244 [DAT](INFO): publishing transmit ping time
2025-08-09T17:06:23.245Z,1754759183.245 [DAT](INFO): publishing direction and range info
2025-08-09T17:06:23.431Z,1754759183.431 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 126.000000 m,
      deltaT: 3.528771 s,
      deltaX: -0.300003 m,
      approachRate: -0.085016 m/s,
      rangeRepo size: 4

2025-08-09T17:06:23.433Z,1754759183.433 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 126.000000 m,
      bearing: 217.000066 deg,
      lat: 36.906147 deg,
      lon: -122.115933 deg,
      deltaT: 3.528771 s,
      deltaX: -0.300003 m,
      approachRate: -0.085016 m/s,
      posRepo size: 4

2025-08-09T17:06:23.438Z,1754759183.438 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 126.00 m.
2025-08-09T17:06:23.441Z,1754759183.441 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 126.000000 m,
      nav range: 124.389847 m,
      bearing: 217.000066 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.258258 deg/s,
      cmd heading: 229.753466 deg,
      new cmd heading: 230.117105 deg.

2025-08-09T17:06:23.769Z,1754759183.769 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-09T17:06:23.771Z,1754759183.771 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 126.00 m.
2025-08-09T17:06:23.774Z,1754759183.774 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 126.000000 m,
      nav range: 124.330856 m,
      bearing: 217.094250 deg,
      approach rate: -0.171122 m/s,
      LOS rate: 0.273344 deg/s,
      cmd heading: 230.117105 deg,
      new cmd heading: 230.399790 deg.

2025-08-09T17:06:23.931Z,1754759183.931 [DAT](INFO): ****** received valid address query ******
2025-08-09T17:06:23.931Z,1754759183.931 [DAT](INFO): ****** received valid ping request ******
2025-08-09T17:06:23.931Z,1754759183.931 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-09T17:06:24.184Z,1754759184.184 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.966764
2025-08-09T17:06:24.217Z,1754759184.217 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 126.00 m.
2025-08-09T17:06:24.220Z,1754759184.220 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 126.000000 m,
      nav range: 124.258415 m,
      bearing: 217.209961 deg,
      approach rate: -0.162330 m/s,
      LOS rate: 0.259442 deg/s,
      cmd heading: 230.399793 deg,
      new cmd heading: 230.747123 deg.

2025-08-09T17:06:24.438Z,1754759184.438 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.219993
2025-08-09T17:06:24.581Z,1754759184.581 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 126.00 m.
2025-08-09T17:06:24.584Z,1754759184.584 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 126.000000 m,
      nav range: 124.195976 m,
      bearing: 217.303820 deg,
      approach rate: -0.171751 m/s,
      LOS rate: 0.258307 deg/s,
      cmd heading: 230.747122 deg,
      new cmd heading: 231.028838 deg.

2025-08-09T17:06:24.687Z,1754759184.687 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.470581
2025-08-09T17:06:24.940Z,1754759184.940 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.722673
2025-08-09T17:06:24.998Z,1754759184.998 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 126.00 m.
2025-08-09T17:06:25.004Z,1754759185.004 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 126.000000 m,
      nav range: 124.121811 m,
      bearing: 217.408726 deg,
      approach rate: -0.178004 m/s,
      LOS rate: 0.251936 deg/s,
      cmd heading: 231.028826 deg,
      new cmd heading: 231.343731 deg.

2025-08-09T17:06:25.191Z,1754759185.191 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.974514
2025-08-09T17:06:25.419Z,1754759185.419 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 126.00 m.
2025-08-09T17:06:25.421Z,1754759185.421 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 126.000000 m,
      nav range: 124.032082 m,
      bearing: 217.518790 deg,
      approach rate: -0.213280 m/s,
      LOS rate: 0.261803 deg/s,
      cmd heading: 231.343725 deg,
      new cmd heading: 231.674153 deg.

2025-08-09T17:06:25.443Z,1754759185.443 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.226493
2025-08-09T17:06:25.696Z,1754759185.696 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.478777
2025-08-09T17:06:25.792Z,1754759185.792 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-09T17:06:25.795Z,1754759185.795 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 126.00 m.
2025-08-09T17:06:25.797Z,1754759185.797 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 126.000000 m,
      nav range: 123.950104 m,
      bearing: 217.614494 deg,
      approach rate: -0.218033 m/s,
      LOS rate: 0.254708 deg/s,
      cmd heading: 231.674143 deg,
      new cmd heading: 231.961443 deg.

2025-08-09T17:06:25.947Z,1754759185.947 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.730457
2025-08-09T17:06:26.199Z,1754759186.199 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.982424
2025-08-09T17:06:26.243Z,1754759186.243 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 126.00 m.
2025-08-09T17:06:26.246Z,1754759186.246 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 126.000000 m,
      nav range: 123.855820 m,
      bearing: 217.722593 deg,
      approach rate: -0.210008 m/s,
      LOS rate: 0.240961 deg/s,
      cmd heading: 231.961448 deg,
      new cmd heading: 232.285986 deg.

2025-08-09T17:06:26.452Z,1754759186.452 [DAT](INFO): DAT read: Rx Time:17:06:25.3119

2025-08-09T17:06:26.452Z,1754759186.452 [DAT](INFO): Rx dataTimestamp_ set to:1754759186.451825
2025-08-09T17:06:26.453Z,1754759186.453 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.235786
2025-08-09T17:06:26.596Z,1754759186.596 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 126.00 m.
2025-08-09T17:06:26.599Z,1754759186.599 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 126.000000 m,
      nav range: 123.770554 m,
      bearing: 217.815724 deg,
      approach rate: -0.241798 m/s,
      LOS rate: 0.264283 deg/s,
      cmd heading: 232.285991 deg,
      new cmd heading: 232.565574 deg.

2025-08-09T17:06:26.704Z,1754759186.704 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.486920
2025-08-09T17:06:26.961Z,1754759186.961 [DAT](INFO): DAT read: 17:06:25.3119 LVL= 17648, 25809, 29426, 29907, AGC= 67, IDX= 427,-0.11, 2.824, 1.143, 1.296, 1.950, PHS= 0.976,-0.762,-0.697, RAW=  91.9,   5.7, CAL=  91.4,   4.1, ROT=  58.6,  -4.1

2025-08-09T17:06:26.962Z,1754759186.962 [DAT](INFO): got valid direction response:
 17:06:25.3119 LVL= 17648, 25809, 29426, 29907, AGC= 67, IDX= 427,-0.11, 2.824, 1.143, 1.296, 1.950, PHS= 0.976,-0.762,-0.697, RAW=  91.9,   5.7, CAL=  91.4,   4.1, ROT=  58.6,  -4.1

2025-08-09T17:06:26.963Z,1754759186.963 [DAT](INFO): DAT read: Bearing 298.5,  58.2 (Local)

2025-08-09T17:06:26.963Z,1754759186.963 [DAT](INFO): Local bearing/azimuth received:
 Bearing 298.5,  58.2 (Local)

2025-08-09T17:06:26.965Z,1754759186.965 [DAT](INFO): DAT read: Range 11 to 50 : 125.2 m  (Round-trip  167.0 ms) speed  0.0 m/s

2025-08-09T17:06:26.966Z,1754759186.966 [DAT](INFO): DAT read: user:369>

2025-08-09T17:06:26.978Z,1754759186.978 [DAT](INFO): DAT read: Tx time:17:06:26.4407

2025-08-09T17:06:26.979Z,1754759186.979 [DAT](INFO): Ping request sent.
2025-08-09T17:06:26.979Z,1754759186.979 [DAT](INFO): transmitted an acoustic signal
2025-08-09T17:06:26.979Z,1754759186.979 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-09T17:06:26.980Z,1754759186.980 [DAT](INFO): direction in FSK: [0.519676,0.851366,0.071497]
2025-08-09T17:06:26.980Z,1754759186.980 [DAT](INFO): publishing transmit ping time
2025-08-09T17:06:26.981Z,1754759186.981 [DAT](INFO): publishing direction and range info
2025-08-09T17:06:26.984Z,1754759186.984 [DAT](INFO): publishing transmit ping time
2025-08-09T17:06:26.984Z,1754759186.984 [DAT](INFO): publishing direction and range info
2025-08-09T17:06:27.061Z,1754759187.061 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 125.199997 m,
      deltaT: 3.779163 s,
      deltaX: -0.800003 m,
      approachRate: -0.211688 m/s,
      rangeRepo size: 4

2025-08-09T17:06:27.080Z,1754759187.080 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 125.199997 m,
      bearing: 216.166058 deg,
      lat: 36.906133 deg,
      lon: -122.115893 deg,
      deltaT: 3.779163 s,
      deltaX: -0.800003 m,
      approachRate: -0.211688 m/s,
      posRepo size: 4

2025-08-09T17:06:27.080Z,1754759187.080 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 125.20 m.
2025-08-09T17:06:27.089Z,1754759187.089 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 125.199997 m,
      nav range: 122.709602 m,
      bearing: 216.166058 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.264283 deg/s,
      cmd heading: 232.565564 deg,
      new cmd heading: 232.933926 deg.

2025-08-09T17:06:27.518Z,1754759187.518 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 125.20 m.
2025-08-09T17:06:27.521Z,1754759187.521 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 125.199997 m,
      nav range: 122.584785 m,
      bearing: 216.278027 deg,
      approach rate: -0.272830 m/s,
      LOS rate: 0.244995 deg/s,
      cmd heading: 232.933930 deg,
      new cmd heading: 233.270174 deg.

2025-08-09T17:06:27.962Z,1754759187.962 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-09T17:06:27.964Z,1754759187.964 [DAT](INFO): ****** received valid address query ******
2025-08-09T17:06:27.964Z,1754759187.964 [DAT](INFO): ****** received valid ping request ******
2025-08-09T17:06:27.964Z,1754759187.964 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-09T17:06:27.968Z,1754759187.968 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 125.20 m.
2025-08-09T17:06:27.987Z,1754759187.987 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 125.199997 m,
      nav range: 122.464981 m,
      bearing: 216.381170 deg,
      approach rate: -0.266149 m/s,
      LOS rate: 0.229360 deg/s,
      cmd heading: 233.270167 deg,
      new cmd heading: 233.579896 deg.

2025-08-09T17:06:28.215Z,1754759188.215 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.236433
2025-08-09T17:06:28.467Z,1754759188.467 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.488397
2025-08-09T17:06:28.516Z,1754759188.516 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 125.20 m.
2025-08-09T17:06:28.519Z,1754759188.519 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 125.199997 m,
      nav range: 122.304680 m,
      bearing: 216.509327 deg,
      approach rate: -0.292635 m/s,
      LOS rate: 0.234261 deg/s,
      cmd heading: 233.579902 deg,
      new cmd heading: 233.964870 deg.

2025-08-09T17:06:28.719Z,1754759188.719 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.740329
2025-08-09T17:06:28.898Z,1754759188.898 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 125.20 m.
2025-08-09T17:06:28.901Z,1754759188.901 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 125.199997 m,
      nav range: 122.194412 m,
      bearing: 216.597962 deg,
      approach rate: -0.288396 m/s,
      LOS rate: 0.232026 deg/s,
      cmd heading: 233.964879 deg,
      new cmd heading: 234.231021 deg.

2025-08-09T17:06:28.971Z,1754759188.971 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.992466
2025-08-09T17:06:29.224Z,1754759189.224 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.244732
2025-08-09T17:06:29.380Z,1754759189.380 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 125.20 m.
2025-08-09T17:06:29.387Z,1754759189.387 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 125.199997 m,
      nav range: 122.044540 m,
      bearing: 216.705191 deg,
      approach rate: -0.311076 m/s,
      LOS rate: 0.222840 deg/s,
      cmd heading: 234.231010 deg,
      new cmd heading: 234.553090 deg.

2025-08-09T17:06:29.477Z,1754759189.477 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.497640
2025-08-09T17:06:29.727Z,1754759189.727 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.748436
2025-08-09T17:06:29.756Z,1754759189.756 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 125.20 m.
2025-08-09T17:06:29.758Z,1754759189.758 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 125.199997 m,
      nav range: 121.924492 m,
      bearing: 216.787897 deg,
      approach rate: -0.319743 m/s,
      LOS rate: 0.220499 deg/s,
      cmd heading: 234.553095 deg,
      new cmd heading: 234.801454 deg.

2025-08-09T17:06:29.979Z,1754759189.979 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.000286
2025-08-09T17:06:30.212Z,1754759190.212 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-09T17:06:30.219Z,1754759190.219 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 125.20 m.
2025-08-09T17:06:30.221Z,1754759190.221 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 125.199997 m,
      nav range: 121.776802 m,
      bearing: 216.885836 deg,
      approach rate: -0.321832 m/s,
      LOS rate: 0.213679 deg/s,
      cmd heading: 234.801468 deg,
      new cmd heading: 235.095638 deg.

2025-08-09T17:06:30.232Z,1754759190.232 [DAT](INFO): DAT read: Rx Time:17:06:29.0105

2025-08-09T17:06:30.232Z,1754759190.232 [DAT](INFO): Rx dataTimestamp_ set to:1754759190.231789
2025-08-09T17:06:30.233Z,1754759190.233 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.253694
2025-08-09T17:06:30.483Z,1754759190.483 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.504431
2025-08-09T17:06:30.614Z,1754759190.614 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 125.20 m.
2025-08-09T17:06:30.616Z,1754759190.616 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 125.199997 m,
      nav range: 121.640617 m,
      bearing: 216.971814 deg,
      approach rate: -0.341175 m/s,
      LOS rate: 0.215637 deg/s,
      cmd heading: 235.095630 deg,
      new cmd heading: 235.353852 deg.

2025-08-09T17:06:30.741Z,1754759190.741 [DAT](INFO): DAT read: 17:06:29.0105 LVL= 20832, 26865, 26914, 32755, AGC= 68, IDX= 431,-0.20, 1.506,-0.264, 0.167, 0.711, PHS= 0.897,-0.930,-0.588, RAW= 100.1,   7.4, CAL= 100.8,   7.6, ROT=  49.2,  -7.6

2025-08-09T17:06:30.742Z,1754759190.742 [DAT](INFO): got valid direction response:
 17:06:29.0105 LVL= 20832, 26865, 26914, 32755, AGC= 68, IDX= 431,-0.20, 1.506,-0.264, 0.167, 0.711, PHS= 0.897,-0.930,-0.588, RAW= 100.1,   7.4, CAL= 100.8,   7.6, ROT=  49.2,  -7.6

2025-08-09T17:06:30.743Z,1754759190.743 [DAT](INFO): DAT read: Bearing 313.0,  49.7 (Local)

2025-08-09T17:06:30.744Z,1754759190.744 [DAT](INFO): Local bearing/azimuth received:
 Bearing 313.0,  49.7 (Local)

2025-08-09T17:06:30.745Z,1754759190.745 [DAT](INFO): DAT read: Range 11 to 50 : 124.4 m  (Round-trip  165.9 ms) speed  0.0 m/s

2025-08-09T17:06:30.746Z,1754759190.746 [DAT](INFO): DAT read: user:370>

2025-08-09T17:06:30.747Z,1754759190.747 [DAT](INFO): DAT read: Tx time:17:06:30.1405

2025-08-09T17:06:30.747Z,1754759190.747 [DAT](INFO): Ping request sent.
2025-08-09T17:06:30.747Z,1754759190.747 [DAT](INFO): transmitted an acoustic signal
2025-08-09T17:06:30.747Z,1754759190.747 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-09T17:06:30.748Z,1754759190.748 [DAT](INFO): direction in FSK: [0.647681,0.750345,0.132256]
2025-08-09T17:06:30.749Z,1754759190.749 [DAT](INFO): publishing transmit ping time
2025-08-09T17:06:30.749Z,1754759190.749 [DAT](INFO): publishing direction and range info
2025-08-09T17:06:30.752Z,1754759190.752 [DAT](INFO): publishing transmit ping time
2025-08-09T17:06:30.753Z,1754759190.753 [DAT](INFO): publishing direction and range info
2025-08-09T17:06:30.985Z,1754759190.985 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 124.400002 m,
      deltaT: 3.779989 s,
      deltaX: -0.799995 m,
      approachRate: -0.211640 m/s,
      rangeRepo size: 4

2025-08-09T17:06:30.991Z,1754759190.991 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 124.400002 m,
      bearing: 217.041320 deg,
      lat: 36.906133 deg,
      lon: -122.115893 deg,
      deltaT: 3.779989 s,
      deltaX: -0.799995 m,
      approachRate: -0.211640 m/s,
      posRepo size: 4

2025-08-09T17:06:30.992Z,1754759190.992 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 124.40 m.
2025-08-09T17:06:30.998Z,1754759190.998 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 124.400002 m,
      nav range: 121.530083 m,
      bearing: 217.041320 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.215637 deg/s,
      cmd heading: 235.353839 deg,
      new cmd heading: 235.593419 deg.

2025-08-09T17:06:31.383Z,1754759191.383 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 124.40 m.
2025-08-09T17:06:31.386Z,1754759191.386 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 124.400002 m,
      nav range: 121.383102 m,
      bearing: 217.126715 deg,
      approach rate: -0.369190 m/s,
      LOS rate: 0.214756 deg/s,
      cmd heading: 235.593415 deg,
      new cmd heading: 235.849907 deg.

2025-08-09T17:06:31.763Z,1754759191.763 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 124.40 m.
2025-08-09T17:06:31.765Z,1754759191.765 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 124.400002 m,
      nav range: 121.246201 m,
      bearing: 217.203346 deg,
      approach rate: -0.359791 m/s,
      LOS rate: 0.201621 deg/s,
      cmd heading: 235.849902 deg,
      new cmd heading: 236.080053 deg.

2025-08-09T17:06:32.237Z,1754759192.237 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-09T17:06:32.240Z,1754759192.240 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 124.40 m.
2025-08-09T17:06:32.242Z,1754759192.242 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 124.400002 m,
      nav range: 121.077896 m,
      bearing: 217.294194 deg,
      approach rate: -0.352725 m/s,
      LOS rate: 0.190661 deg/s,
      cmd heading: 236.080052 deg,
      new cmd heading: 236.352974 deg.

2025-08-09T17:06:32.247Z,1754759192.247 [DAT](INFO): ****** received valid address query ******
2025-08-09T17:06:32.247Z,1754759192.247 [DAT](INFO): ****** received valid ping request ******
2025-08-09T17:06:32.247Z,1754759192.247 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-09T17:06:32.500Z,1754759192.500 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.752386
2025-08-09T17:06:32.613Z,1754759192.613 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 124.40 m.
2025-08-09T17:06:32.616Z,1754759192.616 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 124.400002 m,
      nav range: 120.927773 m,
      bearing: 217.370825 deg,
      approach rate: -0.401743 m/s,
      LOS rate: 0.205324 deg/s,
      cmd heading: 236.352986 deg,
      new cmd heading: 236.583162 deg.

2025-08-09T17:06:32.751Z,1754759192.751 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.004234
2025-08-09T17:06:32.988Z,1754759192.988 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 124.40 m.
2025-08-09T17:06:32.991Z,1754759192.991 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 124.400002 m,
      nav range: 120.781326 m,
      bearing: 217.442922 deg,
      approach rate: -0.390509 m/s,
      LOS rate: 0.192485 deg/s,
      cmd heading: 236.583164 deg,
      new cmd heading: 236.799716 deg.

2025-08-09T17:06:33.003Z,1754759193.003 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.256160
2025-08-09T17:06:33.257Z,1754759193.257 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.509957
2025-08-09T17:06:33.431Z,1754759193.431 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 124.40 m.
2025-08-09T17:06:33.433Z,1754759193.433 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 124.400002 m,
      nav range: 120.614487 m,
      bearing: 217.521935 deg,
      approach rate: -0.380808 m/s,
      LOS rate: 0.180593 deg/s,
      cmd heading: 236.799708 deg,
      new cmd heading: 237.037071 deg.

2025-08-09T17:06:33.507Z,1754759193.507 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.760245
2025-08-09T17:06:33.759Z,1754759193.759 [DAT](INFO): DAT read: Rx Time:17:06:32.7088

2025-08-09T17:06:33.760Z,1754759193.760 [DAT](INFO): Rx dataTimestamp_ set to:1754759193.759530
2025-08-09T17:06:33.760Z,1754759193.760 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.013190
2025-08-09T17:06:33.827Z,1754759193.827 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 124.40 m.
2025-08-09T17:06:33.829Z,1754759193.829 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 124.400002 m,
      nav range: 120.461182 m,
      bearing: 217.592128 deg,
      approach rate: -0.383003 m/s,
      LOS rate: 0.175589 deg/s,
      cmd heading: 237.037071 deg,
      new cmd heading: 237.247919 deg.

2025-08-09T17:06:34.011Z,1754759194.011 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.264073
2025-08-09T17:06:34.270Z,1754759194.270 [DAT](INFO): DAT read: 17:06:32.7088 LVL= 32752, 32753, 32754, 32755, AGC= 67, IDX= 431,-0.42, 2.780, 0.848, 1.686, 2.031, PHS= 0.851,-1.138,-0.389, RAW= 111.9,   7.8, CAL= 113.3,   8.9, ROT=  36.7,  -8.9

2025-08-09T17:06:34.271Z,1754759194.271 [DAT](INFO): got valid direction response:
 17:06:32.7088 LVL= 32752, 32753, 32754, 32755, AGC= 67, IDX= 431,-0.42, 2.780, 0.848, 1.686, 2.031, PHS= 0.851,-1.138,-0.389, RAW= 111.9,   7.8, CAL= 113.3,   8.9, ROT=  36.7,  -8.9

2025-08-09T17:06:34.272Z,1754759194.272 [DAT](INFO): DAT read: Bearing 324.6,  38.3 (Local)

2025-08-09T17:06:34.272Z,1754759194.272 [DAT](INFO): Local bearing/azimuth received:
 Bearing 324.6,  38.3 (Local)

2025-08-09T17:06:34.274Z,1754759194.274 [DAT](INFO): DAT read: Range 11 to 50 : 123.1 m  (Round-trip  164.2 ms) speed  0.4 m/s

2025-08-09T17:06:34.275Z,1754759194.275 [DAT](INFO): DAT read: user:371>

2025-08-09T17:06:34.275Z,1754759194.275 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-09T17:06:34.276Z,1754759194.276 [DAT](INFO): direction in FSK: [0.792122,0.590430,0.154710]
2025-08-09T17:06:34.276Z,1754759194.276 [DAT](INFO): publishing direction and range info
2025-08-09T17:06:34.295Z,1754759194.295 [DAT](INFO): ****** received valid address query ******
2025-08-09T17:06:34.295Z,1754759194.295 [DAT](INFO): ****** received valid ping request ******
2025-08-09T17:06:34.296Z,1754759194.296 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-09T17:06:34.308Z,1754759194.308 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 123.099998 m,
      deltaT: 3.529358 s,
      deltaX: -1.300003 m,
      approachRate: -0.368340 m/s,
      rangeRepo size: 4

2025-08-09T17:06:34.314Z,1754759194.314 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 123.099998 m,
      bearing: 215.252603 deg,
      lat: 36.906116 deg,
      lon: -122.115838 deg,
      deltaT: 3.529358 s,
      deltaX: -1.300003 m,
      approachRate: -0.368340 m/s,
      posRepo size: 4

2025-08-09T17:06:34.315Z,1754759194.315 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 123.10 m.
2025-08-09T17:06:34.320Z,1754759194.320 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 123.099998 m,
      nav range: 118.937614 m,
      bearing: 215.252603 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.175589 deg/s,
      cmd heading: 237.247932 deg,
      new cmd heading: 237.501195 deg.

2025-08-09T17:06:34.515Z,1754759194.515 [DAT](INFO): DAT read: Tx time:17:06:33.8405

2025-08-09T17:06:34.516Z,1754759194.516 [DAT](INFO): Ping request sent.
2025-08-09T17:06:34.516Z,1754759194.516 [DAT](INFO): transmitted an acoustic signal
2025-08-09T17:06:34.516Z,1754759194.516 [DAT](INFO): publishing transmit ping time
2025-08-09T17:06:34.517Z,1754759194.517 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000742
2025-08-09T17:06:34.683Z,1754759194.683 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-09T17:06:34.685Z,1754759194.685 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 123.10 m.
2025-08-09T17:06:34.692Z,1754759194.692 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 123.099998 m,
      nav range: 118.753990 m,
      bearing: 215.320417 deg,
      approach rate: -0.485956 m/s,
      LOS rate: 0.179743 deg/s,
      cmd heading: 237.501196 deg,
      new cmd heading: 237.704949 deg.

2025-08-09T17:06:34.768Z,1754759194.768 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251833
2025-08-09T17:06:35.020Z,1754759195.020 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.504241
2025-08-09T17:06:35.053Z,1754759195.053 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 123.10 m.
2025-08-09T17:06:35.056Z,1754759195.056 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 123.099998 m,
      nav range: 118.583313 m,
      bearing: 215.381335 deg,
      approach rate: -0.463847 m/s,
      LOS rate: 0.165795 deg/s,
      cmd heading: 237.704954 deg,
      new cmd heading: 237.887971 deg.

2025-08-09T17:06:35.275Z,1754759195.275 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.758306
2025-08-09T17:06:35.455Z,1754759195.455 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 123.10 m.
2025-08-09T17:06:35.457Z,1754759195.457 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 123.099998 m,
      nav range: 118.391991 m,
      bearing: 215.443704 deg,
      approach rate: -0.477033 m/s,
      LOS rate: 0.155759 deg/s,
      cmd heading: 237.887976 deg,
      new cmd heading: 238.075384 deg.

2025-08-09T17:06:35.524Z,1754759195.524 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.008313
2025-08-09T17:06:35.775Z,1754759195.775 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.259459
2025-08-09T17:06:35.879Z,1754759195.879 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 123.10 m.
2025-08-09T17:06:35.882Z,1754759195.882 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 123.099998 m,
      nav range: 118.188408 m,
      bearing: 215.507823 deg,
      approach rate: -0.479370 m/s,
      LOS rate: 0.151240 deg/s,
      cmd heading: 238.075396 deg,
      new cmd heading: 238.268085 deg.

2025-08-09T17:06:36.027Z,1754759196.027 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.511338
2025-08-09T17:06:36.283Z,1754759196.283 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.766127
2025-08-09T17:06:36.307Z,1754759196.307 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 123.10 m.
2025-08-09T17:06:36.310Z,1754759196.310 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 123.099998 m,
      nav range: 117.982277 m,
      bearing: 215.570523 deg,
      approach rate: -0.481681 m/s,
      LOS rate: 0.146772 deg/s,
      cmd heading: 238.268089 deg,
      new cmd heading: 238.456518 deg.

2025-08-09T17:06:36.535Z,1754759196.535 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.019064
2025-08-09T17:06:36.701Z,1754759196.701 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-09T17:06:36.703Z,1754759196.703 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 123.10 m.
2025-08-09T17:06:36.706Z,1754759196.706 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 123.099998 m,
      nav range: 117.782013 m,
      bearing: 215.627541 deg,
      approach rate: -0.505334 m/s,
      LOS rate: 0.144118 deg/s,
      cmd heading: 238.456521 deg,
      new cmd heading: 238.627862 deg.

2025-08-09T17:06:36.784Z,1754759196.784 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.268219
2025-08-09T17:06:37.039Z,1754759197.039 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.523417
2025-08-09T17:06:37.081Z,1754759197.081 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 123.10 m.
2025-08-09T17:06:37.083Z,1754759197.083 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 123.099998 m,
      nav range: 117.599068 m,
      bearing: 215.677707 deg,
      approach rate: -0.485113 m/s,
      LOS rate: 0.133233 deg/s,
      cmd heading: 238.627849 deg,
      new cmd heading: 238.778582 deg.

2025-08-09T17:06:37.296Z,1754759197.296 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.779908
2025-08-09T17:06:37.505Z,1754759197.505 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 123.10 m.
2025-08-09T17:06:37.507Z,1754759197.507 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 123.099998 m,
      nav range: 117.377838 m,
      bearing: 215.733339 deg,
      approach rate: -0.521792 m/s,
      LOS rate: 0.131460 deg/s,
      cmd heading: 238.778578 deg,
      new cmd heading: 238.945786 deg.

2025-08-09T17:06:37.546Z,1754759197.546 [DAT](INFO): DAT read: Rx Time:17:06:36.4063

2025-08-09T17:06:37.546Z,1754759197.546 [DAT](INFO): Rx dataTimestamp_ set to:1754759197.545788
2025-08-09T17:06:37.547Z,1754759197.547 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.030850
2025-08-09T17:06:37.795Z,1754759197.795 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.279483
2025-08-09T17:06:37.888Z,1754759197.888 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 123.10 m.
2025-08-09T17:06:37.891Z,1754759197.891 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 123.099998 m,
      nav range: 117.177742 m,
      bearing: 215.781676 deg,
      approach rate: -0.521181 m/s,
      LOS rate: 0.126118 deg/s,
      cmd heading: 238.945781 deg,
      new cmd heading: 239.091041 deg.

2025-08-09T17:06:38.057Z,1754759198.057 [DAT](INFO): DAT read: 17:06:36.4063 LVL= 32752, 32753, 32754, 32755, AGC= 68, IDX= 421,-0.13, 1.613,-0.370, 0.672, 0.909, PHS= 0.805,-1.234,-0.281, RAW= 117.8,   8.1, CAL= 119.1,   9.2, ROT=  30.9,  -9.2

2025-08-09T17:06:38.060Z,1754759198.060 [DAT](INFO): got valid direction response:
 17:06:36.4063 LVL= 32752, 32753, 32754, 32755, AGC= 68, IDX= 421,-0.13, 1.613,-0.370, 0.672, 0.909, PHS= 0.805,-1.234,-0.281, RAW= 117.8,   8.1, CAL= 119.1,   9.2, ROT=  30.9,  -9.2

2025-08-09T17:06:38.061Z,1754759198.061 [DAT](INFO): DAT read: Bearing 335.0,  33.2 (Local)

2025-08-09T17:06:38.062Z,1754759198.062 [DAT](INFO): Local bearing/azimuth received:
 Bearing 335.0,  33.2 (Local)

2025-08-09T17:06:38.064Z,1754759198.064 [DAT](INFO): DAT read: Range 11 to 50 : 121.2 m  (Round-trip  161.7 ms) speed  0.4 m/s

2025-08-09T17:06:38.065Z,1754759198.065 [DAT](INFO): DAT read: user:372>

2025-08-09T17:06:38.065Z,1754759198.065 [DAT](INFO): DAT read: Tx time:17:06:37.4905

2025-08-09T17:06:38.066Z,1754759198.066 [DAT](INFO): Ping request sent.
2025-08-09T17:06:38.066Z,1754759198.066 [DAT](INFO): transmitted an acoustic signal
2025-08-09T17:06:38.066Z,1754759198.066 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-09T17:06:38.067Z,1754759198.067 [DAT](INFO): direction in FSK: [0.847027,0.506935,0.159881]
2025-08-09T17:06:38.067Z,1754759198.067 [DAT](INFO): publishing transmit ping time
2025-08-09T17:06:38.068Z,1754759198.068 [DAT](INFO): publishing direction and range info
2025-08-09T17:06:38.108Z,1754759198.108 [DAT](INFO): publishing transmit ping time
2025-08-09T17:06:38.108Z,1754759198.108 [DAT](INFO): publishing direction and range info
2025-08-09T17:06:38.371Z,1754759198.371 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 121.199997 m,
      deltaT: 3.782730 s,
      deltaX: -1.900002 m,
      approachRate: -0.502283 m/s,
      rangeRepo size: 4

2025-08-09T17:06:38.373Z,1754759198.373 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 121.199997 m,
      bearing: 217.725463 deg,
      lat: 36.906116 deg,
      lon: -122.115893 deg,
      deltaT: 3.782730 s,
      deltaX: -1.900002 m,
      approachRate: -0.502283 m/s,
      posRepo size: 4

2025-08-09T17:06:38.374Z,1754759198.374 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 121.20 m.
2025-08-09T17:06:38.377Z,1754759198.377 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 121.199997 m,
      nav range: 119.835884 m,
      bearing: 217.725463 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.126118 deg/s,
      cmd heading: 239.091045 deg,
      new cmd heading: 239.273182 deg.

2025-08-09T17:06:38.698Z,1754759198.698 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 121.20 m.
2025-08-09T17:06:38.701Z,1754759198.701 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 121.199997 m,
      nav range: 119.651009 m,
      bearing: 217.770174 deg,
      approach rate: -0.563473 m/s,
      LOS rate: 0.136483 deg/s,
      cmd heading: 239.273193 deg,
      new cmd heading: 239.407533 deg.

2025-08-09T17:06:39.093Z,1754759199.093 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-09T17:06:39.111Z,1754759199.111 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 121.20 m.
2025-08-09T17:06:39.114Z,1754759199.114 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 121.199997 m,
      nav range: 119.436325 m,
      bearing: 217.820161 deg,
      approach rate: -0.519435 m/s,
      LOS rate: 0.121162 deg/s,
      cmd heading: 239.407529 deg,
      new cmd heading: 239.557757 deg.

2025-08-09T17:06:39.309Z,1754759199.309 [DAT](INFO): ****** received valid address query ******
2025-08-09T17:06:39.310Z,1754759199.310 [DAT](INFO): ****** received valid ping request ******
2025-08-09T17:06:39.310Z,1754759199.310 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-09T17:06:39.545Z,1754759199.545 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 121.20 m.
2025-08-09T17:06:39.548Z,1754759199.548 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 121.199997 m,
      nav range: 119.205383 m,
      bearing: 217.875874 deg,
      approach rate: -0.532611 m/s,
      LOS rate: 0.128738 deg/s,
      cmd heading: 239.557766 deg,
      new cmd heading: 239.725229 deg.

2025-08-09T17:06:39.559Z,1754759199.559 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.493540
2025-08-09T17:06:39.811Z,1754759199.811 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.745409
2025-08-09T17:06:39.903Z,1754759199.903 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 121.20 m.
2025-08-09T17:06:39.906Z,1754759199.906 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 121.199997 m,
      nav range: 119.020584 m,
      bearing: 217.918718 deg,
      approach rate: -0.515690 m/s,
      LOS rate: 0.119743 deg/s,
      cmd heading: 239.725242 deg,
      new cmd heading: 239.853972 deg.

2025-08-09T17:06:40.064Z,1754759200.064 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.997683
2025-08-09T17:06:40.318Z,1754759200.318 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.251655
2025-08-09T17:06:40.371Z,1754759200.371 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 121.20 m.
2025-08-09T17:06:40.374Z,1754759200.374 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 121.199997 m,
      nav range: 118.780388 m,
      bearing: 217.972171 deg,
      approach rate: -0.513217 m/s,
      LOS rate: 0.114441 deg/s,
      cmd heading: 239.853977 deg,
      new cmd heading: 240.014660 deg.

2025-08-09T17:06:40.567Z,1754759200.567 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.501390
2025-08-09T17:06:40.723Z,1754759200.723 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 121.20 m.
2025-08-09T17:06:40.726Z,1754759200.726 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 121.199997 m,
      nav range: 118.594345 m,
      bearing: 218.015758 deg,
      approach rate: -0.528301 m/s,
      LOS rate: 0.123966 deg/s,
      cmd heading: 240.014651 deg,
      new cmd heading: 240.145616 deg.

2025-08-09T17:06:40.821Z,1754759200.821 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.755568
2025-08-09T17:06:41.071Z,1754759201.071 [DAT](INFO): DAT read: Rx Time:17:06:40.0552

2025-08-09T17:06:41.072Z,1754759201.072 [DAT](INFO): Rx dataTimestamp_ set to:1754759201.071490
2025-08-09T17:06:41.072Z,1754759201.072 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.006488
2025-08-09T17:06:41.151Z,1754759201.151 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-09T17:06:41.153Z,1754759201.153 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 121.20 m.
2025-08-09T17:06:41.156Z,1754759201.156 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 121.199997 m,
      nav range: 118.373901 m,
      bearing: 218.067601 deg,
      approach rate: -0.513453 m/s,
      LOS rate: 0.120977 deg/s,
      cmd heading: 240.145626 deg,
      new cmd heading: 240.301445 deg.

2025-08-09T17:06:41.326Z,1754759201.326 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.259648
2025-08-09T17:06:41.539Z,1754759201.539 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 121.20 m.
2025-08-09T17:06:41.542Z,1754759201.542 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 121.199997 m,
      nav range: 118.176437 m,
      bearing: 218.115440 deg,
      approach rate: -0.510524 m/s,
      LOS rate: 0.123890 deg/s,
      cmd heading: 240.301437 deg,
      new cmd heading: 240.445193 deg.

2025-08-09T17:06:41.579Z,1754759201.579 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.513295
2025-08-09T17:06:41.833Z,1754759201.833 [DAT](INFO): DAT read: 17:06:40.0552 LVL= 23920, 28225, 32194, 32755, AGC= 69, IDX= 410, 0.22, 2.777, 0.796, 2.092, 2.196, PHS= 0.683,-1.355,-0.147, RAW= 126.1,   9.3, CAL= 126.4,  10.5, ROT=  23.6, -10.5

2025-08-09T17:06:41.834Z,1754759201.834 [DAT](INFO): got valid direction response:
 17:06:40.0552 LVL= 23920, 28225, 32194, 32755, AGC= 69, IDX= 410, 0.22, 2.777, 0.796, 2.092, 2.196, PHS= 0.683,-1.355,-0.147, RAW= 126.1,   9.3, CAL= 126.4,  10.5, ROT=  23.6, -10.5

2025-08-09T17:06:41.835Z,1754759201.835 [DAT](INFO): DAT read: Bearing 345.2,  26.8 (Local)

2025-08-09T17:06:41.835Z,1754759201.835 [DAT](INFO): Local bearing/azimuth received:
 Bearing 345.2,  26.8 (Local)

2025-08-09T17:06:41.837Z,1754759201.837 [DAT](INFO): DAT read: Range 11 to 50 : 119.3 m  (Round-trip  159.1 ms) speed  0.4 m/s

2025-08-09T17:06:41.838Z,1754759201.838 [DAT](INFO): DAT read: user:373>

2025-08-09T17:06:41.838Z,1754759201.838 [DAT](INFO): DAT read: Tx time:17:06:41.1419

2025-08-09T17:06:41.839Z,1754759201.839 [DAT](INFO): Ping request sent.
2025-08-09T17:06:41.839Z,1754759201.839 [DAT](INFO): transmitted an acoustic signal
2025-08-09T17:06:41.839Z,1754759201.839 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-09T17:06:41.841Z,1754759201.841 [DAT](INFO): direction in FSK: [0.901018,0.393645,0.182236]
2025-08-09T17:06:41.841Z,1754759201.841 [DAT](INFO): publishing transmit ping time
2025-08-09T17:06:41.841Z,1754759201.841 [DAT](INFO): publishing direction and range info
2025-08-09T17:06:41.846Z,1754759201.846 [DAT](INFO): publishing transmit ping time
2025-08-09T17:06:41.857Z,1754759201.857 [DAT](INFO): publishing direction and range info
2025-08-09T17:06:41.964Z,1754759201.964 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 119.300003 m,
      deltaT: 3.779937 s,
      deltaX: -1.899994 m,
      approachRate: -0.502652 m/s,
      rangeRepo size: 4

2025-08-09T17:06:41.983Z,1754759201.983 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 119.300003 m,
      bearing: 218.780976 deg,
      lat: 36.906133 deg,
      lon: -122.115893 deg,
      deltaT: 3.779937 s,
      deltaX: -1.899994 m,
      approachRate: -0.502652 m/s,
      posRepo size: 4

2025-08-09T17:06:41.983Z,1754759201.983 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 119.30 m.
2025-08-09T17:06:41.986Z,1754759201.986 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 119.300003 m,
      nav range: 116.520012 m,
      bearing: 218.780976 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.123890 deg/s,
      cmd heading: 240.445198 deg,
      new cmd heading: 240.602865 deg.

2025-08-09T17:06:42.394Z,1754759202.394 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 119.30 m.
2025-08-09T17:06:42.400Z,1754759202.400 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 119.300003 m,
      nav range: 116.290306 m,
      bearing: 218.834131 deg,
      approach rate: -0.534214 m/s,
      LOS rate: 0.123863 deg/s,
      cmd heading: 240.602866 deg,
      new cmd heading: 240.762644 deg.

2025-08-09T17:06:42.744Z,1754759202.744 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 119.30 m.
2025-08-09T17:06:42.746Z,1754759202.746 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 119.300003 m,
      nav range: 116.114357 m,
      bearing: 218.875005 deg,
      approach rate: -0.502878 m/s,
      LOS rate: 0.116998 deg/s,
      cmd heading: 240.762638 deg,
      new cmd heading: 240.885445 deg.

2025-08-09T17:06:43.158Z,1754759203.158 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-09T17:06:43.164Z,1754759203.164 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 119.30 m.
2025-08-09T17:06:43.179Z,1754759203.179 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 119.300003 m,
      nav range: 115.909676 m,
      bearing: 218.920387 deg,
      approach rate: -0.486716 m/s,
      LOS rate: 0.108105 deg/s,
      cmd heading: 240.885445 deg,
      new cmd heading: 241.021831 deg.

2025-08-09T17:06:43.340Z,1754759203.340 [DAT](INFO): ****** received valid address query ******
2025-08-09T17:06:43.341Z,1754759203.341 [DAT](INFO): ****** received valid ping request ******
2025-08-09T17:06:43.342Z,1754759203.342 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-09T17:06:43.571Z,1754759203.571 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 119.30 m.
2025-08-09T17:06:43.574Z,1754759203.574 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 119.300003 m,
      nav range: 115.714821 m,
      bearing: 218.965770 deg,
      approach rate: -0.479568 m/s,
      LOS rate: 0.111883 deg/s,
      cmd heading: 241.021830 deg,
      new cmd heading: 241.158209 deg.

2025-08-09T17:06:43.591Z,1754759203.591 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.752255
2025-08-09T17:06:43.844Z,1754759203.844 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.004946
2025-08-09T17:06:43.936Z,1754759203.936 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 119.30 m.
2025-08-09T17:06:43.939Z,1754759203.939 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 119.300003 m,
      nav range: 115.540520 m,
      bearing: 219.002615 deg,
      approach rate: -0.476861 m/s,
      LOS rate: 0.100954 deg/s,
      cmd heading: 241.158216 deg,
      new cmd heading: 241.268917 deg.

2025-08-09T17:06:44.095Z,1754759204.095 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.256488
2025-08-09T17:06:44.350Z,1754759204.350 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.510757
2025-08-09T17:06:44.408Z,1754759204.408 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 119.30 m.
2025-08-09T17:06:44.415Z,1754759204.415 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 119.300003 m,
      nav range: 115.332314 m,
      bearing: 219.044528 deg,
      approach rate: -0.441074 m/s,
      LOS rate: 0.088952 deg/s,
      cmd heading: 241.268919 deg,
      new cmd heading: 241.394887 deg.

2025-08-09T17:06:44.600Z,1754759204.600 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.760668
2025-08-09T17:06:44.771Z,1754759204.771 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 119.30 m.
2025-08-09T17:06:44.773Z,1754759204.773 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 119.300003 m,
      nav range: 115.140633 m,
      bearing: 219.079318 deg,
      approach rate: -0.528861 m/s,
      LOS rate: 0.096146 deg/s,
      cmd heading: 241.394895 deg,
      new cmd heading: 241.499437 deg.

2025-08-09T17:06:44.852Z,1754759204.852 [DAT](INFO): DAT read: Rx Time:17:06:43.7033

2025-08-09T17:06:44.852Z,1754759204.852 [DAT](INFO): Rx dataTimestamp_ set to:1754759204.851771
2025-08-09T17:06:44.853Z,1754759204.853 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.013734
2025-08-09T17:06:45.103Z,1754759205.103 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.264352
2025-08-09T17:06:45.163Z,1754759205.163 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-09T17:06:45.165Z,1754759205.165 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 119.30 m.
2025-08-09T17:06:45.168Z,1754759205.168 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 119.300003 m,
      nav range: 114.951004 m,
      bearing: 219.111816 deg,
      approach rate: -0.480357 m/s,
      LOS rate: 0.082458 deg/s,
      cmd heading: 241.499424 deg,
      new cmd heading: 241.597080 deg.

2025-08-09T17:06:45.364Z,1754759205.364 [DAT](INFO): DAT read: 17:06:43.7033 LVL= 32752, 32753, 32754, 32755, AGC= 69, IDX= 422,-0.05, 0.301,-1.584,-0.129,-0.172, PHS= 0.575,-1.367,-0.001, RAW= 133.2,   9.2, CAL= 133.0,  10.4, ROT=  17.0, -10.4

2025-08-09T17:06:45.365Z,1754759205.365 [DAT](INFO): got valid direction response:
 17:06:43.7033 LVL= 32752, 32753, 32754, 32755, AGC= 69, IDX= 422,-0.05, 0.301,-1.584,-0.129,-0.172, PHS= 0.575,-1.367,-0.001, RAW= 133.2,   9.2, CAL= 133.0,  10.4, ROT=  17.0, -10.4

2025-08-09T17:06:45.367Z,1754759205.367 [DAT](INFO): DAT read: Bearing 354.0,  20.7 (Local)

2025-08-09T17:06:45.367Z,1754759205.367 [DAT](INFO): Local bearing/azimuth received:
 Bearing 354.0,  20.7 (Local)

2025-08-09T17:06:45.368Z,1754759205.368 [DAT](INFO): DAT read: Range 11 to 50 : 117.9 m  (Round-trip  157.2 ms) speed  0.2 m/s

2025-08-09T17:06:45.369Z,1754759205.369 [DAT](INFO): DAT read: user:374>

2025-08-09T17:06:45.375Z,1754759205.375 [DAT](INFO): DAT read: Tx time:17:06:44.7919

2025-08-09T17:06:45.377Z,1754759205.377 [DAT](INFO): Ping request sent.
2025-08-09T17:06:45.377Z,1754759205.377 [DAT](INFO): transmitted an acoustic signal
2025-08-09T17:06:45.378Z,1754759205.378 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-09T17:06:45.381Z,1754759205.381 [DAT](INFO): direction in FSK: [0.940594,0.287568,0.180519]
2025-08-09T17:06:45.381Z,1754759205.381 [DAT](INFO): publishing transmit ping time
2025-08-09T17:06:45.403Z,1754759205.403 [DAT](INFO): publishing direction and range info
2025-08-09T17:06:45.422Z,1754759205.422 [DAT](INFO): publishing transmit ping time
2025-08-09T17:06:45.427Z,1754759205.427 [DAT](INFO): publishing direction and range info
2025-08-09T17:06:45.637Z,1754759205.637 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 117.900002 m,
      deltaT: 3.529236 s,
      deltaX: -1.400002 m,
      approachRate: -0.396687 m/s,
      rangeRepo size: 4

2025-08-09T17:06:45.644Z,1754759205.644 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 117.900002 m,
      bearing: 219.611535 deg,
      lat: 36.906136 deg,
      lon: -122.115904 deg,
      deltaT: 3.529236 s,
      deltaX: -1.400002 m,
      approachRate: -0.396687 m/s,
      posRepo size: 4

2025-08-09T17:06:45.644Z,1754759205.644 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 117.90 m.
2025-08-09T17:06:45.652Z,1754759205.652 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 117.900002 m,
      nav range: 115.097885 m,
      bearing: 219.611535 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.082458 deg/s,
      cmd heading: 241.597069 deg,
      new cmd heading: 241.713378 deg.

2025-08-09T17:06:45.964Z,1754759205.964 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 117.90 m.
2025-08-09T17:06:45.967Z,1754759205.967 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 117.900002 m,
      nav range: 114.934052 m,
      bearing: 219.633285 deg,
      approach rate: -0.498230 m/s,
      LOS rate: 0.066238 deg/s,
      cmd heading: 241.713373 deg,
      new cmd heading: 241.778717 deg.

2025-08-09T17:06:46.378Z,1754759206.378 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 117.90 m.
2025-08-09T17:06:46.390Z,1754759206.390 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 117.900002 m,
      nav range: 114.747169 m,
      bearing: 219.656271 deg,
      approach rate: -0.453709 m/s,
      LOS rate: 0.055894 deg/s,
      cmd heading: 241.778725 deg,
      new cmd heading: 241.847793 deg.

2025-08-09T17:06:46.798Z,1754759206.798 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 117.90 m.
2025-08-09T17:06:46.801Z,1754759206.801 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 117.900002 m,
      nav range: 114.539543 m,
      bearing: 219.672762 deg,
      approach rate: -0.492043 m/s,
      LOS rate: 0.039152 deg/s,
      cmd heading: 241.847791 deg,
      new cmd heading: 241.897354 deg.

2025-08-09T17:06:47.223Z,1754759207.223 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-09T17:06:47.225Z,1754759207.225 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 117.90 m.
2025-08-09T17:06:47.228Z,1754759207.228 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 117.900002 m,
      nav range: 114.329788 m,
      bearing: 219.687409 deg,
      approach rate: -0.490723 m/s,
      LOS rate: 0.034331 deg/s,
      cmd heading: 241.897351 deg,
      new cmd heading: 241.941375 deg.

2025-08-09T17:06:47.371Z,1754759207.371 [DAT](INFO): ****** received valid address query ******
2025-08-09T17:06:47.371Z,1754759207.371 [DAT](INFO): ****** received valid ping request ******
2025-08-09T17:06:47.372Z,1754759207.372 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-09T17:06:47.625Z,1754759207.625 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.248149
2025-08-09T17:06:47.652Z,1754759207.652 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 117.90 m.
2025-08-09T17:06:47.667Z,1754759207.667 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 117.900002 m,
      nav range: 114.116943 m,
      bearing: 219.697338 deg,
      approach rate: -0.499031 m/s,
      LOS rate: 0.023321 deg/s,
      cmd heading: 241.941365 deg,
      new cmd heading: 241.971205 deg.

2025-08-09T17:06:47.876Z,1754759207.876 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.499349
2025-08-09T17:06:48.012Z,1754759208.012 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 117.90 m.
2025-08-09T17:06:48.015Z,1754759208.015 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 117.900002 m,
      nav range: 113.942070 m,
      bearing: 219.703864 deg,
      approach rate: -0.485777 m/s,
      LOS rate: 0.018157 deg/s,
      cmd heading: 241.971199 deg,
      new cmd heading: 241.990808 deg.

2025-08-09T17:06:48.129Z,1754759208.129 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.751685
2025-08-09T17:06:48.379Z,1754759208.379 [DAT](INFO): DAT read: Rx Time:17:06:47.3512

2025-08-09T17:06:48.380Z,1754759208.380 [DAT](INFO): Rx dataTimestamp_ set to:1754759208.379418
2025-08-09T17:06:48.380Z,1754759208.380 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.003745
2025-08-09T17:06:48.547Z,1754759208.547 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 117.90 m.
2025-08-09T17:06:48.558Z,1754759208.558 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 117.900002 m,
      nav range: 113.650139 m,
      bearing: 219.705963 deg,
      approach rate: -0.546253 m/s,
      LOS rate: 0.003938 deg/s,
      cmd heading: 241.990816 deg,
      new cmd heading: 241.997129 deg.

2025-08-09T17:06:48.633Z,1754759208.633 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.256104
2025-08-09T17:06:48.801Z,1754759208.801 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 117.90 m.
2025-08-09T17:06:48.804Z,1754759208.804 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 117.900002 m,
      nav range: 113.506432 m,
      bearing: 219.707000 deg,
      approach rate: -0.565581 m/s,
      LOS rate: 0.004087 deg/s,
      cmd heading: 241.997127 deg,
      new cmd heading: 242.000242 deg.

2025-08-09T17:06:48.886Z,1754759208.886 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.508838
2025-08-09T17:06:49.141Z,1754759209.141 [DAT](INFO): DAT read: 17:06:47.3512 LVL= 27952, 32753, 25010, 32755, AGC= 70, IDX= 417,-0.25, 0.747,-1.122, 0.663, 0.374, PHS= 0.475,-1.451, 0.245, RAW= 143.7,   8.1, CAL= 143.3,   8.8, ROT=   6.7,  -8.8

2025-08-09T17:06:49.143Z,1754759209.143 [DAT](INFO): got valid direction response:
 17:06:47.3512 LVL= 27952, 32753, 25010, 32755, AGC= 70, IDX= 417,-0.25, 0.747,-1.122, 0.663, 0.374, PHS= 0.475,-1.451, 0.245, RAW= 143.7,   8.1, CAL= 143.3,   8.8, ROT=   6.7,  -8.8

2025-08-09T17:06:49.144Z,1754759209.144 [DAT](INFO): DAT read: Bearing   2.1,  11.3 (Local)

2025-08-09T17:06:49.144Z,1754759209.144 [DAT](INFO): Local bearing/azimuth received:
 Bearing   2.1,  11.3 (Local)

2025-08-09T17:06:49.145Z,1754759209.145 [DAT](INFO): DAT read: Range 11 to 50 : 116.3 m  (Round-trip  155.1 ms) speed  0.4 m/s

2025-08-09T17:06:49.146Z,1754759209.146 [DAT](INFO): DAT read: user:375>

2025-08-09T17:06:49.147Z,1754759209.147 [DAT](INFO): DAT read: Tx time:17:06:48.4419

2025-08-09T17:06:49.147Z,1754759209.147 [DAT](INFO): Ping request sent.
2025-08-09T17:06:49.147Z,1754759209.147 [DAT](INFO): transmitted an acoustic signal
2025-08-09T17:06:49.148Z,1754759209.148 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-09T17:06:49.149Z,1754759209.149 [DAT](INFO): direction in FSK: [0.981479,0.115297,0.152986]
2025-08-09T17:06:49.149Z,1754759209.149 [DAT](INFO): publishing transmit ping time
2025-08-09T17:06:49.149Z,1754759209.149 [DAT](INFO): publishing direction and range info
2025-08-09T17:06:49.152Z,1754759209.152 [DAT](INFO): publishing transmit ping time
2025-08-09T17:06:49.152Z,1754759209.152 [DAT](INFO): publishing direction and range info
2025-08-09T17:06:49.264Z,1754759209.264 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 116.300003 m,
      deltaT: 3.779354 s,
      deltaX: -1.599998 m,
      approachRate: -0.423352 m/s,
      rangeRepo size: 4

2025-08-09T17:06:49.271Z,1754759209.271 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 116.300003 m,
      bearing: 220.572135 deg,
      lat: 36.906156 deg,
      lon: -122.115908 deg,
      deltaT: 3.779354 s,
      deltaX: -1.599998 m,
      approachRate: -0.423352 m/s,
      posRepo size: 4

2025-08-09T17:06:49.272Z,1754759209.272 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 116.30 m.
2025-08-09T17:06:49.282Z,1754759209.282 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 116.300003 m,
      nav range: 111.760780 m,
      bearing: 220.572135 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.004087 deg/s,
      cmd heading: 242.000241 deg,
      new cmd heading: 242.005697 deg.

2025-08-09T17:06:49.650Z,1754759209.650 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-09T17:06:49.665Z,1754759209.665 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 116.30 m.
2025-08-09T17:06:49.672Z,1754759209.672 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 116.300003 m,
      nav range: 111.523125 m,
      bearing: 220.573048 deg,
      approach rate: -0.567292 m/s,
      LOS rate: 0.002183 deg/s,
      cmd heading: 242.005705 deg,
      new cmd heading: 242.008449 deg.

2025-08-09T17:06:49.891Z,1754759209.891 [DAT](INFO): ****** received valid address query ******
2025-08-09T17:06:49.891Z,1754759209.891 [DAT](INFO): ****** received valid ping request ******
2025-08-09T17:06:49.891Z,1754759209.891 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-09T17:06:50.003Z,1754759210.003 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 116.30 m.
2025-08-09T17:06:50.005Z,1754759210.005 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 116.300003 m,
      nav range: 111.319160 m,
      bearing: 220.571930 deg,
      approach rate: -0.603318 m/s,
      LOS rate: -0.003314 deg/s,
      cmd heading: 242.008437 deg,
      new cmd heading: 242.005076 deg.

2025-08-09T17:06:50.143Z,1754759210.143 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.995922
2025-08-09T17:06:50.395Z,1754759210.395 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.247816
2025-08-09T17:06:50.429Z,1754759210.429 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 116.30 m.
2025-08-09T17:06:50.452Z,1754759210.452 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 116.300003 m,
      nav range: 111.089645 m,
      bearing: 220.568530 deg,
      approach rate: -0.538023 m/s,
      LOS rate: -0.007986 deg/s,
      cmd heading: 242.005077 deg,
      new cmd heading: 241.994857 deg.

2025-08-09T17:06:50.647Z,1754759210.647 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.499951
2025-08-09T17:06:50.879Z,1754759210.879 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 116.30 m.
2025-08-09T17:06:50.881Z,1754759210.881 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 116.300003 m,
      nav range: 110.839066 m,
      bearing: 220.566170 deg,
      approach rate: -0.557465 m/s,
      LOS rate: -0.005263 deg/s,
      cmd heading: 241.994859 deg,
      new cmd heading: 241.987762 deg.

2025-08-09T17:06:50.899Z,1754759210.899 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.752092
2025-08-09T17:06:51.151Z,1754759211.151 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.003884
2025-08-09T17:06:51.210Z,1754759211.210 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 116.30 m.
2025-08-09T17:06:51.212Z,1754759211.212 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 116.300003 m,
      nav range: 110.615524 m,
      bearing: 220.561900 deg,
      approach rate: -0.675355 m/s,
      LOS rate: -0.012926 deg/s,
      cmd heading: 241.987756 deg,
      new cmd heading: 241.974921 deg.

2025-08-09T17:06:51.403Z,1754759211.403 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.255929
2025-08-09T17:06:51.655Z,1754759211.655 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.507872
2025-08-09T17:06:51.684Z,1754759211.684 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-09T17:06:51.690Z,1754759211.690 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 116.30 m.
2025-08-09T17:06:51.693Z,1754759211.693 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 116.300003 m,
      nav range: 110.327339 m,
      bearing: 220.556668 deg,
      approach rate: -0.604563 m/s,
      LOS rate: -0.011005 deg/s,
      cmd heading: 241.974915 deg,
      new cmd heading: 241.959177 deg.

2025-08-09T17:06:51.907Z,1754759211.907 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.759975
2025-08-09T17:06:52.035Z,1754759212.035 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 116.30 m.
2025-08-09T17:06:52.038Z,1754759212.038 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 116.300003 m,
      nav range: 110.104828 m,
      bearing: 220.550448 deg,
      approach rate: -0.637283 m/s,
      LOS rate: -0.017850 deg/s,
      cmd heading: 241.959178 deg,
      new cmd heading: 241.940481 deg.

2025-08-09T17:06:52.159Z,1754759212.159 [DAT](INFO): DAT read: Rx Time:17:06:50.9966

2025-08-09T17:06:52.160Z,1754759212.160 [DAT](INFO): Rx dataTimestamp_ set to:1754759212.159472
2025-08-09T17:06:52.160Z,1754759212.160 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.012968
2025-08-09T17:06:52.411Z,1754759212.411 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.263967
2025-08-09T17:06:52.459Z,1754759212.459 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 116.30 m.
2025-08-09T17:06:52.493Z,1754759212.493 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 116.300003 m,
      nav range: 109.839592 m,
      bearing: 220.543001 deg,
      approach rate: -0.657938 m/s,
      LOS rate: -0.018517 deg/s,
      cmd heading: 241.940491 deg,
      new cmd heading: 241.918096 deg.

2025-08-09T17:06:52.672Z,1754759212.672 [DAT](INFO): DAT read: 17:06:50.9966 LVL= 28624, 32753, 26786, 32755, AGC= 70, IDX= 417, 0.26,-1.582, 3.087,-1.403,-1.814, PHS= 0.334,-1.337, 0.366, RAW= 151.0,   7.6, CAL= 150.4,   8.1, ROT= 359.6,  -8.1

2025-08-09T17:06:52.673Z,1754759212.673 [DAT](INFO): got valid direction response:
 17:06:50.9966 LVL= 28624, 32753, 26786, 32755, AGC= 70, IDX= 417, 0.26,-1.582, 3.087,-1.403,-1.814, PHS= 0.334,-1.337, 0.366, RAW= 151.0,   7.6, CAL= 150.4,   8.1, ROT= 359.6,  -8.1

2025-08-09T17:06:52.674Z,1754759212.674 [DAT](INFO): DAT read: Bearing  11.7,   4.4 (Local)

2025-08-09T17:06:52.675Z,1754759212.675 [DAT](INFO): Local bearing/azimuth received:
 Bearing  11.7,   4.4 (Local)

2025-08-09T17:06:52.677Z,1754759212.677 [DAT](INFO): DAT read: Range 11 to 50 : 114.0 m  (Round-trip  152.0 ms) speed  0.6 m/s

2025-08-09T17:06:52.678Z,1754759212.678 [DAT](INFO): DAT read: user:376>

2025-08-09T17:06:52.678Z,1754759212.678 [DAT](INFO): DAT read: Tx time:17:06:52.0905

2025-08-09T17:06:52.679Z,1754759212.679 [DAT](INFO): Ping request sent.
2025-08-09T17:06:52.679Z,1754759212.679 [DAT](INFO): transmitted an acoustic signal
2025-08-09T17:06:52.679Z,1754759212.679 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-09T17:06:52.680Z,1754759212.680 [DAT](INFO): direction in FSK: [0.990000,-0.006911,0.140901]
2025-08-09T17:06:52.680Z,1754759212.680 [DAT](INFO): publishing transmit ping time
2025-08-09T17:06:52.680Z,1754759212.680 [DAT](INFO): publishing direction and range info
2025-08-09T17:06:52.684Z,1754759212.684 [DAT](INFO): publishing transmit ping time
2025-08-09T17:06:52.684Z,1754759212.684 [DAT](INFO): publishing direction and range info
2025-08-09T17:06:52.892Z,1754759212.892 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 114.000000 m,
      deltaT: 3.527756 s,
      deltaX: -2.300003 m,
      approachRate: -0.651973 m/s,
      rangeRepo size: 4

2025-08-09T17:06:52.894Z,1754759212.894 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 114.000000 m,
      bearing: 222.008498 deg,
      lat: 36.906167 deg,
      lon: -122.115938 deg,
      deltaT: 3.527756 s,
      deltaX: -2.300003 m,
      approachRate: -0.651973 m/s,
      posRepo size: 4

2025-08-09T17:06:52.895Z,1754759212.895 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 114.00 m.
2025-08-09T17:06:52.897Z,1754759212.897 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 114.000000 m,
      nav range: 110.455917 m,
      bearing: 222.008498 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.018517 deg/s,
      cmd heading: 241.918088 deg,
      new cmd heading: 241.892947 deg.

2025-08-09T17:06:53.243Z,1754759213.243 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 114.00 m.
2025-08-09T17:06:53.246Z,1754759213.246 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 114.000000 m,
      nav range: 110.227303 m,
      bearing: 222.010572 deg,
      approach rate: -0.649123 m/s,
      LOS rate: 0.005901 deg/s,
      cmd heading: 241.892953 deg,
      new cmd heading: 241.899187 deg.

2025-08-09T17:06:53.684Z,1754759213.684 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 114.00 m.
2025-08-09T17:06:53.686Z,1754759213.686 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 114.000000 m,
      nav range: 109.949348 m,
      bearing: 222.003831 deg,
      approach rate: -0.631348 m/s,
      LOS rate: -0.015351 deg/s,
      cmd heading: 241.899182 deg,
      new cmd heading: 241.878906 deg.

2025-08-09T17:06:54.043Z,1754759214.043 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-09T17:06:54.045Z,1754759214.045 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 114.00 m.
2025-08-09T17:06:54.048Z,1754759214.048 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 114.000000 m,
      nav range: 109.727722 m,
      bearing: 221.996437 deg,
      approach rate: -0.612808 m/s,
      LOS rate: -0.020485 deg/s,
      cmd heading: 241.878910 deg,
      new cmd heading: 241.856684 deg.

2025-08-09T17:06:54.175Z,1754759214.175 [DAT](INFO): ****** received valid address query ******
2025-08-09T17:06:54.175Z,1754759214.175 [DAT](INFO): ****** received valid ping request ******
2025-08-09T17:06:54.175Z,1754759214.175 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-09T17:06:54.427Z,1754759214.427 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.748340
2025-08-09T17:06:54.456Z,1754759214.456 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 114.00 m.
2025-08-09T17:06:54.458Z,1754759214.458 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 114.000000 m,
      nav range: 109.462234 m,
      bearing: 221.985100 deg,
      approach rate: -0.646775 m/s,
      LOS rate: -0.027685 deg/s,
      cmd heading: 241.856671 deg,
      new cmd heading: 241.822578 deg.

2025-08-09T17:06:54.679Z,1754759214.679 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.000505
2025-08-09T17:06:54.891Z,1754759214.891 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 114.00 m.
2025-08-09T17:06:54.894Z,1754759214.894 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 114.000000 m,
      nav range: 109.188660 m,
      bearing: 221.968602 deg,
      approach rate: -0.627694 m/s,
      LOS rate: -0.037949 deg/s,
      cmd heading: 241.822574 deg,
      new cmd heading: 241.772955 deg.

2025-08-09T17:06:54.932Z,1754759214.932 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.253130
2025-08-09T17:06:55.183Z,1754759215.183 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.504363
2025-08-09T17:06:55.258Z,1754759215.258 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 114.00 m.
2025-08-09T17:06:55.261Z,1754759215.261 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 114.000000 m,
      nav range: 108.958969 m,
      bearing: 221.952716 deg,
      approach rate: -0.626787 m/s,
      LOS rate: -0.043441 deg/s,
      cmd heading: 241.772960 deg,
      new cmd heading: 241.725202 deg.

2025-08-09T17:06:55.435Z,1754759215.435 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.756490
2025-08-09T17:06:55.687Z,1754759215.687 [DAT](INFO): DAT read: Rx Time:17:06:54.6433

2025-08-09T17:06:55.688Z,1754759215.688 [DAT](INFO): Rx dataTimestamp_ set to:1754759215.687562
2025-08-09T17:06:55.688Z,1754759215.688 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.009617
2025-08-09T17:06:55.700Z,1754759215.700 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 114.00 m.
2025-08-09T17:06:55.702Z,1754759215.702 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 114.000000 m,
      nav range: 108.698921 m,
      bearing: 221.930517 deg,
      approach rate: -0.588770 m/s,
      LOS rate: -0.050381 deg/s,
      cmd heading: 241.725203 deg,
      new cmd heading: 241.658446 deg.

2025-08-09T17:06:55.939Z,1754759215.939 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.260690
2025-08-09T17:06:56.054Z,1754759216.054 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-09T17:06:56.056Z,1754759216.056 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 114.00 m.
2025-08-09T17:06:56.059Z,1754759216.059 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 114.000000 m,
      nav range: 108.489540 m,
      bearing: 221.910843 deg,
      approach rate: -0.586946 m/s,
      LOS rate: -0.055257 deg/s,
      cmd heading: 241.658459 deg,
      new cmd heading: 241.599323 deg.

2025-08-09T17:06:56.215Z,1754759216.215 [DAT](INFO): DAT read: 17:06:54.6433 LVL= 29392, 32753, 26738, 32755, AGC= 68, IDX= 415,-0.09,-0.265,-1.756, 0.237,-0.319, PHS= 0.156,-1.392, 0.513, RAW= 160.1,   8.3, CAL= 159.8,   8.6, ROT= 350.2,  -8.6

2025-08-09T17:06:56.217Z,1754759216.217 [DAT](INFO): got valid direction response:
 17:06:54.6433 LVL= 29392, 32753, 26738, 32755, AGC= 68, IDX= 415,-0.09,-0.265,-1.756, 0.237,-0.319, PHS= 0.156,-1.392, 0.513, RAW= 160.1,   8.3, CAL= 159.8,   8.6, ROT= 350.2,  -8.6

2025-08-09T17:06:56.218Z,1754759216.218 [DAT](INFO): DAT read: Bearing  21.5,  -4.9 (Local)

2025-08-09T17:06:56.218Z,1754759216.218 [DAT](INFO): Local bearing/azimuth received:
 Bearing  21.5,  -4.9 (Local)

2025-08-09T17:06:56.224Z,1754759216.224 [DAT](INFO): DAT read: Range 11 to 50 : 111.5 m  (Round-trip  148.7 ms) speed  0.4 m/s

2025-08-09T17:06:56.225Z,1754759216.225 [DAT](INFO): DAT read: user:377>

2025-08-09T17:06:56.225Z,1754759216.225 [DAT](INFO): DAT read: Tx time:17:06:55.7405

2025-08-09T17:06:56.226Z,1754759216.226 [DAT](INFO): Ping request sent.
2025-08-09T17:06:56.226Z,1754759216.226 [DAT](INFO): transmitted an acoustic signal
2025-08-09T17:06:56.226Z,1754759216.226 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-09T17:06:56.231Z,1754759216.231 [DAT](INFO): direction in FSK: [0.974328,-0.168296,0.149535]
2025-08-09T17:06:56.231Z,1754759216.231 [DAT](INFO): publishing transmit ping time
2025-08-09T17:06:56.232Z,1754759216.232 [DAT](INFO): publishing direction and range info
2025-08-09T17:06:56.248Z,1754759216.248 [DAT](INFO): publishing transmit ping time
2025-08-09T17:06:56.248Z,1754759216.248 [DAT](INFO): publishing direction and range info
2025-08-09T17:06:56.499Z,1754759216.499 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 111.500000 m,
      deltaT: 3.529730 s,
      deltaX: -2.500000 m,
      approachRate: -0.708269 m/s,
      rangeRepo size: 4

2025-08-09T17:06:56.501Z,1754759216.501 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 111.500000 m,
      bearing: 222.289399 deg,
      lat: 36.906168 deg,
      lon: -122.115948 deg,
      deltaT: 3.529730 s,
      deltaX: -2.500000 m,
      approachRate: -0.708269 m/s,
      posRepo size: 4

2025-08-09T17:06:56.502Z,1754759216.502 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 111.50 m.
2025-08-09T17:06:56.508Z,1754759216.508 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 111.500000 m,
      nav range: 108.742210 m,
      bearing: 222.289399 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.055257 deg/s,
      cmd heading: 241.599309 deg,
      new cmd heading: 241.526723 deg.

2025-08-09T17:06:56.905Z,1754759216.905 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 111.50 m.
2025-08-09T17:06:56.907Z,1754759216.907 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 111.500000 m,
      nav range: 108.493996 m,
      bearing: 222.260057 deg,
      approach rate: -0.604840 m/s,
      LOS rate: -0.071662 deg/s,
      cmd heading: 241.526718 deg,
      new cmd heading: 241.438492 deg.

2025-08-09T17:06:57.273Z,1754759217.273 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 111.50 m.
2025-08-09T17:06:57.276Z,1754759217.276 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 111.500000 m,
      nav range: 108.287720 m,
      bearing: 222.234249 deg,
      approach rate: -0.560406 m/s,
      LOS rate: -0.070250 deg/s,
      cmd heading: 241.438499 deg,
      new cmd heading: 241.360925 deg.

2025-08-09T17:06:57.701Z,1754759217.701 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 111.50 m.
2025-08-09T17:06:57.724Z,1754759217.724 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 111.500000 m,
      nav range: 108.061417 m,
      bearing: 222.199912 deg,
      approach rate: -0.528132 m/s,
      LOS rate: -0.080300 deg/s,
      cmd heading: 241.360936 deg,
      new cmd heading: 241.257711 deg.

2025-08-09T17:06:58.161Z,1754759218.161 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-09T17:06:58.163Z,1754759218.163 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 111.50 m.
2025-08-09T17:06:58.166Z,1754759218.166 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 111.500000 m,
      nav range: 107.822006 m,
      bearing: 222.160791 deg,
      approach rate: -0.518334 m/s,
      LOS rate: -0.084888 deg/s,
      cmd heading: 241.257718 deg,
      new cmd heading: 241.140093 deg.

2025-08-09T17:06:58.207Z,1754759218.207 [DAT](INFO): ****** received valid address query ******
2025-08-09T17:06:58.207Z,1754759218.207 [DAT](INFO): ****** received valid ping request ******
2025-08-09T17:06:58.208Z,1754759218.208 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-09T17:06:58.459Z,1754759218.459 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.233582
2025-08-09T17:06:58.635Z,1754759218.635 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 111.50 m.
2025-08-09T17:06:58.638Z,1754759218.638 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 111.500000 m,
      nav range: 107.581406 m,
      bearing: 222.120118 deg,
      approach rate: -0.509563 m/s,
      LOS rate: -0.086333 deg/s,
      cmd heading: 241.140102 deg,
      new cmd heading: 241.017810 deg.

2025-08-09T17:06:58.711Z,1754759218.711 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.485576
2025-08-09T17:06:58.964Z,1754759218.964 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.738354
2025-08-09T17:06:59.185Z,1754759219.185 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 111.50 m.
2025-08-09T17:06:59.196Z,1754759219.196 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 111.500000 m,
      nav range: 107.303604 m,
      bearing: 222.068290 deg,
      approach rate: -0.505574 m/s,
      LOS rate: -0.094566 deg/s,
      cmd heading: 241.017814 deg,
      new cmd heading: 240.861929 deg.

2025-08-09T17:06:59.215Z,1754759219.215 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.989630
2025-08-09T17:06:59.467Z,1754759219.467 [DAT](INFO): DAT read: Rx Time:17:06:58.2909

2025-08-09T17:06:59.468Z,1754759219.468 [DAT](INFO): Rx dataTimestamp_ set to:1754759219.467542
2025-08-09T17:06:59.468Z,1754759219.468 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.242687
2025-08-09T17:06:59.513Z,1754759219.513 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 111.50 m.
2025-08-09T17:06:59.516Z,1754759219.516 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 111.500000 m,
      nav range: 107.123123 m,
      bearing: 222.033752 deg,
      approach rate: -0.550079 m/s,
      LOS rate: -0.105446 deg/s,
      cmd heading: 240.861922 deg,
      new cmd heading: 240.758132 deg.

2025-08-09T17:06:59.722Z,1754759219.722 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.496604
2025-08-09T17:06:59.920Z,1754759219.920 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 111.50 m.
2025-08-09T17:06:59.924Z,1754759219.924 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 111.500000 m,
      nav range: 106.909668 m,
      bearing: 221.993004 deg,
      approach rate: -0.523836 m/s,
      LOS rate: -0.100198 deg/s,
      cmd heading: 240.758130 deg,
      new cmd heading: 240.635643 deg.

2025-08-09T17:06:59.980Z,1754759219.980 [DAT](INFO): DAT read: 17:06:58.2909 LVL= 26976, 32753, 20754, 29779, AGC= 67, IDX= 422,-0.09,-1.225,-2.456,-0.402,-1.204, PHS= 0.081,-1.207, 0.758, RAW= 169.8,   4.3, CAL= 169.0,   2.7, ROT= 341.0,  -2.7

2025-08-09T17:06:59.981Z,1754759219.981 [DAT](INFO): got valid direction response:
 17:06:58.2909 LVL= 26976, 32753, 20754, 29779, AGC= 67, IDX= 422,-0.09,-1.225,-2.456,-0.402,-1.204, PHS= 0.081,-1.207, 0.758, RAW= 169.8,   4.3, CAL= 169.0,   2.7, ROT= 341.0,  -2.7

2025-08-09T17:06:59.983Z,1754759219.983 [DAT](INFO): DAT read: Bearing  20.4, -13.9 (Local)

2025-08-09T17:06:59.983Z,1754759219.983 [DAT](INFO): Local bearing/azimuth received:
 Bearing  20.4, -13.9 (Local)

2025-08-09T17:06:59.984Z,1754759219.984 [DAT](INFO): DAT read: Range 11 to 50 : 109.6 m  (Round-trip  146.2 ms) speed  0.4 m/s

2025-08-09T17:06:59.985Z,1754759219.985 [DAT](INFO): DAT read: user:378>

2025-08-09T17:06:59.986Z,1754759219.986 [DAT](INFO): DAT read: Tx time:17:06:59.3905

2025-08-09T17:06:59.991Z,1754759219.991 [DAT](INFO): Ping request sent.
2025-08-09T17:06:59.991Z,1754759219.991 [DAT](INFO): transmitted an acoustic signal
2025-08-09T17:06:59.992Z,1754759219.992 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-09T17:06:59.993Z,1754759219.993 [DAT](INFO): direction in FSK: [0.944469,-0.325207,0.047106]
2025-08-09T17:06:59.993Z,1754759219.993 [DAT](INFO): publishing transmit ping time
2025-08-09T17:06:59.993Z,1754759219.993 [DAT](INFO): publishing direction and range info
2025-08-09T17:07:00.002Z,1754759220.002 [DAT](INFO): publishing transmit ping time
2025-08-09T17:07:00.006Z,1754759220.006 [DAT](INFO): publishing direction and range info
2025-08-09T17:07:00.356Z,1754759220.356 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 109.599998 m,
      deltaT: 3.778476 s,
      deltaX: -1.900002 m,
      approachRate: -0.502849 m/s,
      rangeRepo size: 4

2025-08-09T17:07:00.382Z,1754759220.382 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 109.599998 m,
      bearing: 221.949621 deg,
      lat: 36.906168 deg,
      lon: -122.115948 deg,
      deltaT: 3.778476 s,
      deltaX: -1.900002 m,
      approachRate: -0.502849 m/s,
      posRepo size: 4

2025-08-09T17:07:00.383Z,1754759220.383 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 109.60 m.
2025-08-09T17:07:00.386Z,1754759220.386 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 109.599998 m,
      nav range: 106.686646 m,
      bearing: 221.949621 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.100198 deg/s,
      cmd heading: 240.635651 deg,
      new cmd heading: 240.504864 deg.

2025-08-09T17:07:00.787Z,1754759220.787 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-09T17:07:00.789Z,1754759220.789 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 109.60 m.
2025-08-09T17:07:00.793Z,1754759220.793 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 109.599998 m,
      nav range: 106.456581 m,
      bearing: 221.906334 deg,
      approach rate: -0.530198 m/s,
      LOS rate: -0.099974 deg/s,
      cmd heading: 240.504867 deg,
      new cmd heading: 240.374724 deg.

2025-08-09T17:07:00.979Z,1754759220.979 [DAT](INFO): ****** received valid address query ******
2025-08-09T17:07:00.979Z,1754759220.979 [DAT](INFO): ****** received valid ping request ******
2025-08-09T17:07:00.979Z,1754759220.979 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-09T17:07:01.166Z,1754759221.166 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 109.60 m.
2025-08-09T17:07:01.169Z,1754759221.169 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 109.599998 m,
      nav range: 106.258171 m,
      bearing: 221.868460 deg,
      approach rate: -0.526634 m/s,
      LOS rate: -0.100714 deg/s,
      cmd heading: 240.374711 deg,
      new cmd heading: 240.260878 deg.

2025-08-09T17:07:01.231Z,1754759221.231 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.245197
2025-08-09T17:07:01.483Z,1754759221.483 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.497062
2025-08-09T17:07:01.602Z,1754759221.602 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 109.60 m.
2025-08-09T17:07:01.607Z,1754759221.607 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 109.599998 m,
      nav range: 106.041862 m,
      bearing: 221.826613 deg,
      approach rate: -0.497081 m/s,
      LOS rate: -0.096363 deg/s,
      cmd heading: 240.260865 deg,
      new cmd heading: 240.135066 deg.

2025-08-09T17:07:01.735Z,1754759221.735 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.749238
2025-08-09T17:07:01.976Z,1754759221.976 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 109.60 m.
2025-08-09T17:07:01.979Z,1754759221.979 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 109.599998 m,
      nav range: 105.837029 m,
      bearing: 221.789919 deg,
      approach rate: -0.546125 m/s,
      LOS rate: -0.098022 deg/s,
      cmd heading: 240.135053 deg,
      new cmd heading: 240.024759 deg.

2025-08-09T17:07:01.987Z,1754759221.987 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.001177
2025-08-09T17:07:02.243Z,1754759222.243 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.256770
2025-08-09T17:07:02.355Z,1754759222.355 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 109.60 m.
2025-08-09T17:07:02.357Z,1754759222.357 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 109.599998 m,
      nav range: 105.642624 m,
      bearing: 221.754648 deg,
      approach rate: -0.514180 m/s,
      LOS rate: -0.093460 deg/s,
      cmd heading: 240.024759 deg,
      new cmd heading: 239.918752 deg.

2025-08-09T17:07:02.491Z,1754759222.491 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.505085
2025-08-09T17:07:02.743Z,1754759222.743 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.757073
2025-08-09T17:07:02.793Z,1754759222.793 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-09T17:07:02.795Z,1754759222.795 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 109.60 m.
2025-08-09T17:07:02.798Z,1754759222.798 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 109.599998 m,
      nav range: 105.395500 m,
      bearing: 221.713146 deg,
      approach rate: -0.560961 m/s,
      LOS rate: -0.094429 deg/s,
      cmd heading: 239.918755 deg,
      new cmd heading: 239.793956 deg.

2025-08-09T17:07:02.996Z,1754759222.996 [DAT](INFO): DAT read: Rx Time:17:07:01.9385

2025-08-09T17:07:02.997Z,1754759222.997 [DAT](INFO): Rx dataTimestamp_ set to:1754759222.996462
2025-08-09T17:07:02.998Z,1754759222.998 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.011315
2025-08-09T17:07:03.247Z,1754759223.247 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.261105
2025-08-09T17:07:03.303Z,1754759223.303 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 109.60 m.
2025-08-09T17:07:03.306Z,1754759223.306 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 109.599998 m,
      nav range: 105.113342 m,
      bearing: 221.665232 deg,
      approach rate: -0.554918 m/s,
      LOS rate: -0.094483 deg/s,
      cmd heading: 239.793954 deg,
      new cmd heading: 239.649828 deg.

2025-08-09T17:07:03.509Z,1754759223.509 [DAT](INFO): DAT read: 17:07:01.9385 LVL= 29520, 32753, 19746, 32755, AGC= 66, IDX= 414, 0.01,-1.101,-2.257,-0.194,-1.091, PHS= 0.092,-1.121, 0.853, RAW= 172.5,   2.1, CAL= 171.6,  -0.5, ROT= 338.4,   0.5

2025-08-09T17:07:03.510Z,1754759223.510 [DAT](INFO): got valid direction response:
 17:07:01.9385 LVL= 29520, 32753, 19746, 32755, AGC= 66, IDX= 414, 0.01,-1.101,-2.257,-0.194,-1.091, PHS= 0.092,-1.121, 0.853, RAW= 172.5,   2.1, CAL= 171.6,  -0.5, ROT= 338.4,   0.5

2025-08-09T17:07:03.511Z,1754759223.511 [DAT](INFO): DAT read: Bearing  17.2, -15.7 (Local)

2025-08-09T17:07:03.511Z,1754759223.511 [DAT](INFO): Local bearing/azimuth received:
 Bearing  17.2, -15.7 (Local)

2025-08-09T17:07:03.512Z,1754759223.512 [DAT](INFO): DAT read: Range 11 to 50 : 107.9 m  (Round-trip  143.9 ms) speed  0.5 m/s

2025-08-09T17:07:03.513Z,1754759223.513 [DAT](INFO): DAT read: user:379>

2025-08-09T17:07:03.514Z,1754759223.514 [DAT](INFO): DAT read: Tx time:17:07:03.0405

2025-08-09T17:07:03.516Z,1754759223.516 [DAT](INFO): Ping request sent.
2025-08-09T17:07:03.516Z,1754759223.516 [DAT](INFO): transmitted an acoustic signal
2025-08-09T17:07:03.516Z,1754759223.516 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-09T17:07:03.517Z,1754759223.517 [DAT](INFO): direction in FSK: [0.929741,-0.368111,-0.008727]
2025-08-09T17:07:03.518Z,1754759223.518 [DAT](INFO): publishing transmit ping time
2025-08-09T17:07:03.518Z,1754759223.518 [DAT](INFO): publishing direction and range info
2025-08-09T17:07:03.554Z,1754759223.554 [DAT](INFO): publishing transmit ping time
2025-08-09T17:07:03.555Z,1754759223.555 [DAT](INFO): publishing direction and range info
2025-08-09T17:07:03.805Z,1754759223.805 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 107.900002 m,
      deltaT: 3.529006 s,
      deltaX: -1.699997 m,
      approachRate: -0.481721 m/s,
      rangeRepo size: 4

2025-08-09T17:07:03.811Z,1754759223.811 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 107.900002 m,
      bearing: 221.564004 deg,
      lat: 36.906167 deg,
      lon: -122.115948 deg,
      deltaT: 3.529006 s,
      deltaX: -1.699997 m,
      approachRate: -0.481721 m/s,
      posRepo size: 4

2025-08-09T17:07:03.812Z,1754759223.812 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 107.90 m.
2025-08-09T17:07:03.819Z,1754759223.819 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 107.900002 m,
      nav range: 104.941658 m,
      bearing: 221.564004 deg,
      approach rate: 1833599232.000000 m/s,
      LOS rate: -0.094483 deg/s,
      cmd heading: 239.649837 deg,
      new cmd heading: 239.507824 deg.

2025-08-09T17:07:04.285Z,1754759224.285 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 107.90 m.
2025-08-09T17:07:04.288Z,1754759224.288 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 107.900002 m,
      nav range: 104.659302 m,
      bearing: 221.514642 deg,
      approach rate: -0.587437 m/s,
      LOS rate: -0.102975 deg/s,
      cmd heading: 239.507823 deg,
      new cmd heading: 239.359336 deg.

2025-08-09T17:07:04.754Z,1754759224.754 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 107.90 m.
2025-08-09T17:07:04.757Z,1754759224.757 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 107.900002 m,
      nav range: 104.384369 m,
      bearing: 221.465541 deg,
      approach rate: -0.586098 m/s,
      LOS rate: -0.104949 deg/s,
      cmd heading: 239.359335 deg,
      new cmd heading: 239.211644 deg.

2025-08-09T17:07:05.120Z,1754759225.120 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-09T17:07:05.127Z,1754759225.127 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 107.90 m.
2025-08-09T17:07:05.129Z,1754759225.129 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 107.900002 m,
      nav range: 104.180962 m,
      bearing: 221.428987 deg,
      approach rate: -0.552294 m/s,
      LOS rate: -0.099446 deg/s,
      cmd heading: 239.211639 deg,
      new cmd heading: 239.101763 deg.

2025-08-09T17:07:05.263Z,1754759225.263 [DAT](INFO): ****** received valid address query ******
2025-08-09T17:07:05.264Z,1754759225.264 [DAT](INFO): ****** received valid ping request ******
2025-08-09T17:07:05.264Z,1754759225.264 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-09T17:07:05.511Z,1754759225.511 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 107.90 m.
2025-08-09T17:07:05.513Z,1754759225.513 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 107.900002 m,
      nav range: 103.950455 m,
      bearing: 221.387331 deg,
      approach rate: -0.619582 m/s,
      LOS rate: -0.112214 deg/s,
      cmd heading: 239.101755 deg,
      new cmd heading: 238.976512 deg.

2025-08-09T17:07:05.515Z,1754759225.515 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.999210
2025-08-09T17:07:05.772Z,1754759225.772 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.255413
2025-08-09T17:07:05.942Z,1754759225.942 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 107.90 m.
2025-08-09T17:07:05.945Z,1754759225.945 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 107.900002 m,
      nav range: 103.695213 m,
      bearing: 221.342833 deg,
      approach rate: -0.596678 m/s,
      LOS rate: -0.104279 deg/s,
      cmd heading: 238.976516 deg,
      new cmd heading: 238.842694 deg.

2025-08-09T17:07:06.024Z,1754759226.024 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.507548
2025-08-09T17:07:06.275Z,1754759226.275 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.759120
2025-08-09T17:07:06.320Z,1754759226.320 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 107.90 m.
2025-08-09T17:07:06.327Z,1754759226.327 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 107.900002 m,
      nav range: 103.466972 m,
      bearing: 221.302837 deg,
      approach rate: -0.573093 m/s,
      LOS rate: -0.100647 deg/s,
      cmd heading: 238.842699 deg,
      new cmd heading: 238.722448 deg.

2025-08-09T17:07:06.527Z,1754759226.527 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.011138
2025-08-09T17:07:06.779Z,1754759226.779 [DAT](INFO): DAT read: Rx Time:17:07:05.5855

2025-08-09T17:07:06.780Z,1754759226.780 [DAT](INFO): Rx dataTimestamp_ set to:1754759226.779598
2025-08-09T17:07:06.780Z,1754759226.780 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.264276
2025-08-09T17:07:06.795Z,1754759226.795 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 107.90 m.
2025-08-09T17:07:06.797Z,1754759226.797 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 107.900002 m,
      nav range: 103.174591 m,
      bearing: 221.246065 deg,
      approach rate: -0.616358 m/s,
      LOS rate: -0.120019 deg/s,
      cmd heading: 238.722461 deg,
      new cmd heading: 238.551661 deg.

2025-08-09T17:07:07.031Z,1754759227.031 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.515117
2025-08-09T17:07:07.176Z,1754759227.176 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-09T17:07:07.178Z,1754759227.178 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 107.90 m.
2025-08-09T17:07:07.181Z,1754759227.181 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 107.900002 m,
      nav range: 102.945755 m,
      bearing: 221.201429 deg,
      approach rate: -0.597440 m/s,
      LOS rate: -0.116794 deg/s,
      cmd heading: 238.551651 deg,
      new cmd heading: 238.417446 deg.

2025-08-09T17:07:07.289Z,1754759227.289 [DAT](INFO): DAT read: 17:07:05.5855 LVL= 25904, 32753, 23634, 32019, AGC= 63, IDX= 415, 0.43,-2.067, 3.092,-1.154,-2.151, PHS= 0.186,-0.995, 0.954, RAW= 173.0,  -1.7, CAL= 172.8,  -4.0, ROT= 337.2,   4.0

2025-08-09T17:07:07.290Z,1754759227.290 [DAT](INFO): got valid direction response:
 17:07:05.5855 LVL= 25904, 32753, 23634, 32019, AGC= 63, IDX= 415, 0.43,-2.067, 3.092,-1.154,-2.151, PHS= 0.186,-0.995, 0.954, RAW= 173.0,  -1.7, CAL= 172.8,  -4.0, ROT= 337.2,   4.0

2025-08-09T17:07:07.291Z,1754759227.291 [DAT](INFO): DAT read: Bearing  12.7, -15.9 (Local)

2025-08-09T17:07:07.292Z,1754759227.292 [DAT](INFO): Local bearing/azimuth received:
 Bearing  12.7, -15.9 (Local)

2025-08-09T17:07:07.293Z,1754759227.293 [DAT](INFO): DAT read: Range 11 to 50 : 105.6 m  (Round-trip  140.9 ms) speed  0.4 m/s

2025-08-09T17:07:07.294Z,1754759227.294 [DAT](INFO): DAT read: user:380>

2025-08-09T17:07:07.295Z,1754759227.295 [DAT](INFO): DAT read: Tx time:17:07:06.6905

2025-08-09T17:07:07.295Z,1754759227.295 [DAT](INFO): Ping request sent.
2025-08-09T17:07:07.295Z,1754759227.295 [DAT](INFO): transmitted an acoustic signal
2025-08-09T17:07:07.295Z,1754759227.295 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-09T17:07:07.296Z,1754759227.296 [DAT](INFO): direction in FSK: [0.919618,-0.386571,-0.069756]
2025-08-09T17:07:07.297Z,1754759227.297 [DAT](INFO): publishing transmit ping time
2025-08-09T17:07:07.297Z,1754759227.297 [DAT](INFO): publishing direction and range info
2025-08-09T17:07:07.308Z,1754759227.308 [DAT](INFO): publishing transmit ping time
2025-08-09T17:07:07.308Z,1754759227.308 [DAT](INFO): publishing direction and range info
2025-08-09T17:07:07.623Z,1754759227.623 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 105.599998 m,
      deltaT: 3.782539 s,
      deltaX: -2.300003 m,
      approachRate: -0.608058 m/s,
      rangeRepo size: 4

2025-08-09T17:07:07.625Z,1754759227.625 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 105.599998 m,
      bearing: 219.177661 deg,
      lat: 36.906135 deg,
      lon: -122.115930 deg,
      deltaT: 3.782539 s,
      deltaX: -2.300003 m,
      approachRate: -0.608058 m/s,
      posRepo size: 4

2025-08-09T17:07:07.626Z,1754759227.626 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 105.60 m.
2025-08-09T17:07:07.628Z,1754759227.628 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 105.599998 m,
      nav range: 104.365295 m,
      bearing: 219.177661 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.116794 deg/s,
      cmd heading: 238.417452 deg,
      new cmd heading: 238.261789 deg.

2025-08-09T17:07:08.003Z,1754759228.003 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 105.60 m.
2025-08-09T17:07:08.005Z,1754759228.005 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 105.599998 m,
      nav range: 104.114731 m,
      bearing: 219.120693 deg,
      approach rate: -0.658983 m/s,
      LOS rate: -0.150188 deg/s,
      cmd heading: 238.261778 deg,
      new cmd heading: 238.090462 deg.

2025-08-09T17:07:08.385Z,1754759228.385 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 105.60 m.
2025-08-09T17:07:08.392Z,1754759228.392 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 105.599998 m,
      nav range: 103.887627 m,
      bearing: 219.068863 deg,
      approach rate: -0.593325 m/s,
      LOS rate: -0.135704 deg/s,
      cmd heading: 238.090450 deg,
      new cmd heading: 237.934621 deg.

2025-08-09T17:07:08.837Z,1754759228.837 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 105.60 m.
2025-08-09T17:07:08.840Z,1754759228.840 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 105.599998 m,
      nav range: 103.621933 m,
      bearing: 219.005191 deg,
      approach rate: -0.588628 m/s,
      LOS rate: -0.141424 deg/s,
      cmd heading: 237.934612 deg,
      new cmd heading: 237.743106 deg.

2025-08-09T17:07:09.312Z,1754759229.312 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-09T17:07:09.314Z,1754759229.314 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 105.60 m.
2025-08-09T17:07:09.317Z,1754759229.317 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 105.599998 m,
      nav range: 103.348419 m,
      bearing: 218.939430 deg,
      approach rate: -0.572997 m/s,
      LOS rate: -0.138130 deg/s,
      cmd heading: 237.743094 deg,
      new cmd heading: 237.545290 deg.

2025-08-09T17:07:09.552Z,1754759229.552 [DAT](INFO): ****** received valid address query ******
2025-08-09T17:07:09.552Z,1754759229.552 [DAT](INFO): ****** received valid ping request ******
2025-08-09T17:07:09.552Z,1754759229.552 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-09T17:07:09.704Z,1754759229.704 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 105.60 m.
2025-08-09T17:07:09.707Z,1754759229.707 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 105.599998 m,
      nav range: 103.124077 m,
      bearing: 218.885630 deg,
      approach rate: -0.574433 m/s,
      LOS rate: -0.138056 deg/s,
      cmd heading: 237.545291 deg,
      new cmd heading: 237.383540 deg.

2025-08-09T17:07:09.803Z,1754759229.803 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.508393
2025-08-09T17:07:10.055Z,1754759230.055 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.760167
2025-08-09T17:07:10.184Z,1754759230.184 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 105.60 m.
2025-08-09T17:07:10.187Z,1754759230.187 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 105.599998 m,
      nav range: 102.848412 m,
      bearing: 218.815914 deg,
      approach rate: -0.574461 m/s,
      LOS rate: -0.145671 deg/s,
      cmd heading: 237.383552 deg,
      new cmd heading: 237.173845 deg.

2025-08-09T17:07:10.308Z,1754759230.308 [DAT](INFO): DAT read: Rx Time:17:07:09.2327

2025-08-09T17:07:10.308Z,1754759230.308 [DAT](INFO): Rx dataTimestamp_ set to:1754759230.307926
2025-08-09T17:07:10.309Z,1754759230.309 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.013689
2025-08-09T17:07:10.559Z,1754759230.559 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.264377
2025-08-09T17:07:10.573Z,1754759230.573 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 105.60 m.
2025-08-09T17:07:10.578Z,1754759230.578 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 105.599998 m,
      nav range: 102.625168 m,
      bearing: 218.759560 deg,
      approach rate: -0.574628 m/s,
      LOS rate: -0.145371 deg/s,
      cmd heading: 237.173838 deg,
      new cmd heading: 237.004408 deg.

2025-08-09T17:07:10.817Z,1754759230.817 [DAT](INFO): DAT read: 17:07:09.2327 LVL= 32752, 32753, 26402, 32755, AGC= 64, IDX= 418, 0.17,-1.455,-2.603,-0.518,-1.500, PHS= 0.147,-1.058, 0.938, RAW= 173.2,  -0.3, CAL= 172.7,  -2.7, ROT= 337.3,   2.7

2025-08-09T17:07:10.818Z,1754759230.818 [DAT](INFO): got valid direction response:
 17:07:09.2327 LVL= 32752, 32753, 26402, 32755, AGC= 64, IDX= 418, 0.17,-1.455,-2.603,-0.518,-1.500, PHS= 0.147,-1.058, 0.938, RAW= 173.2,  -0.3, CAL= 172.7,  -2.7, ROT= 337.3,   2.7

2025-08-09T17:07:10.819Z,1754759230.819 [DAT](INFO): DAT read: Bearing  12.7, -15.9 (Local)

2025-08-09T17:07:10.820Z,1754759230.820 [DAT](INFO): Local bearing/azimuth received:
 Bearing  12.7, -15.9 (Local)

2025-08-09T17:07:10.821Z,1754759230.821 [DAT](INFO): DAT read: Range 11 to 50 : 103.5 m  (Round-trip  138.0 ms) speed  0.4 m/s

2025-08-09T17:07:10.822Z,1754759230.822 [DAT](INFO): DAT read: user:381>

2025-08-09T17:07:10.828Z,1754759230.828 [DAT](INFO): DAT read: Tx time:17:07:10.3405

2025-08-09T17:07:10.829Z,1754759230.829 [DAT](INFO): Ping request sent.
2025-08-09T17:07:10.829Z,1754759230.829 [DAT](INFO): transmitted an acoustic signal
2025-08-09T17:07:10.829Z,1754759230.829 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-09T17:07:10.830Z,1754759230.830 [DAT](INFO): direction in FSK: [0.921514,-0.385478,-0.047106]
2025-08-09T17:07:10.830Z,1754759230.830 [DAT](INFO): publishing transmit ping time
2025-08-09T17:07:10.831Z,1754759230.831 [DAT](INFO): publishing direction and range info
2025-08-09T17:07:10.834Z,1754759230.834 [DAT](INFO): publishing transmit ping time
2025-08-09T17:07:10.834Z,1754759230.834 [DAT](INFO): publishing direction and range info
2025-08-09T17:07:11.044Z,1754759231.044 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 103.500000 m,
      deltaT: 3.527972 s,
      deltaX: -2.099998 m,
      approachRate: -0.595242 m/s,
      rangeRepo size: 4

2025-08-09T17:07:11.051Z,1754759231.051 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 103.500000 m,
      bearing: 217.664737 deg,
      lat: 36.906120 deg,
      lon: -122.115918 deg,
      deltaT: 3.527972 s,
      deltaX: -2.099998 m,
      approachRate: -0.595242 m/s,
      posRepo size: 4

2025-08-09T17:07:11.052Z,1754759231.052 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 103.50 m.
2025-08-09T17:07:11.058Z,1754759231.058 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 103.500000 m,
      nav range: 102.986580 m,
      bearing: 217.664737 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.145371 deg/s,
      cmd heading: 237.004395 deg,
      new cmd heading: 236.799086 deg.

2025-08-09T17:07:11.438Z,1754759231.438 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-09T17:07:11.440Z,1754759231.440 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 103.50 m.
2025-08-09T17:07:11.443Z,1754759231.443 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 103.500000 m,
      nav range: 102.749763 m,
      bearing: 217.600295 deg,
      approach rate: -0.597022 m/s,
      LOS rate: -0.162836 deg/s,
      cmd heading: 236.799080 deg,
      new cmd heading: 236.605307 deg.

2025-08-09T17:07:11.568Z,1754759231.568 [DAT](INFO): ****** received valid address query ******
2025-08-09T17:07:11.569Z,1754759231.569 [DAT](INFO): ****** received valid ping request ******
2025-08-09T17:07:11.569Z,1754759231.569 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-09T17:07:11.823Z,1754759231.823 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.993861
2025-08-09T17:07:11.898Z,1754759231.898 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 103.50 m.
2025-08-09T17:07:11.901Z,1754759231.901 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 103.500000 m,
      nav range: 102.488632 m,
      bearing: 217.531777 deg,
      approach rate: -0.570556 m/s,
      LOS rate: -0.150089 deg/s,
      cmd heading: 236.605321 deg,
      new cmd heading: 236.399244 deg.

2025-08-09T17:07:12.073Z,1754759232.073 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.243415
2025-08-09T17:07:12.237Z,1754759232.237 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 103.50 m.
2025-08-09T17:07:12.256Z,1754759232.256 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 103.500000 m,
      nav range: 102.293884 m,
      bearing: 217.480867 deg,
      approach rate: -0.574161 m/s,
      LOS rate: -0.150379 deg/s,
      cmd heading: 236.399240 deg,
      new cmd heading: 236.246221 deg.

2025-08-09T17:07:12.324Z,1754759232.324 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.494794
2025-08-09T17:07:12.576Z,1754759232.576 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.747147
2025-08-09T17:07:12.649Z,1754759232.649 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 103.50 m.
2025-08-09T17:07:12.652Z,1754759232.652 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 103.500000 m,
      nav range: 102.057770 m,
      bearing: 217.419506 deg,
      approach rate: -0.573505 m/s,
      LOS rate: -0.149387 deg/s,
      cmd heading: 236.246217 deg,
      new cmd heading: 236.061708 deg.

2025-08-09T17:07:12.828Z,1754759232.828 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.998738
2025-08-09T17:07:13.081Z,1754759233.081 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.251476
2025-08-09T17:07:13.114Z,1754759233.114 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 103.50 m.
2025-08-09T17:07:13.121Z,1754759233.121 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 103.500000 m,
      nav range: 101.791512 m,
      bearing: 217.357620 deg,
      approach rate: -0.572772 m/s,
      LOS rate: -0.133476 deg/s,
      cmd heading: 236.061720 deg,
      new cmd heading: 235.875578 deg.

2025-08-09T17:07:13.335Z,1754759233.335 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.506389
2025-08-09T17:07:13.520Z,1754759233.520 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-09T17:07:13.523Z,1754759233.523 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 103.50 m.
2025-08-09T17:07:13.525Z,1754759233.525 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 103.500000 m,
      nav range: 101.552620 m,
      bearing: 217.302536 deg,
      approach rate: -0.584343 m/s,
      LOS rate: -0.135056 deg/s,
      cmd heading: 235.875583 deg,
      new cmd heading: 235.709943 deg.

2025-08-09T17:07:13.585Z,1754759233.585 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.755811
2025-08-09T17:07:13.838Z,1754759233.838 [DAT](INFO): DAT read: Rx Time:17:07:12.8800

2025-08-09T17:07:13.841Z,1754759233.841 [DAT](INFO): Rx dataTimestamp_ set to:1754759233.839692
2025-08-09T17:07:13.843Z,1754759233.843 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.013641
2025-08-09T17:07:14.032Z,1754759234.032 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 103.50 m.
2025-08-09T17:07:14.047Z,1754759234.047 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 103.500000 m,
      nav range: 101.249596 m,
      bearing: 217.235337 deg,
      approach rate: -0.594524 m/s,
      LOS rate: -0.132237 deg/s,
      cmd heading: 235.709938 deg,
      new cmd heading: 235.507738 deg.

2025-08-09T17:07:14.090Z,1754759234.090 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.260960
2025-08-09T17:07:14.339Z,1754759234.339 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.510383
2025-08-09T17:07:14.582Z,1754759234.582 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 103.50 m.
2025-08-09T17:07:14.587Z,1754759234.587 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 103.500000 m,
      nav range: 100.933411 m,
      bearing: 217.164754 deg,
      approach rate: -0.576073 m/s,
      LOS rate: -0.129001 deg/s,
      cmd heading: 235.507737 deg,
      new cmd heading: 235.295325 deg.

2025-08-09T17:07:14.613Z,1754759234.613 [DAT](INFO): DAT read: 17:07:12.8800 LVL= 23696, 28497, 18322, 29507, AGC= 60, IDX= 408,-0.48, 2.157, 1.024, 3.042, 2.163, PHS= 0.097,-1.093, 0.836, RAW= 172.3,   1.9, CAL= 171.5,  -0.6, ROT= 338.5,   0.6

2025-08-09T17:07:14.614Z,1754759234.614 [DAT](INFO): got valid direction response:
 17:07:12.8800 LVL= 23696, 28497, 18322, 29507, AGC= 60, IDX= 408,-0.48, 2.157, 1.024, 3.042, 2.163, PHS= 0.097,-1.093, 0.836, RAW= 172.3,   1.9, CAL= 171.5,  -0.6, ROT= 338.5,   0.6

2025-08-09T17:07:14.615Z,1754759234.615 [DAT](INFO): DAT read: Bearing  11.8, -15.2 (Local)

2025-08-09T17:07:14.615Z,1754759234.615 [DAT](INFO): Local bearing/azimuth received:
 Bearing  11.8, -15.2 (Local)

2025-08-09T17:07:14.617Z,1754759234.617 [DAT](INFO): DAT read: Range 11 to 50 : 101.6 m  (Round-trip  135.5 ms) speed  0.7 m/s

2025-08-09T17:07:14.617Z,1754759234.617 [DAT](INFO): DAT read: user:382>

2025-08-09T17:07:14.618Z,1754759234.618 [DAT](INFO): DAT read: Tx time:17:07:13.9904

2025-08-09T17:07:14.618Z,1754759234.618 [DAT](INFO): Ping request sent.
2025-08-09T17:07:14.619Z,1754759234.619 [DAT](INFO): transmitted an acoustic signal
2025-08-09T17:07:14.619Z,1754759234.619 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-09T17:07:14.620Z,1754759234.620 [DAT](INFO): direction in FSK: [0.930367,-0.366481,-0.010472]
2025-08-09T17:07:14.620Z,1754759234.620 [DAT](INFO): publishing transmit ping time
2025-08-09T17:07:14.620Z,1754759234.620 [DAT](INFO): publishing direction and range info
2025-08-09T17:07:14.623Z,1754759234.623 [DAT](INFO): publishing transmit ping time
2025-08-09T17:07:14.623Z,1754759234.623 [DAT](INFO): publishing direction and range info
2025-08-09T17:07:15.157Z,1754759235.157 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 101.599998 m,
      deltaT: 3.795845 s,
      deltaX: -1.900002 m,
      approachRate: -0.500548 m/s,
      rangeRepo size: 4

2025-08-09T17:07:15.160Z,1754759235.160 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 101.599998 m,
      bearing: 216.281880 deg,
      lat: 36.906111 deg,
      lon: -122.115907 deg,
      deltaT: 3.795845 s,
      deltaX: -1.900002 m,
      approachRate: -0.500548 m/s,
      posRepo size: 4

2025-08-09T17:07:15.160Z,1754759235.160 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 101.60 m.
2025-08-09T17:07:15.163Z,1754759235.163 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 101.599998 m,
      nav range: 100.834190 m,
      bearing: 216.281880 deg,
      approach rate: -93028123860998899915587435605 m/s,
      LOS rate: -0.129001 deg/s,
      cmd heading: 235.295318 deg,
      new cmd heading: 235.072575 deg.

2025-08-09T17:07:15.503Z,1754759235.503 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 101.60 m.
2025-08-09T17:07:15.505Z,1754759235.505 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 101.599998 m,
      nav range: 100.614601 m,
      bearing: 216.238309 deg,
      approach rate: -0.634284 m/s,
      LOS rate: -0.126131 deg/s,
      cmd heading: 235.072572 deg,
      new cmd heading: 234.941573 deg.

2025-08-09T17:07:15.941Z,1754759235.941 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-09T17:07:15.943Z,1754759235.943 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 101.60 m.
2025-08-09T17:07:15.945Z,1754759235.945 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 101.599998 m,
      nav range: 100.339211 m,
      bearing: 216.183881 deg,
      approach rate: -0.626181 m/s,
      LOS rate: -0.124096 deg/s,
      cmd heading: 234.941569 deg,
      new cmd heading: 234.777839 deg.

2025-08-09T17:07:16.119Z,1754759236.119 [DAT](INFO): ****** received valid address query ******
2025-08-09T17:07:16.119Z,1754759236.119 [DAT](INFO): ****** received valid ping request ******
2025-08-09T17:07:16.120Z,1754759236.120 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-09T17:07:16.336Z,1754759236.336 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 101.60 m.
2025-08-09T17:07:16.346Z,1754759236.346 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 101.599998 m,
      nav range: 100.096642 m,
      bearing: 216.136135 deg,
      approach rate: -0.616676 m/s,
      LOS rate: -0.121678 deg/s,
      cmd heading: 234.777835 deg,
      new cmd heading: 234.634249 deg.

2025-08-09T17:07:16.372Z,1754759236.372 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.753085
2025-08-09T17:07:16.578Z,1754759236.578 [CTD_Seabird](ERROR): Failed to parse device response: 63.40,9.70355,1983.10
2025-08-09T17:07:16.624Z,1754759236.624 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.005398
2025-08-09T17:07:16.716Z,1754759236.716 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 101.60 m.
2025-08-09T17:07:16.735Z,1754759236.735 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 101.599998 m,
      nav range: 99.852737 m,
      bearing: 216.088309 deg,
      approach rate: -0.642046 m/s,
      LOS rate: -0.126203 deg/s,
      cmd heading: 234.634237 deg,
      new cmd heading: 234.490410 deg.

2025-08-09T17:07:16.878Z,1754759236.878 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.258888
2025-08-09T17:07:17.127Z,1754759237.127 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.508699
2025-08-09T17:07:17.236Z,1754759237.236 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 101.60 m.
2025-08-09T17:07:17.239Z,1754759237.239 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 101.599998 m,
      nav range: 99.510361 m,
      bearing: 216.030689 deg,
      approach rate: -0.658480 m/s,
      LOS rate: -0.111199 deg/s,
      cmd heading: 234.490421 deg,
      new cmd heading: 234.316967 deg.

2025-08-09T17:07:17.379Z,1754759237.379 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.760729
2025-08-09T17:07:17.633Z,1754759237.633 [DAT](INFO): DAT read: Rx Time:17:07:16.5267

2025-08-09T17:07:17.633Z,1754759237.633 [DAT](INFO): Rx dataTimestamp_ set to:1754759237.632729
2025-08-09T17:07:17.634Z,1754759237.634 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.014998
2025-08-09T17:07:17.755Z,1754759237.755 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 101.60 m.
2025-08-09T17:07:17.757Z,1754759237.757 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 101.599998 m,
      nav range: 99.168243 m,
      bearing: 215.972699 deg,
      approach rate: -0.659092 m/s,
      LOS rate: -0.112103 deg/s,
      cmd heading: 234.316961 deg,
      new cmd heading: 234.142393 deg.

2025-08-09T17:07:17.888Z,1754759237.888 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.268367
2025-08-09T17:07:18.142Z,1754759238.142 [DAT](INFO): DAT read: 17:07:16.5267 LVL= 25808, 32753, 21170, 30051, AGC= 64, IDX= 406, 0.24, 2.003, 0.773, 2.804, 1.952, PHS= 0.154,-1.134, 0.808, RAW= 169.3,   2.0, CAL= 168.3,  -0.3, ROT= 341.7,   0.3

2025-08-09T17:07:18.143Z,1754759238.143 [DAT](INFO): got valid direction response:
 17:07:16.5267 LVL= 25808, 32753, 21170, 30051, AGC= 64, IDX= 406, 0.24, 2.003, 0.773, 2.804, 1.952, PHS= 0.154,-1.134, 0.808, RAW= 169.3,   2.0, CAL= 168.3,  -0.3, ROT= 341.7,   0.3

2025-08-09T17:07:18.144Z,1754759238.144 [DAT](INFO): DAT read: Bearing   9.9, -12.7 (Local)

2025-08-09T17:07:18.145Z,1754759238.145 [DAT](INFO): Local bearing/azimuth received:
 Bearing   9.9, -12.7 (Local)

2025-08-09T17:07:18.146Z,1754759238.146 [DAT](INFO): DAT read: Range 11 to 50 : 99.1 m  (Round-trip  132.2 ms) speed  0.6 m/s

2025-08-09T17:07:18.147Z,1754759238.147 [DAT](INFO): DAT read: user:383>

2025-08-09T17:07:18.148Z,1754759238.148 [DAT](INFO): DAT read: Tx time:17:07:17.6404

2025-08-09T17:07:18.148Z,1754759238.148 [DAT](INFO): Ping request sent.
2025-08-09T17:07:18.148Z,1754759238.148 [DAT](INFO): transmitted an acoustic signal
2025-08-09T17:07:18.148Z,1754759238.148 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-09T17:07:18.149Z,1754759238.149 [DAT](INFO): direction in FSK: [0.949413,-0.313988,-0.005236]
2025-08-09T17:07:18.149Z,1754759238.149 [DAT](INFO): publishing transmit ping time
2025-08-09T17:07:18.150Z,1754759238.150 [DAT](INFO): publishing direction and range info
2025-08-09T17:07:18.153Z,1754759238.153 [DAT](INFO): publishing transmit ping time
2025-08-09T17:07:18.153Z,1754759238.153 [DAT](INFO): publishing direction and range info
2025-08-09T17:07:18.330Z,1754759238.330 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 99.099998 m,
      deltaT: 3.528225 s,
      deltaX: -2.500000 m,
      approachRate: -0.708572 m/s,
      rangeRepo size: 4

2025-08-09T17:07:18.336Z,1754759238.336 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 99.099998 m,
      bearing: 215.912789 deg,
      lat: 36.906111 deg,
      lon: -122.115907 deg,
      deltaT: 3.528225 s,
      deltaX: -2.500000 m,
      approachRate: -0.708572 m/s,
      posRepo size: 4

2025-08-09T17:07:18.337Z,1754759238.337 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 99.10 m.
2025-08-09T17:07:18.344Z,1754759238.344 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 99.099998 m,
      nav range: 98.788818 m,
      bearing: 215.912789 deg,
      approach rate: -93028123860998899915587435605 m/s,
      LOS rate: -0.112103 deg/s,
      cmd heading: 234.142382 deg,
      new cmd heading: 233.949293 deg.

2025-08-09T17:07:18.672Z,1754759238.672 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-09T17:07:18.674Z,1754759238.674 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 99.10 m.
2025-08-09T17:07:18.677Z,1754759238.677 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 99.099998 m,
      nav range: 98.552788 m,
      bearing: 215.875687 deg,
      approach rate: -0.684474 m/s,
      LOS rate: -0.107852 deg/s,
      cmd heading: 233.949306 deg,
      new cmd heading: 233.837733 deg.

2025-08-09T17:07:18.894Z,1754759238.894 [DAT](INFO): ****** received valid address query ******
2025-08-09T17:07:18.895Z,1754759238.895 [DAT](INFO): ****** received valid ping request ******
2025-08-09T17:07:18.895Z,1754759238.895 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-09T17:07:19.102Z,1754759239.102 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 99.10 m.
2025-08-09T17:07:19.105Z,1754759239.105 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 99.099998 m,
      nav range: 98.260376 m,
      bearing: 215.820697 deg,
      approach rate: -0.683387 m/s,
      LOS rate: -0.128897 deg/s,
      cmd heading: 233.837728 deg,
      new cmd heading: 233.672268 deg.

2025-08-09T17:07:19.143Z,1754759239.143 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.995390
2025-08-09T17:07:19.399Z,1754759239.399 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.251404
2025-08-09T17:07:19.469Z,1754759239.469 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 99.10 m.
2025-08-09T17:07:19.472Z,1754759239.472 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 99.099998 m,
      nav range: 98.017715 m,
      bearing: 215.775686 deg,
      approach rate: -0.659882 m/s,
      LOS rate: -0.122704 deg/s,
      cmd heading: 233.672274 deg,
      new cmd heading: 233.536907 deg.

2025-08-09T17:07:19.651Z,1754759239.651 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.503348
2025-08-09T17:07:19.909Z,1754759239.909 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.757512
2025-08-09T17:07:19.956Z,1754759239.956 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 99.10 m.
2025-08-09T17:07:19.964Z,1754759239.964 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 99.099998 m,
      nav range: 97.708778 m,
      bearing: 215.718633 deg,
      approach rate: -0.634304 m/s,
      LOS rate: -0.117510 deg/s,
      cmd heading: 233.536899 deg,
      new cmd heading: 233.365200 deg.

2025-08-09T17:07:20.156Z,1754759240.156 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.007526
2025-08-09T17:07:20.307Z,1754759240.307 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 99.10 m.
2025-08-09T17:07:20.309Z,1754759240.309 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 99.099998 m,
      nav range: 97.476234 m,
      bearing: 215.671236 deg,
      approach rate: -0.664502 m/s,
      LOS rate: -0.135762 deg/s,
      cmd heading: 233.365188 deg,
      new cmd heading: 233.222658 deg.

2025-08-09T17:07:20.411Z,1754759240.411 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.263042
2025-08-09T17:07:20.659Z,1754759240.659 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.511246
2025-08-09T17:07:20.689Z,1754759240.689 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-09T17:07:20.692Z,1754759240.692 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 99.10 m.
2025-08-09T17:07:20.695Z,1754759240.695 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 99.099998 m,
      nav range: 97.233406 m,
      bearing: 215.622033 deg,
      approach rate: -0.630189 m/s,
      LOS rate: -0.128011 deg/s,
      cmd heading: 233.222656 deg,
      new cmd heading: 233.074678 deg.

2025-08-09T17:07:20.917Z,1754759240.917 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.768260
2025-08-09T17:07:21.117Z,1754759241.117 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 99.10 m.
2025-08-09T17:07:21.120Z,1754759241.120 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 99.099998 m,
      nav range: 96.964676 m,
      bearing: 215.567827 deg,
      approach rate: -0.631938 m/s,
      LOS rate: -0.127824 deg/s,
      cmd heading: 233.074687 deg,
      new cmd heading: 232.911616 deg.

2025-08-09T17:07:21.164Z,1754759241.164 [DAT](INFO): DAT read: Rx Time:17:07:20.1734

2025-08-09T17:07:21.165Z,1754759241.165 [DAT](INFO): Rx dataTimestamp_ set to:1754759241.164355
2025-08-09T17:07:21.166Z,1754759241.166 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.017495
2025-08-09T17:07:21.415Z,1754759241.415 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.267197
2025-08-09T17:07:21.495Z,1754759241.495 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 99.10 m.
2025-08-09T17:07:21.497Z,1754759241.497 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 99.099998 m,
      nav range: 96.726372 m,
      bearing: 215.520079 deg,
      approach rate: -0.630686 m/s,
      LOS rate: -0.126677 deg/s,
      cmd heading: 232.911609 deg,
      new cmd heading: 232.768015 deg.

2025-08-09T17:07:21.668Z,1754759241.668 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.519947
2025-08-09T17:07:21.943Z,1754759241.943 [DAT](INFO): DAT read: 17:07:20.1734 LVL= 23472, 30673, 18354, 32755, AGC= 62, IDX= 404,-0.08, 2.391, 1.129, 3.126, 2.370, PHS= 0.123,-1.196, 0.712, RAW= 167.5,   4.3, CAL= 166.6,   2.9, ROT= 343.4,  -2.9

2025-08-09T17:07:21.968Z,1754759241.968 [DAT](INFO): got valid direction response:
 17:07:20.1734 LVL= 23472, 30673, 18354, 32755, AGC= 62, IDX= 404,-0.08, 2.391, 1.129, 3.126, 2.370, PHS= 0.123,-1.196, 0.712, RAW= 167.5,   4.3, CAL= 166.6,   2.9, ROT= 343.4,  -2.9

2025-08-09T17:07:21.976Z,1754759241.976 [DAT](INFO): DAT read: Bearing  11.7, -12.5 (Local)

2025-08-09T17:07:21.977Z,1754759241.977 [DAT](INFO): Local bearing/azimuth received:
 Bearing  11.7, -12.5 (Local)

2025-08-09T17:07:21.987Z,1754759241.987 [DAT](INFO): DAT read: Range 11 to 50 : 96.6 m  (Round-trip  128.9 ms) speed  0.4 m/s

2025-08-09T17:07:21.987Z,1754759241.987 [DAT](INFO): DAT read: user:384>

2025-08-09T17:07:21.988Z,1754759241.988 [DAT](INFO): DAT read: Tx time:17:07:21.2904

2025-08-09T17:07:21.988Z,1754759241.988 [DAT](INFO): Ping request sent.
2025-08-09T17:07:21.988Z,1754759241.988 [DAT](INFO): transmitted an acoustic signal
2025-08-09T17:07:21.989Z,1754759241.989 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-09T17:07:21.990Z,1754759241.990 [DAT](INFO): direction in FSK: [0.957095,-0.285322,0.050593]
2025-08-09T17:07:21.990Z,1754759241.990 [DAT](INFO): publishing transmit ping time
2025-08-09T17:07:21.999Z,1754759241.999 [DAT](INFO): publishing direction and range info
2025-08-09T17:07:22.001Z,1754759242.001 [DAT](INFO): publishing transmit ping time
2025-08-09T17:07:22.002Z,1754759242.002 [DAT](INFO): publishing direction and range info
2025-08-09T17:07:22.179Z,1754759242.179 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 96.599998 m,
      deltaT: 3.785533 s,
      deltaX: -2.500000 m,
      approachRate: -0.660409 m/s,
      rangeRepo size: 4

2025-08-09T17:07:22.181Z,1754759242.181 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 96.599998 m,
      bearing: 215.417771 deg,
      lat: 36.906111 deg,
      lon: -122.115907 deg,
      deltaT: 3.785533 s,
      deltaX: -2.500000 m,
      approachRate: -0.660409 m/s,
      posRepo size: 4

2025-08-09T17:07:22.182Z,1754759242.182 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 96.60 m.
2025-08-09T17:07:22.200Z,1754759242.200 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 96.599998 m,
      nav range: 96.363022 m,
      bearing: 215.417771 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.126677 deg/s,
      cmd heading: 232.768011 deg,
      new cmd heading: 232.509851 deg.

2025-08-09T17:07:22.658Z,1754759242.658 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 96.60 m.
2025-08-09T17:07:22.661Z,1754759242.661 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 96.599998 m,
      nav range: 96.070190 m,
      bearing: 215.336314 deg,
      approach rate: -0.605456 m/s,
      LOS rate: -0.168934 deg/s,
      cmd heading: 232.509857 deg,
      new cmd heading: 232.264742 deg.

2025-08-09T17:07:23.135Z,1754759243.135 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-09T17:07:23.137Z,1754759243.137 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 96.60 m.
2025-08-09T17:07:23.140Z,1754759243.140 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 96.599998 m,
      nav range: 95.804077 m,
      bearing: 215.256539 deg,
      approach rate: -0.555309 m/s,
      LOS rate: -0.166932 deg/s,
      cmd heading: 232.264735 deg,
      new cmd heading: 232.024747 deg.

2025-08-09T17:07:23.179Z,1754759243.179 [DAT](INFO): ****** received valid address query ******
2025-08-09T17:07:23.180Z,1754759243.180 [DAT](INFO): ****** received valid ping request ******
2025-08-09T17:07:23.180Z,1754759243.180 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-09T17:07:23.431Z,1754759243.431 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.442789
2025-08-09T17:07:23.506Z,1754759243.506 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 96.60 m.
2025-08-09T17:07:23.509Z,1754759243.509 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 96.599998 m,
      nav range: 95.598175 m,
      bearing: 215.195558 deg,
      approach rate: -0.558424 m/s,
      LOS rate: -0.165741 deg/s,
      cmd heading: 232.024750 deg,
      new cmd heading: 231.841414 deg.

2025-08-09T17:07:23.683Z,1754759243.683 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.694665
2025-08-09T17:07:23.931Z,1754759243.931 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 96.60 m.
2025-08-09T17:07:23.933Z,1754759243.933 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 96.599998 m,
      nav range: 95.369804 m,
      bearing: 215.128252 deg,
      approach rate: -0.558604 m/s,
      LOS rate: -0.165029 deg/s,
      cmd heading: 231.841428 deg,
      new cmd heading: 231.639025 deg.

2025-08-09T17:07:23.935Z,1754759243.935 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.946874
2025-08-09T17:07:24.188Z,1754759244.188 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.199247
2025-08-09T17:07:24.328Z,1754759244.328 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 96.60 m.
2025-08-09T17:07:24.331Z,1754759244.331 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 96.599998 m,
      nav range: 95.150131 m,
      bearing: 215.065069 deg,
      approach rate: -0.531146 m/s,
      LOS rate: -0.153121 deg/s,
      cmd heading: 231.639036 deg,
      new cmd heading: 231.449051 deg.

2025-08-09T17:07:24.440Z,1754759244.440 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.451126
2025-08-09T17:07:24.691Z,1754759244.691 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.702605
2025-08-09T17:07:24.713Z,1754759244.713 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 96.60 m.
2025-08-09T17:07:24.716Z,1754759244.716 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 96.599998 m,
      nav range: 94.945412 m,
      bearing: 215.006412 deg,
      approach rate: -0.532421 m/s,
      LOS rate: -0.152880 deg/s,
      cmd heading: 231.449047 deg,
      new cmd heading: 231.272697 deg.

2025-08-09T17:07:24.949Z,1754759244.949 [DAT](INFO): DAT read: Rx Time:17:07:23.8210

2025-08-09T17:07:24.951Z,1754759244.951 [DAT](INFO): Rx dataTimestamp_ set to:1754759244.949843
2025-08-09T17:07:24.953Z,1754759244.953 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.963715
2025-08-09T17:07:25.141Z,1754759245.141 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-09T17:07:25.143Z,1754759245.143 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 96.60 m.
2025-08-09T17:07:25.146Z,1754759245.146 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 96.599998 m,
      nav range: 94.723358 m,
      bearing: 214.946577 deg,
      approach rate: -0.515863 m/s,
      LOS rate: -0.139331 deg/s,
      cmd heading: 231.272691 deg,
      new cmd heading: 231.092766 deg.

2025-08-09T17:07:25.196Z,1754759245.196 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.207440
2025-08-09T17:07:25.453Z,1754759245.453 [DAT](INFO): DAT read: 17:07:23.8210 LVL= 22192, 29905, 19522, 31923, AGC= 66, IDX= 412,-0.13, 2.502, 1.204,-3.061, 2.521, PHS= 0.083,-1.272, 0.658, RAW= 166.9,   6.2, CAL= 166.2,   5.7, ROT= 343.8,  -5.7

2025-08-09T17:07:25.454Z,1754759245.454 [DAT](INFO): got valid direction response:
 17:07:23.8210 LVL= 22192, 29905, 19522, 31923, AGC= 66, IDX= 412,-0.13, 2.502, 1.204,-3.061, 2.521, PHS= 0.083,-1.272, 0.658, RAW= 166.9,   6.2, CAL= 166.2,   5.7, ROT= 343.8,  -5.7

2025-08-09T17:07:25.455Z,1754759245.455 [DAT](INFO): DAT read: Bearing  12.5, -13.5 (Local)

2025-08-09T17:07:25.455Z,1754759245.455 [DAT](INFO): Local bearing/azimuth received:
 Bearing  12.5, -13.5 (Local)

2025-08-09T17:07:25.457Z,1754759245.457 [DAT](INFO): DAT read: Range 11 to 50 : 94.8 m  (Round-trip  126.5 ms) speed  0.5 m/s

2025-08-09T17:07:25.457Z,1754759245.457 [DAT](INFO): DAT read: user:385>

2025-08-09T17:07:25.458Z,1754759245.458 [DAT](INFO): DAT read: Tx time:17:07:24.9404

2025-08-09T17:07:25.458Z,1754759245.458 [DAT](INFO): Ping request sent.
2025-08-09T17:07:25.458Z,1754759245.458 [DAT](INFO): transmitted an acoustic signal
2025-08-09T17:07:25.459Z,1754759245.459 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-09T17:07:25.460Z,1754759245.460 [DAT](INFO): direction in FSK: [0.955545,-0.277612,0.099320]
2025-08-09T17:07:25.460Z,1754759245.460 [DAT](INFO): publishing transmit ping time
2025-08-09T17:07:25.460Z,1754759245.460 [DAT](INFO): publishing direction and range info
2025-08-09T17:07:25.468Z,1754759245.468 [DAT](INFO): publishing transmit ping time
2025-08-09T17:07:25.468Z,1754759245.468 [DAT](INFO): publishing direction and range info
2025-08-09T17:07:25.603Z,1754759245.603 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 94.800003 m,
      deltaT: 3.526256 s,
      deltaX: -1.799995 m,
      approachRate: -0.510455 m/s,
      rangeRepo size: 4

2025-08-09T17:07:25.605Z,1754759245.605 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 94.800003 m,
      bearing: 217.098703 deg,
      lat: 36.906133 deg,
      lon: -122.115937 deg,
      deltaT: 3.526256 s,
      deltaX: -1.799995 m,
      approachRate: -0.510455 m/s,
      posRepo size: 4

2025-08-09T17:07:25.606Z,1754759245.606 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 94.80 m.
2025-08-09T17:07:25.618Z,1754759245.618 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 94.800003 m,
      nav range: 94.116257 m,
      bearing: 217.098703 deg,
      approach rate: -0.000000 m/s,
      LOS rate: -0.139331 deg/s,
      cmd heading: 231.092757 deg,
      new cmd heading: 230.900868 deg.

2025-08-09T17:07:25.961Z,1754759245.961 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 94.80 m.
2025-08-09T17:07:25.964Z,1754759245.964 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 94.800003 m,
      nav range: 93.919388 m,
      bearing: 217.051201 deg,
      approach rate: -0.547945 m/s,
      LOS rate: -0.132488 deg/s,
      cmd heading: 230.900856 deg,
      new cmd heading: 230.758053 deg.

2025-08-09T17:07:26.381Z,1754759246.381 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 94.80 m.
2025-08-09T17:07:26.388Z,1754759246.388 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 94.800003 m,
      nav range: 93.689751 m,
      bearing: 217.005683 deg,
      approach rate: -0.547714 m/s,
      LOS rate: -0.108833 deg/s,
      cmd heading: 230.758050 deg,
      new cmd heading: 230.621162 deg.

2025-08-09T17:07:26.803Z,1754759246.803 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 94.80 m.
2025-08-09T17:07:26.806Z,1754759246.806 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 94.800003 m,
      nav range: 93.438499 m,
      bearing: 216.956133 deg,
      approach rate: -0.594428 m/s,
      LOS rate: -0.117545 deg/s,
      cmd heading: 230.621173 deg,
      new cmd heading: 230.472123 deg.

2025-08-09T17:07:27.192Z,1754759247.192 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-09T17:07:27.196Z,1754759247.196 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 94.80 m.
2025-08-09T17:07:27.199Z,1754759247.199 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 94.800003 m,
      nav range: 93.218658 m,
      bearing: 216.917638 deg,
      approach rate: -0.559747 m/s,
      LOS rate: -0.098243 deg/s,
      cmd heading: 230.472111 deg,
      new cmd heading: 230.356356 deg.

2025-08-09T17:07:27.211Z,1754759247.211 [DAT](INFO): ****** received valid address query ******
2025-08-09T17:07:27.211Z,1754759247.211 [DAT](INFO): ****** received valid ping request ******
2025-08-09T17:07:27.212Z,1754759247.212 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-09T17:07:27.463Z,1754759247.463 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.004698
2025-08-09T17:07:27.581Z,1754759247.581 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 94.80 m.
2025-08-09T17:07:27.584Z,1754759247.584 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 94.800003 m,
      nav range: 92.976501 m,
      bearing: 216.875446 deg,
      approach rate: -0.628976 m/s,
      LOS rate: -0.109876 deg/s,
      cmd heading: 230.356353 deg,
      new cmd heading: 230.229446 deg.

2025-08-09T17:07:27.715Z,1754759247.715 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.256812
2025-08-09T17:07:27.967Z,1754759247.967 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.508819
2025-08-09T17:07:28.003Z,1754759248.003 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 94.80 m.
2025-08-09T17:07:28.020Z,1754759248.020 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 94.800003 m,
      nav range: 92.738419 m,
      bearing: 216.834160 deg,
      approach rate: -0.593896 m/s,
      LOS rate: -0.103252 deg/s,
      cmd heading: 230.229448 deg,
      new cmd heading: 230.105273 deg.

2025-08-09T17:07:28.219Z,1754759248.219 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.760652
2025-08-09T17:07:28.426Z,1754759248.426 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 94.80 m.
2025-08-09T17:07:28.444Z,1754759248.444 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 94.800003 m,
      nav range: 92.460320 m,
      bearing: 216.792665 deg,
      approach rate: -0.627014 m/s,
      LOS rate: -0.093837 deg/s,
      cmd heading: 230.105276 deg,
      new cmd heading: 229.980417 deg.

2025-08-09T17:07:28.474Z,1754759248.474 [DAT](INFO): DAT read: Rx Time:17:07:27.4685

2025-08-09T17:07:28.475Z,1754759248.475 [DAT](INFO): Rx dataTimestamp_ set to:1754759248.474371
2025-08-09T17:07:28.475Z,1754759248.475 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.016673
2025-08-09T17:07:28.723Z,1754759248.723 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.264798
2025-08-09T17:07:28.810Z,1754759248.810 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 94.80 m.
2025-08-09T17:07:28.812Z,1754759248.812 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 94.800003 m,
      nav range: 92.220055 m,
      bearing: 216.757028 deg,
      approach rate: -0.625709 m/s,
      LOS rate: -0.093049 deg/s,
      cmd heading: 229.980420 deg,
      new cmd heading: 229.873231 deg.

2025-08-09T17:07:28.981Z,1754759248.981 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.519462
2025-08-09T17:07:29.233Z,1754759249.233 [DAT](INFO): DAT read: 17:07:27.4684 LVL= 24384, 29937, 21298, 32755, AGC= 61, IDX= 418,-0.44,-2.869, 2.074,-2.224,-2.879, PHS= 0.112,-1.286, 0.611, RAW= 164.7,   6.7, CAL= 164.1,   6.3, ROT= 345.9,  -6.3

2025-08-09T17:07:29.234Z,1754759249.234 [DAT](INFO): got valid direction response:
 17:07:27.4684 LVL= 24384, 29937, 21298, 32755, AGC= 61, IDX= 418,-0.44,-2.869, 2.074,-2.224,-2.879, PHS= 0.112,-1.286, 0.611, RAW= 164.7,   6.7, CAL= 164.1,   6.3, ROT= 345.9,  -6.3

2025-08-09T17:07:29.235Z,1754759249.235 [DAT](INFO): DAT read: Bearing  11.9, -12.8 (Local)

2025-08-09T17:07:29.235Z,1754759249.235 [DAT](INFO): Local bearing/azimuth received:
 Bearing  11.9, -12.8 (Local)

2025-08-09T17:07:29.237Z,1754759249.237 [DAT](INFO): DAT read: Range 11 to 50 : 93.0 m  (Round-trip  124.0 ms) speed  0.7 m/s

2025-08-09T17:07:29.237Z,1754759249.237 [DAT](INFO): DAT read: user:386>

2025-08-09T17:07:29.238Z,1754759249.238 [DAT](INFO): DAT read: Tx time:17:07:28.5903

2025-08-09T17:07:29.238Z,1754759249.238 [DAT](INFO): Ping request sent.
2025-08-09T17:07:29.238Z,1754759249.238 [DAT](INFO): transmitted an acoustic signal
2025-08-09T17:07:29.239Z,1754759249.239 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-09T17:07:29.240Z,1754759249.240 [DAT](INFO): direction in FSK: [0.964015,-0.242144,0.109734]
2025-08-09T17:07:29.240Z,1754759249.240 [DAT](INFO): publishing transmit ping time
2025-08-09T17:07:29.240Z,1754759249.240 [DAT](INFO): publishing direction and range info
2025-08-09T17:07:29.243Z,1754759249.243 [DAT](INFO): publishing transmit ping time
2025-08-09T17:07:29.243Z,1754759249.243 [DAT](INFO): publishing direction and range info
2025-08-09T17:07:29.291Z,1754759249.291 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 93.000000 m,
      deltaT: 3.779962 s,
      deltaX: -1.800003 m,
      approachRate: -0.476196 m/s,
      rangeRepo size: 4

2025-08-09T17:07:29.293Z,1754759249.293 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 93.000000 m,
      bearing: 217.134739 deg,
      lat: 36.906142 deg,
      lon: -122.115938 deg,
      deltaT: 3.779962 s,
      deltaX: -1.800003 m,
      approachRate: -0.476196 m/s,
      posRepo size: 4

2025-08-09T17:07:29.293Z,1754759249.293 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 93.00 m.
2025-08-09T17:07:29.313Z,1754759249.313 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 93.000000 m,
      nav range: 91.105659 m,
      bearing: 217.134739 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.093049 deg/s,
      cmd heading: 229.873240 deg,
      new cmd heading: 229.742537 deg.

2025-08-09T17:07:29.671Z,1754759249.671 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-09T17:07:29.673Z,1754759249.673 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 93.00 m.
2025-08-09T17:07:29.676Z,1754759249.676 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 93.000000 m,
      nav range: 90.814453 m,
      bearing: 217.095637 deg,
      approach rate: -0.737058 m/s,
      LOS rate: -0.099288 deg/s,
      cmd heading: 229.742538 deg,
      new cmd heading: 229.624855 deg.

2025-08-09T17:07:29.732Z,1754759249.732 [DAT](INFO): ****** received valid address query ******
2025-08-09T17:07:29.732Z,1754759249.732 [DAT](INFO): ****** received valid ping request ******
2025-08-09T17:07:29.732Z,1754759249.732 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-09T17:07:29.984Z,1754759249.984 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.745154
2025-08-09T17:07:30.145Z,1754759250.145 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 93.00 m.
2025-08-09T17:07:30.152Z,1754759250.152 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 93.000000 m,
      nav range: 90.503136 m,
      bearing: 217.054466 deg,
      approach rate: -0.659954 m/s,
      LOS rate: -0.087578 deg/s,
      cmd heading: 229.624867 deg,
      new cmd heading: 229.500929 deg.

2025-08-09T17:07:30.236Z,1754759250.236 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.997245
2025-08-09T17:07:30.487Z,1754759250.487 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.248889
2025-08-09T17:07:30.492Z,1754759250.492 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 93.00 m.
2025-08-09T17:07:30.495Z,1754759250.495 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 93.000000 m,
      nav range: 90.265594 m,
      bearing: 217.023384 deg,
      approach rate: -0.684021 m/s,
      LOS rate: -0.089738 deg/s,
      cmd heading: 229.500940 deg,
      new cmd heading: 229.407450 deg.

2025-08-09T17:07:30.739Z,1754759250.739 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.500815
2025-08-09T17:07:30.938Z,1754759250.938 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 93.00 m.
2025-08-09T17:07:30.941Z,1754759250.941 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 93.000000 m,
      nav range: 89.967232 m,
      bearing: 216.985205 deg,
      approach rate: -0.669132 m/s,
      LOS rate: -0.085908 deg/s,
      cmd heading: 229.407449 deg,
      new cmd heading: 229.292530 deg.

2025-08-09T17:07:30.992Z,1754759250.992 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.753588
2025-08-09T17:07:31.243Z,1754759251.243 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.004736
2025-08-09T17:07:31.339Z,1754759251.339 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 93.00 m.
2025-08-09T17:07:31.342Z,1754759251.342 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 93.000000 m,
      nav range: 89.687897 m,
      bearing: 216.945838 deg,
      approach rate: -0.697643 m/s,
      LOS rate: -0.098625 deg/s,
      cmd heading: 229.292538 deg,
      new cmd heading: 229.174070 deg.

2025-08-09T17:07:31.495Z,1754759251.495 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.256754
2025-08-09T17:07:31.693Z,1754759251.693 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-09T17:07:31.695Z,1754759251.695 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 93.00 m.
2025-08-09T17:07:31.697Z,1754759251.697 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 93.000000 m,
      nav range: 89.441528 m,
      bearing: 216.911346 deg,
      approach rate: -0.690647 m/s,
      LOS rate: -0.096958 deg/s,
      cmd heading: 229.174075 deg,
      new cmd heading: 229.070314 deg.

2025-08-09T17:07:31.748Z,1754759251.748 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.509103
2025-08-09T17:07:31.999Z,1754759251.999 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.760791
2025-08-09T17:07:32.168Z,1754759252.168 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 93.00 m.
2025-08-09T17:07:32.171Z,1754759252.171 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 93.000000 m,
      nav range: 89.117767 m,
      bearing: 216.867365 deg,
      approach rate: -0.683743 m/s,
      LOS rate: -0.093219 deg/s,
      cmd heading: 229.070311 deg,
      new cmd heading: 228.937890 deg.

2025-08-09T17:07:32.252Z,1754759252.252 [DAT](INFO): DAT read: Rx Time:17:07:31.1149

2025-08-09T17:07:32.253Z,1754759252.253 [DAT](INFO): Rx dataTimestamp_ set to:1754759252.252336
2025-08-09T17:07:32.253Z,1754759252.253 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.015039
2025-08-09T17:07:32.506Z,1754759252.506 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.267126
2025-08-09T17:07:32.523Z,1754759252.523 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 93.00 m.
2025-08-09T17:07:32.545Z,1754759252.545 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 93.000000 m,
      nav range: 88.876167 m,
      bearing: 216.834332 deg,
      approach rate: -0.683159 m/s,
      LOS rate: -0.093659 deg/s,
      cmd heading: 228.937887 deg,
      new cmd heading: 228.838519 deg.

2025-08-09T17:07:32.764Z,1754759252.764 [DAT](INFO): DAT read: 17:07:31.1149 LVL= 23824, 32641, 18098, 32451, AGC= 65, IDX= 398,-0.10,-0.609,-1.992, 0.009,-0.598, PHS= 0.092,-1.348, 0.563, RAW= 163.7,   8.1, CAL= 163.3,   8.3, ROT= 346.7,  -8.3

2025-08-09T17:07:32.766Z,1754759252.766 [DAT](INFO): got valid direction response:
 17:07:31.1149 LVL= 23824, 32641, 18098, 32451, AGC= 65, IDX= 398,-0.10,-0.609,-1.992, 0.009,-0.598, PHS= 0.092,-1.348, 0.563, RAW= 163.7,   8.1, CAL= 163.3,   8.3, ROT= 346.7,  -8.3

2025-08-09T17:07:32.788Z,1754759252.788 [DAT](INFO): DAT read: Bearing  12.6, -13.6 (Local)

2025-08-09T17:07:32.788Z,1754759252.788 [DAT](INFO): Local bearing/azimuth received:
 Bearing  12.6, -13.6 (Local)

2025-08-09T17:07:32.792Z,1754759252.792 [DAT](INFO): DAT read: Range 11 to 50 : 90.3 m  (Round-trip  120.5 ms) speed  0.6 m/s

2025-08-09T17:07:32.793Z,1754759252.793 [DAT](INFO): DAT read: user:387>

2025-08-09T17:07:32.795Z,1754759252.795 [DAT](INFO): DAT read: Tx time:17:07:32.2403

2025-08-09T17:07:32.795Z,1754759252.795 [DAT](INFO): Ping request sent.
2025-08-09T17:07:32.795Z,1754759252.795 [DAT](INFO): transmitted an acoustic signal
2025-08-09T17:07:32.796Z,1754759252.796 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-09T17:07:32.797Z,1754759252.797 [DAT](INFO): direction in FSK: [0.962986,-0.227640,0.144356]
2025-08-09T17:07:32.797Z,1754759252.797 [DAT](INFO): publishing transmit ping time
2025-08-09T17:07:32.797Z,1754759252.797 [DAT](INFO): publishing direction and range info
2025-08-09T17:07:32.801Z,1754759252.801 [DAT](INFO): publishing transmit ping time
2025-08-09T17:07:32.801Z,1754759252.801 [DAT](INFO): publishing direction and range info
2025-08-09T17:07:32.951Z,1754759252.951 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 90.300003 m,
      deltaT: 3.529350 s,
      deltaX: -2.699997 m,
      approachRate: -0.765013 m/s,
      rangeRepo size: 4

2025-08-09T17:07:32.953Z,1754759252.953 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 90.300003 m,
      bearing: 217.368389 deg,
      lat: 36.906145 deg,
      lon: -122.115948 deg,
      deltaT: 3.529350 s,
      deltaX: -2.699997 m,
      approachRate: -0.765013 m/s,
      posRepo size: 4

2025-08-09T17:07:32.954Z,1754759252.954 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 90.30 m.
2025-08-09T17:07:32.961Z,1754759252.961 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 90.300003 m,
      nav range: 88.874100 m,
      bearing: 217.368389 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.093659 deg/s,
      cmd heading: 228.838521 deg,
      new cmd heading: 228.719322 deg.

2025-08-09T17:07:33.346Z,1754759253.346 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 90.30 m.
2025-08-09T17:07:33.349Z,1754759253.349 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 90.300003 m,
      nav range: 88.593102 m,
      bearing: 217.330581 deg,
      approach rate: -0.702627 m/s,
      LOS rate: -0.094838 deg/s,
      cmd heading: 228.719321 deg,
      new cmd heading: 228.605537 deg.

2025-08-09T17:07:33.719Z,1754759253.719 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-09T17:07:33.721Z,1754759253.721 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 90.30 m.
2025-08-09T17:07:33.724Z,1754759253.724 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 90.300003 m,
      nav range: 88.337265 m,
      bearing: 217.296422 deg,
      approach rate: -0.682043 m/s,
      LOS rate: -0.091329 deg/s,
      cmd heading: 228.605544 deg,
      new cmd heading: 228.502771 deg.

2025-08-09T17:07:33.763Z,1754759253.763 [DAT](INFO): ****** received valid address query ******
2025-08-09T17:07:33.763Z,1754759253.763 [DAT](INFO): ****** received valid ping request ******
2025-08-09T17:07:33.764Z,1754759253.764 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-09T17:07:34.015Z,1754759254.015 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.219997
2025-08-09T17:07:34.190Z,1754759254.190 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 90.30 m.
2025-08-09T17:07:34.193Z,1754759254.193 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 90.300003 m,
      nav range: 88.022324 m,
      bearing: 217.250504 deg,
      approach rate: -0.671792 m/s,
      LOS rate: -0.098296 deg/s,
      cmd heading: 228.502777 deg,
      new cmd heading: 228.364531 deg.

2025-08-09T17:07:34.268Z,1754759254.268 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.472190
2025-08-09T17:07:34.521Z,1754759254.521 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.725784
2025-08-09T17:07:34.555Z,1754759254.555 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 90.30 m.
2025-08-09T17:07:34.558Z,1754759254.558 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 90.300003 m,
      nav range: 87.787079 m,
      bearing: 217.215986 deg,
      approach rate: -0.644868 m/s,
      LOS rate: -0.094876 deg/s,
      cmd heading: 228.364534 deg,
      new cmd heading: 228.260703 deg.

2025-08-09T17:07:34.772Z,1754759254.772 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.976456
2025-08-09T17:07:34.930Z,1754759254.930 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 90.30 m.
2025-08-09T17:07:34.933Z,1754759254.933 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 90.300003 m,
      nav range: 87.525314 m,
      bearing: 217.179082 deg,
      approach rate: -0.698400 m/s,
      LOS rate: -0.098758 deg/s,
      cmd heading: 228.260701 deg,
      new cmd heading: 228.149656 deg.

2025-08-09T17:07:35.025Z,1754759255.025 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.229183
2025-08-09T17:07:35.275Z,1754759255.275 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.479953
2025-08-09T17:07:35.359Z,1754759255.359 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 90.30 m.
2025-08-09T17:07:35.361Z,1754759255.361 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 90.300003 m,
      nav range: 87.253242 m,
      bearing: 217.143756 deg,
      approach rate: -0.634574 m/s,
      LOS rate: -0.082651 deg/s,
      cmd heading: 228.149656 deg,
      new cmd heading: 228.043347 deg.

2025-08-09T17:07:35.528Z,1754759255.528 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.732672
2025-08-09T17:07:35.741Z,1754759255.741 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-09T17:07:35.743Z,1754759255.743 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 90.30 m.
2025-08-09T17:07:35.745Z,1754759255.745 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 90.300003 m,
      nav range: 87.012230 m,
      bearing: 217.112673 deg,
      approach rate: -0.627464 m/s,
      LOS rate: -0.081147 deg/s,
      cmd heading: 228.043351 deg,
      new cmd heading: 227.949843 deg.

2025-08-09T17:07:35.780Z,1754759255.780 [DAT](INFO): DAT read: Rx Time:17:07:34.7616

2025-08-09T17:07:35.781Z,1754759255.781 [DAT](INFO): Rx dataTimestamp_ set to:1754759255.780328
2025-08-09T17:07:35.781Z,1754759255.781 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.985867
2025-08-09T17:07:36.032Z,1754759256.032 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.237118
2025-08-09T17:07:36.205Z,1754759256.205 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 90.30 m.
2025-08-09T17:07:36.208Z,1754759256.208 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 90.300003 m,
      nav range: 86.720734 m,
      bearing: 217.075343 deg,
      approach rate: -0.630467 m/s,
      LOS rate: -0.081011 deg/s,
      cmd heading: 227.949845 deg,
      new cmd heading: 227.837479 deg.

2025-08-09T17:07:36.286Z,1754759256.286 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.490618
2025-08-09T17:07:36.544Z,1754759256.544 [DAT](INFO): DAT read: 17:07:34.7616 LVL= 26928, 32753, 23714, 32755, AGC= 65, IDX= 412,-0.25, 1.779, 0.340, 2.352, 1.794, PHS= 0.087,-1.409, 0.514, RAW= 162.2,   9.3, CAL= 162.0,   9.9, ROT= 348.0,  -9.9

2025-08-09T17:07:36.546Z,1754759256.546 [DAT](INFO): got valid direction response:
 17:07:34.7616 LVL= 26928, 32753, 23714, 32755, AGC= 65, IDX= 412,-0.25, 1.779, 0.340, 2.352, 1.794, PHS= 0.087,-1.409, 0.514, RAW= 162.2,   9.3, CAL= 162.0,   9.9, ROT= 348.0,  -9.9

2025-08-09T17:07:36.548Z,1754759256.548 [DAT](INFO): DAT read: Bearing  13.0, -13.3 (Local)

2025-08-09T17:07:36.549Z,1754759256.549 [DAT](INFO): Local bearing/azimuth received:
 Bearing  13.0, -13.3 (Local)

2025-08-09T17:07:36.550Z,1754759256.550 [DAT](INFO): DAT read: Range 11 to 50 : 87.8 m  (Round-trip  117.1 ms) speed  0.7 m/s

2025-08-09T17:07:36.551Z,1754759256.551 [DAT](INFO): DAT read: user:388>

2025-08-09T17:07:36.552Z,1754759256.552 [DAT](INFO): DAT read: Tx time:17:07:35.8903

2025-08-09T17:07:36.552Z,1754759256.552 [DAT](INFO): Ping request sent.
2025-08-09T17:07:36.552Z,1754759256.552 [DAT](INFO): transmitted an acoustic signal
2025-08-09T17:07:36.552Z,1754759256.552 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-09T17:07:36.553Z,1754759256.553 [DAT](INFO): direction in FSK: [0.963582,-0.204816,0.171929]
2025-08-09T17:07:36.554Z,1754759256.554 [DAT](INFO): publishing transmit ping time
2025-08-09T17:07:36.554Z,1754759256.554 [DAT](INFO): publishing direction and range info
2025-08-09T17:07:36.565Z,1754759256.565 [DAT](INFO): publishing transmit ping time
2025-08-09T17:07:36.565Z,1754759256.565 [DAT](INFO): publishing direction and range info
2025-08-09T17:07:36.698Z,1754759256.698 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 87.800003 m,
      deltaT: 3.778833 s,
      deltaX: -2.500000 m,
      approachRate: -0.661580 m/s,
      rangeRepo size: 4

2025-08-09T17:07:36.700Z,1754759256.700 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 87.800003 m,
      bearing: 217.389219 deg,
      lat: 36.906148 deg,
      lon: -122.115953 deg,
      deltaT: 3.778833 s,
      deltaX: -2.500000 m,
      approachRate: -0.661580 m/s,
      posRepo size: 4

2025-08-09T17:07:36.701Z,1754759256.701 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 87.80 m.
2025-08-09T17:07:36.708Z,1754759256.708 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 87.800003 m,
      nav range: 86.478874 m,
      bearing: 217.389219 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.081011 deg/s,
      cmd heading: 227.837475 deg,
      new cmd heading: 227.717827 deg.

2025-08-09T17:07:37.086Z,1754759257.086 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 87.80 m.
2025-08-09T17:07:37.089Z,1754759257.089 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 87.800003 m,
      nav range: 86.233711 m,
      bearing: 217.355140 deg,
      approach rate: -0.630484 m/s,
      LOS rate: -0.087890 deg/s,
      cmd heading: 227.717824 deg,
      new cmd heading: 227.615296 deg.

2025-08-09T17:07:37.488Z,1754759257.488 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 87.80 m.
2025-08-09T17:07:37.490Z,1754759257.490 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 87.800003 m,
      nav range: 85.978325 m,
      bearing: 217.315741 deg,
      approach rate: -0.636153 m/s,
      LOS rate: -0.098431 deg/s,
      cmd heading: 227.615303 deg,
      new cmd heading: 227.496757 deg.

2025-08-09T17:07:37.879Z,1754759257.879 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-09T17:07:37.881Z,1754759257.881 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 87.80 m.
2025-08-09T17:07:37.884Z,1754759257.884 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 87.800003 m,
      nav range: 85.741020 m,
      bearing: 217.279301 deg,
      approach rate: -0.603454 m/s,
      LOS rate: -0.092923 deg/s,
      cmd heading: 227.496758 deg,
      new cmd heading: 227.387134 deg.

2025-08-09T17:07:38.047Z,1754759258.047 [DAT](INFO): ****** received valid address query ******
2025-08-09T17:07:38.047Z,1754759258.047 [DAT](INFO): ****** received valid ping request ******
2025-08-09T17:07:38.047Z,1754759258.047 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-09T17:07:38.292Z,1754759258.292 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 87.80 m.
2025-08-09T17:07:38.295Z,1754759258.295 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 87.800003 m,
      nav range: 85.482605 m,
      bearing: 217.240944 deg,
      approach rate: -0.627941 m/s,
      LOS rate: -0.093489 deg/s,
      cmd heading: 227.387133 deg,
      new cmd heading: 227.271714 deg.

2025-08-09T17:07:38.300Z,1754759258.300 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.747493
2025-08-09T17:07:38.551Z,1754759258.551 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.999148
2025-08-09T17:07:38.666Z,1754759258.666 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 87.80 m.
2025-08-09T17:07:38.669Z,1754759258.669 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 87.800003 m,
      nav range: 85.260071 m,
      bearing: 217.208069 deg,
      approach rate: -0.601667 m/s,
      LOS rate: -0.089115 deg/s,
      cmd heading: 227.271717 deg,
      new cmd heading: 227.172836 deg.

2025-08-09T17:07:38.803Z,1754759258.803 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.251045
2025-08-09T17:07:39.055Z,1754759259.055 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.502976
2025-08-09T17:07:39.127Z,1754759259.127 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 87.80 m.
2025-08-09T17:07:39.129Z,1754759259.129 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 87.800003 m,
      nav range: 84.992149 m,
      bearing: 217.168678 deg,
      approach rate: -0.582222 m/s,
      LOS rate: -0.085871 deg/s,
      cmd heading: 227.172829 deg,
      new cmd heading: 227.054284 deg.

2025-08-09T17:07:39.312Z,1754759259.312 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.759915
2025-08-09T17:07:39.559Z,1754759259.559 [DAT](INFO): DAT read: Rx Time:17:07:38.4086

2025-08-09T17:07:39.560Z,1754759259.560 [DAT](INFO): Rx dataTimestamp_ set to:1754759259.559590
2025-08-09T17:07:39.560Z,1754759259.560 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.008268
2025-08-09T17:07:39.576Z,1754759259.576 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 87.80 m.
2025-08-09T17:07:39.579Z,1754759259.579 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 87.800003 m,
      nav range: 84.707405 m,
      bearing: 217.123123 deg,
      approach rate: -0.627883 m/s,
      LOS rate: -0.100791 deg/s,
      cmd heading: 227.054285 deg,
      new cmd heading: 226.917160 deg.

2025-08-09T17:07:39.811Z,1754759259.811 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.259067
2025-08-09T17:07:40.069Z,1754759260.069 [DAT](INFO): DAT read: 17:07:38.4086 LVL= 23248, 32145, 22690, 32755, AGC= 67, IDX= 414,-0.12, 0.465,-0.968, 1.005, 0.472, PHS= 0.096,-1.395, 0.489, RAW= 161.4,   9.4, CAL= 161.3,  10.1, ROT= 348.7, -10.1

2025-08-09T17:07:40.070Z,1754759260.070 [DAT](INFO): got valid direction response:
 17:07:38.4086 LVL= 23248, 32145, 22690, 32755, AGC= 67, IDX= 414,-0.12, 0.465,-0.968, 1.005, 0.472, PHS= 0.096,-1.395, 0.489, RAW= 161.4,   9.4, CAL= 161.3,  10.1, ROT= 348.7, -10.1

2025-08-09T17:07:40.071Z,1754759260.071 [DAT](INFO): DAT read: Bearing  12.0, -13.4 (Local)

2025-08-09T17:07:40.071Z,1754759260.071 [DAT](INFO): Local bearing/azimuth received:
 Bearing  12.0, -13.4 (Local)

2025-08-09T17:07:40.073Z,1754759260.073 [DAT](INFO): DAT read: Range 11 to 50 : 85.6 m  (Round-trip  114.2 ms) speed  0.8 m/s

2025-08-09T17:07:40.074Z,1754759260.074 [DAT](INFO): DAT read: user:389>

2025-08-09T17:07:40.074Z,1754759260.074 [DAT](INFO): DAT read: Tx time:17:07:39.5403

2025-08-09T17:07:40.075Z,1754759260.075 [DAT](INFO): Ping request sent.
2025-08-09T17:07:40.075Z,1754759260.075 [DAT](INFO): transmitted an acoustic signal
2025-08-09T17:07:40.075Z,1754759260.075 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-09T17:07:40.076Z,1754759260.076 [DAT](INFO): direction in FSK: [0.965418,-0.192909,0.175367]
2025-08-09T17:07:40.076Z,1754759260.076 [DAT](INFO): publishing transmit ping time
2025-08-09T17:07:40.077Z,1754759260.077 [DAT](INFO): publishing direction and range info
2025-08-09T17:07:40.080Z,1754759260.080 [DAT](INFO): publishing transmit ping time
2025-08-09T17:07:40.080Z,1754759260.080 [DAT](INFO): publishing direction and range info
2025-08-09T17:07:40.105Z,1754759260.105 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 85.599998 m,
      deltaT: 3.527917 s,
      deltaX: -2.200005 m,
      approachRate: -0.623599 m/s,
      rangeRepo size: 4

2025-08-09T17:07:40.114Z,1754759260.114 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 85.599998 m,
      bearing: 217.398332 deg,
      lat: 36.906149 deg,
      lon: -122.115959 deg,
      deltaT: 3.527917 s,
      deltaX: -2.200005 m,
      approachRate: -0.623599 m/s,
      posRepo size: 4

2025-08-09T17:07:40.131Z,1754759260.131 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 85.60 m.
2025-08-09T17:07:40.133Z,1754759260.133 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 85.599998 m,
      nav range: 84.637337 m,
      bearing: 217.398332 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.100791 deg/s,
      cmd heading: 226.917162 deg,
      new cmd heading: 226.757248 deg.

2025-08-09T17:07:40.683Z,1754759260.683 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-09T17:07:40.685Z,1754759260.685 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 85.60 m.
2025-08-09T17:07:40.694Z,1754759260.694 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 85.599998 m,
      nav range: 84.262917 m,
      bearing: 217.336282 deg,
      approach rate: -0.644985 m/s,
      LOS rate: -0.107364 deg/s,
      cmd heading: 226.757253 deg,
      new cmd heading: 226.570277 deg.

2025-08-09T17:07:40.820Z,1754759260.820 [DAT](INFO): ****** received valid address query ******
2025-08-09T17:07:40.820Z,1754759260.820 [DAT](INFO): ****** received valid ping request ******
2025-08-09T17:07:40.820Z,1754759260.820 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-09T17:07:41.071Z,1754759261.071 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.996629
2025-08-09T17:07:41.074Z,1754759261.074 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 85.60 m.
2025-08-09T17:07:41.077Z,1754759261.077 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 85.599998 m,
      nav range: 84.021729 m,
      bearing: 217.296503 deg,
      approach rate: -0.620993 m/s,
      LOS rate: -0.102713 deg/s,
      cmd heading: 226.570270 deg,
      new cmd heading: 226.450592 deg.

2025-08-09T17:07:41.323Z,1754759261.323 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.248452
2025-08-09T17:07:41.575Z,1754759261.575 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.500549
2025-08-09T17:07:41.589Z,1754759261.589 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 85.60 m.
2025-08-09T17:07:41.596Z,1754759261.596 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 85.599998 m,
      nav range: 83.710564 m,
      bearing: 217.247944 deg,
      approach rate: -0.604161 m/s,
      LOS rate: -0.094633 deg/s,
      cmd heading: 226.450592 deg,
      new cmd heading: 226.304374 deg.

2025-08-09T17:07:41.828Z,1754759261.828 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.753064
2025-08-09T17:07:41.930Z,1754759261.930 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 85.60 m.
2025-08-09T17:07:41.933Z,1754759261.933 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 85.599998 m,
      nav range: 83.494186 m,
      bearing: 217.214371 deg,
      approach rate: -0.633816 m/s,
      LOS rate: -0.098599 deg/s,
      cmd heading: 226.304371 deg,
      new cmd heading: 226.203390 deg.

2025-08-09T17:07:42.079Z,1754759262.079 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.004447
2025-08-09T17:07:42.332Z,1754759262.332 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.256854
2025-08-09T17:07:42.340Z,1754759262.340 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 85.60 m.
2025-08-09T17:07:42.343Z,1754759262.343 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 85.599998 m,
      nav range: 83.226570 m,
      bearing: 217.175648 deg,
      approach rate: -0.653275 m/s,
      LOS rate: -0.094830 deg/s,
      cmd heading: 226.203393 deg,
      new cmd heading: 226.086852 deg.

2025-08-09T17:07:42.584Z,1754759262.584 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.508806
2025-08-09T17:07:42.739Z,1754759262.739 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-09T17:07:42.742Z,1754759262.742 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 85.60 m.
2025-08-09T17:07:42.744Z,1754759262.744 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 85.599998 m,
      nav range: 82.972145 m,
      bearing: 217.138597 deg,
      approach rate: -0.633201 m/s,
      LOS rate: -0.092496 deg/s,
      cmd heading: 226.086857 deg,
      new cmd heading: 225.975360 deg.

2025-08-09T17:07:42.838Z,1754759262.838 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.762650
2025-08-09T17:07:43.087Z,1754759263.087 [DAT](INFO): DAT read: Rx Time:17:07:42.0558

2025-08-09T17:07:43.088Z,1754759263.088 [DAT](INFO): Rx dataTimestamp_ set to:1754759263.087426
2025-08-09T17:07:43.088Z,1754759263.088 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.013480
2025-08-09T17:07:43.151Z,1754759263.151 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 85.60 m.
2025-08-09T17:07:43.154Z,1754759263.154 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 85.599998 m,
      nav range: 82.731155 m,
      bearing: 217.104162 deg,
      approach rate: -0.588660 m/s,
      LOS rate: -0.084357 deg/s,
      cmd heading: 225.975361 deg,
      new cmd heading: 225.871756 deg.

2025-08-09T17:07:43.339Z,1754759263.339 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.264529
2025-08-09T17:07:43.616Z,1754759263.616 [DAT](INFO): DAT read: 17:07:42.0558 LVL= 29392, 32753, 23170, 32755, AGC= 67, IDX= 417, 0.45,-1.566,-2.966,-1.052,-1.582, PHS= 0.118,-1.339, 0.486, RAW= 161.0,   8.8, CAL= 160.7,   9.3, ROT= 349.3,  -9.3

2025-08-09T17:07:43.618Z,1754759263.618 [DAT](INFO): got valid direction response:
 17:07:42.0558 LVL= 29392, 32753, 23170, 32755, AGC= 67, IDX= 417, 0.45,-1.566,-2.966,-1.052,-1.582, PHS= 0.118,-1.339, 0.486, RAW= 161.0,   8.8, CAL= 160.7,   9.3, ROT= 349.3,  -9.3

2025-08-09T17:07:43.627Z,1754759263.627 [DAT](INFO): DAT read: Bearing   9.7, -13.6 (Local)

2025-08-09T17:07:43.627Z,1754759263.627 [DAT](INFO): Local bearing/azimuth received:
 Bearing   9.7, -13.6 (Local)

2025-08-09T17:07:43.629Z,1754759263.629 [DAT](INFO): DAT read: Range 11 to 50 : 83.5 m  (Round-trip  111.4 ms) speed  0.5 m/s

2025-08-09T17:07:43.629Z,1754759263.629 [DAT](INFO): DAT read: user:390>

2025-08-09T17:07:43.638Z,1754759263.638 [DAT](INFO): DAT read: Tx time:17:07:43.1403

2025-08-09T17:07:43.639Z,1754759263.639 [DAT](INFO): Ping request sent.
2025-08-09T17:07:43.639Z,1754759263.639 [DAT](INFO): transmitted an acoustic signal
2025-08-09T17:07:43.639Z,1754759263.639 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-09T17:07:43.640Z,1754759263.640 [DAT](INFO): direction in FSK: [0.969697,-0.183226,0.161604]
2025-08-09T17:07:43.640Z,1754759263.640 [DAT](INFO): publishing transmit ping time
2025-08-09T17:07:43.641Z,1754759263.641 [DAT](INFO): publishing direction and range info
2025-08-09T17:07:43.660Z,1754759263.660 [DAT](INFO): publishing transmit ping time
2025-08-09T17:07:43.660Z,1754759263.660 [DAT](INFO): publishing direction and range info
2025-08-09T17:07:43.695Z,1754759263.695 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 83.500000 m,
      deltaT: 3.529674 s,
      deltaX: -2.099998 m,
      approachRate: -0.594955 m/s,
      rangeRepo size: 4

2025-08-09T17:07:43.697Z,1754759263.697 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 83.500000 m,
      bearing: 217.061496 deg,
      lat: 36.906149 deg,
      lon: -122.115959 deg,
      deltaT: 3.529674 s,
      deltaX: -2.099998 m,
      approachRate: -0.594955 m/s,
      posRepo size: 4

2025-08-09T17:07:43.702Z,1754759263.702 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 83.50 m.
2025-08-09T17:07:43.705Z,1754759263.705 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 83.500000 m,
      nav range: 82.410500 m,
      bearing: 217.061496 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.084357 deg/s,
      cmd heading: 225.871760 deg,
      new cmd heading: 225.735222 deg.

2025-08-09T17:07:44.065Z,1754759264.065 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 83.50 m.
2025-08-09T17:07:44.068Z,1754759264.068 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 83.500000 m,
      nav range: 82.147705 m,
      bearing: 217.026274 deg,
      approach rate: -0.700974 m/s,
      LOS rate: -0.094249 deg/s,
      cmd heading: 225.735225 deg,
      new cmd heading: 225.629223 deg.

2025-08-09T17:07:44.463Z,1754759264.463 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 83.50 m.
2025-08-09T17:07:44.466Z,1754759264.466 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 83.500000 m,
      nav range: 81.893288 m,
      bearing: 216.998366 deg,
      approach rate: -0.639013 m/s,
      LOS rate: -0.070314 deg/s,
      cmd heading: 225.629220 deg,
      new cmd heading: 225.545236 deg.

2025-08-09T17:07:44.860Z,1754759264.860 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-09T17:07:44.864Z,1754759264.864 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 83.50 m.
2025-08-09T17:07:44.868Z,1754759264.868 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 83.500000 m,
      nav range: 81.641869 m,
      bearing: 216.971015 deg,
      approach rate: -0.628260 m/s,
      LOS rate: -0.068557 deg/s,
      cmd heading: 225.545236 deg,
      new cmd heading: 225.462931 deg.

2025-08-09T17:07:45.103Z,1754759265.103 [DAT](INFO): ****** received valid address query ******
2025-08-09T17:07:45.103Z,1754759265.103 [DAT](INFO): ****** received valid ping request ******
2025-08-09T17:07:45.103Z,1754759265.103 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-09T17:07:45.322Z,1754759265.322 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 83.50 m.
2025-08-09T17:07:45.329Z,1754759265.329 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 83.500000 m,
      nav range: 81.361656 m,
      bearing: 216.940675 deg,
      approach rate: -0.611384 m/s,
      LOS rate: -0.066426 deg/s,
      cmd heading: 225.462933 deg,
      new cmd heading: 225.371598 deg.

2025-08-09T17:07:45.356Z,1754759265.356 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.716754
2025-08-09T17:07:45.607Z,1754759265.607 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.968382
2025-08-09T17:07:45.681Z,1754759265.681 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 83.50 m.
2025-08-09T17:07:45.684Z,1754759265.684 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 83.500000 m,
      nav range: 81.119217 m,
      bearing: 216.916010 deg,
      approach rate: -0.675919 m/s,
      LOS rate: -0.068970 deg/s,
      cmd heading: 225.371599 deg,
      new cmd heading: 225.297385 deg.

2025-08-09T17:07:45.860Z,1754759265.860 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.220813
2025-08-09T17:07:46.076Z,1754759266.076 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 83.50 m.
2025-08-09T17:07:46.078Z,1754759266.078 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 83.500000 m,
      nav range: 80.870865 m,
      bearing: 216.890590 deg,
      approach rate: -0.628996 m/s,
      LOS rate: -0.064580 deg/s,
      cmd heading: 225.297382 deg,
      new cmd heading: 225.220886 deg.

2025-08-09T17:07:46.112Z,1754759266.112 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.472555
2025-08-09T17:07:46.363Z,1754759266.363 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.724352
2025-08-09T17:07:46.484Z,1754759266.484 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 83.50 m.
2025-08-09T17:07:46.486Z,1754759266.486 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 83.500000 m,
      nav range: 80.610390 m,
      bearing: 216.864929 deg,
      approach rate: -0.638376 m/s,
      LOS rate: -0.063092 deg/s,
      cmd heading: 225.220884 deg,
      new cmd heading: 225.143655 deg.

2025-08-09T17:07:46.616Z,1754759266.616 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.976757
2025-08-09T17:07:46.869Z,1754759266.869 [DAT](INFO): DAT read: Rx Time:17:07:45.6529

2025-08-09T17:07:46.869Z,1754759266.869 [DAT](INFO): Rx dataTimestamp_ set to:1754759266.868743
2025-08-09T17:07:46.870Z,1754759266.870 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.230985
2025-08-09T17:07:46.885Z,1754759266.885 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-09T17:07:46.887Z,1754759266.887 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 83.50 m.
2025-08-09T17:07:46.890Z,1754759266.890 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 83.500000 m,
      nav range: 80.352280 m,
      bearing: 216.839615 deg,
      approach rate: -0.639651 m/s,
      LOS rate: -0.062937 deg/s,
      cmd heading: 225.143649 deg,
      new cmd heading: 225.067460 deg.

2025-08-09T17:07:47.119Z,1754759267.119 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.480367
2025-08-09T17:07:47.325Z,1754759267.325 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 83.50 m.
2025-08-09T17:07:47.338Z,1754759267.338 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 83.500000 m,
      nav range: 80.104210 m,
      bearing: 216.815377 deg,
      approach rate: -0.567776 m/s,
      LOS rate: -0.055646 deg/s,
      cmd heading: 225.067465 deg,
      new cmd heading: 224.994527 deg.

2025-08-09T17:07:47.377Z,1754759267.377 [DAT](INFO): DAT read: 17:07:45.6529 LVL= 30864, 32753, 29250, 32755, AGC= 67, IDX= 419,-0.10,-2.375, 2.526,-1.863,-2.347, PHS= 0.074,-1.366, 0.440, RAW= 161.0,  10.3, CAL= 161.1,  11.3, ROT= 348.9, -11.3

2025-08-09T17:07:47.378Z,1754759267.378 [DAT](INFO): got valid direction response:
 17:07:45.6529 LVL= 30864, 32753, 29250, 32755, AGC= 67, IDX= 419,-0.10,-2.375, 2.526,-1.863,-2.347, PHS= 0.074,-1.366, 0.440, RAW= 161.0,  10.3, CAL= 161.1,  11.3, ROT= 348.9, -11.3

2025-08-09T17:07:47.379Z,1754759267.379 [DAT](INFO): DAT read: Bearing  10.5, -15.3 (Local)

2025-08-09T17:07:47.379Z,1754759267.379 [DAT](INFO): Local bearing/azimuth received:
 Bearing  10.5, -15.3 (Local)

2025-08-09T17:07:47.381Z,1754759267.381 [DAT](INFO): DAT read: Range 11 to 50 : 81.3 m  (Round-trip  108.4 ms) speed  0.5 m/s

2025-08-09T17:07:47.382Z,1754759267.382 [DAT](INFO): DAT read: user:391>

2025-08-09T17:07:47.382Z,1754759267.382 [DAT](INFO): DAT read: Tx time:17:07:46.7403

2025-08-09T17:07:47.383Z,1754759267.383 [DAT](INFO): Ping request sent.
2025-08-09T17:07:47.383Z,1754759267.383 [DAT](INFO): transmitted an acoustic signal
2025-08-09T17:07:47.383Z,1754759267.383 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-09T17:07:47.384Z,1754759267.384 [DAT](INFO): direction in FSK: [0.962270,-0.188790,0.195946]
2025-08-09T17:07:47.384Z,1754759267.384 [DAT](INFO): publishing transmit ping time
2025-08-09T17:07:47.385Z,1754759267.385 [DAT](INFO): publishing direction and range info
2025-08-09T17:07:47.388Z,1754759267.388 [DAT](INFO): publishing transmit ping time
2025-08-09T17:07:47.388Z,1754759267.388 [DAT](INFO): publishing direction and range info
2025-08-09T17:07:47.732Z,1754759267.732 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 81.300003 m,
      deltaT: 3.778386 s,
      deltaX: -2.199997 m,
      approachRate: -0.582258 m/s,
      rangeRepo size: 4

2025-08-09T17:07:47.734Z,1754759267.734 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 81.300003 m,
      bearing: 216.711774 deg,
      lat: 36.906149 deg,
      lon: -122.115957 deg,
      deltaT: 3.778386 s,
      deltaX: -2.199997 m,
      approachRate: -0.582258 m/s,
      posRepo size: 4

2025-08-09T17:07:47.734Z,1754759267.734 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 81.30 m.
2025-08-09T17:07:47.737Z,1754759267.737 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 81.300003 m,
      nav range: 79.728348 m,
      bearing: 216.711774 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.055646 deg/s,
      cmd heading: 224.994532 deg,
      new cmd heading: 224.926590 deg.

2025-08-09T17:07:48.121Z,1754759268.121 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 81.30 m.
2025-08-09T17:07:48.128Z,1754759268.128 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 81.300003 m,
      nav range: 79.483162 m,
      bearing: 216.693539 deg,
      approach rate: -0.631512 m/s,
      LOS rate: -0.047114 deg/s,
      cmd heading: 224.926585 deg,
      new cmd heading: 224.871709 deg.

2025-08-09T17:07:48.541Z,1754759268.541 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 81.30 m.
2025-08-09T17:07:48.548Z,1754759268.548 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 81.300003 m,
      nav range: 79.197105 m,
      bearing: 216.672361 deg,
      approach rate: -0.677700 m/s,
      LOS rate: -0.050354 deg/s,
      cmd heading: 224.871711 deg,
      new cmd heading: 224.807948 deg.

2025-08-09T17:07:48.907Z,1754759268.907 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-09T17:07:48.909Z,1754759268.909 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 81.30 m.
2025-08-09T17:07:48.912Z,1754759268.912 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 81.300003 m,
      nav range: 78.957123 m,
      bearing: 216.654773 deg,
      approach rate: -0.651895 m/s,
      LOS rate: -0.047920 deg/s,
      cmd heading: 224.807945 deg,
      new cmd heading: 224.755023 deg.

2025-08-09T17:07:49.138Z,1754759269.138 [DAT](INFO): ****** received valid address query ******
2025-08-09T17:07:49.138Z,1754759269.138 [DAT](INFO): ****** received valid ping request ******
2025-08-09T17:07:49.138Z,1754759269.138 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-09T17:07:49.374Z,1754759269.374 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 81.30 m.
2025-08-09T17:07:49.381Z,1754759269.381 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 81.300003 m,
      nav range: 78.673729 m,
      bearing: 216.634229 deg,
      approach rate: -0.610490 m/s,
      LOS rate: -0.044415 deg/s,
      cmd heading: 224.755024 deg,
      new cmd heading: 224.693171 deg.

2025-08-09T17:07:49.387Z,1754759269.387 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.004615
2025-08-09T17:07:49.639Z,1754759269.639 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.256444
2025-08-09T17:07:49.765Z,1754759269.765 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 81.30 m.
2025-08-09T17:07:49.768Z,1754759269.768 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 81.300003 m,
      nav range: 78.410889 m,
      bearing: 216.609749 deg,
      approach rate: -0.671282 m/s,
      LOS rate: -0.062733 deg/s,
      cmd heading: 224.693170 deg,
      new cmd heading: 224.619481 deg.

2025-08-09T17:07:49.892Z,1754759269.892 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.508867
2025-08-09T17:07:50.135Z,1754759270.135 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 81.30 m.
2025-08-09T17:07:50.137Z,1754759270.137 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 81.300003 m,
      nav range: 78.154442 m,
      bearing: 216.586079 deg,
      approach rate: -0.693673 m/s,
      LOS rate: -0.064235 deg/s,
      cmd heading: 224.619486 deg,
      new cmd heading: 224.548244 deg.

2025-08-09T17:07:50.143Z,1754759270.143 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.760596
2025-08-09T17:07:50.397Z,1754759270.397 [DAT](INFO): DAT read: Rx Time:17:07:49.2497

2025-08-09T17:07:50.397Z,1754759270.397 [DAT](INFO): Rx dataTimestamp_ set to:1754759270.396893
2025-08-09T17:07:50.398Z,1754759270.398 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.014902
2025-08-09T17:07:50.562Z,1754759270.562 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 81.30 m.
2025-08-09T17:07:50.564Z,1754759270.564 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 81.300003 m,
      nav range: 77.868698 m,
      bearing: 216.553448 deg,
      approach rate: -0.669691 m/s,
      LOS rate: -0.076757 deg/s,
      cmd heading: 224.548247 deg,
      new cmd heading: 224.449996 deg.

2025-08-09T17:07:50.647Z,1754759270.647 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.264513
2025-08-09T17:07:50.908Z,1754759270.908 [DAT](INFO): DAT read: 17:07:49.2497 LVL= 32752, 32753, 28818, 32755, AGC= 68, IDX= 403,-0.17, 1.524, 0.159, 2.035, 1.576, PHS= 0.049,-1.372, 0.415, RAW= 161.2,  11.1, CAL= 161.3,  12.3, ROT= 348.7, -12.3

2025-08-09T17:07:50.910Z,1754759270.910 [DAT](INFO): got valid direction response:
 17:07:49.2497 LVL= 32752, 32753, 28818, 32755, AGC= 68, IDX= 403,-0.17, 1.524, 0.159, 2.035, 1.576, PHS= 0.049,-1.372, 0.415, RAW= 161.2,  11.1, CAL= 161.3,  12.3, ROT= 348.7, -12.3

2025-08-09T17:07:50.911Z,1754759270.911 [DAT](INFO): DAT read: Bearing  10.6, -16.2 (Local)

2025-08-09T17:07:50.911Z,1754759270.911 [DAT](INFO): Local bearing/azimuth received:
 Bearing  10.6, -16.2 (Local)

2025-08-09T17:07:50.912Z,1754759270.912 [DAT](INFO): DAT read: Range 11 to 50 : 78.9 m  (Round-trip  105.3 ms) speed  0.5 m/s

2025-08-09T17:07:50.913Z,1754759270.913 [DAT](INFO): DAT read: user:392>

2025-08-09T17:07:50.914Z,1754759270.914 [DAT](INFO): DAT read: Tx time:17:07:50.3402

2025-08-09T17:07:50.914Z,1754759270.914 [DAT](INFO): Ping request sent.
2025-08-09T17:07:50.915Z,1754759270.915 [DAT](INFO): transmitted an acoustic signal
2025-08-09T17:07:50.915Z,1754759270.915 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-09T17:07:50.916Z,1754759270.916 [DAT](INFO): direction in FSK: [0.958105,-0.191448,0.213030]
2025-08-09T17:07:50.916Z,1754759270.916 [DAT](INFO): publishing transmit ping time
2025-08-09T17:07:50.917Z,1754759270.917 [DAT](INFO): publishing direction and range info
2025-08-09T17:07:50.940Z,1754759270.940 [DAT](INFO): publishing transmit ping time
2025-08-09T17:07:50.941Z,1754759270.941 [DAT](INFO): publishing direction and range info
2025-08-09T17:07:51.109Z,1754759271.109 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 78.900002 m,
      deltaT: 3.531549 s,
      deltaX: -2.400002 m,
      approachRate: -0.679589 m/s,
      rangeRepo size: 4

2025-08-09T17:07:51.115Z,1754759271.115 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 78.900002 m,
      bearing: 216.373881 deg,
      lat: 36.906146 deg,
      lon: -122.115957 deg,
      deltaT: 3.531549 s,
      deltaX: -2.400002 m,
      approachRate: -0.679589 m/s,
      posRepo size: 4

2025-08-09T17:07:51.116Z,1754759271.116 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 78.90 m.
2025-08-09T17:07:51.123Z,1754759271.123 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 78.900002 m,
      nav range: 77.772484 m,
      bearing: 216.373881 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.076757 deg/s,
      cmd heading: 224.450002 deg,
      new cmd heading: 224.324123 deg.

2025-08-09T17:07:51.604Z,1754759271.604 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-09T17:07:51.606Z,1754759271.606 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 78.90 m.
2025-08-09T17:07:51.609Z,1754759271.609 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 78.900002 m,
      nav range: 77.423363 m,
      bearing: 216.337035 deg,
      approach rate: -0.701210 m/s,
      LOS rate: -0.074340 deg/s,
      cmd heading: 224.324121 deg,
      new cmd heading: 224.213084 deg.

2025-08-09T17:07:51.655Z,1754759271.655 [DAT](INFO): ****** received valid address query ******
2025-08-09T17:07:51.655Z,1754759271.655 [DAT](INFO): ****** received valid ping request ******
2025-08-09T17:07:51.656Z,1754759271.656 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-09T17:07:51.907Z,1754759271.907 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.993102
2025-08-09T17:07:52.053Z,1754759272.053 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 78.90 m.
2025-08-09T17:07:52.076Z,1754759272.076 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 78.900002 m,
      nav range: 77.118279 m,
      bearing: 216.304931 deg,
      approach rate: -0.682749 m/s,
      LOS rate: -0.072129 deg/s,
      cmd heading: 224.213090 deg,
      new cmd heading: 224.116398 deg.

2025-08-09T17:07:52.160Z,1754759272.160 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.245776
2025-08-09T17:07:52.414Z,1754759272.414 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.499475
2025-08-09T17:07:52.573Z,1754759272.573 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 78.90 m.
2025-08-09T17:07:52.576Z,1754759272.576 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 78.900002 m,
      nav range: 76.776459 m,
      bearing: 216.268419 deg,
      approach rate: -0.656890 m/s,
      LOS rate: -0.070479 deg/s,
      cmd heading: 224.116402 deg,
      new cmd heading: 224.006378 deg.

2025-08-09T17:07:52.663Z,1754759272.663 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.749247
2025-08-09T17:07:52.916Z,1754759272.916 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.001439
2025-08-09T17:07:52.948Z,1754759272.948 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 78.90 m.
2025-08-09T17:07:52.951Z,1754759272.951 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 78.900002 m,
      nav range: 76.530388 m,
      bearing: 216.242395 deg,
      approach rate: -0.656795 m/s,
      LOS rate: -0.069685 deg/s,
      cmd heading: 224.006381 deg,
      new cmd heading: 223.928058 deg.

2025-08-09T17:07:53.168Z,1754759273.168 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.253886
2025-08-09T17:07:53.395Z,1754759273.395 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 78.90 m.
2025-08-09T17:07:53.413Z,1754759273.413 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 78.900002 m,
      nav range: 76.266678 m,
      bearing: 216.214439 deg,
      approach rate: -0.592225 m/s,
      LOS rate: -0.062999 deg/s,
      cmd heading: 223.928052 deg,
      new cmd heading: 223.843894 deg.

2025-08-09T17:07:53.423Z,1754759273.423 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.507717
2025-08-09T17:07:53.672Z,1754759273.672 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.757420
2025-08-09T17:07:53.828Z,1754759273.828 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-09T17:07:53.834Z,1754759273.834 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 78.90 m.
2025-08-09T17:07:53.837Z,1754759273.837 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 78.900002 m,
      nav range: 75.948990 m,
      bearing: 216.181409 deg,
      approach rate: -0.727654 m/s,
      LOS rate: -0.075970 deg/s,
      cmd heading: 223.843891 deg,
      new cmd heading: 223.744387 deg.

2025-08-09T17:07:53.924Z,1754759273.924 [DAT](INFO): DAT read: Rx Time:17:07:52.8465

2025-08-09T17:07:53.925Z,1754759273.925 [DAT](INFO): Rx dataTimestamp_ set to:1754759273.924258
2025-08-09T17:07:53.925Z,1754759273.925 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.010967
2025-08-09T17:07:54.175Z,1754759274.175 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.260979
2025-08-09T17:07:54.207Z,1754759274.207 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 78.90 m.
2025-08-09T17:07:54.210Z,1754759274.210 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 78.900002 m,
      nav range: 75.688904 m,
      bearing: 216.154227 deg,
      approach rate: -0.688702 m/s,
      LOS rate: -0.072226 deg/s,
      cmd heading: 223.744389 deg,
      new cmd heading: 223.662561 deg.

2025-08-09T17:07:54.454Z,1754759274.454 [DAT](INFO): DAT read: 17:07:52.8465 LVL= 32752, 32753, 21106, 32755, AGC= 69, IDX= 403,-0.08, 0.701,-0.797, 1.267, 0.778, PHS= 0.026,-1.530, 0.445, RAW= 161.6,  11.7, CAL= 161.9,  13.2, ROT= 348.1, -13.2

2025-08-09T17:07:54.461Z,1754759274.461 [DAT](INFO): got valid direction response:
 17:07:52.8465 LVL= 32752, 32753, 21106, 32755, AGC= 69, IDX= 403,-0.08, 0.701,-0.797, 1.267, 0.778, PHS= 0.026,-1.530, 0.445, RAW= 161.6,  11.7, CAL= 161.9,  13.2, ROT= 348.1, -13.2

2025-08-09T17:07:54.463Z,1754759274.463 [DAT](INFO): DAT read: Bearing  10.9, -17.5 (Local)

2025-08-09T17:07:54.463Z,1754759274.463 [DAT](INFO): Local bearing/azimuth received:
 Bearing  10.9, -17.5 (Local)

2025-08-09T17:07:54.465Z,1754759274.465 [DAT](INFO): DAT read: Range 11 to 50 : 76.6 m  (Round-trip  102.2 ms) speed  0.4 m/s

2025-08-09T17:07:54.467Z,1754759274.467 [DAT](INFO): DAT read: user:393>

2025-08-09T17:07:54.468Z,1754759274.468 [DAT](INFO): DAT read: Tx time:17:07:53.9402

2025-08-09T17:07:54.468Z,1754759274.468 [DAT](INFO): Ping request sent.
2025-08-09T17:07:54.468Z,1754759274.468 [DAT](INFO): transmitted an acoustic signal
2025-08-09T17:07:54.469Z,1754759274.469 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-09T17:07:54.474Z,1754759274.474 [DAT](INFO): direction in FSK: [0.952656,-0.200756,0.228351]
2025-08-09T17:07:54.475Z,1754759274.475 [DAT](INFO): publishing transmit ping time
2025-08-09T17:07:54.475Z,1754759274.475 [DAT](INFO): publishing direction and range info
2025-08-09T17:07:54.478Z,1754759274.478 [DAT](INFO): publishing transmit ping time
2025-08-09T17:07:54.484Z,1754759274.484 [DAT](INFO): publishing direction and range info
2025-08-09T17:07:54.675Z,1754759274.675 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 76.599998 m,
      deltaT: 3.525856 s,
      deltaX: -2.300003 m,
      approachRate: -0.652325 m/s,
      rangeRepo size: 4

2025-08-09T17:07:54.677Z,1754759274.677 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 76.599998 m,
      bearing: 215.165957 deg,
      lat: 36.906137 deg,
      lon: -122.115947 deg,
      deltaT: 3.525856 s,
      deltaX: -2.300003 m,
      approachRate: -0.652325 m/s,
      posRepo size: 4

2025-08-09T17:07:54.678Z,1754759274.678 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 76.60 m.
2025-08-09T17:07:54.685Z,1754759274.685 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 76.599998 m,
      nav range: 75.663925 m,
      bearing: 215.165957 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.072226 deg/s,
      cmd heading: 223.662563 deg,
      new cmd heading: 223.562331 deg.

2025-08-09T17:07:55.004Z,1754759275.004 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 76.60 m.
2025-08-09T17:07:55.010Z,1754759275.010 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 76.599998 m,
      nav range: 75.459900 m,
      bearing: 215.142024 deg,
      approach rate: -0.614155 m/s,
      LOS rate: -0.072237 deg/s,
      cmd heading: 223.562337 deg,
      new cmd heading: 223.490345 deg.

2025-08-09T17:07:55.383Z,1754759275.383 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 76.60 m.
2025-08-09T17:07:55.386Z,1754759275.386 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 76.599998 m,
      nav range: 75.203232 m,
      bearing: 215.111864 deg,
      approach rate: -0.673983 m/s,
      LOS rate: -0.079467 deg/s,
      cmd heading: 223.490347 deg,
      new cmd heading: 223.399558 deg.

2025-08-09T17:07:55.817Z,1754759275.817 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 76.60 m.
2025-08-09T17:07:55.820Z,1754759275.820 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 76.599998 m,
      nav range: 74.927826 m,
      bearing: 215.079256 deg,
      approach rate: -0.635048 m/s,
      LOS rate: -0.075467 deg/s,
      cmd heading: 223.399560 deg,
      new cmd heading: 223.301375 deg.

2025-08-09T17:07:56.201Z,1754759276.201 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-09T17:07:56.207Z,1754759276.207 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 76.60 m.
2025-08-09T17:07:56.210Z,1754759276.210 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 76.599998 m,
      nav range: 74.695023 m,
      bearing: 215.051666 deg,
      approach rate: -0.596404 m/s,
      LOS rate: -0.070900 deg/s,
      cmd heading: 223.301369 deg,
      new cmd heading: 223.218342 deg.

2025-08-09T17:07:56.445Z,1754759276.445 [DAT](INFO): ****** received valid address query ******
2025-08-09T17:07:56.446Z,1754759276.446 [DAT](INFO): ****** received valid ping request ******
2025-08-09T17:07:56.447Z,1754759276.447 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-09T17:07:56.626Z,1754759276.626 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 76.60 m.
2025-08-09T17:07:56.629Z,1754759276.629 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 76.599998 m,
      nav range: 74.426277 m,
      bearing: 215.016328 deg,
      approach rate: -0.641305 m/s,
      LOS rate: -0.084631 deg/s,
      cmd heading: 223.218341 deg,
      new cmd heading: 223.111945 deg.

2025-08-09T17:07:56.696Z,1754759276.696 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.228124
2025-08-09T17:07:56.948Z,1754759276.948 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.479506
2025-08-09T17:07:57.027Z,1754759277.027 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 76.60 m.
2025-08-09T17:07:57.036Z,1754759277.036 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 76.599998 m,
      nav range: 74.175621 m,
      bearing: 214.983264 deg,
      approach rate: -0.624648 m/s,
      LOS rate: -0.082676 deg/s,
      cmd heading: 223.111940 deg,
      new cmd heading: 223.012413 deg.

2025-08-09T17:07:57.199Z,1754759277.199 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.731088
2025-08-09T17:07:57.399Z,1754759277.399 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 76.60 m.
2025-08-09T17:07:57.402Z,1754759277.402 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 76.599998 m,
      nav range: 73.925270 m,
      bearing: 214.950258 deg,
      approach rate: -0.673111 m/s,
      LOS rate: -0.089043 deg/s,
      cmd heading: 223.012411 deg,
      new cmd heading: 222.913058 deg.

2025-08-09T17:07:57.455Z,1754759277.455 [DAT](INFO): DAT read: Rx Time:17:07:56.4435

2025-08-09T17:07:57.457Z,1754759277.457 [DAT](INFO): Rx dataTimestamp_ set to:1754759277.455887
2025-08-09T17:07:57.459Z,1754759277.459 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.989873
2025-08-09T17:07:57.704Z,1754759277.704 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.236065
2025-08-09T17:07:57.832Z,1754759277.832 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 76.60 m.
2025-08-09T17:07:57.843Z,1754759277.843 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 76.599998 m,
      nav range: 73.658661 m,
      bearing: 214.910291 deg,
      approach rate: -0.616237 m/s,
      LOS rate: -0.092715 deg/s,
      cmd heading: 222.913059 deg,
      new cmd heading: 222.792722 deg.

2025-08-09T17:07:57.959Z,1754759277.959 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.490559
2025-08-09T17:07:58.213Z,1754759278.213 [DAT](INFO): DAT read: 17:07:56.4435 LVL= 28128, 32753, 22834, 32755, AGC= 67, IDX= 404,-0.31, 0.247,-1.189, 0.808, 0.307, PHS= 0.041,-1.452, 0.457, RAW= 161.9,  11.0, CAL= 162.1,  12.2, ROT= 347.9, -12.2

2025-08-09T17:07:58.214Z,1754759278.214 [DAT](INFO): got valid direction response:
 17:07:56.4435 LVL= 28128, 32753, 22834, 32755, AGC= 67, IDX= 404,-0.31, 0.247,-1.189, 0.808, 0.307, PHS= 0.041,-1.452, 0.457, RAW= 161.9,  11.0, CAL= 162.1,  12.2, ROT= 347.9, -12.2

2025-08-09T17:07:58.215Z,1754759278.215 [DAT](INFO): DAT read: Bearing   9.4, -17.9 (Local)

2025-08-09T17:07:58.215Z,1754759278.215 [DAT](INFO): Local bearing/azimuth received:
 Bearing   9.4, -17.9 (Local)

2025-08-09T17:07:58.217Z,1754759278.217 [DAT](INFO): DAT read: Range 11 to 50 : 74.4 m  (Round-trip  99.2 ms) speed  0.4 m/s

2025-08-09T17:07:58.218Z,1754759278.218 [DAT](INFO): DAT read: user:394>

2025-08-09T17:07:58.218Z,1754759278.218 [DAT](INFO): DAT read: Tx time:17:07:57.5402

2025-08-09T17:07:58.219Z,1754759278.219 [DAT](INFO): Ping request sent.
2025-08-09T17:07:58.219Z,1754759278.219 [DAT](INFO): transmitted an acoustic signal
2025-08-09T17:07:58.219Z,1754759278.219 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-09T17:07:58.220Z,1754759278.220 [DAT](INFO): direction in FSK: [0.955701,-0.204884,0.211325]
2025-08-09T17:07:58.220Z,1754759278.220 [DAT](INFO): publishing transmit ping time
2025-08-09T17:07:58.221Z,1754759278.221 [DAT](INFO): publishing direction and range info
2025-08-09T17:07:58.224Z,1754759278.224 [DAT](INFO): publishing transmit ping time
2025-08-09T17:07:58.224Z,1754759278.224 [DAT](INFO): publishing direction and range info
2025-08-09T17:07:58.273Z,1754759278.273 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 74.400002 m,
      deltaT: 3.778696 s,
      deltaX: -2.199997 m,
      approachRate: -0.582211 m/s,
      rangeRepo size: 4

2025-08-09T17:07:58.283Z,1754759278.283 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 74.400002 m,
      bearing: 214.076332 deg,
      lat: 36.906134 deg,
      lon: -122.115936 deg,
      deltaT: 3.778696 s,
      deltaX: -2.199997 m,
      approachRate: -0.582211 m/s,
      posRepo size: 4

2025-08-09T17:07:58.284Z,1754759278.284 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 74.40 m.
2025-08-09T17:07:58.295Z,1754759278.295 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 74.400002 m,
      nav range: 73.199554 m,
      bearing: 214.076332 deg,
      approach rate: 185462876992232751104.000000 m/s,
      LOS rate: -0.092715 deg/s,
      cmd heading: 222.792725 deg,
      new cmd heading: 222.672153 deg.

2025-08-09T17:07:58.645Z,1754759278.645 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-09T17:07:58.647Z,1754759278.647 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 74.40 m.
2025-08-09T17:07:58.650Z,1754759278.650 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 74.400002 m,
      nav range: 72.958908 m,
      bearing: 214.034994 deg,
      approach rate: -0.630856 m/s,
      LOS rate: -0.108724 deg/s,
      cmd heading: 222.672158 deg,
      new cmd heading: 222.547737 deg.

2025-08-09T17:07:58.712Z,1754759278.712 [DAT](INFO): ****** received valid address query ******
2025-08-09T17:07:58.712Z,1754759278.712 [DAT](INFO): ****** received valid ping request ******
2025-08-09T17:07:58.712Z,1754759278.712 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-09T17:07:58.963Z,1754759278.963 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.744695
2025-08-09T17:07:59.037Z,1754759279.037 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 74.40 m.
2025-08-09T17:07:59.040Z,1754759279.040 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 74.400002 m,
      nav range: 72.721886 m,
      bearing: 213.994273 deg,
      approach rate: -0.607357 m/s,
      LOS rate: -0.104686 deg/s,
      cmd heading: 222.547740 deg,
      new cmd heading: 222.425179 deg.

2025-08-09T17:07:59.215Z,1754759279.215 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.996654
2025-08-09T17:07:59.453Z,1754759279.453 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 74.40 m.
2025-08-09T17:07:59.470Z,1754759279.470 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.250622
2025-08-09T17:07:59.487Z,1754759279.487 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 74.400002 m,
      nav range: 72.481140 m,
      bearing: 213.952916 deg,
      approach rate: -0.580917 m/s,
      LOS rate: -0.100125 deg/s,
      cmd heading: 222.425179 deg,
      new cmd heading: 222.300696 deg.

2025-08-09T17:07:59.719Z,1754759279.719 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.500486
2025-08-09T17:07:59.868Z,1754759279.868 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 74.40 m.
2025-08-09T17:07:59.872Z,1754759279.872 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 74.400002 m,
      nav range: 72.217216 m,
      bearing: 213.903879 deg,
      approach rate: -0.634807 m/s,
      LOS rate: -0.118379 deg/s,
      cmd heading: 222.300692 deg,
      new cmd heading: 222.153042 deg.

2025-08-09T17:07:59.972Z,1754759279.972 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.753091
2025-08-09T17:08:00.223Z,1754759280.223 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.004553
2025-08-09T17:08:00.272Z,1754759280.272 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 74.40 m.
2025-08-09T17:08:00.279Z,1754759280.279 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 74.400002 m,
      nav range: 71.977043 m,
      bearing: 213.859235 deg,
      approach rate: -0.593296 m/s,
      LOS rate: -0.110652 deg/s,
      cmd heading: 222.153037 deg,
      new cmd heading: 222.018657 deg.

2025-08-09T17:08:00.477Z,1754759280.477 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.257703
2025-08-09T17:08:00.688Z,1754759280.688 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-09T17:08:00.690Z,1754759280.690 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 74.40 m.
2025-08-09T17:08:00.693Z,1754759280.693 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 74.400002 m,
      nav range: 71.708870 m,
      bearing: 213.816883 deg,
      approach rate: -0.642411 m/s,
      LOS rate: -0.101833 deg/s,
      cmd heading: 222.018659 deg,
      new cmd heading: 221.891129 deg.

2025-08-09T17:08:00.727Z,1754759280.727 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.508684
2025-08-09T17:08:00.980Z,1754759280.980 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.761121
2025-08-09T17:08:01.188Z,1754759281.188 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 74.40 m.
2025-08-09T17:08:01.191Z,1754759281.191 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 74.400002 m,
      nav range: 71.401703 m,
      bearing: 213.768617 deg,
      approach rate: -0.616741 m/s,
      LOS rate: -0.097326 deg/s,
      cmd heading: 221.891126 deg,
      new cmd heading: 221.745706 deg.

2025-08-09T17:08:01.231Z,1754759281.231 [DAT](INFO): DAT read: Rx Time:17:08:00.0404

2025-08-09T17:08:01.232Z,1754759281.232 [DAT](INFO): Rx dataTimestamp_ set to:1754759281.231467
2025-08-09T17:08:01.232Z,1754759281.232 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.013538
2025-08-09T17:08:01.489Z,1754759281.489 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.269181
2025-08-09T17:08:01.645Z,1754759281.645 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 74.40 m.
2025-08-09T17:08:01.648Z,1754759281.648 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 74.400002 m,
      nav range: 71.115417 m,
      bearing: 213.723172 deg,
      approach rate: -0.625471 m/s,
      LOS rate: -0.099687 deg/s,
      cmd heading: 221.745711 deg,
      new cmd heading: 221.608828 deg.

2025-08-09T17:08:01.741Z,1754759281.741 [DAT](INFO): DAT read: 17:08:00.0404 LVL= 30064, 32753, 26674, 32755, AGC= 68, IDX= 405,-0.44,-0.485,-1.900, 0.060,-0.399, PHS= 0.016,-1.456, 0.415, RAW= 161.7,  12.0, CAL= 162.0,  13.6, ROT= 348.0, -13.6

2025-08-09T17:08:01.742Z,1754759281.742 [DAT](INFO): got valid direction response:
 17:08:00.0404 LVL= 30064, 32753, 26674, 32755, AGC= 68, IDX= 405,-0.44,-0.485,-1.900, 0.060,-0.399, PHS= 0.016,-1.456, 0.415, RAW= 161.7,  12.0, CAL= 162.0,  13.6, ROT= 348.0, -13.6

2025-08-09T17:08:01.743Z,1754759281.743 [DAT](INFO): DAT read: Bearing  10.2, -17.9 (Local)

2025-08-09T17:08:01.744Z,1754759281.744 [DAT](INFO): Local bearing/azimuth received:
 Bearing  10.2, -17.9 (Local)

2025-08-09T17:08:01.745Z,1754759281.745 [DAT](INFO): DAT read: Range 11 to 50 : 72.0 m  (Round-trip  96.0 ms) speed  0.5 m/s

2025-08-09T17:08:01.746Z,1754759281.746 [DAT](INFO): DAT read: user:395>

2025-08-09T17:08:01.747Z,1754759281.747 [DAT](INFO): DAT read: Tx time:17:08:01.1402

2025-08-09T17:08:01.747Z,1754759281.747 [DAT](INFO): Ping request sent.
2025-08-09T17:08:01.747Z,1754759281.747 [DAT](INFO): transmitted an acoustic signal
2025-08-09T17:08:01.748Z,1754759281.748 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-09T17:08:01.749Z,1754759281.749 [DAT](INFO): direction in FSK: [0.950721,-0.202082,0.235142]
2025-08-09T17:08:01.749Z,1754759281.749 [DAT](INFO): publishing transmit ping time
2025-08-09T17:08:01.749Z,1754759281.749 [DAT](INFO): publishing direction and range info
2025-08-09T17:08:01.753Z,1754759281.753 [DAT](INFO): publishing transmit ping time
2025-08-09T17:08:01.753Z,1754759281.753 [DAT](INFO): publishing direction and range info
2025-08-09T17:08:02.137Z,1754759282.137 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 72.000000 m,
      deltaT: 3.527921 s,
      deltaX: -2.400002 m,
      approachRate: -0.680288 m/s,
      rangeRepo size: 4

2025-08-09T17:08:02.140Z,1754759282.140 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 72.000000 m,
      bearing: 212.939192 deg,
      lat: 36.906129 deg,
      lon: -122.115928 deg,
      deltaT: 3.527921 s,
      deltaX: -2.400002 m,
      approachRate: -0.680288 m/s,
      posRepo size: 4

2025-08-09T17:08:02.140Z,1754759282.140 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 72.00 m.
2025-08-09T17:08:02.163Z,1754759282.163 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 72.000000 m,
      nav range: 70.826309 m,
      bearing: 212.939192 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.099687 deg/s,
      cmd heading: 221.608834 deg,
      new cmd heading: 221.461923 deg.

2025-08-09T17:08:02.634Z,1754759282.634 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 72.00 m.
2025-08-09T17:08:02.636Z,1754759282.636 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 72.000000 m,
      nav range: 70.504143 m,
      bearing: 212.891460 deg,
      approach rate: -0.648248 m/s,
      LOS rate: -0.096483 deg/s,
      cmd heading: 221.461917 deg,
      new cmd heading: 221.318067 deg.

2025-08-09T17:08:02.946Z,1754759282.946 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-09T17:08:02.948Z,1754759282.948 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 72.00 m.
2025-08-09T17:08:02.951Z,1754759282.951 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 72.000000 m,
      nav range: 70.305847 m,
      bearing: 212.862173 deg,
      approach rate: -0.630495 m/s,
      LOS rate: -0.093384 deg/s,
      cmd heading: 221.318073 deg,
      new cmd heading: 221.229963 deg.

2025-08-09T17:08:02.996Z,1754759282.996 [DAT](INFO): ****** received valid address query ******
2025-08-09T17:08:02.996Z,1754759282.996 [DAT](INFO): ****** received valid ping request ******
2025-08-09T17:08:02.997Z,1754759282.997 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-09T17:08:03.247Z,1754759283.247 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.499934
2025-08-09T17:08:03.340Z,1754759283.341 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 72.00 m.
2025-08-09T17:08:03.343Z,1754759283.343 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 72.000000 m,
      nav range: 70.064285 m,
      bearing: 212.826717 deg,
      approach rate: -0.615708 m/s,
      LOS rate: -0.090683 deg/s,
      cmd heading: 221.229964 deg,
      new cmd heading: 221.123230 deg.

2025-08-09T17:08:03.500Z,1754759283.500 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.752502
2025-08-09T17:08:03.751Z,1754759283.751 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.004126
2025-08-09T17:08:03.811Z,1754759283.811 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 72.00 m.
2025-08-09T17:08:03.814Z,1754759283.814 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 72.000000 m,
      nav range: 69.782074 m,
      bearing: 212.786548 deg,
      approach rate: -0.600571 m/s,
      LOS rate: -0.085828 deg/s,
      cmd heading: 221.123235 deg,
      new cmd heading: 221.002242 deg.

2025-08-09T17:08:04.003Z,1754759284.003 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.255957
2025-08-09T17:08:04.166Z,1754759284.166 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 72.00 m.
2025-08-09T17:08:04.169Z,1754759284.169 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 72.000000 m,
      nav range: 69.567284 m,
      bearing: 212.756172 deg,
      approach rate: -0.604517 m/s,
      LOS rate: -0.085757 deg/s,
      cmd heading: 221.002245 deg,
      new cmd heading: 220.910834 deg.

2025-08-09T17:08:04.256Z,1754759284.256 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.508368
2025-08-09T17:08:04.507Z,1754759284.507 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.760091
2025-08-09T17:08:04.622Z,1754759284.622 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 72.00 m.
2025-08-09T17:08:04.625Z,1754759284.625 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 72.000000 m,
      nav range: 69.279945 m,
      bearing: 212.715795 deg,
      approach rate: -0.635209 m/s,
      LOS rate: -0.089630 deg/s,
      cmd heading: 220.910830 deg,
      new cmd heading: 220.789197 deg.

2025-08-09T17:08:04.759Z,1754759284.759 [DAT](INFO): DAT read: Rx Time:17:08:03.6375

2025-08-09T17:08:04.760Z,1754759284.760 [DAT](INFO): Rx dataTimestamp_ set to:1754759284.759638
2025-08-09T17:08:04.760Z,1754759284.760 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.013196
2025-08-09T17:08:05.011Z,1754759285.011 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.264116
2025-08-09T17:08:05.015Z,1754759285.015 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-09T17:08:05.017Z,1754759285.017 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 72.00 m.
2025-08-09T17:08:05.020Z,1754759285.020 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 72.000000 m,
      nav range: 69.027748 m,
      bearing: 212.685723 deg,
      approach rate: -0.631997 m/s,
      LOS rate: -0.075635 deg/s,
      cmd heading: 220.789198 deg,
      new cmd heading: 220.698652 deg.

2025-08-09T17:08:05.273Z,1754759285.273 [DAT](INFO): DAT read: 17:08:03.6375 LVL= 30400, 32753, 24626, 32755, AGC= 69, IDX= 407, 0.06,-0.487,-1.933, 0.100,-0.433, PHS= 0.047,-1.455, 0.488, RAW= 162.5,  10.4, CAL= 162.5,  11.5, ROT= 347.5, -11.5

2025-08-09T17:08:05.275Z,1754759285.275 [DAT](INFO): got valid direction response:
 17:08:03.6375 LVL= 30400, 32753, 24626, 32755, AGC= 69, IDX= 407, 0.06,-0.487,-1.933, 0.100,-0.433, PHS= 0.047,-1.455, 0.488, RAW= 162.5,  10.4, CAL= 162.5,  11.5, ROT= 347.5, -11.5

2025-08-09T17:08:05.275Z,1754759285.275 [DAT](INFO): DAT read: Bearing   6.5, -18.4 (Local)

2025-08-09T17:08:05.276Z,1754759285.276 [DAT](INFO): Local bearing/azimuth received:
 Bearing   6.5, -18.4 (Local)

2025-08-09T17:08:05.277Z,1754759285.277 [DAT](INFO): DAT read: Range 11 to 50 : 69.9 m  (Round-trip  93.2 ms) speed  0.4 m/s

2025-08-09T17:08:05.278Z,1754759285.278 [DAT](INFO): DAT read: user:396>

2025-08-09T17:08:05.279Z,1754759285.279 [DAT](INFO): DAT read: Tx time:17:08:04.7402

2025-08-09T17:08:05.279Z,1754759285.279 [DAT](INFO): Ping request sent.
2025-08-09T17:08:05.279Z,1754759285.279 [DAT](INFO): transmitted an acoustic signal
2025-08-09T17:08:05.279Z,1754759285.279 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-09T17:08:05.280Z,1754759285.280 [DAT](INFO): direction in FSK: [0.956697,-0.212095,0.199368]
2025-08-09T17:08:05.281Z,1754759285.281 [DAT](INFO): publishing transmit ping time
2025-08-09T17:08:05.281Z,1754759285.281 [DAT](INFO): publishing direction and range info
2025-08-09T17:08:05.289Z,1754759285.289 [DAT](INFO): publishing transmit ping time
2025-08-09T17:08:05.289Z,1754759285.289 [DAT](INFO): publishing direction and range info
2025-08-09T17:08:05.500Z,1754759285.500 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 69.900002 m,
      deltaT: 3.532179 s,
      deltaX: -2.099998 m,
      approachRate: -0.594533 m/s,
      rangeRepo size: 4

2025-08-09T17:08:05.502Z,1754759285.502 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 69.900002 m,
      bearing: 212.316651 deg,
      lat: 36.906126 deg,
      lon: -122.115925 deg,
      deltaT: 3.532179 s,
      deltaX: -2.099998 m,
      approachRate: -0.594533 m/s,
      posRepo size: 4

2025-08-09T17:08:05.503Z,1754759285.503 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 69.90 m.
2025-08-09T17:08:05.506Z,1754759285.506 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 69.900002 m,
      nav range: 68.896202 m,
      bearing: 212.316651 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.075635 deg/s,
      cmd heading: 220.698657 deg,
      new cmd heading: 220.589251 deg.

2025-08-09T17:08:05.880Z,1754759285.880 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 69.90 m.
2025-08-09T17:08:05.885Z,1754759285.885 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 69.900002 m,
      nav range: 68.638916 m,
      bearing: 212.283956 deg,
      approach rate: -0.675786 m/s,
      LOS rate: -0.086199 deg/s,
      cmd heading: 220.589251 deg,
      new cmd heading: 220.490798 deg.

2025-08-09T17:08:06.232Z,1754759286.232 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 69.90 m.
2025-08-09T17:08:06.235Z,1754759286.235 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 69.900002 m,
      nav range: 68.410431 m,
      bearing: 212.255256 deg,
      approach rate: -0.648919 m/s,
      LOS rate: -0.081783 deg/s,
      cmd heading: 220.490801 deg,
      new cmd heading: 220.404414 deg.

2025-08-09T17:08:06.658Z,1754759286.658 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 69.90 m.
2025-08-09T17:08:06.665Z,1754759286.665 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 69.900002 m,
      nav range: 68.151283 m,
      bearing: 212.223051 deg,
      approach rate: -0.609066 m/s,
      LOS rate: -0.075978 deg/s,
      cmd heading: 220.404413 deg,
      new cmd heading: 220.307431 deg.

2025-08-09T17:08:07.041Z,1754759287.041 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-09T17:08:07.059Z,1754759287.059 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 69.90 m.
2025-08-09T17:08:07.061Z,1754759287.061 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 69.900002 m,
      nav range: 67.908348 m,
      bearing: 212.189359 deg,
      approach rate: -0.605573 m/s,
      LOS rate: -0.084286 deg/s,
      cmd heading: 220.307424 deg,
      new cmd heading: 220.205986 deg.

2025-08-09T17:08:07.279Z,1754759287.279 [DAT](INFO): ****** received valid address query ******
2025-08-09T17:08:07.279Z,1754759287.279 [DAT](INFO): ****** received valid ping request ******
2025-08-09T17:08:07.279Z,1754759287.279 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-09T17:08:07.404Z,1754759287.404 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 69.90 m.
2025-08-09T17:08:07.407Z,1754759287.407 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 69.900002 m,
      nav range: 67.684235 m,
      bearing: 212.158296 deg,
      approach rate: -0.648612 m/s,
      LOS rate: -0.090198 deg/s,
      cmd heading: 220.205982 deg,
      new cmd heading: 220.112484 deg.

2025-08-09T17:08:07.532Z,1754759287.532 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.252422
2025-08-09T17:08:07.783Z,1754759287.783 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.504318
2025-08-09T17:08:07.847Z,1754759287.847 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 69.90 m.
2025-08-09T17:08:07.851Z,1754759287.851 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 69.900002 m,
      nav range: 67.405533 m,
      bearing: 212.117850 deg,
      approach rate: -0.630182 m/s,
      LOS rate: -0.091831 deg/s,
      cmd heading: 220.112490 deg,
      new cmd heading: 219.990652 deg.

2025-08-09T17:08:08.035Z,1754759288.035 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.756174
2025-08-09T17:08:08.288Z,1754759288.288 [DAT](INFO): DAT read: Rx Time:17:08:07.2346

2025-08-09T17:08:08.288Z,1754759288.288 [DAT](INFO): Rx dataTimestamp_ set to:1754759288.287916
2025-08-09T17:08:08.289Z,1754759288.289 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.009661
2025-08-09T17:08:08.361Z,1754759288.361 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 69.90 m.
2025-08-09T17:08:08.371Z,1754759288.371 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 69.900002 m,
      nav range: 67.079414 m,
      bearing: 212.070712 deg,
      approach rate: -0.633900 m/s,
      LOS rate: -0.092071 deg/s,
      cmd heading: 219.990653 deg,
      new cmd heading: 219.848552 deg.

2025-08-09T17:08:08.540Z,1754759288.540 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.261051
2025-08-09T17:08:08.803Z,1754759288.803 [DAT](INFO): DAT read: 17:08:07.2346 LVL= 26864, 32753, 21106, 32755, AGC= 68, IDX= 410,-0.22,-1.443,-2.888,-0.859,-1.368, PHS= 0.027,-1.475, 0.465, RAW= 162.4,  11.1, CAL= 162.6,  12.5, ROT= 347.4, -12.5

2025-08-09T17:08:08.804Z,1754759288.804 [DAT](INFO): got valid direction response:
 17:08:07.2346 LVL= 26864, 32753, 21106, 32755, AGC= 68, IDX= 410,-0.22,-1.443,-2.888,-0.859,-1.368, PHS= 0.027,-1.475, 0.465, RAW= 162.4,  11.1, CAL= 162.6,  12.5, ROT= 347.4, -12.5

2025-08-09T17:08:08.805Z,1754759288.805 [DAT](INFO): DAT read: Bearing   5.9, -19.0 (Local)

2025-08-09T17:08:08.805Z,1754759288.805 [DAT](INFO): Local bearing/azimuth received:
 Bearing   5.9, -19.0 (Local)

2025-08-09T17:08:08.807Z,1754759288.807 [DAT](INFO): DAT read: Range 11 to 50 : 67.8 m  (Round-trip  90.4 ms) speed  0.5 m/s

2025-08-09T17:08:08.807Z,1754759288.807 [DAT](INFO): DAT read: user:397>

2025-08-09T17:08:08.808Z,1754759288.808 [DAT](INFO): DAT read: Tx time:17:08:08.3401

2025-08-09T17:08:08.808Z,1754759288.808 [DAT](INFO): Ping request sent.
2025-08-09T17:08:08.808Z,1754759288.808 [DAT](INFO): transmitted an acoustic signal
2025-08-09T17:08:08.809Z,1754759288.809 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-09T17:08:08.810Z,1754759288.810 [DAT](INFO): direction in FSK: [0.952784,-0.212972,0.216440]
2025-08-09T17:08:08.810Z,1754759288.810 [DAT](INFO): publishing transmit ping time
2025-08-09T17:08:08.810Z,1754759288.810 [DAT](INFO): publishing direction and range info
2025-08-09T17:08:08.813Z,1754759288.813 [DAT](INFO): publishing transmit ping time
2025-08-09T17:08:08.814Z,1754759288.814 [DAT](INFO): publishing direction and range info
2025-08-09T17:08:08.846Z,1754759288.846 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 67.800003 m,
      deltaT: 3.526871 s,
      deltaX: -2.099998 m,
      approachRate: -0.595428 m/s,
      rangeRepo size: 4

2025-08-09T17:08:08.853Z,1754759288.853 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 67.800003 m,
      bearing: 211.869342 deg,
      lat: 36.906123 deg,
      lon: -122.115924 deg,
      deltaT: 3.526871 s,
      deltaX: -2.099998 m,
      approachRate: -0.595428 m/s,
      posRepo size: 4

2025-08-09T17:08:08.858Z,1754759288.858 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 67.80 m.
2025-08-09T17:08:08.867Z,1754759288.867 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 67.800003 m,
      nav range: 66.991379 m,
      bearing: 211.869342 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.092071 deg/s,
      cmd heading: 219.848558 deg,
      new cmd heading: 219.715032 deg.

2025-08-09T17:08:09.343Z,1754759289.343 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-09T17:08:09.345Z,1754759289.345 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 67.80 m.
2025-08-09T17:08:09.348Z,1754759289.348 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 67.800003 m,
      nav range: 66.667137 m,
      bearing: 211.822791 deg,
      approach rate: -0.647456 m/s,
      LOS rate: -0.093407 deg/s,
      cmd heading: 219.715028 deg,
      new cmd heading: 219.574695 deg.

2025-08-09T17:08:09.547Z,1754759289.547 [DAT](INFO): ****** received valid address query ******
2025-08-09T17:08:09.547Z,1754759289.547 [DAT](INFO): ****** received valid ping request ******
2025-08-09T17:08:09.547Z,1754759289.547 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-09T17:08:09.775Z,1754759289.775 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 67.80 m.
2025-08-09T17:08:09.778Z,1754759289.778 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 67.800003 m,
      nav range: 66.384056 m,
      bearing: 211.781462 deg,
      approach rate: -0.658008 m/s,
      LOS rate: -0.096478 deg/s,
      cmd heading: 219.574695 deg,
      new cmd heading: 219.450178 deg.

2025-08-09T17:08:09.800Z,1754759289.800 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.991327
2025-08-09T17:08:10.051Z,1754759290.051 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.242848
2025-08-09T17:08:10.158Z,1754759290.158 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 67.80 m.
2025-08-09T17:08:10.161Z,1754759290.161 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 67.800003 m,
      nav range: 66.135002 m,
      bearing: 211.745175 deg,
      approach rate: -0.650642 m/s,
      LOS rate: -0.095155 deg/s,
      cmd heading: 219.450180 deg,
      new cmd heading: 219.340910 deg.

2025-08-09T17:08:10.303Z,1754759290.303 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.494729
2025-08-09T17:08:10.549Z,1754759290.549 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 67.80 m.
2025-08-09T17:08:10.552Z,1754759290.552 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 67.800003 m,
      nav range: 65.882248 m,
      bearing: 211.708365 deg,
      approach rate: -0.646913 m/s,
      LOS rate: -0.094573 deg/s,
      cmd heading: 219.340911 deg,
      new cmd heading: 219.230060 deg.

2025-08-09T17:08:10.556Z,1754759290.556 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.747088
2025-08-09T17:08:10.808Z,1754759290.808 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.999564
2025-08-09T17:08:11.022Z,1754759291.022 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 67.80 m.
2025-08-09T17:08:11.025Z,1754759291.025 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 67.800003 m,
      nav range: 65.581635 m,
      bearing: 211.666302 deg,
      approach rate: -0.636110 m/s,
      LOS rate: -0.089416 deg/s,
      cmd heading: 219.230057 deg,
      new cmd heading: 219.103288 deg.

2025-08-09T17:08:11.061Z,1754759291.061 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.252233
2025-08-09T17:08:11.312Z,1754759291.312 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.503048
2025-08-09T17:08:11.364Z,1754759291.364 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-09T17:08:11.366Z,1754759291.366 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 67.80 m.
2025-08-09T17:08:11.368Z,1754759291.368 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 67.800003 m,
      nav range: 65.337349 m,
      bearing: 211.632608 deg,
      approach rate: -0.709759 m/s,
      LOS rate: -0.098261 deg/s,
      cmd heading: 219.103289 deg,
      new cmd heading: 219.001830 deg.

2025-08-09T17:08:11.563Z,1754759291.563 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.754874
2025-08-09T17:08:11.795Z,1754759291.795 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 67.80 m.
2025-08-09T17:08:11.797Z,1754759291.797 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 67.800003 m,
      nav range: 65.044197 m,
      bearing: 211.598175 deg,
      approach rate: -0.683008 m/s,
      LOS rate: -0.080586 deg/s,
      cmd heading: 219.001833 deg,
      new cmd heading: 218.898069 deg.

2025-08-09T17:08:11.815Z,1754759291.815 [DAT](INFO): DAT read: Rx Time:17:08:10.8315

2025-08-09T17:08:11.816Z,1754759291.816 [DAT](INFO): Rx dataTimestamp_ set to:1754759291.815526
2025-08-09T17:08:11.816Z,1754759291.816 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.007903
2025-08-09T17:08:12.068Z,1754759292.068 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.259696
2025-08-09T17:08:12.186Z,1754759292.186 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 67.80 m.
2025-08-09T17:08:12.189Z,1754759292.189 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 67.800003 m,
      nav range: 64.771461 m,
      bearing: 211.566620 deg,
      approach rate: -0.697024 m/s,
      LOS rate: -0.080983 deg/s,
      cmd heading: 218.898069 deg,
      new cmd heading: 218.803006 deg.

2025-08-09T17:08:12.319Z,1754759292.319 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.510841
2025-08-09T17:08:12.577Z,1754759292.577 [DAT](INFO): DAT read: 17:08:10.8315 LVL= 27536, 32753, 23202, 32755, AGC= 66, IDX= 410,-0.24,-0.038,-1.472, 0.483,-0.006, PHS= 0.069,-1.422, 0.445, RAW= 161.0,  10.6, CAL= 161.0,  11.7, ROT= 349.0, -11.7

2025-08-09T17:08:12.578Z,1754759292.578 [DAT](INFO): got valid direction response:
 17:08:10.8315 LVL= 27536, 32753, 23202, 32755, AGC= 66, IDX= 410,-0.24,-0.038,-1.472, 0.483,-0.006, PHS= 0.069,-1.422, 0.445, RAW= 161.0,  10.6, CAL= 161.0,  11.7, ROT= 349.0, -11.7

2025-08-09T17:08:12.579Z,1754759292.579 [DAT](INFO): DAT read: Bearing   4.4, -16.5 (Local)

2025-08-09T17:08:12.580Z,1754759292.580 [DAT](INFO): Local bearing/azimuth received:
 Bearing   4.4, -16.5 (Local)

2025-08-09T17:08:12.581Z,1754759292.581 [DAT](INFO): DAT read: Range 11 to 50 : 65.4 m  (Round-trip  87.3 ms) speed  0.7 m/s

2025-08-09T17:08:12.582Z,1754759292.582 [DAT](INFO): DAT read: user:398>

2025-08-09T17:08:12.583Z,1754759292.583 [DAT](INFO): DAT read: Tx time:17:08:11.9401

2025-08-09T17:08:12.583Z,1754759292.583 [DAT](INFO): Ping request sent.
2025-08-09T17:08:12.583Z,1754759292.583 [DAT](INFO): transmitted an acoustic signal
2025-08-09T17:08:12.583Z,1754759292.583 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-09T17:08:12.585Z,1754759292.585 [DAT](INFO): direction in FSK: [0.961232,-0.186845,0.202787]
2025-08-09T17:08:12.585Z,1754759292.585 [DAT](INFO): publishing transmit ping time
2025-08-09T17:08:12.585Z,1754759292.585 [DAT](INFO): publishing direction and range info
2025-08-09T17:08:12.588Z,1754759292.588 [DAT](INFO): publishing transmit ping time
2025-08-09T17:08:12.588Z,1754759292.588 [DAT](INFO): publishing direction and range info
2025-08-09T17:08:12.732Z,1754759292.732 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 65.400002 m,
      deltaT: 3.776934 s,
      deltaX: -2.400002 m,
      approachRate: -0.635436 m/s,
      rangeRepo size: 4

2025-08-09T17:08:12.743Z,1754759292.743 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 65.400002 m,
      bearing: 210.189189 deg,
      lat: 36.906115 deg,
      lon: -122.115911 deg,
      deltaT: 3.776934 s,
      deltaX: -2.400002 m,
      approachRate: -0.635436 m/s,
      posRepo size: 4

2025-08-09T17:08:12.743Z,1754759292.743 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 65.40 m.
2025-08-09T17:08:12.746Z,1754759292.746 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 65.400002 m,
      nav range: 64.620262 m,
      bearing: 210.189189 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.080983 deg/s,
      cmd heading: 218.803006 deg,
      new cmd heading: 218.670460 deg.

2025-08-09T17:08:13.136Z,1754759293.136 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 65.40 m.
2025-08-09T17:08:13.146Z,1754759293.146 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 65.400002 m,
      nav range: 64.309174 m,
      bearing: 210.148097 deg,
      approach rate: -0.770176 m/s,
      LOS rate: -0.102224 deg/s,
      cmd heading: 218.670460 deg,
      new cmd heading: 218.546589 deg.

2025-08-09T17:08:13.503Z,1754759293.503 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-09T17:08:13.505Z,1754759293.505 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 65.40 m.
2025-08-09T17:08:13.508Z,1754759293.508 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 65.400002 m,
      nav range: 64.043602 m,
      bearing: 210.112835 deg,
      approach rate: -0.718987 m/s,
      LOS rate: -0.095862 deg/s,
      cmd heading: 218.546587 deg,
      new cmd heading: 218.440362 deg.

2025-08-09T17:08:13.581Z,1754759293.581 [DAT](INFO): ****** received valid address query ******
2025-08-09T17:08:13.581Z,1754759293.581 [DAT](INFO): ****** received valid ping request ******
2025-08-09T17:08:13.581Z,1754759293.581 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-09T17:08:13.840Z,1754759293.840 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.256949
2025-08-09T17:08:13.933Z,1754759293.933 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 65.40 m.
2025-08-09T17:08:13.935Z,1754759293.935 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 65.400002 m,
      nav range: 63.759804 m,
      bearing: 210.073163 deg,
      approach rate: -0.663823 m/s,
      LOS rate: -0.093207 deg/s,
      cmd heading: 218.440364 deg,
      new cmd heading: 218.320820 deg.

2025-08-09T17:08:14.091Z,1754759294.091 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.508156
2025-08-09T17:08:14.314Z,1754759294.314 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 65.40 m.
2025-08-09T17:08:14.317Z,1754759294.317 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 65.400002 m,
      nav range: 63.506569 m,
      bearing: 210.037482 deg,
      approach rate: -0.663561 m/s,
      LOS rate: -0.093869 deg/s,
      cmd heading: 218.320822 deg,
      new cmd heading: 218.213352 deg.

2025-08-09T17:08:14.344Z,1754759294.344 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.760416
2025-08-09T17:08:14.595Z,1754759294.595 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.012235
2025-08-09T17:08:14.776Z,1754759294.776 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 65.40 m.
2025-08-09T17:08:14.779Z,1754759294.779 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 65.400002 m,
      nav range: 63.207153 m,
      bearing: 209.995001 deg,
      approach rate: -0.648340 m/s,
      LOS rate: -0.092423 deg/s,
      cmd heading: 218.213356 deg,
      new cmd heading: 218.085309 deg.

2025-08-09T17:08:14.849Z,1754759294.849 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.265960
2025-08-09T17:08:15.099Z,1754759295.099 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.516268
2025-08-09T17:08:15.132Z,1754759295.132 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 65.40 m.
2025-08-09T17:08:15.134Z,1754759295.134 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 65.400002 m,
      nav range: 62.965084 m,
      bearing: 209.960705 deg,
      approach rate: -0.680815 m/s,
      LOS rate: -0.096829 deg/s,
      cmd heading: 218.085304 deg,
      new cmd heading: 217.982019 deg.

2025-08-09T17:08:15.352Z,1754759295.352 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.768567
2025-08-09T17:08:15.511Z,1754759295.511 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-09T17:08:15.513Z,1754759295.513 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 65.40 m.
2025-08-09T17:08:15.516Z,1754759295.516 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 65.400002 m,
      nav range: 62.713230 m,
      bearing: 209.924864 deg,
      approach rate: -0.659464 m/s,
      LOS rate: -0.094223 deg/s,
      cmd heading: 217.982018 deg,
      new cmd heading: 217.874065 deg.

2025-08-09T17:08:15.605Z,1754759295.605 [DAT](INFO): DAT read: Rx Time:17:08:14.4280

2025-08-09T17:08:15.605Z,1754759295.605 [DAT](INFO): Rx dataTimestamp_ set to:1754759295.604828
2025-08-09T17:08:15.606Z,1754759295.606 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.022593
2025-08-09T17:08:15.856Z,1754759295.856 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.273115
2025-08-09T17:08:16.034Z,1754759296.034 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 65.40 m.
2025-08-09T17:08:16.041Z,1754759296.041 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 65.400002 m,
      nav range: 62.391750 m,
      bearing: 209.873352 deg,
      approach rate: -0.617678 m/s,
      LOS rate: -0.099484 deg/s,
      cmd heading: 217.874060 deg,
      new cmd heading: 217.718726 deg.

2025-08-09T17:08:16.116Z,1754759296.116 [DAT](INFO): DAT read: 17:08:14.4280 LVL= 29776, 32753, 23218, 32755, AGC= 69, IDX= 406, 0.01,-2.580, 2.172,-2.034,-2.524, PHS= 0.046,-1.542, 0.445, RAW= 160.9,  11.5, CAL= 161.2,  12.9, ROT= 348.8, -12.9

2025-08-09T17:08:16.118Z,1754759296.118 [DAT](INFO): got valid direction response:
 17:08:14.4280 LVL= 29776, 32753, 23218, 32755, AGC= 69, IDX= 406, 0.01,-2.580, 2.172,-2.034,-2.524, PHS= 0.046,-1.542, 0.445, RAW= 160.9,  11.5, CAL= 161.2,  12.9, ROT= 348.8, -12.9

2025-08-09T17:08:16.119Z,1754759296.119 [DAT](INFO): DAT read: Bearing   4.6, -15.6 (Local)

2025-08-09T17:08:16.120Z,1754759296.120 [DAT](INFO): Local bearing/azimuth received:
 Bearing   4.6, -15.6 (Local)

2025-08-09T17:08:16.122Z,1754759296.122 [DAT](INFO): DAT read: Range 11 to 50 : 62.7 m  (Round-trip  83.7 ms) speed  0.6 m/s

2025-08-09T17:08:16.123Z,1754759296.124 [DAT](INFO): DAT read: user:399>

2025-08-09T17:08:16.124Z,1754759296.124 [DAT](INFO): DAT read: Tx time:17:08:15.5416

2025-08-09T17:08:16.125Z,1754759296.125 [DAT](INFO): Ping request sent.
2025-08-09T17:08:16.125Z,1754759296.125 [DAT](INFO): transmitted an acoustic signal
2025-08-09T17:08:16.125Z,1754759296.125 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-09T17:08:16.129Z,1754759296.129 [DAT](INFO): direction in FSK: [0.956197,-0.189333,0.223250]
2025-08-09T17:08:16.131Z,1754759296.131 [DAT](INFO): publishing transmit ping time
2025-08-09T17:08:16.132Z,1754759296.132 [DAT](INFO): publishing direction and range info
2025-08-09T17:08:16.136Z,1754759296.136 [DAT](INFO): publishing transmit ping time
2025-08-09T17:08:16.136Z,1754759296.136 [DAT](INFO): publishing direction and range info
2025-08-09T17:08:16.385Z,1754759296.385 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 62.700001 m,
      deltaT: 3.536314 s,
      deltaX: -2.700001 m,
      approachRate: -0.763507 m/s,
      rangeRepo size: 4

2025-08-09T17:08:16.388Z,1754759296.388 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 62.700001 m,
      bearing: 209.733587 deg,
      lat: 36.906115 deg,
      lon: -122.115909 deg,
      deltaT: 3.536314 s,
      deltaX: -2.700001 m,
      approachRate: -0.763507 m/s,
      posRepo size: 4

2025-08-09T17:08:16.388Z,1754759296.388 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 62.70 m.
2025-08-09T17:08:16.391Z,1754759296.391 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 62.700001 m,
      nav range: 62.100689 m,
      bearing: 209.733587 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.099484 deg/s,
      cmd heading: 217.718727 deg,
      new cmd heading: 217.613998 deg.

2025-08-09T17:08:16.927Z,1754759296.927 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 62.70 m.
2025-08-09T17:08:16.929Z,1754759296.929 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 62.700001 m,
      nav range: 61.761906 m,
      bearing: 209.674479 deg,
      approach rate: -0.625606 m/s,
      LOS rate: -0.109748 deg/s,
      cmd heading: 217.613993 deg,
      new cmd heading: 217.435698 deg.

2025-08-09T17:08:17.281Z,1754759297.281 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 62.70 m.
2025-08-09T17:08:17.284Z,1754759297.284 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 62.700001 m,
      nav range: 61.542225 m,
      bearing: 209.636022 deg,
      approach rate: -0.620014 m/s,
      LOS rate: -0.108926 deg/s,
      cmd heading: 217.435698 deg,
      new cmd heading: 217.319916 deg.

2025-08-09T17:08:17.682Z,1754759297.682 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-09T17:08:17.684Z,1754759297.684 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 62.70 m.
2025-08-09T17:08:17.687Z,1754759297.687 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 62.700001 m,
      nav range: 61.291519 m,
      bearing: 209.592086 deg,
      approach rate: -0.621486 m/s,
      LOS rate: -0.109360 deg/s,
      cmd heading: 217.319913 deg,
      new cmd heading: 217.187566 deg.

2025-08-09T17:08:17.875Z,1754759297.875 [DAT](INFO): ****** received valid address query ******
2025-08-09T17:08:17.875Z,1754759297.875 [DAT](INFO): ****** received valid ping request ******
2025-08-09T17:08:17.875Z,1754759297.875 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-09T17:08:18.115Z,1754759298.115 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 62.70 m.
2025-08-09T17:08:18.118Z,1754759298.118 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 62.700001 m,
      nav range: 61.032745 m,
      bearing: 209.535609 deg,
      approach rate: -0.600221 m/s,
      LOS rate: -0.131553 deg/s,
      cmd heading: 217.187571 deg,
      new cmd heading: 217.017422 deg.

2025-08-09T17:08:18.123Z,1754759298.123 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.998605
2025-08-09T17:08:18.375Z,1754759298.375 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.250589
2025-08-09T17:08:18.487Z,1754759298.487 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 62.70 m.
2025-08-09T17:08:18.490Z,1754759298.490 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 62.700001 m,
      nav range: 60.808578 m,
      bearing: 209.487038 deg,
      approach rate: -0.602847 m/s,
      LOS rate: -0.131103 deg/s,
      cmd heading: 217.017417 deg,
      new cmd heading: 216.871167 deg.

2025-08-09T17:08:18.627Z,1754759298.627 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.502498
2025-08-09T17:08:18.882Z,1754759298.882 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.757634
2025-08-09T17:08:18.925Z,1754759298.925 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 62.70 m.
2025-08-09T17:08:18.928Z,1754759298.928 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 62.700001 m,
      nav range: 60.559845 m,
      bearing: 209.425606 deg,
      approach rate: -0.567998 m/s,
      LOS rate: -0.140858 deg/s,
      cmd heading: 216.871169 deg,
      new cmd heading: 216.686119 deg.

2025-08-09T17:08:19.140Z,1754759299.140 [DAT](INFO): DAT read: Rx Time:17:08:18.0265

2025-08-09T17:08:19.140Z,1754759299.140 [DAT](INFO): Rx dataTimestamp_ set to:1754759299.139833
2025-08-09T17:08:19.141Z,1754759299.141 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.015892
2025-08-09T17:08:19.342Z,1754759299.342 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 62.70 m.
2025-08-09T17:08:19.350Z,1754759299.350 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 62.700001 m,
      nav range: 60.322655 m,
      bearing: 209.367189 deg,
      approach rate: -0.568721 m/s,
      LOS rate: -0.140620 deg/s,
      cmd heading: 216.686126 deg,
      new cmd heading: 216.510186 deg.

2025-08-09T17:08:19.387Z,1754759299.387 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.262600
2025-08-09T17:08:19.645Z,1754759299.645 [DAT](INFO): DAT read: 17:08:18.0265 LVL= 26656, 32753, 25586, 32755, AGC= 67, IDX= 407, 0.15,-2.672, 2.078,-2.159,-2.681, PHS= 0.111,-1.479, 0.478, RAW= 160.2,   9.9, CAL= 160.1,  10.7, ROT= 349.9, -10.7

2025-08-09T17:08:19.646Z,1754759299.646 [DAT](INFO): got valid direction response:
 17:08:18.0265 LVL= 26656, 32753, 25586, 32755, AGC= 67, IDX= 407, 0.15,-2.672, 2.078,-2.159,-2.681, PHS= 0.111,-1.479, 0.478, RAW= 160.2,   9.9, CAL= 160.1,  10.7, ROT= 349.9, -10.7

2025-08-09T17:08:19.647Z,1754759299.647 [DAT](INFO): DAT read: Bearing   1.2, -13.6 (Local)

2025-08-09T17:08:19.647Z,1754759299.648 [DAT](INFO): Local bearing/azimuth received:
 Bearing   1.2, -13.6 (Local)

2025-08-09T17:08:19.649Z,1754759299.649 [DAT](INFO): DAT read: Range 11 to 50 : 60.5 m  (Round-trip  80.7 ms) speed  0.6 m/s

2025-08-09T17:08:19.650Z,1754759299.650 [DAT](INFO): DAT read: user:400>

2025-08-09T17:08:19.657Z,1754759299.657 [DAT](INFO): DAT read: Tx time:17:08:19.1401

2025-08-09T17:08:19.657Z,1754759299.657 [DAT](INFO): Ping request sent.
2025-08-09T17:08:19.657Z,1754759299.657 [DAT](INFO): transmitted an acoustic signal
2025-08-09T17:08:19.657Z,1754759299.657 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-09T17:08:19.658Z,1754759299.658 [DAT](INFO): direction in FSK: [0.967385,-0.172318,0.185667]
2025-08-09T17:08:19.659Z,1754759299.659 [DAT](INFO): publishing transmit ping time
2025-08-09T17:08:19.659Z,1754759299.659 [DAT](INFO): publishing direction and range info
2025-08-09T17:08:19.662Z,1754759299.662 [DAT](INFO): publishing transmit ping time
2025-08-09T17:08:19.662Z,1754759299.662 [DAT](INFO): publishing direction and range info
2025-08-09T17:08:19.841Z,1754759299.841 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 60.500000 m,
      deltaT: 3.531642 s,
      deltaX: -2.200001 m,
      approachRate: -0.622940 m/s,
      rangeRepo size: 4

2025-08-09T17:08:19.855Z,1754759299.855 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 60.500000 m,
      bearing: 209.304457 deg,
      lat: 36.906115 deg,
      lon: -122.115909 deg,
      deltaT: 3.531642 s,
      deltaX: -2.200001 m,
      approachRate: -0.622940 m/s,
      posRepo size: 4

2025-08-09T17:08:19.856Z,1754759299.856 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 60.50 m.
2025-08-09T17:08:19.864Z,1754759299.864 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 60.500000 m,
      nav range: 60.066982 m,
      bearing: 209.304457 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.140620 deg/s,
      cmd heading: 216.510180 deg,
      new cmd heading: 216.300053 deg.

2025-08-09T17:08:20.240Z,1754759300.240 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-09T17:08:20.262Z,1754759300.262 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 60.50 m.
2025-08-09T17:08:20.265Z,1754759300.265 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 60.500000 m,
      nav range: 59.808495 m,
      bearing: 209.238349 deg,
      approach rate: -0.642980 m/s,
      LOS rate: -0.165150 deg/s,
      cmd heading: 216.300056 deg,
      new cmd heading: 216.100879 deg.

2025-08-09T17:08:20.395Z,1754759300.395 [DAT](INFO): ****** received valid address query ******
2025-08-09T17:08:20.395Z,1754759300.395 [DAT](INFO): ****** received valid ping request ******
2025-08-09T17:08:20.395Z,1754759300.395 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-09T17:08:20.645Z,1754759300.645 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 60.50 m.
2025-08-09T17:08:20.647Z,1754759300.647 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.990415
2025-08-09T17:08:20.649Z,1754759300.649 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 60.500000 m,
      nav range: 59.587643 m,
      bearing: 209.182135 deg,
      approach rate: -0.548781 m/s,
      LOS rate: -0.140201 deg/s,
      cmd heading: 216.100874 deg,
      new cmd heading: 215.931607 deg.

2025-08-09T17:08:20.900Z,1754759300.900 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.242687
2025-08-09T17:08:21.039Z,1754759301.039 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 60.50 m.
2025-08-09T17:08:21.042Z,1754759301.042 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 60.500000 m,
      nav range: 59.355152 m,
      bearing: 209.126773 deg,
      approach rate: -0.589307 m/s,
      LOS rate: -0.140880 deg/s,
      cmd heading: 215.931608 deg,
      new cmd heading: 215.764871 deg.

2025-08-09T17:08:21.151Z,1754759301.151 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.494232
2025-08-09T17:08:21.403Z,1754759301.403 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.746347
2025-08-09T17:08:21.421Z,1754759301.421 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 60.50 m.
2025-08-09T17:08:21.423Z,1754759301.423 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 60.500000 m,
      nav range: 59.138802 m,
      bearing: 209.075694 deg,
      approach rate: -0.567011 m/s,
      LOS rate: -0.134356 deg/s,
      cmd heading: 215.764870 deg,
      new cmd heading: 215.611074 deg.

2025-08-09T17:08:21.656Z,1754759301.656 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.998509
2025-08-09T17:08:21.907Z,1754759301.907 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.250336
2025-08-09T17:08:21.927Z,1754759301.927 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 60.50 m.
2025-08-09T17:08:21.929Z,1754759301.929 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 60.500000 m,
      nav range: 58.871983 m,
      bearing: 209.016607 deg,
      approach rate: -0.531608 m/s,
      LOS rate: -0.118259 deg/s,
      cmd heading: 215.611068 deg,
      new cmd heading: 215.433003 deg.

2025-08-09T17:08:22.160Z,1754759302.160 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.503326
2025-08-09T17:08:22.401Z,1754759302.401 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-09T17:08:22.404Z,1754759302.404 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 60.50 m.
2025-08-09T17:08:22.407Z,1754759302.407 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 60.500000 m,
      nav range: 58.592514 m,
      bearing: 208.955119 deg,
      approach rate: -0.580977 m/s,
      LOS rate: -0.128435 deg/s,
      cmd heading: 215.433005 deg,
      new cmd heading: 215.247662 deg.

2025-08-09T17:08:22.411Z,1754759302.411 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.754327
2025-08-09T17:08:22.664Z,1754759302.664 [DAT](INFO): DAT read: Rx Time:17:08:21.6223

2025-08-09T17:08:22.664Z,1754759302.664 [DAT](INFO): Rx dataTimestamp_ set to:1754759302.663721
2025-08-09T17:08:22.665Z,1754759302.665 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.007525
2025-08-09T17:08:22.809Z,1754759302.809 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 60.50 m.
2025-08-09T17:08:22.818Z,1754759302.818 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 60.500000 m,
      nav range: 58.367805 m,
      bearing: 208.905855 deg,
      approach rate: -0.555676 m/s,
      LOS rate: -0.122292 deg/s,
      cmd heading: 215.247661 deg,
      new cmd heading: 215.099301 deg.

2025-08-09T17:08:22.916Z,1754759302.916 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.259045
2025-08-09T17:08:23.184Z,1754759303.184 [DAT](INFO): DAT read: 17:08:21.6223 LVL= 32336, 32753, 27490, 32755, AGC= 66, IDX= 414,-0.42, 1.131,-0.334, 1.599, 1.124, PHS= 0.109,-1.413, 0.431, RAW= 159.4,  10.3, CAL= 159.4,  11.2, ROT= 350.6, -11.2

2025-08-09T17:08:23.185Z,1754759303.185 [DAT](INFO): got valid direction response:
 17:08:21.6223 LVL= 32336, 32753, 27490, 32755, AGC= 66, IDX= 414,-0.42, 1.131,-0.334, 1.599, 1.124, PHS= 0.109,-1.413, 0.431, RAW= 159.4,  10.3, CAL= 159.4,  11.2, ROT= 350.6, -11.2

2025-08-09T17:08:23.186Z,1754759303.186 [DAT](INFO): DAT read: Bearing 359.6, -12.7 (Local)

2025-08-09T17:08:23.187Z,1754759303.187 [DAT](INFO): Local bearing/azimuth received:
 Bearing 359.6, -12.7 (Local)

2025-08-09T17:08:23.190Z,1754759303.190 [DAT](INFO): DAT read: Range 11 to 50 : 58.6 m  (Round-trip  78.2 ms) speed  0.6 m/s

2025-08-09T17:08:23.227Z,1754759303.227 [DAT](INFO): DAT read: user:401>

2025-08-09T17:08:23.228Z,1754759303.228 [DAT](INFO): DAT read: Tx time:17:08:22.7400

2025-08-09T17:08:23.228Z,1754759303.228 [DAT](INFO): Ping request sent.
2025-08-09T17:08:23.228Z,1754759303.228 [DAT](INFO): transmitted an acoustic signal
2025-08-09T17:08:23.228Z,1754759303.228 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-09T17:08:23.229Z,1754759303.229 [DAT](INFO): direction in FSK: [0.967783,-0.160215,0.194234]
2025-08-09T17:08:23.230Z,1754759303.230 [DAT](INFO): publishing transmit ping time
2025-08-09T17:08:23.230Z,1754759303.230 [DAT](INFO): publishing direction and range info
2025-08-09T17:08:23.241Z,1754759303.241 [DAT](INFO): publishing transmit ping time
2025-08-09T17:08:23.241Z,1754759303.241 [DAT](INFO): publishing direction and range info
2025-08-09T17:08:23.379Z,1754759303.379 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 58.599998 m,
      deltaT: 3.529402 s,
      deltaX: -1.900002 m,
      approachRate: -0.538335 m/s,
      rangeRepo size: 4

2025-08-09T17:08:23.381Z,1754759303.381 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 58.599998 m,
      bearing: 209.199787 deg,
      lat: 36.906120 deg,
      lon: -122.115911 deg,
      deltaT: 3.529402 s,
      deltaX: -1.900002 m,
      approachRate: -0.538335 m/s,
      posRepo size: 4

2025-08-09T17:08:23.382Z,1754759303.382 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 58.60 m.
2025-08-09T17:08:23.386Z,1754759303.386 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 58.60 m.
2025-08-09T17:08:23.389Z,1754759303.389 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 58.599998 m,
      nav range: 57.681145 m,
      bearing: 209.199787 deg,
      approach rate: 290931873706810988865319291745 m/s,
      LOS rate: -0.122292 deg/s,
      cmd heading: 215.099295 deg,
      new cmd heading: 214.891661 deg.

2025-08-09T17:08:23.539Z,1754759303.539 [DockingStepper](INFO): Changing to mode: 2
2025-08-09T17:08:23.740Z,1754759303.740 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 58.60 m.
2025-08-09T17:08:23.741Z,1754759303.741 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 58.60 m.
2025-08-09T17:08:23.744Z,1754759303.744 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 58.599998 m,
      nav range: 57.448421 m,
      bearing: 209.163142 deg,
      approach rate: -0.635668 m/s,
      LOS rate: -0.100499 deg/s,
      cmd heading: 214.891658 deg,
      new cmd heading: 214.781277 deg.

2025-08-09T17:08:24.182Z,1754759304.182 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 58.60 m.
2025-08-09T17:08:24.182Z,1754759304.182 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 58.60 m.
2025-08-09T17:08:24.185Z,1754759304.185 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 58.599998 m,
      nav range: 57.183720 m,
      bearing: 209.125322 deg,
      approach rate: -0.599586 m/s,
      LOS rate: -0.086065 deg/s,
      cmd heading: 214.781282 deg,
      new cmd heading: 214.667295 deg.

2025-08-09T17:08:24.565Z,1754759304.565 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-09T17:08:24.567Z,1754759304.567 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 58.60 m.
2025-08-09T17:08:24.568Z,1754759304.568 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 58.60 m.
2025-08-09T17:08:24.571Z,1754759304.571 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 58.599998 m,
      nav range: 56.951870 m,
      bearing: 209.091904 deg,
      approach rate: -0.601164 m/s,
      LOS rate: -0.087003 deg/s,
      cmd heading: 214.667299 deg,
      new cmd heading: 214.566637 deg.

2025-08-09T17:08:24.679Z,1754759304.679 [DAT](INFO): ****** received valid address query ******
2025-08-09T17:08:24.679Z,1754759304.679 [DAT](INFO): ****** received valid ping request ******
2025-08-09T17:08:24.679Z,1754759304.679 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-09T17:08:24.933Z,1754759304.933 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.704481
2025-08-09T17:08:25.002Z,1754759305.002 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 58.60 m.
2025-08-09T17:08:25.003Z,1754759305.003 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 58.60 m.
2025-08-09T17:08:25.005Z,1754759305.005 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 58.599998 m,
      nav range: 56.672474 m,
      bearing: 209.059334 deg,
      approach rate: -0.642888 m/s,
      LOS rate: -0.075313 deg/s,
      cmd heading: 214.566636 deg,
      new cmd heading: 214.468445 deg.

2025-08-09T17:08:25.183Z,1754759305.183 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.955261
2025-08-09T17:08:25.368Z,1754759305.368 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 58.60 m.
2025-08-09T17:08:25.368Z,1754759305.368 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 58.60 m.
2025-08-09T17:08:25.375Z,1754759305.375 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 58.599998 m,
      nav range: 56.436470 m,
      bearing: 209.032316 deg,
      approach rate: -0.645077 m/s,
      LOS rate: -0.074158 deg/s,
      cmd heading: 214.468445 deg,
      new cmd heading: 214.387053 deg.

2025-08-09T17:08:25.436Z,1754759305.436 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.207309
2025-08-09T17:08:25.688Z,1754759305.688 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.459482
2025-08-09T17:08:25.778Z,1754759305.778 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 58.60 m.
2025-08-09T17:08:25.779Z,1754759305.779 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 58.60 m.
2025-08-09T17:08:25.781Z,1754759305.781 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 58.599998 m,
      nav range: 56.172291 m,
      bearing: 209.001802 deg,
      approach rate: -0.643978 m/s,
      LOS rate: -0.074733 deg/s,
      cmd heading: 214.387057 deg,
      new cmd heading: 214.295084 deg.

2025-08-09T17:08:25.943Z,1754759305.943 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.714914
2025-08-09T17:08:26.195Z,1754759306.195 [DAT](INFO): DAT read: Rx Time:17:08:25.2197

2025-08-09T17:08:26.196Z,1754759306.196 [DAT](INFO): Rx dataTimestamp_ set to:1754759306.195494
2025-08-09T17:08:26.196Z,1754759306.196 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.968288
2025-08-09T17:08:26.202Z,1754759306.202 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 58.60 m.
2025-08-09T17:08:26.203Z,1754759306.203 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 58.60 m.
2025-08-09T17:08:26.205Z,1754759306.205 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 58.599998 m,
      nav range: 55.894157 m,
      bearing: 208.971518 deg,
      approach rate: -0.656136 m/s,
      LOS rate: -0.071796 deg/s,
      cmd heading: 214.295082 deg,
      new cmd heading: 214.203779 deg.

2025-08-09T17:08:26.449Z,1754759306.449 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.220670
2025-08-09T17:08:26.572Z,1754759306.572 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-09T17:08:26.575Z,1754759306.575 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 58.60 m.
2025-08-09T17:08:26.575Z,1754759306.575 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 58.60 m.
2025-08-09T17:08:26.578Z,1754759306.578 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 58.599998 m,
      nav range: 55.646023 m,
      bearing: 208.944857 deg,
      approach rate: -0.665749 m/s,
      LOS rate: -0.071853 deg/s,
      cmd heading: 214.203776 deg,
      new cmd heading: 214.123434 deg.

2025-08-09T17:08:26.699Z,1754759306.699 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.471217
2025-08-09T17:08:26.962Z,1754759306.962 [DAT](INFO): DAT read: 17:08:25.2197 LVL= 24928, 31313, 23010, 32035, AGC= 61, IDX= 418,-0.05,-2.358, 2.355,-1.920,-2.448, PHS= 0.191,-1.435, 0.484, RAW= 158.1,   8.5, CAL= 157.8,   8.9, ROT= 352.2,  -8.9

2025-08-09T17:08:26.963Z,1754759306.963 [DAT](INFO): got valid direction response:
 17:08:25.2197 LVL= 24928, 31313, 23010, 32035, AGC= 61, IDX= 418,-0.05,-2.358, 2.355,-1.920,-2.448, PHS= 0.191,-1.435, 0.484, RAW= 158.1,   8.5, CAL= 157.8,   8.9, ROT= 352.2,  -8.9

2025-08-09T17:08:26.964Z,1754759306.964 [DAT](INFO): DAT read: Bearing 356.1,  -9.9 (Local)

2025-08-09T17:08:26.965Z,1754759306.965 [DAT](INFO): Local bearing/azimuth received:
 Bearing 356.1,  -9.9 (Local)

2025-08-09T17:08:26.966Z,1754759306.966 [DAT](INFO): DAT read: Range 11 to 50 : 56.6 m  (Round-trip  75.5 ms) speed  0.8 m/s

2025-08-09T17:08:26.967Z,1754759306.967 [DAT](INFO): DAT read: user:402>

2025-08-09T17:08:26.968Z,1754759306.968 [DAT](INFO): DAT read: Tx time:17:08:26.3400

2025-08-09T17:08:26.968Z,1754759306.968 [DAT](INFO): Ping request sent.
2025-08-09T17:08:26.968Z,1754759306.968 [DAT](INFO): transmitted an acoustic signal
2025-08-09T17:08:26.968Z,1754759306.968 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-09T17:08:26.969Z,1754759306.969 [DAT](INFO): direction in FSK: [0.978819,-0.134081,0.154710]
2025-08-09T17:08:26.970Z,1754759306.970 [DAT](INFO): publishing transmit ping time
2025-08-09T17:08:26.970Z,1754759306.970 [DAT](INFO): publishing direction and range info
2025-08-09T17:08:26.974Z,1754759306.974 [DAT](INFO): publishing transmit ping time
2025-08-09T17:08:26.974Z,1754759306.974 [DAT](INFO): publishing direction and range info
2025-08-09T17:08:27.109Z,1754759307.109 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 56.599998 m,
      deltaT: 3.784632 s,
      deltaX: -2.000000 m,
      approachRate: -0.528453 m/s,
      rangeRepo size: 4

2025-08-09T17:08:27.116Z,1754759307.116 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 56.599998 m,
      bearing: 208.920677 deg,
      lat: 36.906120 deg,
      lon: -122.115911 deg,
      deltaT: 3.784632 s,
      deltaX: -2.000000 m,
      approachRate: -0.528453 m/s,
      posRepo size: 4

2025-08-09T17:08:27.116Z,1754759307.116 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 56.60 m.
2025-08-09T17:08:27.117Z,1754759307.117 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 56.60 m.
2025-08-09T17:08:27.124Z,1754759307.124 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 56.599998 m,
      nav range: 55.295246 m,
      bearing: 208.920677 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.071853 deg/s,
      cmd heading: 214.123439 deg,
      new cmd heading: 214.008319 deg.

2025-08-09T17:08:27.403Z,1754759307.403 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 56.60 m.
2025-08-09T17:08:27.403Z,1754759307.403 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 56.60 m.
2025-08-09T17:08:27.406Z,1754759307.406 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 56.599998 m,
      nav range: 55.078918 m,
      bearing: 208.899236 deg,
      approach rate: -0.734684 m/s,
      LOS rate: -0.073104 deg/s,
      cmd heading: 214.008323 deg,
      new cmd heading: 213.943746 deg.

2025-08-09T17:08:27.810Z,1754759307.810 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 56.60 m.
2025-08-09T17:08:27.810Z,1754759307.810 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 56.60 m.
2025-08-09T17:08:27.813Z,1754759307.813 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 56.599998 m,
      nav range: 54.796719 m,
      bearing: 208.871577 deg,
      approach rate: -0.693899 m/s,
      LOS rate: -0.068360 deg/s,
      cmd heading: 213.943750 deg,
      new cmd heading: 213.860347 deg.

2025-08-09T17:08:28.226Z,1754759308.226 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 56.60 m.
2025-08-09T17:08:28.226Z,1754759308.226 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 56.60 m.
2025-08-09T17:08:28.229Z,1754759308.229 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 56.599998 m,
      nav range: 54.498032 m,
      bearing: 208.830643 deg,
      approach rate: -0.717991 m/s,
      LOS rate: -0.098938 deg/s,
      cmd heading: 213.860354 deg,
      new cmd heading: 213.736878 deg.

2025-08-09T17:08:28.604Z,1754759308.604 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-09T17:08:28.606Z,1754759308.606 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 56.60 m.
2025-08-09T17:08:28.606Z,1754759308.606 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 56.60 m.
2025-08-09T17:08:28.609Z,1754759308.609 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 56.599998 m,
      nav range: 54.225918 m,
      bearing: 208.793488 deg,
      approach rate: -0.716200 m/s,
      LOS rate: -0.098282 deg/s,
      cmd heading: 213.736877 deg,
      new cmd heading: 213.624854 deg.

2025-08-09T17:08:28.719Z,1754759308.719 [DAT](INFO): ****** received valid address query ******
2025-08-09T17:08:28.719Z,1754759308.719 [DAT](INFO): ****** received valid ping request ******
2025-08-09T17:08:28.719Z,1754759308.719 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-09T17:08:28.971Z,1754759308.971 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.003336
2025-08-09T17:08:29.094Z,1754759309.094 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 56.60 m.
2025-08-09T17:08:29.094Z,1754759309.094 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 56.60 m.
2025-08-09T17:08:29.097Z,1754759309.097 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 56.599998 m,
      nav range: 53.884827 m,
      bearing: 208.743203 deg,
      approach rate: -0.698914 m/s,
      LOS rate: -0.103688 deg/s,
      cmd heading: 213.624849 deg,
      new cmd heading: 213.473041 deg.

2025-08-09T17:08:29.223Z,1754759309.223 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.255309
2025-08-09T17:08:29.475Z,1754759309.475 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.507341
2025-08-09T17:08:29.480Z,1754759309.480 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 56.60 m.
2025-08-09T17:08:29.480Z,1754759309.480 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 56.60 m.
2025-08-09T17:08:29.480Z,1754759309.480 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Final approach. Armed for intercept at range: 56.60 m.
2025-08-09T17:08:29.481Z,1754759309.481 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Transitioning guidance mode to: FINAL_APPROACH
2025-08-09T17:08:29.484Z,1754759309.484 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 56.599998 m,
      nav range: 53.617111 m,
      bearing: 208.703416 deg,
      approach rate: -0.693581 m/s,
      LOS rate: -0.103594 deg/s,
      cmd heading: 213.473041 deg,
      new cmd heading: 213.353082 deg.

2025-08-09T17:08:29.727Z,1754759309.727 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.759440
2025-08-09T17:08:29.979Z,1754759309.979 [DAT](INFO): DAT read: Rx Time:17:08:28.8162

2025-08-09T17:08:29.980Z,1754759309.980 [DAT](INFO): Rx dataTimestamp_ set to:1754759309.979544
2025-08-09T17:08:29.980Z,1754759309.980 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.012363
2025-08-09T17:08:30.054Z,1754759310.054 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 56.60 m.
2025-08-09T17:08:30.057Z,1754759310.057 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 56.599998 m,
      nav range: 53.220943 m,
      bearing: 208.638358 deg,
      approach rate: -0.689678 m/s,
      LOS rate: -0.114099 deg/s,
      cmd heading: 213.353075 deg,
      new cmd heading: 213.156452 deg.

2025-08-09T17:08:30.058Z,1754759310.058 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.720282 target range: 56.599998 and range: 56.60 m.
2025-08-09T17:08:30.232Z,1754759310.232 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.263872
2025-08-09T17:08:30.489Z,1754759310.489 [DAT](INFO): DAT read: 17:08:28.8162 LVL= 26416, 32753, 27618, 32755, AGC= 65, IDX= 398, 0.32,-1.703, 3.043,-1.310,-1.788, PHS= 0.187,-1.407, 0.434, RAW= 157.1,   9.1, CAL= 156.9,   9.7, ROT= 353.1,  -9.7

2025-08-09T17:08:30.490Z,1754759310.490 [DAT](INFO): got valid direction response:
 17:08:28.8162 LVL= 26416, 32753, 27618, 32755, AGC= 65, IDX= 398, 0.32,-1.703, 3.043,-1.310,-1.788, PHS= 0.187,-1.407, 0.434, RAW= 157.1,   9.1, CAL= 156.9,   9.7, ROT= 353.1,  -9.7

2025-08-09T17:08:30.491Z,1754759310.491 [DAT](INFO): DAT read: Bearing 356.2,  -8.0 (Local)

2025-08-09T17:08:30.492Z,1754759310.492 [DAT](INFO): Local bearing/azimuth received:
 Bearing 356.2,  -8.0 (Local)

2025-08-09T17:08:30.493Z,1754759310.493 [DAT](INFO): DAT read: Range 11 to 50 : 54.0 m  (Round-trip  72.0 ms) speed  0.7 m/s

2025-08-09T17:08:30.494Z,1754759310.494 [DAT](INFO): DAT read: user:403>

2025-08-09T17:08:30.495Z,1754759310.495 [DAT](INFO): DAT read: Tx time:17:08:29.9400

2025-08-09T17:08:30.495Z,1754759310.495 [DAT](INFO): Ping request sent.
2025-08-09T17:08:30.495Z,1754759310.495 [DAT](INFO): transmitted an acoustic signal
2025-08-09T17:08:30.495Z,1754759310.495 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-09T17:08:30.496Z,1754759310.496 [DAT](INFO): direction in FSK: [0.978564,-0.118419,0.168489]
2025-08-09T17:08:30.496Z,1754759310.496 [DAT](INFO): publishing transmit ping time
2025-08-09T17:08:30.497Z,1754759310.497 [DAT](INFO): publishing direction and range info
2025-08-09T17:08:30.527Z,1754759310.527 [DAT](INFO): publishing transmit ping time
2025-08-09T17:08:30.527Z,1754759310.527 [DAT](INFO): publishing direction and range info
2025-08-09T17:08:30.540Z,1754759310.540 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 54.000000 m,
      deltaT: 3.530082 s,
      deltaX: -2.599998 m,
      approachRate: -0.736526 m/s,
      rangeRepo size: 4

2025-08-09T17:08:30.564Z,1754759310.564 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 54.000000 m,
      bearing: 208.709464 deg,
      lat: 36.906120 deg,
      lon: -122.115912 deg,
      deltaT: 3.530082 s,
      deltaX: -2.599998 m,
      approachRate: -0.736526 m/s,
      posRepo size: 4

2025-08-09T17:08:30.565Z,1754759310.565 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.00 m.
2025-08-09T17:08:30.592Z,1754759310.592 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 54.000000 m,
      nav range: 52.904819 m,
      bearing: 208.709464 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.114099 deg/s,
      cmd heading: 213.156448 deg,
      new cmd heading: 212.990177 deg.

2025-08-09T17:08:30.593Z,1754759310.593 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.717380 target range: 54.000000 and range: 54.00 m.
2025-08-09T17:08:31.011Z,1754759311.011 [RDI_Pathfinder](ERROR): only read 3 of 4 data items for beam range. Device response is::RA,  0.00,  94.31,  79.05,  85.17
2025-08-09T17:08:31.049Z,1754759311.049 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.00 m.
2025-08-09T17:08:31.052Z,1754759311.052 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 54.000000 m,
      nav range: 52.546078 m,
      bearing: 208.649715 deg,
      approach rate: -0.704513 m/s,
      LOS rate: -0.118138 deg/s,
      cmd heading: 212.990174 deg,
      new cmd heading: 212.809705 deg.

2025-08-09T17:08:31.053Z,1754759311.053 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.714230 target range: 54.000000 and range: 54.00 m.
2025-08-09T17:08:31.477Z,1754759311.477 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-09T17:08:31.479Z,1754759311.479 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.00 m.
2025-08-09T17:08:31.482Z,1754759311.482 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 54.000000 m,
      nav range: 52.237797 m,
      bearing: 208.597689 deg,
      approach rate: -0.716662 m/s,
      LOS rate: -0.121660 deg/s,
      cmd heading: 212.809707 deg,
      new cmd heading: 212.652706 deg.

2025-08-09T17:08:31.483Z,1754759311.483 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.711490 target range: 54.000000 and range: 54.00 m.
2025-08-09T17:08:31.491Z,1754759311.491 [DAT](INFO): ****** received valid address query ******
2025-08-09T17:08:31.491Z,1754759311.491 [DAT](INFO): ****** received valid ping request ******
2025-08-09T17:08:31.491Z,1754759311.491 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-09T17:08:31.744Z,1754759311.744 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.248652
2025-08-09T17:08:31.856Z,1754759311.856 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.00 m.
2025-08-09T17:08:31.864Z,1754759311.864 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 54.000000 m,
      nav range: 51.993416 m,
      bearing: 208.556003 deg,
      approach rate: -0.648945 m/s,
      LOS rate: -0.111215 deg/s,
      cmd heading: 212.652708 deg,
      new cmd heading: 212.527063 deg.

2025-08-09T17:08:31.866Z,1754759311.866 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.709297 target range: 54.000000 and range: 54.00 m.
2025-08-09T17:08:31.997Z,1754759311.997 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.501711
2025-08-09T17:08:32.236Z,1754759312.236 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.00 m.
2025-08-09T17:08:32.239Z,1754759312.239 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 54.000000 m,
      nav range: 51.727211 m,
      bearing: 208.510088 deg,
      approach rate: -0.700711 m/s,
      LOS rate: -0.121479 deg/s,
      cmd heading: 212.527060 deg,
      new cmd heading: 212.388608 deg.

2025-08-09T17:08:32.240Z,1754759312.240 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.706881 target range: 54.000000 and range: 54.00 m.
2025-08-09T17:08:32.247Z,1754759312.247 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.752321
2025-08-09T17:08:32.500Z,1754759312.500 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.004666
2025-08-09T17:08:32.699Z,1754759312.699 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.00 m.
2025-08-09T17:08:32.703Z,1754759312.703 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 54.000000 m,
      nav range: 51.428574 m,
      bearing: 208.458143 deg,
      approach rate: -0.662976 m/s,
      LOS rate: -0.115990 deg/s,
      cmd heading: 212.388612 deg,
      new cmd heading: 212.231870 deg.

2025-08-09T17:08:32.704Z,1754759312.704 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.704145 target range: 54.000000 and range: 54.00 m.
2025-08-09T17:08:32.752Z,1754759312.752 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.256791
2025-08-09T17:08:33.006Z,1754759313.006 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.510593
2025-08-09T17:08:33.108Z,1754759313.108 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.00 m.
2025-08-09T17:08:33.119Z,1754759313.119 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 54.000000 m,
      nav range: 51.166470 m,
      bearing: 208.413885 deg,
      approach rate: -0.621413 m/s,
      LOS rate: -0.105467 deg/s,
      cmd heading: 212.231873 deg,
      new cmd heading: 212.098419 deg.

2025-08-09T17:08:33.120Z,1754759313.120 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.701816 target range: 54.000000 and range: 54.00 m.
2025-08-09T17:08:33.256Z,1754759313.256 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.760536
2025-08-09T17:08:33.468Z,1754759313.468 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.00 m.
2025-08-09T17:08:33.471Z,1754759313.471 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 54.000000 m,
      nav range: 50.942451 m,
      bearing: 208.375997 deg,
      approach rate: -0.621604 m/s,
      LOS rate: -0.105592 deg/s,
      cmd heading: 212.098424 deg,
      new cmd heading: 211.984263 deg.

2025-08-09T17:08:33.472Z,1754759313.472 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.699823 target range: 54.000000 and range: 54.00 m.
2025-08-09T17:08:33.508Z,1754759313.508 [DAT](INFO): DAT read: Rx Time:17:08:32.4126

2025-08-09T17:08:33.509Z,1754759313.509 [DAT](INFO): Rx dataTimestamp_ set to:1754759313.508349
2025-08-09T17:08:33.509Z,1754759313.509 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.014188
2025-08-09T17:08:33.763Z,1754759313.763 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.267608
2025-08-09T17:08:33.883Z,1754759313.883 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-09T17:08:33.885Z,1754759313.885 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.00 m.
2025-08-09T17:08:33.888Z,1754759313.888 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 54.000000 m,
      nav range: 50.683678 m,
      bearing: 208.332060 deg,
      approach rate: -0.620634 m/s,
      LOS rate: -0.105917 deg/s,
      cmd heading: 211.984265 deg,
      new cmd heading: 211.851778 deg.

2025-08-09T17:08:33.889Z,1754759313.889 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.697511 target range: 54.000000 and range: 54.00 m.
2025-08-09T17:08:34.033Z,1754759314.033 [DAT](INFO): DAT read: 17:08:32.4126 LVL= 31280, 32753, 28610, 32755, AGC= 64, IDX= 410, 0.41, 2.661, 1.056, 3.063, 2.551, PHS= 0.212,-1.450, 0.467, RAW= 157.1,   8.6, CAL= 156.7,   9.1, ROT= 353.3,  -9.1

2025-08-09T17:08:34.042Z,1754759314.042 [DAT](INFO): got valid direction response:
 17:08:32.4126 LVL= 31280, 32753, 28610, 32755, AGC= 64, IDX= 410, 0.41, 2.661, 1.056, 3.063, 2.551, PHS= 0.212,-1.450, 0.467, RAW= 157.1,   8.6, CAL= 156.7,   9.1, ROT= 353.3,  -9.1

2025-08-09T17:08:34.047Z,1754759314.047 [DAT](INFO): DAT read: Bearing 355.1,  -6.2 (Local)

2025-08-09T17:08:34.048Z,1754759314.048 [DAT](INFO): Local bearing/azimuth received:
 Bearing 355.1,  -6.2 (Local)

2025-08-09T17:08:34.050Z,1754759314.050 [DAT](INFO): DAT read: Range 11 to 50 : 51.3 m  (Round-trip  68.5 ms) speed  0.5 m/s

2025-08-09T17:08:34.055Z,1754759314.055 [DAT](INFO): DAT read: user:404>

2025-08-09T17:08:34.056Z,1754759314.056 [DAT](INFO): DAT read: Tx time:17:08:33.5400

2025-08-09T17:08:34.056Z,1754759314.056 [DAT](INFO): Ping request sent.
2025-08-09T17:08:34.057Z,1754759314.057 [DAT](INFO): transmitted an acoustic signal
2025-08-09T17:08:34.057Z,1754759314.057 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-09T17:08:34.058Z,1754759314.058 [DAT](INFO): direction in FSK: [0.980670,-0.115203,0.158158]
2025-08-09T17:08:34.067Z,1754759314.067 [DAT](INFO): publishing transmit ping time
2025-08-09T17:08:34.067Z,1754759314.067 [DAT](INFO): publishing direction and range info
2025-08-09T17:08:34.070Z,1754759314.070 [DAT](INFO): publishing transmit ping time
2025-08-09T17:08:34.070Z,1754759314.070 [DAT](INFO): publishing direction and range info
2025-08-09T17:08:34.322Z,1754759314.322 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 51.299999 m,
      deltaT: 3.530984 s,
      deltaX: -2.700001 m,
      approachRate: -0.764660 m/s,
      rangeRepo size: 4

2025-08-09T17:08:34.324Z,1754759314.324 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 51.299999 m,
      bearing: 208.649663 deg,
      lat: 36.906120 deg,
      lon: -122.115916 deg,
      deltaT: 3.530984 s,
      deltaX: -2.700001 m,
      approachRate: -0.764660 m/s,
      posRepo size: 4

2025-08-09T17:08:34.325Z,1754759314.325 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 51.30 m.
2025-08-09T17:08:34.332Z,1754759314.332 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 51.299999 m,
      nav range: 50.677937 m,
      bearing: 208.649663 deg,
      approach rate: 2017874058013151810551808.0000 m/s,
      LOS rate: -0.105917 deg/s,
      cmd heading: 211.851773 deg,
      new cmd heading: 211.714456 deg.

2025-08-09T17:08:34.333Z,1754759314.333 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.695114 target range: 51.299999 and range: 51.30 m.
2025-08-09T17:08:34.730Z,1754759314.730 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 51.30 m.
2025-08-09T17:08:34.733Z,1754759314.733 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 51.299999 m,
      nav range: 50.426796 m,
      bearing: 208.606272 deg,
      approach rate: -0.608432 m/s,
      LOS rate: -0.105647 deg/s,
      cmd heading: 211.714458 deg,
      new cmd heading: 211.583637 deg.

2025-08-09T17:08:34.734Z,1754759314.734 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.692831 target range: 51.299999 and range: 51.30 m.
2025-08-09T17:08:35.160Z,1754759315.160 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 51.30 m.
2025-08-09T17:08:35.163Z,1754759315.163 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 51.299999 m,
      nav range: 50.185101 m,
      bearing: 208.566087 deg,
      approach rate: -0.562488 m/s,
      LOS rate: -0.093971 deg/s,
      cmd heading: 211.583633 deg,
      new cmd heading: 211.462497 deg.

2025-08-09T17:08:35.164Z,1754759315.164 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.690717 target range: 51.299999 and range: 51.30 m.
2025-08-09T17:08:35.534Z,1754759315.534 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 51.30 m.
2025-08-09T17:08:35.537Z,1754759315.537 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 51.299999 m,
      nav range: 49.974354 m,
      bearing: 208.530993 deg,
      approach rate: -0.562877 m/s,
      LOS rate: -0.094127 deg/s,
      cmd heading: 211.462493 deg,
      new cmd heading: 211.356766 deg.

2025-08-09T17:08:35.538Z,1754759315.538 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.688871 target range: 51.299999 and range: 51.30 m.
2025-08-09T17:08:36.023Z,1754759316.023 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-09T17:08:36.029Z,1754759316.029 [DAT](INFO): ****** received valid address query ******
2025-08-09T17:08:36.030Z,1754759316.030 [DAT](INFO): ****** received valid ping request ******
2025-08-09T17:08:36.031Z,1754759316.031 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-09T17:08:36.046Z,1754759316.046 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 51.30 m.
2025-08-09T17:08:36.062Z,1754759316.062 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 51.299999 m,
      nav range: 49.717823 m,
      bearing: 208.488285 deg,
      approach rate: -0.508874 m/s,
      LOS rate: -0.085155 deg/s,
      cmd heading: 211.356761 deg,
      new cmd heading: 211.227979 deg.

2025-08-09T17:08:36.067Z,1754759316.067 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.686624 target range: 51.299999 and range: 51.30 m.
2025-08-09T17:08:36.280Z,1754759316.280 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.223274
2025-08-09T17:08:36.379Z,1754759316.379 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 51.30 m.
2025-08-09T17:08:36.382Z,1754759316.382 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 51.299999 m,
      nav range: 49.511986 m,
      bearing: 208.449798 deg,
      approach rate: -0.603995 m/s,
      LOS rate: -0.113406 deg/s,
      cmd heading: 211.227985 deg,
      new cmd heading: 211.112042 deg.

2025-08-09T17:08:36.383Z,1754759316.383 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.684600 target range: 51.299999 and range: 51.30 m.
2025-08-09T17:08:36.531Z,1754759316.531 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.474773
2025-08-09T17:08:36.753Z,1754759316.753 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 51.30 m.
2025-08-09T17:08:36.756Z,1754759316.756 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 51.299999 m,
      nav range: 49.301800 m,
      bearing: 208.410508 deg,
      approach rate: -0.562593 m/s,
      LOS rate: -0.105613 deg/s,
      cmd heading: 211.112036 deg,
      new cmd heading: 210.993664 deg.

2025-08-09T17:08:36.757Z,1754759316.757 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.682534 target range: 51.299999 and range: 51.30 m.
2025-08-09T17:08:36.783Z,1754759316.783 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.726748
2025-08-09T17:08:37.039Z,1754759317.039 [DAT](INFO): DAT read: Rx Time:17:08:36.0100

2025-08-09T17:08:37.040Z,1754759317.040 [DAT](INFO): Rx dataTimestamp_ set to:1754759317.039021
2025-08-09T17:08:37.042Z,1754759317.042 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.984572
2025-08-09T17:08:37.175Z,1754759317.175 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 51.30 m.
2025-08-09T17:08:37.178Z,1754759317.178 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 51.299999 m,
      nav range: 49.065639 m,
      bearing: 208.368490 deg,
      approach rate: -0.558881 m/s,
      LOS rate: -0.099915 deg/s,
      cmd heading: 210.993669 deg,
      new cmd heading: 210.867009 deg.

2025-08-09T17:08:37.179Z,1754759317.179 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.680324 target range: 51.299999 and range: 51.30 m.
2025-08-09T17:08:37.288Z,1754759317.288 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.230882
2025-08-09T17:08:37.542Z,1754759317.542 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.485132
2025-08-09T17:08:37.612Z,1754759317.612 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 51.30 m.
2025-08-09T17:08:37.615Z,1754759317.615 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 51.299999 m,
      nav range: 48.831882 m,
      bearing: 208.326718 deg,
      approach rate: -0.535073 m/s,
      LOS rate: -0.096074 deg/s,
      cmd heading: 210.867010 deg,
      new cmd heading: 210.741095 deg.

2025-08-09T17:08:37.616Z,1754759317.616 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.678126 target range: 51.299999 and range: 51.30 m.
2025-08-09T17:08:37.797Z,1754759317.797 [DAT](INFO): DAT read: 17:08:36.0100 LVL= 26096, 30529, 24402, 32755, AGC= 64, IDX= 415,-0.28,-0.115,-1.726, 0.218,-0.241, PHS= 0.228,-1.441, 0.415, RAW= 155.3,   9.1, CAL= 154.9,   9.7, ROT= 355.1,  -9.7

2025-08-09T17:08:37.798Z,1754759317.798 [DAT](INFO): got valid direction response:
 17:08:36.0100 LVL= 26096, 30529, 24402, 32755, AGC= 64, IDX= 415,-0.28,-0.115,-1.726, 0.218,-0.241, PHS= 0.228,-1.441, 0.415, RAW= 155.3,   9.1, CAL= 154.9,   9.7, ROT= 355.1,  -9.7

2025-08-09T17:08:37.799Z,1754759317.799 [DAT](INFO): DAT read: Bearing 355.1,  -3.4 (Local)

2025-08-09T17:08:37.800Z,1754759317.800 [DAT](INFO): Local bearing/azimuth received:
 Bearing 355.1,  -3.4 (Local)

2025-08-09T17:08:37.801Z,1754759317.801 [DAT](INFO): DAT read: Range 11 to 50 : 49.4 m  (Round-trip  65.9 ms) speed  0.4 m/s

2025-08-09T17:08:37.802Z,1754759317.802 [DAT](INFO): DAT read: user:405>

2025-08-09T17:08:37.803Z,1754759317.803 [DAT](INFO): DAT read: Tx time:17:08:37.1400

2025-08-09T17:08:37.803Z,1754759317.803 [DAT](INFO): Ping request sent.
2025-08-09T17:08:37.804Z,1754759317.804 [DAT](INFO): transmitted an acoustic signal
2025-08-09T17:08:37.804Z,1754759317.804 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-09T17:08:37.805Z,1754759317.805 [DAT](INFO): direction in FSK: [0.982101,-0.084196,0.168489]
2025-08-09T17:08:37.805Z,1754759317.805 [DAT](INFO): publishing transmit ping time
2025-08-09T17:08:37.805Z,1754759317.805 [DAT](INFO): publishing direction and range info
2025-08-09T17:08:37.808Z,1754759317.808 [DAT](INFO): publishing transmit ping time
2025-08-09T17:08:37.809Z,1754759317.809 [DAT](INFO): publishing direction and range info
2025-08-09T17:08:38.014Z,1754759318.014 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 49.400002 m,
      deltaT: 3.777281 s,
      deltaX: -1.899998 m,
      approachRate: -0.503007 m/s,
      rangeRepo size: 4

2025-08-09T17:08:38.030Z,1754759318.030 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 49.400002 m,
      bearing: 208.337606 deg,
      lat: 36.906120 deg,
      lon: -122.115917 deg,
      deltaT: 3.777281 s,
      deltaX: -1.899998 m,
      approachRate: -0.503007 m/s,
      posRepo size: 4

2025-08-09T17:08:38.036Z,1754759318.036 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 49.40 m.
2025-08-09T17:08:38.071Z,1754759318.071 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 49.400002 m,
      nav range: 48.578224 m,
      bearing: 208.337606 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.096074 deg/s,
      cmd heading: 210.741088 deg,
      new cmd heading: 210.625540 deg.

2025-08-09T17:08:38.079Z,1754759318.079 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.676109 target range: 49.400002 and range: 49.40 m.
2025-08-09T17:08:38.424Z,1754759318.424 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-09T17:08:38.429Z,1754759318.429 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 49.40 m.
2025-08-09T17:08:38.449Z,1754759318.449 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 49.400002 m,
      nav range: 48.338139 m,
      bearing: 208.295208 deg,
      approach rate: -0.578634 m/s,
      LOS rate: -0.102692 deg/s,
      cmd heading: 210.625535 deg,
      new cmd heading: 210.497709 deg.

2025-08-09T17:08:38.450Z,1754759318.450 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.673878 target range: 49.400002 and range: 49.40 m.
2025-08-09T17:08:38.547Z,1754759318.547 [DAT](INFO): ****** received valid address query ******
2025-08-09T17:08:38.547Z,1754759318.547 [DAT](INFO): ****** received valid ping request ******
2025-08-09T17:08:38.548Z,1754759318.548 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-09T17:08:38.799Z,1754759318.799 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.995877
2025-08-09T17:08:38.801Z,1754759318.801 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 49.40 m.
2025-08-09T17:08:38.804Z,1754759318.804 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 49.400002 m,
      nav range: 48.125713 m,
      bearing: 208.257445 deg,
      approach rate: -0.568901 m/s,
      LOS rate: -0.101580 deg/s,
      cmd heading: 210.497715 deg,
      new cmd heading: 210.383926 deg.

2025-08-09T17:08:38.805Z,1754759318.805 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.671892 target range: 49.400002 and range: 49.40 m.
2025-08-09T17:08:39.054Z,1754759319.054 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.249681
2025-08-09T17:08:39.215Z,1754759319.215 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 49.40 m.
2025-08-09T17:08:39.218Z,1754759319.218 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 49.400002 m,
      nav range: 47.892860 m,
      bearing: 208.217662 deg,
      approach rate: -0.562927 m/s,
      LOS rate: -0.096643 deg/s,
      cmd heading: 210.383924 deg,
      new cmd heading: 210.263996 deg.

2025-08-09T17:08:39.219Z,1754759319.219 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.669799 target range: 49.400002 and range: 49.40 m.
2025-08-09T17:08:39.303Z,1754759319.303 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.499780
2025-08-09T17:08:39.555Z,1754759319.555 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.751765
2025-08-09T17:08:39.605Z,1754759319.605 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 49.40 m.
2025-08-09T17:08:39.608Z,1754759319.608 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 49.400002 m,
      nav range: 47.673801 m,
      bearing: 208.180072 deg,
      approach rate: -0.561127 m/s,
      LOS rate: -0.096729 deg/s,
      cmd heading: 210.263999 deg,
      new cmd heading: 210.150713 deg.

2025-08-09T17:08:39.609Z,1754759319.609 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.667822 target range: 49.400002 and range: 49.40 m.
2025-08-09T17:08:39.808Z,1754759319.808 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.004364
2025-08-09T17:08:40.016Z,1754759320.016 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 49.40 m.
2025-08-09T17:08:40.023Z,1754759320.023 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 49.400002 m,
      nav range: 47.448257 m,
      bearing: 208.141255 deg,
      approach rate: -0.549831 m/s,
      LOS rate: -0.095079 deg/s,
      cmd heading: 210.150714 deg,
      new cmd heading: 210.033708 deg.

2025-08-09T17:08:40.024Z,1754759320.024 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.665780 target range: 49.400002 and range: 49.40 m.
2025-08-09T17:08:40.062Z,1754759320.062 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.257965
2025-08-09T17:08:40.311Z,1754759320.311 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.507739
2025-08-09T17:08:40.460Z,1754759320.460 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-09T17:08:40.462Z,1754759320.462 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 49.40 m.
2025-08-09T17:08:40.469Z,1754759320.469 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 49.400002 m,
      nav range: 47.196503 m,
      bearing: 208.105722 deg,
      approach rate: -0.564579 m/s,
      LOS rate: -0.080109 deg/s,
      cmd heading: 210.033713 deg,
      new cmd heading: 209.926547 deg.

2025-08-09T17:08:40.469Z,1754759320.469 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.663909 target range: 49.400002 and range: 49.40 m.
2025-08-09T17:08:40.566Z,1754759320.566 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.761316
2025-08-09T17:08:40.813Z,1754759320.813 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 49.40 m.
2025-08-09T17:08:40.816Z,1754759320.816 [DAT](INFO): DAT read: Rx Time:17:08:39.6074

2025-08-09T17:08:40.816Z,1754759320.816 [DAT](INFO): Rx dataTimestamp_ set to:1754759320.815864
2025-08-09T17:08:40.817Z,1754759320.817 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.013150
2025-08-09T17:08:40.819Z,1754759320.819 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 49.400002 m,
      nav range: 46.980244 m,
      bearing: 208.075317 deg,
      approach rate: -0.615400 m/s,
      LOS rate: -0.086922 deg/s,
      cmd heading: 209.926547 deg,
      new cmd heading: 209.834911 deg.

2025-08-09T17:08:40.820Z,1754759320.820 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.662310 target range: 49.400002 and range: 49.40 m.
2025-08-09T17:08:41.068Z,1754759321.068 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.264907
2025-08-09T17:08:41.252Z,1754759321.252 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 49.40 m.
2025-08-09T17:08:41.256Z,1754759321.256 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 49.400002 m,
      nav range: 46.720348 m,
      bearing: 208.039845 deg,
      approach rate: -0.591816 m/s,
      LOS rate: -0.081224 deg/s,
      cmd heading: 209.834913 deg,
      new cmd heading: 209.727905 deg.

2025-08-09T17:08:41.257Z,1754759321.257 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.660442 target range: 49.400002 and range: 49.40 m.
2025-08-09T17:08:41.325Z,1754759321.325 [DAT](INFO): DAT read: 17:08:39.6074 LVL= 28464, 32753, 24930, 31939, AGC= 65, IDX= 421, 0.04, 0.454,-1.110, 0.777, 0.315, PHS= 0.241,-1.380, 0.418, RAW= 155.1,   8.5, CAL= 154.7,   8.9, ROT= 355.3,  -8.9

2025-08-09T17:08:41.327Z,1754759321.327 [DAT](INFO): got valid direction response:
 17:08:39.6074 LVL= 28464, 32753, 24930, 31939, AGC= 65, IDX= 421, 0.04, 0.454,-1.110, 0.777, 0.315, PHS= 0.241,-1.380, 0.418, RAW= 155.1,   8.5, CAL= 154.7,   8.9, ROT= 355.3,  -8.9

2025-08-09T17:08:41.328Z,1754759321.328 [DAT](INFO): DAT read: Bearing 353.6,  -2.1 (Local)

2025-08-09T17:08:41.328Z,1754759321.328 [DAT](INFO): Local bearing/azimuth received:
 Bearing 353.6,  -2.1 (Local)

2025-08-09T17:08:41.330Z,1754759321.330 [DAT](INFO): DAT read: Range 11 to 50 : 47.4 m  (Round-trip  63.3 ms) speed  0.4 m/s

2025-08-09T17:08:41.330Z,1754759321.330 [DAT](INFO): DAT read: user:406>

2025-08-09T17:08:41.331Z,1754759321.331 [DAT](INFO): DAT read: Tx time:17:08:40.6899

2025-08-09T17:08:41.331Z,1754759321.331 [DAT](INFO): Ping request sent.
2025-08-09T17:08:41.332Z,1754759321.332 [DAT](INFO): transmitted an acoustic signal
2025-08-09T17:08:41.332Z,1754759321.332 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-09T17:08:41.333Z,1754759321.333 [DAT](INFO): direction in FSK: [0.984638,-0.080952,0.154710]
2025-08-09T17:08:41.333Z,1754759321.333 [DAT](INFO): publishing transmit ping time
2025-08-09T17:08:41.333Z,1754759321.333 [DAT](INFO): publishing direction and range info
2025-08-09T17:08:41.337Z,1754759321.337 [DAT](INFO): publishing transmit ping time
2025-08-09T17:08:41.337Z,1754759321.337 [DAT](INFO): publishing direction and range info
2025-08-09T17:08:41.630Z,1754759321.630 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 47.400002 m,
      deltaT: 3.527904 s,
      deltaX: -2.000000 m,
      approachRate: -0.566909 m/s,
      rangeRepo size: 4

2025-08-09T17:08:41.632Z,1754759321.632 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 47.400002 m,
      bearing: 208.486013 deg,
      lat: 36.906124 deg,
      lon: -122.115919 deg,
      deltaT: 3.527904 s,
      deltaX: -2.000000 m,
      approachRate: -0.566909 m/s,
      posRepo size: 4

2025-08-09T17:08:41.633Z,1754759321.633 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 47.40 m.
2025-08-09T17:08:41.636Z,1754759321.636 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 47.400002 m,
      nav range: 46.242260 m,
      bearing: 208.486013 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.081224 deg/s,
      cmd heading: 209.727898 deg,
      new cmd heading: 209.635918 deg.

2025-08-09T17:08:41.637Z,1754759321.637 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.658837 target range: 47.400002 and range: 47.40 m.
2025-08-09T17:08:42.048Z,1754759322.048 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 47.40 m.
2025-08-09T17:08:42.055Z,1754759322.055 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 47.400002 m,
      nav range: 45.994362 m,
      bearing: 208.456364 deg,
      approach rate: -0.592375 m/s,
      LOS rate: -0.071229 deg/s,
      cmd heading: 209.635923 deg,
      new cmd heading: 209.546498 deg.

2025-08-09T17:08:42.059Z,1754759322.059 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.657276 target range: 47.400002 and range: 47.40 m.
2025-08-09T17:08:42.473Z,1754759322.473 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-09T17:08:42.476Z,1754759322.476 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 47.40 m.
2025-08-09T17:08:42.479Z,1754759322.479 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 47.400002 m,
      nav range: 45.727222 m,
      bearing: 208.426951 deg,
      approach rate: -0.624613 m/s,
      LOS rate: -0.069175 deg/s,
      cmd heading: 209.546502 deg,
      new cmd heading: 209.457745 deg.

2025-08-09T17:08:42.480Z,1754759322.480 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.655727 target range: 47.400002 and range: 47.40 m.
2025-08-09T17:08:42.579Z,1754759322.579 [DAT](INFO): ****** received valid address query ******
2025-08-09T17:08:42.579Z,1754759322.579 [DAT](INFO): ****** received valid ping request ******
2025-08-09T17:08:42.580Z,1754759322.580 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-09T17:08:42.831Z,1754759322.831 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.499676
2025-08-09T17:08:42.921Z,1754759322.921 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 47.40 m.
2025-08-09T17:08:42.929Z,1754759322.929 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 47.400002 m,
      nav range: 45.497398 m,
      bearing: 208.402270 deg,
      approach rate: -0.516596 m/s,
      LOS rate: -0.055757 deg/s,
      cmd heading: 209.457750 deg,
      new cmd heading: 209.383335 deg.

2025-08-09T17:08:42.930Z,1754759322.930 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.654428 target range: 47.400002 and range: 47.40 m.
2025-08-09T17:08:43.083Z,1754759323.083 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.751674
2025-08-09T17:08:43.335Z,1754759323.335 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.003730
2025-08-09T17:08:43.341Z,1754759323.341 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 47.40 m.
2025-08-09T17:08:43.347Z,1754759323.347 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 47.400002 m,
      nav range: 45.234291 m,
      bearing: 208.365351 deg,
      approach rate: -0.625698 m/s,
      LOS rate: -0.088309 deg/s,
      cmd heading: 209.383329 deg,
      new cmd heading: 209.271927 deg.

2025-08-09T17:08:43.351Z,1754759323.351 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.652484 target range: 47.400002 and range: 47.40 m.
2025-08-09T17:08:43.591Z,1754759323.591 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.258982
2025-08-09T17:08:43.669Z,1754759323.669 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 47.40 m.
2025-08-09T17:08:43.672Z,1754759323.672 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 47.400002 m,
      nav range: 44.982426 m,
      bearing: 208.330600 deg,
      approach rate: -0.767375 m/s,
      LOS rate: -0.106470 deg/s,
      cmd heading: 209.271928 deg,
      new cmd heading: 209.167093 deg.

2025-08-09T17:08:43.673Z,1754759323.673 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.650655 target range: 47.400002 and range: 47.40 m.
2025-08-09T17:08:43.840Z,1754759323.840 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.508130
2025-08-09T17:08:44.087Z,1754759324.087 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 47.40 m.
2025-08-09T17:08:44.090Z,1754759324.090 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 47.400002 m,
      nav range: 44.732903 m,
      bearing: 208.296627 deg,
      approach rate: -0.597268 m/s,
      LOS rate: -0.081773 deg/s,
      cmd heading: 209.167098 deg,
      new cmd heading: 209.064610 deg.

2025-08-09T17:08:44.091Z,1754759324.091 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.759844
2025-08-09T17:08:44.098Z,1754759324.098 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.648866 target range: 47.400002 and range: 47.40 m.
2025-08-09T17:08:44.344Z,1754759324.344 [DAT](INFO): DAT read: Rx Time:17:08:43.1546

2025-08-09T17:08:44.345Z,1754759324.345 [DAT](INFO): Rx dataTimestamp_ set to:1754759324.344057
2025-08-09T17:08:44.345Z,1754759324.345 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.013612
2025-08-09T17:08:44.595Z,1754759324.595 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.263745
2025-08-09T17:08:44.718Z,1754759324.718 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-09T17:08:44.720Z,1754759324.720 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 47.40 m.
2025-08-09T17:08:44.727Z,1754759324.727 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 47.400002 m,
      nav range: 44.350883 m,
      bearing: 208.252791 deg,
      approach rate: -0.603652 m/s,
      LOS rate: -0.069866 deg/s,
      cmd heading: 209.064605 deg,
      new cmd heading: 208.931962 deg.

2025-08-09T17:08:44.728Z,1754759324.728 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.646551 target range: 47.400002 and range: 47.40 m.
2025-08-09T17:08:44.853Z,1754759324.853 [DAT](INFO): DAT read: 17:08:43.1546 LVL= 24656, 30161, 23362, 30419, AGC= 63, IDX= 410,-0.34, 2.077, 0.494, 2.332, 1.883, PHS= 0.297,-1.344, 0.405, RAW= 153.2,   7.6, CAL= 152.6,   8.0, ROT= 357.4,  -8.0

2025-08-09T17:08:44.854Z,1754759324.854 [DAT](INFO): got valid direction response:
 17:08:43.1546 LVL= 24656, 30161, 23362, 30419, AGC= 63, IDX= 410,-0.34, 2.077, 0.494, 2.332, 1.883, PHS= 0.297,-1.344, 0.405, RAW= 153.2,   7.6, CAL= 152.6,   8.0, ROT= 357.4,  -8.0

2025-08-09T17:08:44.856Z,1754759324.856 [DAT](INFO): DAT read: Bearing 351.4,   0.7 (Local)

2025-08-09T17:08:44.856Z,1754759324.856 [DAT](INFO): Local bearing/azimuth received:
 Bearing 351.4,   0.7 (Local)

2025-08-09T17:08:44.857Z,1754759324.857 [DAT](INFO): DAT read: Range 11 to 50 : 45.4 m  (Round-trip  60.6 ms) speed  0.7 m/s

2025-08-09T17:08:44.858Z,1754759324.858 [DAT](INFO): DAT read: user:407>

2025-08-09T17:08:44.859Z,1754759324.859 [DAT](INFO): DAT read: Tx time:17:08:44.2399

2025-08-09T17:08:44.859Z,1754759324.859 [DAT](INFO): Ping request sent.
2025-08-09T17:08:44.859Z,1754759324.859 [DAT](INFO): transmitted an acoustic signal
2025-08-09T17:08:44.859Z,1754759324.859 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-09T17:08:44.860Z,1754759324.860 [DAT](INFO): direction in FSK: [0.989249,-0.044921,0.139173]
2025-08-09T17:08:44.861Z,1754759324.861 [DAT](INFO): publishing transmit ping time
2025-08-09T17:08:44.861Z,1754759324.861 [DAT](INFO): publishing direction and range info
2025-08-09T17:08:44.933Z,1754759324.933 [DAT](INFO): publishing transmit ping time
2025-08-09T17:08:44.933Z,1754759324.933 [DAT](INFO): publishing direction and range info
2025-08-09T17:08:45.265Z,1754759325.265 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 45.400002 m,
      deltaT: 3.527713 s,
      deltaX: -2.000000 m,
      approachRate: -0.566940 m/s,
      rangeRepo size: 4

2025-08-09T17:08:45.267Z,1754759325.267 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 45.400002 m,
      bearing: 209.461049 deg,
      lat: 36.906128 deg,
      lon: -122.115929 deg,
      deltaT: 3.527713 s,
      deltaX: -2.000000 m,
      approachRate: -0.566940 m/s,
      posRepo size: 4

2025-08-09T17:08:45.268Z,1754759325.268 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 45.40 m.
2025-08-09T17:08:45.271Z,1754759325.271 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 45.400002 m,
      nav range: 44.007561 m,
      bearing: 209.461049 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.069866 deg/s,
      cmd heading: 208.931962 deg,
      new cmd heading: 208.817941 deg.

2025-08-09T17:08:45.272Z,1754759325.272 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.644561 target range: 45.400002 and range: 45.40 m.
2025-08-09T17:08:45.806Z,1754759325.806 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 45.40 m.
2025-08-09T17:08:45.809Z,1754759325.809 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 45.400002 m,
      nav range: 43.695522 m,
      bearing: 209.431086 deg,
      approach rate: -0.579919 m/s,
      LOS rate: -0.056083 deg/s,
      cmd heading: 208.817939 deg,
      new cmd heading: 208.727410 deg.

2025-08-09T17:08:45.810Z,1754759325.810 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.642981 target range: 45.400002 and range: 45.40 m.
2025-08-09T17:08:46.339Z,1754759326.339 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 45.40 m.
2025-08-09T17:08:46.341Z,1754759326.341 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 45.400002 m,
      nav range: 43.339520 m,
      bearing: 209.393573 deg,
      approach rate: -0.663852 m/s,
      LOS rate: -0.070527 deg/s,
      cmd heading: 208.727412 deg,
      new cmd heading: 208.613947 deg.

2025-08-09T17:08:46.342Z,1754759326.342 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.641000 target range: 45.400002 and range: 45.40 m.
2025-08-09T17:08:46.699Z,1754759326.699 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 45.40 m.
2025-08-09T17:08:46.701Z,1754759326.701 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 45.400002 m,
      nav range: 43.125210 m,
      bearing: 209.371140 deg,
      approach rate: -0.601819 m/s,
      LOS rate: -0.063309 deg/s,
      cmd heading: 208.613949 deg,
      new cmd heading: 208.546316 deg.

2025-08-09T17:08:46.711Z,1754759326.711 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.639820 target range: 45.400002 and range: 45.40 m.
2025-08-09T17:08:47.094Z,1754759327.094 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-09T17:08:47.096Z,1754759327.096 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 45.40 m.
2025-08-09T17:08:47.099Z,1754759327.099 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 45.400002 m,
      nav range: 42.872974 m,
      bearing: 209.345136 deg,
      approach rate: -0.628209 m/s,
      LOS rate: -0.065146 deg/s,
      cmd heading: 208.546316 deg,
      new cmd heading: 208.467845 deg.

2025-08-09T17:08:47.100Z,1754759327.100 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.638450 target range: 45.400002 and range: 45.40 m.
2025-08-09T17:08:47.118Z,1754759327.118 [DAT](INFO): ****** received valid address query ******
2025-08-09T17:08:47.118Z,1754759327.118 [DAT](INFO): ****** received valid ping request ******
2025-08-09T17:08:47.118Z,1754759327.118 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-09T17:08:47.367Z,1754759327.367 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.508025
2025-08-09T17:08:47.511Z,1754759327.511 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 45.40 m.
2025-08-09T17:08:47.514Z,1754759327.514 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 45.400002 m,
      nav range: 42.627876 m,
      bearing: 209.321280 deg,
      approach rate: -0.593171 m/s,
      LOS rate: -0.058065 deg/s,
      cmd heading: 208.467851 deg,
      new cmd heading: 208.395874 deg.

2025-08-09T17:08:47.515Z,1754759327.515 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.637194 target range: 45.400002 and range: 45.40 m.
2025-08-09T17:08:47.620Z,1754759327.620 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.760480
2025-08-09T17:08:47.861Z,1754759327.861 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 45.40 m.
2025-08-09T17:08:47.865Z,1754759327.865 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 45.400002 m,
      nav range: 42.399105 m,
      bearing: 209.299354 deg,
      approach rate: -0.650743 m/s,
      LOS rate: -0.062708 deg/s,
      cmd heading: 208.395874 deg,
      new cmd heading: 208.329739 deg.

2025-08-09T17:08:47.867Z,1754759327.867 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.636040 target range: 45.400002 and range: 45.40 m.
2025-08-09T17:08:47.872Z,1754759327.872 [DAT](INFO): DAT read: Rx Time:17:08:46.7016

2025-08-09T17:08:47.873Z,1754759327.873 [DAT](INFO): Rx dataTimestamp_ set to:1754759327.872556
2025-08-09T17:08:47.874Z,1754759327.874 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.014360
2025-08-09T17:08:48.123Z,1754759328.123 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.264078
2025-08-09T17:08:48.315Z,1754759328.315 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 45.40 m.
2025-08-09T17:08:48.318Z,1754759328.318 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 45.400002 m,
      nav range: 42.125347 m,
      bearing: 209.274092 deg,
      approach rate: -0.602793 m/s,
      LOS rate: -0.055986 deg/s,
      cmd heading: 208.329745 deg,
      new cmd heading: 208.253466 deg.

2025-08-09T17:08:48.319Z,1754759328.319 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.634709 target range: 45.400002 and range: 45.40 m.
2025-08-09T17:08:48.385Z,1754759328.385 [DAT](INFO): DAT read: 17:08:46.7016 LVL= 23360, 28273, 20338, 32227, AGC= 63, IDX= 410, 0.13, 2.180, 0.567, 2.446, 1.993, PHS= 0.289,-1.381, 0.409, RAW= 153.4,   7.9, CAL= 152.9,   8.4, ROT= 357.1,  -8.4

2025-08-09T17:08:48.387Z,1754759328.387 [DAT](INFO): got valid direction response:
 17:08:46.7016 LVL= 23360, 28273, 20338, 32227, AGC= 63, IDX= 410, 0.13, 2.180, 0.567, 2.446, 1.993, PHS= 0.289,-1.381, 0.409, RAW= 153.4,   7.9, CAL= 152.9,   8.4, ROT= 357.1,  -8.4

2025-08-09T17:08:48.389Z,1754759328.389 [DAT](INFO): DAT read: Bearing 350.6,   0.9 (Local)

2025-08-09T17:08:48.390Z,1754759328.390 [DAT](INFO): Local bearing/azimuth received:
 Bearing 350.6,   0.9 (Local)

2025-08-09T17:08:48.400Z,1754759328.400 [DAT](INFO): DAT read: Range 11 to 50 : 43.2 m  (Round-trip  57.6 ms) speed  0.5 m/s

2025-08-09T17:08:48.402Z,1754759328.402 [DAT](INFO): DAT read: user:408>

2025-08-09T17:08:48.428Z,1754759328.428 [DAT](INFO): DAT read: Tx time:17:08:47.7899

2025-08-09T17:08:48.428Z,1754759328.428 [DAT](INFO): Ping request sent.
2025-08-09T17:08:48.428Z,1754759328.428 [DAT](INFO): transmitted an acoustic signal
2025-08-09T17:08:48.429Z,1754759328.429 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-09T17:08:48.435Z,1754759328.435 [DAT](INFO): direction in FSK: [0.988005,-0.050050,0.146083]
2025-08-09T17:08:48.435Z,1754759328.435 [DAT](INFO): publishing transmit ping time
2025-08-09T17:08:48.435Z,1754759328.435 [DAT](INFO): publishing direction and range info
2025-08-09T17:08:48.443Z,1754759328.443 [DAT](INFO): publishing transmit ping time
2025-08-09T17:08:48.443Z,1754759328.443 [DAT](INFO): publishing direction and range info
2025-08-09T17:08:48.676Z,1754759328.676 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 43.200001 m,
      deltaT: 3.528531 s,
      deltaX: -2.200001 m,
      approachRate: -0.623489 m/s,
      rangeRepo size: 4

2025-08-09T17:08:48.678Z,1754759328.678 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 43.200001 m,
      bearing: 209.255025 deg,
      lat: 36.906128 deg,
      lon: -122.115929 deg,
      deltaT: 3.528531 s,
      deltaX: -2.200001 m,
      approachRate: -0.623489 m/s,
      posRepo size: 4

2025-08-09T17:08:48.678Z,1754759328.678 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 43.20 m.
2025-08-09T17:08:48.681Z,1754759328.681 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 43.200001 m,
      nav range: 41.912712 m,
      bearing: 209.255025 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.055986 deg/s,
      cmd heading: 208.253465 deg,
      new cmd heading: 208.192988 deg.

2025-08-09T17:08:48.682Z,1754759328.682 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.633653 target range: 43.200001 and range: 43.20 m.
2025-08-09T17:08:49.068Z,1754759329.068 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 43.20 m.
2025-08-09T17:08:49.071Z,1754759329.071 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 43.200001 m,
      nav range: 41.677502 m,
      bearing: 209.234631 deg,
      approach rate: -0.598812 m/s,
      LOS rate: -0.052214 deg/s,
      cmd heading: 208.192991 deg,
      new cmd heading: 208.131462 deg.

2025-08-09T17:08:49.072Z,1754759329.072 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.632579 target range: 43.200001 and range: 43.20 m.
2025-08-09T17:08:49.491Z,1754759329.491 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-09T17:08:49.493Z,1754759329.493 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 43.20 m.
2025-08-09T17:08:49.496Z,1754759329.496 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 43.200001 m,
      nav range: 41.423626 m,
      bearing: 209.215876 deg,
      approach rate: -0.596916 m/s,
      LOS rate: -0.044368 deg/s,
      cmd heading: 208.131464 deg,
      new cmd heading: 208.074854 deg.

2025-08-09T17:08:49.497Z,1754759329.497 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.631591 target range: 43.200001 and range: 43.20 m.
2025-08-09T17:08:49.647Z,1754759329.647 [DAT](INFO): ****** received valid address query ******
2025-08-09T17:08:49.647Z,1754759329.647 [DAT](INFO): ****** received valid ping request ******
2025-08-09T17:08:49.647Z,1754759329.647 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-09T17:08:49.893Z,1754759329.893 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 43.20 m.
2025-08-09T17:08:49.909Z,1754759329.909 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.479920
2025-08-09T17:08:49.922Z,1754759329.922 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 43.200001 m,
      nav range: 41.190723 m,
      bearing: 209.199598 deg,
      approach rate: -0.582285 m/s,
      LOS rate: -0.040926 deg/s,
      cmd heading: 208.074856 deg,
      new cmd heading: 208.025747 deg.

2025-08-09T17:08:49.923Z,1754759329.923 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.630734 target range: 43.200001 and range: 43.20 m.
2025-08-09T17:08:50.159Z,1754759330.159 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.730981
2025-08-09T17:08:50.317Z,1754759330.317 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 43.20 m.
2025-08-09T17:08:50.320Z,1754759330.320 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 43.200001 m,
      nav range: 40.926468 m,
      bearing: 209.169856 deg,
      approach rate: -0.622727 m/s,
      LOS rate: -0.070542 deg/s,
      cmd heading: 208.025746 deg,
      new cmd heading: 207.935942 deg.

2025-08-09T17:08:50.321Z,1754759330.321 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.629167 target range: 43.200001 and range: 43.20 m.
2025-08-09T17:08:50.412Z,1754759330.412 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.983936
2025-08-09T17:08:50.663Z,1754759330.663 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.235028
2025-08-09T17:08:50.698Z,1754759330.698 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 43.20 m.
2025-08-09T17:08:50.701Z,1754759330.701 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 43.200001 m,
      nav range: 40.693081 m,
      bearing: 209.143265 deg,
      approach rate: -0.612759 m/s,
      LOS rate: -0.070214 deg/s,
      cmd heading: 207.935943 deg,
      new cmd heading: 207.855714 deg.

2025-08-09T17:08:50.702Z,1754759330.702 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.627767 target range: 43.200001 and range: 43.20 m.
2025-08-09T17:08:50.916Z,1754759330.916 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.487493
2025-08-09T17:08:51.096Z,1754759331.096 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 43.20 m.
2025-08-09T17:08:51.103Z,1754759331.103 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 43.200001 m,
      nav range: 40.456589 m,
      bearing: 209.118333 deg,
      approach rate: -0.594185 m/s,
      LOS rate: -0.063008 deg/s,
      cmd heading: 207.855716 deg,
      new cmd heading: 207.780482 deg.

2025-08-09T17:08:51.104Z,1754759331.104 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.626454 target range: 43.200001 and range: 43.20 m.
2025-08-09T17:08:51.168Z,1754759331.168 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.739783
2025-08-09T17:08:51.419Z,1754759331.419 [DAT](INFO): DAT read: Rx Time:17:08:50.2486

2025-08-09T17:08:51.420Z,1754759331.420 [DAT](INFO): Rx dataTimestamp_ set to:1754759331.419431
2025-08-09T17:08:51.420Z,1754759331.420 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.991941
2025-08-09T17:08:51.532Z,1754759331.532 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-09T17:08:51.535Z,1754759331.535 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 43.20 m.
2025-08-09T17:08:51.537Z,1754759331.537 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 43.200001 m,
      nav range: 40.183208 m,
      bearing: 209.100612 deg,
      approach rate: -0.623964 m/s,
      LOS rate: -0.040721 deg/s,
      cmd heading: 207.780488 deg,
      new cmd heading: 207.726965 deg.

2025-08-09T17:08:51.539Z,1754759331.539 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.625520 target range: 43.200001 and range: 43.20 m.
2025-08-09T17:08:51.671Z,1754759331.671 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.242973
2025-08-09T17:08:51.921Z,1754759331.921 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 43.20 m.
2025-08-09T17:08:51.929Z,1754759331.929 [DAT](INFO): DAT read: 17:08:50.2486 LVL= 29840, 31889, 26098, 31523, AGC= 65, IDX= 411, 0.27, 1.006,-0.689, 1.262, 0.779, PHS= 0.329,-1.423, 0.438, RAW= 153.0,   7.3, CAL= 152.4,   7.7, ROT= 357.6,  -7.7

2025-08-09T17:08:51.930Z,1754759331.930 [DAT](INFO): got valid direction response:
 17:08:50.2486 LVL= 29840, 31889, 26098, 31523, AGC= 65, IDX= 411, 0.27, 1.006,-0.689, 1.262, 0.779, PHS= 0.329,-1.423, 0.438, RAW= 153.0,   7.3, CAL= 152.4,   7.7, ROT= 357.6,  -7.7

2025-08-09T17:08:51.931Z,1754759331.931 [DAT](INFO): DAT read: Bearing 348.5,   1.4 (Local)

2025-08-09T17:08:51.932Z,1754759331.932 [DAT](INFO): Local bearing/azimuth received:
 Bearing 348.5,   1.4 (Local)

2025-08-09T17:08:51.933Z,1754759331.933 [DAT](INFO): DAT read: Range 11 to 50 : 40.8 m  (Round-trip  54.5 ms) speed  0.5 m/s

2025-08-09T17:08:51.934Z,1754759331.934 [DAT](INFO): DAT read: user:409>

2025-08-09T17:08:51.934Z,1754759331.934 [DAT](INFO): DAT read: Tx time:17:08:51.3399

2025-08-09T17:08:51.935Z,1754759331.935 [DAT](INFO): Ping request sent.
2025-08-09T17:08:51.935Z,1754759331.935 [DAT](INFO): transmitted an acoustic signal
2025-08-09T17:08:51.935Z,1754759331.935 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-09T17:08:51.936Z,1754759331.936 [DAT](INFO): direction in FSK: [0.990114,-0.041498,0.133986]
2025-08-09T17:08:51.936Z,1754759331.936 [DAT](INFO): publishing transmit ping time
2025-08-09T17:08:51.937Z,1754759331.937 [DAT](INFO): publishing direction and range info
2025-08-09T17:08:51.940Z,1754759331.940 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 43.200001 m,
      nav range: 39.948265 m,
      bearing: 209.085189 deg,
      approach rate: -0.608389 m/s,
      LOS rate: -0.040173 deg/s,
      cmd heading: 207.726967 deg,
      new cmd heading: 207.680425 deg.

2025-08-09T17:08:51.940Z,1754759331.940 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.624707 target range: 43.200001 and range: 43.20 m.
2025-08-09T17:08:51.956Z,1754759331.956 [DAT](INFO): publishing transmit ping time
2025-08-09T17:08:51.956Z,1754759331.956 [DAT](INFO): publishing direction and range info
2025-08-09T17:08:52.354Z,1754759332.354 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 40.799999 m,
      deltaT: 3.547558 s,
      deltaX: -2.400002 m,
      approachRate: -0.676522 m/s,
      rangeRepo size: 4

2025-08-09T17:08:52.356Z,1754759332.356 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 40.799999 m,
      bearing: 209.073285 deg,
      lat: 36.906128 deg,
      lon: -122.115929 deg,
      deltaT: 3.547558 s,
      deltaX: -2.400002 m,
      approachRate: -0.676522 m/s,
      posRepo size: 4

2025-08-09T17:08:52.357Z,1754759332.357 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.80 m.
2025-08-09T17:08:52.360Z,1754759332.360 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 40.799999 m,
      nav range: 39.688320 m,
      bearing: 209.073285 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.040173 deg/s,
      cmd heading: 207.680426 deg,
      new cmd heading: 207.628322 deg.

2025-08-09T17:08:52.361Z,1754759332.361 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.623798 target range: 40.799999 and range: 40.80 m.
2025-08-09T17:08:52.797Z,1754759332.797 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.80 m.
2025-08-09T17:08:52.799Z,1754759332.799 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 40.799999 m,
      nav range: 39.417095 m,
      bearing: 209.061657 deg,
      approach rate: -0.611400 m/s,
      LOS rate: -0.026394 deg/s,
      cmd heading: 207.628325 deg,
      new cmd heading: 207.593199 deg.

2025-08-09T17:08:52.800Z,1754759332.800 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.623185 target range: 40.799999 and range: 40.80 m.
2025-08-09T17:08:53.221Z,1754759333.221 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.80 m.
2025-08-09T17:08:53.224Z,1754759333.224 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 40.799999 m,
      nav range: 39.165703 m,
      bearing: 209.051448 deg,
      approach rate: -0.592440 m/s,
      LOS rate: -0.024213 deg/s,
      cmd heading: 207.593204 deg,
      new cmd heading: 207.562381 deg.

2025-08-09T17:08:53.225Z,1754759333.225 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.622647 target range: 40.799999 and range: 40.80 m.
2025-08-09T17:08:53.684Z,1754759333.684 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-09T17:08:53.686Z,1754759333.686 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.80 m.
2025-08-09T17:08:53.689Z,1754759333.689 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 40.799999 m,
      nav range: 38.883034 m,
      bearing: 209.044190 deg,
      approach rate: -0.607484 m/s,
      LOS rate: -0.015711 deg/s,
      cmd heading: 207.562386 deg,
      new cmd heading: 207.540455 deg.

2025-08-09T17:08:53.691Z,1754759333.691 [DAT](INFO): ****** received valid address query ******
2025-08-09T17:08:53.691Z,1754759333.691 [DAT](INFO): ****** received valid ping request ******
2025-08-09T17:08:53.691Z,1754759333.691 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-09T17:08:53.693Z,1754759333.693 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.622264 target range: 40.799999 and range: 40.80 m.
2025-08-09T17:08:53.943Z,1754759333.943 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.008467
2025-08-09T17:08:54.047Z,1754759334.047 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.80 m.
2025-08-09T17:08:54.049Z,1754759334.049 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 40.799999 m,
      nav range: 38.668518 m,
      bearing: 209.040059 deg,
      approach rate: -0.595534 m/s,
      LOS rate: -0.011532 deg/s,
      cmd heading: 207.540462 deg,
      new cmd heading: 207.528000 deg.

2025-08-09T17:08:54.050Z,1754759334.050 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.622047 target range: 40.799999 and range: 40.80 m.
2025-08-09T17:08:54.195Z,1754759334.195 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.260433
2025-08-09T17:08:54.447Z,1754759334.447 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.512501
2025-08-09T17:08:54.475Z,1754759334.475 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.80 m.
2025-08-09T17:08:54.478Z,1754759334.478 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 40.799999 m,
      nav range: 38.417507 m,
      bearing: 209.036232 deg,
      approach rate: -0.585508 m/s,
      LOS rate: -0.008987 deg/s,
      cmd heading: 207.528003 deg,
      new cmd heading: 207.516445 deg.

2025-08-09T17:08:54.500Z,1754759334.500 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.621845 target range: 40.799999 and range: 40.80 m.
2025-08-09T17:08:54.699Z,1754759334.699 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.764572
2025-08-09T17:08:54.864Z,1754759334.864 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.80 m.
2025-08-09T17:08:54.885Z,1754759334.885 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 40.799999 m,
      nav range: 38.192154 m,
      bearing: 209.033376 deg,
      approach rate: -0.579493 m/s,
      LOS rate: -0.007385 deg/s,
      cmd heading: 207.516447 deg,
      new cmd heading: 207.507831 deg.

2025-08-09T17:08:54.887Z,1754759334.887 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.621695 target range: 40.799999 and range: 40.80 m.
2025-08-09T17:08:54.952Z,1754759334.952 [DAT](INFO): DAT read: Rx Time:17:08:53.7958

2025-08-09T17:08:54.953Z,1754759334.953 [DAT](INFO): Rx dataTimestamp_ set to:1754759334.952261
2025-08-09T17:08:54.954Z,1754759334.954 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.018537
2025-08-09T17:08:55.203Z,1754759335.203 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.268413
2025-08-09T17:08:55.265Z,1754759335.265 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.80 m.
2025-08-09T17:08:55.268Z,1754759335.268 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 40.799999 m,
      nav range: 37.954735 m,
      bearing: 209.030978 deg,
      approach rate: -0.592066 m/s,
      LOS rate: -0.006018 deg/s,
      cmd heading: 207.507827 deg,
      new cmd heading: 207.500587 deg.

2025-08-09T17:08:55.269Z,1754759335.269 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.621568 target range: 40.799999 and range: 40.80 m.
2025-08-09T17:08:55.466Z,1754759335.466 [DAT](INFO): DAT read: 17:08:53.7958 LVL= 24688, 30049, 23746, 32755, AGC= 64, IDX= 415, 0.28, 2.387, 0.726, 2.613, 2.170, PHS= 0.319,-1.398, 0.400, RAW= 152.3,   7.8, CAL= 151.7,   8.3, ROT= 358.3,  -8.3

2025-08-09T17:08:55.471Z,1754759335.471 [DAT](INFO): got valid direction response:
 17:08:53.7958 LVL= 24688, 30049, 23746, 32755, AGC= 64, IDX= 415, 0.28, 2.387, 0.726, 2.613, 2.170, PHS= 0.319,-1.398, 0.400, RAW= 152.3,   7.8, CAL= 151.7,   8.3, ROT= 358.3,  -8.3

2025-08-09T17:08:55.472Z,1754759335.472 [DAT](INFO): DAT read: Bearing 347.7,   1.6 (Local)

2025-08-09T17:08:55.472Z,1754759335.472 [DAT](INFO): Local bearing/azimuth received:
 Bearing 347.7,   1.6 (Local)

2025-08-09T17:08:55.473Z,1754759335.473 [DAT](INFO): DAT read: Range 11 to 50 : 38.8 m  (Round-trip  51.8 ms) speed  0.5 m/s

2025-08-09T17:08:55.514Z,1754759335.514 [DAT](INFO): DAT read: user:410>

2025-08-09T17:08:55.515Z,1754759335.515 [DAT](INFO): DAT read: Tx time:17:08:54.8899

2025-08-09T17:08:55.516Z,1754759335.516 [DAT](INFO): Ping request sent.
2025-08-09T17:08:55.516Z,1754759335.516 [DAT](INFO): transmitted an acoustic signal
2025-08-09T17:08:55.516Z,1754759335.516 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-09T17:08:55.518Z,1754759335.518 [DAT](INFO): direction in FSK: [0.989090,-0.029356,0.144356]
2025-08-09T17:08:55.525Z,1754759335.525 [DAT](INFO): publishing transmit ping time
2025-08-09T17:08:55.527Z,1754759335.527 [DAT](INFO): publishing direction and range info
2025-08-09T17:08:55.529Z,1754759335.529 [DAT](INFO): publishing transmit ping time
2025-08-09T17:08:55.530Z,1754759335.530 [DAT](INFO): publishing direction and range info
2025-08-09T17:08:55.709Z,1754759335.709 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 38.799999 m,
      deltaT: 3.531903 s,
      deltaX: -2.000000 m,
      approachRate: -0.566267 m/s,
      rangeRepo size: 4

2025-08-09T17:08:55.711Z,1754759335.711 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 38.799999 m,
      bearing: 208.716458 deg,
      lat: 36.906126 deg,
      lon: -122.115927 deg,
      deltaT: 3.531903 s,
      deltaX: -2.000000 m,
      approachRate: -0.566267 m/s,
      posRepo size: 4

2025-08-09T17:08:55.712Z,1754759335.712 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.80 m.
2025-08-09T17:08:55.715Z,1754759335.715 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 38.799999 m,
      nav range: 37.859921 m,
      bearing: 208.716458 deg,
      approach rate: -0.000000 m/s,
      LOS rate: -0.006018 deg/s,
      cmd heading: 207.500587 deg,
      new cmd heading: 207.492586 deg.

2025-08-09T17:08:55.716Z,1754759335.716 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.621429 target range: 38.799999 and range: 38.80 m.
2025-08-09T17:08:56.078Z,1754759336.078 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL] Running Loop=1
2025-08-09T17:08:56.078Z,1754759336.078 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL](DEBUG): Aggregate::initialize lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL
2025-08-09T17:08:56.082Z,1754759336.082 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL:A] Running Loop=1
2025-08-09T17:08:56.084Z,1754759336.084 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL:A](INFO): Entering USBL mode with  120.000000 count pings at  38.799999 m (mode  2.000000 count ).
2025-08-09T17:08:56.084Z,1754759336.084 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL:A] Stopped
2025-08-09T17:08:56.084Z,1754759336.084 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL:B] Running Loop=1
2025-08-09T17:08:56.084Z,1754759336.084 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-09T17:08:56.091Z,1754759336.091 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.80 m.
2025-08-09T17:08:56.093Z,1754759336.093 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 38.799999 m,
      nav range: 37.655964 m,
      bearing: 208.716369 deg,
      approach rate: -0.539381 m/s,
      LOS rate: -0.000238 deg/s,
      cmd heading: 207.492582 deg,
      new cmd heading: 207.492312 deg.

2025-08-09T17:08:56.103Z,1754759336.103 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.621424 target range: 38.799999 and range: 38.80 m.
2025-08-09T17:08:56.211Z,1754759336.211 [DAT](INFO): ****** received valid address query ******
2025-08-09T17:08:56.211Z,1754759336.211 [DAT](INFO): ****** received valid ping request ******
2025-08-09T17:08:56.211Z,1754759336.211 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-09T17:08:56.463Z,1754759336.463 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.947403
2025-08-09T17:08:56.505Z,1754759336.505 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL:B] Stopped
2025-08-09T17:08:56.505Z,1754759336.505 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL:C] Running Loop=1
2025-08-09T17:08:56.508Z,1754759336.508 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.80 m.
2025-08-09T17:08:56.511Z,1754759336.511 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 38.799999 m,
      nav range: 37.402111 m,
      bearing: 208.723057 deg,
      approach rate: -0.602354 m/s,
      LOS rate: 0.015978 deg/s,
      cmd heading: 207.492309 deg,
      new cmd heading: 207.512510 deg.

2025-08-09T17:08:56.512Z,1754759336.512 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.621777 target range: 38.799999 and range: 38.80 m.
2025-08-09T17:08:56.717Z,1754759336.717 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.200994
2025-08-09T17:08:56.933Z,1754759336.933 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL:C] Stopped
2025-08-09T17:08:56.933Z,1754759336.933 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL:D] Running Loop=1
2025-08-09T17:08:56.935Z,1754759336.935 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.80 m.
2025-08-09T17:08:56.938Z,1754759336.938 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 38.799999 m,
      nav range: 37.154922 m,
      bearing: 208.729658 deg,
      approach rate: -0.578426 m/s,
      LOS rate: 0.015549 deg/s,
      cmd heading: 207.512512 deg,
      new cmd heading: 207.532446 deg.

2025-08-09T17:08:56.939Z,1754759336.939 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.622124 target range: 38.799999 and range: 38.80 m.
2025-08-09T17:08:56.967Z,1754759336.967 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.451384
2025-08-09T17:08:57.219Z,1754759337.219 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.703308
2025-08-09T17:08:57.471Z,1754759337.471 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.955452
2025-08-09T17:08:57.473Z,1754759337.473 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL:D] Stopped
2025-08-09T17:08:57.473Z,1754759337.473 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL](INFO): Completed lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL
2025-08-09T17:08:57.473Z,1754759337.473 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL] Stopped
2025-08-09T17:08:57.473Z,1754759337.473 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL](DEBUG): Aggregate::uninitialize lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL
2025-08-09T17:08:57.476Z,1754759337.476 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.80 m.
2025-08-09T17:08:57.484Z,1754759337.484 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 38.799999 m,
      nav range: 36.842926 m,
      bearing: 208.735966 deg,
      approach rate: -0.577259 m/s,
      LOS rate: 0.011769 deg/s,
      cmd heading: 207.532443 deg,
      new cmd heading: 207.551526 deg.

2025-08-09T17:08:57.485Z,1754759337.485 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.622458 target range: 38.799999 and range: 38.80 m.
2025-08-09T17:08:57.724Z,1754759337.724 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.207922
2025-08-09T17:08:57.945Z,1754759337.945 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.80 m.
2025-08-09T17:08:57.948Z,1754759337.948 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 38.799999 m,
      nav range: 36.569645 m,
      bearing: 208.742201 deg,
      approach rate: -0.582371 m/s,
      LOS rate: 0.013387 deg/s,
      cmd heading: 207.551526 deg,
      new cmd heading: 207.570372 deg.

2025-08-09T17:08:57.949Z,1754759337.949 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.622787 target range: 38.799999 and range: 38.80 m.
2025-08-09T17:08:57.975Z,1754759337.975 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.459465
2025-08-09T17:08:58.228Z,1754759338.228 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.711995
2025-08-09T17:08:58.428Z,1754759338.428 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-09T17:08:58.431Z,1754759338.431 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.80 m.
2025-08-09T17:08:58.433Z,1754759338.433 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 38.799999 m,
      nav range: 36.290295 m,
      bearing: 208.746674 deg,
      approach rate: -0.575191 m/s,
      LOS rate: 0.009282 deg/s,
      cmd heading: 207.570378 deg,
      new cmd heading: 207.583902 deg.

2025-08-09T17:08:58.435Z,1754759338.435 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.623023 target range: 38.799999 and range: 38.80 m.
2025-08-09T17:08:58.479Z,1754759338.479 [DAT](INFO): DAT read: Rx Time:17:08:57.3431

2025-08-09T17:08:58.480Z,1754759338.480 [DAT](INFO): Rx dataTimestamp_ set to:1754759338.479664
2025-08-09T17:08:58.481Z,1754759338.481 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.964650
2025-08-09T17:08:58.731Z,1754759338.731 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.215318
2025-08-09T17:08:58.806Z,1754759338.806 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.80 m.
2025-08-09T17:08:58.809Z,1754759338.809 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 38.799999 m,
      nav range: 36.073299 m,
      bearing: 208.750344 deg,
      approach rate: -0.577653 m/s,
      LOS rate: 0.009827 deg/s,
      cmd heading: 207.583902 deg,
      new cmd heading: 207.594976 deg.

2025-08-09T17:08:58.810Z,1754759338.810 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.623216 target range: 38.799999 and range: 38.80 m.
2025-08-09T17:08:58.994Z,1754759338.994 [DAT](INFO): DAT read: 17:08:57.3431 LVL= 25360, 28577, 24450, 31091, AGC= 62, IDX= 420,-0.07, 2.001, 0.360, 2.242, 1.785, PHS= 0.318,-1.380, 0.413, RAW= 152.7,   7.5, CAL= 152.2,   7.9, ROT= 357.8,  -7.9

2025-08-09T17:08:58.995Z,1754759338.995 [DAT](INFO): got valid direction response:
 17:08:57.3431 LVL= 25360, 28577, 24450, 31091, AGC= 62, IDX= 420,-0.07, 2.001, 0.360, 2.242, 1.785, PHS= 0.318,-1.380, 0.413, RAW= 152.7,   7.5, CAL= 152.2,   7.9, ROT= 357.8,  -7.9

2025-08-09T17:08:58.996Z,1754759338.996 [DAT](INFO): DAT read: Bearing 346.6,   0.5 (Local)

2025-08-09T17:08:58.997Z,1754759338.997 [DAT](INFO): Local bearing/azimuth received:
 Bearing 346.6,   0.5 (Local)

2025-08-09T17:08:58.998Z,1754759338.998 [DAT](INFO): DAT read: Range 11 to 50 : 36.9 m  (Round-trip  49.2 ms) speed  0.4 m/s

2025-08-09T17:08:58.999Z,1754759338.999 [DAT](INFO): DAT read: user:411>

2025-08-09T17:08:58.000Z,1754759339.000 [DAT](INFO): DAT read: Tx time:17:08:58.4398

2025-08-09T17:08:58.000Z,1754759339.000 [DAT](INFO): Ping request sent.
2025-08-09T17:08:58.000Z,1754759339.000 [DAT](INFO): transmitted an acoustic signal
2025-08-09T17:08:59.000Z,1754759339.000 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-09T17:08:59.001Z,1754759339.001 [DAT](INFO): direction in FSK: [0.989779,-0.038024,0.137445]
2025-08-09T17:08:59.001Z,1754759339.001 [DAT](INFO): publishing transmit ping time
2025-08-09T17:08:59.002Z,1754759339.002 [DAT](INFO): publishing direction and range info
2025-08-09T17:08:59.021Z,1754759339.021 [DAT](INFO): publishing transmit ping time
2025-08-09T17:08:59.021Z,1754759339.021 [DAT](INFO): publishing direction and range info
2025-08-09T17:08:59.319Z,1754759339.319 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 36.900002 m,
      deltaT: 3.531196 s,
      deltaX: -1.899998 m,
      approachRate: -0.538061 m/s,
      rangeRepo size: 4

2025-08-09T17:08:59.321Z,1754759339.321 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 36.900002 m,
      bearing: 207.675702 deg,
      lat: 36.906123 deg,
      lon: -122.115921 deg,
      deltaT: 3.531196 s,
      deltaX: -1.899998 m,
      approachRate: -0.538061 m/s,
      posRepo size: 4

2025-08-09T17:08:59.322Z,1754759339.322 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 36.90 m.
2025-08-09T17:08:59.340Z,1754759339.340 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 36.900002 m,
      nav range: 35.840660 m,
      bearing: 207.675702 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.009827 deg/s,
      cmd heading: 207.594980 deg,
      new cmd heading: 207.609136 deg.

2025-08-09T17:08:59.341Z,1754759339.341 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.623463 target range: 36.900002 and range: 36.90 m.
2025-08-09T17:08:59.372Z,1754759339.372 [lineCaptureHoming:MicromodemComms:CheckIn:A](INFO): Timed out from 2025-08-09T16:58:59.3Z
2025-08-09T17:08:59.372Z,1754759339.372 [lineCaptureHoming:MicromodemComms:CheckIn:A] Stopped
2025-08-09T17:08:59.373Z,1754759339.373 [lineCaptureHoming:MicromodemComms:CheckIn](INFO): Completed lineCaptureHoming:MicromodemComms:CheckIn
2025-08-09T17:08:59.373Z,1754759339.373 [lineCaptureHoming:MicromodemComms:CheckIn] Stopped
2025-08-09T17:08:59.378Z,1754759339.378 [lineCaptureHoming:MicromodemComms:CheckIn](DEBUG): Aggregate::uninitialize lineCaptureHoming:MicromodemComms:CheckIn
2025-08-09T17:08:59.379Z,1754759339.379 [lineCaptureHoming:MicromodemComms](INFO): Completed lineCaptureHoming:MicromodemComms
2025-08-09T17:08:59.655Z,1754759339.655 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 36.90 m.
2025-08-09T17:08:59.657Z,1754759339.657 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 36.900002 m,
      nav range: 35.606361 m,
      bearing: 207.678203 deg,
      approach rate: -0.636633 m/s,
      LOS rate: 0.006840 deg/s,
      cmd heading: 207.609132 deg,
      new cmd heading: 207.616684 deg.

2025-08-09T17:08:59.658Z,1754759339.658 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.623595 target range: 36.900002 and range: 36.90 m.
2025-08-09T17:08:59.662Z,1754759339.662 [lineCaptureHoming:MicromodemComms] Running Loop=1
2025-08-09T17:08:59.662Z,1754759339.662 [lineCaptureHoming:MicromodemComms](DEBUG): Aggregate::initialize lineCaptureHoming:MicromodemComms
2025-08-09T17:08:59.663Z,1754759339.663 [lineCaptureHoming:MicromodemComms:CheckIn] Running Loop=1
2025-08-09T17:08:59.663Z,1754759339.663 [lineCaptureHoming:MicromodemComms:CheckIn](DEBUG): Aggregate::initialize lineCaptureHoming:MicromodemComms:CheckIn
2025-08-09T17:08:59.663Z,1754759339.663 [lineCaptureHoming:MicromodemComms:CheckIn:A] Running Loop=1
2025-08-09T17:09:00.089Z,1754759340.089 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 36.90 m.
2025-08-09T17:09:00.092Z,1754759340.092 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 36.900002 m,
      nav range: 35.360062 m,
      bearing: 207.680867 deg,
      approach rate: -0.566161 m/s,
      LOS rate: 0.006168 deg/s,
      cmd heading: 207.616686 deg,
      new cmd heading: 207.624736 deg.

2025-08-09T17:09:00.093Z,1754759340.093 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.623735 target range: 36.900002 and range: 36.90 m.
2025-08-09T17:09:00.477Z,1754759340.477 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-09T17:09:00.479Z,1754759340.479 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 36.90 m.
2025-08-09T17:09:00.482Z,1754759340.482 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 36.900002 m,
      nav range: 35.131855 m,
      bearing: 207.679434 deg,
      approach rate: -0.585920 m/s,
      LOS rate: -0.003704 deg/s,
      cmd heading: 207.624732 deg,
      new cmd heading: 207.620404 deg.

2025-08-09T17:09:00.495Z,1754759340.495 [DAT](INFO): ****** received valid address query ******
2025-08-09T17:09:00.495Z,1754759340.495 [DAT](INFO): ****** received valid ping request ******
2025-08-09T17:09:00.496Z,1754759340.496 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode.
2025-08-09T17:09:00.503Z,1754759340.503 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.623660 target range: 36.900002 and range: 36.90 m.
2025-08-09T17:09:00.749Z,1754759340.749 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.749364
2025-08-09T17:09:00.949Z,1754759340.949 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 36.90 m.
2025-08-09T17:09:00.976Z,1754759340.976 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 36.900002 m,
      nav range: 34.873280 m,
      bearing: 207.678010 deg,
      approach rate: -0.557646 m/s,
      LOS rate: -0.003094 deg/s,
      cmd heading: 207.620402 deg,
      new cmd heading: 207.616097 deg.

2025-08-09T17:09:00.977Z,1754759340.977 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.623585 target range: 36.900002 and range: 36.90 m.
2025-08-09T17:09:01.003Z,1754759341.003 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.003440
2025-08-09T17:09:01.255Z,1754759341.255 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.255430
2025-08-09T17:09:01.265Z,1754759341.265 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 36.90 m.
2025-08-09T17:09:01.285Z,1754759341.285 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 36.900002 m,
      nav range: 34.690639 m,
      bearing: 207.677192 deg,
      approach rate: -0.565954 m/s,
      LOS rate: -0.002548 deg/s,
      cmd heading: 207.616099 deg,
      new cmd heading: 207.613632 deg.

2025-08-09T17:09:01.286Z,1754759341.286 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.623541 target range: 36.900002 and range: 36.90 m.
2025-08-09T17:09:01.509Z,1754759341.509 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.509114
2025-08-09T17:09:01.702Z,1754759341.702 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 36.90 m.
2025-08-09T17:09:01.704Z,1754759341.704 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 36.900002 m,
      nav range: 34.439949 m,
      bearing: 207.666206 deg,
      approach rate: -0.574604 m/s,
      LOS rate: -0.025364 deg/s,
      cmd heading: 207.613627 deg,
      new cmd heading: 207.580428 deg.

2025-08-09T17:09:01.705Z,1754759341.705 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.622962 target range: 36.900002 and range: 36.90 m.
2025-08-09T17:09:01.760Z,1754759341.760 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.760132
2025-08-09T17:09:02.011Z,1754759342.011 [DAT](INFO): DAT read: Rx Time:17:09:00.8904

2025-08-09T17:09:02.012Z,1754759342.012 [DAT](INFO): Rx dataTimestamp_ set to:1754759342.011575
2025-08-09T17:09:02.012Z,1754759342.012 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.012470
2025-08-09T17:09:02.106Z,1754759342.106 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 36.90 m.
2025-08-09T17:09:02.113Z,1754759342.113 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 36.900002 m,
      nav range: 34.211971 m,
      bearing: 207.656260 deg,
      approach rate: -0.563660 m/s,
      LOS rate: -0.024754 deg/s,
      cmd heading: 207.580432 deg,
      new cmd heading: 207.550396 deg.

2025-08-09T17:09:02.114Z,1754759342.114 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.622438 target range: 36.900002 and range: 36.90 m.
2025-08-09T17:09:02.263Z,1754759342.263 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.263307
2025-08-09T17:09:02.507Z,1754759342.507 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-09T17:09:02.509Z,1754759342.509 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 36.90 m.
2025-08-09T17:09:02.512Z,1754759342.512 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 36.900002 m,
      nav range: 33.981628 m,
      bearing: 207.645470 deg,
      approach rate: -0.571558 m/s,
      LOS rate: -0.026956 deg/s,
      cmd heading: 207.550393 deg,
      new cmd heading: 207.517802 deg.

2025-08-09T17:09:02.513Z,1754759342.513 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.621869 target range: 36.900002 and range: 36.90 m.
2025-08-09T17:09:02.521Z,1754759342.521 [DAT](INFO): DAT read: 17:09:00.8904 LVL= 21456, 27217, 19730, 31555, AGC= 63, IDX= 408,-0.06, 2.634, 0.938, 2.907, 2.400, PHS= 0.337,-1.416, 0.463, RAW= 153.5,   6.8, CAL= 152.8,   7.1, ROT= 357.2,  -7.1

2025-08-09T17:09:02.523Z,1754759342.523 [DAT](INFO): got valid direction response:
 17:09:00.8904 LVL= 21456, 27217, 19730, 31555, AGC= 63, IDX= 408,-0.06, 2.634, 0.938, 2.907, 2.400, PHS= 0.337,-1.416, 0.463, RAW= 153.5,   6.8, CAL= 152.8,   7.1, ROT= 357.2,  -7.1

2025-08-09T17:09:02.524Z,1754759342.524 [DAT](INFO): DAT read: Bearing 345.7,  -0.7 (Local)

2025-08-09T17:09:02.524Z,1754759342.524 [DAT](INFO): Local bearing/azimuth received:
 Bearing 345.7,  -0.7 (Local)

2025-08-09T17:09:02.526Z,1754759342.526 [DAT](INFO): DAT read: Range 11 to 50 : 34.8 m  (Round-trip  46.4 ms) speed  0.6 m/s

2025-08-09T17:09:02.526Z,1754759342.526 [DAT](INFO): DAT read: user:412>

2025-08-09T17:09:02.527Z,1754759342.527 [DAT](INFO): DAT read: Tx time:17:09:01.9898

2025-08-09T17:09:02.527Z,1754759342.527 [DAT](INFO): Ping request sent.
2025-08-09T17:09:02.527Z,1754759342.527 [DAT](INFO): transmitted an acoustic signal
2025-08-09T17:09:02.528Z,1754759342.528 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-09T17:09:02.529Z,1754759342.529 [DAT](INFO): direction in FSK: [0.991147,-0.048475,0.123601]
2025-08-09T17:09:02.529Z,1754759342.529 [DAT](INFO): publishing transmit ping time
2025-08-09T17:09:02.529Z,1754759342.529 [DAT](INFO): publishing direction and range info
2025-08-09T17:09:02.536Z,1754759342.536 [DAT](INFO): publishing transmit ping time
2025-08-09T17:09:02.537Z,1754759342.537 [DAT](INFO): publishing direction and range info
2025-08-09T17:09:02.552Z,1754759342.552 [DAT](INFO): checking for new query: numPingsReceived=1, elapsed TxPingTime=0.024540
2025-08-09T17:09:02.767Z,1754759342.767 [DAT](INFO): checking for new query: numPingsReceived=1, elapsed TxPingTime=0.239923
2025-08-09T17:09:02.935Z,1754759342.935 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 34.799999 m,
      deltaT: 3.528881 s,
      deltaX: -2.100002 m,
      approachRate: -0.595090 m/s,
      rangeRepo size: 4

2025-08-09T17:09:02.937Z,1754759342.937 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 34.799999 m,
      bearing: 207.541195 deg,
      lat: 36.906122 deg,
      lon: -122.115920 deg,
      deltaT: 3.528881 s,
      deltaX: -2.100002 m,
      approachRate: -0.595090 m/s,
      posRepo size: 4

2025-08-09T17:09:02.937Z,1754759342.937 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 34.80 m.
2025-08-09T17:09:02.941Z,1754759342.941 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 34.799999 m,
      nav range: 33.766590 m,
      bearing: 207.541195 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.026956 deg/s,
      cmd heading: 207.517799 deg,
      new cmd heading: 207.483442 deg.

2025-08-09T17:09:02.942Z,1754759342.942 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.621269 target range: 34.799999 and range: 34.80 m.
2025-08-09T17:09:03.020Z,1754759343.020 [DAT](INFO): checking for new query: numPingsReceived=1, elapsed TxPingTime=0.492315
2025-08-09T17:09:03.271Z,1754759343.271 [DAT](INFO): checking for new query: numPingsReceived=1, elapsed TxPingTime=0.743830
2025-08-09T17:09:03.302Z,1754759343.302 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 34.80 m.
2025-08-09T17:09:03.305Z,1754759343.305 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 34.799999 m,
      nav range: 33.557789 m,
      bearing: 207.530969 deg,
      approach rate: -0.567461 m/s,
      LOS rate: -0.027962 deg/s,
      cmd heading: 207.483443 deg,
      new cmd heading: 207.452577 deg.

2025-08-09T17:09:03.306Z,1754759343.306 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.620730 target range: 34.799999 and range: 34.80 m.
2025-08-09T17:09:03.524Z,1754759343.524 [DAT](INFO): checking for new query: numPingsReceived=1, elapsed TxPingTime=0.995998
2025-08-09T17:09:03.747Z,1754759343.747 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 34.80 m.
2025-08-09T17:09:03.749Z,1754759343.749 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 34.799999 m,
      nav range: 33.316307 m,
      bearing: 207.515251 deg,
      approach rate: -0.568793 m/s,
      LOS rate: -0.037292 deg/s,
      cmd heading: 207.452571 deg,
      new cmd heading: 207.405074 deg.

2025-08-09T17:09:03.754Z,1754759343.754 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.619901 target range: 34.799999 and range: 34.80 m.
2025-08-09T17:09:03.776Z,1754759343.776 [DAT](INFO): checking for new query: numPingsReceived=1, elapsed TxPingTime=1.248066
2025-08-09T17:09:04.028Z,1754759344.028 [DAT](INFO): checking for new query: numPingsReceived=1, elapsed TxPingTime=1.500294
2025-08-09T17:09:04.111Z,1754759344.111 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 34.80 m.
2025-08-09T17:09:04.113Z,1754759344.113 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 34.799999 m,
      nav range: 33.097500 m,
      bearing: 207.500738 deg,
      approach rate: -0.569481 m/s,
      LOS rate: -0.038021 deg/s,
      cmd heading: 207.405074 deg,
      new cmd heading: 207.361248 deg.

2025-08-09T17:09:04.115Z,1754759344.115 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.619137 target range: 34.799999 and range: 34.80 m.
2025-08-09T17:09:04.279Z,1754759344.279 [DAT](INFO): checking for new query: numPingsReceived=1, elapsed TxPingTime=1.751695
2025-08-09T17:09:04.531Z,1754759344.531 [DAT](INFO): checking for new query: numPingsReceived=1, elapsed TxPingTime=2.003875
2025-08-09T17:09:04.549Z,1754759344.549 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-09T17:09:04.555Z,1754759344.555 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 34.80 m.
2025-08-09T17:09:04.562Z,1754759344.562 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 34.799999 m,
      nav range: 32.847904 m,
      bearing: 207.498670 deg,
      approach rate: -0.561146 m/s,
      LOS rate: -0.004686 deg/s,
      cmd heading: 207.361251 deg,
      new cmd heading: 207.354999 deg.

2025-08-09T17:09:04.563Z,1754759344.563 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.619027 target range: 34.799999 and range: 34.80 m.
2025-08-09T17:09:04.785Z,1754759344.785 [DAT](INFO): checking for new query: numPingsReceived=1, elapsed TxPingTime=2.257416
2025-08-09T17:09:04.920Z,1754759344.920 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 34.80 m.
2025-08-09T17:09:04.923Z,1754759344.923 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 34.799999 m,
      nav range: 32.634247 m,
      bearing: 207.497011 deg,
      approach rate: -0.586050 m/s,
      LOS rate: -0.004580 deg/s,
      cmd heading: 207.354995 deg,
      new cmd heading: 207.349985 deg.

2025-08-09T17:09:04.924Z,1754759344.924 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.618940 target range: 34.799999 and range: 34.80 m.
2025-08-09T17:09:05.035Z,1754759345.035 [DAT](INFO): checking for new query: numPingsReceived=1, elapsed TxPingTime=2.507756
2025-08-09T17:09:05.287Z,1754759345.287 [DAT](INFO): checking for new query: numPingsReceived=1, elapsed TxPingTime=2.759787
2025-08-09T17:09:05.342Z,1754759345.342 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 34.80 m.
2025-08-09T17:09:05.345Z,1754759345.345 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 34.799999 m,
      nav range: 32.401253 m,
      bearing: 207.495509 deg,
      approach rate: -0.552564 m/s,
      LOS rate: -0.003587 deg/s,
      cmd heading: 207.349981 deg,
      new cmd heading: 207.345444 deg.

2025-08-09T17:09:05.345Z,1754759345.345 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.618861 target range: 34.799999 and range: 34.80 m.
2025-08-09T17:09:05.540Z,1754759345.540 [DAT](INFO): DAT read: Rx Time:17:09:04.4377

2025-08-09T17:09:05.540Z,1754759345.540 [DAT](INFO): Rx dataTimestamp_ set to:1754759345.539837
2025-08-09T17:09:05.541Z,1754759345.541 [DAT](INFO): checking for new query: numPingsReceived=1, elapsed TxPingTime=3.013490
2025-08-09T17:09:05.767Z,1754759345.767 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 34.80 m.
2025-08-09T17:09:05.770Z,1754759345.770 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 34.799999 m,
      nav range: 32.158276 m,
      bearing: 207.486783 deg,
      approach rate: -0.571332 m/s,
      LOS rate: -0.020674 deg/s,
      cmd heading: 207.345446 deg,
      new cmd heading: 207.319069 deg.

2025-08-09T17:09:05.775Z,1754759345.775 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.618400 target range: 34.799999 and range: 34.80 m.
2025-08-09T17:09:05.796Z,1754759345.796 [DAT](INFO): checking for new query: numPingsReceived=1, elapsed TxPingTime=3.268603
2025-08-09T17:09:06.056Z,1754759346.056 [DAT](INFO): DAT read: 17:09:04.4377 LVL= 22752, 29665, 20466, 29939, AGC= 60, IDX= 413,-0.33,-2.757, 1.944,-2.470,-2.930, PHS= 0.276,-1.364, 0.417, RAW= 154.1,   7.9, CAL= 153.6,   8.3, ROT= 356.4,  -8.3

2025-08-09T17:09:06.057Z,1754759346.057 [DAT](INFO): got valid direction response:
 17:09:04.4377 LVL= 22752, 29665, 20466, 29939, AGC= 60, IDX= 413,-0.33,-2.757, 1.944,-2.470,-2.930, PHS= 0.276,-1.364, 0.417, RAW= 154.1,   7.9, CAL= 153.6,   8.3, ROT= 356.4,  -8.3

2025-08-09T17:09:06.060Z,1754759346.060 [DAT](INFO): DAT read: Bearing 346.7,  -2.3 (Local)

2025-08-09T17:09:06.060Z,1754759346.060 [DAT](INFO): Local bearing/azimuth received:
 Bearing 346.7,  -2.3 (Local)

2025-08-09T17:09:06.061Z,1754759346.061 [DAT](INFO): DAT read: Range 11 to 50 : 32.8 m  (Round-trip  43.8 ms) speed  0.4 m/s

2025-08-09T17:09:06.066Z,1754759346.066 [DAT](INFO): DAT read: user:413>
:17:09:05.5398

2025-08-09T17:09:06.067Z,1754759346.067 [DAT](INFO): #Rx 2: Read range and direction messages.
2025-08-09T17:09:06.068Z,1754759346.068 [DAT](INFO): direction in FSK: [0.987573,-0.062133,0.144356]
2025-08-09T17:09:06.068Z,1754759346.068 [DAT](INFO): publishing direction and range info
2025-08-09T17:09:06.072Z,1754759346.072 [DAT](INFO): checking for new query: numPingsReceived=2, elapsed TxPingTime=3.544827
2025-08-09T17:09:06.174Z,1754759346.174 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 32.799999 m,
      deltaT: 3.532701 s,
      deltaX: -2.000000 m,
      approachRate: -0.566139 m/s,
      rangeRepo size: 4

2025-08-09T17:09:06.176Z,1754759346.176 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 32.799999 m,
      bearing: 206.475330 deg,
      lat: 36.906117 deg,
      lon: -122.115917 deg,
      deltaT: 3.532701 s,
      deltaX: -2.000000 m,
      approachRate: -0.566139 m/s,
      posRepo size: 4

2025-08-09T17:09:06.177Z,1754759346.177 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 32.80 m.
2025-08-09T17:09:06.180Z,1754759346.180 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 32.799999 m,
      nav range: 32.262978 m,
      bearing: 206.475330 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.020674 deg/s,
      cmd heading: 207.319068 deg,
      new cmd heading: 207.293920 deg.

2025-08-09T17:09:06.181Z,1754759346.181 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.617961 target range: 32.799999 and range: 32.80 m.
2025-08-09T17:09:06.300Z,1754759346.300 [DAT](INFO): checking for new query: numPingsReceived=2, elapsed TxPingTime=3.772020
2025-08-09T17:09:06.551Z,1754759346.551 [DAT](INFO): checking for new query: numPingsReceived=2, elapsed TxPingTime=4.023872
2025-08-09T17:09:06.579Z,1754759346.579 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-09T17:09:06.581Z,1754759346.581 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 32.80 m.
2025-08-09T17:09:06.588Z,1754759346.588 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 32.799999 m,
      nav range: 32.031754 m,
      bearing: 206.465380 deg,
      approach rate: -0.565708 m/s,
      LOS rate: -0.024519 deg/s,
      cmd heading: 207.293919 deg,
      new cmd heading: 207.263854 deg.

2025-08-09T17:09:06.595Z,1754759346.595 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.617437 target range: 32.799999 and range: 32.80 m.
2025-08-09T17:09:06.803Z,1754759346.803 [DAT](INFO): checking for new query: numPingsReceived=2, elapsed TxPingTime=4.275813
2025-08-09T17:09:06.942Z,1754759346.942 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 32.80 m.
2025-08-09T17:09:06.945Z,1754759346.945 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 32.799999 m,
      nav range: 31.811016 m,
      bearing: 206.455905 deg,
      approach rate: -0.611532 m/s,
      LOS rate: -0.026432 deg/s,
      cmd heading: 207.263853 deg,
      new cmd heading: 207.235230 deg.

2025-08-09T17:09:06.946Z,1754759346.946 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.616937 target range: 32.799999 and range: 32.80 m.
2025-08-09T17:09:07.059Z,1754759347.059 [DAT](INFO): checking for new query: numPingsReceived=2, elapsed TxPingTime=4.531566
2025-08-09T17:09:07.307Z,1754759347.307 [DAT](INFO): checking for new query: numPingsReceived=2, elapsed TxPingTime=4.779643
2025-08-09T17:09:07.341Z,1754759347.341 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 32.80 m.
2025-08-09T17:09:07.344Z,1754759347.344 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 32.799999 m,
      nav range: 31.581581 m,
      bearing: 206.446394 deg,
      approach rate: -0.574862 m/s,
      LOS rate: -0.024003 deg/s,
      cmd heading: 207.235234 deg,
      new cmd heading: 207.206494 deg.

2025-08-09T17:09:07.345Z,1754759347.345 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.616436 target range: 32.799999 and range: 32.80 m.
2025-08-09T17:09:07.559Z,1754759347.559 [DAT](INFO): checking for new query: numPingsReceived=2, elapsed TxPingTime=5.031803
2025-08-09T17:09:07.771Z,1754759347.771 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 32.80 m.
2025-08-09T17:09:07.774Z,1754759347.774 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 32.799999 m,
      nav range: 31.322260 m,
      bearing: 206.441740 deg,
      approach rate: -0.602976 m/s,
      LOS rate: -0.010912 deg/s,
      cmd heading: 207.206493 deg,
      new cmd heading: 207.192415 deg.

2025-08-09T17:09:07.797Z,1754759347.797 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.616190 target range: 32.799999 and range: 32.80 m.
2025-08-09T17:09:07.811Z,1754759347.811 [DAT](INFO): checking for new query: numPingsReceived=2, elapsed TxPingTime=5.283905
2025-08-09T17:09:08.064Z,1754759348.064 [DAT](INFO): checking for new query: numPingsReceived=2, elapsed TxPingTime=5.536150
2025-08-09T17:09:08.161Z,1754759348.161 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 32.80 m.
2025-08-09T17:09:08.164Z,1754759348.164 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 32.799999 m,
      nav range: 31.087122 m,
      bearing: 206.437789 deg,
      approach rate: -0.603195 m/s,
      LOS rate: -0.010213 deg/s,
      cmd heading: 207.192409 deg,
      new cmd heading: 207.180465 deg.

2025-08-09T17:09:08.165Z,1754759348.165 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.615981 target range: 32.799999 and range: 32.80 m.
2025-08-09T17:09:08.315Z,1754759348.315 [DAT](INFO): checking for new query: numPingsReceived=2, elapsed TxPingTime=5.787893
2025-08-09T17:09:08.567Z,1754759348.567 [DAT](INFO): checking for new query: numPingsReceived=2, elapsed TxPingTime=6.039814
2025-08-09T17:09:08.601Z,1754759348.601 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-09T17:09:08.604Z,1754759348.604 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 32.80 m.
2025-08-09T17:09:08.607Z,1754759348.607 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 32.799999 m,
      nav range: 30.817514 m,
      bearing: 206.433555 deg,
      approach rate: -0.608838 m/s,
      LOS rate: -0.009644 deg/s,
      cmd heading: 207.180470 deg,
      new cmd heading: 207.167657 deg.

2025-08-09T17:09:08.608Z,1754759348.608 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.615758 target range: 32.799999 and range: 32.80 m.
2025-08-09T17:09:08.819Z,1754759348.819 [DAT](INFO): checking for new query: numPingsReceived=2, elapsed TxPingTime=6.291828
2025-08-09T17:09:08.969Z,1754759348.969 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 32.80 m.
2025-08-09T17:09:08.972Z,1754759348.972 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 32.799999 m,
      nav range: 30.588160 m,
      bearing: 206.430310 deg,
      approach rate: -0.627174 m/s,
      LOS rate: -0.008941 deg/s,
      cmd heading: 207.167656 deg,
      new cmd heading: 207.157847 deg.

2025-08-09T17:09:08.973Z,1754759348.973 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.615587 target range: 32.799999 and range: 32.80 m.
2025-08-09T17:09:09.071Z,1754759349.071 [DAT](INFO): DAT read: Rx Time:17:09:07.9850

2025-08-09T17:09:09.072Z,1754759349.072 [DAT](INFO): Rx dataTimestamp_ set to:1754759349.071678
2025-08-09T17:09:09.073Z,1754759349.073 [DAT](INFO): checking for new query: numPingsReceived=2, elapsed TxPingTime=6.545026
2025-08-09T17:09:09.323Z,1754759349.323 [DAT](INFO): checking for new query: numPingsReceived=2, elapsed TxPingTime=6.795813
2025-08-09T17:09:09.400Z,1754759349.400 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 32.80 m.
2025-08-09T17:09:09.403Z,1754759349.403 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 32.799999 m,
      nav range: 30.326014 m,
      bearing: 206.426725 deg,
      approach rate: -0.608515 m/s,
      LOS rate: -0.008394 deg/s,
      cmd heading: 207.157848 deg,
      new cmd heading: 207.146999 deg.

2025-08-09T17:09:09.404Z,1754759349.404 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.615397 target range: 32.799999 and range: 32.80 m.
2025-08-09T17:09:09.581Z,1754759349.581 [DAT](INFO): DAT read: 17:09:07.9850 LVL= 25696, 28097, 23010, 32755, AGC= 61, IDX= 417,-0.08,-0.644,-2.265,-0.346,-0.840, PHS= 0.298,-1.381, 0.450, RAW= 154.3,   7.2, CAL= 153.7,   7.5, ROT= 356.3,  -7.5

2025-08-09T17:09:09.583Z,1754759349.583 [DAT](INFO): got valid direction response:
 17:09:07.9850 LVL= 25696, 28097, 23010, 32755, AGC= 61, IDX= 417,-0.08,-0.644,-2.265,-0.346,-0.840, PHS= 0.298,-1.381, 0.450, RAW= 154.3,   7.2, CAL= 153.7,   7.5, ROT= 356.3,  -7.5

2025-08-09T17:09:09.584Z,1754759349.584 [DAT](INFO): DAT read: Bearing 345.4,  -3.0 (Local)

2025-08-09T17:09:09.584Z,1754759349.584 [DAT](INFO): Local bearing/azimuth received:
 Bearing 345.4,  -3.0 (Local)

2025-08-09T17:09:09.585Z,1754759349.585 [DAT](INFO): DAT read: Range 11 to 50 : 30.8 m  (Round-trip  41.1 ms) speed  0.5 m/s

2025-08-09T17:09:09.586Z,1754759349.586 [DAT](INFO): DAT read: user:414>

2025-08-09T17:09:09.587Z,1754759349.587 [DAT](INFO): DAT read: Tx time:17:09:09.0898

2025-08-09T17:09:09.587Z,1754759349.587 [DAT](INFO): Ping request sent.
2025-08-09T17:09:09.587Z,1754759349.587 [DAT](INFO): transmitted an acoustic signal
2025-08-09T17:09:09.588Z,1754759349.588 [DAT](INFO): #Rx 3: Read range and direction messages.
2025-08-09T17:09:09.589Z,1754759349.589 [DAT](INFO): direction in FSK: [0.989378,-0.063980,0.130526]
2025-08-09T17:09:09.589Z,1754759349.589 [DAT](INFO): publishing transmit ping time
2025-08-09T17:09:09.589Z,1754759349.589 [DAT](INFO): publishing direction and range info
2025-08-09T17:09:09.592Z,1754759349.592 [DAT](INFO): publishing transmit ping time
2025-08-09T17:09:09.593Z,1754759349.593 [DAT](INFO): publishing direction and range info
2025-08-09T17:09:09.596Z,1754759349.596 [DAT](INFO): checking for new query: numPingsReceived=3, elapsed TxPingTime=0.008585
2025-08-09T17:09:09.827Z,1754759349.827 [DAT](INFO): checking for new query: numPingsReceived=3, elapsed TxPingTime=0.239956
2025-08-09T17:09:09.853Z,1754759349.853 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 30.799999 m,
      deltaT: 3.527685 s,
      deltaX: -2.000000 m,
      approachRate: -0.566944 m/s,
      rangeRepo size: 4

2025-08-09T17:09:09.861Z,1754759349.861 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 30.799999 m,
      bearing: 205.308840 deg,
      lat: 36.906113 deg,
      lon: -122.115912 deg,
      deltaT: 3.527685 s,
      deltaX: -2.000000 m,
      approachRate: -0.566944 m/s,
      posRepo size: 4

2025-08-09T17:09:09.866Z,1754759349.866 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.80 m.
2025-08-09T17:09:09.876Z,1754759349.876 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 30.799999 m,
      nav range: 30.254875 m,
      bearing: 205.308840 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.008394 deg/s,
      cmd heading: 207.147002 deg,
      new cmd heading: 207.135966 deg.

2025-08-09T17:09:09.877Z,1754759349.877 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.615205 target range: 30.799999 and range: 30.80 m.
2025-08-09T17:09:10.079Z,1754759350.079 [DAT](INFO): checking for new query: numPingsReceived=3, elapsed TxPingTime=0.491945
2025-08-09T17:09:10.189Z,1754759350.189 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.80 m.
2025-08-09T17:09:10.194Z,1754759350.194 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 30.799999 m,
      nav range: 30.027925 m,
      bearing: 205.298140 deg,
      approach rate: -0.646962 m/s,
      LOS rate: -0.030733 deg/s,
      cmd heading: 207.135964 deg,
      new cmd heading: 207.103621 deg.

2025-08-09T17:09:10.198Z,1754759350.198 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.614640 target range: 30.799999 and range: 30.80 m.
2025-08-09T17:09:10.331Z,1754759350.331 [DAT](INFO): checking for new query: numPingsReceived=3, elapsed TxPingTime=0.743746
2025-08-09T17:09:10.583Z,1754759350.583 [DAT](INFO): checking for new query: numPingsReceived=3, elapsed TxPingTime=0.995887
2025-08-09T17:09:10.628Z,1754759350.628 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-09T17:09:10.631Z,1754759350.631 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.80 m.
2025-08-09T17:09:10.633Z,1754759350.633 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 30.799999 m,
      nav range: 29.757532 m,
      bearing: 205.281990 deg,
      approach rate: -0.612985 m/s,
      LOS rate: -0.036945 deg/s,
      cmd heading: 207.103616 deg,
      new cmd heading: 207.054726 deg.

2025-08-09T17:09:10.635Z,1754759350.635 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.613787 target range: 30.799999 and range: 30.80 m.
2025-08-09T17:09:10.835Z,1754759350.835 [DAT](INFO): checking for new query: numPingsReceived=3, elapsed TxPingTime=1.247733
2025-08-09T17:09:11.018Z,1754759351.018 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.80 m.
2025-08-09T17:09:11.021Z,1754759351.021 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 30.799999 m,
      nav range: 29.519217 m,
      bearing: 205.267528 deg,
      approach rate: -0.614488 m/s,
      LOS rate: -0.037591 deg/s,
      cmd heading: 207.054726 deg,
      new cmd heading: 207.010990 deg.

2025-08-09T17:09:11.022Z,1754759351.022 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.613023 target range: 30.799999 and range: 30.80 m.
2025-08-09T17:09:11.088Z,1754759351.088 [DAT](INFO): checking for new query: numPingsReceived=3, elapsed TxPingTime=1.500768
2025-08-09T17:09:11.339Z,1754759351.339 [DAT](INFO): checking for new query: numPingsReceived=3, elapsed TxPingTime=1.751831
2025-08-09T17:09:11.409Z,1754759351.409 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.80 m.
2025-08-09T17:09:11.412Z,1754759351.412 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 30.799999 m,
      nav range: 29.279278 m,
      bearing: 205.252890 deg,
      approach rate: -0.613408 m/s,
      LOS rate: -0.037728 deg/s,
      cmd heading: 207.010985 deg,
      new cmd heading: 206.966713 deg.

2025-08-09T17:09:11.413Z,1754759351.413 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.612251 target range: 30.799999 and range: 30.80 m.
2025-08-09T17:09:11.594Z,1754759351.594 [DAT](INFO): checking for new query: numPingsReceived=3, elapsed TxPingTime=2.006523
2025-08-09T17:09:11.831Z,1754759351.831 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.80 m.
2025-08-09T17:09:11.834Z,1754759351.834 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 30.799999 m,
      nav range: 29.007862 m,
      bearing: 205.237593 deg,
      approach rate: -0.643734 m/s,
      LOS rate: -0.036620 deg/s,
      cmd heading: 206.966712 deg,
      new cmd heading: 206.920392 deg.

2025-08-09T17:09:11.835Z,1754759351.835 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.611442 target range: 30.799999 and range: 30.80 m.
2025-08-09T17:09:11.846Z,1754759351.846 [DAT](INFO): checking for new query: numPingsReceived=3, elapsed TxPingTime=2.258026
2025-08-09T17:09:12.095Z,1754759352.095 [DAT](INFO): checking for new query: numPingsReceived=3, elapsed TxPingTime=2.507771
2025-08-09T17:09:12.215Z,1754759352.215 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.80 m.
2025-08-09T17:09:12.218Z,1754759352.218 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 30.799999 m,
      nav range: 28.770844 m,
      bearing: 205.223990 deg,
      approach rate: -0.616984 m/s,
      LOS rate: -0.035701 deg/s,
      cmd heading: 206.920390 deg,
      new cmd heading: 206.879245 deg.

2025-08-09T17:09:12.223Z,1754759352.223 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.610724 target range: 30.799999 and range: 30.80 m.
2025-08-09T17:09:12.348Z,1754759352.348 [DAT](INFO): checking for new query: numPingsReceived=3, elapsed TxPingTime=2.760646
2025-08-09T17:09:12.601Z,1754759352.601 [DAT](INFO): DAT read: Rx Time:17:09:11.5320

2025-08-09T17:09:12.602Z,1754759352.602 [DAT](INFO): Rx dataTimestamp_ set to:1754759352.601239
2025-08-09T17:09:12.602Z,1754759352.602 [DAT](INFO): checking for new query: numPingsReceived=3, elapsed TxPingTime=3.014584
2025-08-09T17:09:12.676Z,1754759352.676 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-09T17:09:12.679Z,1754759352.679 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.80 m.
2025-08-09T17:09:12.681Z,1754759352.681 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 30.799999 m,
      nav range: 28.461380 m,
      bearing: 205.196165 deg,
      approach rate: -0.668272 m/s,
      LOS rate: -0.060741 deg/s,
      cmd heading: 206.879245 deg,
      new cmd heading: 206.794861 deg.

2025-08-09T17:09:12.682Z,1754759352.682 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.609251 target range: 30.799999 and range: 30.80 m.
2025-08-09T17:09:12.852Z,1754759352.852 [DAT](INFO): checking for new query: numPingsReceived=3, elapsed TxPingTime=3.264655
2025-08-09T17:09:13.026Z,1754759353.026 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.80 m.
2025-08-09T17:09:13.029Z,1754759353.029 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 30.799999 m,
      nav range: 28.236084 m,
      bearing: 205.175524 deg,
      approach rate: -0.647529 m/s,
      LOS rate: -0.059799 deg/s,
      cmd heading: 206.794864 deg,
      new cmd heading: 206.732447 deg.

2025-08-09T17:09:13.030Z,1754759353.030 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.608162 target range: 30.799999 and range: 30.80 m.
2025-08-09T17:09:13.109Z,1754759353.109 [DAT](INFO): DAT read: 17:09:11.5320 LVL= 27984, 32753, 25058, 32243, AGC= 60, IDX= 418,-0.28, 0.510,-1.187, 0.890, 0.324, PHS= 0.288,-1.466, 0.521, RAW= 156.2,   7.0, CAL= 155.6,   7.2, ROT= 354.4,  -7.2

2025-08-09T17:09:13.110Z,1754759353.110 [DAT](INFO): got valid direction response:
 17:09:11.5320 LVL= 27984, 32753, 25058, 32243, AGC= 60, IDX= 418,-0.28, 0.510,-1.187, 0.890, 0.324, PHS= 0.288,-1.466, 0.521, RAW= 156.2,   7.0, CAL= 155.6,   7.2, ROT= 354.4,  -7.2

2025-08-09T17:09:13.111Z,1754759353.111 [DAT](INFO): DAT read: Bearing 344.5,  -5.4 (Local)

2025-08-09T17:09:13.112Z,1754759353.112 [DAT](INFO): Local bearing/azimuth received:
 Bearing 344.5,  -5.4 (Local)

2025-08-09T17:09:13.113Z,1754759353.113 [DAT](INFO): DAT read: Range 11 to 50 : 28.5 m  (Round-trip  38.0 ms) speed  0.5 m/s

2025-08-09T17:09:13.114Z,1754759353.114 [DAT](INFO): DAT read: user:415>

2025-08-09T17:09:13.115Z,1754759353.115 [DAT](INFO): DAT read: Tx time:17:09:12.6398

2025-08-09T17:09:13.115Z,1754759353.115 [DAT](INFO): Ping request sent.
2025-08-09T17:09:13.115Z,1754759353.115 [DAT](INFO): transmitted an acoustic signal
2025-08-09T17:09:13.115Z,1754759353.115 [DAT](INFO): #Rx 4: Read range and direction messages.
2025-08-09T17:09:13.116Z,1754759353.116 [DAT](INFO): direction in FSK: [0.987380,-0.096814,0.125333]
2025-08-09T17:09:13.116Z,1754759353.116 [DAT](INFO): publishing transmit ping time
2025-08-09T17:09:13.117Z,1754759353.117 [DAT](INFO): publishing direction and range info
2025-08-09T17:09:13.133Z,1754759353.133 [DAT](INFO): publishing transmit ping time
2025-08-09T17:09:13.134Z,1754759353.134 [DAT](INFO): publishing direction and range info
2025-08-09T17:09:13.151Z,1754759353.151 [DAT](INFO): checking for new query: numPingsReceived=4, elapsed TxPingTime=0.036323
2025-08-09T17:09:13.357Z,1754759353.357 [DAT](INFO): checking for new query: numPingsReceived=4, elapsed TxPingTime=0.241696
2025-08-09T17:09:13.442Z,1754759353.442 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 28.500000 m,
      deltaT: 3.527751 s,
      deltaX: -2.299999 m,
      approachRate: -0.651973 m/s,
      rangeRepo size: 4

2025-08-09T17:09:13.444Z,1754759353.444 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 28.500000 m,
      bearing: 204.398801 deg,
      lat: 36.906113 deg,
      lon: -122.115907 deg,
      deltaT: 3.527751 s,
      deltaX: -2.299999 m,
      approachRate: -0.651973 m/s,
      posRepo size: 4

2025-08-09T17:09:13.445Z,1754759353.445 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 28.50 m.
2025-08-09T17:09:13.448Z,1754759353.448 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 28.500000 m,
      nav range: 27.819317 m,
      bearing: 204.398801 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.059799 deg/s,
      cmd heading: 206.732450 deg,
      new cmd heading: 206.657960 deg.

2025-08-09T17:09:13.449Z,1754759353.449 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.606862 target range: 28.500000 and range: 28.50 m.
2025-08-09T17:09:13.610Z,1754759353.610 [DAT](INFO): checking for new query: numPingsReceived=4, elapsed TxPingTime=0.494535
2025-08-09T17:09:13.860Z,1754759353.860 [DAT](INFO): checking for new query: numPingsReceived=4, elapsed TxPingTime=0.744360
2025-08-09T17:09:13.879Z,1754759353.879 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 28.50 m.
2025-08-09T17:09:13.882Z,1754759353.882 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 28.500000 m,
      nav range: 27.543940 m,
      bearing: 204.361008 deg,
      approach rate: -0.629176 m/s,
      LOS rate: -0.087211 deg/s,
      cmd heading: 206.657960 deg,
      new cmd heading: 206.543449 deg.

2025-08-09T17:09:13.884Z,1754759353.884 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.604863 target range: 28.500000 and range: 28.50 m.
2025-08-09T17:09:14.112Z,1754759354.112 [DAT](INFO): checking for new query: numPingsReceived=4, elapsed TxPingTime=0.996671
2025-08-09T17:09:14.243Z,1754759354.243 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 28.50 m.
2025-08-09T17:09:14.245Z,1754759354.245 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 28.500000 m,
      nav range: 27.313984 m,
      bearing: 204.328887 deg,
      approach rate: -0.632826 m/s,
      LOS rate: -0.089140 deg/s,
      cmd heading: 206.543445 deg,
      new cmd heading: 206.446270 deg.

2025-08-09T17:09:14.247Z,1754759354.247 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.603167 target range: 28.500000 and range: 28.50 m.
2025-08-09T17:09:14.364Z,1754759354.364 [DAT](INFO): checking for new query: numPingsReceived=4, elapsed TxPingTime=1.249419
2025-08-09T17:09:14.618Z,1754759354.618 [DAT](INFO): checking for new query: numPingsReceived=4, elapsed TxPingTime=1.501978
2025-08-09T17:09:14.682Z,1754759354.682 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-09T17:09:14.684Z,1754759354.684 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 28.50 m.
2025-08-09T17:09:14.688Z,1754759354.688 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 28.500000 m,
      nav range: 27.048391 m,
      bearing: 204.289228 deg,
      approach rate: -0.600917 m/s,
      LOS rate: -0.090610 deg/s,
      cmd heading: 206.446265 deg,
      new cmd heading: 206.326122 deg.

2025-08-09T17:09:14.688Z,1754759354.688 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.601070 target range: 28.500000 and range: 28.50 m.
2025-08-09T17:09:14.868Z,1754759354.868 [DAT](INFO): checking for new query: numPingsReceived=4, elapsed TxPingTime=1.752730
2025-08-09T17:09:15.111Z,1754759355.111 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 28.50 m.
2025-08-09T17:09:15.114Z,1754759355.114 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 28.500000 m,
      nav range: 26.791317 m,
      bearing: 204.250221 deg,
      approach rate: -0.602526 m/s,
      LOS rate: -0.092302 deg/s,
      cmd heading: 206.326122 deg,
      new cmd heading: 206.207977 deg.

2025-08-09T17:09:15.115Z,1754759355.115 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.599008 target range: 28.500000 and range: 28.50 m.
2025-08-09T17:09:15.119Z,1754759355.119 [DAT](INFO): checking for new query: numPingsReceived=4, elapsed TxPingTime=2.004474
2025-08-09T17:09:15.371Z,1754759355.371 [DAT](INFO): checking for new query: numPingsReceived=4, elapsed TxPingTime=2.256230
2025-08-09T17:09:15.479Z,1754759355.479 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 28.50 m.
2025-08-09T17:09:15.481Z,1754759355.481 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 28.500000 m,
      nav range: 26.584837 m,
      bearing: 204.218385 deg,
      approach rate: -0.568504 m/s,
      LOS rate: -0.088334 deg/s,
      cmd heading: 206.207974 deg,
      new cmd heading: 206.111725 deg.

2025-08-09T17:09:15.487Z,1754759355.487 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.597328 target range: 28.500000 and range: 28.50 m.
2025-08-09T17:09:15.627Z,1754759355.627 [DAT](INFO): checking for new query: numPingsReceived=4, elapsed TxPingTime=2.511746
2025-08-09T17:09:15.876Z,1754759355.876 [DAT](INFO): checking for new query: numPingsReceived=4, elapsed TxPingTime=2.761087
2025-08-09T17:09:15.908Z,1754759355.908 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 28.50 m.
2025-08-09T17:09:15.911Z,1754759355.911 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 28.500000 m,
      nav range: 26.320869 m,
      bearing: 204.168501 deg,
      approach rate: -0.608999 m/s,
      LOS rate: -0.116242 deg/s,
      cmd heading: 206.111723 deg,
      new cmd heading: 205.960569 deg.

2025-08-09T17:09:15.912Z,1754759355.912 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.594690 target range: 28.500000 and range: 28.50 m.
2025-08-09T17:09:16.128Z,1754759356.128 [DAT](INFO): DAT read: Rx Time:17:09:15.0790

2025-08-09T17:09:16.128Z,1754759356.128 [DAT](INFO): Rx dataTimestamp_ set to:1754759356.127882
2025-08-09T17:09:16.129Z,1754759356.129 [DAT](INFO): checking for new query: numPingsReceived=4, elapsed TxPingTime=3.014055
2025-08-09T17:09:16.278Z,1754759356.278 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 28.50 m.
2025-08-09T17:09:16.281Z,1754759356.281 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 28.500000 m,
      nav range: 26.105251 m,
      bearing: 204.127487 deg,
      approach rate: -0.582465 m/s,
      LOS rate: -0.111708 deg/s,
      cmd heading: 205.960570 deg,
      new cmd heading: 205.836514 deg.

2025-08-09T17:09:16.282Z,1754759356.282 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.592525 target range: 28.500000 and range: 28.50 m.
2025-08-09T17:09:16.380Z,1754759356.380 [DAT](INFO): checking for new query: numPingsReceived=4, elapsed TxPingTime=3.265129
2025-08-09T17:09:16.656Z,1754759356.656 [DAT](INFO): DAT read: 17:09:15.0790 LVL= 26928, 29233, 24722, 32755, AGC= 61, IDX= 403,-0.36, 1.418,-0.265, 1.783, 1.224, PHS= 0.297,-1.443, 0.515, RAW= 155.9,   6.8, CAL= 155.2,   7.0, ROT= 354.8,  -7.0

2025-08-09T17:09:16.657Z,1754759356.657 [DAT](INFO): got valid direction response:
 17:09:15.0790 LVL= 26928, 29233, 24722, 32755, AGC= 61, IDX= 403,-0.36, 1.418,-0.265, 1.783, 1.224, PHS= 0.297,-1.443, 0.515, RAW= 155.9,   6.8, CAL= 155.2,   7.0, ROT= 354.8,  -7.0

2025-08-09T17:09:16.663Z,1754759356.663 [DAT](INFO): DAT read: Bearing 344.4,  -5.6 (Local)

2025-08-09T17:09:16.663Z,1754759356.663 [DAT](INFO): Local bearing/azimuth received:
 Bearing 344.4,  -5.6 (Local)

2025-08-09T17:09:16.664Z,1754759356.664 [DAT](INFO): DAT read: Range 11 to 50 : 26.2 m  (Round-trip  35.0 ms) speed  0.5 m/s

2025-08-09T17:09:16.665Z,1754759356.665 [DAT](INFO): DAT read: user:416>

2025-08-09T17:09:16.666Z,1754759356.666 [DAT](INFO): DAT read: Tx time:17:09:16.1898

2025-08-09T17:09:16.666Z,1754759356.666 [DAT](INFO): Ping request sent.
2025-08-09T17:09:16.683Z,1754759356.683 [DAT](INFO): transmitted an acoustic signal
2025-08-09T17:09:16.683Z,1754759356.683 [DAT](INFO): #Rx 5: Read range and direction messages.
2025-08-09T17:09:16.684Z,1754759356.684 [DAT](INFO): direction in FSK: [0.988461,-0.089957,0.121869]
2025-08-09T17:09:16.684Z,1754759356.684 [DAT](INFO): publishing transmit ping time
2025-08-09T17:09:16.685Z,1754759356.685 [DAT](INFO): publishing direction and range info
2025-08-09T17:09:16.696Z,1754759356.696 [DAT](INFO): publishing transmit ping time
2025-08-09T17:09:16.696Z,1754759356.696 [DAT](INFO): publishing direction and range info
2025-08-09T17:09:16.703Z,1754759356.703 [DAT](INFO): checking for new query: numPingsReceived=5, elapsed TxPingTime=0.037240
2025-08-09T17:09:16.748Z,1754759356.748 [RDI_Pathfinder](ERROR): only read 3 of 4 data items for beam range. Device response is::RA,  0.00,  82.10,  70.56,  75.31,  :WI,-32768,-32768,-32768,-32768,V
2025-08-09T17:09:16.815Z,1754759356.815 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 26.200001 m,
      deltaT: 3.530209 s,
      deltaX: -2.299999 m,
      approachRate: -0.651519 m/s,
      rangeRepo size: 4

2025-08-09T17:09:16.817Z,1754759356.817 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 26.200001 m,
      bearing: 203.635659 deg,
      lat: 36.906110 deg,
      lon: -122.115907 deg,
      deltaT: 3.530209 s,
      deltaX: -2.299999 m,
      approachRate: -0.651519 m/s,
      posRepo size: 4

2025-08-09T17:09:16.822Z,1754759356.822 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 26.20 m.
2025-08-09T17:09:16.825Z,1754759356.825 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 26.200001 m,
      nav range: 26.147165 m,
      bearing: 203.635659 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.111708 deg/s,
      cmd heading: 205.836521 deg,
      new cmd heading: 205.656629 deg.

2025-08-09T17:09:16.826Z,1754759356.826 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.589385 target range: 26.200001 and range: 26.20 m.
2025-08-09T17:09:16.884Z,1754759356.884 [DAT](INFO): checking for new query: numPingsReceived=5, elapsed TxPingTime=0.217516
2025-08-09T17:09:17.135Z,1754759357.135 [DAT](INFO): checking for new query: numPingsReceived=5, elapsed TxPingTime=0.469181
2025-08-09T17:09:17.189Z,1754759357.189 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-09T17:09:17.191Z,1754759357.191 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 26.20 m.
2025-08-09T17:09:17.194Z,1754759357.194 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 26.200001 m,
      nav range: 25.908289 m,
      bearing: 203.585864 deg,
      approach rate: -0.634681 m/s,
      LOS rate: -0.133522 deg/s,
      cmd heading: 205.656627 deg,
      new cmd heading: 205.505865 deg.

2025-08-09T17:09:17.195Z,1754759357.195 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.586754 target range: 26.200001 and range: 26.20 m.
2025-08-09T17:09:17.387Z,1754759357.387 [DAT](INFO): checking for new query: numPingsReceived=5, elapsed TxPingTime=0.721208
2025-08-09T17:09:17.579Z,1754759357.579 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 26.20 m.
2025-08-09T17:09:17.582Z,1754759357.582 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 26.200001 m,
      nav range: 25.682205 m,
      bearing: 203.538374 deg,
      approach rate: -0.582906 m/s,
      LOS rate: -0.123521 deg/s,
      cmd heading: 205.505871 deg,
      new cmd heading: 205.362146 deg.

2025-08-09T17:09:17.583Z,1754759357.583 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.584246 target range: 26.200001 and range: 26.20 m.
2025-08-09T17:09:17.644Z,1754759357.644 [DAT](INFO): checking for new query: numPingsReceived=5, elapsed TxPingTime=0.976722
2025-08-09T17:09:17.892Z,1754759357.892 [DAT](INFO): checking for new query: numPingsReceived=5, elapsed TxPingTime=1.225535
2025-08-09T17:09:18.089Z,1754759358.089 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 26.20 m.
2025-08-09T17:09:18.100Z,1754759358.100 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 26.200001 m,
      nav range: 25.412844 m,
      bearing: 203.494000 deg,
      approach rate: -0.528379 m/s,
      LOS rate: -0.087967 deg/s,
      cmd heading: 205.362150 deg,
      new cmd heading: 205.227617 deg.

2025-08-09T17:09:18.101Z,1754759358.101 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.581898 target range: 26.200001 and range: 26.20 m.
2025-08-09T17:09:18.143Z,1754759358.143 [DAT](INFO): checking for new query: numPingsReceived=5, elapsed TxPingTime=1.477352
2025-08-09T17:09:18.395Z,1754759358.395 [DAT](INFO): checking for new query: numPingsReceived=5, elapsed TxPingTime=1.729218
2025-08-09T17:09:18.452Z,1754759358.452 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 26.20 m.
2025-08-09T17:09:18.454Z,1754759358.454 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 26.200001 m,
      nav range: 25.192707 m,
      bearing: 203.457028 deg,
      approach rate: -0.606858 m/s,
      LOS rate: -0.102810 deg/s,
      cmd heading: 205.227623 deg,
      new cmd heading: 205.115740 deg.

2025-08-09T17:09:18.455Z,1754759358.455 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.579945 target range: 26.200001 and range: 26.20 m.
2025-08-09T17:09:18.650Z,1754759358.650 [DAT](INFO): checking for new query: numPingsReceived=5, elapsed TxPingTime=1.983426
2025-08-09T17:09:18.864Z,1754759358.864 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 26.20 m.
2025-08-09T17:09:18.872Z,1754759358.872 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 26.200001 m,
      nav range: 24.963293 m,
      bearing: 203.417375 deg,
      approach rate: -0.556010 m/s,
      LOS rate: -0.096987 deg/s,
      cmd heading: 205.115744 deg,
      new cmd heading: 204.995691 deg.

2025-08-09T17:09:18.874Z,1754759358.874 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.577850 target range: 26.200001 and range: 26.20 m.
2025-08-09T17:09:18.901Z,1754759358.901 [DAT](INFO): checking for new query: numPingsReceived=5, elapsed TxPingTime=2.234374
2025-08-09T17:09:19.151Z,1754759359.151 [DAT](INFO): checking for new query: numPingsReceived=5, elapsed TxPingTime=2.485146
2025-08-09T17:09:19.225Z,1754759359.225 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-09T17:09:19.228Z,1754759359.228 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 26.20 m.
2025-08-09T17:09:19.247Z,1754759359.247 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 26.200001 m,
      nav range: 24.743462 m,
      bearing: 203.378092 deg,
      approach rate: -0.604650 m/s,
      LOS rate: -0.109009 deg/s,
      cmd heading: 204.995697 deg,
      new cmd heading: 204.876801 deg.

2025-08-09T17:09:19.248Z,1754759359.248 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.575775 target range: 26.200001 and range: 26.20 m.
2025-08-09T17:09:19.408Z,1754759359.408 [DAT](INFO): checking for new query: numPingsReceived=5, elapsed TxPingTime=2.742214
2025-08-09T17:09:19.649Z,1754759359.649 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 26.20 m.
2025-08-09T17:09:19.658Z,1754759359.658 [DAT](INFO): DAT read: Rx Time:17:09:18.6261

2025-08-09T17:09:19.659Z,1754759359.659 [DAT](INFO): Rx dataTimestamp_ set to:1754759359.658597
2025-08-09T17:09:19.661Z,1754759359.661 [DAT](INFO): checking for new query: numPingsReceived=5, elapsed TxPingTime=2.994376
2025-08-09T17:09:19.681Z,1754759359.681 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 26.200001 m,
      nav range: 24.513268 m,
      bearing: 203.335993 deg,
      approach rate: -0.548002 m/s,
      LOS rate: -0.101161 deg/s,
      cmd heading: 204.876797 deg,
      new cmd heading: 204.749316 deg.

2025-08-09T17:09:19.685Z,1754759359.685 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.573550 target range: 26.200001 and range: 26.20 m.
2025-08-09T17:09:19.907Z,1754759359.907 [DAT](INFO): checking for new query: numPingsReceived=5, elapsed TxPingTime=3.241141
2025-08-09T17:09:20.162Z,1754759360.162 [DAT](INFO): checking for new query: numPingsReceived=5, elapsed TxPingTime=3.495906
2025-08-09T17:09:20.199Z,1754759360.199 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 26.20 m.
2025-08-09T17:09:20.208Z,1754759360.208 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 26.200001 m,
      nav range: 24.225292 m,
      bearing: 203.289889 deg,
      approach rate: -0.521977 m/s,
      LOS rate: -0.084561 deg/s,
      cmd heading: 204.749318 deg,
      new cmd heading: 204.609361 deg.

2025-08-09T17:09:20.209Z,1754759360.209 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.571107 target range: 26.200001 and range: 26.20 m.
2025-08-09T17:09:20.419Z,1754759360.419 [DAT](INFO): DAT read: 17:09:18.6261 LVL= 26480, 32753, 23794, 32755, AGC= 61, IDX= 407,-0.13, 1.030,-0.633, 1.458, 0.917, PHS= 0.214,-1.505, 0.497, RAW= 157.5,   8.5, CAL= 157.1,   8.9, ROT= 352.9,  -8.9

2025-08-09T17:09:20.420Z,1754759360.420 [DAT](INFO): got valid direction response:
 17:09:18.6261 LVL= 26480, 32753, 23794, 32755, AGC= 61, IDX= 407,-0.13, 1.030,-0.633, 1.458, 0.917, PHS= 0.214,-1.505, 0.497, RAW= 157.5,   8.5, CAL= 157.1,   8.9, ROT= 352.9,  -8.9

2025-08-09T17:09:20.421Z,1754759360.421 [DAT](INFO): DAT read: Bearing 346.0,  -8.0 (Local)

2025-08-09T17:09:20.421Z,1754759360.421 [DAT](INFO): Local bearing/azimuth received:
 Bearing 346.0,  -8.0 (Local)

2025-08-09T17:09:20.423Z,1754759360.423 [DAT](INFO): DAT read: Range 11 to 50 : 24.2 m  (Round-trip  32.3 ms) speed  0.4 m/s

2025-08-09T17:09:20.423Z,1754759360.423 [DAT](INFO): DAT read: user:417>

2025-08-09T17:09:20.424Z,1754759360.424 [DAT](INFO): DAT read: Tx time:17:09:19.7397

2025-08-09T17:09:20.424Z,1754759360.424 [DAT](INFO): Ping request sent.
2025-08-09T17:09:20.424Z,1754759360.424 [DAT](INFO): transmitted an acoustic signal
2025-08-09T17:09:20.425Z,1754759360.425 [DAT](INFO): #Rx 6: Read range and direction messages.
2025-08-09T17:09:20.425Z,1754759360.425 [DAT](INFO): direction in FSK: [0.980384,-0.122113,0.154710]
2025-08-09T17:09:20.426Z,1754759360.426 [DAT](INFO): publishing transmit ping time
2025-08-09T17:09:20.427Z,1754759360.427 [DAT](INFO): publishing direction and range info
2025-08-09T17:09:20.430Z,1754759360.430 [DAT](INFO): publishing transmit ping time
2025-08-09T17:09:20.430Z,1754759360.430 [DAT](INFO): publishing direction and range info
2025-08-09T17:09:20.451Z,1754759360.451 [DAT](INFO): checking for new query: numPingsReceived=6, elapsed TxPingTime=0.026687
2025-08-09T17:09:20.576Z,1754759360.576 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 24.200001 m,
      deltaT: 3.777535 s,
      deltaX: -2.000000 m,
      approachRate: -0.529446 m/s,
      rangeRepo size: 4

2025-08-09T17:09:20.583Z,1754759360.583 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 24.200001 m,
      bearing: 201.968649 deg,
      lat: 36.906109 deg,
      lon: -122.115900 deg,
      deltaT: 3.777535 s,
      deltaX: -2.000000 m,
      approachRate: -0.529446 m/s,
      posRepo size: 4

2025-08-09T17:09:20.583Z,1754759360.583 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.20 m.
2025-08-09T17:09:20.590Z,1754759360.590 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 24.200001 m,
      nav range: 23.825239 m,
      bearing: 201.968649 deg,
      approach rate: 0.000439 m/s,
      LOS rate: -0.084561 deg/s,
      cmd heading: 204.609354 deg,
      new cmd heading: 204.513892 deg.

2025-08-09T17:09:20.591Z,1754759360.591 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.569441 target range: 24.200001 and range: 24.20 m.
2025-08-09T17:09:20.666Z,1754759360.666 [DAT](INFO): checking for new query: numPingsReceived=6, elapsed TxPingTime=0.241435
2025-08-09T17:09:20.915Z,1754759360.915 [DAT](INFO): checking for new query: numPingsReceived=6, elapsed TxPingTime=0.491035
2025-08-09T17:09:21.038Z,1754759361.038 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.20 m.
2025-08-09T17:09:21.045Z,1754759361.045 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 24.200001 m,
      nav range: 23.557047 m,
      bearing: 201.924952 deg,
      approach rate: -0.580626 m/s,
      LOS rate: -0.095680 deg/s,
      cmd heading: 204.513895 deg,
      new cmd heading: 204.381311 deg.

2025-08-09T17:09:21.046Z,1754759361.046 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.567127 target range: 24.200001 and range: 24.20 m.
2025-08-09T17:09:21.167Z,1754759361.167 [DAT](INFO): checking for new query: numPingsReceived=6, elapsed TxPingTime=0.743035
2025-08-09T17:09:21.397Z,1754759361.397 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-09T17:09:21.399Z,1754759361.399 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.20 m.
2025-08-09T17:09:21.402Z,1754759361.402 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 24.200001 m,
      nav range: 23.346659 m,
      bearing: 201.890213 deg,
      approach rate: -0.582945 m/s,
      LOS rate: -0.097122 deg/s,
      cmd heading: 204.381308 deg,
      new cmd heading: 204.276153 deg.

2025-08-09T17:09:21.404Z,1754759361.404 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.565291 target range: 24.200001 and range: 24.20 m.
2025-08-09T17:09:21.419Z,1754759361.419 [DAT](INFO): checking for new query: numPingsReceived=6, elapsed TxPingTime=0.995024
2025-08-09T17:09:21.673Z,1754759361.673 [DAT](INFO): checking for new query: numPingsReceived=6, elapsed TxPingTime=1.248092
2025-08-09T17:09:21.846Z,1754759361.846 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.20 m.
2025-08-09T17:09:21.867Z,1754759361.867 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 24.200001 m,
      nav range: 23.108278 m,
      bearing: 201.851158 deg,
      approach rate: -0.533805 m/s,
      LOS rate: -0.088358 deg/s,
      cmd heading: 204.276150 deg,
      new cmd heading: 204.157777 deg.

2025-08-09T17:09:21.869Z,1754759361.869 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.563226 target range: 24.200001 and range: 24.20 m.
2025-08-09T17:09:21.923Z,1754759361.923 [DAT](INFO): checking for new query: numPingsReceived=6, elapsed TxPingTime=1.499149
2025-08-09T17:09:22.176Z,1754759362.176 [DAT](INFO): checking for new query: numPingsReceived=6, elapsed TxPingTime=1.751370
2025-08-09T17:09:22.226Z,1754759362.226 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.20 m.
2025-08-09T17:09:22.229Z,1754759362.229 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 24.200001 m,
      nav range: 22.886896 m,
      bearing: 201.814433 deg,
      approach rate: -0.581014 m/s,
      LOS rate: -0.097317 deg/s,
      cmd heading: 204.157783 deg,
      new cmd heading: 204.046542 deg.

2025-08-09T17:09:22.230Z,1754759362.230 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.561284 target range: 24.200001 and range: 24.20 m.
2025-08-09T17:09:22.427Z,1754759362.427 [DAT](INFO): checking for new query: numPingsReceived=6, elapsed TxPingTime=2.003029
2025-08-09T17:09:22.627Z,1754759362.627 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.20 m.
2025-08-09T17:09:22.630Z,1754759362.630 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 24.200001 m,
      nav range: 22.663559 m,
      bearing: 201.777242 deg,
      approach rate: -0.556715 m/s,
      LOS rate: -0.093620 deg/s,
      cmd heading: 204.046547 deg,
      new cmd heading: 203.933874 deg.

2025-08-09T17:09:22.631Z,1754759362.631 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.559318 target range: 24.200001 and range: 24.20 m.
2025-08-09T17:09:22.685Z,1754759362.685 [DAT](INFO): checking for new query: numPingsReceived=6, elapsed TxPingTime=2.259679
2025-08-09T17:09:22.931Z,1754759362.931 [DAT](INFO): checking for new query: numPingsReceived=6, elapsed TxPingTime=2.507099
2025-08-09T17:09:23.049Z,1754759363.049 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.20 m.
2025-08-09T17:09:23.052Z,1754759363.052 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 24.200001 m,
      nav range: 22.428989 m,
      bearing: 201.736490 deg,
      approach rate: -0.556793 m/s,
      LOS rate: -0.097744 deg/s,
      cmd heading: 203.933876 deg,
      new cmd heading: 203.810342 deg.

2025-08-09T17:09:23.053Z,1754759363.053 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.557162 target range: 24.200001 and range: 24.20 m.
2025-08-09T17:09:23.184Z,1754759363.184 [DAT](INFO): DAT read: Rx Time:17:09:22.1737

2025-08-09T17:09:23.184Z,1754759363.184 [DAT](INFO): Rx dataTimestamp_ set to:1754759363.183719
2025-08-09T17:09:23.185Z,1754759363.185 [DAT](INFO): checking for new query: numPingsReceived=6, elapsed TxPingTime=2.760260
2025-08-09T17:09:23.435Z,1754759363.435 [DAT](INFO): checking for new query: numPingsReceived=6, elapsed TxPingTime=3.011123
2025-08-09T17:09:23.439Z,1754759363.439 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-09T17:09:23.441Z,1754759363.441 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.20 m.
2025-08-09T17:09:23.445Z,1754759363.445 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 24.200001 m,
      nav range: 22.211355 m,
      bearing: 201.698783 deg,
      approach rate: -0.554204 m/s,
      LOS rate: -0.096960 deg/s,
      cmd heading: 203.810345 deg,
      new cmd heading: 203.696117 deg.

2025-08-09T17:09:23.446Z,1754759363.446 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.555168 target range: 24.200001 and range: 24.20 m.
2025-08-09T17:09:23.690Z,1754759363.690 [DAT](INFO): checking for new query: numPingsReceived=6, elapsed TxPingTime=3.265281
2025-08-09T17:09:23.883Z,1754759363.883 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.20 m.
2025-08-09T17:09:23.885Z,1754759363.885 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 24.200001 m,
      nav range: 21.959776 m,
      bearing: 201.649374 deg,
      approach rate: -0.570409 m/s,
      LOS rate: -0.113310 deg/s,
      cmd heading: 203.696117 deg,
      new cmd heading: 203.546190 deg.

2025-08-09T17:09:23.902Z,1754759363.902 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.552551 target range: 24.200001 and range: 24.20 m.
2025-08-09T17:09:23.947Z,1754759363.947 [DAT](INFO): DAT read: 17:09:22.1737 LVL= 25840, 32753, 23682, 32755, AGC= 60, IDX= 414,-0.33, 1.112,-0.418, 1.490, 1.025, PHS= 0.189,-1.398, 0.421, RAW= 156.7,   9.2, CAL= 156.5,   9.8, ROT= 353.5,  -9.8

2025-08-09T17:09:23.948Z,1754759363.948 [DAT](INFO): got valid direction response:
 17:09:22.1737 LVL= 25840, 32753, 23682, 32755, AGC= 60, IDX= 414,-0.33, 1.112,-0.418, 1.490, 1.025, PHS= 0.189,-1.398, 0.421, RAW= 156.7,   9.2, CAL= 156.5,   9.8, ROT= 353.5,  -9.8

2025-08-09T17:09:23.950Z,1754759363.950 [DAT](INFO): DAT read: Bearing 346.6,  -7.8 (Local)

2025-08-09T17:09:23.950Z,1754759363.950 [DAT](INFO): Local bearing/azimuth received:
 Bearing 346.6,  -7.8 (Local)

2025-08-09T17:09:23.952Z,1754759363.952 [DAT](INFO): DAT read: Range 11 to 50 : 22.3 m  (Round-trip  29.8 ms) speed  0.4 m/s

2025-08-09T17:09:23.953Z,1754759363.953 [DAT](INFO): DAT read: user:418>

2025-08-09T17:09:23.975Z,1754759363.975 [DAT](INFO): DAT read: Tx time:17:09:23.2897

2025-08-09T17:09:23.975Z,1754759363.975 [DAT](INFO): Ping request sent.
2025-08-09T17:09:23.975Z,1754759363.975 [DAT](INFO): transmitted an acoustic signal
2025-08-09T17:09:23.975Z,1754759363.975 [DAT](INFO): #Rx 7: Read range and direction messages.
2025-08-09T17:09:23.976Z,1754759363.976 [DAT](INFO): direction in FSK: [0.979074,-0.111551,0.170209]
2025-08-09T17:09:23.977Z,1754759363.977 [DAT](INFO): publishing transmit ping time
2025-08-09T17:09:23.977Z,1754759363.977 [DAT](INFO): publishing direction and range info
2025-08-09T17:09:23.997Z,1754759363.997 [DAT](INFO): publishing transmit ping time
2025-08-09T17:09:23.997Z,1754759363.997 [DAT](INFO): publishing direction and range info
2025-08-09T17:09:24.006Z,1754759364.006 [DAT](INFO): checking for new query: numPingsReceived=7, elapsed TxPingTime=0.030704
2025-08-09T17:09:24.191Z,1754759364.191 [DAT](INFO): checking for new query: numPingsReceived=7, elapsed TxPingTime=0.216199
2025-08-09T17:09:24.250Z,1754759364.250 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 22.299999 m,
      deltaT: 3.528160 s,
      deltaX: -1.900002 m,
      approachRate: -0.538525 m/s,
      rangeRepo size: 4

2025-08-09T17:09:24.252Z,1754759364.252 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 22.299999 m,
      bearing: 201.198769 deg,
      lat: 36.906107 deg,
      lon: -122.115899 deg,
      deltaT: 3.528160 s,
      deltaX: -1.900002 m,
      approachRate: -0.538525 m/s,
      posRepo size: 4

2025-08-09T17:09:24.253Z,1754759364.253 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 22.30 m.
2025-08-09T17:09:24.256Z,1754759364.256 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 22.299999 m,
      nav range: 21.932129 m,
      bearing: 201.198769 deg,
      approach rate: 396381086577970095516192604160 m/s,
      LOS rate: -0.113310 deg/s,
      cmd heading: 203.546194 deg,
      new cmd heading: 203.421562 deg.

2025-08-09T17:09:24.257Z,1754759364.257 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.550376 target range: 22.299999 and range: 22.30 m.
2025-08-09T17:09:24.444Z,1754759364.444 [DAT](INFO): checking for new query: numPingsReceived=7, elapsed TxPingTime=0.468637
2025-08-09T17:09:24.641Z,1754759364.641 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 22.30 m.
2025-08-09T17:09:24.644Z,1754759364.644 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 22.299999 m,
      nav range: 21.707108 m,
      bearing: 201.150363 deg,
      approach rate: -0.574441 m/s,
      LOS rate: -0.124853 deg/s,
      cmd heading: 203.421557 deg,
      new cmd heading: 203.274834 deg.

2025-08-09T17:09:24.645Z,1754759364.645 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.547815 target range: 22.299999 and range: 22.30 m.
2025-08-09T17:09:24.698Z,1754759364.698 [DAT](INFO): checking for new query: numPingsReceived=7, elapsed TxPingTime=0.722551
2025-08-09T17:09:24.947Z,1754759364.947 [DAT](INFO): checking for new query: numPingsReceived=7, elapsed TxPingTime=0.972202
2025-08-09T17:09:25.076Z,1754759365.076 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 22.30 m.
2025-08-09T17:09:25.078Z,1754759365.078 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 22.299999 m,
      nav range: 21.452879 m,
      bearing: 201.082906 deg,
      approach rate: -0.584740 m/s,
      LOS rate: -0.156993 deg/s,
      cmd heading: 203.274831 deg,
      new cmd heading: 203.070063 deg.

2025-08-09T17:09:25.079Z,1754759365.079 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.544241 target range: 22.299999 and range: 22.30 m.
2025-08-09T17:09:25.199Z,1754759365.199 [DAT](INFO): checking for new query: numPingsReceived=7, elapsed TxPingTime=1.224164
2025-08-09T17:09:25.446Z,1754759365.446 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-09T17:09:25.448Z,1754759365.448 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 22.30 m.
2025-08-09T17:09:25.452Z,1754759365.452 [DAT](INFO): checking for new query: numPingsReceived=7, elapsed TxPingTime=1.476597
2025-08-09T17:09:25.453Z,1754759365.453 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 22.299999 m,
      nav range: 21.235111 m,
      bearing: 201.024532 deg,
      approach rate: -0.584431 m/s,
      LOS rate: -0.158268 deg/s,
      cmd heading: 203.070062 deg,
      new cmd heading: 202.893143 deg.

2025-08-09T17:09:25.455Z,1754759365.455 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.541153 target range: 22.299999 and range: 22.30 m.
2025-08-09T17:09:25.703Z,1754759365.703 [DAT](INFO): checking for new query: numPingsReceived=7, elapsed TxPingTime=1.728238
2025-08-09T17:09:25.904Z,1754759365.904 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 22.30 m.
2025-08-09T17:09:25.907Z,1754759365.907 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 22.299999 m,
      nav range: 20.964867 m,
      bearing: 200.943859 deg,
      approach rate: -0.593067 m/s,
      LOS rate: -0.179324 deg/s,
      cmd heading: 202.893146 deg,
      new cmd heading: 202.648009 deg.

2025-08-09T17:09:25.908Z,1754759365.908 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.536875 target range: 22.299999 and range: 22.30 m.
2025-08-09T17:09:25.955Z,1754759365.955 [DAT](INFO): checking for new query: numPingsReceived=7, elapsed TxPingTime=1.980316
2025-08-09T17:09:26.208Z,1754759366.208 [DAT](INFO): checking for new query: numPingsReceived=7, elapsed TxPingTime=2.232216
2025-08-09T17:09:26.278Z,1754759366.278 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 22.30 m.
2025-08-09T17:09:26.298Z,1754759366.298 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 22.299999 m,
      nav range: 20.747765 m,
      bearing: 200.879497 deg,
      approach rate: -0.580218 m/s,
      LOS rate: -0.173809 deg/s,
      cmd heading: 202.648011 deg,
      new cmd heading: 202.452907 deg.

2025-08-09T17:09:26.314Z,1754759366.314 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.533470 target range: 22.299999 and range: 22.30 m.
2025-08-09T17:09:26.460Z,1754759366.460 [DAT](INFO): checking for new query: numPingsReceived=7, elapsed TxPingTime=2.484663
2025-08-09T17:09:26.672Z,1754759366.672 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 22.30 m.
2025-08-09T17:09:26.692Z,1754759366.692 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 22.299999 m,
      nav range: 20.509315 m,
      bearing: 200.809213 deg,
      approach rate: -0.604428 m/s,
      LOS rate: -0.180231 deg/s,
      cmd heading: 202.452913 deg,
      new cmd heading: 202.239609 deg.

2025-08-09T17:09:26.693Z,1754759366.693 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.529747 target range: 22.299999 and range: 22.30 m.
2025-08-09T17:09:26.712Z,1754759366.712 [DAT](INFO): DAT read: Rx Time:17:09:25.7209

2025-08-09T17:09:26.712Z,1754759366.712 [DAT](INFO): Rx dataTimestamp_ set to:1754759366.712032
2025-08-09T17:09:26.713Z,1754759366.713 [DAT](INFO): checking for new query: numPingsReceived=7, elapsed TxPingTime=2.737796
2025-08-09T17:09:26.963Z,1754759366.963 [DAT](INFO): checking for new query: numPingsReceived=7, elapsed TxPingTime=2.988142
2025-08-09T17:09:27.107Z,1754759367.107 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 22.30 m.
2025-08-09T17:09:27.110Z,1754759367.110 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 22.299999 m,
      nav range: 20.251871 m,
      bearing: 200.731340 deg,
      approach rate: -0.592611 m/s,
      LOS rate: -0.181535 deg/s,
      cmd heading: 202.239606 deg,
      new cmd heading: 202.003018 deg.

2025-08-09T17:09:27.111Z,1754759367.111 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.525618 target range: 22.299999 and range: 22.30 m.
2025-08-09T17:09:27.215Z,1754759367.215 [DAT](INFO): checking for new query: numPingsReceived=7, elapsed TxPingTime=3.240208
2025-08-09T17:09:27.473Z,1754759367.473 [DAT](INFO): DAT read: 17:09:25.7209 LVL= 25456, 32753, 23074, 31123, AGC= 59, IDX= 418,-0.27, 0.790,-0.887, 1.245, 0.671, PHS= 0.221,-1.513, 0.529, RAW= 158.0,   8.0, CAL= 157.6,   8.3, ROT= 352.4,  -8.3

2025-08-09T17:09:27.474Z,1754759367.474 [DAT](INFO): got valid direction response:
 17:09:25.7209 LVL= 25456, 32753, 23074, 31123, AGC= 59, IDX= 418,-0.27, 0.790,-0.887, 1.245, 0.671, PHS= 0.221,-1.513, 0.529, RAW= 158.0,   8.0, CAL= 157.6,   8.3, ROT= 352.4,  -8.3

2025-08-09T17:09:27.475Z,1754759367.475 [DAT](INFO): DAT read: Bearing 344.1,  -8.9 (Local)

2025-08-09T17:09:27.476Z,1754759367.476 [DAT](INFO): Local bearing/azimuth received:
 Bearing 344.1,  -8.9 (Local)

2025-08-09T17:09:27.477Z,1754759367.477 [DAT](INFO): DAT read: Range 11 to 50 : 20.3 m  (Round-trip  27.1 ms) speed  0.4 m/s

2025-08-09T17:09:27.478Z,1754759367.478 [DAT](INFO): DAT read: user:419>

2025-08-09T17:09:27.478Z,1754759367.478 [DAT](INFO): DAT read: Tx time:17:09:26.8397

2025-08-09T17:09:27.479Z,1754759367.479 [DAT](INFO): Ping request sent.
2025-08-09T17:09:27.479Z,1754759367.479 [DAT](INFO): transmitted an acoustic signal
2025-08-09T17:09:27.479Z,1754759367.479 [DAT](INFO): #Rx 8: Read range and direction messages.
2025-08-09T17:09:27.480Z,1754759367.480 [DAT](INFO): direction in FSK: [0.980833,-0.130871,0.144356]
2025-08-09T17:09:27.480Z,1754759367.480 [DAT](INFO): publishing transmit ping time
2025-08-09T17:09:27.481Z,1754759367.481 [DAT](INFO): publishing direction and range info
2025-08-09T17:09:27.484Z,1754759367.484 [DAT](INFO): publishing transmit ping time
2025-08-09T17:09:27.484Z,1754759367.484 [DAT](INFO): publishing direction and range info
2025-08-09T17:09:27.487Z,1754759367.487 [DAT](INFO): checking for new query: numPingsReceived=8, elapsed TxPingTime=0.008257
2025-08-09T17:09:27.535Z,1754759367.535 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 20.299999 m,
      deltaT: 3.527967 s,
      deltaX: -2.000000 m,
      approachRate: -0.566899 m/s,
      rangeRepo size: 4

2025-08-09T17:09:27.537Z,1754759367.537 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 20.299999 m,
      bearing: 200.294795 deg,
      lat: 36.906107 deg,
      lon: -122.115898 deg,
      deltaT: 3.527967 s,
      deltaX: -2.000000 m,
      approachRate: -0.566899 m/s,
      posRepo size: 4

2025-08-09T17:09:27.538Z,1754759367.538 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 20.30 m.
2025-08-09T17:09:27.557Z,1754759367.557 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 20.299999 m,
      nav range: 20.001238 m,
      bearing: 200.294795 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.181535 deg/s,
      cmd heading: 202.003022 deg,
      new cmd heading: 201.774779 deg.

2025-08-09T17:09:27.558Z,1754759367.558 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.521634 target range: 20.299999 and range: 20.30 m.
2025-08-09T17:09:27.720Z,1754759367.720 [DAT](INFO): checking for new query: numPingsReceived=8, elapsed TxPingTime=0.240833
2025-08-09T17:09:27.930Z,1754759367.930 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-09T17:09:27.932Z,1754759367.932 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 20.30 m.
2025-08-09T17:09:27.935Z,1754759367.935 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 20.299999 m,
      nav range: 19.743235 m,
      bearing: 200.203811 deg,
      approach rate: -0.635429 m/s,
      LOS rate: -0.227010 deg/s,
      cmd heading: 201.774785 deg,
      new cmd heading: 201.498269 deg.

2025-08-09T17:09:27.936Z,1754759367.936 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.516808 target range: 20.299999 and range: 20.30 m.
2025-08-09T17:09:27.974Z,1754759367.974 [DAT](INFO): checking for new query: numPingsReceived=8, elapsed TxPingTime=0.495189
2025-08-09T17:09:28.223Z,1754759368.223 [DAT](INFO): checking for new query: numPingsReceived=8, elapsed TxPingTime=0.744365
2025-08-09T17:09:28.298Z,1754759368.298 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 20.30 m.
2025-08-09T17:09:28.301Z,1754759368.301 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 20.299999 m,
      nav range: 19.522974 m,
      bearing: 200.128598 deg,
      approach rate: -0.602101 m/s,
      LOS rate: -0.207921 deg/s,
      cmd heading: 201.498271 deg,
      new cmd heading: 201.270087 deg.

2025-08-09T17:09:28.302Z,1754759368.302 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.512826 target range: 20.299999 and range: 20.30 m.
2025-08-09T17:09:28.475Z,1754759368.475 [DAT](INFO): checking for new query: numPingsReceived=8, elapsed TxPingTime=0.996379
2025-08-09T17:09:28.692Z,1754759368.692 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 20.30 m.
2025-08-09T17:09:28.695Z,1754759368.695 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 20.299999 m,
      nav range: 19.286535 m,
      bearing: 200.047961 deg,
      approach rate: -0.600284 m/s,
      LOS rate: -0.207235 deg/s,
      cmd heading: 201.270088 deg,
      new cmd heading: 201.025214 deg.

2025-08-09T17:09:28.696Z,1754759368.696 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.508552 target range: 20.299999 and range: 20.30 m.
2025-08-09T17:09:28.728Z,1754759368.728 [DAT](INFO): checking for new query: numPingsReceived=8, elapsed TxPingTime=1.248879
2025-08-09T17:09:28.979Z,1754759368.979 [DAT](INFO): checking for new query: numPingsReceived=8, elapsed TxPingTime=1.500370
2025-08-09T17:09:29.118Z,1754759369.118 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 20.30 m.
2025-08-09T17:09:29.121Z,1754759369.121 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 20.299999 m,
      nav range: 19.021164 m,
      bearing: 199.961180 deg,
      approach rate: -0.622235 m/s,
      LOS rate: -0.206321 deg/s,
      cmd heading: 201.025212 deg,
      new cmd heading: 200.761239 deg.

2025-08-09T17:09:29.122Z,1754759369.122 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.503945 target range: 20.299999 and range: 20.30 m.
2025-08-09T17:09:29.232Z,1754759369.232 [DAT](INFO): checking for new query: numPingsReceived=8, elapsed TxPingTime=1.753076
2025-08-09T17:09:29.483Z,1754759369.483 [DAT](INFO): checking for new query: numPingsReceived=8, elapsed TxPingTime=2.004517
2025-08-09T17:09:29.571Z,1754759369.571 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 20.30 m.
2025-08-09T17:09:29.573Z,1754759369.573 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 20.299999 m,
      nav range: 18.740076 m,
      bearing: 199.869448 deg,
      approach rate: -0.621641 m/s,
      LOS rate: -0.205914 deg/s,
      cmd heading: 200.761239 deg,
      new cmd heading: 200.481917 deg.

2025-08-09T17:09:29.595Z,1754759369.595 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.499069 target range: 20.299999 and range: 20.30 m.
2025-08-09T17:09:29.735Z,1754759369.735 [DAT](INFO): checking for new query: numPingsReceived=8, elapsed TxPingTime=2.256309
2025-08-09T17:09:29.987Z,1754759369.987 [DAT](INFO): checking for new query: numPingsReceived=8, elapsed TxPingTime=2.508447
2025-08-09T17:09:30.016Z,1754759370.016 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-09T17:09:30.022Z,1754759370.022 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 20.30 m.
2025-08-09T17:09:30.025Z,1754759370.025 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 20.299999 m,
      nav range: 18.471537 m,
      bearing: 199.804510 deg,
      approach rate: -0.599742 m/s,
      LOS rate: -0.147138 deg/s,
      cmd heading: 200.481912 deg,
      new cmd heading: 200.284266 deg.

2025-08-09T17:09:30.030Z,1754759370.030 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.495620 target range: 20.299999 and range: 20.30 m.
2025-08-09T17:09:30.240Z,1754759370.240 [DAT](INFO): DAT read: Rx Time:17:09:29.2680

2025-08-09T17:09:30.241Z,1754759370.241 [DAT](INFO): Rx dataTimestamp_ set to:1754759370.240604
2025-08-09T17:09:30.242Z,1754759370.242 [DAT](INFO): checking for new query: numPingsReceived=8, elapsed TxPingTime=2.762875
2025-08-09T17:09:30.396Z,1754759370.396 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 20.30 m.
2025-08-09T17:09:30.398Z,1754759370.398 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 20.299999 m,
      nav range: 18.230841 m,
      bearing: 199.749723 deg,
      approach rate: -0.637739 m/s,
      LOS rate: -0.147076 deg/s,
      cmd heading: 200.284260 deg,
      new cmd heading: 200.117732 deg.

2025-08-09T17:09:30.399Z,1754759370.399 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.492713 target range: 20.299999 and range: 20.30 m.
2025-08-09T17:09:30.492Z,1754759370.492 [DAT](INFO): checking for new query: numPingsReceived=8, elapsed TxPingTime=3.013009
2025-08-09T17:09:30.743Z,1754759370.743 [DAT](INFO): checking for new query: numPingsReceived=8, elapsed TxPingTime=3.264289
2025-08-09T17:09:30.781Z,1754759370.781 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 20.30 m.
2025-08-09T17:09:30.813Z,1754759370.813 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 20.299999 m,
      nav range: 17.999655 m,
      bearing: 199.697849 deg,
      approach rate: -0.601967 m/s,
      LOS rate: -0.136807 deg/s,
      cmd heading: 200.117726 deg,
      new cmd heading: 199.960104 deg.

2025-08-09T17:09:30.827Z,1754759370.827 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.489962 target range: 20.299999 and range: 20.30 m.
2025-08-09T17:09:31.001Z,1754759371.001 [DAT](INFO): DAT read: 17:09:29.2680 LVL= 27056, 32753, 22754, 32755, AGC= 59, IDX= 404, 0.11,-1.691, 3.001,-1.283,-1.800, PHS= 0.211,-1.437, 0.473, RAW= 157.3,   8.4, CAL= 156.9,   8.9, ROT= 353.1,  -8.9

2025-08-09T17:09:31.002Z,1754759371.002 [DAT](INFO): got valid direction response:
 17:09:29.2680 LVL= 27056, 32753, 22754, 32755, AGC= 59, IDX= 404, 0.11,-1.691, 3.001,-1.283,-1.800, PHS= 0.211,-1.437, 0.473, RAW= 157.3,   8.4, CAL= 156.9,   8.9, ROT= 353.1,  -8.9

2025-08-09T17:09:31.003Z,1754759371.003 [DAT](INFO): DAT read: Bearing 343.0,  -8.1 (Local)

2025-08-09T17:09:31.004Z,1754759371.004 [DAT](INFO): Local bearing/azimuth received:
 Bearing 343.0,  -8.1 (Local)

2025-08-09T17:09:31.005Z,1754759371.005 [DAT](INFO): DAT read: Range 11 to 50 : 18.1 m  (Round-trip  24.2 ms) speed  0.5 m/s

2025-08-09T17:09:31.006Z,1754759371.006 [DAT](INFO): DAT read: user:420>

2025-08-09T17:09:31.007Z,1754759371.007 [DAT](INFO): DAT read: Tx time:17:09:30.3897

2025-08-09T17:09:31.007Z,1754759371.007 [DAT](INFO): Ping request sent.
2025-08-09T17:09:31.007Z,1754759371.007 [DAT](INFO): transmitted an acoustic signal
2025-08-09T17:09:31.007Z,1754759371.007 [DAT](INFO): #Rx 9: Read range and direction messages.
2025-08-09T17:09:31.008Z,1754759371.008 [DAT](INFO): direction in FSK: [0.980804,-0.118690,0.154710]
2025-08-09T17:09:31.008Z,1754759371.008 [DAT](INFO): publishing transmit ping time
2025-08-09T17:09:31.009Z,1754759371.009 [DAT](INFO): publishing direction and range info
2025-08-09T17:09:31.027Z,1754759371.027 [DAT](INFO): publishing transmit ping time
2025-08-09T17:09:31.027Z,1754759371.027 [DAT](INFO): publishing direction and range info
2025-08-09T17:09:31.035Z,1754759371.035 [DAT](INFO): checking for new query: numPingsReceived=9, elapsed TxPingTime=0.027668
2025-08-09T17:09:31.247Z,1754759371.247 [DAT](INFO): checking for new query: numPingsReceived=9, elapsed TxPingTime=0.240385
2025-08-09T17:09:31.260Z,1754759371.260 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 18.100000 m,
      deltaT: 3.527981 s,
      deltaX: -2.199999 m,
      approachRate: -0.623586 m/s,
      rangeRepo size: 4

2025-08-09T17:09:31.262Z,1754759371.262 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 18.100000 m,
      bearing: 198.905175 deg,
      lat: 36.906107 deg,
      lon: -122.115895 deg,
      deltaT: 3.527981 s,
      deltaX: -2.199999 m,
      approachRate: -0.623586 m/s,
      posRepo size: 4

2025-08-09T17:09:31.263Z,1754759371.263 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.10 m.
2025-08-09T17:09:31.266Z,1754759371.266 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 18.100000 m,
      nav range: 17.633448 m,
      bearing: 198.905175 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.136807 deg/s,
      cmd heading: 199.960099 deg,
      new cmd heading: 199.763138 deg.

2025-08-09T17:09:31.283Z,1754759371.283 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.486525 target range: 18.100000 and range: 18.10 m.
2025-08-09T17:09:31.501Z,1754759371.501 [DAT](INFO): checking for new query: numPingsReceived=9, elapsed TxPingTime=0.493459
2025-08-09T17:09:31.610Z,1754759371.610 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.10 m.
2025-08-09T17:09:31.613Z,1754759371.613 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 18.100000 m,
      nav range: 17.421532 m,
      bearing: 198.843099 deg,
      approach rate: -0.604976 m/s,
      LOS rate: -0.179370 deg/s,
      cmd heading: 199.763144 deg,
      new cmd heading: 199.574651 deg.

2025-08-09T17:09:31.614Z,1754759371.614 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.483235 target range: 18.100000 and range: 18.10 m.
2025-08-09T17:09:31.752Z,1754759371.752 [DAT](INFO): checking for new query: numPingsReceived=9, elapsed TxPingTime=0.744677
2025-08-09T17:09:32.003Z,1754759372.003 [DAT](INFO): checking for new query: numPingsReceived=9, elapsed TxPingTime=0.996232
2025-08-09T17:09:32.044Z,1754759372.044 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-09T17:09:32.047Z,1754759372.047 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.10 m.
2025-08-09T17:09:32.049Z,1754759372.049 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 18.100000 m,
      nav range: 17.161427 m,
      bearing: 198.763765 deg,
      approach rate: -0.595730 m/s,
      LOS rate: -0.184455 deg/s,
      cmd heading: 199.574644 deg,
      new cmd heading: 199.333037 deg.

2025-08-09T17:09:32.051Z,1754759372.051 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.479018 target range: 18.100000 and range: 18.10 m.
2025-08-09T17:09:32.257Z,1754759372.257 [DAT](INFO): checking for new query: numPingsReceived=9, elapsed TxPingTime=1.249610
2025-08-09T17:09:32.420Z,1754759372.420 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.10 m.
2025-08-09T17:09:32.427Z,1754759372.427 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 18.100000 m,
      nav range: 16.944277 m,
      bearing: 198.699590 deg,
      approach rate: -0.580596 m/s,
      LOS rate: -0.173784 deg/s,
      cmd heading: 199.333033 deg,
      new cmd heading: 199.138042 deg.

2025-08-09T17:09:32.428Z,1754759372.428 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.475615 target range: 18.100000 and range: 18.10 m.
2025-08-09T17:09:32.508Z,1754759372.508 [DAT](INFO): checking for new query: numPingsReceived=9, elapsed TxPingTime=1.501229
2025-08-09T17:09:32.759Z,1754759372.759 [DAT](INFO): checking for new query: numPingsReceived=9, elapsed TxPingTime=1.752284
2025-08-09T17:09:32.890Z,1754759372.890 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.10 m.
2025-08-09T17:09:32.898Z,1754759372.898 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 18.100000 m,
      nav range: 16.694834 m,
      bearing: 198.625789 deg,
      approach rate: -0.532727 m/s,
      LOS rate: -0.159969 deg/s,
      cmd heading: 199.138045 deg,
      new cmd heading: 198.913335 deg.

2025-08-09T17:09:32.903Z,1754759372.903 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.471693 target range: 18.100000 and range: 18.10 m.
2025-08-09T17:09:33.011Z,1754759373.011 [DAT](INFO): checking for new query: numPingsReceived=9, elapsed TxPingTime=2.004307
2025-08-09T17:09:33.245Z,1754759373.245 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.10 m.
2025-08-09T17:09:33.263Z,1754759373.263 [DAT](INFO): checking for new query: numPingsReceived=9, elapsed TxPingTime=2.256415
2025-08-09T17:09:33.266Z,1754759373.266 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 18.100000 m,
      nav range: 16.438997 m,
      bearing: 198.559884 deg,
      approach rate: -0.717467 m/s,
      LOS rate: -0.187700 deg/s,
      cmd heading: 198.913332 deg,
      new cmd heading: 198.712541 deg.

2025-08-09T17:09:33.272Z,1754759373.272 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.468188 target range: 18.100000 and range: 18.10 m.
2025-08-09T17:09:33.517Z,1754759373.517 [DAT](INFO): checking for new query: numPingsReceived=9, elapsed TxPingTime=2.509619
2025-08-09T17:09:33.639Z,1754759373.639 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.10 m.
2025-08-09T17:09:33.641Z,1754759373.641 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 18.100000 m,
      nav range: 16.206808 m,
      bearing: 198.500168 deg,
      approach rate: -0.596493 m/s,
      LOS rate: -0.155608 deg/s,
      cmd heading: 198.712538 deg,
      new cmd heading: 198.530823 deg.

2025-08-09T17:09:33.643Z,1754759373.643 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.465017 target range: 18.100000 and range: 18.10 m.
2025-08-09T17:09:33.767Z,1754759373.767 [DAT](INFO): checking for new query: numPingsReceived=9, elapsed TxPingTime=2.760493
2025-08-09T17:09:34.019Z,1754759374.019 [DAT](INFO): DAT read: Rx Time:17:09:32.8150

2025-08-09T17:09:34.020Z,1754759374.020 [DAT](INFO): Rx dataTimestamp_ set to:1754759374.019599
2025-08-09T17:09:34.020Z,1754759374.020 [DAT](INFO): checking for new query: numPingsReceived=9, elapsed TxPingTime=3.013483
2025-08-09T17:09:34.079Z,1754759374.079 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-09T17:09:34.081Z,1754759374.081 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.10 m.
2025-08-09T17:09:34.088Z,1754759374.088 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 18.100000 m,
      nav range: 15.944013 m,
      bearing: 198.425356 deg,
      approach rate: -0.588822 m/s,
      LOS rate: -0.170388 deg/s,
      cmd heading: 198.530827 deg,
      new cmd heading: 198.302692 deg.

2025-08-09T17:09:34.089Z,1754759374.089 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.461035 target range: 18.100000 and range: 18.10 m.
2025-08-09T17:09:34.271Z,1754759374.271 [DAT](INFO): checking for new query: numPingsReceived=9, elapsed TxPingTime=3.264237
2025-08-09T17:09:34.453Z,1754759374.453 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.10 m.
2025-08-09T17:09:34.456Z,1754759374.456 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 18.100000 m,
      nav range: 15.722752 m,
      bearing: 198.363003 deg,
      approach rate: -0.594973 m/s,
      LOS rate: -0.170027 deg/s,
      cmd heading: 198.302685 deg,
      new cmd heading: 198.112995 deg.

2025-08-09T17:09:34.457Z,1754759374.457 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.457724 target range: 18.100000 and range: 18.10 m.
2025-08-09T17:09:34.533Z,1754759374.533 [DAT](INFO): DAT read: 17:09:32.8150 LVL= 24944, 32753, 19682, 32755, AGC= 58, IDX= 406, 0.34,-1.244,-2.808,-0.808,-1.343, PHS= 0.201,-1.420, 0.491, RAW= 158.1,   8.2, CAL= 157.7,   8.5, ROT= 352.3,  -8.5

2025-08-09T17:09:34.535Z,1754759374.535 [DAT](INFO): got valid direction response:
 17:09:32.8150 LVL= 24944, 32753, 19682, 32755, AGC= 58, IDX= 406, 0.34,-1.244,-2.808,-0.808,-1.343, PHS= 0.201,-1.420, 0.491, RAW= 158.1,   8.2, CAL= 157.7,   8.5, ROT= 352.3,  -8.5

2025-08-09T17:09:34.536Z,1754759374.536 [DAT](INFO): DAT read: Bearing 341.2,  -8.9 (Local)

2025-08-09T17:09:34.536Z,1754759374.536 [DAT](INFO): Local bearing/azimuth received:
 Bearing 341.2,  -8.9 (Local)

2025-08-09T17:09:34.540Z,1754759374.540 [DAT](INFO): DAT read: Range 11 to 50 : 15.9 m  (Round-trip  21.2 ms) speed  0.4 m/s

2025-08-09T17:09:34.541Z,1754759374.541 [DAT](INFO): DAT read: user:421>

2025-08-09T17:09:34.546Z,1754759374.546 [DAT](INFO): DAT read: Tx time:17:09:33.9396

2025-08-09T17:09:34.547Z,1754759374.547 [DAT](INFO): Ping request sent.
2025-08-09T17:09:34.547Z,1754759374.547 [DAT](INFO): transmitted an acoustic signal
2025-08-09T17:09:34.547Z,1754759374.547 [DAT](INFO): #Rx 10: Read range and direction messages.
2025-08-09T17:09:34.548Z,1754759374.548 [DAT](INFO): direction in FSK: [0.980098,-0.132515,0.147809]
2025-08-09T17:09:34.548Z,1754759374.548 [DAT](INFO): publishing transmit ping time
2025-08-09T17:09:34.549Z,1754759374.549 [DAT](INFO): publishing direction and range info
2025-08-09T17:09:34.560Z,1754759374.560 [DAT](INFO): publishing transmit ping time
2025-08-09T17:09:34.561Z,1754759374.561 [DAT](INFO): publishing direction and range info
2025-08-09T17:09:34.564Z,1754759374.564 [DAT](INFO): checking for new query: numPingsReceived=10, elapsed TxPingTime=0.017177
2025-08-09T17:09:34.775Z,1754759374.775 [DAT](INFO): checking for new query: numPingsReceived=10, elapsed TxPingTime=0.228503
2025-08-09T17:09:34.936Z,1754759374.936 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 15.900000 m,
      deltaT: 3.528812 s,
      deltaX: -2.200001 m,
      approachRate: -0.623439 m/s,
      rangeRepo size: 4

2025-08-09T17:09:34.938Z,1754759374.938 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 15.900000 m,
      bearing: 197.612242 deg,
      lat: 36.906105 deg,
      lon: -122.115894 deg,
      deltaT: 3.528812 s,
      deltaX: -2.200001 m,
      approachRate: -0.623439 m/s,
      posRepo size: 4

2025-08-09T17:09:34.950Z,1754759374.950 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.90 m.
2025-08-09T17:09:34.953Z,1754759374.953 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 15.900000 m,
      nav range: 15.650169 m,
      bearing: 197.612242 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.170027 deg/s,
      cmd heading: 198.112997 deg,
      new cmd heading: 197.866848 deg.

2025-08-09T17:09:34.954Z,1754759374.954 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.453428 target range: 15.900000 and range: 15.90 m.
2025-08-09T17:09:35.028Z,1754759375.028 [DAT](INFO): checking for new query: numPingsReceived=10, elapsed TxPingTime=0.480857
2025-08-09T17:09:35.280Z,1754759375.280 [DAT](INFO): checking for new query: numPingsReceived=10, elapsed TxPingTime=0.732799
2025-08-09T17:09:35.353Z,1754759375.353 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.90 m.
2025-08-09T17:09:35.356Z,1754759375.356 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 15.900000 m,
      nav range: 15.371400 m,
      bearing: 197.518688 deg,
      approach rate: -0.666925 m/s,
      LOS rate: -0.227877 deg/s,
      cmd heading: 197.866851 deg,
      new cmd heading: 197.581101 deg.

2025-08-09T17:09:35.357Z,1754759375.357 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.448441 target range: 15.900000 and range: 15.90 m.
2025-08-09T17:09:35.531Z,1754759375.531 [DAT](INFO): checking for new query: numPingsReceived=10, elapsed TxPingTime=0.984471
2025-08-09T17:09:35.700Z,1754759375.700 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.90 m.
2025-08-09T17:09:35.703Z,1754759375.703 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 15.900000 m,
      nav range: 15.166360 m,
      bearing: 197.450429 deg,
      approach rate: -0.591756 m/s,
      LOS rate: -0.199661 deg/s,
      cmd heading: 197.581103 deg,
      new cmd heading: 197.373560 deg.

2025-08-09T17:09:35.704Z,1754759375.704 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.444818 target range: 15.900000 and range: 15.90 m.
2025-08-09T17:09:35.783Z,1754759375.783 [DAT](INFO): checking for new query: numPingsReceived=10, elapsed TxPingTime=1.236586
2025-08-09T17:09:36.035Z,1754759376.035 [DAT](INFO): checking for new query: numPingsReceived=10, elapsed TxPingTime=1.488376
2025-08-09T17:09:36.126Z,1754759376.126 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-09T17:09:36.128Z,1754759376.128 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.90 m.
2025-08-09T17:09:36.131Z,1754759376.131 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 15.900000 m,
      nav range: 14.921150 m,
      bearing: 197.356148 deg,
      approach rate: -0.572485 m/s,
      LOS rate: -0.223733 deg/s,
      cmd heading: 197.373561 deg,
      new cmd heading: 197.086072 deg.

2025-08-09T17:09:36.132Z,1754759376.132 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.439801 target range: 15.900000 and range: 15.90 m.
2025-08-09T17:09:36.287Z,1754759376.287 [DAT](INFO): checking for new query: numPingsReceived=10, elapsed TxPingTime=1.740499
2025-08-09T17:09:36.531Z,1754759376.531 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.90 m.
2025-08-09T17:09:36.533Z,1754759376.533 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 15.900000 m,
      nav range: 14.690241 m,
      bearing: 197.264473 deg,
      approach rate: -0.573977 m/s,
      LOS rate: -0.231462 deg/s,
      cmd heading: 197.086078 deg,
      new cmd heading: 196.806731 deg.

2025-08-09T17:09:36.539Z,1754759376.539 [DAT](INFO): checking for new query: numPingsReceived=10, elapsed TxPingTime=1.992513
2025-08-09T17:09:36.555Z,1754759376.555 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.434926 target range: 15.900000 and range: 15.90 m.
2025-08-09T17:09:36.793Z,1754759376.793 [DAT](INFO): checking for new query: numPingsReceived=10, elapsed TxPingTime=2.246032
2025-08-09T17:09:36.985Z,1754759376.985 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.90 m.
2025-08-09T17:09:36.992Z,1754759376.992 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 15.900000 m,
      nav range: 14.434419 m,
      bearing: 197.168518 deg,
      approach rate: -0.563128 m/s,
      LOS rate: -0.214963 deg/s,
      cmd heading: 196.806737 deg,
      new cmd heading: 196.513774 deg.

2025-08-09T17:09:36.993Z,1754759376.993 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.429812 target range: 15.900000 and range: 15.90 m.
2025-08-09T17:09:37.043Z,1754759377.043 [DAT](INFO): checking for new query: numPingsReceived=10, elapsed TxPingTime=2.496575
2025-08-09T17:09:37.297Z,1754759377.297 [DAT](INFO): checking for new query: numPingsReceived=10, elapsed TxPingTime=2.749784
2025-08-09T17:09:37.409Z,1754759377.409 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.90 m.
2025-08-09T17:09:37.412Z,1754759377.412 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 15.900000 m,
      nav range: 14.191436 m,
      bearing: 197.064252 deg,
      approach rate: -0.572623 m/s,
      LOS rate: -0.249924 deg/s,
      cmd heading: 196.513777 deg,
      new cmd heading: 196.195627 deg.

2025-08-09T17:09:37.413Z,1754759377.413 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.424260 target range: 15.900000 and range: 15.90 m.
2025-08-09T17:09:37.548Z,1754759377.548 [DAT](INFO): DAT read: Rx Time:17:09:36.3622

2025-08-09T17:09:37.548Z,1754759377.548 [DAT](INFO): Rx dataTimestamp_ set to:1754759377.547838
2025-08-09T17:09:37.549Z,1754759377.549 [DAT](INFO): checking for new query: numPingsReceived=10, elapsed TxPingTime=3.001861
2025-08-09T17:09:37.756Z,1754759377.756 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.90 m.
2025-08-09T17:09:37.759Z,1754759377.759 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 15.900000 m,
      nav range: 13.996698 m,
      bearing: 196.986262 deg,
      approach rate: -0.561566 m/s,
      LOS rate: -0.228031 deg/s,
      cmd heading: 196.195627 deg,
      new cmd heading: 195.958401 deg.

2025-08-09T17:09:37.760Z,1754759377.760 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.420119 target range: 15.900000 and range: 15.90 m.
2025-08-09T17:09:37.801Z,1754759377.801 [DAT](INFO): checking for new query: numPingsReceived=10, elapsed TxPingTime=3.253840
2025-08-09T17:09:38.057Z,1754759378.057 [DAT](INFO): DAT read: 17:09:36.3622 LVL= 25424, 30113, 21714, 32755, AGC= 56, IDX= 409, 0.24, 2.158, 0.487, 2.591, 2.017, PHS= 0.243,-1.485, 0.530, RAW= 157.6,   7.6, CAL= 157.1,   7.8, ROT= 352.9,  -7.8

2025-08-09T17:09:38.058Z,1754759378.058 [DAT](INFO): got valid direction response:
 17:09:36.3622 LVL= 25424, 30113, 21714, 32755, AGC= 56, IDX= 409, 0.24, 2.158, 0.487, 2.591, 2.017, PHS= 0.243,-1.485, 0.530, RAW= 157.6,   7.6, CAL= 157.1,   7.8, ROT= 352.9,  -7.8

2025-08-09T17:09:38.059Z,1754759378.059 [DAT](INFO): DAT read: Bearing 338.6,  -8.3 (Local)

2025-08-09T17:09:38.059Z,1754759378.059 [DAT](INFO): Local bearing/azimuth received:
 Bearing 338.6,  -8.3 (Local)

2025-08-09T17:09:38.061Z,1754759378.061 [DAT](INFO): DAT read: Range 11 to 50 : 13.8 m  (Round-trip  18.4 ms) speed  0.4 m/s

2025-08-09T17:09:38.061Z,1754759378.061 [DAT](INFO): DAT read: user:422>

2025-08-09T17:09:38.063Z,1754759378.063 [DAT](INFO): DAT read: Tx time:17:09:37.4896

2025-08-09T17:09:38.063Z,1754759378.063 [DAT](INFO): Ping request sent.
2025-08-09T17:09:38.063Z,1754759378.063 [DAT](INFO): transmitted an acoustic signal
2025-08-09T17:09:38.064Z,1754759378.064 [DAT](INFO): #Rx 11: Read range and direction messages.
2025-08-09T17:09:38.065Z,1754759378.065 [DAT](INFO): direction in FSK: [0.983151,-0.122458,0.135716]
2025-08-09T17:09:38.065Z,1754759378.065 [DAT](INFO): publishing transmit ping time
2025-08-09T17:09:38.065Z,1754759378.065 [DAT](INFO): publishing direction and range info
2025-08-09T17:09:38.068Z,1754759378.068 [DAT](INFO): publishing transmit ping time
2025-08-09T17:09:38.068Z,1754759378.068 [DAT](INFO): publishing direction and range info
2025-08-09T17:09:38.072Z,1754759378.072 [DAT](INFO): checking for new query: numPingsReceived=11, elapsed TxPingTime=0.008441
2025-08-09T17:09:38.233Z,1754759378.233 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 13.800000 m,
      deltaT: 3.527053 s,
      deltaX: -2.099999 m,
      approachRate: -0.595398 m/s,
      rangeRepo size: 4

2025-08-09T17:09:38.240Z,1754759378.240 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 13.800000 m,
      bearing: 196.441582 deg,
      lat: 36.906104 deg,
      lon: -122.115893 deg,
      deltaT: 3.527053 s,
      deltaX: -2.099999 m,
      approachRate: -0.595398 m/s,
      posRepo size: 4

2025-08-09T17:09:38.241Z,1754759378.241 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 13.80 m.
2025-08-09T17:09:38.247Z,1754759378.247 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 13.800000 m,
      nav range: 13.773517 m,
      bearing: 196.441582 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.228031 deg/s,
      cmd heading: 195.958400 deg,
      new cmd heading: 195.632291 deg.

2025-08-09T17:09:38.248Z,1754759378.248 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.414428 target range: 13.800000 and range: 13.80 m.
2025-08-09T17:09:38.304Z,1754759378.304 [DAT](INFO): checking for new query: numPingsReceived=11, elapsed TxPingTime=0.240419
2025-08-09T17:09:38.555Z,1754759378.555 [DAT](INFO): checking for new query: numPingsReceived=11, elapsed TxPingTime=0.492008
2025-08-09T17:09:38.577Z,1754759378.577 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-09T17:09:38.580Z,1754759378.580 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 13.80 m.
2025-08-09T17:09:38.583Z,1754759378.583 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 13.800000 m,
      nav range: 13.568252 m,
      bearing: 196.345196 deg,
      approach rate: -0.591435 m/s,
      LOS rate: -0.281919 deg/s,
      cmd heading: 195.632286 deg,
      new cmd heading: 195.338758 deg.

2025-08-09T17:09:38.584Z,1754759378.584 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.409304 target range: 13.800000 and range: 13.80 m.
2025-08-09T17:09:38.808Z,1754759378.808 [DAT](INFO): checking for new query: numPingsReceived=11, elapsed TxPingTime=0.744665
2025-08-09T17:09:39.052Z,1754759379.052 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 13.80 m.
2025-08-09T17:09:39.059Z,1754759379.059 [DAT](INFO): checking for new query: numPingsReceived=11, elapsed TxPingTime=0.995972
2025-08-09T17:09:39.061Z,1754759379.061 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 13.800000 m,
      nav range: 13.314118 m,
      bearing: 196.222520 deg,
      approach rate: -0.537442 m/s,
      LOS rate: -0.264388 deg/s,
      cmd heading: 195.338752 deg,
      new cmd heading: 194.963705 deg.

2025-08-09T17:09:39.062Z,1754759379.062 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.402759 target range: 13.800000 and range: 13.80 m.
2025-08-09T17:09:39.312Z,1754759379.312 [DAT](INFO): checking for new query: numPingsReceived=11, elapsed TxPingTime=1.248788
2025-08-09T17:09:39.413Z,1754759379.413 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 13.80 m.
2025-08-09T17:09:39.420Z,1754759379.420 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 13.800000 m,
      nav range: 13.113707 m,
      bearing: 196.126685 deg,
      approach rate: -0.556241 m/s,
      LOS rate: -0.270054 deg/s,
      cmd heading: 194.963706 deg,
      new cmd heading: 194.671810 deg.

2025-08-09T17:09:39.427Z,1754759379.427 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.397664 target range: 13.800000 and range: 13.80 m.
2025-08-09T17:09:39.563Z,1754759379.563 [DAT](INFO): checking for new query: numPingsReceived=11, elapsed TxPingTime=1.499873
2025-08-09T17:09:39.816Z,1754759379.816 [DAT](INFO): checking for new query: numPingsReceived=11, elapsed TxPingTime=1.752580
2025-08-09T17:09:39.828Z,1754759379.828 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 13.80 m.
2025-08-09T17:09:39.832Z,1754759379.832 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 13.800000 m,
      nav range: 12.880676 m,
      bearing: 196.017267 deg,
      approach rate: -0.561106 m/s,
      LOS rate: -0.268230 deg/s,
      cmd heading: 194.671811 deg,
      new cmd heading: 194.337623 deg.

2025-08-09T17:09:39.833Z,1754759379.833 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.391831 target range: 13.800000 and range: 13.80 m.
2025-08-09T17:09:40.068Z,1754759380.068 [DAT](INFO): checking for new query: numPingsReceived=11, elapsed TxPingTime=2.004569
2025-08-09T17:09:40.258Z,1754759380.258 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 13.80 m.
2025-08-09T17:09:40.261Z,1754759380.261 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 13.800000 m,
      nav range: 12.646487 m,
      bearing: 195.927344 deg,
      approach rate: -0.549763 m/s,
      LOS rate: -0.215005 deg/s,
      cmd heading: 194.337624 deg,
      new cmd heading: 194.062861 deg.

2025-08-09T17:09:40.262Z,1754759380.262 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.387036 target range: 13.800000 and range: 13.80 m.
2025-08-09T17:09:40.320Z,1754759380.320 [DAT](INFO): checking for new query: numPingsReceived=11, elapsed TxPingTime=2.256955
2025-08-09T17:09:40.571Z,1754759380.571 [DAT](INFO): checking for new query: numPingsReceived=11, elapsed TxPingTime=2.507823
2025-08-09T17:09:40.616Z,1754759380.616 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-09T17:09:40.619Z,1754759380.619 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 13.80 m.
2025-08-09T17:09:40.624Z,1754759380.624 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 13.800000 m,
      nav range: 12.435159 m,
      bearing: 195.848463 deg,
      approach rate: -0.579979 m/s,
      LOS rate: -0.220164 deg/s,
      cmd heading: 194.062859 deg,
      new cmd heading: 193.822195 deg.

2025-08-09T17:09:40.627Z,1754759380.627 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.382835 target range: 13.800000 and range: 13.80 m.
2025-08-09T17:09:40.824Z,1754759380.824 [DAT](INFO): checking for new query: numPingsReceived=11, elapsed TxPingTime=2.760564
2025-08-09T17:09:41.075Z,1754759381.075 [DAT](INFO): DAT read: Rx Time:17:09:39.9096

2025-08-09T17:09:41.076Z,1754759381.076 [DAT](INFO): Rx dataTimestamp_ set to:1754759381.075594
2025-08-09T17:09:41.076Z,1754759381.076 [DAT](INFO): checking for new query: numPingsReceived=11, elapsed TxPingTime=3.013049
2025-08-09T17:09:41.122Z,1754759381.122 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 13.80 m.
2025-08-09T17:09:41.126Z,1754759381.126 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 13.800000 m,
      nav range: 12.155788 m,
      bearing: 195.775988 deg,
      approach rate: -0.555215 m/s,
      LOS rate: -0.147345 deg/s,
      cmd heading: 193.822191 deg,
      new cmd heading: 193.599771 deg.

2025-08-09T17:09:41.127Z,1754759381.127 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.378953 target range: 13.800000 and range: 13.80 m.
2025-08-09T17:09:41.328Z,1754759381.328 [DAT](INFO): checking for new query: numPingsReceived=11, elapsed TxPingTime=3.264525
2025-08-09T17:09:41.476Z,1754759381.476 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 13.80 m.
2025-08-09T17:09:41.480Z,1754759381.480 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 13.800000 m,
      nav range: 11.958896 m,
      bearing: 195.722872 deg,
      approach rate: -0.555711 m/s,
      LOS rate: -0.152382 deg/s,
      cmd heading: 193.599772 deg,
      new cmd heading: 193.437803 deg.

2025-08-09T17:09:41.484Z,1754759381.484 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.376127 target range: 13.800000 and range: 13.80 m.
2025-08-09T17:09:41.587Z,1754759381.587 [DAT](INFO): DAT read: 17:09:39.9096 LVL= 27616, 32753, 23394, 32755, AGC= 55, IDX= 415, 0.24,-2.922, 1.685,-2.505,-3.092, PHS= 0.272,-1.461, 0.543, RAW= 157.2,   6.9, CAL= 156.6,   7.0, ROT= 353.4,  -7.0

2025-08-09T17:09:41.588Z,1754759381.588 [DAT](INFO): got valid direction response:
 17:09:39.9096 LVL= 27616, 32753, 23394, 32755, AGC= 55, IDX= 415, 0.24,-2.922, 1.685,-2.505,-3.092, PHS= 0.272,-1.461, 0.543, RAW= 157.2,   6.9, CAL= 156.6,   7.0, ROT= 353.4,  -7.0

2025-08-09T17:09:41.589Z,1754759381.589 [DAT](INFO): DAT read: Bearing 335.3,  -7.8 (Local)

2025-08-09T17:09:41.589Z,1754759381.589 [DAT](INFO): Local bearing/azimuth received:
 Bearing 335.3,  -7.8 (Local)

2025-08-09T17:09:41.596Z,1754759381.596 [DAT](INFO): DAT read: Range 11 to 50 : 11.9 m  (Round-trip  15.9 ms) speed  0.4 m/s

2025-08-09T17:09:41.596Z,1754759381.596 [DAT](INFO): DAT read: user:423>

2025-08-09T17:09:41.597Z,1754759381.597 [DAT](INFO): DAT read: Tx time:17:09:41.0396

2025-08-09T17:09:41.597Z,1754759381.597 [DAT](INFO): Ping request sent.
2025-08-09T17:09:41.597Z,1754759381.597 [DAT](INFO): transmitted an acoustic signal
2025-08-09T17:09:41.598Z,1754759381.598 [DAT](INFO): #Rx 12: Read range and direction messages.
2025-08-09T17:09:41.599Z,1754759381.599 [DAT](INFO): direction in FSK: [0.985968,-0.114080,0.121869]
2025-08-09T17:09:41.599Z,1754759381.599 [DAT](INFO): publishing transmit ping time
2025-08-09T17:09:41.599Z,1754759381.599 [DAT](INFO): publishing direction and range info
2025-08-09T17:09:41.639Z,1754759381.639 [DAT](INFO): publishing transmit ping time
2025-08-09T17:09:41.639Z,1754759381.639 [DAT](INFO): publishing direction and range info
2025-08-09T17:09:41.642Z,1754759381.642 [DAT](INFO): checking for new query: numPingsReceived=12, elapsed TxPingTime=0.044547
2025-08-09T17:09:41.831Z,1754759381.831 [DAT](INFO): checking for new query: numPingsReceived=12, elapsed TxPingTime=0.233941
2025-08-09T17:09:41.856Z,1754759381.856 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 11.900000 m,
      deltaT: 3.528745 s,
      deltaX: -1.900001 m,
      approachRate: -0.538435 m/s,
      rangeRepo size: 4

2025-08-09T17:09:41.860Z,1754759381.860 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 11.900000 m,
      bearing: 194.028894 deg,
      lat: 36.906104 deg,
      lon: -122.115889 deg,
      deltaT: 3.528745 s,
      deltaX: -1.900001 m,
      approachRate: -0.538435 m/s,
      posRepo size: 4

2025-08-09T17:09:41.861Z,1754759381.861 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.90 m.
2025-08-09T17:09:41.865Z,1754759381.865 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 11.900000 m,
      nav range: 11.689138 m,
      bearing: 194.028894 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.152382 deg/s,
      cmd heading: 193.437801 deg,
      new cmd heading: 193.264308 deg.

2025-08-09T17:09:41.887Z,1754759381.887 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.373099 target range: 11.900000 and range: 11.90 m.
2025-08-09T17:09:42.088Z,1754759382.088 [DAT](INFO): checking for new query: numPingsReceived=12, elapsed TxPingTime=0.489641
2025-08-09T17:09:42.258Z,1754759382.258 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.90 m.
2025-08-09T17:09:42.261Z,1754759382.261 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 11.900000 m,
      nav range: 11.462803 m,
      bearing: 193.980449 deg,
      approach rate: -0.562526 m/s,
      LOS rate: -0.122782 deg/s,
      cmd heading: 193.264314 deg,
      new cmd heading: 193.116109 deg.

2025-08-09T17:09:42.262Z,1754759382.262 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.370512 target range: 11.900000 and range: 11.90 m.
2025-08-09T17:09:42.336Z,1754759382.336 [DAT](INFO): checking for new query: numPingsReceived=12, elapsed TxPingTime=0.738769
2025-08-09T17:09:42.587Z,1754759382.587 [DAT](INFO): checking for new query: numPingsReceived=12, elapsed TxPingTime=0.989819
2025-08-09T17:09:42.680Z,1754759382.680 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-09T17:09:42.682Z,1754759382.682 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.90 m.
2025-08-09T17:09:42.685Z,1754759382.685 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 11.900000 m,
      nav range: 11.229701 m,
      bearing: 193.933736 deg,
      approach rate: -0.549195 m/s,
      LOS rate: -0.112342 deg/s,
      cmd heading: 193.116113 deg,
      new cmd heading: 192.973065 deg.

2025-08-09T17:09:42.686Z,1754759382.686 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.368015 target range: 11.900000 and range: 11.90 m.
2025-08-09T17:09:42.840Z,1754759382.840 [DAT](INFO): checking for new query: numPingsReceived=12, elapsed TxPingTime=1.242577
2025-08-09T17:09:43.091Z,1754759383.091 [DAT](INFO): checking for new query: numPingsReceived=12, elapsed TxPingTime=1.494053
2025-08-09T17:09:43.112Z,1754759383.112 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.90 m.
2025-08-09T17:09:43.119Z,1754759383.119 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 11.900000 m,
      nav range: 10.996686 m,
      bearing: 193.932184 deg,
      approach rate: -0.542511 m/s,
      LOS rate: -0.003689 deg/s,
      cmd heading: 192.973061 deg,
      new cmd heading: 192.968308 deg.

2025-08-09T17:09:43.120Z,1754759383.120 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.367932 target range: 11.900000 and range: 11.90 m.
2025-08-09T17:09:43.345Z,1754759383.345 [DAT](INFO): checking for new query: numPingsReceived=12, elapsed TxPingTime=1.747234
2025-08-09T17:09:43.458Z,1754759383.458 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.90 m.
2025-08-09T17:09:43.461Z,1754759383.461 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 11.900000 m,
      nav range: 10.790734 m,
      bearing: 193.930757 deg,
      approach rate: -0.594442 m/s,
      LOS rate: -0.004198 deg/s,
      cmd heading: 192.968308 deg,
      new cmd heading: 192.963945 deg.

2025-08-09T17:09:43.462Z,1754759383.462 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.367856 target range: 11.900000 and range: 11.90 m.
2025-08-09T17:09:43.596Z,1754759383.596 [DAT](INFO): checking for new query: numPingsReceived=12, elapsed TxPingTime=1.998573
2025-08-09T17:09:43.848Z,1754759383.848 [DAT](INFO): checking for new query: numPingsReceived=12, elapsed TxPingTime=2.250629
2025-08-09T17:09:43.867Z,1754759383.867 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.90 m.
2025-08-09T17:09:43.871Z,1754759383.871 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 11.900000 m,
      nav range: 10.562308 m,
      bearing: 193.938712 deg,
      approach rate: -0.559691 m/s,
      LOS rate: 0.019914 deg/s,
      cmd heading: 192.963950 deg,
      new cmd heading: 192.988332 deg.

2025-08-09T17:09:43.873Z,1754759383.873 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.368282 target range: 11.900000 and range: 11.90 m.
2025-08-09T17:09:44.099Z,1754759384.099 [DAT](INFO): checking for new query: numPingsReceived=12, elapsed TxPingTime=2.501897
2025-08-09T17:09:44.348Z,1754759384.348 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.90 m.
2025-08-09T17:09:44.351Z,1754759384.351 [DAT](INFO): checking for new query: numPingsReceived=12, elapsed TxPingTime=2.754017
2025-08-09T17:09:44.353Z,1754759384.353 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 11.900000 m,
      nav range: 10.282416 m,
      bearing: 193.966454 deg,
      approach rate: -0.580786 m/s,
      LOS rate: 0.059132 deg/s,
      cmd heading: 192.988334 deg,
      new cmd heading: 193.073824 deg.

2025-08-09T17:09:44.354Z,1754759384.354 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.369774 target range: 11.900000 and range: 11.90 m.
2025-08-09T17:09:44.603Z,1754759384.603 [DAT](INFO): DAT read: Rx Time:17:09:43.4571

2025-08-09T17:09:44.604Z,1754759384.604 [DAT](INFO): Rx dataTimestamp_ set to:1754759384.603511
2025-08-09T17:09:44.604Z,1754759384.604 [DAT](INFO): checking for new query: numPingsReceived=12, elapsed TxPingTime=3.006981
2025-08-09T17:09:44.707Z,1754759384.707 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-09T17:09:44.709Z,1754759384.709 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.90 m.
2025-08-09T17:09:44.716Z,1754759384.716 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 11.900000 m,
      nav range: 10.081036 m,
      bearing: 193.991571 deg,
      approach rate: -0.558024 m/s,
      LOS rate: 0.070988 deg/s,
      cmd heading: 193.073820 deg,
      new cmd heading: 193.150675 deg.

2025-08-09T17:09:44.717Z,1754759384.717 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.371115 target range: 11.900000 and range: 11.90 m.
2025-08-09T17:09:44.856Z,1754759384.856 [DAT](INFO): checking for new query: numPingsReceived=12, elapsed TxPingTime=3.258253
2025-08-09T17:09:45.114Z,1754759385.114 [DAT](INFO): DAT read: 17:09:43.4571 LVL= 21424, 26257, 20978, 30931, AGC= 55, IDX= 421,-0.05, 1.278,-0.393, 1.615, 1.139, PHS= 0.242,-1.487, 0.432, RAW= 155.2,   8.9, CAL= 154.8,   9.5, ROT= 355.2,  -9.5

2025-08-09T17:09:45.115Z,1754759385.115 [DAT](INFO): got valid direction response:
 17:09:43.4571 LVL= 21424, 26257, 20978, 30931, AGC= 55, IDX= 421,-0.05, 1.278,-0.393, 1.615, 1.139, PHS= 0.242,-1.487, 0.432, RAW= 155.2,   8.9, CAL= 154.8,   9.5, ROT= 355.2,  -9.5

2025-08-09T17:09:45.116Z,1754759385.116 [DAT](INFO): DAT read: Bearing 335.7,  -6.5 (Local)

2025-08-09T17:09:45.117Z,1754759385.117 [DAT](INFO): Local bearing/azimuth received:
 Bearing 335.7,  -6.5 (Local)

2025-08-09T17:09:45.118Z,1754759385.118 [DAT](INFO): DAT read: Range 11 to 50 : 9.9 m  (Round-trip  13.3 ms) speed  0.5 m/s

2025-08-09T17:09:45.119Z,1754759385.119 [DAT](INFO): DAT read: user:424>

2025-08-09T17:09:45.119Z,1754759385.119 [DAT](INFO): DAT read: Tx time:17:09:44.5896

2025-08-09T17:09:45.120Z,1754759385.120 [DAT](INFO): Ping request sent.
2025-08-09T17:09:45.120Z,1754759385.120 [DAT](INFO): transmitted an acoustic signal
2025-08-09T17:09:45.120Z,1754759385.120 [DAT](INFO): #Rx 13: Read range and direction messages.
2025-08-09T17:09:45.121Z,1754759385.121 [DAT](INFO): direction in FSK: [0.982827,-0.082530,0.165048]
2025-08-09T17:09:45.121Z,1754759385.121 [DAT](INFO): publishing transmit ping time
2025-08-09T17:09:45.122Z,1754759385.122 [DAT](INFO): publishing direction and range info
2025-08-09T17:09:45.129Z,1754759385.129 [DAT](INFO): publishing transmit ping time
2025-08-09T17:09:45.129Z,1754759385.129 [DAT](INFO): publishing direction and range info
2025-08-09T17:09:45.132Z,1754759385.132 [DAT](INFO): checking for new query: numPingsReceived=13, elapsed TxPingTime=0.012325
2025-08-09T17:09:45.228Z,1754759385.228 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 9.900000 m,
      deltaT: 3.528641 s,
      deltaX: -2.000000 m,
      approachRate: -0.566790 m/s,
      rangeRepo size: 4

2025-08-09T17:09:45.235Z,1754759385.235 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 9.900000 m,
      bearing: 193.115492 deg,
      lat: 36.906104 deg,
      lon: -122.115887 deg,
      deltaT: 3.528641 s,
      deltaX: -2.000000 m,
      approachRate: -0.566790 m/s,
      posRepo size: 4

2025-08-09T17:09:45.235Z,1754759385.235 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 9.90 m.
2025-08-09T17:09:45.236Z,1754759385.236 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Short final. Range: 9.90 m.
2025-08-09T17:09:45.236Z,1754759385.236 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Transitioning guidance mode to: SHORT_FINAL
2025-08-09T17:09:45.243Z,1754759385.243 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 9.900000 m,
      nav range: 9.792747 m,
      bearing: 193.115492 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.070988 deg/s,
      cmd heading: 193.150674 deg,
      new cmd heading: 193.261154 deg.

2025-08-09T17:09:45.244Z,1754759385.244 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.373044 target range: 9.900000 and range: 9.90 m.
2025-08-09T17:09:45.360Z,1754759385.360 [DAT](INFO): checking for new query: numPingsReceived=13, elapsed TxPingTime=0.239634
2025-08-09T17:09:45.611Z,1754759385.611 [DAT](INFO): checking for new query: numPingsReceived=13, elapsed TxPingTime=0.491448
2025-08-09T17:09:45.625Z,1754759385.625 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 9.90 m. 9.90 m.
2025-08-09T17:09:45.628Z,1754759385.628 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 9.900000 m,
      nav range: 9.561912 m,
      bearing: 193.129913 deg,
      approach rate: -0.580988 m/s,
      LOS rate: 0.037173 deg/s,
      cmd heading: 193.261159 deg,
      new cmd heading: 193.305467 deg.

2025-08-09T17:09:45.629Z,1754759385.629 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.373817 target range: 9.900000 and range: 9.90 m.
2025-08-09T17:09:45.864Z,1754759385.864 [DAT](INFO): checking for new query: numPingsReceived=13, elapsed TxPingTime=0.743811
2025-08-09T17:09:46.013Z,1754759386.013 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 9.90 m. 9.90 m.
2025-08-09T17:09:46.032Z,1754759386.032 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 9.900000 m,
      nav range: 9.325411 m,
      bearing: 193.145429 deg,
      approach rate: -0.610290 m/s,
      LOS rate: 0.041053 deg/s,
      cmd heading: 193.305473 deg,
      new cmd heading: 193.353200 deg.

2025-08-09T17:09:46.033Z,1754759386.033 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.374650 target range: 9.900000 and range: 9.90 m.
2025-08-09T17:09:46.116Z,1754759386.116 [DAT](INFO): checking for new query: numPingsReceived=13, elapsed TxPingTime=0.995670
2025-08-09T17:09:46.368Z,1754759386.368 [DAT](INFO): checking for new query: numPingsReceived=13, elapsed TxPingTime=1.247702
2025-08-09T17:09:46.449Z,1754759386.449 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 9.90 m. 9.90 m.
2025-08-09T17:09:46.452Z,1754759386.452 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 9.900000 m,
      nav range: 9.076202 m,
      bearing: 193.133642 deg,
      approach rate: -0.571342 m/s,
      LOS rate: -0.027765 deg/s,
      cmd heading: 193.353202 deg,
      new cmd heading: 193.316870 deg.

2025-08-09T17:09:46.453Z,1754759386.453 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.374016 target range: 9.900000 and range: 9.90 m.
2025-08-09T17:09:46.620Z,1754759386.620 [DAT](INFO): checking for new query: numPingsReceived=13, elapsed TxPingTime=1.499637
2025-08-09T17:09:46.853Z,1754759386.853 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-09T17:09:46.857Z,1754759386.857 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 9.90 m. 9.90 m.
2025-08-09T17:09:46.861Z,1754759386.861 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 9.900000 m,
      nav range: 8.846251 m,
      bearing: 193.127575 deg,
      approach rate: -0.564054 m/s,
      LOS rate: -0.015269 deg/s,
      cmd heading: 193.316866 deg,
      new cmd heading: 193.298191 deg.

2025-08-09T17:09:46.863Z,1754759386.863 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.373690 target range: 9.900000 and range: 9.90 m.
2025-08-09T17:09:46.873Z,1754759386.873 [DAT](INFO): checking for new query: numPingsReceived=13, elapsed TxPingTime=1.752413
2025-08-09T17:09:47.123Z,1754759387.123 [DAT](INFO): checking for new query: numPingsReceived=13, elapsed TxPingTime=2.003311
2025-08-09T17:09:47.249Z,1754759387.249 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 9.90 m. 9.90 m.
2025-08-09T17:09:47.252Z,1754759387.252 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 9.900000 m,
      nav range: 8.611147 m,
      bearing: 193.088622 deg,
      approach rate: -0.599923 m/s,
      LOS rate: -0.102109 deg/s,
      cmd heading: 193.298192 deg,
      new cmd heading: 193.178145 deg.

2025-08-09T17:09:47.252Z,1754759387.252 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.371595 target range: 9.900000 and range: 9.90 m.
2025-08-09T17:09:47.375Z,1754759387.375 [DAT](INFO): checking for new query: numPingsReceived=13, elapsed TxPingTime=2.255600
2025-08-09T17:09:47.627Z,1754759387.627 [DAT](INFO): checking for new query: numPingsReceived=13, elapsed TxPingTime=2.507538
2025-08-09T17:09:47.653Z,1754759387.653 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 9.90 m. 9.90 m.
2025-08-09T17:09:47.655Z,1754759387.655 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 9.900000 m,
      nav range: 8.376429 m,
      bearing: 193.053487 deg,
      approach rate: -0.581166 m/s,
      LOS rate: -0.089433 deg/s,
      cmd heading: 193.178145 deg,
      new cmd heading: 193.069786 deg.

2025-08-09T17:09:47.656Z,1754759387.656 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.369704 target range: 9.900000 and range: 9.90 m.
2025-08-09T17:09:47.879Z,1754759387.879 [DAT](INFO): checking for new query: numPingsReceived=13, elapsed TxPingTime=2.759345
2025-08-09T17:09:48.033Z,1754759388.033 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 9.90 m. 9.90 m.
2025-08-09T17:09:48.036Z,1754759388.036 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 9.900000 m,
      nav range: 8.146980 m,
      bearing: 193.022508 deg,
      approach rate: -0.603202 m/s,
      LOS rate: -0.083737 deg/s,
      cmd heading: 193.069791 deg,
      new cmd heading: 192.974234 deg.

2025-08-09T17:09:48.037Z,1754759388.037 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.368036 target range: 9.900000 and range: 9.90 m.
2025-08-09T17:09:48.135Z,1754759388.135 [DAT](INFO): DAT read: Rx Time:17:09:47.0043

2025-08-09T17:09:48.135Z,1754759388.135 [DAT](INFO): Rx dataTimestamp_ set to:1754759388.134954
2025-08-09T17:09:48.136Z,1754759388.136 [DAT](INFO): checking for new query: numPingsReceived=13, elapsed TxPingTime=3.015927
2025-08-09T17:09:48.383Z,1754759388.383 [DAT](INFO): checking for new query: numPingsReceived=13, elapsed TxPingTime=3.263439
2025-08-09T17:09:48.494Z,1754759388.494 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 9.90 m. 9.90 m.
2025-08-09T17:09:48.497Z,1754759388.497 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 9.900000 m,
      nav range: 7.872674 m,
      bearing: 192.928101 deg,
      approach rate: -0.595054 m/s,
      LOS rate: -0.211932 deg/s,
      cmd heading: 192.974236 deg,
      new cmd heading: 192.681152 deg.

2025-08-09T17:09:48.501Z,1754759388.501 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.362921 target range: 9.900000 and range: 9.90 m.
2025-08-09T17:09:48.641Z,1754759388.641 [DAT](INFO): DAT read: 17:09:47.0043 LVL= 27056, 30433, 27250, 32755, AGC= 53, IDX= 409,-0.01, 2.016, 0.218, 2.025, 1.794, PHS= 0.324,-1.531, 0.187, RAW= 146.2,  11.4, CAL= 145.9,  12.5, ROT=   4.1, -12.5

2025-08-09T17:09:48.643Z,1754759388.643 [DAT](INFO): got valid direction response:
 17:09:47.0043 LVL= 27056, 30433, 27250, 32755, AGC= 53, IDX= 409,-0.01, 2.016, 0.218, 2.025, 1.794, PHS= 0.324,-1.531, 0.187, RAW= 146.2,  11.4, CAL= 145.9,  12.5, ROT=   4.1, -12.5

2025-08-09T17:09:48.644Z,1754759388.644 [DAT](INFO): DAT read: Bearing 338.0,   1.9 (Local)

2025-08-09T17:09:48.644Z,1754759388.644 [DAT](INFO): Local bearing/azimuth received:
 Bearing 338.0,   1.9 (Local)

2025-08-09T17:09:48.646Z,1754759388.646 [DAT](INFO): DAT read: Range 11 to 50 : 7.9 m  (Round-trip  10.6 ms) speed  0.5 m/s

2025-08-09T17:09:48.646Z,1754759388.646 [DAT](INFO): DAT read: user:425>

2025-08-09T17:09:48.647Z,1754759388.647 [DAT](INFO): DAT read: Tx time:17:09:48.0896

2025-08-09T17:09:48.647Z,1754759388.647 [DAT](INFO): Ping request sent.
2025-08-09T17:09:48.648Z,1754759388.648 [DAT](INFO): transmitted an acoustic signal
2025-08-09T17:09:48.648Z,1754759388.648 [DAT](INFO): #Rx 14: Read range and direction messages.
2025-08-09T17:09:48.649Z,1754759388.649 [DAT](INFO): direction in FSK: [0.973797,0.069803,0.216440]
2025-08-09T17:09:48.649Z,1754759388.649 [DAT](INFO): publishing transmit ping time
2025-08-09T17:09:48.649Z,1754759388.649 [DAT](INFO): publishing direction and range info
2025-08-09T17:09:48.657Z,1754759388.657 [DAT](INFO): publishing transmit ping time
2025-08-09T17:09:48.658Z,1754759388.658 [DAT](INFO): publishing direction and range info
2025-08-09T17:09:48.675Z,1754759388.675 [DAT](INFO): checking for new query: numPingsReceived=14, elapsed TxPingTime=0.027632
2025-08-09T17:09:48.887Z,1754759388.887 [DAT](INFO): checking for new query: numPingsReceived=14, elapsed TxPingTime=0.239804
2025-08-09T17:09:48.921Z,1754759388.921 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 7.900000 m,
      deltaT: 3.527080 s,
      deltaX: -2.000000 m,
      approachRate: -0.567041 m/s,
      rangeRepo size: 4

2025-08-09T17:09:48.923Z,1754759388.923 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 7.900000 m,
      bearing: 192.841203 deg,
      lat: 36.906104 deg,
      lon: -122.115887 deg,
      deltaT: 3.527080 s,
      deltaX: -2.000000 m,
      approachRate: -0.567041 m/s,
      posRepo size: 4

2025-08-09T17:09:48.924Z,1754759388.924 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 7.90 m. 9.90 m.
2025-08-09T17:09:48.927Z,1754759388.927 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 9.900000 m,
      nav range: 7.621411 m,
      bearing: 192.841203 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.070988 deg/s,
      cmd heading: 192.681153 deg,
      new cmd heading: 192.771959 deg.

2025-08-09T17:09:48.928Z,1754759388.928 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.364505 target range: 9.900000 and range: 9.90 m.
2025-08-09T17:09:49.140Z,1754759389.140 [DAT](INFO): checking for new query: numPingsReceived=14, elapsed TxPingTime=0.492347
2025-08-09T17:09:49.391Z,1754759389.391 [DAT](INFO): checking for new query: numPingsReceived=14, elapsed TxPingTime=0.743794
2025-08-09T17:09:49.398Z,1754759389.398 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-09T17:09:49.401Z,1754759389.401 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 9.90 m. 9.90 m.
2025-08-09T17:09:49.404Z,1754759389.404 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 9.900000 m,
      nav range: 7.332689 m,
      bearing: 192.701208 deg,
      approach rate: -0.601017 m/s,
      LOS rate: -0.302894 deg/s,
      cmd heading: 192.771953 deg,
      new cmd heading: 192.335441 deg.

2025-08-09T17:09:49.405Z,1754759389.405 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.356887 target range: 9.900000 and range: 9.90 m.
2025-08-09T17:09:49.644Z,1754759389.644 [DAT](INFO): checking for new query: numPingsReceived=14, elapsed TxPingTime=0.996792
2025-08-09T17:09:49.881Z,1754759389.881 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 9.90 m. 9.90 m.
2025-08-09T17:09:49.888Z,1754759389.888 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 9.900000 m,
      nav range: 7.058080 m,
      bearing: 192.563440 deg,
      approach rate: -0.571514 m/s,
      LOS rate: -0.297876 deg/s,
      cmd heading: 192.335436 deg,
      new cmd heading: 191.906060 deg.

2025-08-09T17:09:49.889Z,1754759389.889 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.349393 target range: 9.900000 and range: 9.90 m.
2025-08-09T17:09:49.896Z,1754759389.896 [DAT](INFO): checking for new query: numPingsReceived=14, elapsed TxPingTime=1.248050
2025-08-09T17:09:50.150Z,1754759390.150 [DAT](INFO): checking for new query: numPingsReceived=14, elapsed TxPingTime=1.501819
2025-08-09T17:09:50.399Z,1754759390.399 [DAT](INFO): checking for new query: numPingsReceived=14, elapsed TxPingTime=1.751595
2025-08-09T17:09:50.418Z,1754759390.418 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 9.90 m. 9.90 m.
2025-08-09T17:09:50.429Z,1754759390.429 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 9.900000 m,
      nav range: 6.725005 m,
      bearing: 192.375365 deg,
      approach rate: -0.620912 m/s,
      LOS rate: -0.367971 deg/s,
      cmd heading: 191.906063 deg,
      new cmd heading: 191.313915 deg.

2025-08-09T17:09:50.429Z,1754759390.429 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.339058 target range: 9.900000 and range: 9.90 m.
2025-08-09T17:09:50.652Z,1754759390.652 [DAT](INFO): checking for new query: numPingsReceived=14, elapsed TxPingTime=2.004158
2025-08-09T17:09:50.798Z,1754759390.798 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 9.90 m. 9.90 m.
2025-08-09T17:09:50.802Z,1754759390.802 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 9.900000 m,
      nav range: 6.483441 m,
      bearing: 192.232234 deg,
      approach rate: -0.635460 m/s,
      LOS rate: -0.390550 deg/s,
      cmd heading: 191.313913 deg,
      new cmd heading: 190.868530 deg.

2025-08-09T17:09:50.803Z,1754759390.803 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.331284 target range: 9.900000 and range: 9.90 m.
2025-08-09T17:09:50.905Z,1754759390.905 [DAT](INFO): checking for new query: numPingsReceived=14, elapsed TxPingTime=2.257011
2025-08-09T17:09:51.157Z,1754759391.157 [DAT](INFO): checking for new query: numPingsReceived=14, elapsed TxPingTime=2.509470
2025-08-09T17:09:51.237Z,1754759391.237 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 9.90 m. 9.90 m.
2025-08-09T17:09:51.240Z,1754759391.240 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 9.900000 m,
      nav range: 6.213135 m,
      bearing: 192.123338 deg,
      approach rate: -0.614802 m/s,
      LOS rate: -0.258455 deg/s,
      cmd heading: 190.868530 deg,
      new cmd heading: 190.527635 deg.

2025-08-09T17:09:51.241Z,1754759391.241 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.325335 target range: 9.900000 and range: 9.90 m.
2025-08-09T17:09:51.408Z,1754759391.408 [DAT](INFO): checking for new query: numPingsReceived=14, elapsed TxPingTime=2.760652
2025-08-09T17:09:51.600Z,1754759391.600 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-09T17:09:51.603Z,1754759391.603 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 9.90 m. 9.90 m.
2025-08-09T17:09:51.605Z,1754759391.605 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 9.900000 m,
      nav range: 5.981469 m,
      bearing: 192.026198 deg,
      approach rate: -0.634994 m/s,
      LOS rate: -0.276573 deg/s,
      cmd heading: 190.527635 deg,
      new cmd heading: 190.224929 deg.

2025-08-09T17:09:51.606Z,1754759391.606 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.320051 target range: 9.900000 and range: 9.90 m.
2025-08-09T17:09:51.660Z,1754759391.660 [DAT](INFO): DAT read: Rx Time:17:09:50.5016

2025-08-09T17:09:51.660Z,1754759391.660 [DAT](INFO): Rx dataTimestamp_ set to:1754759391.659960
2025-08-09T17:09:51.661Z,1754759391.661 [DAT](INFO): checking for new query: numPingsReceived=14, elapsed TxPingTime=3.013551
2025-08-09T17:09:51.912Z,1754759391.912 [DAT](INFO): checking for new query: numPingsReceived=14, elapsed TxPingTime=3.264136
2025-08-09T17:09:52.032Z,1754759392.032 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 9.90 m. 9.90 m.
2025-08-09T17:09:52.065Z,1754759392.065 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 9.900000 m,
      nav range: 5.731703 m,
      bearing: 191.918149 deg,
      approach rate: -0.585419 m/s,
      LOS rate: -0.264288 deg/s,
      cmd heading: 190.224935 deg,
      new cmd heading: 189.886667 deg.

2025-08-09T17:09:52.066Z,1754759392.066 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.314147 target range: 9.900000 and range: 9.90 m.
2025-08-09T17:09:52.185Z,1754759392.185 [DAT](INFO): DAT read: 17:09:50.5016 LVL= 28880, 31217, 26290, 32755, AGC= 48, IDX= 413, 0.10, 0.882,-0.827, 1.028, 0.809, PHS= 0.176,-1.591, 0.175, RAW= 150.0,  13.9, CAL= 150.1,  15.5, ROT= 359.9, -15.5

2025-08-09T17:09:52.189Z,1754759392.189 [DAT](INFO): got valid direction response:
 17:09:50.5016 LVL= 28880, 31217, 26290, 32755, AGC= 48, IDX= 413, 0.10, 0.882,-0.827, 1.028, 0.809, PHS= 0.176,-1.591, 0.175, RAW= 150.0,  13.9, CAL= 150.1,  15.5, ROT= 359.9, -15.5

2025-08-09T17:09:52.192Z,1754759392.192 [DAT](INFO): DAT read: Bearing 339.4,  -2.8 (Local)

2025-08-09T17:09:52.193Z,1754759392.193 [DAT](INFO): Local bearing/azimuth received:
 Bearing 339.4,  -2.8 (Local)

2025-08-09T17:09:52.196Z,1754759392.196 [DAT](INFO): DAT read: Range 11 to 50 : 5.9 m  (Round-trip  7.9 ms) speed  0.5 m/s

2025-08-09T17:09:52.196Z,1754759392.196 [DAT](INFO): DAT read: user:426>

2025-08-09T17:09:52.197Z,1754759392.197 [DAT](INFO): DAT read: Tx time:17:09:51.5896

2025-08-09T17:09:52.197Z,1754759392.197 [DAT](INFO): Ping request sent.
2025-08-09T17:09:52.197Z,1754759392.197 [DAT](INFO): transmitted an acoustic signal
2025-08-09T17:09:52.198Z,1754759392.198 [DAT](INFO): #Rx 15: Read range and direction messages.
2025-08-09T17:09:52.199Z,1754759392.199 [DAT](INFO): direction in FSK: [0.963629,-0.001682,0.267238]
2025-08-09T17:09:52.199Z,1754759392.199 [DAT](INFO): publishing transmit ping time
2025-08-09T17:09:52.199Z,1754759392.199 [DAT](INFO): publishing direction and range info
2025-08-09T17:09:52.210Z,1754759392.210 [DAT](INFO): publishing transmit ping time
2025-08-09T17:09:52.211Z,1754759392.211 [DAT](INFO): publishing direction and range info
2025-08-09T17:09:52.214Z,1754759392.214 [DAT](INFO): checking for new query: numPingsReceived=15, elapsed TxPingTime=0.016344
2025-08-09T17:09:52.415Z,1754759392.415 [DAT](INFO): checking for new query: numPingsReceived=15, elapsed TxPingTime=0.217984
2025-08-09T17:09:52.484Z,1754759392.484 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 5.900000 m,
      deltaT: 3.530101 s,
      deltaX: -2.000000 m,
      approachRate: -0.566556 m/s,
      rangeRepo size: 4

2025-08-09T17:09:52.486Z,1754759392.486 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 5.900000 m,
      bearing: 191.801556 deg,
      lat: 36.906104 deg,
      lon: -122.115887 deg,
      deltaT: 7.057181 s,
      deltaX: -4.000000 m,
      approachRate: -0.566799 m/s,
      posRepo size: 4

2025-08-09T17:09:52.487Z,1754759392.487 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 5.90 m. 9.90 m.
2025-08-09T17:09:52.489Z,1754759392.489 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 9.900000 m,
      nav range: 5.444923 m,
      bearing: 191.801556 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.070988 deg/s,
      cmd heading: 189.886663 deg,
      new cmd heading: 189.983417 deg.

2025-08-09T17:09:52.490Z,1754759392.490 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.315836 target range: 9.900000 and range: 9.90 m.
2025-08-09T17:09:52.668Z,1754759392.668 [DAT](INFO): checking for new query: numPingsReceived=15, elapsed TxPingTime=0.470490
2025-08-09T17:09:52.919Z,1754759392.919 [DAT](INFO): checking for new query: numPingsReceived=15, elapsed TxPingTime=0.721858
2025-08-09T17:09:52.962Z,1754759392.962 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 9.90 m. 9.90 m.
2025-08-09T17:09:52.980Z,1754759392.980 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 9.900000 m,
      nav range: 5.232413 m,
      bearing: 191.711650 deg,
      approach rate: -0.444186 m/s,
      LOS rate: -0.195551 deg/s,
      cmd heading: 189.983419 deg,
      new cmd heading: 189.702750 deg.

2025-08-09T17:09:52.981Z,1754759392.981 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.310938 target range: 9.900000 and range: 9.90 m.
2025-08-09T17:09:53.174Z,1754759393.174 [DAT](INFO): checking for new query: numPingsReceived=15, elapsed TxPingTime=0.975897
2025-08-09T17:09:53.356Z,1754759393.356 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 9.90 m. 9.90 m.
2025-08-09T17:09:53.359Z,1754759393.359 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 9.900000 m,
      nav range: 4.908719 m,
      bearing: 191.661453 deg,
      approach rate: -0.820440 m/s,
      LOS rate: -0.135621 deg/s,
      cmd heading: 189.702753 deg,
      new cmd heading: 189.542231 deg.

2025-08-09T17:09:53.360Z,1754759393.360 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.308136 target range: 9.900000 and range: 9.90 m.
2025-08-09T17:09:53.424Z,1754759393.424 [DAT](INFO): checking for new query: numPingsReceived=15, elapsed TxPingTime=1.226349
2025-08-09T17:09:53.675Z,1754759393.675 [DAT](INFO): checking for new query: numPingsReceived=15, elapsed TxPingTime=1.477926
2025-08-09T17:09:53.732Z,1754759393.732 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-09T17:09:53.734Z,1754759393.734 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 9.90 m. 9.90 m.
2025-08-09T17:09:53.737Z,1754759393.737 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 9.900000 m,
      nav range: 4.676760 m,
      bearing: 191.625486 deg,
      approach rate: -0.614273 m/s,
      LOS rate: -0.099972 deg/s,
      cmd heading: 189.542230 deg,
      new cmd heading: 189.428978 deg.

2025-08-09T17:09:53.738Z,1754759393.738 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.306159 target range: 9.900000 and range: 9.90 m.
2025-08-09T17:09:53.928Z,1754759393.928 [DAT](INFO): checking for new query: numPingsReceived=15, elapsed TxPingTime=1.730438
2025-08-09T17:09:54.131Z,1754759394.131 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 9.90 m. 9.90 m.
2025-08-09T17:09:54.134Z,1754759394.134 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 9.900000 m,
      nav range: 4.432202 m,
      bearing: 191.591996 deg,
      approach rate: -0.615942 m/s,
      LOS rate: -0.089001 deg/s,
      cmd heading: 189.428972 deg,
      new cmd heading: 189.322959 deg.

2025-08-09T17:09:54.135Z,1754759394.135 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.304309 target range: 9.900000 and range: 9.90 m.
2025-08-09T17:09:54.182Z,1754759394.182 [DAT](INFO): checking for new query: numPingsReceived=15, elapsed TxPingTime=1.984097
2025-08-09T17:09:54.432Z,1754759394.432 [DAT](INFO): checking for new query: numPingsReceived=15, elapsed TxPingTime=2.234282
2025-08-09T17:09:54.554Z,1754759394.554 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 9.90 m. 9.90 m.
2025-08-09T17:09:54.557Z,1754759394.557 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 9.900000 m,
      nav range: 4.170699 m,
      bearing: 191.568524 deg,
      approach rate: -0.618085 m/s,
      LOS rate: -0.058956 deg/s,
      cmd heading: 189.322954 deg,
      new cmd heading: 189.248123 deg.

2025-08-09T17:09:54.558Z,1754759394.558 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.303003 target range: 9.900000 and range: 9.90 m.
2025-08-09T17:09:54.684Z,1754759394.684 [DAT](INFO): checking for new query: numPingsReceived=15, elapsed TxPingTime=2.486503
2025-08-09T17:09:54.935Z,1754759394.935 [DAT](INFO): checking for new query: numPingsReceived=15, elapsed TxPingTime=2.737806
2025-08-09T17:09:54.963Z,1754759394.963 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 9.90 m. 9.90 m.
2025-08-09T17:09:54.965Z,1754759394.965 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 9.900000 m,
      nav range: 3.917560 m,
      bearing: 191.542818 deg,
      approach rate: -0.619265 m/s,
      LOS rate: -0.066949 deg/s,
      cmd heading: 189.248122 deg,
      new cmd heading: 189.166021 deg.

2025-08-09T17:09:54.967Z,1754759394.967 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.301570 target range: 9.900000 and range: 9.90 m.
2025-08-09T17:09:55.190Z,1754759395.190 [DAT](INFO): DAT read: Rx Time:17:09:53.9988

2025-08-09T17:09:55.192Z,1754759395.192 [DAT](INFO): Rx dataTimestamp_ set to:1754759395.190657
2025-08-09T17:09:55.194Z,1754759395.194 [DAT](INFO): checking for new query: numPingsReceived=15, elapsed TxPingTime=2.995736
2025-08-09T17:09:55.369Z,1754759395.369 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 9.90 m. 9.90 m.
2025-08-09T17:09:55.372Z,1754759395.372 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 9.900000 m,
      nav range: 3.672377 m,
      bearing: 191.511497 deg,
      approach rate: -0.603464 m/s,
      LOS rate: -0.082237 deg/s,
      cmd heading: 189.166023 deg,
      new cmd heading: 189.065786 deg.

2025-08-09T17:09:55.373Z,1754759395.373 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.299820 target range: 9.900000 and range: 9.90 m.
2025-08-09T17:09:55.443Z,1754759395.443 [DAT](INFO): checking for new query: numPingsReceived=15, elapsed TxPingTime=3.245287
2025-08-09T17:09:55.701Z,1754759395.701 [DAT](INFO): DAT read: 17:09:53.9988 LVL= 15984, 24433, 26178, 28915, AGC= 50, IDX= 416, 0.43,-2.000,-2.966,-1.039,-1.404, PHS=-0.494,-1.517, 0.320, RAW= 176.3,  20.6, CAL= 176.5,  29.2, ROT= 333.5, -29.2

2025-08-09T17:09:55.702Z,1754759395.702 [DAT](INFO): got valid direction response:
 17:09:53.9988 LVL= 15984, 24433, 26178, 28915, AGC= 50, IDX= 416, 0.43,-2.000,-2.966,-1.039,-1.404, PHS=-0.494,-1.517, 0.320, RAW= 176.3,  20.6, CAL= 176.5,  29.2, ROT= 333.5, -29.2

2025-08-09T17:09:55.703Z,1754759395.703 [DAT](INFO): DAT read: Bearing 352.0, -27.3 (Local)

2025-08-09T17:09:55.703Z,1754759395.703 [DAT](INFO): Local bearing/azimuth received:
 Bearing 352.0, -27.3 (Local)

2025-08-09T17:09:55.705Z,1754759395.705 [DAT](INFO): DAT read: Range 11 to 50 : 3.8 m  (Round-trip  5.1 ms) speed  0.5 m/s

2025-08-09T17:09:55.705Z,1754759395.705 [DAT](INFO): DAT read: user:427>

2025-08-09T17:09:55.707Z,1754759395.707 [DAT](INFO): DAT read: Tx time:17:09:55.0895

2025-08-09T17:09:55.707Z,1754759395.707 [DAT](INFO): Ping request sent.
2025-08-09T17:09:55.707Z,1754759395.707 [DAT](INFO): transmitted an acoustic signal
2025-08-09T17:09:55.708Z,1754759395.708 [DAT](INFO): #Rx 16: Read range and direction messages.
2025-08-09T17:09:55.709Z,1754759395.709 [DAT](INFO): direction in FSK: [0.781208,-0.389496,0.487860]
2025-08-09T17:09:55.709Z,1754759395.709 [DAT](INFO): publishing transmit ping time
2025-08-09T17:09:55.709Z,1754759395.709 [DAT](INFO): publishing direction and range info
2025-08-09T17:09:55.724Z,1754759395.724 [DAT](INFO): publishing transmit ping time
2025-08-09T17:09:55.725Z,1754759395.725 [DAT](INFO): publishing direction and range info
2025-08-09T17:09:55.728Z,1754759395.728 [DAT](INFO): checking for new query: numPingsReceived=16, elapsed TxPingTime=0.020420
2025-08-09T17:09:55.830Z,1754759395.830 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 3.800000 m,
      deltaT: 3.529491 s,
      deltaX: -2.100000 m,
      approachRate: -0.594987 m/s,
      rangeRepo size: 4

2025-08-09T17:09:55.832Z,1754759395.832 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 3.800000 m,
      bearing: 189.940182 deg,
      lat: 36.906104 deg,
      lon: -122.115886 deg,
      deltaT: 10.586672 s,
      deltaX: -6.099999 m,
      approachRate: -0.576196 m/s,
      posRepo size: 4

2025-08-09T17:09:55.833Z,1754759395.833 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 3.80 m. 9.90 m.
2025-08-09T17:09:55.849Z,1754759395.849 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 9.900000 m,
      nav range: 3.408729 m,
      bearing: 191.481606 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.070988 deg/s,
      cmd heading: 189.065783 deg,
      new cmd heading: 189.162199 deg.

2025-08-09T17:09:55.863Z,1754759395.863 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.301503 target range: 9.900000 and range: 9.90 m.
2025-08-09T17:09:55.949Z,1754759395.949 [DAT](INFO): checking for new query: numPingsReceived=16, elapsed TxPingTime=0.241301
2025-08-09T17:09:56.202Z,1754759396.202 [DAT](INFO): checking for new query: numPingsReceived=16, elapsed TxPingTime=0.493962
2025-08-09T17:09:56.241Z,1754759396.241 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-09T17:09:56.271Z,1754759396.271 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 9.90 m. 9.90 m.
2025-08-09T17:09:56.281Z,1754759396.281 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 9.900000 m,
      nav range: 3.177429 m,
      bearing: 191.461196 deg,
      approach rate: -0.520995 m/s,
      LOS rate: -0.049320 deg/s,
      cmd heading: 189.162198 deg,
      new cmd heading: 189.096511 deg.

2025-08-09T17:09:56.287Z,1754759396.287 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.300357 target range: 9.900000 and range: 9.90 m.
2025-08-09T17:09:56.451Z,1754759396.451 [DAT](INFO): checking for new query: numPingsReceived=16, elapsed TxPingTime=0.743827
2025-08-09T17:09:56.659Z,1754759396.659 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 9.90 m. 9.90 m.
2025-08-09T17:09:56.661Z,1754759396.661 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 9.900000 m,
      nav range: 2.895743 m,
      bearing: 191.489648 deg,
      approach rate: -0.717458 m/s,
      LOS rate: 0.079517 deg/s,
      cmd heading: 189.096506 deg,
      new cmd heading: 189.190165 deg.

2025-08-09T17:09:56.662Z,1754759396.662 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.301991 target range: 9.900000 and range: 9.90 m.
2025-08-09T17:09:56.705Z,1754759396.705 [DAT](INFO): checking for new query: numPingsReceived=16, elapsed TxPingTime=0.997992
2025-08-09T17:09:56.955Z,1754759396.955 [DAT](INFO): checking for new query: numPingsReceived=16, elapsed TxPingTime=1.247860
2025-08-09T17:09:57.020Z,1754759397.020 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 9.90 m. 9.90 m.
2025-08-09T17:09:57.027Z,1754759397.027 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 9.900000 m,
      nav range: 2.681586 m,
      bearing: 191.532978 deg,
      approach rate: -0.592428 m/s,
      LOS rate: 0.129439 deg/s,
      cmd heading: 189.190161 deg,
      new cmd heading: 189.330534 deg.

2025-08-09T17:09:57.028Z,1754759397.028 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.304441 target range: 9.900000 and range: 9.90 m.
2025-08-09T17:09:57.210Z,1754759397.210 [DAT](INFO): checking for new query: numPingsReceived=16, elapsed TxPingTime=1.502406
2025-08-09T17:09:57.435Z,1754759397.435 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 9.90 m. 9.90 m.
2025-08-09T17:09:57.441Z,1754759397.441 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 9.900000 m,
      nav range: 2.440742 m,
      bearing: 191.466106 deg,
      approach rate: -0.580544 m/s,
      LOS rate: -0.177097 deg/s,
      cmd heading: 189.330535 deg,
      new cmd heading: 189.110125 deg.

2025-08-09T17:09:57.444Z,1754759397.444 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.300594 target range: 9.900000 and range: 9.90 m.
2025-08-09T17:09:57.470Z,1754759397.470 [DAT](INFO): checking for new query: numPingsReceived=16, elapsed TxPingTime=1.754764
2025-08-09T17:09:57.711Z,1754759397.711 [DAT](INFO): checking for new query: numPingsReceived=16, elapsed TxPingTime=2.003890
2025-08-09T17:09:57.818Z,1754759397.818 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 9.90 m. 9.90 m.
2025-08-09T17:09:57.820Z,1754759397.820 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 9.900000 m,
      nav range: 2.220255 m,
      bearing: 191.399830 deg,
      approach rate: -0.575704 m/s,
      LOS rate: -0.190237 deg/s,
      cmd heading: 189.110125 deg,
      new cmd heading: 188.891551 deg.

2025-08-09T17:09:57.821Z,1754759397.821 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.296779 target range: 9.900000 and range: 9.90 m.
2025-08-09T17:09:57.963Z,1754759397.963 [DAT](INFO): checking for new query: numPingsReceived=16, elapsed TxPingTime=2.255835
2025-08-09T17:09:58.215Z,1754759398.215 [DAT](INFO): checking for new query: numPingsReceived=16, elapsed TxPingTime=2.508026
2025-08-09T17:09:58.246Z,1754759398.246 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-09T17:09:58.287Z,1754759398.287 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 9.90 m. 9.90 m.
2025-08-09T17:09:58.290Z,1754759398.290 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 9.900000 m,
      nav range: 1.989264 m,
      bearing: 191.328164 deg,
      approach rate: -0.506127 m/s,
      LOS rate: -0.175262 deg/s,
      cmd heading: 188.891545 deg,
      new cmd heading: 188.651584 deg.

2025-08-09T17:09:58.295Z,1754759398.295 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.292591 target range: 9.900000 and range: 9.90 m.
2025-08-09T17:09:58.467Z,1754759398.467 [DAT](INFO): checking for new query: numPingsReceived=16, elapsed TxPingTime=2.759862
2025-08-09T17:09:58.719Z,1754759398.719 [DAT](INFO): DAT read: Rx Time:17:09:57.4963

2025-08-09T17:09:58.720Z,1754759398.720 [DAT](INFO): Rx dataTimestamp_ set to:1754759398.719621
2025-08-09T17:09:58.720Z,1754759398.720 [DAT](INFO): checking for new query: numPingsReceived=16, elapsed TxPingTime=3.013090
2025-08-09T17:09:58.729Z,1754759398.729 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 9.90 m. 9.90 m.
2025-08-09T17:09:58.732Z,1754759398.732 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 9.900000 m,
      nav range: 1.712401 m,
      bearing: 191.318704 deg,
      approach rate: -0.608019 m/s,
      LOS rate: -0.024134 deg/s,
      cmd heading: 188.651587 deg,
      new cmd heading: 188.618619 deg.

2025-08-09T17:09:58.733Z,1754759398.733 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.292016 target range: 9.900000 and range: 9.90 m.
2025-08-09T17:09:58.972Z,1754759398.972 [DAT](INFO): checking for new query: numPingsReceived=16, elapsed TxPingTime=3.264298
2025-08-09T17:09:59.098Z,1754759399.098 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 9.90 m. 9.90 m.
2025-08-09T17:09:59.104Z,1754759399.104 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 9.900000 m,
      nav range: 1.520737 m,
      bearing: 191.352272 deg,
      approach rate: -0.520551 m/s,
      LOS rate: 0.102660 deg/s,
      cmd heading: 188.618625 deg,
      new cmd heading: 188.732021 deg.

2025-08-09T17:09:59.105Z,1754759399.105 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.293995 target range: 9.900000 and range: 9.90 m.
2025-08-09T17:09:59.228Z,1754759399.228 [DAT](INFO): DAT read: Range 11 to 50 : 2.0 m  (Round-trip  2.7 ms) speed  0.4 m/s

2025-08-09T17:09:59.235Z,1754759399.235 [DAT](INFO): DAT read: user:428>

2025-08-09T17:09:59.238Z,1754759399.238 [DAT](INFO): DAT read: Tx time:17:09:58.5895

2025-08-09T17:09:59.239Z,1754759399.239 [DAT](INFO): Ping request sent.
2025-08-09T17:09:59.240Z,1754759399.240 [DAT](INFO): transmitted an acoustic signal
2025-08-09T17:09:59.241Z,1754759399.241 [DAT](ERROR): #Rx 17: Read range message, but no direction.
2025-08-09T17:09:59.241Z,1754759399.241 [DAT](INFO): publishing transmit ping time
2025-08-09T17:09:59.243Z,1754759399.243 [DAT](INFO): publishing transmit ping time
2025-08-09T17:09:59.290Z,1754759399.290 [DAT](INFO): checking for new query: numPingsReceived=17, elapsed TxPingTime=0.006660
2025-08-09T17:09:59.475Z,1754759399.475 [DAT](INFO): checking for new query: numPingsReceived=17, elapsed TxPingTime=0.236113
2025-08-09T17:09:59.524Z,1754759399.524 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 2.000000 m,
      deltaT: 3.529483 s,
      deltaX: -1.800000 m,
      approachRate: -0.509990 m/s,
      rangeRepo size: 4

2025-08-09T17:09:59.524Z,1754759399.524 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Intercept lockout. Range: 2.00 m.
2025-08-09T17:09:59.525Z,1754759399.525 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Transitioning guidance mode to: INTERCEPT_LOCKOUT
2025-08-09T17:09:59.727Z,1754759399.727 [DAT](INFO): checking for new query: numPingsReceived=17, elapsed TxPingTime=0.488072
2025-08-09T17:09:59.980Z,1754759399.980 [DAT](INFO): checking for new query: numPingsReceived=17, elapsed TxPingTime=0.740569
2025-08-09T17:10:00.232Z,1754759400.232 [DAT](INFO): checking for new query: numPingsReceived=17, elapsed TxPingTime=0.992304
2025-08-09T17:10:00.380Z,1754759400.380 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-09T17:10:00.484Z,1754759400.484 [DAT](INFO): checking for new query: numPingsReceived=17, elapsed TxPingTime=1.244710
2025-08-09T17:10:00.735Z,1754759400.735 [DAT](INFO): checking for new query: numPingsReceived=17, elapsed TxPingTime=1.496117
2025-08-09T17:10:00.987Z,1754759400.987 [DAT](INFO): checking for new query: numPingsReceived=17, elapsed TxPingTime=1.748026
2025-08-09T17:10:01.239Z,1754759401.239 [DAT](INFO): checking for new query: numPingsReceived=17, elapsed TxPingTime=2.000165
2025-08-09T17:10:01.491Z,1754759401.491 [DAT](INFO): checking for new query: numPingsReceived=17, elapsed TxPingTime=2.252141
2025-08-09T17:10:01.744Z,1754759401.744 [DAT](INFO): checking for new query: numPingsReceived=17, elapsed TxPingTime=2.504806
2025-08-09T17:10:01.995Z,1754759401.995 [DAT](INFO): DAT read: Rx Time:17:10:00.9957

2025-08-09T17:10:01.996Z,1754759401.996 [DAT](INFO): Rx dataTimestamp_ set to:1754759401.995600
2025-08-09T17:10:01.996Z,1754759401.996 [DAT](INFO): checking for new query: numPingsReceived=17, elapsed TxPingTime=2.757238
2025-08-09T17:10:02.249Z,1754759402.249 [DAT](INFO): checking for new query: numPingsReceived=17, elapsed TxPingTime=3.009766
2025-08-09T17:10:02.404Z,1754759402.404 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-09T17:10:02.502Z,1754759402.502 [DAT](INFO): checking for new query: numPingsReceived=17, elapsed TxPingTime=3.262039
2025-08-09T17:10:02.761Z,1754759402.761 [DAT](INFO): DAT read: 17:10:00.9957 LVL= 19024, 12449, 18050, 25779, AGC= 40, IDX= 432,-0.26,-0.157,-0.427,-1.330, 0.471, PHS=-0.526,-0.854,-1.846, RAW=  43.8,  43.8, CAL=  41.5,  49.2, ROT= 108.5, -49.2

2025-08-09T17:10:02.768Z,1754759402.768 [DAT](INFO): got valid direction response:
 17:10:00.9957 LVL= 19024, 12449, 18050, 25779, AGC= 40, IDX= 432,-0.26,-0.157,-0.427,-1.330, 0.471, PHS=-0.526,-0.854,-1.846, RAW=  43.8,  43.8, CAL=  41.5,  49.2, ROT= 108.5, -49.2

2025-08-09T17:10:02.770Z,1754759402.770 [DAT](INFO): DAT read: Bearing  66.3,  31.6 (Local)

2025-08-09T17:10:02.779Z,1754759402.779 [DAT](INFO): Local bearing/azimuth received:
 Bearing  66.3,  31.6 (Local)

2025-08-09T17:10:02.780Z,1754759402.780 [DAT](INFO): DAT read: Range 11 to 50 : 1.5 m  (Round-trip  2.0 ms) speed -0.3 m/s

2025-08-09T17:10:02.781Z,1754759402.781 [DAT](INFO): DAT read: user:429>

2025-08-09T17:10:02.781Z,1754759402.781 [DAT](INFO): DAT read: Tx time:17:10:02.0895

2025-08-09T17:10:02.782Z,1754759402.782 [DAT](INFO): Ping request sent.
2025-08-09T17:10:02.782Z,1754759402.782 [DAT](INFO): transmitted an acoustic signal
2025-08-09T17:10:02.784Z,1754759402.784 [DAT](INFO): #Rx 18: Read range and direction messages.
2025-08-09T17:10:02.791Z,1754759402.791 [DAT](INFO): direction in FSK: [-0.207333,0.619654,0.756995]
2025-08-09T17:10:02.792Z,1754759402.792 [DAT](INFO): publishing transmit ping time
2025-08-09T17:10:02.792Z,1754759402.792 [DAT](INFO): publishing direction and range info
2025-08-09T17:10:02.800Z,1754759402.800 [DAT](INFO): publishing transmit ping time
2025-08-09T17:10:02.800Z,1754759402.800 [DAT](INFO): publishing direction and range info
2025-08-09T17:10:02.809Z,1754759402.809 [DAT](INFO): checking for new query: numPingsReceived=18, elapsed TxPingTime=0.027165
2025-08-09T17:10:03.003Z,1754759403.003 [DAT](INFO): checking for new query: numPingsReceived=18, elapsed TxPingTime=0.221470
2025-08-09T17:10:03.155Z,1754759403.155 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 1.500000 m,
      deltaT: 3.527434 s,
      deltaX: -0.500000 m,
      approachRate: -0.141746 m/s,
      rangeRepo size: 4

2025-08-09T17:10:03.157Z,1754759403.157 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 1.500000 m,
      bearing: 329.499651 deg,
      lat: 36.906104 deg,
      lon: -122.115891 deg,
      deltaT: 17.643589 s,
      deltaX: -8.400000 m,
      approachRate: -0.476094 m/s,
      posRepo size: 4

2025-08-09T17:10:03.256Z,1754759403.256 [DAT](INFO): checking for new query: numPingsReceived=18, elapsed TxPingTime=0.474209
2025-08-09T17:10:03.507Z,1754759403.507 [DAT](INFO): checking for new query: numPingsReceived=18, elapsed TxPingTime=0.725608
2025-08-09T17:10:03.760Z,1754759403.760 [DAT](INFO): checking for new query: numPingsReceived=18, elapsed TxPingTime=0.978294
2025-08-09T17:10:04.012Z,1754759404.012 [DAT](INFO): checking for new query: numPingsReceived=18, elapsed TxPingTime=1.230196
2025-08-09T17:10:04.264Z,1754759404.264 [DAT](INFO): checking for new query: numPingsReceived=18, elapsed TxPingTime=1.482169
2025-08-09T17:10:04.432Z,1754759404.432 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-09T17:10:04.516Z,1754759404.516 [DAT](INFO): checking for new query: numPingsReceived=18, elapsed TxPingTime=1.733770
2025-08-09T17:10:04.768Z,1754759404.768 [DAT](INFO): checking for new query: numPingsReceived=18, elapsed TxPingTime=1.986455
2025-08-09T17:10:05.020Z,1754759405.020 [DAT](INFO): checking for new query: numPingsReceived=18, elapsed TxPingTime=2.238512
2025-08-09T17:10:05.273Z,1754759405.273 [DAT](INFO): DAT read: Rx Time:17:10:04.2218 

2025-08-09T17:10:05.274Z,1754759405.274 [DAT](INFO): Rx dataTimestamp_ set to:1754759405.273194
2025-08-09T17:10:05.275Z,1754759405.275 [DAT](INFO): DAT read: Bearing 133.6, -21.6 (Local)

2025-08-09T17:10:05.275Z,1754759405.275 [DAT](INFO): Local bearing/azimuth received:
 Bearing 133.6, -21.6 (Local)

2025-08-09T17:10:05.277Z,1754759405.277 [DAT](INFO): DAT read: Range 11 to 50 :     2.4 m (trip time 1.6 ms) speed -0.1

2025-08-09T17:10:05.286Z,1754759405.286 [DAT](INFO): DAT read: 17:10:04.2218 LVL= 26688, 15697, 14066, 24867, AGC= 49, IDX= 190,-0.23, 0.751, 3.050, 1.629, 2.133, PHS=-1.279, 0.962,-0.548, RAW= 311.3,   8.8, CAL= 309.4,   9.9, ROT= 200.6,  -9.9

2025-08-09T17:10:05.287Z,1754759405.287 [DAT](INFO): got valid direction response:
 17:10:04.2218 LVL= 26688, 15697, 14066, 24867, AGC= 49, IDX= 190,-0.23, 0.751, 3.050, 1.629, 2.133, PHS=-1.279, 0.962,-0.548, RAW= 311.3,   8.8, CAL= 309.4,   9.9, ROT= 200.6,  -9.9

2025-08-09T17:10:05.288Z,1754759405.288 [DAT](INFO): #Rx 19: Read range and direction messages.
2025-08-09T17:10:05.288Z,1754759405.288 [DAT](INFO): direction in FSK: [-0.922121,-0.346603,0.171929]
2025-08-09T17:10:05.289Z,1754759405.289 [DAT](INFO): publishing direction and range info
2025-08-09T17:10:05.296Z,1754759405.296 [DAT](INFO): checking for new query: numPingsReceived=19, elapsed TxPingTime=2.513370
2025-08-09T17:10:05.523Z,1754759405.523 [DAT](INFO): checking for new query: numPingsReceived=19, elapsed TxPingTime=2.741455
2025-08-09T17:10:05.649Z,1754759405.649 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 2.400000 m,
      deltaT: 2.521547 s,
      deltaX: 0.900000 m,
      approachRate: 0.356924 m/s,
      rangeRepo size: 4

2025-08-09T17:10:05.651Z,1754759405.651 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 2.400000 m,
      bearing: 358.092099 deg,
      lat: 36.906105 deg,
      lon: -122.115891 deg,
      deltaT: 2.521547 s,
      deltaX: 0.900000 m,
      approachRate: 0.356924 m/s,
      posRepo size: 4

2025-08-09T17:10:05.778Z,1754759405.778 [DAT](INFO): DAT read: Rx Time:17:10:04.7217 

2025-08-09T17:10:05.778Z,1754759405.778 [DAT](INFO): Rx dataTimestamp_ set to:1754759405.778108
2025-08-09T17:10:05.780Z,1754759405.780 [DAT](INFO): DAT read: Bearing 130.7, -20.4 (Local)

2025-08-09T17:10:05.780Z,1754759405.780 [DAT](INFO): Local bearing/azimuth received:
 Bearing 130.7, -20.4 (Local)

2025-08-09T17:10:05.782Z,1754759405.782 [DAT](INFO): DAT read: Range 11 to 50 :     2.3 m (trip time 1.5 ms) speed 0.0

2025-08-09T17:10:05.787Z,1754759405.787 [DAT](INFO): DAT read: 17:10:04.7217 LVL= 30528, 22689, 27458, 32755, AGC= 48, IDX= 508, 0.40,-2.357,-0.164,-1.559,-1.002, PHS=-1.253, 0.884,-0.601, RAW= 312.7,  10.2, CAL= 311.0,  12.3, ROT= 199.0, -12.3

2025-08-09T17:10:05.789Z,1754759405.789 [DAT](INFO): got valid direction response:
 17:10:04.7217 LVL= 30528, 22689, 27458, 32755, AGC= 48, IDX= 508, 0.40,-2.357,-0.164,-1.559,-1.002, PHS=-1.253, 0.884,-0.601, RAW= 312.7,  10.2, CAL= 311.0,  12.3, ROT= 199.0, -12.3

2025-08-09T17:10:05.789Z,1754759405.789 [DAT](INFO): #Rx 20: Read range and direction messages.
2025-08-09T17:10:05.790Z,1754759405.790 [DAT](INFO): direction in FSK: [-0.923815,-0.318095,0.213030]
2025-08-09T17:10:05.791Z,1754759405.791 [DAT](INFO): publishing direction and range info
2025-08-09T17:10:05.798Z,1754759405.798 [DAT](INFO): checking for new query: numPingsReceived=20, elapsed TxPingTime=3.012412
2025-08-09T17:10:05.989Z,1754759405.989 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 2.300000 m,
      deltaT: 0.504914 s,
      deltaX: -0.100000 m,
      approachRate: -0.198054 m/s,
      rangeRepo size: 4

2025-08-09T17:10:06.010Z,1754759406.010 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 2.300000 m,
      bearing: 24.554999 deg,
      lat: 36.906104 deg,
      lon: -122.115880 deg,
      deltaT: 0.504914 s,
      deltaX: -0.100000 m,
      approachRate: -0.198054 m/s,
      posRepo size: 4

2025-08-09T17:10:06.022Z,1754759406.022 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Starting intercept timer at range: 2.30 m.
2025-08-09T17:10:06.034Z,1754759406.034 [DAT](INFO): DAT read: Rx Time:17:10:05.2218 

2025-08-09T17:10:06.035Z,1754759406.035 [DAT](INFO): Rx dataTimestamp_ set to:1754759406.034455
2025-08-09T17:10:06.037Z,1754759406.037 [DAT](INFO): checking for new query: numPingsReceived=20, elapsed TxPingTime=3.255144
2025-08-09T17:10:06.284Z,1754759406.284 [DAT](INFO): DAT read: Bearing 124.5, -17.7 (Local)

2025-08-09T17:10:06.284Z,1754759406.284 [DAT](INFO): Local bearing/azimuth received:
 Bearing 124.5, -17.7 (Local)

2025-08-09T17:10:06.286Z,1754759406.286 [DAT](INFO): DAT read: Range 11 to 50 :     2.4 m (trip time 1.6 ms) speed -0.3

2025-08-09T17:10:06.291Z,1754759406.291 [DAT](INFO): DAT read: 17:10:05.2218 LVL= 23824, 18097, 24482, 32755, AGC= 48, IDX= 509,-0.05,-0.321, 1.752, 0.351, 1.023, PHS=-1.242, 0.774,-0.717, RAW= 315.5,  13.0, CAL= 314.2,  16.7, ROT= 195.8, -16.7

2025-08-09T17:10:06.292Z,1754759406.292 [DAT](INFO): got valid direction response:
 17:10:05.2218 LVL= 23824, 18097, 24482, 32755, AGC= 48, IDX= 509,-0.05,-0.321, 1.752, 0.351, 1.023, PHS=-1.242, 0.774,-0.717, RAW= 315.5,  13.0, CAL= 314.2,  16.7, ROT= 195.8, -16.7

2025-08-09T17:10:06.292Z,1754759406.292 [DAT](INFO): #Rx 21: Read range and direction messages.
2025-08-09T17:10:06.293Z,1754759406.293 [DAT](INFO): direction in FSK: [-0.921634,-0.260796,0.287361]
2025-08-09T17:10:06.294Z,1754759406.294 [DAT](INFO): publishing direction and range info
2025-08-09T17:10:06.297Z,1754759406.297 [DAT](INFO): checking for new query: numPingsReceived=21, elapsed TxPingTime=3.515305
2025-08-09T17:10:06.516Z,1754759406.516 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 2.400000 m,
      deltaT: 0.504613 s,
      deltaX: 0.100000 m,
      approachRate: 0.198172 m/s,
      rangeRepo size: 4

2025-08-09T17:10:06.518Z,1754759406.518 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 2.400000 m,
      bearing: 22.817939 deg,
      lat: 36.906104 deg,
      lon: -122.115880 deg,
      deltaT: 0.504613 s,
      deltaX: 0.100000 m,
      approachRate: 0.198172 m/s,
      posRepo size: 4

2025-08-09T17:10:06.523Z,1754759406.523 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Stopped intercept timer at range: 2.40 m.
2025-08-09T17:10:06.538Z,1754759406.538 [DAT](INFO): DAT read: Rx Time:17:10:05.7219 

2025-08-09T17:10:06.539Z,1754759406.539 [DAT](INFO): Rx dataTimestamp_ set to:1754759406.538543
2025-08-09T17:10:06.542Z,1754759406.542 [DAT](INFO): DAT read: Bearing 120.1, -14.8 (Local)

2025-08-09T17:10:06.543Z,1754759406.543 [DAT](INFO): Local bearing/azimuth received:
 Bearing 120.1, -14.8 (Local)

2025-08-09T17:10:06.545Z,1754759406.545 [DAT](INFO): checking for new query: numPingsReceived=21, elapsed TxPingTime=3.763070
2025-08-09T17:10:06.789Z,1754759406.789 [DAT](INFO): DAT read: Range 11 to 50 :     2.6 m (trip time 1.7 ms) speed -0.4

2025-08-09T17:10:06.794Z,1754759406.794 [DAT](INFO): DAT read: 17:10:05.7219 LVL= 29840, 19953, 22962, 32579, AGC= 49, IDX= 509, 0.40, 1.980,-2.334, 2.534,-3.002, PHS=-1.200, 0.713,-0.792, RAW= 318.3,  14.5, CAL= 317.3,  18.8, ROT= 192.7, -18.8

2025-08-09T17:10:06.795Z,1754759406.795 [DAT](INFO): got valid direction response:
 17:10:05.7219 LVL= 29840, 19953, 22962, 32579, AGC= 49, IDX= 509, 0.40, 1.980,-2.334, 2.534,-3.002, PHS=-1.200, 0.713,-0.792, RAW= 318.3,  14.5, CAL= 317.3,  18.8, ROT= 192.7, -18.8

2025-08-09T17:10:06.795Z,1754759406.795 [DAT](INFO): #Rx 22: Read range and direction messages.
2025-08-09T17:10:06.796Z,1754759406.796 [DAT](INFO): direction in FSK: [-0.923489,-0.208117,0.322266]
2025-08-09T17:10:06.797Z,1754759406.797 [DAT](INFO): publishing direction and range info
2025-08-09T17:10:06.800Z,1754759406.800 [DAT](INFO): checking for new query: numPingsReceived=22, elapsed TxPingTime=4.018312
2025-08-09T17:10:06.946Z,1754759406.946 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 2.600000 m,
      deltaT: 0.504070 s,
      deltaX: 0.200000 m,
      approachRate: 0.396770 m/s,
      rangeRepo size: 4

2025-08-09T17:10:06.952Z,1754759406.952 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 2.600000 m,
      bearing: 17.682217 deg,
      lat: 36.906104 deg,
      lon: -122.115883 deg,
      deltaT: 0.504070 s,
      deltaX: 0.200000 m,
      approachRate: 0.396770 m/s,
      posRepo size: 4

2025-08-09T17:10:06.952Z,1754759406.952 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Starting intercept timer at range: 2.60 m.
2025-08-09T17:10:07.043Z,1754759407.043 [DAT](INFO): DAT read: Rx Time:17:10:06.2221 

2025-08-09T17:10:07.043Z,1754759407.043 [DAT](INFO): Rx dataTimestamp_ set to:1754759407.043161
2025-08-09T17:10:07.045Z,1754759407.045 [DAT](INFO): DAT read: Range 11 to 50 :     2.9 m (trip time 1.9 ms) speed -0.2

2025-08-09T17:10:07.045Z,1754759407.045 [DAT](ERROR): #Rx 23: Read range message, but no direction.
2025-08-09T17:10:07.048Z,1754759407.048 [DAT](INFO): checking for new query: numPingsReceived=23, elapsed TxPingTime=4.265052
2025-08-09T17:10:07.291Z,1754759407.291 [DAT](INFO): checking for new query: numPingsReceived=23, elapsed TxPingTime=4.509648
2025-08-09T17:10:07.335Z,1754759407.335 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-09T17:10:07.339Z,1754759407.339 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 2.900000 m,
      deltaT: 0.256370 s,
      deltaX: 0.300000 m,
      approachRate: 1.170184 m/s,
      rangeRepo size: 4

2025-08-09T17:10:07.341Z,1754759407.341 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Stopped intercept timer at range: 2.90 m.
2025-08-09T17:10:07.544Z,1754759407.544 [DAT](INFO): DAT read: Rx Time:17:10:06.7222 

2025-08-09T17:10:07.544Z,1754759407.544 [DAT](INFO): Rx dataTimestamp_ set to:1754759407.544177
2025-08-09T17:10:07.546Z,1754759407.546 [DAT](INFO): DAT read: Range 11 to 50 :     3.0 m (trip time 2.0 ms) speed -0.4

2025-08-09T17:10:07.546Z,1754759407.546 [DAT](ERROR): #Rx 24: Read range message, but no direction.
2025-08-09T17:10:07.547Z,1754759407.547 [DAT](INFO): checking for new query: numPingsReceived=24, elapsed TxPingTime=4.765466
2025-08-09T17:10:07.789Z,1754759407.789 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 3.000000 m,
      deltaT: 0.501016 s,
      deltaX: 0.100000 m,
      approachRate: 0.199594 m/s,
      rangeRepo size: 4

2025-08-09T17:10:07.796Z,1754759407.796 [DAT](INFO): checking for new query: numPingsReceived=24, elapsed TxPingTime=5.013861
2025-08-09T17:10:08.051Z,1754759408.051 [DAT](INFO): DAT read: Rx Time:17:10:07.2223 

2025-08-09T17:10:08.052Z,1754759408.052 [DAT](INFO): Rx dataTimestamp_ set to:1754759408.051476
2025-08-09T17:10:08.055Z,1754759408.055 [DAT](INFO): DAT read: Bearing 119.9, -17.8 (Local)

2025-08-09T17:10:08.056Z,1754759408.056 [DAT](INFO): Local bearing/azimuth received:
 Bearing 119.9, -17.8 (Local)

2025-08-09T17:10:08.059Z,1754759408.059 [DAT](INFO): checking for new query: numPingsReceived=24, elapsed TxPingTime=5.276090
2025-08-09T17:10:08.302Z,1754759408.302 [DAT](INFO): DAT read: Range 11 to 50 :     3.2 m (trip time 2.1 ms) speed -0.5

2025-08-09T17:10:08.311Z,1754759408.311 [DAT](INFO): DAT read: 17:10:07.2223 LVL= 31600, 18545, 25874, 32755, AGC= 54, IDX=   2,-0.05,-3.103,-0.810,-2.325,-1.660, PHS=-1.341, 0.895,-0.708, RAW= 314.1,  11.5, CAL= 312.6,  14.3, ROT= 197.4, -14.3

2025-08-09T17:10:08.312Z,1754759408.312 [DAT](INFO): got valid direction response:
 17:10:07.2223 LVL= 31600, 18545, 25874, 32755, AGC= 54, IDX=   2,-0.05,-3.103,-0.810,-2.325,-1.660, PHS=-1.341, 0.895,-0.708, RAW= 314.1,  11.5, CAL= 312.6,  14.3, ROT= 197.4, -14.3

2025-08-09T17:10:08.312Z,1754759408.312 [DAT](INFO): #Rx 25: Read range and direction messages.
2025-08-09T17:10:08.313Z,1754759408.313 [DAT](INFO): direction in FSK: [-0.924674,-0.289775,0.246999]
2025-08-09T17:10:08.313Z,1754759408.313 [DAT](INFO): publishing direction and range info
2025-08-09T17:10:08.317Z,1754759408.317 [DAT](INFO): checking for new query: numPingsReceived=25, elapsed TxPingTime=5.534820
2025-08-09T17:10:08.554Z,1754759408.554 [DAT](INFO): DAT read: Rx Time:17:10:07.7224 

2025-08-09T17:10:08.556Z,1754759408.556 [DAT](INFO): Rx dataTimestamp_ set to:1754759408.554819
2025-08-09T17:10:08.558Z,1754759408.558 [DAT](INFO): DAT read: Bearing 111.8, -21.7 (Local)

2025-08-09T17:10:08.559Z,1754759408.559 [DAT](INFO): Local bearing/azimuth received:
 Bearing 111.8, -21.7 (Local)

2025-08-09T17:10:08.563Z,1754759408.563 [DAT](INFO): DAT read: Range 11 to 50 :     3.3 m (trip time 2.2 ms) speed -0.4

2025-08-09T17:10:08.566Z,1754759408.566 [DAT](ERROR): #Rx 26: Read range message, but no direction.
2025-08-09T17:10:08.569Z,1754759408.569 [DAT](INFO): checking for new query: numPingsReceived=26, elapsed TxPingTime=5.786267
2025-08-09T17:10:08.695Z,1754759408.695 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 3.300000 m,
      deltaT: 1.010642 s,
      deltaX: 0.300000 m,
      approachRate: 0.296841 m/s,
      rangeRepo size: 4

2025-08-09T17:10:08.697Z,1754759408.697 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 3.300000 m,
      bearing: 17.333524 deg,
      lat: 36.906104 deg,
      lon: -122.115880 deg,
      deltaT: 1.768028 s,
      deltaX: 0.700000 m,
      approachRate: 0.395921 m/s,
      posRepo size: 4

2025-08-09T17:10:08.808Z,1754759408.808 [DAT](INFO): DAT read: 17:10:07.7224 LVL= 32752, 19953, 29794, 32755, AGC= 51, IDX= 498, 0.32, 0.288, 2.519, 1.209, 1.878, PHS=-1.487, 0.686,-0.713, RAW= 309.4,  15.7, CAL= 308.0,  21.1, ROT= 202.0, -21.1

2025-08-09T17:10:08.809Z,1754759408.809 [DAT](INFO): got valid direction response:
 17:10:07.7224 LVL= 32752, 19953, 29794, 32755, AGC= 51, IDX= 498, 0.32, 0.288, 2.519, 1.209, 1.878, PHS=-1.487, 0.686,-0.713, RAW= 309.4,  15.7, CAL= 308.0,  21.1, ROT= 202.0, -21.1

2025-08-09T17:10:08.809Z,1754759408.809 [DAT](INFO): #Rx 27: Read direction message, but no range.
2025-08-09T17:10:08.810Z,1754759408.810 [DAT](INFO): direction in FSK: [-0.865019,-0.349491,0.359997]
2025-08-09T17:10:08.813Z,1754759408.813 [DAT](INFO): checking for new query: numPingsReceived=27, elapsed TxPingTime=6.031566
2025-08-09T17:10:09.062Z,1754759409.062 [DAT](INFO): DAT read: Rx Time:17:10:08.2226 

2025-08-09T17:10:09.063Z,1754759409.063 [DAT](INFO): Rx dataTimestamp_ set to:1754759409.062405
2025-08-09T17:10:09.066Z,1754759409.066 [DAT](INFO): DAT read: Bearing 113.1, -23.8 (Local)

2025-08-09T17:10:09.067Z,1754759409.067 [DAT](INFO): Local bearing/azimuth received:
 Bearing 113.1, -23.8 (Local)

2025-08-09T17:10:09.073Z,1754759409.073 [DAT](INFO): DAT read: Range 11 to 50 :     3.6 m (trip time 2.4 ms) speed -0.4

2025-08-09T17:10:09.075Z,1754759409.075 [DAT](ERROR): #Rx 28: Read range message, but no direction.
2025-08-09T17:10:09.079Z,1754759409.079 [DAT](INFO): checking for new query: numPingsReceived=28, elapsed TxPingTime=6.296296
2025-08-09T17:10:09.311Z,1754759409.311 [DAT](INFO): DAT read: 17:10:08.2226 LVL= 32752, 23729, 32754, 32755, AGC= 54, IDX= 501,-0.33, 1.979,-1.955, 3.003,-2.676, PHS=-1.527, 0.765,-0.649, RAW= 307.7,  14.0, CAL= 305.8,  19.4, ROT= 204.2, -19.4

2025-08-09T17:10:09.312Z,1754759409.312 [DAT](INFO): got valid direction response:
 17:10:08.2226 LVL= 32752, 23729, 32754, 32755, AGC= 54, IDX= 501,-0.33, 1.979,-1.955, 3.003,-2.676, PHS=-1.527, 0.765,-0.649, RAW= 307.7,  14.0, CAL= 305.8,  19.4, ROT= 204.2, -19.4

2025-08-09T17:10:09.312Z,1754759409.312 [DAT](INFO): #Rx 29: Read direction message, but no range.
2025-08-09T17:10:09.313Z,1754759409.313 [DAT](INFO): direction in FSK: [-0.860332,-0.386649,0.332161]
2025-08-09T17:10:09.365Z,1754759409.365 [DAT](INFO): checking for new query: numPingsReceived=29, elapsed TxPingTime=6.583530
2025-08-09T17:10:09.518Z,1754759409.518 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 3.600000 m,
      deltaT: 0.507586 s,
      deltaX: 0.300000 m,
      approachRate: 0.591033 m/s,
      rangeRepo size: 4

2025-08-09T17:10:09.528Z,1754759409.528 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 3.600000 m,
      bearing: 16.024307 deg,
      lat: 36.906104 deg,
      lon: -122.115880 deg,
      deltaT: 0.507586 s,
      deltaX: 0.300000 m,
      approachRate: 0.591033 m/s,
      posRepo size: 4

2025-08-09T17:10:09.564Z,1754759409.564 [DAT](INFO): DAT read: Rx Time:17:10:08.7226 

2025-08-09T17:10:09.565Z,1754759409.565 [DAT](INFO): Rx dataTimestamp_ set to:1754759409.564406
2025-08-09T17:10:09.569Z,1754759409.569 [DAT](INFO): DAT read: Bearing 117.0, -17.1 (Local)

2025-08-09T17:10:09.570Z,1754759409.570 [DAT](INFO): Local bearing/azimuth received:
 Bearing 117.0, -17.1 (Local)

2025-08-09T17:10:09.575Z,1754759409.575 [DAT](INFO): DAT read: Range 11 to 50 :     3.6 m (trip time 2.4 ms) speed -0.4

2025-08-09T17:10:09.578Z,1754759409.578 [DAT](ERROR): #Rx 30: Read range message, but no direction.
2025-08-09T17:10:09.581Z,1754759409.581 [DAT](INFO): checking for new query: numPingsReceived=30, elapsed TxPingTime=6.798955
2025-08-09T17:10:09.793Z,1754759409.793 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-09T17:10:09.795Z,1754759409.795 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 3.600000 m,
      deltaT: 0.502001 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-08-09T17:10:09.829Z,1754759409.829 [DAT](INFO): DAT read: 17:10:08.7226 LVL= 32752, 27121, 32754, 32755, AGC= 55, IDX= 501, 0.04,-1.457, 0.669,-0.733,-0.090, PHS=-1.265, 0.804,-0.687, RAW= 314.3,  12.4, CAL= 312.9,  15.7, ROT= 197.1, -15.7

2025-08-09T17:10:09.839Z,1754759409.839 [DAT](INFO): got valid direction response:
 17:10:08.7226 LVL= 32752, 27121, 32754, 32755, AGC= 55, IDX= 501, 0.04,-1.457, 0.669,-0.733,-0.090, PHS=-1.265, 0.804,-0.687, RAW= 314.3,  12.4, CAL= 312.9,  15.7, ROT= 197.1, -15.7

2025-08-09T17:10:09.839Z,1754759409.839 [DAT](INFO): #Rx 31: Read direction message, but no range.
2025-08-09T17:10:09.841Z,1754759409.841 [DAT](INFO): direction in FSK: [-0.920134,-0.283070,0.270600]
2025-08-09T17:10:09.867Z,1754759409.867 [DAT](INFO): checking for new query: numPingsReceived=31, elapsed TxPingTime=7.084867
2025-08-09T17:10:10.067Z,1754759410.067 [DAT](INFO): DAT read: Rx Time:17:10:09.2229 

2025-08-09T17:10:10.068Z,1754759410.068 [DAT](INFO): Rx dataTimestamp_ set to:1754759410.067436
2025-08-09T17:10:10.071Z,1754759410.071 [DAT](INFO): DAT read: Bearing 124.6, -19.3 (Local)

2025-08-09T17:10:10.072Z,1754759410.072 [DAT](INFO): Local bearing/azimuth received:
 Bearing 124.6, -19.3 (Local)

2025-08-09T17:10:10.077Z,1754759410.077 [DAT](INFO): DAT read: Range 11 to 50 :     4.1 m (trip time 2.7 ms) speed -0.5

2025-08-09T17:10:10.084Z,1754759410.084 [DAT](ERROR): #Rx 32: Read range message, but no direction.
2025-08-09T17:10:10.087Z,1754759410.087 [DAT](INFO): checking for new query: numPingsReceived=32, elapsed TxPingTime=7.304814
2025-08-09T17:10:10.182Z,1754759410.182 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 4.100000 m,
      deltaT: 0.503030 s,
      deltaX: 0.500000 m,
      approachRate: 0.993976 m/s,
      rangeRepo size: 4

2025-08-09T17:10:10.185Z,1754759410.185 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 4.100000 m,
      bearing: 15.502072 deg,
      lat: 36.906104 deg,
      lon: -122.115880 deg,
      deltaT: 1.005031 s,
      deltaX: 0.500000 m,
      approachRate: 0.497497 m/s,
      posRepo size: 4

2025-08-09T17:10:10.319Z,1754759410.319 [DAT](INFO): DAT read: 17:10:09.2229 LVL= 32752, 18961, 32754, 32755, AGC= 50, IDX= 504, 0.05,-2.195,-0.035,-1.399,-0.932, PHS=-1.161, 0.942,-0.511, RAW= 312.4,   7.9, CAL= 310.5,   8.3, ROT= 199.5,  -8.3

2025-08-09T17:10:10.320Z,1754759410.320 [DAT](INFO): got valid direction response:
 17:10:09.2229 LVL= 32752, 18961, 32754, 32755, AGC= 50, IDX= 504, 0.05,-2.195,-0.035,-1.399,-0.932, PHS=-1.161, 0.942,-0.511, RAW= 312.4,   7.9, CAL= 310.5,   8.3, ROT= 199.5,  -8.3

2025-08-09T17:10:10.321Z,1754759410.321 [DAT](INFO): #Rx 33: Read direction message, but no range.
2025-08-09T17:10:10.321Z,1754759410.321 [DAT](INFO): direction in FSK: [-0.932768,-0.330311,0.144356]
2025-08-09T17:10:10.330Z,1754759410.330 [DAT](INFO): checking for new query: numPingsReceived=33, elapsed TxPingTime=7.548037
2025-08-09T17:10:10.571Z,1754759410.571 [DAT](INFO): DAT read: Rx Time:17:10:09.7230 

2025-08-09T17:10:10.572Z,1754759410.572 [DAT](INFO): Rx dataTimestamp_ set to:1754759410.571404
2025-08-09T17:10:10.576Z,1754759410.576 [DAT](INFO): DAT read: Bearing 135.9, -21.6 (Local)

2025-08-09T17:10:10.577Z,1754759410.577 [DAT](INFO): Local bearing/azimuth received:
 Bearing 135.9, -21.6 (Local)

2025-08-09T17:10:10.582Z,1754759410.582 [DAT](INFO): DAT read: Range 11 to 50 :     4.2 m (trip time 2.8 ms) speed -0.5

2025-08-09T17:10:10.584Z,1754759410.584 [DAT](ERROR): #Rx 34: Read range message, but no direction.
2025-08-09T17:10:10.587Z,1754759410.587 [DAT](INFO): checking for new query: numPingsReceived=34, elapsed TxPingTime=7.804769
2025-08-09T17:10:10.707Z,1754759410.707 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 4.200000 m,
      deltaT: 0.503968 s,
      deltaX: 0.100000 m,
      approachRate: 0.198425 m/s,
      rangeRepo size: 4

2025-08-09T17:10:10.709Z,1754759410.709 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 4.200000 m,
      bearing: 16.126000 deg,
      lat: 36.906104 deg,
      lon: -122.115879 deg,
      deltaT: 0.503968 s,
      deltaX: 0.100000 m,
      approachRate: 0.198425 m/s,
      posRepo size: 4

2025-08-09T17:10:10.825Z,1754759410.825 [DAT](INFO): DAT read: 17:10:09.7230 LVL= 32752, 20289, 32754, 32755, AGC= 52, IDX= 505, 0.29,-0.170, 2.104, 0.770, 0.972, PHS=-1.040, 1.177,-0.246, RAW= 309.3,   1.1, CAL= 307.3,  -2.2, ROT= 202.7,   2.2

2025-08-09T17:10:10.827Z,1754759410.827 [DAT](INFO): got valid direction response:
 17:10:09.7230 LVL= 32752, 20289, 32754, 32755, AGC= 52, IDX= 505, 0.29,-0.170, 2.104, 0.770, 0.972, PHS=-1.040, 1.177,-0.246, RAW= 309.3,   1.1, CAL= 307.3,  -2.2, ROT= 202.7,   2.2

2025-08-09T17:10:10.827Z,1754759410.827 [DAT](INFO): #Rx 35: Read direction message, but no range.
2025-08-09T17:10:10.828Z,1754759410.828 [DAT](INFO): direction in FSK: [-0.921858,-0.385622,-0.038388]
2025-08-09T17:10:10.832Z,1754759410.832 [DAT](INFO): checking for new query: numPingsReceived=35, elapsed TxPingTime=8.049815
2025-08-09T17:10:11.077Z,1754759411.077 [DAT](INFO): DAT read: Rx Time:17:10:10.2233 

2025-08-09T17:10:11.078Z,1754759411.078 [DAT](INFO): Rx dataTimestamp_ set to:1754759411.077352
2025-08-09T17:10:11.082Z,1754759411.082 [DAT](INFO): DAT read: Bearing 137.4, -18.4 (Local)

2025-08-09T17:10:11.083Z,1754759411.083 [DAT](INFO): Local bearing/azimuth received:
 Bearing 137.4, -18.4 (Local)

2025-08-09T17:10:11.089Z,1754759411.089 [DAT](INFO): DAT read: Range 11 to 50 :     4.7 m (trip time 3.1 ms) speed -0.8

2025-08-09T17:10:11.095Z,1754759411.095 [DAT](ERROR): #Rx 36: Read range message, but no direction.
2025-08-09T17:10:11.096Z,1754759411.096 [DAT](INFO): checking for new query: numPingsReceived=36, elapsed TxPingTime=8.314314
2025-08-09T17:10:11.164Z,1754759411.164 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 4.700000 m,
      deltaT: 0.505948 s,
      deltaX: 0.500000 m,
      approachRate: 0.988244 m/s,
      rangeRepo size: 4

2025-08-09T17:10:11.165Z,1754759411.165 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 4.700000 m,
      bearing: 18.377135 deg,
      lat: 36.906105 deg,
      lon: -122.115876 deg,
      deltaT: 0.505948 s,
      deltaX: 0.500000 m,
      approachRate: 0.988244 m/s,
      posRepo size: 4

2025-08-09T17:10:11.332Z,1754759411.332 [DAT](INFO): DAT read: 17:10:10.2233 LVL= 32752, 20305, 31730, 32691, AGC= 51, IDX= 508, 0.44,-0.384, 1.919, 0.469, 0.679, PHS=-0.960, 1.286,-0.253, RAW= 312.1,  -0.7, CAL= 310.4,  -3.9, ROT= 199.6,   3.9

2025-08-09T17:10:11.333Z,1754759411.333 [DAT](INFO): got valid direction response:
 17:10:10.2233 LVL= 32752, 20305, 31730, 32691, AGC= 51, IDX= 508, 0.44,-0.384, 1.919, 0.469, 0.679, PHS=-0.960, 1.286,-0.253, RAW= 312.1,  -0.7, CAL= 310.4,  -3.9, ROT= 199.6,   3.9

2025-08-09T17:10:11.333Z,1754759411.333 [DAT](INFO): #Rx 37: Read direction message, but no range.
2025-08-09T17:10:11.334Z,1754759411.334 [DAT](INFO): direction in FSK: [-0.939876,-0.334675,-0.068015]
2025-08-09T17:10:11.337Z,1754759411.337 [DAT](INFO): checking for new query: numPingsReceived=37, elapsed TxPingTime=8.555293
2025-08-09T17:10:11.580Z,1754759411.580 [DAT](INFO): DAT read: Rx Time:17:10:10.7234 

2025-08-09T17:10:11.581Z,1754759411.581 [DAT](INFO): Rx dataTimestamp_ set to:1754759411.580409
2025-08-09T17:10:11.586Z,1754759411.586 [DAT](INFO): DAT read: Bearing 137.6, -17.3 (Local)

2025-08-09T17:10:11.594Z,1754759411.594 [DAT](INFO): Local bearing/azimuth received:
 Bearing 137.6, -17.3 (Local)

2025-08-09T17:10:11.597Z,1754759411.597 [DAT](INFO): DAT read: Range 11 to 50 :     4.8 m (trip time 3.2 ms) speed -0.6

2025-08-09T17:10:11.601Z,1754759411.601 [DAT](INFO): DAT read: 17:10:10.7234 LVL= 32752, 22545, 32754, 32755, AGC= 52, IDX= 494,-0.46,-2.874,-0.552,-2.050,-1.823, PHS=-0.949, 1.316,-0.271, RAW= 313.0,  -1.0, CAL= 311.4,  -4.2, ROT= 198.6,   4.2

2025-08-09T17:10:11.602Z,1754759411.602 [DAT](INFO): got valid direction response:
 17:10:10.7234 LVL= 32752, 22545, 32754, 32755, AGC= 52, IDX= 494,-0.46,-2.874,-0.552,-2.050,-1.823, PHS=-0.949, 1.316,-0.271, RAW= 313.0,  -1.0, CAL= 311.4,  -4.2, ROT= 198.6,   4.2

2025-08-09T17:10:11.603Z,1754759411.603 [DAT](INFO): #Rx 38: Read range and direction messages.
2025-08-09T17:10:11.604Z,1754759411.604 [DAT](INFO): direction in FSK: [-0.945223,-0.318103,-0.073238]
2025-08-09T17:10:11.604Z,1754759411.604 [DAT](INFO): publishing direction and range info
2025-08-09T17:10:11.607Z,1754759411.607 [DAT](INFO): checking for new query: numPingsReceived=38, elapsed TxPingTime=8.825581
2025-08-09T17:10:11.639Z,1754759411.639 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 4.800000 m,
      deltaT: 0.503057 s,
      deltaX: 0.100000 m,
      approachRate: 0.198785 m/s,
      rangeRepo size: 4

2025-08-09T17:10:11.641Z,1754759411.641 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 4.800000 m,
      bearing: 17.548181 deg,
      lat: 36.906105 deg,
      lon: -122.115876 deg,
      deltaT: 0.503057 s,
      deltaX: 0.100000 m,
      approachRate: 0.198785 m/s,
      posRepo size: 4

2025-08-09T17:10:11.827Z,1754759411.827 [DAT](INFO): checking for new query: numPingsReceived=38, elapsed TxPingTime=9.045662
2025-08-09T17:10:11.968Z,1754759411.968 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-09T17:10:12.084Z,1754759412.084 [DAT](INFO): DAT read: Rx Time:17:10:11.2235 

2025-08-09T17:10:12.085Z,1754759412.085 [DAT](INFO): Rx dataTimestamp_ set to:1754759412.084480
2025-08-09T17:10:12.089Z,1754759412.089 [DAT](INFO): DAT read: Bearing 137.6, -22.9 (Local)

2025-08-09T17:10:12.095Z,1754759412.095 [DAT](INFO): Local bearing/azimuth received:
 Bearing 137.6, -22.9 (Local)

2025-08-09T17:10:12.097Z,1754759412.097 [DAT](INFO): DAT read: Range 11 to 50 :     5.0 m (trip time 3.3 ms) speed -0.4

2025-08-09T17:10:12.114Z,1754759412.114 [DAT](INFO): DAT read: 17:10:11.2235 LVL= 32752, 21681, 32754, 32755, AGC= 53, IDX= 512,-0.39,-0.359, 1.365, 0.429, 0.513, PHS=-0.770, 0.897,-0.128, RAW= 307.5,   0.0, CAL= 305.8,  -3.5, ROT= 204.2,   3.5

2025-08-09T17:10:12.120Z,1754759412.120 [DAT](INFO): got valid direction response:
 17:10:11.2235 LVL= 32752, 21681, 32754, 32755, AGC= 53, IDX= 512,-0.39,-0.359, 1.365, 0.429, 0.513, PHS=-0.770, 0.897,-0.128, RAW= 307.5,   0.0, CAL= 305.8,  -3.5, ROT= 204.2,   3.5

2025-08-09T17:10:12.120Z,1754759412.120 [DAT](INFO): #Rx 39: Read range and direction messages.
2025-08-09T17:10:12.121Z,1754759412.121 [DAT](INFO): direction in FSK: [-0.910419,-0.409158,-0.061049]
2025-08-09T17:10:12.121Z,1754759412.121 [DAT](INFO): publishing direction and range info
2025-08-09T17:10:12.133Z,1754759412.133 [DAT](INFO): checking for new query: numPingsReceived=39, elapsed TxPingTime=9.351117
2025-08-09T17:10:12.331Z,1754759412.331 [DAT](INFO): checking for new query: numPingsReceived=39, elapsed TxPingTime=9.549352
2025-08-09T17:10:12.404Z,1754759412.404 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 5.000000 m,
      deltaT: 0.504071 s,
      deltaX: 0.200000 m,
      approachRate: 0.396769 m/s,
      rangeRepo size: 4

2025-08-09T17:10:12.406Z,1754759412.406 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 5.000000 m,
      bearing: 18.943348 deg,
      lat: 36.906105 deg,
      lon: -122.115873 deg,
      deltaT: 0.504071 s,
      deltaX: 0.200000 m,
      approachRate: 0.396769 m/s,
      posRepo size: 4

2025-08-09T17:10:12.584Z,1754759412.584 [DAT](INFO): DAT read: 

2025-08-09T17:10:12.585Z,1754759412.585 [DAT](INFO): checking for new query: numPingsReceived=39, elapsed TxPingTime=9.802791
2025-08-09T17:10:12.835Z,1754759412.835 [DAT](INFO): checking for new query: numPingsReceived=39, elapsed TxPingTime=10.053609
2025-08-09T17:10:12.939Z,1754759412.939 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for altitude. Device response is::BD,     0
2025-08-09T17:10:13.092Z,1754759413.092 [DAT](INFO): DAT read: Rx Time:17:10:12.2239 

2025-08-09T17:10:13.093Z,1754759413.093 [DAT](INFO): Rx dataTimestamp_ set to:1754759413.092166
2025-08-09T17:10:13.097Z,1754759413.097 [DAT](INFO): DAT read: Bearing 137.5, -16.3 (Local)

2025-08-09T17:10:13.097Z,1754759413.097 [DAT](INFO): Local bearing/azimuth received:
 Bearing 137.5, -16.3 (Local)

2025-08-09T17:10:13.100Z,1754759413.100 [DAT](INFO): DAT read: Range 11 to 50 :     5.6 m (trip time 3.7 ms) speed -0.4

2025-08-09T17:10:13.104Z,1754759413.104 [DAT](INFO): DAT read: 17:10:12.2239 LVL= 18512, 10865, 16786, 20435, AGC= 60, IDX=   3, 0.33,-2.386,-0.009,-1.591,-1.309, PHS=-0.975, 1.345,-0.326, RAW= 314.3,  -0.4, CAL= 312.6,  -3.6, ROT= 197.4,   3.6

2025-08-09T17:10:13.105Z,1754759413.105 [DAT](INFO): got valid direction response:
 17:10:12.2239 LVL= 18512, 10865, 16786, 20435, AGC= 60, IDX=   3, 0.33,-2.386,-0.009,-1.591,-1.309, PHS=-0.975, 1.345,-0.326, RAW= 314.3,  -0.4, CAL= 312.6,  -3.6, ROT= 197.4,   3.6

2025-08-09T17:10:13.106Z,1754759413.106 [DAT](INFO): #Rx 40: Read range and direction messages.
2025-08-09T17:10:13.107Z,1754759413.107 [DAT](INFO): direction in FSK: [-0.952357,-0.298451,-0.062791]
2025-08-09T17:10:13.107Z,1754759413.107 [DAT](INFO): publishing direction and range info
2025-08-09T17:10:13.111Z,1754759413.111 [DAT](INFO): checking for new query: numPingsReceived=40, elapsed TxPingTime=10.329589
2025-08-09T17:10:13.318Z,1754759413.318 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 5.600000 m,
      deltaT: 1.007686 s,
      deltaX: 0.600000 m,
      approachRate: 0.595423 m/s,
      rangeRepo size: 4

2025-08-09T17:10:13.321Z,1754759413.321 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 5.600000 m,
      bearing: 19.176873 deg,
      lat: 36.906107 deg,
      lon: -122.115871 deg,
      deltaT: 1.007686 s,
      deltaX: 0.600000 m,
      approachRate: 0.595423 m/s,
      posRepo size: 4

2025-08-09T17:10:13.340Z,1754759413.340 [DAT](INFO): checking for new query: numPingsReceived=40, elapsed TxPingTime=10.557781
2025-08-09T17:10:13.596Z,1754759413.596 [DAT](INFO): DAT read: Rx Time:17:10:12.7240 

2025-08-09T17:10:13.597Z,1754759413.597 [DAT](INFO): Rx dataTimestamp_ set to:1754759413.596375
2025-08-09T17:10:13.599Z,1754759413.599 [DAT](INFO): DAT read: Bearing 137.9, -16.1 (Local)

2025-08-09T17:10:13.599Z,1754759413.599 [DAT](INFO): Local bearing/azimuth received:
 Bearing 137.9, -16.1 (Local)

2025-08-09T17:10:13.601Z,1754759413.601 [DAT](INFO): DAT read: Range 11 to 50 :     5.7 m (trip time 3.8 ms) speed -0.5

2025-08-09T17:10:13.606Z,1754759413.606 [DAT](INFO): DAT read: 17:10:12.7240 LVL= 32752, 18993, 30834, 32755, AGC= 56, IDX= 500, 0.27, 2.208,-1.731, 2.986,-3.015, PHS=-0.957, 1.329,-0.325, RAW= 314.5,  -0.5, CAL= 312.8,  -3.6, ROT= 197.2,   3.6

2025-08-09T17:10:13.635Z,1754759413.635 [DAT](INFO): got valid direction response:
 17:10:12.7240 LVL= 32752, 18993, 30834, 32755, AGC= 56, IDX= 500, 0.27, 2.208,-1.731, 2.986,-3.015, PHS=-0.957, 1.329,-0.325, RAW= 314.5,  -0.5, CAL= 312.8,  -3.6, ROT= 197.2,   3.6

2025-08-09T17:10:13.635Z,1754759413.635 [DAT](INFO): #Rx 41: Read range and direction messages.
2025-08-09T17:10:13.636Z,1754759413.636 [DAT](INFO): direction in FSK: [-0.953393,-0.295124,-0.062791]
2025-08-09T17:10:13.637Z,1754759413.637 [DAT](INFO): publishing direction and range info
2025-08-09T17:10:13.656Z,1754759413.656 [DAT](INFO): checking for new query: numPingsReceived=41, elapsed TxPingTime=10.874476
2025-08-09T17:10:13.808Z,1754759413.808 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 5.700000 m,
      deltaT: 0.504209 s,
      deltaX: 0.100000 m,
      approachRate: 0.198330 m/s,
      rangeRepo size: 4

2025-08-09T17:10:13.814Z,1754759413.814 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 5.700000 m,
      bearing: 18.863532 deg,
      lat: 36.906107 deg,
      lon: -122.115871 deg,
      deltaT: 0.504209 s,
      deltaX: 0.100000 m,
      approachRate: 0.198330 m/s,
      posRepo size: 4

2025-08-09T17:10:13.845Z,1754759413.845 [DAT](INFO): checking for new query: numPingsReceived=41, elapsed TxPingTime=11.062392
2025-08-09T17:10:14.098Z,1754759414.098 [DAT](INFO): DAT read: Rx Time:17:10:13.2243 

2025-08-09T17:10:14.099Z,1754759414.099 [DAT](INFO): Rx dataTimestamp_ set to:1754759414.098444
2025-08-09T17:10:14.100Z,1754759414.100 [DAT](INFO): DAT read: Bearing 137.8, -17.3 (Local)

2025-08-09T17:10:14.100Z,1754759414.100 [DAT](INFO): Local bearing/azimuth received:
 Bearing 137.8, -17.3 (Local)

2025-08-09T17:10:14.103Z,1754759414.103 [DAT](INFO): DAT read: Range 11 to 50 :     6.2 m (trip time 4.1 ms) speed -0.5

2025-08-09T17:10:14.107Z,1754759414.107 [DAT](INFO): DAT read: 17:10:13.2243 LVL= 32752, 19537, 26658, 32755, AGC= 57, IDX= 503, 0.23,-3.039,-0.689,-2.221,-1.948, PHS=-0.990, 1.304,-0.317, RAW= 313.4,   0.0, CAL= 311.6,  -3.1, ROT= 198.4,   3.1

2025-08-09T17:10:14.108Z,1754759414.108 [DAT](INFO): got valid direction response:
 17:10:13.2243 LVL= 32752, 19537, 26658, 32755, AGC= 57, IDX= 503, 0.23,-3.039,-0.689,-2.221,-1.948, PHS=-0.990, 1.304,-0.317, RAW= 313.4,   0.0, CAL= 311.6,  -3.1, ROT= 198.4,   3.1

2025-08-09T17:10:14.109Z,1754759414.109 [DAT](INFO): #Rx 42: Read range and direction messages.
2025-08-09T17:10:14.109Z,1754759414.109 [DAT](INFO): direction in FSK: [-0.947488,-0.315187,-0.054079]
2025-08-09T17:10:14.110Z,1754759414.110 [DAT](INFO): publishing direction and range info
2025-08-09T17:10:14.117Z,1754759414.117 [DAT](INFO): checking for new query: numPingsReceived=42, elapsed TxPingTime=11.335473
2025-08-09T17:10:14.248Z,1754759414.248 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 6.200000 m,
      deltaT: 0.502069 s,
      deltaX: 0.500000 m,
      approachRate: 0.995879 m/s,
      rangeRepo size: 4

2025-08-09T17:10:14.263Z,1754759414.263 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 6.200000 m,
      bearing: 18.317560 deg,
      lat: 36.906107 deg,
      lon: -122.115871 deg,
      deltaT: 0.502069 s,
      deltaX: 0.500000 m,
      approachRate: 0.995879 m/s,
      posRepo size: 4

2025-08-09T17:10:14.349Z,1754759414.349 [DAT](INFO): checking for new query: numPingsReceived=42, elapsed TxPingTime=11.567085
2025-08-09T17:10:14.600Z,1754759414.600 [DAT](INFO): DAT read: Rx Time:17:10:13.7244 

2025-08-09T17:10:14.600Z,1754759414.600 [DAT](INFO): Rx dataTimestamp_ set to:1754759414.600132
2025-08-09T17:10:14.602Z,1754759414.602 [DAT](INFO): DAT read: Bearing 137.8, -19.6 (Local)

2025-08-09T17:10:14.602Z,1754759414.602 [DAT](INFO): Local bearing/azimuth received:
 Bearing 137.8, -19.6 (Local)

2025-08-09T17:10:14.604Z,1754759414.604 [DAT](INFO): DAT read: Range 11 to 50 :     6.2 m (trip time 4.1 ms) speed -0.6

2025-08-09T17:10:14.609Z,1754759414.609 [DAT](INFO): DAT read: 17:10:13.7244 LVL= 31680, 19825, 27954, 32755, AGC= 59, IDX= 504, 0.17, 1.513,-2.397, 2.416, 2.659, PHS=-1.044, 1.272,-0.288, RAW= 311.3,   0.6, CAL= 309.4,  -2.6, ROT= 200.6,   2.6

2025-08-09T17:10:14.610Z,1754759414.610 [DAT](INFO): got valid direction response:
 17:10:13.7244 LVL= 31680, 19825, 27954, 32755, AGC= 59, IDX= 504, 0.17, 1.513,-2.397, 2.416, 2.659, PHS=-1.044, 1.272,-0.288, RAW= 311.3,   0.6, CAL= 309.4,  -2.6, ROT= 200.6,   2.6

2025-08-09T17:10:14.610Z,1754759414.610 [DAT](INFO): #Rx 43: Read range and direction messages.
2025-08-09T17:10:14.611Z,1754759414.611 [DAT](INFO): direction in FSK: [-0.935096,-0.351480,-0.045363]
2025-08-09T17:10:14.611Z,1754759414.611 [DAT](INFO): publishing direction and range info
2025-08-09T17:10:14.619Z,1754759414.619 [DAT](INFO): checking for new query: numPingsReceived=43, elapsed TxPingTime=11.837223
2025-08-09T17:10:14.668Z,1754759414.668 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 6.200000 m,
      deltaT: 0.501688 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-08-09T17:10:14.687Z,1754759414.687 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 6.200000 m,
      bearing: 20.680965 deg,
      lat: 36.906106 deg,
      lon: -122.115867 deg,
      deltaT: 0.501688 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      posRepo size: 4

2025-08-09T17:10:14.852Z,1754759414.852 [DAT](INFO): checking for new query: numPingsReceived=43, elapsed TxPingTime=12.070399
2025-08-09T17:10:14.952Z,1754759414.952 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-09T17:10:15.104Z,1754759415.104 [DAT](INFO): DAT read: Rx Time:17:10:14.2247 

2025-08-09T17:10:15.104Z,1754759415.104 [DAT](INFO): Rx dataTimestamp_ set to:1754759415.103961
2025-08-09T17:10:15.106Z,1754759415.106 [DAT](INFO): DAT read: Bearing 138.5, -22.9 (Local)

2025-08-09T17:10:15.106Z,1754759415.106 [DAT](INFO): Local bearing/azimuth received:
 Bearing 138.5, -22.9 (Local)

2025-08-09T17:10:15.108Z,1754759415.108 [DAT](INFO): DAT read: Range 11 to 50 :     6.6 m (trip time 4.4 ms) speed -0.5

2025-08-09T17:10:15.112Z,1754759415.112 [DAT](INFO): DAT read: 17:10:14.2247 LVL= 32336, 19361, 24242, 31059, AGC= 61, IDX= 507, 0.05, 2.795,-1.074,-2.449,-2.275, PHS=-1.111, 1.246,-0.218, RAW= 308.0,   0.8, CAL= 306.0,  -2.6, ROT= 204.0,   2.6

2025-08-09T17:10:15.113Z,1754759415.113 [DAT](INFO): got valid direction response:
 17:10:14.2247 LVL= 32336, 19361, 24242, 31059, AGC= 61, IDX= 507, 0.05, 2.795,-1.074,-2.449,-2.275, PHS=-1.111, 1.246,-0.218, RAW= 308.0,   0.8, CAL= 306.0,  -2.6, ROT= 204.0,   2.6

2025-08-09T17:10:15.114Z,1754759415.114 [DAT](INFO): #Rx 44: Read range and direction messages.
2025-08-09T17:10:15.115Z,1754759415.115 [DAT](INFO): direction in FSK: [-0.912605,-0.406318,-0.045363]
2025-08-09T17:10:15.115Z,1754759415.115 [DAT](INFO): publishing direction and range info
2025-08-09T17:10:15.119Z,1754759415.119 [DAT](INFO): checking for new query: numPingsReceived=44, elapsed TxPingTime=12.336748
2025-08-09T17:10:15.356Z,1754759415.356 [DAT](INFO): checking for new query: numPingsReceived=44, elapsed TxPingTime=12.573843
2025-08-09T17:10:15.386Z,1754759415.386 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 6.600000 m,
      deltaT: 0.503829 s,
      deltaX: 0.400000 m,
      approachRate: 0.793920 m/s,
      rangeRepo size: 4

2025-08-09T17:10:15.392Z,1754759415.392 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 6.600000 m,
      bearing: 19.914765 deg,
      lat: 36.906106 deg,
      lon: -122.115867 deg,
      deltaT: 0.503829 s,
      deltaX: 0.400000 m,
      approachRate: 0.793920 m/s,
      posRepo size: 4

2025-08-09T17:10:15.609Z,1754759415.609 [DAT](INFO): DAT read: Rx Time:17:10:14.7248 

2025-08-09T17:10:15.609Z,1754759415.609 [DAT](INFO): Rx dataTimestamp_ set to:1754759415.608865
2025-08-09T17:10:15.611Z,1754759415.611 [DAT](INFO): DAT read: Bearing 137.9, -24.9 (Local)

2025-08-09T17:10:15.611Z,1754759415.611 [DAT](INFO): Local bearing/azimuth received:
 Bearing 137.9, -24.9 (Local)

2025-08-09T17:10:15.613Z,1754759415.613 [DAT](INFO): DAT read: Range 11 to 50 :     6.8 m (trip time 4.5 ms) speed -0.4

2025-08-09T17:10:15.617Z,1754759415.617 [DAT](INFO): DAT read: 17:10:14.7248 LVL= 31344, 26497, 31298, 31459, AGC= 64, IDX= 508,-0.11, 0.511, 3.060, 1.664, 1.848, PHS=-1.235, 1.257,-0.228, RAW= 306.3,   1.9, CAL= 304.2,  -1.6, ROT= 205.8,   1.6

2025-08-09T17:10:15.619Z,1754759415.619 [DAT](INFO): got valid direction response:
 17:10:14.7248 LVL= 31344, 26497, 31298, 31459, AGC= 64, IDX= 508,-0.11, 0.511, 3.060, 1.664, 1.848, PHS=-1.235, 1.257,-0.228, RAW= 306.3,   1.9, CAL= 304.2,  -1.6, ROT= 205.8,   1.6

2025-08-09T17:10:15.619Z,1754759415.619 [DAT](INFO): #Rx 45: Read range and direction messages.
2025-08-09T17:10:15.620Z,1754759415.620 [DAT](INFO): direction in FSK: [-0.899968,-0.435062,-0.027922]
2025-08-09T17:10:15.620Z,1754759415.620 [DAT](INFO): publishing direction and range info
2025-08-09T17:10:15.628Z,1754759415.628 [DAT](INFO): checking for new query: numPingsReceived=45, elapsed TxPingTime=12.846523
2025-08-09T17:10:15.829Z,1754759415.829 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 6.800000 m,
      deltaT: 0.504904 s,
      deltaX: 0.200000 m,
      approachRate: 0.396115 m/s,
      rangeRepo size: 4

2025-08-09T17:10:15.836Z,1754759415.836 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 6.800000 m,
      bearing: 21.585654 deg,
      lat: 36.906105 deg,
      lon: -122.115864 deg,
      deltaT: 0.504904 s,
      deltaX: 0.200000 m,
      approachRate: 0.396115 m/s,
      posRepo size: 4

2025-08-09T17:10:15.861Z,1754759415.861 [DAT](INFO): checking for new query: numPingsReceived=45, elapsed TxPingTime=13.079412
2025-08-09T17:10:16.112Z,1754759416.112 [DAT](INFO): DAT read: Rx Time:17:10:15.2250 

2025-08-09T17:10:16.112Z,1754759416.112 [DAT](INFO): Rx dataTimestamp_ set to:1754759416.112041
2025-08-09T17:10:16.114Z,1754759416.114 [DAT](INFO): DAT read: Bearing 137.1, -22.1 (Local)

2025-08-09T17:10:16.114Z,1754759416.114 [DAT](INFO): Local bearing/azimuth received:
 Bearing 137.1, -22.1 (Local)

2025-08-09T17:10:16.116Z,1754759416.116 [DAT](INFO): DAT read: Range 11 to 50 :     7.1 m (trip time 4.7 ms) speed -0.4

2025-08-09T17:10:16.121Z,1754759416.121 [DAT](INFO): DAT read: 17:10:15.2250 LVL= 31088, 22849, 30162, 30803, AGC= 65, IDX= 510,-0.26, 0.139, 2.626, 1.148, 1.431, PHS=-1.190, 1.240,-0.327, RAW= 309.5,   2.6, CAL= 307.2,  -0.6, ROT= 202.8,   0.6

2025-08-09T17:10:16.122Z,1754759416.122 [DAT](INFO): got valid direction response:
 17:10:15.2250 LVL= 31088, 22849, 30162, 30803, AGC= 65, IDX= 510,-0.26, 0.139, 2.626, 1.148, 1.431, PHS=-1.190, 1.240,-0.327, RAW= 309.5,   2.6, CAL= 307.2,  -0.6, ROT= 202.8,   0.6

2025-08-09T17:10:16.122Z,1754759416.122 [DAT](INFO): #Rx 46: Read range and direction messages.
2025-08-09T17:10:16.123Z,1754759416.123 [DAT](INFO): direction in FSK: [-0.921813,-0.387494,-0.010472]
2025-08-09T17:10:16.123Z,1754759416.123 [DAT](INFO): publishing direction and range info
2025-08-09T17:10:16.127Z,1754759416.127 [DAT](INFO): checking for new query: numPingsReceived=46, elapsed TxPingTime=13.345094
2025-08-09T17:10:16.194Z,1754759416.194 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 7.100000 m,
      deltaT: 0.503176 s,
      deltaX: 0.300000 m,
      approachRate: 0.596212 m/s,
      rangeRepo size: 4

2025-08-09T17:10:16.204Z,1754759416.204 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 7.100000 m,
      bearing: 25.631506 deg,
      lat: 36.906105 deg,
      lon: -122.115858 deg,
      deltaT: 0.503176 s,
      deltaX: 0.300000 m,
      approachRate: 0.596212 m/s,
      posRepo size: 4

2025-08-09T17:10:16.363Z,1754759416.363 [DAT](INFO): checking for new query: numPingsReceived=46, elapsed TxPingTime=13.581681
2025-08-09T17:10:16.616Z,1754759416.616 [DAT](INFO): DAT read: Rx Time:17:10:15.7250 

2025-08-09T17:10:16.616Z,1754759416.616 [DAT](INFO): Rx dataTimestamp_ set to:1754759416.616081
2025-08-09T17:10:16.618Z,1754759416.618 [DAT](INFO): DAT read: Bearing 138.2, -16.4 (Local)

2025-08-09T17:10:16.618Z,1754759416.618 [DAT](INFO): Local bearing/azimuth received:
 Bearing 138.2, -16.4 (Local)

2025-08-09T17:10:16.621Z,1754759416.621 [DAT](INFO): DAT read: Range 11 to 50 :     7.2 m (trip time 4.8 ms) speed -0.4

2025-08-09T17:10:16.625Z,1754759416.625 [DAT](INFO): DAT read: 17:10:15.7250 LVL= 31728, 22609, 30450, 32755, AGC= 65, IDX= 511,-0.44,-1.420, 0.915,-0.658,-0.300, PHS=-1.018, 1.260,-0.401, RAW= 314.8,   1.6, CAL= 312.8,  -1.4, ROT= 197.2,   1.4

2025-08-09T17:10:16.626Z,1754759416.626 [DAT](INFO): got valid direction response:
 17:10:15.7250 LVL= 31728, 22609, 30450, 32755, AGC= 65, IDX= 511,-0.44,-1.420, 0.915,-0.658,-0.300, PHS=-1.018, 1.260,-0.401, RAW= 314.8,   1.6, CAL= 312.8,  -1.4, ROT= 197.2,   1.4

2025-08-09T17:10:16.627Z,1754759416.627 [DAT](INFO): #Rx 47: Read range and direction messages.
2025-08-09T17:10:16.628Z,1754759416.628 [DAT](INFO): direction in FSK: [-0.954993,-0.295620,-0.024432]
2025-08-09T17:10:16.628Z,1754759416.628 [DAT](INFO): publishing direction and range info
2025-08-09T17:10:16.632Z,1754759416.632 [DAT](INFO): checking for new query: numPingsReceived=47, elapsed TxPingTime=13.849746
2025-08-09T17:10:16.709Z,1754759416.709 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 7.200000 m,
      deltaT: 0.504040 s,
      deltaX: 0.100000 m,
      approachRate: 0.198397 m/s,
      rangeRepo size: 4

2025-08-09T17:10:16.726Z,1754759416.726 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 7.200000 m,
      bearing: 24.892300 deg,
      lat: 36.906105 deg,
      lon: -122.115858 deg,
      deltaT: 0.504040 s,
      deltaX: 0.100000 m,
      approachRate: 0.198397 m/s,
      posRepo size: 4

2025-08-09T17:10:16.869Z,1754759416.869 [DAT](INFO): checking for new query: numPingsReceived=47, elapsed TxPingTime=14.086859
2025-08-09T17:10:17.009Z,1754759417.009 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-09T17:10:17.119Z,1754759417.119 [DAT](INFO): DAT read: Rx Time:17:10:16.2252 

2025-08-09T17:10:17.120Z,1754759417.120 [DAT](INFO): Rx dataTimestamp_ set to:1754759417.119653
2025-08-09T17:10:17.121Z,1754759417.121 [DAT](INFO): DAT read: Range 11 to 50 :     7.5 m (trip time 5.0 ms) speed -0.4

2025-08-09T17:10:17.122Z,1754759417.122 [DAT](ERROR): #Rx 48: Read range message, but no direction.
2025-08-09T17:10:17.123Z,1754759417.123 [DAT](INFO): checking for new query: numPingsReceived=48, elapsed TxPingTime=14.340947
2025-08-09T17:10:17.371Z,1754759417.371 [DAT](INFO): checking for new query: numPingsReceived=48, elapsed TxPingTime=14.589462
2025-08-09T17:10:17.427Z,1754759417.427 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 7.500000 m,
      deltaT: 0.503572 s,
      deltaX: 0.300000 m,
      approachRate: 0.595744 m/s,
      rangeRepo size: 4

2025-08-09T17:10:17.624Z,1754759417.624 [DAT](INFO): DAT read: Rx Time:17:10:16.7253 

2025-08-09T17:10:17.625Z,1754759417.625 [DAT](INFO): Rx dataTimestamp_ set to:1754759417.624639
2025-08-09T17:10:17.626Z,1754759417.626 [DAT](INFO): DAT read: Bearing 139.7,  -6.8 (Local)

2025-08-09T17:10:17.627Z,1754759417.627 [DAT](INFO): Local bearing/azimuth received:
 Bearing 139.7,  -6.8 (Local)

2025-08-09T17:10:17.629Z,1754759417.629 [DAT](INFO): DAT read: Range 11 to 50 :     7.7 m (trip time 5.1 ms) speed -0.4

2025-08-09T17:10:17.633Z,1754759417.633 [DAT](INFO): DAT read: 17:10:16.7253 LVL= 22416, 21393, 26498, 26579, AGC= 67, IDX=   2, 0.15,-1.634, 0.518,-1.247,-0.732, PHS=-0.801, 1.295,-0.559, RAW= 324.0,   0.7, CAL= 322.5,  -2.3, ROT= 187.5,   2.3

2025-08-09T17:10:17.634Z,1754759417.634 [DAT](INFO): got valid direction response:
 17:10:16.7253 LVL= 22416, 21393, 26498, 26579, AGC= 67, IDX=   2, 0.15,-1.634, 0.518,-1.247,-0.732, PHS=-0.801, 1.295,-0.559, RAW= 324.0,   0.7, CAL= 322.5,  -2.3, ROT= 187.5,   2.3

2025-08-09T17:10:17.635Z,1754759417.635 [DAT](INFO): #Rx 49: Read range and direction messages.
2025-08-09T17:10:17.636Z,1754759417.636 [DAT](INFO): direction in FSK: [-0.990646,-0.130421,-0.040132]
2025-08-09T17:10:17.636Z,1754759417.636 [DAT](INFO): publishing direction and range info
2025-08-09T17:10:17.645Z,1754759417.645 [DAT](INFO): checking for new query: numPingsReceived=49, elapsed TxPingTime=14.863626
2025-08-09T17:10:17.876Z,1754759417.876 [DAT](INFO): checking for new query: numPingsReceived=49, elapsed TxPingTime=15.094293
2025-08-09T17:10:17.899Z,1754759417.899 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 7.700000 m,
      deltaT: 0.504986 s,
      deltaX: 0.200000 m,
      approachRate: 0.396050 m/s,
      rangeRepo size: 4

2025-08-09T17:10:17.901Z,1754759417.901 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 7.700000 m,
      bearing: 23.299290 deg,
      lat: 36.906105 deg,
      lon: -122.115858 deg,
      deltaT: 1.008558 s,
      deltaX: 0.500000 m,
      approachRate: 0.495757 m/s,
      posRepo size: 4

2025-08-09T17:10:18.129Z,1754759418.129 [DAT](INFO): DAT read: Rx Time:17:10:17.2256 

2025-08-09T17:10:18.129Z,1754759418.129 [DAT](INFO): Rx dataTimestamp_ set to:1754759418.128912
2025-08-09T17:10:18.131Z,1754759418.131 [DAT](INFO): DAT read: Bearing 140.0,  -4.0 (Local)

2025-08-09T17:10:18.131Z,1754759418.131 [DAT](INFO): Local bearing/azimuth received:
 Bearing 140.0,  -4.0 (Local)

2025-08-09T17:10:18.133Z,1754759418.133 [DAT](INFO): DAT read: Range 11 to 50 :     8.1 m (trip time 5.4 ms) speed -0.6

2025-08-09T17:10:18.139Z,1754759418.139 [DAT](INFO): DAT read: 17:10:17.2256 LVL= 27376, 20721, 31666, 32755, AGC= 64, IDX= 501,-0.04,-1.519, 0.557,-1.242,-0.679, PHS=-0.738, 1.281,-0.607, RAW= 326.7,   0.7, CAL= 325.4,  -2.3, ROT= 184.6,   2.3

2025-08-09T17:10:18.144Z,1754759418.144 [DAT](INFO): got valid direction response:
 17:10:17.2256 LVL= 27376, 20721, 31666, 32755, AGC= 64, IDX= 501,-0.04,-1.519, 0.557,-1.242,-0.679, PHS=-0.738, 1.281,-0.607, RAW= 326.7,   0.7, CAL= 325.4,  -2.3, ROT= 184.6,   2.3

2025-08-09T17:10:18.144Z,1754759418.144 [DAT](INFO): #Rx 50: Read range and direction messages.
2025-08-09T17:10:18.145Z,1754759418.145 [DAT](INFO): direction in FSK: [-0.995976,-0.080134,-0.040132]
2025-08-09T17:10:18.146Z,1754759418.146 [DAT](INFO): publishing direction and range info
2025-08-09T17:10:18.152Z,1754759418.152 [DAT](INFO): checking for new query: numPingsReceived=50, elapsed TxPingTime=15.369558
2025-08-09T17:10:18.329Z,1754759418.329 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 8.100000 m,
      deltaT: 0.504273 s,
      deltaX: 0.400001 m,
      approachRate: 0.793222 m/s,
      rangeRepo size: 4

2025-08-09T17:10:18.335Z,1754759418.335 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 8.100000 m,
      bearing: 19.590319 deg,
      lat: 36.906106 deg,
      lon: -122.115863 deg,
      deltaT: 0.504273 s,
      deltaX: 0.400001 m,
      approachRate: 0.793222 m/s,
      posRepo size: 4

2025-08-09T17:10:18.380Z,1754759418.380 [DAT](INFO): checking for new query: numPingsReceived=50, elapsed TxPingTime=15.598220
2025-08-09T17:10:18.632Z,1754759418.632 [DAT](INFO): DAT read: Rx Time:17:10:17.7257 

2025-08-09T17:10:18.632Z,1754759418.632 [DAT](INFO): Rx dataTimestamp_ set to:1754759418.632015
2025-08-09T17:10:18.634Z,1754759418.634 [DAT](INFO): DAT read: Bearing 141.1,  -2.9 (Local)

2025-08-09T17:10:18.634Z,1754759418.634 [DAT](INFO): Local bearing/azimuth received:
 Bearing 141.1,  -2.9 (Local)

2025-08-09T17:10:18.636Z,1754759418.636 [DAT](INFO): DAT read: Range 11 to 50 :     8.3 m (trip time 5.5 ms) speed -0.4

2025-08-09T17:10:18.641Z,1754759418.641 [DAT](INFO): DAT read: 17:10:17.7257 LVL= 30320, 21937, 32146, 32755, AGC= 65, IDX= 502,-0.23, 3.116,-1.102,-2.930,-2.360, PHS=-0.705, 1.303,-0.614, RAW= 327.7,   0.2, CAL= 326.5,  -2.8, ROT= 183.5,   2.8

2025-08-09T17:10:18.642Z,1754759418.642 [DAT](INFO): got valid direction response:
 17:10:17.7257 LVL= 30320, 21937, 32146, 32755, AGC= 65, IDX= 502,-0.23, 3.116,-1.102,-2.930,-2.360, PHS=-0.705, 1.303,-0.614, RAW= 327.7,   0.2, CAL= 326.5,  -2.8, ROT= 183.5,   2.8

2025-08-09T17:10:18.642Z,1754759418.642 [DAT](INFO): #Rx 51: Read range and direction messages.
2025-08-09T17:10:18.643Z,1754759418.643 [DAT](INFO): direction in FSK: [-0.996943,-0.060976,-0.048850]
2025-08-09T17:10:18.643Z,1754759418.643 [DAT](INFO): publishing direction and range info
2025-08-09T17:10:18.647Z,1754759418.647 [DAT](INFO): checking for new query: numPingsReceived=51, elapsed TxPingTime=15.864744
2025-08-09T17:10:18.812Z,1754759418.812 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 8.300000 m,
      deltaT: 0.503103 s,
      deltaX: 0.200000 m,
      approachRate: 0.397533 m/s,
      rangeRepo size: 4

2025-08-09T17:10:18.814Z,1754759418.814 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 8.300000 m,
      bearing: 12.257397 deg,
      lat: 36.906108 deg,
      lon: -122.115874 deg,
      deltaT: 0.503103 s,
      deltaX: 0.200000 m,
      approachRate: 0.397533 m/s,
      posRepo size: 4

2025-08-09T17:10:18.819Z,1754759418.819 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](ERROR): Target missed at range: 8.30 m. Rolling out.
2025-08-09T17:10:18.819Z,1754759418.819 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Transitioning guidance mode to: ROLLOUT
2025-08-09T17:10:18.841Z,1754759418.841 [DockingStepper](INFO): Changing to mode: 1
2025-08-09T17:10:18.884Z,1754759418.884 [DAT](INFO): checking for new query: numPingsReceived=51, elapsed TxPingTime=16.102104
2025-08-09T17:10:19.136Z,1754759419.136 [DAT](INFO): DAT read: Rx Time:17:10:18.2258 

2025-08-09T17:10:19.136Z,1754759419.136 [DAT](INFO): Rx dataTimestamp_ set to:1754759419.136053
2025-08-09T17:10:19.138Z,1754759419.138 [DAT](INFO): DAT read: Bearing 141.7,  -1.2 (Local)

2025-08-09T17:10:19.138Z,1754759419.138 [DAT](INFO): Local bearing/azimuth received:
 Bearing 141.7,  -1.2 (Local)

2025-08-09T17:10:19.140Z,1754759419.140 [DAT](INFO): DAT read: Range 11 to 50 :     8.4 m (trip time 5.6 ms) speed -0.4

2025-08-09T17:10:19.149Z,1754759419.149 [DAT](INFO): DAT read: 17:10:18.2258 LVL= 30592, 20929, 31650, 32755, AGC= 64, IDX= 503, 0.44,-1.530, 0.529,-1.358,-0.748, PHS=-0.680, 1.322,-0.654, RAW= 329.3,   0.1, CAL= 328.3,  -2.8, ROT= 181.7,   2.8

2025-08-09T17:10:19.159Z,1754759419.159 [DAT](INFO): got valid direction response:
 17:10:18.2258 LVL= 30592, 20929, 31650, 32755, AGC= 64, IDX= 503, 0.44,-1.530, 0.529,-1.358,-0.748, PHS=-0.680, 1.322,-0.654, RAW= 329.3,   0.1, CAL= 328.3,  -2.8, ROT= 181.7,   2.8

2025-08-09T17:10:19.159Z,1754759419.159 [DAT](INFO): #Rx 52: Read range and direction messages.
2025-08-09T17:10:19.160Z,1754759419.160 [DAT](INFO): direction in FSK: [-0.998367,-0.029631,-0.048850]
2025-08-09T17:10:19.161Z,1754759419.161 [DAT](INFO): publishing direction and range info
2025-08-09T17:10:19.164Z,1754759419.164 [DAT](INFO): checking for new query: numPingsReceived=52, elapsed TxPingTime=16.382275
2025-08-09T17:10:19.279Z,1754759419.279 [lineCaptureHoming:UpdatePingUpdateRate_Midcourse] Running Loop=1
2025-08-09T17:10:19.280Z,1754759419.280 [lineCaptureHoming:UpdatePingUpdateRate_Midcourse](DEBUG): Aggregate::initialize lineCaptureHoming:UpdatePingUpdateRate_Midcourse
2025-08-09T17:10:19.280Z,1754759419.280 [lineCaptureHoming:UpdatePingUpdateRate_Midcourse:A] Running Loop=1
2025-08-09T17:10:19.281Z,1754759419.281 [lineCaptureHoming:UpdatePingUpdateRate_Midcourse:A](INFO): Entering Midcourse tracking update period  60.000000 s sec at 8.300000 m (mode  5.000000 count ).
2025-08-09T17:10:19.281Z,1754759419.281 [lineCaptureHoming:UpdatePingUpdateRate_Midcourse:A] Stopped
2025-08-09T17:10:19.281Z,1754759419.281 [lineCaptureHoming:UpdatePingUpdateRate_Midcourse:B] Running Loop=1
2025-08-09T17:10:19.282Z,1754759419.282 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsATR] Running Loop=1
2025-08-09T17:10:19.286Z,1754759419.286 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsATR](DEBUG): Aggregate::initialize lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsATR
2025-08-09T17:10:19.286Z,1754759419.286 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsATR:A] Running Loop=1
2025-08-09T17:10:19.288Z,1754759419.288 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsATR:A](INFO): Resuming normal ranging with  1.000000 count pings  8.300000 m (mode  5.000000 count ).
2025-08-09T17:10:19.288Z,1754759419.288 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsATR:A] Stopped
2025-08-09T17:10:19.288Z,1754759419.288 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsATR:B] Running Loop=1
2025-08-09T17:10:19.305Z,1754759419.305 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 8.400000 m,
      deltaT: 0.504038 s,
      deltaX: 0.099999 m,
      approachRate: 0.198397 m/s,
      rangeRepo size: 4

2025-08-09T17:10:19.312Z,1754759419.312 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 8.400000 m,
      bearing: 10.285399 deg,
      lat: 36.906109 deg,
      lon: -122.115876 deg,
      deltaT: 0.504038 s,
      deltaX: 0.099999 m,
      approachRate: 0.198397 m/s,
      posRepo size: 4

2025-08-09T17:10:19.312Z,1754759419.312 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 8.40 m.
2025-08-09T17:10:19.316Z,1754759419.316 [lineCaptureHoming:LineCapture:HoldBuoyancy] Stopped
2025-08-09T17:10:19.316Z,1754759419.316 [lineCaptureHoming:LineCapture:HoldBuoyancy](DEBUG): Aggregate::uninitialize lineCaptureHoming:LineCapture:HoldBuoyancy
2025-08-09T17:10:19.316Z,1754759419.316 [lineCaptureHoming:LineCapture:HoldBuoyancy:A.Buoyancy] Stopped
2025-08-09T17:10:19.316Z,1754759419.316 [lineCaptureHoming:LineCapture:HoldBuoyancy:A.Buoyancy](DEBUG): Uninitialize Buoyancy Component.
2025-08-09T17:10:19.387Z,1754759419.387 [DAT](INFO): checking for new query: numPingsReceived=52, elapsed TxPingTime=16.605661
2025-08-09T17:10:19.640Z,1754759419.640 [DAT](INFO): DAT read: Rx Time:17:10:18.7259 

2025-08-09T17:10:19.640Z,1754759419.640 [DAT](INFO): Rx dataTimestamp_ set to:1754759419.639970
2025-08-09T17:10:19.642Z,1754759419.642 [DAT](INFO): DAT read: Bearing 142.7,   0.0 (Local)

2025-08-09T17:10:19.642Z,1754759419.642 [DAT](INFO): Local bearing/azimuth received:
 Bearing 142.7,   0.0 (Local)

2025-08-09T17:10:19.644Z,1754759419.644 [DAT](INFO): DAT read: Range 11 to 50 :     8.6 m (trip time 5.7 ms) speed -0.4

2025-08-09T17:10:19.649Z,1754759419.649 [DAT](INFO): DAT read: 17:10:18.7259 LVL= 25632, 22177, 28354, 32643, AGC= 62, IDX= 504, 0.21,-2.325,-0.294,-2.201,-1.587, PHS=-0.636, 1.339,-0.657, RAW= 330.5,  -0.5, CAL= 329.6,  -3.4, ROT= 180.4,   3.4

2025-08-09T17:10:19.650Z,1754759419.650 [DAT](INFO): got valid direction response:
 17:10:18.7259 LVL= 25632, 22177, 28354, 32643, AGC= 62, IDX= 504, 0.21,-2.325,-0.294,-2.201,-1.587, PHS=-0.636, 1.339,-0.657, RAW= 330.5,  -0.5, CAL= 329.6,  -3.4, ROT= 180.4,   3.4

2025-08-09T17:10:19.650Z,1754759419.650 [DAT](INFO): #Rx 53: Read range and direction messages.
2025-08-09T17:10:19.651Z,1754759419.651 [DAT](INFO): direction in FSK: [-0.998216,-0.006969,-0.059306]
2025-08-09T17:10:19.651Z,1754759419.651 [DAT](INFO): publishing direction and range info
2025-08-09T17:10:19.655Z,1754759419.655 [DAT](INFO): checking for new query: numPingsReceived=53, elapsed TxPingTime=16.872990
2025-08-09T17:10:19.784Z,1754759419.784 [lineCaptureHoming:UpdatePingUpdateRate_Midcourse:B] Stopped
2025-08-09T17:10:19.784Z,1754759419.784 [lineCaptureHoming:UpdatePingUpdateRate_Midcourse:C] Running Loop=1
2025-08-09T17:10:19.784Z,1754759419.784 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsATR:B] Stopped
2025-08-09T17:10:19.784Z,1754759419.784 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsATR:C] Running Loop=1
2025-08-09T17:10:19.811Z,1754759419.811 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 8.600000 m,
      deltaT: 0.503917 s,
      deltaX: 0.200001 m,
      approachRate: 0.396892 m/s,
      rangeRepo size: 4

2025-08-09T17:10:19.813Z,1754759419.813 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 8.600000 m,
      bearing: 9.285297 deg,
      lat: 36.906109 deg,
      lon: -122.115877 deg,
      deltaT: 0.503917 s,
      deltaX: 0.200001 m,
      approachRate: 0.396892 m/s,
      posRepo size: 4

2025-08-09T17:10:19.813Z,1754759419.813 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 8.60 m.
2025-08-09T17:10:19.893Z,1754759419.893 [DAT](INFO): checking for new query: numPingsReceived=53, elapsed TxPingTime=17.110748
2025-08-09T17:10:20.110Z,1754759420.110 [lineCaptureHoming:UpdatePingUpdateRate_Midcourse:C] Stopped
2025-08-09T17:10:20.110Z,1754759420.110 [lineCaptureHoming:UpdatePingUpdateRate_Midcourse:D] Running Loop=1
2025-08-09T17:10:20.111Z,1754759420.111 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsATR:C] Stopped
2025-08-09T17:10:20.111Z,1754759420.111 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsATR:D] Running Loop=1
2025-08-09T17:10:20.113Z,1754759420.113 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 8.60 m.
2025-08-09T17:10:20.144Z,1754759420.144 [DAT](INFO): DAT read: Rx Time:17:10:19.2262 

2025-08-09T17:10:20.145Z,1754759420.145 [DAT](INFO): Rx dataTimestamp_ set to:1754759420.144355
2025-08-09T17:10:20.146Z,1754759420.146 [DAT](INFO): DAT read: Bearing 141.8,   1.1 (Local)

2025-08-09T17:10:20.146Z,1754759420.146 [DAT](INFO): Local bearing/azimuth received:
 Bearing 141.8,   1.1 (Local)

2025-08-09T17:10:20.148Z,1754759420.148 [DAT](INFO): DAT read: Range 11 to 50 :     9.0 m (trip time 6.0 ms) speed -0.4

2025-08-09T17:10:20.153Z,1754759420.153 [DAT](INFO): DAT read: 17:10:19.2262 LVL= 27040, 24209, 31346, 30579, AGC= 61, IDX= 507, 0.02,-1.627, 0.334,-1.555,-0.888, PHS=-0.637, 1.267,-0.710, RAW= 331.9,   0.8, CAL= 330.9,  -2.0, ROT= 179.1,   2.0

2025-08-09T17:10:20.154Z,1754759420.154 [DAT](INFO): got valid direction response:
 17:10:19.2262 LVL= 27040, 24209, 31346, 30579, AGC= 61, IDX= 507, 0.02,-1.627, 0.334,-1.555,-0.888, PHS=-0.637, 1.267,-0.710, RAW= 331.9,   0.8, CAL= 330.9,  -2.0, ROT= 179.1,   2.0

2025-08-09T17:10:20.154Z,1754759420.154 [DAT](INFO): #Rx 54: Read range and direction messages.
2025-08-09T17:10:20.155Z,1754759420.155 [DAT](INFO): direction in FSK: [-0.999268,0.015698,-0.034899]
2025-08-09T17:10:20.156Z,1754759420.156 [DAT](INFO): publishing direction and range info
2025-08-09T17:10:20.164Z,1754759420.164 [DAT](INFO): checking for new query: numPingsReceived=54, elapsed TxPingTime=17.382034
2025-08-09T17:10:20.395Z,1754759420.395 [DAT](INFO): checking for new query: numPingsReceived=54, elapsed TxPingTime=17.613533
2025-08-09T17:10:20.467Z,1754759420.467 [lineCaptureHoming:UpdatePingUpdateRate_Midcourse:D] Stopped
2025-08-09T17:10:20.467Z,1754759420.467 [lineCaptureHoming:UpdatePingUpdateRate_Midcourse](INFO): Completed lineCaptureHoming:UpdatePingUpdateRate_Midcourse
2025-08-09T17:10:20.467Z,1754759420.467 [lineCaptureHoming:UpdatePingUpdateRate_Midcourse] Stopped
2025-08-09T17:10:20.467Z,1754759420.467 [lineCaptureHoming:UpdatePingUpdateRate_Midcourse](DEBUG): Aggregate::uninitialize lineCaptureHoming:UpdatePingUpdateRate_Midcourse
2025-08-09T17:10:20.468Z,1754759420.468 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsATR:D] Stopped
2025-08-09T17:10:20.468Z,1754759420.468 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsATR](INFO): Completed lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsATR
2025-08-09T17:10:20.468Z,1754759420.468 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsATR] Stopped
2025-08-09T17:10:20.468Z,1754759420.468 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsATR](DEBUG): Aggregate::uninitialize lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsATR
2025-08-09T17:10:20.475Z,1754759420.475 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 9.000000 m,
      deltaT: 0.504385 s,
      deltaX: 0.400000 m,
      approachRate: 0.793044 m/s,
      rangeRepo size: 4

2025-08-09T17:10:20.477Z,1754759420.477 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 9.000000 m,
      bearing: 7.417357 deg,
      lat: 36.906110 deg,
      lon: -122.115880 deg,
      deltaT: 0.504385 s,
      deltaX: 0.400000 m,
      approachRate: 0.793044 m/s,
      posRepo size: 4

2025-08-09T17:10:20.478Z,1754759420.478 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 9.00 m.
2025-08-09T17:10:20.648Z,1754759420.648 [DAT](INFO): DAT read: Rx Time:17:10:19.7263 

2025-08-09T17:10:20.648Z,1754759420.648 [DAT](INFO): Rx dataTimestamp_ set to:1754759420.648111
2025-08-09T17:10:20.650Z,1754759420.650 [DAT](INFO): DAT read: Bearing 142.3,   2.5 (Local)

2025-08-09T17:10:20.650Z,1754759420.650 [DAT](INFO): Local bearing/azimuth received:
 Bearing 142.3,   2.5 (Local)

2025-08-09T17:10:20.652Z,1754759420.652 [DAT](INFO): DAT read: Range 11 to 50 :     9.2 m (trip time 6.1 ms) speed -0.4

2025-08-09T17:10:20.657Z,1754759420.657 [DAT](INFO): DAT read: 17:10:19.7263 LVL= 26096, 24001, 27314, 30499, AGC= 61, IDX= 508,-0.26, 3.050,-1.303, 3.069,-2.523, PHS=-0.608, 1.265,-0.735, RAW= 333.3,   0.8, CAL= 332.4,  -2.0, ROT= 177.6,   2.0

2025-08-09T17:10:20.658Z,1754759420.658 [DAT](INFO): got valid direction response:
 17:10:19.7263 LVL= 26096, 24001, 27314, 30499, AGC= 61, IDX= 508,-0.26, 3.050,-1.303, 3.069,-2.523, PHS=-0.608, 1.265,-0.735, RAW= 333.3,   0.8, CAL= 332.4,  -2.0, ROT= 177.6,   2.0

2025-08-09T17:10:20.658Z,1754759420.658 [DAT](INFO): #Rx 55: Read range and direction messages.
2025-08-09T17:10:20.662Z,1754759420.662 [DAT](INFO): direction in FSK: [-0.998514,0.041850,-0.034899]
2025-08-09T17:10:20.664Z,1754759420.664 [DAT](INFO): publishing direction and range info
2025-08-09T17:10:20.668Z,1754759420.668 [DAT](INFO): checking for new query: numPingsReceived=55, elapsed TxPingTime=17.886236
2025-08-09T17:10:20.899Z,1754759420.899 [DAT](INFO): checking for new query: numPingsReceived=55, elapsed TxPingTime=18.117632
2025-08-09T17:10:20.921Z,1754759420.921 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 9.200000 m,
      deltaT: 0.503756 s,
      deltaX: 0.200000 m,
      approachRate: 0.397017 m/s,
      rangeRepo size: 4

2025-08-09T17:10:20.923Z,1754759420.923 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 9.200000 m,
      bearing: 7.005713 deg,
      lat: 36.906110 deg,
      lon: -122.115881 deg,
      deltaT: 0.503756 s,
      deltaX: 0.200000 m,
      approachRate: 0.397017 m/s,
      posRepo size: 4

2025-08-09T17:10:20.924Z,1754759420.924 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 9.20 m.
2025-08-09T17:10:21.156Z,1754759421.156 [DAT](INFO): DAT read: Rx Time:17:10:20.2265 

2025-08-09T17:10:21.157Z,1754759421.157 [DAT](INFO): Rx dataTimestamp_ set to:1754759421.156506
2025-08-09T17:10:21.159Z,1754759421.159 [DAT](INFO): DAT read: Bearing 142.7,   3.3 (Local)

2025-08-09T17:10:21.159Z,1754759421.159 [DAT](INFO): Local bearing/azimuth received:
 Bearing 142.7,   3.3 (Local)

2025-08-09T17:10:21.161Z,1754759421.161 [DAT](INFO): DAT read: Range 11 to 50 :     9.5 m (trip time 6.3 ms) speed -0.6

2025-08-09T17:10:21.167Z,1754759421.167 [DAT](INFO): DAT read: 17:10:20.2265 LVL= 22240, 22673, 23378, 31619, AGC= 59, IDX= 510, 0.26,-0.216, 1.681,-0.231, 0.474, PHS=-0.589, 1.252,-0.750, RAW= 334.2,   0.9, CAL= 333.3,  -1.9, ROT= 176.7,   1.9

2025-08-09T17:10:21.168Z,1754759421.168 [DAT](INFO): got valid direction response:
 17:10:20.2265 LVL= 22240, 22673, 23378, 31619, AGC= 59, IDX= 510, 0.26,-0.216, 1.681,-0.231, 0.474, PHS=-0.589, 1.252,-0.750, RAW= 334.2,   0.9, CAL= 333.3,  -1.9, ROT= 176.7,   1.9

2025-08-09T17:10:21.168Z,1754759421.168 [DAT](INFO): #Rx 56: Read range and direction messages.
2025-08-09T17:10:21.169Z,1754759421.169 [DAT](INFO): direction in FSK: [-0.997793,0.057532,-0.033155]
2025-08-09T17:10:21.169Z,1754759421.169 [DAT](INFO): publishing direction and range info
2025-08-09T17:10:21.173Z,1754759421.173 [DAT](INFO): checking for new query: numPingsReceived=56, elapsed TxPingTime=18.391043
2025-08-09T17:10:21.346Z,1754759421.346 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 9.500000 m,
      deltaT: 0.508395 s,
      deltaX: 0.300000 m,
      approachRate: 0.590093 m/s,
      rangeRepo size: 4

2025-08-09T17:10:21.352Z,1754759421.352 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 9.500000 m,
      bearing: 6.261617 deg,
      lat: 36.906110 deg,
      lon: -122.115882 deg,
      deltaT: 0.508395 s,
      deltaX: 0.300000 m,
      approachRate: 0.590093 m/s,
      posRepo size: 4

2025-08-09T17:10:21.352Z,1754759421.352 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 9.50 m.
2025-08-09T17:10:21.403Z,1754759421.403 [DAT](INFO): checking for new query: numPingsReceived=56, elapsed TxPingTime=18.621653
2025-08-09T17:10:21.656Z,1754759421.656 [DAT](INFO): DAT read: Rx Time:17:10:20.7266 

2025-08-09T17:10:21.656Z,1754759421.656 [DAT](INFO): Rx dataTimestamp_ set to:1754759421.656018
2025-08-09T17:10:21.658Z,1754759421.658 [DAT](INFO): DAT read: Bearing 143.9,   5.2 (Local)

2025-08-09T17:10:21.658Z,1754759421.658 [DAT](INFO): Local bearing/azimuth received:
 Bearing 143.9,   5.2 (Local)

2025-08-09T17:10:21.660Z,1754759421.660 [DAT](INFO): DAT read: Range 11 to 50 :     9.6 m (trip time 6.4 ms) speed -0.4

2025-08-09T17:10:21.665Z,1754759421.665 [DAT](INFO): DAT read: 17:10:20.7266 LVL= 25968, 26961, 26274, 31219, AGC= 60, IDX= 511,-0.07,-2.358,-0.398,-2.458,-1.699, PHS=-0.557, 1.346,-0.803, RAW= 336.0,   0.1, CAL= 335.3,  -2.7, ROT= 174.7,   2.7

2025-08-09T17:10:21.665Z,1754759421.665 [DAT](INFO): got valid direction response:
 17:10:20.7266 LVL= 25968, 26961, 26274, 31219, AGC= 60, IDX= 511,-0.07,-2.358,-0.398,-2.458,-1.699, PHS=-0.557, 1.346,-0.803, RAW= 336.0,   0.1, CAL= 335.3,  -2.7, ROT= 174.7,   2.7

2025-08-09T17:10:21.666Z,1754759421.666 [DAT](INFO): #Rx 57: Read range and direction messages.
2025-08-09T17:10:21.667Z,1754759421.667 [DAT](INFO): direction in FSK: [-0.994619,0.092268,-0.047106]
2025-08-09T17:10:21.667Z,1754759421.667 [DAT](INFO): publishing direction and range info
2025-08-09T17:10:21.671Z,1754759421.671 [DAT](INFO): checking for new query: numPingsReceived=57, elapsed TxPingTime=18.888809
2025-08-09T17:10:21.897Z,1754759421.897 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 9.600000 m,
      deltaT: 0.499512 s,
      deltaX: 0.100000 m,
      approachRate: 0.200196 m/s,
      rangeRepo size: 4

2025-08-09T17:10:21.907Z,1754759421.907 [DAT](INFO): checking for new query: numPingsReceived=57, elapsed TxPingTime=19.125481
2025-08-09T17:10:21.908Z,1754759421.908 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 9.600000 m,
      bearing: 4.848633 deg,
      lat: 36.906110 deg,
      lon: -122.115885 deg,
      deltaT: 0.499512 s,
      deltaX: 0.100000 m,
      approachRate: 0.200196 m/s,
      posRepo size: 4

2025-08-09T17:10:21.909Z,1754759421.909 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 9.60 m.
2025-08-09T17:10:22.160Z,1754759422.160 [DAT](INFO): DAT read: Rx Time:17:10:21.2268 

2025-08-09T17:10:22.160Z,1754759422.160 [DAT](INFO): Rx dataTimestamp_ set to:1754759422.160129
2025-08-09T17:10:22.162Z,1754759422.162 [DAT](INFO): DAT read: Bearing 113.8,  -7.5 (Local)

2025-08-09T17:10:22.162Z,1754759422.162 [DAT](INFO): Local bearing/azimuth received:
 Bearing 113.8,  -7.5 (Local)

2025-08-09T17:10:22.164Z,1754759422.164 [DAT](INFO): DAT read: Range 11 to 50 :     9.9 m (trip time 6.6 ms) speed -3.3

2025-08-09T17:10:22.169Z,1754759422.169 [DAT](INFO): DAT read: 17:10:21.2268 LVL= 32352, 26705, 32754, 32755, AGC= 62, IDX= 513, 0.48, 2.440,-2.056, 2.795,-2.433, PHS=-1.308, 0.422,-1.099, RAW= 323.7,  23.2, CAL= 323.3,  28.2, ROT= 186.7, -28.2

2025-08-09T17:10:22.170Z,1754759422.170 [DAT](INFO): got valid direction response:
 17:10:21.2268 LVL= 32352, 26705, 32754, 32755, AGC= 62, IDX= 513, 0.48, 2.440,-2.056, 2.795,-2.433, PHS=-1.308, 0.422,-1.099, RAW= 323.7,  23.2, CAL= 323.3,  28.2, ROT= 186.7, -28.2

2025-08-09T17:10:22.170Z,1754759422.170 [DAT](INFO): #Rx 58: Read range and direction messages.
2025-08-09T17:10:22.171Z,1754759422.171 [DAT](INFO): direction in FSK: [-0.875285,-0.102822,0.472551]
2025-08-09T17:10:22.171Z,1754759422.171 [DAT](INFO): publishing direction and range info
2025-08-09T17:10:22.183Z,1754759422.183 [DAT](INFO): checking for new query: numPingsReceived=58, elapsed TxPingTime=19.401163
2025-08-09T17:10:22.184Z,1754759422.184 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 9.900000 m,
      deltaT: 0.504111 s,
      deltaX: 0.299999 m,
      approachRate: 0.595106 m/s,
      rangeRepo size: 4

2025-08-09T17:10:22.203Z,1754759422.203 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 9.900000 m,
      bearing: 4.851456 deg,
      lat: 36.906110 deg,
      lon: -122.115885 deg,
      deltaT: 0.504111 s,
      deltaX: 0.299999 m,
      approachRate: 0.595106 m/s,
      posRepo size: 4

2025-08-09T17:10:22.204Z,1754759422.204 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 9.90 m.
2025-08-09T17:10:22.411Z,1754759422.411 [DAT](INFO): checking for new query: numPingsReceived=58, elapsed TxPingTime=19.629620
2025-08-09T17:10:22.656Z,1754759422.656 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 9.90 m.
2025-08-09T17:10:22.667Z,1754759422.667 [DAT](INFO): DAT read: Rx Time:17:10:21.7269 

2025-08-09T17:10:22.668Z,1754759422.668 [DAT](INFO): Rx dataTimestamp_ set to:1754759422.667632
2025-08-09T17:10:22.669Z,1754759422.669 [DAT](INFO): DAT read: Bearing 145.9,   7.7 (Local)

2025-08-09T17:10:22.669Z,1754759422.669 [DAT](INFO): Local bearing/azimuth received:
 Bearing 145.9,   7.7 (Local)

2025-08-09T17:10:22.672Z,1754759422.672 [DAT](INFO): DAT read: Range 11 to 50 :    10.1 m (trip time 6.7 ms) speed -0.3

2025-08-09T17:10:22.676Z,1754759422.676 [DAT](INFO): DAT read: 17:10:21.7269 LVL= 25536, 23089, 25138, 28915, AGC= 62, IDX= 482,-0.06,-2.375,-0.416,-2.586,-1.798, PHS=-0.475, 1.427,-0.833, RAW= 338.5,  -1.1, CAL= 337.9,  -4.1, ROT= 172.1,   4.1

2025-08-09T17:10:22.677Z,1754759422.677 [DAT](INFO): got valid direction response:
 17:10:21.7269 LVL= 25536, 23089, 25138, 28915, AGC= 62, IDX= 482,-0.06,-2.375,-0.416,-2.586,-1.798, PHS=-0.475, 1.427,-0.833, RAW= 338.5,  -1.1, CAL= 337.9,  -4.1, ROT= 172.1,   4.1

2025-08-09T17:10:22.678Z,1754759422.678 [DAT](INFO): #Rx 59: Read range and direction messages.
2025-08-09T17:10:22.683Z,1754759422.683 [DAT](INFO): direction in FSK: [-0.987975,0.137093,-0.071497]
2025-08-09T17:10:22.683Z,1754759422.683 [DAT](INFO): publishing direction and range info
2025-08-09T17:10:22.691Z,1754759422.691 [DAT](INFO): checking for new query: numPingsReceived=59, elapsed TxPingTime=19.908989
2025-08-09T17:10:22.919Z,1754759422.919 [DAT](INFO): checking for new query: numPingsReceived=59, elapsed TxPingTime=20.136753
2025-08-09T17:10:23.006Z,1754759423.006 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 10.100000 m,
      deltaT: 0.507503 s,
      deltaX: 0.200001 m,
      approachRate: 0.394088 m/s,
      rangeRepo size: 4

2025-08-09T17:10:23.008Z,1754759423.008 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 10.100000 m,
      bearing: 4.424563 deg,
      lat: 36.906110 deg,
      lon: -122.115886 deg,
      deltaT: 0.507503 s,
      deltaX: 0.200001 m,
      approachRate: 0.394088 m/s,
      posRepo size: 4

2025-08-09T17:10:23.008Z,1754759423.008 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 10.10 m.
2025-08-09T17:10:23.168Z,1754759423.168 [DAT](INFO): DAT read: Rx Time:17:10:22.2270 

2025-08-09T17:10:23.168Z,1754759423.168 [DAT](INFO): Rx dataTimestamp_ set to:1754759423.168165
2025-08-09T17:10:23.170Z,1754759423.170 [DAT](INFO): DAT read: Bearing 146.1,   9.2 (Local)

2025-08-09T17:10:23.170Z,1754759423.170 [DAT](INFO): Local bearing/azimuth received:
 Bearing 146.1,   9.2 (Local)

2025-08-09T17:10:23.172Z,1754759423.172 [DAT](INFO): DAT read: Range 11 to 50 :    10.2 m (trip time 6.8 ms) speed -0.3

2025-08-09T17:10:23.177Z,1754759423.177 [DAT](INFO): DAT read: 17:10:22.2270 LVL= 26080, 22369, 25026, 29171, AGC= 62, IDX= 499, 0.33,-0.582, 1.288,-0.844,-0.044, PHS=-0.436, 1.377,-0.844, RAW= 339.9,  -1.0, CAL= 339.5,  -3.9, ROT= 170.5,   3.9

2025-08-09T17:10:23.178Z,1754759423.178 [DAT](INFO): got valid direction response:
 17:10:22.2270 LVL= 26080, 22369, 25026, 29171, AGC= 62, IDX= 499, 0.33,-0.582, 1.288,-0.844,-0.044, PHS=-0.436, 1.377,-0.844, RAW= 339.9,  -1.0, CAL= 339.5,  -3.9, ROT= 170.5,   3.9

2025-08-09T17:10:23.178Z,1754759423.178 [DAT](INFO): #Rx 60: Read range and direction messages.
2025-08-09T17:10:23.179Z,1754759423.179 [DAT](INFO): direction in FSK: [-0.984002,0.164665,-0.068015]
2025-08-09T17:10:23.180Z,1754759423.180 [DAT](INFO): publishing direction and range info
2025-08-09T17:10:23.187Z,1754759423.187 [DAT](INFO): checking for new query: numPingsReceived=60, elapsed TxPingTime=20.405325
2025-08-09T17:10:23.404Z,1754759423.404 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 10.200000 m,
      deltaT: 0.500533 s,
      deltaX: 0.099999 m,
      approachRate: 0.199786 m/s,
      rangeRepo size: 4

2025-08-09T17:10:23.406Z,1754759423.406 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 10.200000 m,
      bearing: 2.758462 deg,
      lat: 36.906110 deg,
      lon: -122.115889 deg,
      deltaT: 0.500533 s,
      deltaX: 0.099999 m,
      approachRate: 0.199786 m/s,
      posRepo size: 4

2025-08-09T17:10:23.407Z,1754759423.407 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 10.20 m.
2025-08-09T17:10:23.419Z,1754759423.419 [DAT](INFO): checking for new query: numPingsReceived=60, elapsed TxPingTime=20.637381
2025-08-09T17:10:23.672Z,1754759423.672 [DAT](INFO): DAT read: Rx Time:17:10:22.7271 

2025-08-09T17:10:23.672Z,1754759423.672 [DAT](INFO): Rx dataTimestamp_ set to:1754759423.672032
2025-08-09T17:10:23.674Z,1754759423.674 [DAT](INFO): DAT read: Bearing 146.2,   9.2 (Local)

2025-08-09T17:10:23.674Z,1754759423.674 [DAT](INFO): Local bearing/azimuth received:
 Bearing 146.2,   9.2 (Local)

2025-08-09T17:10:23.676Z,1754759423.676 [DAT](INFO): DAT read: Range 11 to 50 :    10.4 m (trip time 6.9 ms) speed 0.0

2025-08-09T17:10:23.681Z,1754759423.681 [DAT](INFO): DAT read: 17:10:22.7271 LVL= 27808, 28129, 30290, 32755, AGC= 63, IDX= 500,-0.16, 3.081,-1.358, 2.821,-2.666, PHS=-0.434, 1.353,-0.840, RAW= 340.0,  -0.8, CAL= 339.6,  -3.7, ROT= 170.4,   3.7

2025-08-09T17:10:23.682Z,1754759423.682 [DAT](INFO): got valid direction response:
 17:10:22.7271 LVL= 27808, 28129, 30290, 32755, AGC= 63, IDX= 500,-0.16, 3.081,-1.358, 2.821,-2.666, PHS=-0.434, 1.353,-0.840, RAW= 340.0,  -0.8, CAL= 339.6,  -3.7, ROT= 170.4,   3.7

2025-08-09T17:10:23.682Z,1754759423.682 [DAT](INFO): #Rx 61: Read range and direction messages.
2025-08-09T17:10:23.683Z,1754759423.683 [DAT](INFO): direction in FSK: [-0.983941,0.166421,-0.064532]
2025-08-09T17:10:23.683Z,1754759423.683 [DAT](INFO): publishing direction and range info
2025-08-09T17:10:23.700Z,1754759423.700 [DAT](INFO): checking for new query: numPingsReceived=61, elapsed TxPingTime=20.917765
2025-08-09T17:10:23.872Z,1754759423.872 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 10.400000 m,
      deltaT: 0.503867 s,
      deltaX: 0.200000 m,
      approachRate: 0.396930 m/s,
      rangeRepo size: 4

2025-08-09T17:10:23.879Z,1754759423.879 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 10.400000 m,
      bearing: 0.739167 deg,
      lat: 36.906109 deg,
      lon: -122.115893 deg,
      deltaT: 0.503867 s,
      deltaX: 0.200000 m,
      approachRate: 0.396930 m/s,
      posRepo size: 4

2025-08-09T17:10:23.879Z,1754759423.879 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 10.40 m.
2025-08-09T17:10:23.925Z,1754759423.925 [DAT](INFO): checking for new query: numPingsReceived=61, elapsed TxPingTime=21.142401
2025-08-09T17:10:24.176Z,1754759424.176 [DAT](INFO): DAT read: Rx Time:17:10:23.2273 

2025-08-09T17:10:24.176Z,1754759424.176 [DAT](INFO): Rx dataTimestamp_ set to:1754759424.176203
2025-08-09T17:10:24.178Z,1754759424.178 [DAT](INFO): DAT read: Bearing 147.3,  10.5 (Local)

2025-08-09T17:10:24.178Z,1754759424.178 [DAT](INFO): Local bearing/azimuth received:
 Bearing 147.3,  10.5 (Local)

2025-08-09T17:10:24.180Z,1754759424.180 [DAT](INFO): DAT read: Range 11 to 50 :    10.7 m (trip time 7.1 ms) speed -0.4

2025-08-09T17:10:24.185Z,1754759424.185 [DAT](INFO): DAT read: 17:10:23.2273 LVL= 28384, 27505, 32530, 32755, AGC= 62, IDX= 502, 0.19,-0.154, 1.665,-0.464, 0.330, PHS=-0.382, 1.379,-0.838, RAW= 341.2,  -1.6, CAL= 340.8,  -4.5, ROT= 169.2,   4.5

2025-08-09T17:10:24.186Z,1754759424.186 [DAT](INFO): got valid direction response:
 17:10:23.2273 LVL= 28384, 27505, 32530, 32755, AGC= 62, IDX= 502, 0.19,-0.154, 1.665,-0.464, 0.330, PHS=-0.382, 1.379,-0.838, RAW= 341.2,  -1.6, CAL= 340.8,  -4.5, ROT= 169.2,   4.5

2025-08-09T17:10:24.186Z,1754759424.186 [DAT](INFO): #Rx 62: Read range and direction messages.
2025-08-09T17:10:24.187Z,1754759424.187 [DAT](INFO): direction in FSK: [-0.979259,0.186804,-0.078459]
2025-08-09T17:10:24.188Z,1754759424.188 [DAT](INFO): publishing direction and range info
2025-08-09T17:10:24.192Z,1754759424.192 [DAT](INFO): checking for new query: numPingsReceived=62, elapsed TxPingTime=21.410625
2025-08-09T17:10:24.262Z,1754759424.262 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 10.700000 m,
      deltaT: 0.504171 s,
      deltaX: 0.300000 m,
      approachRate: 0.595037 m/s,
      rangeRepo size: 4

2025-08-09T17:10:24.280Z,1754759424.280 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 10.700000 m,
      bearing: 359.208831 deg,
      lat: 36.906109 deg,
      lon: -122.115897 deg,
      deltaT: 0.504171 s,
      deltaX: 0.300000 m,
      approachRate: 0.595037 m/s,
      posRepo size: 4

2025-08-09T17:10:24.281Z,1754759424.281 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 10.70 m.
2025-08-09T17:10:24.427Z,1754759424.427 [DAT](INFO): checking for new query: numPingsReceived=62, elapsed TxPingTime=21.645620
2025-08-09T17:10:24.680Z,1754759424.680 [DAT](INFO): DAT read: Rx Time:17:10:23.7273 

2025-08-09T17:10:24.681Z,1754759424.681 [DAT](INFO): Rx dataTimestamp_ set to:1754759424.680239
2025-08-09T17:10:24.682Z,1754759424.682 [DAT](INFO): DAT read: Bearing 147.1,  10.3 (Local)

2025-08-09T17:10:24.682Z,1754759424.682 [DAT](INFO): Local bearing/azimuth received:
 Bearing 147.1,  10.3 (Local)

2025-08-09T17:10:24.684Z,1754759424.684 [DAT](INFO): DAT read: Range 11 to 50 :    10.7 m (trip time 7.1 ms) speed -0.4

2025-08-09T17:10:24.689Z,1754759424.689 [DAT](INFO): DAT read: 17:10:23.7273 LVL= 27568, 22177, 27986, 32755, AGC= 65, IDX= 503,-0.34,-2.983,-1.150, 2.988,-2.479, PHS=-0.402, 1.374,-0.860, RAW= 341.2,  -1.1, CAL= 340.7,  -4.0, ROT= 169.3,   4.0

2025-08-09T17:10:24.690Z,1754759424.690 [DAT](INFO): got valid direction response:
 17:10:23.7273 LVL= 27568, 22177, 27986, 32755, AGC= 65, IDX= 503,-0.34,-2.983,-1.150, 2.988,-2.479, PHS=-0.402, 1.374,-0.860, RAW= 341.2,  -1.1, CAL= 340.7,  -4.0, ROT= 169.3,   4.0

2025-08-09T17:10:24.690Z,1754759424.690 [DAT](INFO): #Rx 63: Read range and direction messages.
2025-08-09T17:10:24.691Z,1754759424.691 [DAT](INFO): direction in FSK: [-0.980219,0.185214,-0.069756]
2025-08-09T17:10:24.692Z,1754759424.692 [DAT](INFO): publishing direction and range info
2025-08-09T17:10:24.699Z,1754759424.699 [DAT](INFO): checking for new query: numPingsReceived=63, elapsed TxPingTime=21.917311
2025-08-09T17:10:24.719Z,1754759424.719 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 10.700000 m,
      deltaT: 0.504036 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-08-09T17:10:24.727Z,1754759424.727 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 10.700000 m,
      bearing: 359.302445 deg,
      lat: 36.906109 deg,
      lon: -122.115897 deg,
      deltaT: 0.504036 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      posRepo size: 4

2025-08-09T17:10:24.728Z,1754759424.728 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 10.70 m.
2025-08-09T17:10:24.936Z,1754759424.936 [DAT](INFO): checking for new query: numPingsReceived=63, elapsed TxPingTime=22.153257
2025-08-09T17:10:25.019Z,1754759425.019 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 10.70 m.
2025-08-09T17:10:25.184Z,1754759425.184 [DAT](INFO): DAT read: Rx Time:17:10:24.2276 

2025-08-09T17:10:25.185Z,1754759425.185 [DAT](INFO): Rx dataTimestamp_ set to:1754759425.184345
2025-08-09T17:10:25.186Z,1754759425.186 [DAT](INFO): DAT read: Bearing 148.0,  10.3 (Local)

2025-08-09T17:10:25.186Z,1754759425.186 [DAT](INFO): Local bearing/azimuth received:
 Bearing 148.0,  10.3 (Local)

2025-08-09T17:10:25.188Z,1754759425.188 [DAT](INFO): DAT read: Range 11 to 50 :    11.1 m (trip time 7.4 ms) speed -0.3

2025-08-09T17:10:25.193Z,1754759425.193 [DAT](INFO): DAT read: 17:10:24.2276 LVL= 32352, 19953, 29394, 32755, AGC= 65, IDX= 505, 0.03,-0.749, 1.095,-1.067,-0.267, PHS=-0.381, 1.406,-0.845, RAW= 341.3,  -1.8, CAL= 340.8,  -4.7, ROT= 169.2,   4.7

2025-08-09T17:10:25.195Z,1754759425.195 [DAT](INFO): got valid direction response:
 17:10:24.2276 LVL= 32352, 19953, 29394, 32755, AGC= 65, IDX= 505, 0.03,-0.749, 1.095,-1.067,-0.267, PHS=-0.381, 1.406,-0.845, RAW= 341.3,  -1.8, CAL= 340.8,  -4.7, ROT= 169.2,   4.7

2025-08-09T17:10:25.195Z,1754759425.195 [DAT](INFO): #Rx 64: Read range and direction messages.
2025-08-09T17:10:25.196Z,1754759425.196 [DAT](INFO): direction in FSK: [-0.978984,0.186751,-0.081939]
2025-08-09T17:10:25.196Z,1754759425.196 [DAT](INFO): publishing direction and range info
2025-08-09T17:10:25.221Z,1754759425.221 [DAT](INFO): checking for new query: numPingsReceived=64, elapsed TxPingTime=22.439207
2025-08-09T17:10:25.432Z,1754759425.432 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 11.100000 m,
      deltaT: 0.504106 s,
      deltaX: 0.400001 m,
      approachRate: 0.793485 m/s,
      rangeRepo size: 4

2025-08-09T17:10:25.435Z,1754759425.435 [DAT](INFO): checking for new query: numPingsReceived=64, elapsed TxPingTime=22.653605
2025-08-09T17:10:25.439Z,1754759425.439 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 11.100000 m,
      bearing: 358.427067 deg,
      lat: 36.906109 deg,
      lon: -122.115899 deg,
      deltaT: 0.504106 s,
      deltaX: 0.400001 m,
      approachRate: 0.793485 m/s,
      posRepo size: 4

2025-08-09T17:10:25.439Z,1754759425.439 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.10 m.
2025-08-09T17:10:25.688Z,1754759425.688 [DAT](INFO): DAT read: Rx Time:17:10:24.7276 

2025-08-09T17:10:25.688Z,1754759425.688 [DAT](INFO): Rx dataTimestamp_ set to:1754759425.688042
2025-08-09T17:10:25.690Z,1754759425.690 [DAT](INFO): DAT read: Bearing 148.5,  10.6 (Local)

2025-08-09T17:10:25.690Z,1754759425.690 [DAT](INFO): Local bearing/azimuth received:
 Bearing 148.5,  10.6 (Local)

2025-08-09T17:10:25.692Z,1754759425.692 [DAT](INFO): DAT read: Range 11 to 50 :    11.1 m (trip time 7.4 ms) speed -0.3

2025-08-09T17:10:25.697Z,1754759425.697 [DAT](INFO): DAT read: 17:10:24.7276 LVL= 32752, 20641, 32754, 32755, AGC= 65, IDX= 505, 0.44,-1.206, 0.612,-1.529,-0.744, PHS=-0.360, 1.401,-0.830, RAW= 341.5,  -2.1, CAL= 341.1,  -5.0, ROT= 168.9,   5.0

2025-08-09T17:10:25.698Z,1754759425.698 [DAT](INFO): got valid direction response:
 17:10:24.7276 LVL= 32752, 20641, 32754, 32755, AGC= 65, IDX= 505, 0.44,-1.206, 0.612,-1.529,-0.744, PHS=-0.360, 1.401,-0.830, RAW= 341.5,  -2.1, CAL= 341.1,  -5.0, ROT= 168.9,   5.0

2025-08-09T17:10:25.712Z,1754759425.712 [DAT](INFO): #Rx 65: Read range and direction messages.
2025-08-09T17:10:25.713Z,1754759425.713 [DAT](INFO): direction in FSK: [-0.977559,0.191790,-0.087156]
2025-08-09T17:10:25.713Z,1754759425.713 [DAT](INFO): publishing direction and range info
2025-08-09T17:10:25.738Z,1754759425.738 [DAT](INFO): checking for new query: numPingsReceived=65, elapsed TxPingTime=22.956100
2025-08-09T17:10:25.907Z,1754759425.907 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 11.100000 m,
      deltaT: 0.503697 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-08-09T17:10:25.909Z,1754759425.909 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 11.100000 m,
      bearing: 358.609412 deg,
      lat: 36.906109 deg,
      lon: -122.115900 deg,
      deltaT: 0.503697 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      posRepo size: 4

2025-08-09T17:10:25.909Z,1754759425.909 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.10 m.
2025-08-09T17:10:25.939Z,1754759425.939 [DAT](INFO): checking for new query: numPingsReceived=65, elapsed TxPingTime=23.157650
2025-08-09T17:10:26.192Z,1754759426.192 [DAT](INFO): DAT read: Rx Time:17:10:25.2279 

2025-08-09T17:10:26.193Z,1754759426.193 [DAT](INFO): Rx dataTimestamp_ set to:1754759426.192227
2025-08-09T17:10:26.194Z,1754759426.194 [DAT](INFO): DAT read: Bearing 148.8,   9.5 (Local)

2025-08-09T17:10:26.194Z,1754759426.194 [DAT](INFO): Local bearing/azimuth received:
 Bearing 148.8,   9.5 (Local)

2025-08-09T17:10:26.196Z,1754759426.196 [DAT](INFO): DAT read: Range 11 to 50 :    11.6 m (trip time 7.7 ms) speed -0.2

2025-08-09T17:10:26.201Z,1754759426.201 [DAT](INFO): DAT read: 17:10:25.2279 LVL= 30160, 17393, 31074, 32755, AGC= 65, IDX= 508,-0.05,-1.975,-0.088,-2.265,-1.483, PHS=-0.390, 1.441,-0.825, RAW= 340.4,  -2.2, CAL= 340.0,  -5.1, ROT= 170.0,   5.1

2025-08-09T17:10:26.212Z,1754759426.212 [DAT](INFO): got valid direction response:
 17:10:25.2279 LVL= 30160, 17393, 31074, 32755, AGC= 65, IDX= 508,-0.05,-1.975,-0.088,-2.265,-1.483, PHS=-0.390, 1.441,-0.825, RAW= 340.4,  -2.2, CAL= 340.0,  -5.1, ROT= 170.0,   5.1

2025-08-09T17:10:26.212Z,1754759426.212 [DAT](INFO): #Rx 66: Read range and direction messages.
2025-08-09T17:10:26.213Z,1754759426.213 [DAT](INFO): direction in FSK: [-0.980909,0.172961,-0.088894]
2025-08-09T17:10:26.214Z,1754759426.214 [DAT](INFO): publishing direction and range info
2025-08-09T17:10:26.243Z,1754759426.243 [DAT](INFO): checking for new query: numPingsReceived=66, elapsed TxPingTime=23.461395
2025-08-09T17:10:26.281Z,1754759426.281 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 11.600000 m,
      deltaT: 0.504185 s,
      deltaX: 0.500000 m,
      approachRate: 0.991699 m/s,
      rangeRepo size: 4

2025-08-09T17:10:26.292Z,1754759426.292 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 11.600000 m,
      bearing: 358.767402 deg,
      lat: 36.906110 deg,
      lon: -122.115900 deg,
      deltaT: 0.504185 s,
      deltaX: 0.500000 m,
      approachRate: 0.991699 m/s,
      posRepo size: 4

2025-08-09T17:10:26.292Z,1754759426.292 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.60 m.
2025-08-09T17:10:26.443Z,1754759426.443 [DAT](INFO): checking for new query: numPingsReceived=66, elapsed TxPingTime=23.661617
2025-08-09T17:10:26.631Z,1754759426.631 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.60 m.
2025-08-09T17:10:26.699Z,1754759426.699 [DAT](INFO): DAT read: Rx Time:17:10:25.7279 

2025-08-09T17:10:26.701Z,1754759426.701 [DAT](INFO): Rx dataTimestamp_ set to:1754759426.700102
2025-08-09T17:10:26.705Z,1754759426.705 [DAT](INFO): DAT read: Bearing 149.3,  10.0 (Local)

2025-08-09T17:10:26.706Z,1754759426.706 [DAT](INFO): Local bearing/azimuth received:
 Bearing 149.3,  10.0 (Local)

2025-08-09T17:10:26.710Z,1754759426.710 [DAT](INFO): DAT read: Range 11 to 50 :    11.6 m (trip time 7.7 ms) speed -0.3

2025-08-09T17:10:26.718Z,1754759426.718 [DAT](INFO): DAT read: 17:10:25.7279 LVL= 32288, 19825, 32210, 32755, AGC= 66, IDX= 508, 0.33,-1.138, 0.698,-1.437,-0.675, PHS=-0.361, 1.419,-0.806, RAW= 340.9,  -2.5, CAL= 340.5,  -5.4, ROT= 169.5,   5.4

2025-08-09T17:10:26.720Z,1754759426.720 [DAT](INFO): got valid direction response:
 17:10:25.7279 LVL= 32288, 19825, 32210, 32755, AGC= 66, IDX= 508, 0.33,-1.138, 0.698,-1.437,-0.675, PHS=-0.361, 1.419,-0.806, RAW= 340.9,  -2.5, CAL= 340.5,  -5.4, ROT= 169.5,   5.4

2025-08-09T17:10:26.720Z,1754759426.720 [DAT](INFO): #Rx 67: Read range and direction messages.
2025-08-09T17:10:26.721Z,1754759426.721 [DAT](INFO): direction in FSK: [-0.978891,0.181427,-0.094108]
2025-08-09T17:10:26.722Z,1754759426.722 [DAT](INFO): publishing direction and range info
2025-08-09T17:10:26.735Z,1754759426.735 [DAT](INFO): checking for new query: numPingsReceived=67, elapsed TxPingTime=23.953468
2025-08-09T17:10:26.949Z,1754759426.949 [DAT](INFO): checking for new query: numPingsReceived=67, elapsed TxPingTime=24.167618
2025-08-09T17:10:27.093Z,1754759427.093 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 11.600000 m,
      deltaT: 0.507875 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-08-09T17:10:27.102Z,1754759427.102 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 11.600000 m,
      bearing: 359.051419 deg,
      lat: 36.906109 deg,
      lon: -122.115900 deg,
      deltaT: 0.507875 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      posRepo size: 4

2025-08-09T17:10:27.107Z,1754759427.107 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.60 m.
2025-08-09T17:10:27.207Z,1754759427.207 [DAT](INFO): DAT read: Rx Time:17:10:26.2281 

2025-08-09T17:10:27.208Z,1754759427.208 [DAT](INFO): Rx dataTimestamp_ set to:1754759427.207577
2025-08-09T17:10:27.211Z,1754759427.211 [DAT](INFO): DAT read: Bearing 149.5,   9.2 (Local)

2025-08-09T17:10:27.211Z,1754759427.211 [DAT](INFO): Local bearing/azimuth received:
 Bearing 149.5,   9.2 (Local)

2025-08-09T17:10:27.214Z,1754759427.214 [DAT](INFO): DAT read: Range 11 to 50 :    11.9 m (trip time 7.9 ms) speed -0.5

2025-08-09T17:10:27.232Z,1754759427.232 [DAT](INFO): DAT read: 17:10:26.2281 LVL= 32752, 26033, 32754, 32755, AGC= 67, IDX= 510,-0.13,-1.586, 0.257,-1.847,-1.111, PHS=-0.373, 1.413,-0.780, RAW= 340.1,  -2.6, CAL= 339.6,  -5.5, ROT= 170.4,   5.5

2025-08-09T17:10:27.234Z,1754759427.234 [DAT](INFO): got valid direction response:
 17:10:26.2281 LVL= 32752, 26033, 32754, 32755, AGC= 67, IDX= 510,-0.13,-1.586, 0.257,-1.847,-1.111, PHS=-0.373, 1.413,-0.780, RAW= 340.1,  -2.6, CAL= 339.6,  -5.5, ROT= 170.4,   5.5

2025-08-09T17:10:27.234Z,1754759427.234 [DAT](INFO): #Rx 68: Read range and direction messages.
2025-08-09T17:10:27.239Z,1754759427.239 [DAT](INFO): direction in FSK: [-0.981457,0.166001,-0.095846]
2025-08-09T17:10:27.239Z,1754759427.239 [DAT](INFO): publishing direction and range info
2025-08-09T17:10:27.245Z,1754759427.245 [DAT](INFO): checking for new query: numPingsReceived=68, elapsed TxPingTime=24.462831
2025-08-09T17:10:27.455Z,1754759427.455 [DAT](INFO): checking for new query: numPingsReceived=68, elapsed TxPingTime=24.673491
2025-08-09T17:10:27.523Z,1754759427.523 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 11.900000 m,
      deltaT: 0.507475 s,
      deltaX: 0.299999 m,
      approachRate: 0.591161 m/s,
      rangeRepo size: 4

2025-08-09T17:10:27.525Z,1754759427.525 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 11.900000 m,
      bearing: 359.233781 deg,
      lat: 36.906108 deg,
      lon: -122.115900 deg,
      deltaT: 0.507475 s,
      deltaX: 0.299999 m,
      approachRate: 0.591161 m/s,
      posRepo size: 4

2025-08-09T17:10:27.525Z,1754759427.525 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.90 m.
2025-08-09T17:10:27.709Z,1754759427.709 [DAT](INFO): DAT read: Rx Time:17:10:26.7281 

2025-08-09T17:10:27.710Z,1754759427.710 [DAT](INFO): Rx dataTimestamp_ set to:1754759427.709361
2025-08-09T17:10:27.712Z,1754759427.712 [DAT](INFO): DAT read: Bearing 150.1,   9.1 (Local)

2025-08-09T17:10:27.712Z,1754759427.712 [DAT](INFO): Local bearing/azimuth received:
 Bearing 150.1,   9.1 (Local)

2025-08-09T17:10:27.720Z,1754759427.720 [DAT](INFO): DAT read: Range 11 to 50 :    11.9 m (trip time 7.9 ms) speed -0.4

2025-08-09T17:10:27.728Z,1754759427.728 [DAT](INFO): DAT read: 17:10:26.7281 LVL= 31728, 23601, 32754, 32755, AGC= 66, IDX= 510, 0.34,-1.089, 0.746,-1.341,-0.630, PHS=-0.357, 1.421,-0.755, RAW= 339.9,  -3.1, CAL= 339.4,  -6.1, ROT= 170.6,   6.1

2025-08-09T17:10:27.729Z,1754759427.729 [DAT](INFO): got valid direction response:
 17:10:26.7281 LVL= 31728, 23601, 32754, 32755, AGC= 66, IDX= 510, 0.34,-1.089, 0.746,-1.341,-0.630, PHS=-0.357, 1.421,-0.755, RAW= 339.9,  -3.1, CAL= 339.4,  -6.1, ROT= 170.6,   6.1

2025-08-09T17:10:27.730Z,1754759427.730 [DAT](INFO): #Rx 69: Read range and direction messages.
2025-08-09T17:10:27.747Z,1754759427.747 [DAT](INFO): direction in FSK: [-0.980986,0.162401,-0.106264]
2025-08-09T17:10:27.747Z,1754759427.747 [DAT](INFO): publishing direction and range info
2025-08-09T17:10:27.754Z,1754759427.754 [DAT](INFO): checking for new query: numPingsReceived=69, elapsed TxPingTime=24.968279
2025-08-09T17:10:27.959Z,1754759427.959 [DAT](INFO): checking for new query: numPingsReceived=69, elapsed TxPingTime=25.177467
2025-08-09T17:10:27.993Z,1754759427.993 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 11.900000 m,
      deltaT: 0.501784 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-08-09T17:10:27.999Z,1754759427.999 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 11.900000 m,
      bearing: 359.761622 deg,
      lat: 36.906108 deg,
      lon: -122.115899 deg,
      deltaT: 0.501784 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      posRepo size: 4

2025-08-09T17:10:27.999Z,1754759427.999 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.90 m.
2025-08-09T17:10:28.213Z,1754759428.213 [DAT](INFO): DAT read: Rx Time:17:10:27.2284 

2025-08-09T17:10:28.214Z,1754759428.214 [DAT](INFO): Rx dataTimestamp_ set to:1754759428.213232
2025-08-09T17:10:28.216Z,1754759428.216 [DAT](INFO): DAT read: Bearing 145.9,  12.1 (Local)

2025-08-09T17:10:28.216Z,1754759428.216 [DAT](INFO): Local bearing/azimuth received:
 Bearing 145.9,  12.1 (Local)

2025-08-09T17:10:28.220Z,1754759428.220 [DAT](INFO): DAT read: Range 11 to 50 :    12.3 m (trip time 8.2 ms) speed -0.4

2025-08-09T17:10:28.243Z,1754759428.243 [DAT](INFO): DAT read: 17:10:27.2284 LVL= 32752, 23633, 32754, 32755, AGC= 65, IDX= 513, 0.09, 1.994,-2.861, 1.716, 2.440, PHS=-0.345, 1.027,-0.768, RAW= 343.0,   1.1, CAL= 342.6,  -1.9, ROT= 167.4,   1.9

2025-08-09T17:10:28.244Z,1754759428.244 [DAT](INFO): got valid direction response:
 17:10:27.2284 LVL= 32752, 23633, 32754, 32755, AGC= 65, IDX= 513, 0.09, 1.994,-2.861, 1.716, 2.440, PHS=-0.345, 1.027,-0.768, RAW= 343.0,   1.1, CAL= 342.6,  -1.9, ROT= 167.4,   1.9

2025-08-09T17:10:28.245Z,1754759428.245 [DAT](INFO): #Rx 70: Read range and direction messages.
2025-08-09T17:10:28.245Z,1754759428.245 [DAT](INFO): direction in FSK: [-0.975380,0.218023,-0.033155]
2025-08-09T17:10:28.246Z,1754759428.246 [DAT](INFO): publishing direction and range info
2025-08-09T17:10:28.254Z,1754759428.254 [DAT](INFO): checking for new query: numPingsReceived=70, elapsed TxPingTime=25.471922
2025-08-09T17:10:28.324Z,1754759428.324 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 12.300000 m,
      deltaT: 0.503871 s,
      deltaX: 0.400001 m,
      approachRate: 0.793855 m/s,
      rangeRepo size: 4

2025-08-09T17:10:28.326Z,1754759428.326 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 12.300000 m,
      bearing: 359.881919 deg,
      lat: 36.906108 deg,
      lon: -122.115899 deg,
      deltaT: 0.503871 s,
      deltaX: 0.400001 m,
      approachRate: 0.793855 m/s,
      posRepo size: 4

2025-08-09T17:10:28.334Z,1754759428.334 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.30 m.
2025-08-09T17:10:28.464Z,1754759428.464 [DAT](INFO): checking for new query: numPingsReceived=70, elapsed TxPingTime=25.681700
2025-08-09T17:10:28.723Z,1754759428.723 [DAT](INFO): DAT read: Rx Time:17:10:27.7285 

2025-08-09T17:10:28.724Z,1754759428.724 [DAT](INFO): Rx dataTimestamp_ set to:1754759428.723497
2025-08-09T17:10:28.729Z,1754759428.729 [DAT](INFO): DAT read: Bearing 151.3,   8.4 (Local)

2025-08-09T17:10:28.731Z,1754759428.731 [DAT](INFO): Local bearing/azimuth received:
 Bearing 151.3,   8.4 (Local)

2025-08-09T17:10:28.751Z,1754759428.751 [DAT](INFO): DAT read: Range 11 to 50 :    12.5 m (trip time 8.3 ms) speed -0.4

2025-08-09T17:10:28.765Z,1754759428.765 [DAT](INFO): DAT read: 17:10:27.7285 LVL= 32752, 30833, 32754, 32691, AGC= 68, IDX=   2,-0.22, 3.022,-1.393, 2.797,-2.809, PHS=-0.350, 1.461,-0.720, RAW= 339.1,  -3.9, CAL= 338.7,  -6.9, ROT= 171.3,   6.9

2025-08-09T17:10:28.766Z,1754759428.766 [DAT](INFO): got valid direction response:
 17:10:27.7285 LVL= 32752, 30833, 32754, 32691, AGC= 68, IDX=   2,-0.22, 3.022,-1.393, 2.797,-2.809, PHS=-0.350, 1.461,-0.720, RAW= 339.1,  -3.9, CAL= 338.7,  -6.9, ROT= 171.3,   6.9

2025-08-09T17:10:28.766Z,1754759428.766 [DAT](INFO): #Rx 71: Read range and direction messages.
2025-08-09T17:10:28.769Z,1754759428.769 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.30 m.
2025-08-09T17:10:28.775Z,1754759428.775 [DAT](INFO): direction in FSK: [-0.981335,0.150165,-0.120137]
2025-08-09T17:10:28.775Z,1754759428.775 [DAT](INFO): publishing direction and range info
2025-08-09T17:10:28.787Z,1754759428.787 [DAT](INFO): checking for new query: numPingsReceived=71, elapsed TxPingTime=26.005287
2025-08-09T17:10:28.968Z,1754759428.968 [DAT](INFO): checking for new query: numPingsReceived=71, elapsed TxPingTime=26.186237
2025-08-09T17:10:29.153Z,1754759429.153 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 12.500000 m,
      deltaT: 0.510265 s,
      deltaX: 0.200000 m,
      approachRate: 0.391953 m/s,
      rangeRepo size: 4

2025-08-09T17:10:29.155Z,1754759429.155 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 12.500000 m,
      bearing: 0.176895 deg,
      lat: 36.906107 deg,
      lon: -122.115899 deg,
      deltaT: 0.510265 s,
      deltaX: 0.200000 m,
      approachRate: 0.391953 m/s,
      posRepo size: 4

2025-08-09T17:10:29.155Z,1754759429.155 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.50 m.
2025-08-09T17:10:29.221Z,1754759429.221 [DAT](INFO): DAT read: Rx Time:17:10:28.2286 

2025-08-09T17:10:29.222Z,1754759429.222 [DAT](INFO): Rx dataTimestamp_ set to:1754759429.221328
2025-08-09T17:10:29.224Z,1754759429.224 [DAT](INFO): DAT read: Bearing 151.4,   8.0 (Local)

2025-08-09T17:10:29.225Z,1754759429.225 [DAT](INFO): Local bearing/azimuth received:
 Bearing 151.4,   8.0 (Local)

2025-08-09T17:10:29.228Z,1754759429.228 [DAT](INFO): DAT read: Range 11 to 50 :    12.5 m (trip time 8.3 ms) speed -0.4

2025-08-09T17:10:29.233Z,1754759429.233 [DAT](INFO): DAT read: 17:10:28.2286 LVL= 32752, 30705, 32754, 32755, AGC= 63, IDX= 500, 0.45,-0.999, 0.882,-1.204,-0.538, PHS=-0.359, 1.465,-0.710, RAW= 338.6,  -4.0, CAL= 338.2,  -6.9, ROT= 171.8,   6.9

2025-08-09T17:10:29.235Z,1754759429.235 [DAT](INFO): got valid direction response:
 17:10:28.2286 LVL= 32752, 30705, 32754, 32755, AGC= 63, IDX= 500, 0.45,-0.999, 0.882,-1.204,-0.538, PHS=-0.359, 1.465,-0.710, RAW= 338.6,  -4.0, CAL= 338.2,  -6.9, ROT= 171.8,   6.9

2025-08-09T17:10:29.235Z,1754759429.235 [DAT](INFO): #Rx 72: Read range and direction messages.
2025-08-09T17:10:29.236Z,1754759429.236 [DAT](INFO): direction in FSK: [-0.982608,0.141596,-0.120137]
2025-08-09T17:10:29.236Z,1754759429.236 [DAT](INFO): publishing direction and range info
2025-08-09T17:10:29.245Z,1754759429.245 [DAT](INFO): checking for new query: numPingsReceived=72, elapsed TxPingTime=26.462830
2025-08-09T17:10:29.476Z,1754759429.476 [DAT](INFO): checking for new query: numPingsReceived=72, elapsed TxPingTime=26.694019
2025-08-09T17:10:29.504Z,1754759429.504 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 12.500000 m,
      deltaT: 0.497831 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-08-09T17:10:29.507Z,1754759429.507 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 12.500000 m,
      bearing: 0.347905 deg,
      lat: 36.906106 deg,
      lon: -122.115899 deg,
      deltaT: 0.497831 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      posRepo size: 4

2025-08-09T17:10:29.507Z,1754759429.507 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.50 m.
2025-08-09T17:10:29.733Z,1754759429.733 [DAT](INFO): DAT read: Rx Time:17:10:28.7287 

2025-08-09T17:10:29.735Z,1754759429.735 [DAT](INFO): Rx dataTimestamp_ set to:1754759429.733330
2025-08-09T17:10:29.736Z,1754759429.736 [DAT](INFO): DAT read: Bearing 152.2,   7.4 (Local)

2025-08-09T17:10:29.736Z,1754759429.736 [DAT](INFO): Local bearing/azimuth received:
 Bearing 152.2,   7.4 (Local)

2025-08-09T17:10:29.738Z,1754759429.738 [DAT](INFO): DAT read: Range 11 to 50 :    12.6 m (trip time 8.4 ms) speed -0.6

2025-08-09T17:10:29.743Z,1754759429.743 [DAT](INFO): DAT read: 17:10:28.7287 LVL= 32752, 27329, 32754, 32755, AGC= 65, IDX= 501, 0.32, 2.889,-1.536, 2.716,-2.946, PHS=-0.346, 1.455,-0.666, RAW= 338.0,  -4.5, CAL= 337.6,  -7.5, ROT= 172.4,   7.5

2025-08-09T17:10:29.744Z,1754759429.744 [DAT](INFO): got valid direction response:
 17:10:28.7287 LVL= 32752, 27329, 32754, 32755, AGC= 65, IDX= 501, 0.32, 2.889,-1.536, 2.716,-2.946, PHS=-0.346, 1.455,-0.666, RAW= 338.0,  -4.5, CAL= 337.6,  -7.5, ROT= 172.4,   7.5

2025-08-09T17:10:29.745Z,1754759429.745 [DAT](INFO): #Rx 73: Read range and direction messages.
2025-08-09T17:10:29.746Z,1754759429.746 [DAT](INFO): direction in FSK: [-0.982736,0.131125,-0.130526]
2025-08-09T17:10:29.746Z,1754759429.746 [DAT](INFO): publishing direction and range info
2025-08-09T17:10:29.749Z,1754759429.749 [DAT](INFO): checking for new query: numPingsReceived=73, elapsed TxPingTime=26.967602
2025-08-09T17:10:29.946Z,1754759429.946 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 12.600000 m,
      deltaT: 0.512002 s,
      deltaX: 0.100000 m,
      approachRate: 0.195312 m/s,
      rangeRepo size: 4

2025-08-09T17:10:29.948Z,1754759429.948 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 12.600000 m,
      bearing: 0.694835 deg,
      lat: 36.906106 deg,
      lon: -122.115898 deg,
      deltaT: 0.512002 s,
      deltaX: 0.100000 m,
      approachRate: 0.195312 m/s,
      posRepo size: 4

2025-08-09T17:10:29.949Z,1754759429.949 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.60 m.
2025-08-09T17:10:29.980Z,1754759429.980 [DAT](INFO): checking for new query: numPingsReceived=73, elapsed TxPingTime=27.198399
2025-08-09T17:10:30.232Z,1754759430.232 [DAT](INFO): DAT read: Rx Time:17:10:29.2290 

2025-08-09T17:10:30.232Z,1754759430.232 [DAT](INFO): Rx dataTimestamp_ set to:1754759430.232074
2025-08-09T17:10:30.234Z,1754759430.234 [DAT](INFO): DAT read: Bearing 152.3,   7.1 (Local)

2025-08-09T17:10:30.234Z,1754759430.234 [DAT](INFO): Local bearing/azimuth received:
 Bearing 152.3,   7.1 (Local)

2025-08-09T17:10:30.236Z,1754759430.236 [DAT](INFO): DAT read: Range 11 to 50 :    13.1 m (trip time 8.7 ms) speed -0.5

2025-08-09T17:10:30.241Z,1754759430.241 [DAT](INFO): DAT read: 17:10:29.2290 LVL= 32752, 31089, 32754, 32755, AGC= 64, IDX= 504, 0.17,-2.349,-0.506,-2.510,-1.903, PHS=-0.345, 1.441,-0.651, RAW= 337.8,  -4.6, CAL= 337.3,  -7.6, ROT= 172.7,   7.6

2025-08-09T17:10:30.242Z,1754759430.242 [DAT](INFO): got valid direction response:
 17:10:29.2290 LVL= 32752, 31089, 32754, 32755, AGC= 64, IDX= 504, 0.17,-2.349,-0.506,-2.510,-1.903, PHS=-0.345, 1.441,-0.651, RAW= 337.8,  -4.6, CAL= 337.3,  -7.6, ROT= 172.7,   7.6

2025-08-09T17:10:30.242Z,1754759430.242 [DAT](INFO): #Rx 74: Read range and direction messages.
2025-08-09T17:10:30.243Z,1754759430.243 [DAT](INFO): direction in FSK: [-0.983181,0.125949,-0.132256]
2025-08-09T17:10:30.243Z,1754759430.243 [DAT](INFO): publishing direction and range info
2025-08-09T17:10:30.247Z,1754759430.247 [DAT](INFO): checking for new query: numPingsReceived=74, elapsed TxPingTime=27.465240
2025-08-09T17:10:30.342Z,1754759430.342 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 13.100000 m,
      deltaT: 0.498744 s,
      deltaX: 0.500000 m,
      approachRate: 1.002518 m/s,
      rangeRepo size: 4

2025-08-09T17:10:30.344Z,1754759430.344 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 13.100000 m,
      bearing: 1.175298 deg,
      lat: 36.906106 deg,
      lon: -122.115897 deg,
      deltaT: 0.498744 s,
      deltaX: 0.500000 m,
      approachRate: 1.002518 m/s,
      posRepo size: 4

2025-08-09T17:10:30.345Z,1754759430.345 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 13.10 m.
2025-08-09T17:10:30.484Z,1754759430.484 [DAT](INFO): checking for new query: numPingsReceived=74, elapsed TxPingTime=27.701746
2025-08-09T17:10:30.739Z,1754759430.739 [DAT](INFO): DAT read: Rx Time:17:10:29.7291 

2025-08-09T17:10:30.741Z,1754759430.741 [DAT](INFO): Rx dataTimestamp_ set to:1754759430.740079
2025-08-09T17:10:30.747Z,1754759430.747 [DAT](INFO): DAT read: Bearing 152.6,   6.4 (Local)

2025-08-09T17:10:30.748Z,1754759430.748 [DAT](INFO): Local bearing/azimuth received:
 Bearing 152.6,   6.4 (Local)

2025-08-09T17:10:30.767Z,1754759430.767 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 13.10 m.
2025-08-09T17:10:30.770Z,1754759430.770 [DAT](INFO): DAT read: Range 11 to 50 :    13.2 m (trip time 8.8 ms) speed -0.4

2025-08-09T17:10:30.783Z,1754759430.783 [DAT](INFO): DAT read: 17:10:29.7291 LVL= 32752, 25793, 32754, 32755, AGC= 63, IDX= 505, 0.04, 2.058,-2.354, 1.923, 2.516, PHS=-0.356, 1.459,-0.637, RAW= 337.1,  -4.8, CAL= 336.6,  -7.8, ROT= 173.4,   7.8

2025-08-09T17:10:30.784Z,1754759430.784 [DAT](INFO): got valid direction response:
 17:10:29.7291 LVL= 32752, 25793, 32754, 32755, AGC= 63, IDX= 505, 0.04, 2.058,-2.354, 1.923, 2.516, PHS=-0.356, 1.459,-0.637, RAW= 337.1,  -4.8, CAL= 336.6,  -7.8, ROT= 173.4,   7.8

2025-08-09T17:10:30.785Z,1754759430.785 [DAT](INFO): #Rx 75: Read range and direction messages.
2025-08-09T17:10:30.786Z,1754759430.786 [DAT](INFO): direction in FSK: [-0.984182,0.113874,-0.135716]
2025-08-09T17:10:30.786Z,1754759430.786 [DAT](INFO): publishing direction and range info
2025-08-09T17:10:30.798Z,1754759430.798 [DAT](INFO): checking for new query: numPingsReceived=75, elapsed TxPingTime=28.015697
2025-08-09T17:10:30.987Z,1754759430.987 [DAT](INFO): checking for new query: numPingsReceived=75, elapsed TxPingTime=28.205431
2025-08-09T17:10:31.157Z,1754759431.157 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 13.200000 m,
      deltaT: 0.508005 s,
      deltaX: 0.099999 m,
      approachRate: 0.196847 m/s,
      rangeRepo size: 4

2025-08-09T17:10:31.159Z,1754759431.159 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 13.200000 m,
      bearing: 1.847513 deg,
      lat: 36.906104 deg,
      lon: -122.115896 deg,
      deltaT: 0.508005 s,
      deltaX: 0.099999 m,
      approachRate: 0.196847 m/s,
      posRepo size: 4

2025-08-09T17:10:31.160Z,1754759431.160 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 13.20 m.
2025-08-09T17:10:31.241Z,1754759431.241 [DAT](INFO): DAT read: Rx Time:17:10:30.2292 

2025-08-09T17:10:31.242Z,1754759431.242 [DAT](INFO): Rx dataTimestamp_ set to:1754759431.241225
2025-08-09T17:10:31.244Z,1754759431.244 [DAT](INFO): DAT read: Bearing 151.4,   5.5 (Local)

2025-08-09T17:10:31.244Z,1754759431.244 [DAT](INFO): Local bearing/azimuth received:
 Bearing 151.4,   5.5 (Local)

2025-08-09T17:10:31.247Z,1754759431.247 [DAT](INFO): DAT read: Range 11 to 50 :    13.5 m (trip time 9.0 ms) speed -0.4

2025-08-09T17:10:31.252Z,1754759431.252 [DAT](INFO): DAT read: 17:10:30.2292 LVL= 32752, 32753, 32754, 32755, AGC= 66, IDX= 507,-0.17, 1.214, 3.102, 1.113, 1.732, PHS=-0.416, 1.415,-0.663, RAW= 336.2,  -3.5, CAL= 335.7,  -6.4, ROT= 174.3,   6.4

2025-08-09T17:10:31.253Z,1754759431.253 [DAT](INFO): got valid direction response:
 17:10:30.2292 LVL= 32752, 32753, 32754, 32755, AGC= 66, IDX= 507,-0.17, 1.214, 3.102, 1.113, 1.732, PHS=-0.416, 1.415,-0.663, RAW= 336.2,  -3.5, CAL= 335.7,  -6.4, ROT= 174.3,   6.4

2025-08-09T17:10:31.254Z,1754759431.254 [DAT](INFO): #Rx 76: Read range and direction messages.
2025-08-09T17:10:31.255Z,1754759431.255 [DAT](INFO): direction in FSK: [-0.988854,0.098701,-0.111469]
2025-08-09T17:10:31.255Z,1754759431.255 [DAT](INFO): publishing direction and range info
2025-08-09T17:10:31.265Z,1754759431.265 [DAT](INFO): checking for new query: numPingsReceived=76, elapsed TxPingTime=28.483116
2025-08-09T17:10:31.491Z,1754759431.491 [DAT](INFO): checking for new query: numPingsReceived=76, elapsed TxPingTime=28.709473
2025-08-09T17:10:31.525Z,1754759431.525 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 13.500000 m,
      deltaT: 0.501146 s,
      deltaX: 0.300000 m,
      approachRate: 0.598628 m/s,
      rangeRepo size: 4

2025-08-09T17:10:31.527Z,1754759431.527 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 13.500000 m,
      bearing: 2.156739 deg,
      lat: 36.906104 deg,
      lon: -122.115896 deg,
      deltaT: 0.501146 s,
      deltaX: 0.300000 m,
      approachRate: 0.598628 m/s,
      posRepo size: 4

2025-08-09T17:10:31.527Z,1754759431.527 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 13.50 m.
2025-08-09T17:10:31.747Z,1754759431.747 [DAT](INFO): DAT read: Rx Time:17:10:30.7292 

2025-08-09T17:10:31.749Z,1754759431.749 [DAT](INFO): Rx dataTimestamp_ set to:1754759431.748081
2025-08-09T17:10:31.753Z,1754759431.753 [DAT](INFO): DAT read: Bearing 152.8,   5.9 (Local)

2025-08-09T17:10:31.755Z,1754759431.755 [DAT](INFO): Local bearing/azimuth received:
 Bearing 152.8,   5.9 (Local)

2025-08-09T17:10:31.761Z,1754759431.761 [DAT](INFO): DAT read: Range 11 to 50 :    13.5 m (trip time 9.0 ms) speed -0.4

2025-08-09T17:10:31.792Z,1754759431.792 [DAT](INFO): DAT read: 17:10:30.7292 LVL= 32752, 23009, 32754, 32755, AGC= 64, IDX= 507, 0.48, 2.534,-1.888, 2.423, 2.998, PHS=-0.361, 1.443,-0.619, RAW= 336.6,  -4.8, CAL= 336.1,  -7.8, ROT= 173.9,   7.8

2025-08-09T17:10:31.793Z,1754759431.793 [DAT](INFO): got valid direction response:
 17:10:30.7292 LVL= 32752, 23009, 32754, 32755, AGC= 64, IDX= 507, 0.48, 2.534,-1.888, 2.423, 2.998, PHS=-0.361, 1.443,-0.619, RAW= 336.6,  -4.8, CAL= 336.1,  -7.8, ROT= 173.9,   7.8

2025-08-09T17:10:31.794Z,1754759431.794 [DAT](INFO): #Rx 77: Read range and direction messages.
2025-08-09T17:10:31.799Z,1754759431.799 [DAT](INFO): direction in FSK: [-0.985138,0.105281,-0.135716]
2025-08-09T17:10:31.799Z,1754759431.799 [DAT](INFO): publishing direction and range info
2025-08-09T17:10:31.811Z,1754759431.811 [DAT](INFO): checking for new query: numPingsReceived=77, elapsed TxPingTime=29.029545
2025-08-09T17:10:31.937Z,1754759431.937 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 13.500000 m,
      deltaT: 0.506856 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-08-09T17:10:31.955Z,1754759431.955 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 13.500000 m,
      bearing: 2.700002 deg,
      lat: 36.906104 deg,
      lon: -122.115894 deg,
      deltaT: 0.506856 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      posRepo size: 4

2025-08-09T17:10:31.956Z,1754759431.956 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 13.50 m.
2025-08-09T17:10:31.995Z,1754759431.995 [DAT](INFO): checking for new query: numPingsReceived=77, elapsed TxPingTime=29.213585
2025-08-09T17:10:32.248Z,1754759432.248 [DAT](INFO): DAT read: Rx Time:17:10:31.2295 

2025-08-09T17:10:32.248Z,1754759432.248 [DAT](INFO): Rx dataTimestamp_ set to:1754759432.248219
2025-08-09T17:10:32.250Z,1754759432.250 [DAT](INFO): DAT read: Bearing 153.3,   5.9 (Local)

2025-08-09T17:10:32.250Z,1754759432.250 [DAT](INFO): Local bearing/azimuth received:
 Bearing 153.3,   5.9 (Local)

2025-08-09T17:10:32.252Z,1754759432.252 [DAT](INFO): DAT read: Range 11 to 50 :    14.0 m (trip time 9.3 ms) speed -0.4

2025-08-09T17:10:32.257Z,1754759432.257 [DAT](INFO): DAT read: 17:10:31.2295 LVL= 32752, 31041, 32754, 32755, AGC= 66, IDX= 510, 0.07,-1.099, 0.811,-1.214,-0.635, PHS=-0.363, 1.490,-0.623, RAW= 336.5,  -5.1, CAL= 336.0,  -8.1, ROT= 174.0,   8.1

2025-08-09T17:10:32.258Z,1754759432.258 [DAT](INFO): got valid direction response:
 17:10:31.2295 LVL= 32752, 31041, 32754, 32755, AGC= 66, IDX= 510, 0.07,-1.099, 0.811,-1.214,-0.635, PHS=-0.363, 1.490,-0.623, RAW= 336.5,  -5.1, CAL= 336.0,  -8.1, ROT= 174.0,   8.1

2025-08-09T17:10:32.258Z,1754759432.258 [DAT](INFO): #Rx 78: Read range and direction messages.
2025-08-09T17:10:32.259Z,1754759432.259 [DAT](INFO): direction in FSK: [-0.984600,0.103486,-0.140901]
2025-08-09T17:10:32.260Z,1754759432.260 [DAT](INFO): publishing direction and range info
2025-08-09T17:10:32.283Z,1754759432.283 [DAT](INFO): checking for new query: numPingsReceived=78, elapsed TxPingTime=29.501352
2025-08-09T17:10:32.384Z,1754759432.384 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 14.000000 m,
      deltaT: 0.500138 s,
      deltaX: 0.500000 m,
      approachRate: 0.999724 m/s,
      rangeRepo size: 4

2025-08-09T17:10:32.391Z,1754759432.391 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 14.000000 m,
      bearing: 3.006286 deg,
      lat: 36.906105 deg,
      lon: -122.115894 deg,
      deltaT: 0.500138 s,
      deltaX: 0.500000 m,
      approachRate: 0.999724 m/s,
      posRepo size: 4

2025-08-09T17:10:32.391Z,1754759432.391 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.00 m.
2025-08-09T17:10:32.500Z,1754759432.500 [DAT](INFO): checking for new query: numPingsReceived=78, elapsed TxPingTime=29.718105
2025-08-09T17:10:32.765Z,1754759432.765 [DAT](INFO): DAT read: Rx Time:17:10:31.7296 

2025-08-09T17:10:32.767Z,1754759432.767 [DAT](INFO): Rx dataTimestamp_ set to:1754759432.765496
2025-08-09T17:10:32.770Z,1754759432.770 [DAT](INFO): DAT read: Bearing 153.4,   5.4 (Local)

2025-08-09T17:10:32.771Z,1754759432.771 [DAT](INFO): Local bearing/azimuth received:
 Bearing 153.4,   5.4 (Local)

2025-08-09T17:10:32.778Z,1754759432.778 [DAT](INFO): DAT read: Range 11 to 50 :    14.1 m (trip time 9.4 ms) speed -0.3

2025-08-09T17:10:32.795Z,1754759432.795 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.00 m.
2025-08-09T17:10:32.801Z,1754759432.801 [DAT](INFO): DAT read: 17:10:31.7296 LVL= 32752, 22945, 32274, 32755, AGC= 68, IDX= 511,-0.15, 2.998,-1.408, 2.910,-2.814, PHS=-0.368, 1.452,-0.602, RAW= 336.0,  -5.0, CAL= 335.5,  -8.0, ROT= 174.5,   8.0

2025-08-09T17:10:32.802Z,1754759432.802 [DAT](INFO): got valid direction response:
 17:10:31.7296 LVL= 32752, 22945, 32274, 32755, AGC= 68, IDX= 511,-0.15, 2.998,-1.408, 2.910,-2.814, PHS=-0.368, 1.452,-0.602, RAW= 336.0,  -5.0, CAL= 335.5,  -8.0, ROT= 174.5,   8.0

2025-08-09T17:10:32.802Z,1754759432.802 [DAT](INFO): #Rx 79: Read range and direction messages.
2025-08-09T17:10:32.811Z,1754759432.811 [DAT](INFO): direction in FSK: [-0.985709,0.094913,-0.139173]
2025-08-09T17:10:32.811Z,1754759432.811 [DAT](INFO): publishing direction and range info
2025-08-09T17:10:32.824Z,1754759432.824 [DAT](INFO): checking for new query: numPingsReceived=79, elapsed TxPingTime=30.041765
2025-08-09T17:10:33.013Z,1754759433.013 [DAT](INFO): checking for new query: numPingsReceived=79, elapsed TxPingTime=30.230436
2025-08-09T17:10:33.155Z,1754759433.155 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 14.100000 m,
      deltaT: 0.517277 s,
      deltaX: 0.100000 m,
      approachRate: 0.193321 m/s,
      rangeRepo size: 4

2025-08-09T17:10:33.157Z,1754759433.157 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 14.100000 m,
      bearing: 3.192744 deg,
      lat: 36.906104 deg,
      lon: -122.115894 deg,
      deltaT: 0.517277 s,
      deltaX: 0.100000 m,
      approachRate: 0.193321 m/s,
      posRepo size: 4

2025-08-09T17:10:33.157Z,1754759433.157 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.10 m.
2025-08-09T17:10:33.264Z,1754759433.264 [DAT](INFO): DAT read: Rx Time:17:10:32.2298 

2025-08-09T17:10:33.264Z,1754759433.264 [DAT](INFO): Rx dataTimestamp_ set to:1754759433.264136
2025-08-09T17:10:33.266Z,1754759433.266 [DAT](INFO): DAT read: Bearing 323.4,   4.9 (Local)

2025-08-09T17:10:33.266Z,1754759433.266 [DAT](INFO): Local bearing/azimuth received:
 Bearing 323.4,   4.9 (Local)

2025-08-09T17:10:33.268Z,1754759433.268 [DAT](INFO): DAT read: Range 11 to 50 :    14.4 m (trip time 9.6 ms) speed -0.4

2025-08-09T17:10:33.273Z,1754759433.273 [DAT](INFO): DAT read: 17:10:32.2298 LVL= 32752, 24737, 32754, 32755, AGC= 68, IDX= 513, 0.43, 1.720, 0.443, 1.766, 1.299, PHS= 0.523,-0.811, 0.423, RAW= 146.1,  -2.1, CAL= 145.7,  -2.6, ROT=   4.3,   2.6

2025-08-09T17:10:33.274Z,1754759433.274 [DAT](INFO): got valid direction response:
 17:10:32.2298 LVL= 32752, 24737, 32754, 32755, AGC= 68, IDX= 513, 0.43, 1.720, 0.443, 1.766, 1.299, PHS= 0.523,-0.811, 0.423, RAW= 146.1,  -2.1, CAL= 145.7,  -2.6, ROT=   4.3,   2.6

2025-08-09T17:10:33.274Z,1754759433.274 [DAT](INFO): #Rx 80: Read range and direction messages.
2025-08-09T17:10:33.275Z,1754759433.275 [DAT](INFO): direction in FSK: [0.996159,0.074902,-0.045363]
2025-08-09T17:10:33.276Z,1754759433.276 [DAT](INFO): publishing direction and range info
2025-08-09T17:10:33.285Z,1754759433.285 [DAT](INFO): checking for new query: numPingsReceived=80, elapsed TxPingTime=30.502834
2025-08-09T17:10:33.516Z,1754759433.516 [DAT](INFO): checking for new query: numPingsReceived=80, elapsed TxPingTime=30.733835
2025-08-09T17:10:33.533Z,1754759433.533 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 14.400000 m,
      deltaT: 0.498640 s,
      deltaX: 0.299999 m,
      approachRate: 0.601635 m/s,
      rangeRepo size: 4

2025-08-09T17:10:33.535Z,1754759433.535 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 14.400000 m,
      bearing: 3.247697 deg,
      lat: 36.906104 deg,
      lon: -122.115894 deg,
      deltaT: 0.498640 s,
      deltaX: 0.299999 m,
      approachRate: 0.601635 m/s,
      posRepo size: 4

2025-08-09T17:10:33.535Z,1754759433.535 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.40 m.
2025-08-09T17:10:33.772Z,1754759433.772 [DAT](INFO): DAT read: Rx Time:17:10:32.7299 

2025-08-09T17:10:33.773Z,1754759433.773 [DAT](INFO): Rx dataTimestamp_ set to:1754759433.772230
2025-08-09T17:10:33.777Z,1754759433.777 [DAT](INFO): DAT read: Bearing 154.0,   5.0 (Local)

2025-08-09T17:10:33.778Z,1754759433.778 [DAT](INFO): Local bearing/azimuth received:
 Bearing 154.0,   5.0 (Local)

2025-08-09T17:10:33.788Z,1754759433.788 [DAT](INFO): DAT read: Range 11 to 50 :    14.6 m (trip time 9.7 ms) speed -0.4

2025-08-09T17:10:33.835Z,1754759433.835 [DAT](INFO): DAT read: 17:10:32.7299 LVL= 29328, 22385, 30194, 31731, AGC= 69, IDX=   2,-0.01,-2.170,-0.288,-2.241,-1.697, PHS=-0.371, 1.454,-0.588, RAW= 335.6,  -5.2, CAL= 335.1,  -8.2, ROT= 174.9,   8.2

2025-08-09T17:10:33.836Z,1754759433.836 [DAT](INFO): got valid direction response:
 17:10:32.7299 LVL= 29328, 22385, 30194, 31731, AGC= 69, IDX=   2,-0.01,-2.170,-0.288,-2.241,-1.697, PHS=-0.371, 1.454,-0.588, RAW= 335.6,  -5.2, CAL= 335.1,  -8.2, ROT= 174.9,   8.2

2025-08-09T17:10:33.836Z,1754759433.836 [DAT](INFO): #Rx 81: Read range and direction messages.
2025-08-09T17:10:33.837Z,1754759433.837 [DAT](INFO): direction in FSK: [-0.985858,0.087985,-0.142629]
2025-08-09T17:10:33.837Z,1754759433.837 [DAT](INFO): publishing direction and range info
2025-08-09T17:10:33.850Z,1754759433.850 [DAT](INFO): checking for new query: numPingsReceived=81, elapsed TxPingTime=31.067558
2025-08-09T17:10:34.011Z,1754759434.011 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 14.600000 m,
      deltaT: 0.508094 s,
      deltaX: 0.200001 m,
      approachRate: 0.393629 m/s,
      rangeRepo size: 4

2025-08-09T17:10:34.013Z,1754759434.013 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 14.600000 m,
      bearing: 3.302698 deg,
      lat: 36.906104 deg,
      lon: -122.115894 deg,
      deltaT: 0.508094 s,
      deltaX: 0.200001 m,
      approachRate: 0.393629 m/s,
      posRepo size: 4

2025-08-09T17:10:34.013Z,1754759434.013 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.60 m.
2025-08-09T17:10:34.019Z,1754759434.019 [DAT](INFO): checking for new query: numPingsReceived=81, elapsed TxPingTime=31.237587
2025-08-09T17:10:34.273Z,1754759434.273 [DAT](INFO): DAT read: Rx Time:17:10:33.2301 

2025-08-09T17:10:34.275Z,1754759434.275 [DAT](INFO): Rx dataTimestamp_ set to:1754759434.273744
2025-08-09T17:10:34.278Z,1754759434.278 [DAT](INFO): DAT read: Bearing 154.5,   5.1 (Local)

2025-08-09T17:10:34.279Z,1754759434.279 [DAT](INFO): Local bearing/azimuth received:
 Bearing 154.5,   5.1 (Local)

2025-08-09T17:10:34.281Z,1754759434.281 [DAT](INFO): DAT read: Range 11 to 50 :    14.9 m (trip time 9.9 ms) speed -0.4

2025-08-09T17:10:34.291Z,1754759434.291 [DAT](INFO): DAT read: 17:10:33.2301 LVL= 32752, 24897, 32754, 32755, AGC= 68, IDX= 500, 0.25, 2.228,-2.185, 2.156, 2.687, PHS=-0.357, 1.456,-0.575, RAW= 335.6,  -5.5, CAL= 335.1,  -8.5, ROT= 174.9,   8.5

2025-08-09T17:10:34.292Z,1754759434.292 [DAT](INFO): got valid direction response:
 17:10:33.2301 LVL= 32752, 24897, 32754, 32755, AGC= 68, IDX= 500, 0.25, 2.228,-2.185, 2.156, 2.687, PHS=-0.357, 1.456,-0.575, RAW= 335.6,  -5.5, CAL= 335.1,  -8.5, ROT= 174.9,   8.5

2025-08-09T17:10:34.292Z,1754759434.292 [DAT](INFO): #Rx 82: Read range and direction messages.
2025-08-09T17:10:34.293Z,1754759434.293 [DAT](INFO): direction in FSK: [-0.985100,0.087918,-0.147809]
2025-08-09T17:10:34.293Z,1754759434.293 [DAT](INFO): publishing direction and range info
2025-08-09T17:10:34.313Z,1754759434.313 [DAT](INFO): checking for new query: numPingsReceived=82, elapsed TxPingTime=31.531267
2025-08-09T17:10:34.393Z,1754759434.393 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 14.900000 m,
      deltaT: 0.501514 s,
      deltaX: 0.299999 m,
      approachRate: 0.598187 m/s,
      rangeRepo size: 4

2025-08-09T17:10:34.399Z,1754759434.399 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 14.900000 m,
      bearing: 3.509351 deg,
      lat: 36.906106 deg,
      lon: -122.115893 deg,
      deltaT: 0.501514 s,
      deltaX: 0.299999 m,
      approachRate: 0.598187 m/s,
      posRepo size: 4

2025-08-09T17:10:34.400Z,1754759434.400 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.90 m.
2025-08-09T17:10:34.524Z,1754759434.524 [DAT](INFO): checking for new query: numPingsReceived=82, elapsed TxPingTime=31.741804
2025-08-09T17:10:34.741Z,1754759434.741 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.90 m.
2025-08-09T17:10:34.782Z,1754759434.782 [DAT](INFO): DAT read: Rx Time:17:10:33.7302 

2025-08-09T17:10:34.784Z,1754759434.784 [DAT](INFO): Rx dataTimestamp_ set to:1754759434.783105
2025-08-09T17:10:34.789Z,1754759434.789 [DAT](INFO): DAT read: Bearing 153.9,   4.5 (Local)

2025-08-09T17:10:34.790Z,1754759434.790 [DAT](INFO): Local bearing/azimuth received:
 Bearing 153.9,   4.5 (Local)

2025-08-09T17:10:34.812Z,1754759434.812 [DAT](INFO): DAT read: Range 11 to 50 :    15.0 m (trip time 10.0 ms) speed -0.1

2025-08-09T17:10:34.835Z,1754759434.835 [DAT](INFO): DAT read: 17:10:33.7302 LVL= 32752, 23761, 32754, 32755, AGC= 67, IDX= 501,-0.22,-1.755, 0.135,-1.809,-1.259, PHS=-0.395, 1.439,-0.594, RAW= 335.1,  -4.7, CAL= 334.6,  -7.7, ROT= 175.4,   7.7

2025-08-09T17:10:34.836Z,1754759434.836 [DAT](INFO): got valid direction response:
 17:10:33.7302 LVL= 32752, 23761, 32754, 32755, AGC= 67, IDX= 501,-0.22,-1.755, 0.135,-1.809,-1.259, PHS=-0.395, 1.439,-0.594, RAW= 335.1,  -4.7, CAL= 334.6,  -7.7, ROT= 175.4,   7.7

2025-08-09T17:10:34.837Z,1754759434.837 [DAT](INFO): #Rx 83: Read range and direction messages.
2025-08-09T17:10:34.838Z,1754759434.838 [DAT](INFO): direction in FSK: [-0.987791,0.079476,-0.133986]
2025-08-09T17:10:34.838Z,1754759434.838 [DAT](INFO): publishing direction and range info
2025-08-09T17:10:34.848Z,1754759434.848 [DAT](INFO): checking for new query: numPingsReceived=83, elapsed TxPingTime=32.065544
2025-08-09T17:10:35.028Z,1754759435.028 [DAT](INFO): checking for new query: numPingsReceived=83, elapsed TxPingTime=32.245747
2025-08-09T17:10:35.182Z,1754759435.182 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 15.000000 m,
      deltaT: 0.509361 s,
      deltaX: 0.100000 m,
      approachRate: 0.196325 m/s,
      rangeRepo size: 4

2025-08-09T17:10:35.195Z,1754759435.195 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 15.000000 m,
      bearing: 3.752297 deg,
      lat: 36.906106 deg,
      lon: -122.115893 deg,
      deltaT: 0.509361 s,
      deltaX: 0.100000 m,
      approachRate: 0.196325 m/s,
      posRepo size: 4

2025-08-09T17:10:35.196Z,1754759435.196 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.00 m.
2025-08-09T17:10:35.281Z,1754759435.281 [DAT](INFO): DAT read: Rx Time:17:10:34.2303 

2025-08-09T17:10:35.281Z,1754759435.281 [DAT](INFO): Rx dataTimestamp_ set to:1754759435.281087
2025-08-09T17:10:35.283Z,1754759435.283 [DAT](INFO): DAT read: Bearing 154.3,   4.3 (Local)

2025-08-09T17:10:35.284Z,1754759435.284 [DAT](INFO): Local bearing/azimuth received:
 Bearing 154.3,   4.3 (Local)

2025-08-09T17:10:35.286Z,1754759435.286 [DAT](INFO): DAT read: Range 11 to 50 :    15.2 m (trip time 10.1 ms) speed -0.3

2025-08-09T17:10:35.291Z,1754759435.291 [DAT](INFO): DAT read: 17:10:34.2303 LVL= 29392, 23249, 29474, 32131, AGC= 67, IDX= 502,-0.01,-0.793, 1.112,-0.839,-0.300, PHS=-0.391, 1.457,-0.583, RAW= 334.9,  -5.0, CAL= 334.4,  -8.0, ROT= 175.6,   8.0

2025-08-09T17:10:35.292Z,1754759435.292 [DAT](INFO): got valid direction response:
 17:10:34.2303 LVL= 29392, 23249, 29474, 32131, AGC= 67, IDX= 502,-0.01,-0.793, 1.112,-0.839,-0.300, PHS=-0.391, 1.457,-0.583, RAW= 334.9,  -5.0, CAL= 334.4,  -8.0, ROT= 175.6,   8.0

2025-08-09T17:10:35.293Z,1754759435.293 [DAT](INFO): #Rx 84: Read range and direction messages.
2025-08-09T17:10:35.294Z,1754759435.294 [DAT](INFO): direction in FSK: [-0.987350,0.075972,-0.139173]
2025-08-09T17:10:35.294Z,1754759435.294 [DAT](INFO): publishing direction and range info
2025-08-09T17:10:35.304Z,1754759435.304 [DAT](INFO): checking for new query: numPingsReceived=84, elapsed TxPingTime=32.521809
2025-08-09T17:10:35.531Z,1754759435.531 [DAT](INFO): checking for new query: numPingsReceived=84, elapsed TxPingTime=32.749352
2025-08-09T17:10:35.619Z,1754759435.619 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 15.200000 m,
      deltaT: 0.497982 s,
      deltaX: 0.200000 m,
      approachRate: 0.401621 m/s,
      rangeRepo size: 4

2025-08-09T17:10:35.621Z,1754759435.621 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 15.200000 m,
      bearing: 3.771646 deg,
      lat: 36.906107 deg,
      lon: -122.115892 deg,
      deltaT: 0.497982 s,
      deltaX: 0.200000 m,
      approachRate: 0.401621 m/s,
      posRepo size: 4

2025-08-09T17:10:35.621Z,1754759435.621 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.20 m.
2025-08-09T17:10:35.789Z,1754759435.789 [DAT](INFO): DAT read: Rx Time:17:10:34.7303 

2025-08-09T17:10:35.792Z,1754759435.792 [DAT](INFO): Rx dataTimestamp_ set to:1754759435.789362
2025-08-09T17:10:35.797Z,1754759435.797 [DAT](INFO): DAT read: Bearing 154.2,   3.7 (Local)

2025-08-09T17:10:35.798Z,1754759435.798 [DAT](INFO): Local bearing/azimuth received:
 Bearing 154.2,   3.7 (Local)

2025-08-09T17:10:35.805Z,1754759435.805 [DAT](INFO): DAT read: Range 11 to 50 :    15.2 m (trip time 10.1 ms) speed -0.3

2025-08-09T17:10:35.858Z,1754759435.858 [DAT](INFO): DAT read: 17:10:34.7303 LVL= 32752, 28321, 32754, 32755, AGC= 67, IDX= 502, 0.12,-0.587, 1.326,-0.609,-0.076, PHS=-0.410, 1.447,-0.578, RAW= 334.3,  -4.8, CAL= 333.8,  -7.8, ROT= 176.2,   7.8

2025-08-09T17:10:35.860Z,1754759435.860 [DAT](INFO): got valid direction response:
 17:10:34.7303 LVL= 32752, 28321, 32754, 32755, AGC= 67, IDX= 502, 0.12,-0.587, 1.326,-0.609,-0.076, PHS=-0.410, 1.447,-0.578, RAW= 334.3,  -4.8, CAL= 333.8,  -7.8, ROT= 176.2,   7.8

2025-08-09T17:10:35.860Z,1754759435.860 [DAT](INFO): #Rx 85: Read range and direction messages.
2025-08-09T17:10:35.862Z,1754759435.862 [DAT](INFO): direction in FSK: [-0.988570,0.065661,-0.135716]
2025-08-09T17:10:35.867Z,1754759435.867 [DAT](INFO): publishing direction and range info
2025-08-09T17:10:35.883Z,1754759435.883 [DAT](INFO): checking for new query: numPingsReceived=85, elapsed TxPingTime=33.101372
2025-08-09T17:10:36.035Z,1754759436.035 [DAT](INFO): checking for new query: numPingsReceived=85, elapsed TxPingTime=33.253662
2025-08-09T17:10:36.068Z,1754759436.068 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 15.200000 m,
      deltaT: 0.508275 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-08-09T17:10:36.077Z,1754759436.077 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 15.200000 m,
      bearing: 4.034599 deg,
      lat: 36.906107 deg,
      lon: -122.115892 deg,
      deltaT: 0.508275 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      posRepo size: 4

2025-08-09T17:10:36.083Z,1754759436.083 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.20 m.
2025-08-09T17:10:36.288Z,1754759436.288 [DAT](INFO): DAT read: Rx Time:17:10:35.2305 

2025-08-09T17:10:36.288Z,1754759436.288 [DAT](INFO): Rx dataTimestamp_ set to:1754759436.288055
2025-08-09T17:10:36.290Z,1754759436.290 [DAT](INFO): DAT read: Bearing 154.1,   3.5 (Local)

2025-08-09T17:10:36.290Z,1754759436.290 [DAT](INFO): Local bearing/azimuth received:
 Bearing 154.1,   3.5 (Local)

2025-08-09T17:10:36.292Z,1754759436.292 [DAT](INFO): DAT read: Range 11 to 50 :    15.5 m (trip time 10.3 ms) speed 0.0

2025-08-09T17:10:36.297Z,1754759436.297 [DAT](INFO): DAT read: 17:10:35.2305 LVL= 28064, 18417, 32754, 32755, AGC= 69, IDX= 504, 0.27,-0.494, 1.410,-0.510, 0.026, PHS=-0.418, 1.428,-0.580, RAW= 334.2,  -4.5, CAL= 333.6,  -7.5, ROT= 176.4,   7.5

2025-08-09T17:10:36.298Z,1754759436.298 [DAT](INFO): got valid direction response:
 17:10:35.2305 LVL= 28064, 18417, 32754, 32755, AGC= 69, IDX= 504, 0.27,-0.494, 1.410,-0.510, 0.026, PHS=-0.418, 1.428,-0.580, RAW= 334.2,  -4.5, CAL= 333.6,  -7.5, ROT= 176.4,   7.5

2025-08-09T17:10:36.298Z,1754759436.298 [DAT](INFO): #Rx 86: Read range and direction messages.
2025-08-09T17:10:36.305Z,1754759436.305 [DAT](INFO): direction in FSK: [-0.989488,0.062254,-0.130526]
2025-08-09T17:10:36.305Z,1754759436.305 [DAT](INFO): publishing direction and range info
2025-08-09T17:10:36.309Z,1754759436.309 [DAT](INFO): checking for new query: numPingsReceived=86, elapsed TxPingTime=33.527134
2025-08-09T17:10:36.440Z,1754759436.440 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 15.500000 m,
      deltaT: 0.498693 s,
      deltaX: 0.300000 m,
      approachRate: 0.601573 m/s,
      rangeRepo size: 4

2025-08-09T17:10:36.442Z,1754759436.442 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 15.500000 m,
      bearing: 4.205279 deg,
      lat: 36.906107 deg,
      lon: -122.115891 deg,
      deltaT: 0.498693 s,
      deltaX: 0.300000 m,
      approachRate: 0.601573 m/s,
      posRepo size: 4

2025-08-09T17:10:36.447Z,1754759436.447 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.50 m.
2025-08-09T17:10:36.540Z,1754759436.540 [DAT](INFO): checking for new query: numPingsReceived=86, elapsed TxPingTime=33.757736
2025-08-09T17:10:36.777Z,1754759436.777 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.50 m.
2025-08-09T17:10:36.797Z,1754759436.797 [DAT](INFO): DAT read: Rx Time:17:10:35.7305 

2025-08-09T17:10:36.799Z,1754759436.799 [DAT](INFO): Rx dataTimestamp_ set to:1754759436.797728
2025-08-09T17:10:36.803Z,1754759436.803 [DAT](INFO): DAT read: Bearing 153.5,   3.5 (Local)

2025-08-09T17:10:36.804Z,1754759436.804 [DAT](INFO): Local bearing/azimuth received:
 Bearing 153.5,   3.5 (Local)

2025-08-09T17:10:36.823Z,1754759436.823 [DAT](INFO): DAT read: Range 11 to 50 :    15.5 m (trip time 10.3 ms) speed -0.3

2025-08-09T17:10:36.867Z,1754759436.867 [DAT](INFO): DAT read: 17:10:35.7305 LVL= 32752, 23377, 32754, 32755, AGC= 65, IDX= 504, 0.50, 2.753,-1.691, 2.741,-3.006, PHS=-0.423, 1.360,-0.580, RAW= 334.2,  -3.9, CAL= 333.6,  -6.9, ROT= 176.4,   6.9

2025-08-09T17:10:36.869Z,1754759436.869 [DAT](INFO): got valid direction response:
 17:10:35.7305 LVL= 32752, 23377, 32754, 32755, AGC= 65, IDX= 504, 0.50, 2.753,-1.691, 2.741,-3.006, PHS=-0.423, 1.360,-0.580, RAW= 334.2,  -3.9, CAL= 333.6,  -6.9, ROT= 176.4,   6.9

2025-08-09T17:10:36.869Z,1754759436.869 [DAT](INFO): #Rx 87: Read range and direction messages.
2025-08-09T17:10:36.877Z,1754759436.877 [DAT](INFO): direction in FSK: [-0.990798,0.062336,-0.120137]
2025-08-09T17:10:36.882Z,1754759436.882 [DAT](INFO): publishing direction and range info
2025-08-09T17:10:36.886Z,1754759436.886 [DAT](INFO): checking for new query: numPingsReceived=87, elapsed TxPingTime=34.103874
2025-08-09T17:10:37.046Z,1754759437.046 [DAT](INFO): checking for new query: numPingsReceived=87, elapsed TxPingTime=34.263317
2025-08-09T17:10:37.224Z,1754759437.224 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 15.500000 m,
      deltaT: 0.509673 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-08-09T17:10:37.230Z,1754759437.230 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 15.500000 m,
      bearing: 4.776289 deg,
      lat: 36.906107 deg,
      lon: -122.115889 deg,
      deltaT: 0.509673 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      posRepo size: 4

2025-08-09T17:10:37.231Z,1754759437.231 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.50 m.
2025-08-09T17:10:37.297Z,1754759437.297 [DAT](INFO): DAT read: Rx Time:17:10:36.2307 

2025-08-09T17:10:37.297Z,1754759437.297 [DAT](INFO): Rx dataTimestamp_ set to:1754759437.297059
2025-08-09T17:10:37.299Z,1754759437.299 [DAT](INFO): DAT read: Bearing 156.0,   2.2 (Local)

2025-08-09T17:10:37.300Z,1754759437.300 [DAT](INFO): Local bearing/azimuth received:
 Bearing 156.0,   2.2 (Local)

2025-08-09T17:10:37.303Z,1754759437.303 [DAT](INFO): DAT read: Range 11 to 50 :    15.8 m (trip time 10.5 ms) speed 0.0

2025-08-09T17:10:37.308Z,1754759437.308 [DAT](INFO): DAT read: 17:10:36.2307 LVL= 32752, 29217, 32754, 32755, AGC= 67, IDX= 506, 0.43,-2.223,-0.239,-2.187,-1.715, PHS=-0.406, 1.521,-0.515, RAW= 332.7,  -6.1, CAL= 332.3,  -9.2, ROT= 177.7,   9.2

2025-08-09T17:10:37.309Z,1754759437.309 [DAT](INFO): got valid direction response:
 17:10:36.2307 LVL= 32752, 29217, 32754, 32755, AGC= 67, IDX= 506, 0.43,-2.223,-0.239,-2.187,-1.715, PHS=-0.406, 1.521,-0.515, RAW= 332.7,  -6.1, CAL= 332.3,  -9.2, ROT= 177.7,   9.2

2025-08-09T17:10:37.309Z,1754759437.309 [DAT](INFO): #Rx 88: Read range and direction messages.
2025-08-09T17:10:37.311Z,1754759437.311 [DAT](INFO): direction in FSK: [-0.986341,0.039616,-0.159881]
2025-08-09T17:10:37.311Z,1754759437.311 [DAT](INFO): publishing direction and range info
2025-08-09T17:10:37.314Z,1754759437.314 [DAT](INFO): checking for new query: numPingsReceived=88, elapsed TxPingTime=34.532341
2025-08-09T17:10:37.549Z,1754759437.549 [DAT](INFO): DAT read: Rx Time:17:10:36.7307 

2025-08-09T17:10:37.551Z,1754759437.551 [DAT](INFO): Rx dataTimestamp_ set to:1754759437.549715
2025-08-09T17:10:37.553Z,1754759437.553 [DAT](INFO): checking for new query: numPingsReceived=88, elapsed TxPingTime=34.770481
2025-08-09T17:10:37.648Z,1754759437.648 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 15.800000 m,
      deltaT: 0.499331 s,
      deltaX: 0.300000 m,
      approachRate: 0.600804 m/s,
      rangeRepo size: 4

2025-08-09T17:10:37.650Z,1754759437.650 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 15.800000 m,
      bearing: 4.946099 deg,
      lat: 36.906107 deg,
      lon: -122.115889 deg,
      deltaT: 0.499331 s,
      deltaX: 0.300000 m,
      approachRate: 0.600804 m/s,
      posRepo size: 4

2025-08-09T17:10:37.651Z,1754759437.651 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.80 m.
2025-08-09T17:10:37.803Z,1754759437.803 [DAT](INFO): DAT read: Bearing 155.7,   2.9 (Local)

2025-08-09T17:10:37.805Z,1754759437.805 [DAT](INFO): Local bearing/azimuth received:
 Bearing 155.7,   2.9 (Local)

2025-08-09T17:10:37.816Z,1754759437.816 [DAT](INFO): DAT read: Range 11 to 50 :    15.8 m (trip time 10.5 ms) speed -0.1

2025-08-09T17:10:37.857Z,1754759437.857 [DAT](INFO): DAT read: 17:10:36.7307 LVL= 32752, 25409, 32754, 32755, AGC= 69, IDX= 506, 0.10,-1.146, 0.775,-1.136,-0.652, PHS=-0.392, 1.472,-0.528, RAW= 333.5,  -5.7, CAL= 333.0,  -8.8, ROT= 177.0,   8.8

2025-08-09T17:10:37.880Z,1754759437.880 [DAT](INFO): got valid direction response:
 17:10:36.7307 LVL= 32752, 25409, 32754, 32755, AGC= 69, IDX= 506, 0.10,-1.146, 0.775,-1.136,-0.652, PHS=-0.392, 1.472,-0.528, RAW= 333.5,  -5.7, CAL= 333.0,  -8.8, ROT= 177.0,   8.8

2025-08-09T17:10:37.881Z,1754759437.881 [DAT](INFO): #Rx 89: Read range and direction messages.
2025-08-09T17:10:37.887Z,1754759437.887 [DAT](INFO): direction in FSK: [-0.986874,0.051720,-0.152986]
2025-08-09T17:10:37.887Z,1754759437.887 [DAT](INFO): publishing direction and range info
2025-08-09T17:10:37.899Z,1754759437.899 [DAT](INFO): checking for new query: numPingsReceived=89, elapsed TxPingTime=35.116833
2025-08-09T17:10:38.020Z,1754759438.020 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 15.800000 m,
      deltaT: 0.503069 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-08-09T17:10:38.023Z,1754759438.023 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 15.800000 m,
      bearing: 5.018862 deg,
      lat: 36.906107 deg,
      lon: -122.115889 deg,
      deltaT: 0.503069 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      posRepo size: 4

2025-08-09T17:10:38.023Z,1754759438.023 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.80 m.
2025-08-09T17:10:38.054Z,1754759438.054 [DAT](INFO): DAT read: Rx Time:17:10:37.2309 

2025-08-09T17:10:38.056Z,1754759438.056 [DAT](INFO): Rx dataTimestamp_ set to:1754759438.055138
2025-08-09T17:10:38.058Z,1754759438.058 [DAT](INFO): DAT read: Bearing 155.1,   3.5 (Local)

2025-08-09T17:10:38.059Z,1754759438.059 [DAT](INFO): Local bearing/azimuth received:
 Bearing 155.1,   3.5 (Local)

2025-08-09T17:10:38.061Z,1754759438.061 [DAT](INFO): checking for new query: numPingsReceived=89, elapsed TxPingTime=35.278843
2025-08-09T17:10:38.305Z,1754759438.305 [DAT](INFO): DAT read: Range 11 to 50 :    16.1 m (trip time 10.7 ms) speed -0.3

2025-08-09T17:10:38.310Z,1754759438.309 [DAT](INFO): DAT read: 17:10:37.2309 LVL= 32752, 24529, 32754, 32755, AGC= 65, IDX= 508,-0.09,-0.195, 1.765,-0.216, 0.314, PHS=-0.408, 1.496,-0.574, RAW= 334.1,  -5.2, CAL= 333.6,  -8.2, ROT= 176.4,   8.2

2025-08-09T17:10:38.311Z,1754759438.311 [DAT](INFO): got valid direction response:
 17:10:37.2309 LVL= 32752, 24529, 32754, 32755, AGC= 65, IDX= 508,-0.09,-0.195, 1.765,-0.216, 0.314, PHS=-0.408, 1.496,-0.574, RAW= 334.1,  -5.2, CAL= 333.6,  -8.2, ROT= 176.4,   8.2

2025-08-09T17:10:38.311Z,1754759438.311 [DAT](INFO): #Rx 90: Read range and direction messages.
2025-08-09T17:10:38.312Z,1754759438.312 [DAT](INFO): direction in FSK: [-0.987823,0.062149,-0.142629]
2025-08-09T17:10:38.312Z,1754759438.312 [DAT](INFO): publishing direction and range info
2025-08-09T17:10:38.316Z,1754759438.316 [DAT](INFO): checking for new query: numPingsReceived=90, elapsed TxPingTime=35.533981
2025-08-09T17:10:38.420Z,1754759438.420 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 16.100000 m,
      deltaT: 0.502642 s,
      deltaX: 0.300000 m,
      approachRate: 0.596847 m/s,
      rangeRepo size: 4

2025-08-09T17:10:38.426Z,1754759438.426 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 16.100000 m,
      bearing: 4.987096 deg,
      lat: 36.906107 deg,
      lon: -122.115889 deg,
      deltaT: 0.502642 s,
      deltaX: 0.300000 m,
      approachRate: 0.596847 m/s,
      posRepo size: 4

2025-08-09T17:10:38.427Z,1754759438.427 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.10 m.
2025-08-09T17:10:38.559Z,1754759438.559 [DAT](INFO): DAT read: Rx Time:17:10:37.7309 

2025-08-09T17:10:38.560Z,1754759438.560 [DAT](INFO): Rx dataTimestamp_ set to:1754759438.559377
2025-08-09T17:10:38.563Z,1754759438.563 [DAT](INFO): DAT read: Bearing 155.4,   3.7 (Local)

2025-08-09T17:10:38.564Z,1754759438.564 [DAT](INFO): Local bearing/azimuth received:
 Bearing 155.4,   3.7 (Local)

2025-08-09T17:10:38.566Z,1754759438.566 [DAT](INFO): checking for new query: numPingsReceived=90, elapsed TxPingTime=35.783470
2025-08-09T17:10:38.783Z,1754759438.783 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.10 m.
2025-08-09T17:10:38.809Z,1754759438.809 [DAT](INFO): DAT read: Range 11 to 50 :    16.1 m (trip time 10.7 ms) speed 0.0

2025-08-09T17:10:38.815Z,1754759438.815 [DAT](INFO): DAT read: 17:10:37.7309 LVL= 32752, 26033, 32754, 32755, AGC= 68, IDX= 508,-0.42, 0.181, 2.077, 0.157, 0.669, PHS=-0.386, 1.453,-0.556, RAW= 334.4,  -5.3, CAL= 333.9,  -8.4, ROT= 176.1,   8.4

2025-08-09T17:10:38.816Z,1754759438.816 [DAT](INFO): got valid direction response:
 17:10:37.7309 LVL= 32752, 26033, 32754, 32755, AGC= 68, IDX= 508,-0.42, 0.181, 2.077, 0.157, 0.669, PHS=-0.386, 1.453,-0.556, RAW= 334.4,  -5.3, CAL= 333.9,  -8.4, ROT= 176.1,   8.4

2025-08-09T17:10:38.817Z,1754759438.817 [DAT](INFO): #Rx 91: Read range and direction messages.
2025-08-09T17:10:38.821Z,1754759438.821 [DAT](INFO): direction in FSK: [-0.986981,0.067286,-0.146083]
2025-08-09T17:10:38.821Z,1754759438.821 [DAT](INFO): publishing direction and range info
2025-08-09T17:10:38.877Z,1754759438.877 [DAT](INFO): checking for new query: numPingsReceived=91, elapsed TxPingTime=36.094524
2025-08-09T17:10:39.062Z,1754759439.062 [DAT](INFO): DAT read: Rx Time:17:10:38.2309 

2025-08-09T17:10:39.065Z,1754759439.065 [DAT](INFO): Rx dataTimestamp_ set to:1754759439.064181
2025-08-09T17:10:39.068Z,1754759439.068 [DAT](INFO): DAT read: Bearing 156.2,   2.9 (Local)

2025-08-09T17:10:39.069Z,1754759439.069 [DAT](INFO): Local bearing/azimuth received:
 Bearing 156.2,   2.9 (Local)

2025-08-09T17:10:39.076Z,1754759439.076 [DAT](INFO): DAT read: Range 11 to 50 :    16.1 m (trip time 10.7 ms) speed 0.1

2025-08-09T17:10:39.079Z,1754759439.079 [DAT](ERROR): #Rx 92: Read range message, but no direction.
2025-08-09T17:10:39.083Z,1754759439.083 [DAT](INFO): checking for new query: numPingsReceived=92, elapsed TxPingTime=36.301064
2025-08-09T17:10:39.230Z,1754759439.230 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 16.100000 m,
      deltaT: 0.761411 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-08-09T17:10:39.232Z,1754759439.232 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 16.100000 m,
      bearing: 4.938111 deg,
      lat: 36.906107 deg,
      lon: -122.115889 deg,
      deltaT: 0.761411 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      posRepo size: 4

2025-08-09T17:10:39.232Z,1754759439.232 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.10 m.
2025-08-09T17:10:39.315Z,1754759439.315 [DAT](INFO): DAT read: 17:10:38.2309 LVL= 32752, 25713, 32754, 32755, AGC= 68, IDX= 508, 0.35, 1.617,-2.779, 1.629, 2.097, PHS=-0.378, 1.452,-0.512, RAW= 333.5,  -6.0, CAL= 333.0,  -9.0, ROT= 177.0,   9.0

2025-08-09T17:10:39.316Z,1754759439.316 [DAT](INFO): got valid direction response:
 17:10:38.2309 LVL= 32752, 25713, 32754, 32755, AGC= 68, IDX= 508, 0.35, 1.617,-2.779, 1.629, 2.097, PHS=-0.378, 1.452,-0.512, RAW= 333.5,  -6.0, CAL= 333.0,  -9.0, ROT= 177.0,   9.0

2025-08-09T17:10:39.317Z,1754759439.317 [DAT](INFO): #Rx 93: Read direction message, but no range.
2025-08-09T17:10:39.318Z,1754759439.318 [DAT](INFO): direction in FSK: [-0.986335,0.051692,-0.156434]
2025-08-09T17:10:39.321Z,1754759439.321 [DAT](INFO): checking for new query: numPingsReceived=93, elapsed TxPingTime=36.539162
2025-08-09T17:10:39.566Z,1754759439.566 [DAT](INFO): DAT read: Rx Time:17:10:38.7309 

2025-08-09T17:10:39.567Z,1754759439.567 [DAT](INFO): Rx dataTimestamp_ set to:1754759439.566683
2025-08-09T17:10:39.570Z,1754759439.570 [DAT](INFO): DAT read: Bearing 155.3,   2.6 (Local)

2025-08-09T17:10:39.571Z,1754759439.571 [DAT](INFO): Local bearing/azimuth received:
 Bearing 155.3,   2.6 (Local)

2025-08-09T17:10:39.575Z,1754759439.575 [DAT](INFO): DAT read: Range 11 to 50 :    16.1 m (trip time 10.7 ms) speed 0.1

2025-08-09T17:10:39.577Z,1754759439.577 [DAT](ERROR): #Rx 94: Read range message, but no direction.
2025-08-09T17:10:39.581Z,1754759439.581 [DAT](INFO): checking for new query: numPingsReceived=94, elapsed TxPingTime=36.798351
2025-08-09T17:10:39.682Z,1754759439.682 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 16.100000 m,
      deltaT: 0.502502 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-08-09T17:10:39.697Z,1754759439.697 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 16.100000 m,
      bearing: 5.292400 deg,
      lat: 36.906107 deg,
      lon: -122.115887 deg,
      deltaT: 0.502502 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      posRepo size: 4

2025-08-09T17:10:39.703Z,1754759439.703 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.10 m.
2025-08-09T17:10:39.825Z,1754759439.825 [DAT](INFO): DAT read: 17:10:38.7309 LVL= 32752, 23649, 32754, 32755, AGC= 68, IDX= 508, 0.09, 1.152, 3.038, 1.173, 1.664, PHS=-0.410, 1.420,-0.534, RAW= 333.3,  -5.1, CAL= 332.7,  -8.1, ROT= 177.3,   8.1

2025-08-09T17:10:39.829Z,1754759439.829 [DAT](INFO): got valid direction response:
 17:10:38.7309 LVL= 32752, 23649, 32754, 32755, AGC= 68, IDX= 508, 0.09, 1.152, 3.038, 1.173, 1.664, PHS=-0.410, 1.420,-0.534, RAW= 333.3,  -5.1, CAL= 332.7,  -8.1, ROT= 177.3,   8.1

2025-08-09T17:10:39.835Z,1754759439.835 [DAT](INFO): #Rx 95: Read direction message, but no range.
2025-08-09T17:10:39.843Z,1754759439.843 [DAT](INFO): direction in FSK: [-0.988925,0.046636,-0.140901]
2025-08-09T17:10:39.875Z,1754759439.875 [DAT](INFO): checking for new query: numPingsReceived=95, elapsed TxPingTime=37.088161
2025-08-09T17:10:40.036Z,1754759440.036 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.10 m.
2025-08-09T17:10:40.070Z,1754759440.070 [DAT](INFO): DAT read: Rx Time:17:10:39.2311 

2025-08-09T17:10:40.072Z,1754759440.072 [DAT](INFO): Rx dataTimestamp_ set to:1754759440.070971
2025-08-09T17:10:40.075Z,1754759440.075 [DAT](INFO): DAT read: Bearing 155.4,   4.6 (Local)

2025-08-09T17:10:40.076Z,1754759440.076 [DAT](INFO): Local bearing/azimuth received:
 Bearing 155.4,   4.6 (Local)

2025-08-09T17:10:40.080Z,1754759440.080 [DAT](INFO): DAT read: Range 11 to 50 :    16.4 m (trip time 10.9 ms) speed -0.1

2025-08-09T17:10:40.082Z,1754759440.082 [DAT](ERROR): #Rx 96: Read range message, but no direction.
2025-08-09T17:10:40.096Z,1754759440.096 [DAT](INFO): checking for new query: numPingsReceived=96, elapsed TxPingTime=37.313328
2025-08-09T17:10:40.323Z,1754759440.323 [DAT](INFO): DAT read: 17:10:39.2311 LVL= 32752, 29329, 32754, 32755, AGC= 69, IDX= 510, 0.06, 1.195, 3.043, 1.142, 1.665, PHS=-0.368, 1.423,-0.567, RAW= 335.2,  -5.2, CAL= 334.7,  -8.2, ROT= 175.3,   8.2

2025-08-09T17:10:40.324Z,1754759440.324 [DAT](INFO): got valid direction response:
 17:10:39.2311 LVL= 32752, 29329, 32754, 32755, AGC= 69, IDX= 510, 0.06, 1.195, 3.043, 1.142, 1.665, PHS=-0.368, 1.423,-0.567, RAW= 335.2,  -5.2, CAL= 334.7,  -8.2, ROT= 175.3,   8.2

2025-08-09T17:10:40.324Z,1754759440.324 [DAT](INFO): #Rx 97: Read direction message, but no range.
2025-08-09T17:10:40.325Z,1754759440.325 [DAT](INFO): direction in FSK: [-0.986448,0.081101,-0.142629]
2025-08-09T17:10:40.329Z,1754759440.329 [DAT](INFO): checking for new query: numPingsReceived=97, elapsed TxPingTime=37.546783
2025-08-09T17:10:40.407Z,1754759440.407 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 16.400000 m,
      deltaT: 0.504288 s,
      deltaX: 0.299999 m,
      approachRate: 0.594897 m/s,
      rangeRepo size: 4

2025-08-09T17:10:40.409Z,1754759440.409 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 16.400000 m,
      bearing: 4.919279 deg,
      lat: 36.906107 deg,
      lon: -122.115889 deg,
      deltaT: 0.504288 s,
      deltaX: 0.299999 m,
      approachRate: 0.594897 m/s,
      posRepo size: 4

2025-08-09T17:10:40.410Z,1754759440.410 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.40 m.
2025-08-09T17:10:40.575Z,1754759440.575 [DAT](INFO): DAT read: Rx Time:17:10:39.7311 

2025-08-09T17:10:40.576Z,1754759440.576 [DAT](INFO): Rx dataTimestamp_ set to:1754759440.575321
2025-08-09T17:10:40.580Z,1754759440.580 [DAT](INFO): DAT read: Bearing 155.9,   3.1 (Local)

2025-08-09T17:10:40.581Z,1754759440.581 [DAT](INFO): Local bearing/azimuth received:
 Bearing 155.9,   3.1 (Local)

2025-08-09T17:10:40.586Z,1754759440.586 [DAT](INFO): DAT read: Range 11 to 50 :    16.4 m (trip time 10.9 ms) speed -0.3

2025-08-09T17:10:40.590Z,1754759440.590 [DAT](ERROR): #Rx 98: Read range message, but no direction.
2025-08-09T17:10:40.603Z,1754759440.603 [DAT](INFO): checking for new query: numPingsReceived=98, elapsed TxPingTime=37.815742
2025-08-09T17:10:40.805Z,1754759440.805 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 16.400000 m,
      deltaT: 0.504350 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-08-09T17:10:40.805Z,1754759440.805 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.40 m.
2025-08-09T17:10:40.827Z,1754759440.827 [DAT](INFO): DAT read: 17:10:39.7311 LVL= 32752, 21713, 31922, 32755, AGC= 68, IDX= 510, 0.08,-2.572,-0.750,-2.565,-2.095, PHS=-0.375, 1.390,-0.513, RAW= 333.7,  -5.5, CAL= 333.3,  -8.6, ROT= 176.7,   8.6

2025-08-09T17:10:40.828Z,1754759440.828 [DAT](INFO): got valid direction response:
 17:10:39.7311 LVL= 32752, 21713, 31922, 32755, AGC= 68, IDX= 510, 0.08,-2.572,-0.750,-2.565,-2.095, PHS=-0.375, 1.390,-0.513, RAW= 333.7,  -5.5, CAL= 333.3,  -8.6, ROT= 176.7,   8.6

2025-08-09T17:10:40.828Z,1754759440.828 [DAT](INFO): #Rx 99: Read direction message, but no range.
2025-08-09T17:10:40.829Z,1754759440.829 [DAT](INFO): direction in FSK: [-0.987117,0.056917,-0.149535]
2025-08-09T17:10:40.837Z,1754759440.837 [DAT](INFO): checking for new query: numPingsReceived=99, elapsed TxPingTime=38.054844
2025-08-09T17:10:41.075Z,1754759441.075 [DAT](INFO): DAT read: Rx Time:17:10:40.2313 

2025-08-09T17:10:41.076Z,1754759441.076 [DAT](INFO): Rx dataTimestamp_ set to:1754759441.075618
2025-08-09T17:10:41.077Z,1754759441.077 [DAT](INFO): DAT read: Range 11 to 50 :    16.7 m (trip time 11.1 ms) speed -0.2

2025-08-09T17:10:41.078Z,1754759441.078 [DAT](ERROR): #Rx 100: Read range message, but no direction.
2025-08-09T17:10:41.091Z,1754759441.091 [DAT](INFO): checking for new query: numPingsReceived=100, elapsed TxPingTime=38.309227
2025-08-09T17:10:41.265Z,1754759441.265 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 16.700001 m,
      deltaT: 0.500297 s,
      deltaX: 0.300001 m,
      approachRate: 0.599646 m/s,
      rangeRepo size: 4

2025-08-09T17:10:41.268Z,1754759441.268 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 16.700001 m,
      bearing: 4.844207 deg,
      lat: 36.906108 deg,
      lon: -122.115889 deg,
      deltaT: 1.004647 s,
      deltaX: 0.300001 m,
      approachRate: 0.298613 m/s,
      posRepo size: 4

2025-08-09T17:10:41.268Z,1754759441.268 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.70 m.
2025-08-09T17:10:41.328Z,1754759441.328 [DAT](INFO): checking for new query: numPingsReceived=100, elapsed TxPingTime=38.546337
2025-08-09T17:10:41.583Z,1754759441.583 [DAT](INFO): DAT read: Rx Time:17:10:40.7313 

2025-08-09T17:10:41.584Z,1754759441.584 [DAT](INFO): Rx dataTimestamp_ set to:1754759441.583384
2025-08-09T17:10:41.587Z,1754759441.587 [DAT](INFO): DAT read: Bearing  93.4, -13.4 (Local)

2025-08-09T17:10:41.588Z,1754759441.588 [DAT](INFO): Local bearing/azimuth received:
 Bearing  93.4, -13.4 (Local)

2025-08-09T17:10:41.593Z,1754759441.593 [DAT](INFO): DAT read: Range 11 to 50 :    16.7 m (trip time 11.1 ms) speed 0.2

2025-08-09T17:10:41.596Z,1754759441.596 [DAT](ERROR): #Rx 101: Read range message, but no direction.
2025-08-09T17:10:41.601Z,1754759441.601 [DAT](INFO): checking for new query: numPingsReceived=101, elapsed TxPingTime=38.816158
2025-08-09T17:10:41.757Z,1754759441.757 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 16.700001 m,
      deltaT: 0.507766 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-08-09T17:10:41.757Z,1754759441.757 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.70 m.
2025-08-09T17:10:41.840Z,1754759441.840 [DAT](INFO): DAT read: 17:10:40.7313 LVL= 28528, 18993, 32754, 32755, AGC= 69, IDX= 512,-0.26, 0.755, 1.743, 1.227, 2.159, PHS=-1.302,-0.371,-0.976, RAW= 309.8,  48.9, CAL= 310.7,  52.8, ROT= 199.3, -52.8

2025-08-09T17:10:41.842Z,1754759441.842 [DAT](INFO): got valid direction response:
 17:10:40.7313 LVL= 28528, 18993, 32754, 32755, AGC= 69, IDX= 512,-0.26, 0.755, 1.743, 1.227, 2.159, PHS=-1.302,-0.371,-0.976, RAW= 309.8,  48.9, CAL= 310.7,  52.8, ROT= 199.3, -52.8

2025-08-09T17:10:41.843Z,1754759441.843 [DAT](INFO): #Rx 102: Read direction message, but no range.
2025-08-09T17:10:41.844Z,1754759441.844 [DAT](INFO): direction in FSK: [-0.570621,-0.199829,0.796530]
2025-08-09T17:10:41.864Z,1754759441.864 [DAT](INFO): checking for new query: numPingsReceived=102, elapsed TxPingTime=39.081669
2025-08-09T17:10:42.084Z,1754759442.084 [DAT](INFO): DAT read: Rx Time:17:10:41.2313 

2025-08-09T17:10:42.084Z,1754759442.084 [DAT](INFO): Rx dataTimestamp_ set to:1754759442.083754
2025-08-09T17:10:42.085Z,1754759442.085 [DAT](INFO): DAT read: Range 11 to 50 :    16.7 m (trip time 11.1 ms) speed 0.0

2025-08-09T17:10:42.086Z,1754759442.086 [DAT](ERROR): #Rx 103: Read range message, but no direction.
2025-08-09T17:10:42.087Z,1754759442.087 [DAT](INFO): checking for new query: numPingsReceived=103, elapsed TxPingTime=39.305061
2025-08-09T17:10:42.108Z,1754759442.108 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 16.700001 m,
      deltaT: 0.500370 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-08-09T17:10:42.111Z,1754759442.111 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 16.700001 m,
      bearing: 4.874346 deg,
      lat: 36.906107 deg,
      lon: -122.115889 deg,
      deltaT: 1.008136 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      posRepo size: 4

2025-08-09T17:10:42.111Z,1754759442.111 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.70 m.
2025-08-09T17:10:42.337Z,1754759442.337 [DAT](INFO): checking for new query: numPingsReceived=103, elapsed TxPingTime=39.555157
2025-08-09T17:10:42.462Z,1754759442.462 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.70 m.
2025-08-09T17:10:42.591Z,1754759442.591 [DAT](INFO): DAT read: Rx Time:17:10:41.7313 

2025-08-09T17:10:42.592Z,1754759442.592 [DAT](INFO): Rx dataTimestamp_ set to:1754759442.591183
2025-08-09T17:10:42.595Z,1754759442.595 [DAT](INFO): DAT read: Bearing 167.4,   2.7 (Local)

2025-08-09T17:10:42.596Z,1754759442.596 [DAT](INFO): Local bearing/azimuth received:
 Bearing 167.4,   2.7 (Local)

2025-08-09T17:10:42.601Z,1754759442.601 [DAT](INFO): DAT read: Range 11 to 50 :    16.7 m (trip time 11.1 ms) speed -0.1

2025-08-09T17:10:42.634Z,1754759442.634 [DAT](INFO): DAT read: 17:10:41.7313 LVL= 30192, 20193, 31650, 32755, AGC= 66, IDX= 513, 0.16,-2.238,-0.607,-2.168,-2.083, PHS=-0.053, 1.521,-0.129, RAW= 332.4, -16.4, CAL= 332.5, -19.7, ROT= 177.5,  19.7

2025-08-09T17:10:42.635Z,1754759442.635 [DAT](INFO): got valid direction response:
 17:10:41.7313 LVL= 30192, 20193, 31650, 32755, AGC= 66, IDX= 513, 0.16,-2.238,-0.607,-2.168,-2.083, PHS=-0.053, 1.521,-0.129, RAW= 332.4, -16.4, CAL= 332.5, -19.7, ROT= 177.5,  19.7

2025-08-09T17:10:42.636Z,1754759442.636 [DAT](INFO): #Rx 104: Read range and direction messages.
2025-08-09T17:10:42.637Z,1754759442.637 [DAT](INFO): direction in FSK: [-0.940574,0.041066,-0.337095]
2025-08-09T17:10:42.637Z,1754759442.637 [DAT](INFO): publishing direction and range info
2025-08-09T17:10:42.652Z,1754759442.652 [DAT](INFO): checking for new query: numPingsReceived=104, elapsed TxPingTime=39.870575
2025-08-09T17:10:42.840Z,1754759442.840 [DAT](INFO): checking for new query: numPingsReceived=104, elapsed TxPingTime=40.058277
2025-08-09T17:10:43.040Z,1754759443.040 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 16.700001 m,
      deltaT: 0.507429 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-08-09T17:10:43.042Z,1754759443.042 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 16.700001 m,
      bearing: 5.356313 deg,
      lat: 36.906106 deg,
      lon: -122.115887 deg,
      deltaT: 0.507429 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      posRepo size: 4

2025-08-09T17:10:43.044Z,1754759443.044 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.70 m.
2025-08-09T17:10:43.095Z,1754759443.095 [DAT](INFO): DAT read: Rx Time:17:10:42.2315 

2025-08-09T17:10:43.096Z,1754759443.096 [DAT](INFO): Rx dataTimestamp_ set to:1754759443.095186
2025-08-09T17:10:43.099Z,1754759443.099 [DAT](INFO): DAT read: Bearing 156.4,   2.2 (Local)

2025-08-09T17:10:43.100Z,1754759443.100 [DAT](INFO): Local bearing/azimuth received:
 Bearing 156.4,   2.2 (Local)

2025-08-09T17:10:43.104Z,1754759443.104 [DAT](INFO): DAT read: Range 11 to 50 :    17.0 m (trip time 11.3 ms) speed 0.0

2025-08-09T17:10:43.109Z,1754759443.109 [DAT](INFO): DAT read: 17:10:42.2315 LVL= 32752, 31121, 32754, 30195, AGC= 67, IDX=   3, 0.06, 0.275, 2.218, 0.313, 0.793, PHS=-0.416, 1.470,-0.523, RAW= 332.8,  -5.5, CAL= 332.2,  -8.6, ROT= 177.8,   8.6

2025-08-09T17:10:43.110Z,1754759443.110 [DAT](INFO): got valid direction response:
 17:10:42.2315 LVL= 32752, 31121, 32754, 30195, AGC= 67, IDX=   3, 0.06, 0.275, 2.218, 0.313, 0.793, PHS=-0.416, 1.470,-0.523, RAW= 332.8,  -5.5, CAL= 332.2,  -8.6, ROT= 177.8,   8.6

2025-08-09T17:10:43.110Z,1754759443.110 [DAT](INFO): #Rx 105: Read range and direction messages.
2025-08-09T17:10:43.111Z,1754759443.111 [DAT](INFO): direction in FSK: [-0.988028,0.037956,-0.149535]
2025-08-09T17:10:43.112Z,1754759443.112 [DAT](INFO): publishing direction and range info
2025-08-09T17:10:43.115Z,1754759443.115 [DAT](INFO): checking for new query: numPingsReceived=105, elapsed TxPingTime=40.333324
2025-08-09T17:10:43.343Z,1754759443.343 [DAT](INFO): checking for new query: numPingsReceived=105, elapsed TxPingTime=40.561531
2025-08-09T17:10:43.405Z,1754759443.405 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 17.000000 m,
      deltaT: 0.504003 s,
      deltaX: 0.299999 m,
      approachRate: 0.595233 m/s,
      rangeRepo size: 4

2025-08-09T17:10:43.407Z,1754759443.407 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 17.000000 m,
      bearing: 5.531834 deg,
      lat: 36.906106 deg,
      lon: -122.115887 deg,
      deltaT: 0.504003 s,
      deltaX: 0.299999 m,
      approachRate: 0.595233 m/s,
      posRepo size: 4

2025-08-09T17:10:43.408Z,1754759443.408 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.00 m.
2025-08-09T17:10:43.599Z,1754759443.599 [DAT](INFO): DAT read: Rx Time:17:10:42.7315 

2025-08-09T17:10:43.600Z,1754759443.600 [DAT](INFO): Rx dataTimestamp_ set to:1754759443.599278
2025-08-09T17:10:43.604Z,1754759443.604 [DAT](INFO): DAT read: Bearing 156.7,   1.9 (Local)

2025-08-09T17:10:43.604Z,1754759443.604 [DAT](INFO): Local bearing/azimuth received:
 Bearing 156.7,   1.9 (Local)

2025-08-09T17:10:43.607Z,1754759443.607 [DAT](INFO): DAT read: Range 11 to 50 :    17.0 m (trip time 11.3 ms) speed -0.3

2025-08-09T17:10:43.611Z,1754759443.611 [DAT](INFO): DAT read: 17:10:42.7315 LVL= 32752, 28769, 32754, 32755, AGC= 66, IDX= 499,-0.00,-1.227, 0.697,-1.176,-0.715, PHS=-0.410, 1.457,-0.505, RAW= 332.5,  -5.7, CAL= 332.0,  -8.8, ROT= 178.0,   8.8

2025-08-09T17:10:43.612Z,1754759443.612 [DAT](INFO): got valid direction response:
 17:10:42.7315 LVL= 32752, 28769, 32754, 32755, AGC= 66, IDX= 499,-0.00,-1.227, 0.697,-1.176,-0.715, PHS=-0.410, 1.457,-0.505, RAW= 332.5,  -5.7, CAL= 332.0,  -8.8, ROT= 178.0,   8.8

2025-08-09T17:10:43.612Z,1754759443.612 [DAT](INFO): #Rx 106: Read range and direction messages.
2025-08-09T17:10:43.613Z,1754759443.613 [DAT](INFO): direction in FSK: [-0.987626,0.034489,-0.152986]
2025-08-09T17:10:43.614Z,1754759443.614 [DAT](INFO): publishing direction and range info
2025-08-09T17:10:43.617Z,1754759443.617 [DAT](INFO): checking for new query: numPingsReceived=106, elapsed TxPingTime=40.835480
2025-08-09T17:10:43.784Z,1754759443.784 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 17.000000 m,
      deltaT: 0.504092 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-08-09T17:10:43.795Z,1754759443.795 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 17.000000 m,
      bearing: 5.741283 deg,
      lat: 36.906105 deg,
      lon: -122.115886 deg,
      deltaT: 0.504092 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      posRepo size: 4

2025-08-09T17:10:43.796Z,1754759443.796 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.00 m.
2025-08-09T17:10:43.847Z,1754759443.847 [DAT](INFO): checking for new query: numPingsReceived=106, elapsed TxPingTime=41.065647
2025-08-09T17:10:44.103Z,1754759444.103 [DAT](INFO): DAT read: Rx Time:17:10:43.2317 

2025-08-09T17:10:44.104Z,1754759444.104 [DAT](INFO): Rx dataTimestamp_ set to:1754759444.103701
2025-08-09T17:10:44.105Z,1754759444.105 [DAT](INFO): DAT read: Bearing 156.4,   1.7 (Local)

2025-08-09T17:10:44.106Z,1754759444.106 [DAT](INFO): Local bearing/azimuth received:
 Bearing 156.4,   1.7 (Local)

2025-08-09T17:10:44.108Z,1754759444.108 [DAT](INFO): DAT read: Range 11 to 50 :    17.3 m (trip time 11.5 ms) speed -0.4

2025-08-09T17:10:44.113Z,1754759444.113 [DAT](INFO): DAT read: 17:10:43.2317 LVL= 32752, 23265, 32754, 32755, AGC= 64, IDX= 501,-0.04,-0.644, 1.300,-0.587,-0.116, PHS=-0.426, 1.461,-0.515, RAW= 332.3,  -5.4, CAL= 331.8,  -8.5, ROT= 178.2,   8.5

2025-08-09T17:10:44.114Z,1754759444.114 [DAT](INFO): got valid direction response:
 17:10:43.2317 LVL= 32752, 23265, 32754, 32755, AGC= 64, IDX= 501,-0.04,-0.644, 1.300,-0.587,-0.116, PHS=-0.426, 1.461,-0.515, RAW= 332.3,  -5.4, CAL= 331.8,  -8.5, ROT= 178.2,   8.5

2025-08-09T17:10:44.114Z,1754759444.114 [DAT](INFO): #Rx 107: Read range and direction messages.
2025-08-09T17:10:44.115Z,1754759444.115 [DAT](INFO): direction in FSK: [-0.988528,0.031066,-0.147809]
2025-08-09T17:10:44.115Z,1754759444.115 [DAT](INFO): publishing direction and range info
2025-08-09T17:10:44.119Z,1754759444.119 [DAT](INFO): checking for new query: numPingsReceived=107, elapsed TxPingTime=41.337242
2025-08-09T17:10:44.302Z,1754759444.302 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 17.299999 m,
      deltaT: 0.504423 s,
      deltaX: 0.299999 m,
      approachRate: 0.594737 m/s,
      rangeRepo size: 4

2025-08-09T17:10:44.304Z,1754759444.304 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 17.299999 m,
      bearing: 5.856084 deg,
      lat: 36.906105 deg,
      lon: -122.115886 deg,
      deltaT: 0.504423 s,
      deltaX: 0.299999 m,
      approachRate: 0.594737 m/s,
      posRepo size: 4

2025-08-09T17:10:44.305Z,1754759444.305 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.30 m.
2025-08-09T17:10:44.352Z,1754759444.352 [DAT](INFO): checking for new query: numPingsReceived=107, elapsed TxPingTime=41.570412
2025-08-09T17:10:44.605Z,1754759444.605 [DAT](INFO): DAT read: Rx Time:17:10:43.7317 

2025-08-09T17:10:44.605Z,1754759444.605 [DAT](INFO): Rx dataTimestamp_ set to:1754759444.605175
2025-08-09T17:10:44.607Z,1754759444.607 [DAT](INFO): DAT read: Bearing 157.2,   1.5 (Local)

2025-08-09T17:10:44.607Z,1754759444.607 [DAT](INFO): Local bearing/azimuth received:
 Bearing 157.2,   1.5 (Local)

2025-08-09T17:10:44.609Z,1754759444.609 [DAT](INFO): DAT read: Range 11 to 50 :    17.3 m (trip time 11.5 ms) speed 0.0

2025-08-09T17:10:44.614Z,1754759444.614 [DAT](INFO): DAT read: 17:10:43.7317 LVL= 28000, 22033, 32754, 32755, AGC= 66, IDX= 501,-0.07,-1.307, 0.654,-1.242,-0.791, PHS=-0.414, 1.490,-0.495, RAW= 332.1,  -6.0, CAL= 331.6,  -9.1, ROT= 178.4,   9.1

2025-08-09T17:10:44.615Z,1754759444.615 [DAT](INFO): got valid direction response:
 17:10:43.7317 LVL= 28000, 22033, 32754, 32755, AGC= 66, IDX= 501,-0.07,-1.307, 0.654,-1.242,-0.791, PHS=-0.414, 1.490,-0.495, RAW= 332.1,  -6.0, CAL= 331.6,  -9.1, ROT= 178.4,   9.1

2025-08-09T17:10:44.616Z,1754759444.616 [DAT](INFO): #Rx 108: Read range and direction messages.
2025-08-09T17:10:44.617Z,1754759444.617 [DAT](INFO): direction in FSK: [-0.987029,0.027570,-0.158158]
2025-08-09T17:10:44.617Z,1754759444.617 [DAT](INFO): publishing direction and range info
2025-08-09T17:10:44.621Z,1754759444.621 [DAT](INFO): checking for new query: numPingsReceived=108, elapsed TxPingTime=41.839191
2025-08-09T17:10:44.665Z,1754759444.665 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 17.299999 m,
      deltaT: 0.501474 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-08-09T17:10:44.677Z,1754759444.677 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 17.299999 m,
      bearing: 5.840542 deg,
      lat: 36.906105 deg,
      lon: -122.115886 deg,
      deltaT: 0.501474 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      posRepo size: 4

2025-08-09T17:10:44.678Z,1754759444.678 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.30 m.
2025-08-09T17:10:44.856Z,1754759444.856 [DAT](INFO): checking for new query: numPingsReceived=108, elapsed TxPingTime=42.074383
2025-08-09T17:10:45.037Z,1754759445.037 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.30 m.
2025-08-09T17:10:45.110Z,1754759445.110 [DAT](INFO): DAT read: Rx Time:17:10:44.2318 

2025-08-09T17:10:45.110Z,1754759445.110 [DAT](INFO): Rx dataTimestamp_ set to:1754759445.109893
2025-08-09T17:10:45.112Z,1754759445.112 [DAT](INFO): DAT read: Bearing 157.3,   1.6 (Local)

2025-08-09T17:10:45.112Z,1754759445.112 [DAT](INFO): Local bearing/azimuth received:
 Bearing 157.3,   1.6 (Local)

2025-08-09T17:10:45.114Z,1754759445.114 [DAT](INFO): DAT read: Range 11 to 50 :    17.4 m (trip time 11.6 ms) speed -0.1

2025-08-09T17:10:45.119Z,1754759445.119 [DAT](INFO): DAT read: 17:10:44.2318 LVL= 28400, 19393, 32578, 32755, AGC= 64, IDX= 502,-0.07,-1.026, 0.946,-0.962,-0.509, PHS=-0.415, 1.500,-0.497, RAW= 332.1,  -6.1, CAL= 331.6,  -9.1, ROT= 178.4,   9.1

2025-08-09T17:10:45.120Z,1754759445.120 [DAT](INFO): got valid direction response:
 17:10:44.2318 LVL= 28400, 19393, 32578, 32755, AGC= 64, IDX= 502,-0.07,-1.026, 0.946,-0.962,-0.509, PHS=-0.415, 1.500,-0.497, RAW= 332.1,  -6.1, CAL= 331.6,  -9.1, ROT= 178.4,   9.1

2025-08-09T17:10:45.121Z,1754759445.121 [DAT](INFO): #Rx 109: Read range and direction messages.
2025-08-09T17:10:45.131Z,1754759445.131 [DAT](INFO): direction in FSK: [-0.987029,0.027570,-0.158158]
2025-08-09T17:10:45.131Z,1754759445.131 [DAT](INFO): publishing direction and range info
2025-08-09T17:10:45.141Z,1754759445.141 [DAT](INFO): checking for new query: numPingsReceived=109, elapsed TxPingTime=42.358917
2025-08-09T17:10:45.359Z,1754759445.359 [DAT](INFO): checking for new query: numPingsReceived=109, elapsed TxPingTime=42.577560
2025-08-09T17:10:45.384Z,1754759445.384 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 17.400000 m,
      deltaT: 0.504718 s,
      deltaX: 0.100000 m,
      approachRate: 0.198131 m/s,
      rangeRepo size: 4

2025-08-09T17:10:45.387Z,1754759445.387 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 17.400000 m,
      bearing: 6.055046 deg,
      lat: 36.906105 deg,
      lon: -122.115885 deg,
      deltaT: 0.504718 s,
      deltaX: 0.100000 m,
      approachRate: 0.198131 m/s,
      posRepo size: 4

2025-08-09T17:10:45.388Z,1754759445.388 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.40 m.
2025-08-09T17:10:45.612Z,1754759445.612 [DAT](INFO): DAT read: Rx Time:17:10:44.7318 

2025-08-09T17:10:45.613Z,1754759445.613 [DAT](INFO): Rx dataTimestamp_ set to:1754759445.612897
2025-08-09T17:10:45.615Z,1754759445.615 [DAT](INFO): DAT read: Bearing 157.2,   0.8 (Local)

2025-08-09T17:10:45.615Z,1754759445.615 [DAT](INFO): Local bearing/azimuth received:
 Bearing 157.2,   0.8 (Local)

2025-08-09T17:10:45.617Z,1754759445.617 [DAT](INFO): DAT read: Range 11 to 50 :    17.4 m (trip time 11.6 ms) speed -0.2

2025-08-09T17:10:45.622Z,1754759445.622 [DAT](INFO): DAT read: 17:10:44.7318 LVL= 29024, 22097, 30498, 32755, AGC= 65, IDX= 502,-0.02,-2.031,-0.087,-1.935,-1.498, PHS=-0.431, 1.456,-0.481, RAW= 331.3,  -5.7, CAL= 330.8,  -8.8, ROT= 179.2,   8.8

2025-08-09T17:10:45.647Z,1754759445.647 [DAT](INFO): got valid direction response:
 17:10:44.7318 LVL= 29024, 22097, 30498, 32755, AGC= 65, IDX= 502,-0.02,-2.031,-0.087,-1.935,-1.498, PHS=-0.431, 1.456,-0.481, RAW= 331.3,  -5.7, CAL= 330.8,  -8.8, ROT= 179.2,   8.8

2025-08-09T17:10:45.647Z,1754759445.647 [DAT](INFO): #Rx 110: Read range and direction messages.
2025-08-09T17:10:45.648Z,1754759445.648 [DAT](INFO): direction in FSK: [-0.988132,0.013798,-0.152986]
2025-08-09T17:10:45.648Z,1754759445.648 [DAT](INFO): publishing direction and range info
2025-08-09T17:10:45.664Z,1754759445.664 [DAT](INFO): checking for new query: numPingsReceived=110, elapsed TxPingTime=42.882256
2025-08-09T17:10:45.813Z,1754759445.813 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 17.400000 m,
      deltaT: 0.503004 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-08-09T17:10:45.821Z,1754759445.821 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 17.400000 m,
      bearing: 6.106208 deg,
      lat: 36.906105 deg,
      lon: -122.115885 deg,
      deltaT: 0.503004 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      posRepo size: 4

2025-08-09T17:10:45.821Z,1754759445.821 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.40 m.
2025-08-09T17:10:45.864Z,1754759445.864 [DAT](INFO): checking for new query: numPingsReceived=110, elapsed TxPingTime=43.082054
2025-08-09T17:10:46.116Z,1754759446.116 [DAT](INFO): DAT read: Rx Time:17:10:45.2320 

2025-08-09T17:10:46.116Z,1754759446.116 [DAT](INFO): Rx dataTimestamp_ set to:1754759446.116033
2025-08-09T17:10:46.118Z,1754759446.118 [DAT](INFO): DAT read: Bearing 157.2,   0.9 (Local)

2025-08-09T17:10:46.118Z,1754759446.118 [DAT](INFO): Local bearing/azimuth received:
 Bearing 157.2,   0.9 (Local)

2025-08-09T17:10:46.120Z,1754759446.120 [DAT](INFO): DAT read: Range 11 to 50 :    17.7 m (trip time 11.8 ms) speed -0.5

2025-08-09T17:10:46.125Z,1754759446.125 [DAT](INFO): DAT read: 17:10:45.2320 LVL= 32416, 27073, 32754, 32755, AGC= 64, IDX= 504, 0.14,-0.939, 1.006,-0.848,-0.405, PHS=-0.432, 1.456,-0.487, RAW= 331.4,  -5.7, CAL= 330.9,  -8.7, ROT= 179.1,   8.7

2025-08-09T17:10:46.126Z,1754759446.126 [DAT](INFO): got valid direction response:
 17:10:45.2320 LVL= 32416, 27073, 32754, 32755, AGC= 64, IDX= 504, 0.14,-0.939, 1.006,-0.848,-0.405, PHS=-0.432, 1.456,-0.487, RAW= 331.4,  -5.7, CAL= 330.9,  -8.7, ROT= 179.1,   8.7

2025-08-09T17:10:46.126Z,1754759446.126 [DAT](INFO): #Rx 111: Read range and direction messages.
2025-08-09T17:10:46.127Z,1754759446.127 [DAT](INFO): direction in FSK: [-0.988372,0.015527,-0.151261]
2025-08-09T17:10:46.127Z,1754759446.127 [DAT](INFO): publishing direction and range info
2025-08-09T17:10:46.191Z,1754759446.191 [DAT](INFO): checking for new query: numPingsReceived=111, elapsed TxPingTime=43.408936
2025-08-09T17:10:46.367Z,1754759446.367 [DAT](INFO): checking for new query: numPingsReceived=111, elapsed TxPingTime=43.585625
2025-08-09T17:10:46.371Z,1754759446.371 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 17.700001 m,
      deltaT: 0.503136 s,
      deltaX: 0.300001 m,
      approachRate: 0.596263 m/s,
      rangeRepo size: 4

2025-08-09T17:10:46.373Z,1754759446.373 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 17.700001 m,
      bearing: 6.232009 deg,
      lat: 36.906104 deg,
      lon: -122.115885 deg,
      deltaT: 0.503136 s,
      deltaX: 0.300001 m,
      approachRate: 0.596263 m/s,
      posRepo size: 4

2025-08-09T17:10:46.373Z,1754759446.373 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.70 m.
2025-08-09T17:10:46.623Z,1754759446.623 [DAT](INFO): DAT read: Rx Time:17:10:45.7320 

2025-08-09T17:10:46.623Z,1754759446.623 [DAT](INFO): Rx dataTimestamp_ set to:1754759446.623140
2025-08-09T17:10:46.625Z,1754759446.625 [DAT](INFO): DAT read: Bearing 156.9,   0.9 (Local)

2025-08-09T17:10:46.625Z,1754759446.625 [DAT](INFO): Local bearing/azimuth received:
 Bearing 156.9,   0.9 (Local)

2025-08-09T17:10:46.628Z,1754759446.628 [DAT](INFO): DAT read: Range 11 to 50 :    17.7 m (trip time 11.8 ms) speed -0.3

2025-08-09T17:10:46.633Z,1754759446.633 [DAT](INFO): DAT read: 17:10:45.7320 LVL= 28736, 20929, 32754, 32755, AGC= 65, IDX= 504, 0.30,-1.690, 0.215,-1.598,-1.155, PHS=-0.433, 1.415,-0.487, RAW= 331.4,  -5.3, CAL= 330.9,  -8.4, ROT= 179.1,   8.4

2025-08-09T17:10:46.634Z,1754759446.634 [DAT](INFO): got valid direction response:
 17:10:45.7320 LVL= 28736, 20929, 32754, 32755, AGC= 65, IDX= 504, 0.30,-1.690, 0.215,-1.598,-1.155, PHS=-0.433, 1.415,-0.487, RAW= 331.4,  -5.3, CAL= 330.9,  -8.4, ROT= 179.1,   8.4

2025-08-09T17:10:46.634Z,1754759446.634 [DAT](INFO): #Rx 112: Read range and direction messages.
2025-08-09T17:10:46.635Z,1754759446.635 [DAT](INFO): direction in FSK: [-0.989150,0.015539,-0.146083]
2025-08-09T17:10:46.635Z,1754759446.635 [DAT](INFO): publishing direction and range info
2025-08-09T17:10:46.644Z,1754759446.644 [DAT](INFO): checking for new query: numPingsReceived=112, elapsed TxPingTime=43.862228
2025-08-09T17:10:46.701Z,1754759446.701 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 17.700001 m,
      deltaT: 0.507107 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-08-09T17:10:46.707Z,1754759446.707 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 17.700001 m,
      bearing: 6.806897 deg,
      lat: 36.906104 deg,
      lon: -122.115883 deg,
      deltaT: 0.507107 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      posRepo size: 4

2025-08-09T17:10:46.707Z,1754759446.707 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.70 m.
2025-08-09T17:10:46.876Z,1754759446.876 [DAT](INFO): checking for new query: numPingsReceived=112, elapsed TxPingTime=44.094234
2025-08-09T17:10:47.128Z,1754759447.128 [DAT](INFO): DAT read: Rx Time:17:10:46.2323 

2025-08-09T17:10:47.129Z,1754759447.129 [DAT](INFO): Rx dataTimestamp_ set to:1754759447.128280
2025-08-09T17:10:47.130Z,1754759447.130 [DAT](INFO): DAT read: Bearing 157.4,   0.8 (Local)

2025-08-09T17:10:47.130Z,1754759447.130 [DAT](INFO): Local bearing/azimuth received:
 Bearing 157.4,   0.8 (Local)

2025-08-09T17:10:47.132Z,1754759447.132 [DAT](INFO): DAT read: Range 11 to 50 :    18.2 m (trip time 12.1 ms) speed -0.4

2025-08-09T17:10:47.137Z,1754759447.137 [DAT](INFO): DAT read: 17:10:46.2323 LVL= 30960, 23185, 31730, 32755, AGC= 66, IDX= 507,-0.33, 3.084,-1.261,-3.104,-2.666, PHS=-0.431, 1.450,-0.482, RAW= 331.3,  -5.7, CAL= 330.8,  -8.8, ROT= 179.2,   8.8

2025-08-09T17:10:47.138Z,1754759447.138 [DAT](INFO): got valid direction response:
 17:10:46.2323 LVL= 30960, 23185, 31730, 32755, AGC= 66, IDX= 507,-0.33, 3.084,-1.261,-3.104,-2.666, PHS=-0.431, 1.450,-0.482, RAW= 331.3,  -5.7, CAL= 330.8,  -8.8, ROT= 179.2,   8.8

2025-08-09T17:10:47.139Z,1754759447.139 [DAT](INFO): #Rx 113: Read range and direction messages.
2025-08-09T17:10:47.140Z,1754759447.140 [DAT](INFO): direction in FSK: [-0.988132,0.013798,-0.152986]
2025-08-09T17:10:47.140Z,1754759447.140 [DAT](INFO): publishing direction and range info
2025-08-09T17:10:47.144Z,1754759447.144 [DAT](INFO): checking for new query: numPingsReceived=113, elapsed TxPingTime=44.361721
2025-08-09T17:10:47.187Z,1754759447.187 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 18.200001 m,
      deltaT: 0.505140 s,
      deltaX: 0.500000 m,
      approachRate: 0.989825 m/s,
      rangeRepo size: 4

2025-08-09T17:10:47.202Z,1754759447.202 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 18.200001 m,
      bearing: 6.834951 deg,
      lat: 36.906104 deg,
      lon: -122.115883 deg,
      deltaT: 0.505140 s,
      deltaX: 0.500000 m,
      approachRate: 0.989825 m/s,
      posRepo size: 4

2025-08-09T17:10:47.203Z,1754759447.203 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.20 m.
2025-08-09T17:10:47.379Z,1754759447.379 [DAT](INFO): checking for new query: numPingsReceived=113, elapsed TxPingTime=44.597649
2025-08-09T17:10:47.473Z,1754759447.473 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.20 m.
2025-08-09T17:10:47.632Z,1754759447.632 [DAT](INFO): DAT read: Rx Time:17:10:46.7323 

2025-08-09T17:10:47.632Z,1754759447.632 [DAT](INFO): Rx dataTimestamp_ set to:1754759447.631959
2025-08-09T17:10:47.634Z,1754759447.634 [DAT](INFO): DAT read: Bearing 156.7,   0.4 (Local)

2025-08-09T17:10:47.634Z,1754759447.634 [DAT](INFO): Local bearing/azimuth received:
 Bearing 156.7,   0.4 (Local)

2025-08-09T17:10:47.636Z,1754759447.636 [DAT](INFO): DAT read: Range 11 to 50 :    18.2 m (trip time 12.1 ms) speed -0.3

2025-08-09T17:10:47.641Z,1754759447.641 [DAT](INFO): DAT read: 17:10:46.7323 LVL= 32752, 22001, 32754, 32755, AGC= 66, IDX= 507,-0.11, 1.451,-2.907, 1.559, 2.012, PHS=-0.459, 1.410,-0.496, RAW= 331.0,  -4.9, CAL= 330.4,  -7.9, ROT= 179.6,   7.9

2025-08-09T17:10:47.642Z,1754759447.642 [DAT](INFO): got valid direction response:
 17:10:46.7323 LVL= 32752, 22001, 32754, 32755, AGC= 66, IDX= 507,-0.11, 1.451,-2.907, 1.559, 2.012, PHS=-0.459, 1.410,-0.496, RAW= 331.0,  -4.9, CAL= 330.4,  -7.9, ROT= 179.6,   7.9

2025-08-09T17:10:47.643Z,1754759447.643 [DAT](INFO): #Rx 114: Read range and direction messages.
2025-08-09T17:10:47.644Z,1754759447.644 [DAT](INFO): direction in FSK: [-0.990485,0.006915,-0.137445]
2025-08-09T17:10:47.644Z,1754759447.644 [DAT](INFO): publishing direction and range info
2025-08-09T17:10:47.684Z,1754759447.684 [DAT](INFO): checking for new query: numPingsReceived=114, elapsed TxPingTime=44.901711
2025-08-09T17:10:47.884Z,1754759447.884 [DAT](INFO): checking for new query: numPingsReceived=114, elapsed TxPingTime=45.101864
2025-08-09T17:10:47.906Z,1754759447.906 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 18.200001 m,
      deltaT: 0.503679 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-08-09T17:10:47.908Z,1754759447.908 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 18.200001 m,
      bearing: 6.869062 deg,
      lat: 36.906104 deg,
      lon: -122.115882 deg,
      deltaT: 0.503679 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      posRepo size: 4

2025-08-09T17:10:47.908Z,1754759447.908 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.20 m.
2025-08-09T17:10:48.136Z,1754759448.136 [DAT](INFO): DAT read: Rx Time:17:10:47.2325 

2025-08-09T17:10:48.137Z,1754759448.137 [DAT](INFO): Rx dataTimestamp_ set to:1754759448.136629
2025-08-09T17:10:48.139Z,1754759448.139 [DAT](INFO): DAT read: Bearing 157.2,   1.0 (Local)

2025-08-09T17:10:48.139Z,1754759448.139 [DAT](INFO): Local bearing/azimuth received:
 Bearing 157.2,   1.0 (Local)

2025-08-09T17:10:48.142Z,1754759448.142 [DAT](INFO): DAT read: Range 11 to 50 :    18.5 m (trip time 12.3 ms) speed -0.3

2025-08-09T17:10:48.153Z,1754759448.153 [DAT](INFO): DAT read: 17:10:47.2325 LVL= 32752, 21937, 31890, 32755, AGC= 65, IDX= 509, 0.07,-2.664,-0.763,-2.573,-2.131, PHS=-0.431, 1.413,-0.486, RAW= 331.5,  -5.3, CAL= 330.9,  -8.4, ROT= 179.1,   8.4

2025-08-09T17:10:48.155Z,1754759448.155 [DAT](INFO): got valid direction response:
 17:10:47.2325 LVL= 32752, 21937, 31890, 32755, AGC= 65, IDX= 509, 0.07,-2.664,-0.763,-2.573,-2.131, PHS=-0.431, 1.413,-0.486, RAW= 331.5,  -5.3, CAL= 330.9,  -8.4, ROT= 179.1,   8.4

2025-08-09T17:10:48.155Z,1754759448.155 [DAT](INFO): #Rx 115: Read range and direction messages.
2025-08-09T17:10:48.156Z,1754759448.156 [DAT](INFO): direction in FSK: [-0.989150,0.015539,-0.146083]
2025-08-09T17:10:48.156Z,1754759448.156 [DAT](INFO): publishing direction and range info
2025-08-09T17:10:48.160Z,1754759448.160 [DAT](INFO): checking for new query: numPingsReceived=115, elapsed TxPingTime=45.377838
2025-08-09T17:10:48.346Z,1754759448.346 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 18.500000 m,
      deltaT: 0.504670 s,
      deltaX: 0.299999 m,
      approachRate: 0.594446 m/s,
      rangeRepo size: 4

2025-08-09T17:10:48.352Z,1754759448.352 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 18.500000 m,
      bearing: 6.910780 deg,
      lat: 36.906105 deg,
      lon: -122.115882 deg,
      deltaT: 0.504670 s,
      deltaX: 0.299999 m,
      approachRate: 0.594446 m/s,
      posRepo size: 4

2025-08-09T17:10:48.352Z,1754759448.352 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.50 m.
2025-08-09T17:10:48.388Z,1754759448.388 [DAT](INFO): checking for new query: numPingsReceived=115, elapsed TxPingTime=45.606133
2025-08-09T17:10:48.640Z,1754759448.640 [DAT](INFO): DAT read: Rx Time:17:10:47.7325 

2025-08-09T17:10:48.640Z,1754759448.640 [DAT](INFO): Rx dataTimestamp_ set to:1754759448.640057
2025-08-09T17:10:48.642Z,1754759448.642 [DAT](INFO): DAT read: Bearing 156.6,   0.8 (Local)

2025-08-09T17:10:48.642Z,1754759448.642 [DAT](INFO): Local bearing/azimuth received:
 Bearing 156.6,   0.8 (Local)

2025-08-09T17:10:48.644Z,1754759448.644 [DAT](INFO): DAT read: Range 11 to 50 :    18.5 m (trip time 12.3 ms) speed -0.3

2025-08-09T17:10:48.659Z,1754759448.659 [DAT](INFO): DAT read: 17:10:47.7325 LVL= 32144, 24289, 32754, 32755, AGC= 65, IDX= 509, 0.22,-2.784,-0.916,-2.688,-2.236, PHS=-0.446, 1.365,-0.495, RAW= 331.3,  -4.7, CAL= 330.7,  -7.7, ROT= 179.3,   7.7

2025-08-09T17:10:48.660Z,1754759448.660 [DAT](INFO): got valid direction response:
 17:10:47.7325 LVL= 32144, 24289, 32754, 32755, AGC= 65, IDX= 509, 0.22,-2.784,-0.916,-2.688,-2.236, PHS=-0.446, 1.365,-0.495, RAW= 331.3,  -4.7, CAL= 330.7,  -7.7, ROT= 179.3,   7.7

2025-08-09T17:10:48.660Z,1754759448.660 [DAT](INFO): #Rx 116: Read range and direction messages.
2025-08-09T17:10:48.661Z,1754759448.661 [DAT](INFO): direction in FSK: [-0.990909,0.012107,-0.133986]
2025-08-09T17:10:48.662Z,1754759448.662 [DAT](INFO): publishing direction and range info
2025-08-09T17:10:48.681Z,1754759448.681 [DAT](INFO): checking for new query: numPingsReceived=116, elapsed TxPingTime=45.898895
2025-08-09T17:10:48.780Z,1754759448.780 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 18.500000 m,
      deltaT: 0.503428 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-08-09T17:10:48.787Z,1754759448.787 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 18.500000 m,
      bearing: 7.014706 deg,
      lat: 36.906106 deg,
      lon: -122.115882 deg,
      deltaT: 0.503428 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      posRepo size: 4

2025-08-09T17:10:48.788Z,1754759448.788 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.50 m.
2025-08-09T17:10:48.892Z,1754759448.892 [DAT](INFO): checking for new query: numPingsReceived=116, elapsed TxPingTime=46.110401
2025-08-09T17:10:49.144Z,1754759449.144 [DAT](INFO): DAT read: Rx Time:17:10:48.2326 

2025-08-09T17:10:49.144Z,1754759449.144 [DAT](INFO): Rx dataTimestamp_ set to:1754759449.144147
2025-08-09T17:10:49.146Z,1754759449.146 [DAT](INFO): DAT read: Bearing 157.2,   0.7 (Local)

2025-08-09T17:10:49.146Z,1754759449.146 [DAT](INFO): Local bearing/azimuth received:
 Bearing 157.2,   0.7 (Local)

2025-08-09T17:10:49.148Z,1754759449.148 [DAT](INFO): DAT read: Range 11 to 50 :    18.6 m (trip time 12.4 ms) speed -0.1

2025-08-09T17:10:49.153Z,1754759449.153 [DAT](INFO): DAT read: 17:10:48.2326 LVL= 32720, 25681, 29826, 32755, AGC= 66, IDX= 510, 0.48, 2.855,-1.523, 2.955,-2.884, PHS=-0.443, 1.405,-0.489, RAW= 331.2,  -5.1, CAL= 330.6,  -8.2, ROT= 179.4,   8.2

2025-08-09T17:10:49.154Z,1754759449.154 [DAT](INFO): got valid direction response:
 17:10:48.2326 LVL= 32720, 25681, 29826, 32755, AGC= 66, IDX= 510, 0.48, 2.855,-1.523, 2.955,-2.884, PHS=-0.443, 1.405,-0.489, RAW= 331.2,  -5.1, CAL= 330.6,  -8.2, ROT= 179.4,   8.2

2025-08-09T17:10:49.154Z,1754759449.154 [DAT](INFO): #Rx 117: Read range and direction messages.
2025-08-09T17:10:49.155Z,1754759449.155 [DAT](INFO): direction in FSK: [-0.989722,0.010365,-0.142629]
2025-08-09T17:10:49.156Z,1754759449.156 [DAT](INFO): publishing direction and range info
2025-08-09T17:10:49.165Z,1754759449.165 [DAT](INFO): checking for new query: numPingsReceived=117, elapsed TxPingTime=46.382435
2025-08-09T17:10:49.237Z,1754759449.237 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 18.600000 m,
      deltaT: 0.504090 s,
      deltaX: 0.100000 m,
      approachRate: 0.198378 m/s,
      rangeRepo size: 4

2025-08-09T17:10:49.247Z,1754759449.247 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 18.600000 m,
      bearing: 7.056673 deg,
      lat: 36.906106 deg,
      lon: -122.115882 deg,
      deltaT: 0.504090 s,
      deltaX: 0.100000 m,
      approachRate: 0.198378 m/s,
      posRepo size: 4

2025-08-09T17:10:49.248Z,1754759449.248 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.60 m.
2025-08-09T17:10:49.396Z,1754759449.396 [DAT](INFO): checking for new query: numPingsReceived=117, elapsed TxPingTime=46.613934
2025-08-09T17:10:49.525Z,1754759449.525 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.60 m.
2025-08-09T17:10:49.648Z,1754759449.648 [DAT](INFO): DAT read: Rx Time:17:10:48.7327 

2025-08-09T17:10:49.648Z,1754759449.648 [DAT](INFO): Rx dataTimestamp_ set to:1754759449.648128
2025-08-09T17:10:49.650Z,1754759449.650 [DAT](INFO): DAT read: Bearing 157.2,  -0.1 (Local)

2025-08-09T17:10:49.650Z,1754759449.650 [DAT](INFO): Local bearing/azimuth received:
 Bearing 157.2,  -0.1 (Local)

2025-08-09T17:10:49.652Z,1754759449.652 [DAT](INFO): DAT read: Range 11 to 50 :    18.8 m (trip time 12.5 ms) speed -0.1

2025-08-09T17:10:49.657Z,1754759449.657 [DAT](INFO): DAT read: 17:10:48.7327 LVL= 30416, 24497, 32754, 32755, AGC= 65, IDX= 511,-0.28, 0.095, 2.051, 0.228, 0.666, PHS=-0.469, 1.430,-0.482, RAW= 330.3,  -5.1, CAL= 329.8,  -8.1, ROT= 180.2,   8.1

2025-08-09T17:10:49.658Z,1754759449.658 [DAT](INFO): got valid direction response:
 17:10:48.7327 LVL= 30416, 24497, 32754, 32755, AGC= 65, IDX= 511,-0.28, 0.095, 2.051, 0.228, 0.666, PHS=-0.469, 1.430,-0.482, RAW= 330.3,  -5.1, CAL= 329.8,  -8.1, ROT= 180.2,   8.1

2025-08-09T17:10:49.658Z,1754759449.658 [DAT](INFO): #Rx 118: Read range and direction messages.
2025-08-09T17:10:49.660Z,1754759449.660 [DAT](INFO): direction in FSK: [-0.990018,-0.003456,-0.140901]
2025-08-09T17:10:49.660Z,1754759449.660 [DAT](INFO): publishing direction and range info
2025-08-09T17:10:49.679Z,1754759449.679 [DAT](INFO): checking for new query: numPingsReceived=118, elapsed TxPingTime=46.897469
2025-08-09T17:10:49.899Z,1754759449.899 [DAT](INFO): checking for new query: numPingsReceived=118, elapsed TxPingTime=47.117363
2025-08-09T17:10:49.948Z,1754759449.948 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 18.799999 m,
      deltaT: 0.503981 s,
      deltaX: 0.199999 m,
      approachRate: 0.396838 m/s,
      rangeRepo size: 4

2025-08-09T17:10:49.950Z,1754759449.950 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 18.799999 m,
      bearing: 7.131697 deg,
      lat: 36.906105 deg,
      lon: -122.115882 deg,
      deltaT: 0.503981 s,
      deltaX: 0.199999 m,
      approachRate: 0.396838 m/s,
      posRepo size: 4

2025-08-09T17:10:49.951Z,1754759449.951 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.80 m.
2025-08-09T17:10:50.151Z,1754759450.151 [DAT](INFO): DAT read: Rx Time:17:10:49.2329 

2025-08-09T17:10:50.152Z,1754759450.152 [DAT](INFO): Rx dataTimestamp_ set to:1754759450.151600
2025-08-09T17:10:50.153Z,1754759450.153 [DAT](INFO): DAT read: Range 11 to 50 :    18.9 m (trip time 12.6 ms) speed -0.3

2025-08-09T17:10:50.154Z,1754759450.154 [DAT](ERROR): #Rx 119: Read range message, but no direction.
2025-08-09T17:10:50.155Z,1754759450.155 [DAT](INFO): checking for new query: numPingsReceived=119, elapsed TxPingTime=47.372993
2025-08-09T17:10:50.361Z,1754759450.361 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 18.900000 m,
      deltaT: 0.503472 s,
      deltaX: 0.100000 m,
      approachRate: 0.198622 m/s,
      rangeRepo size: 4

2025-08-09T17:10:50.361Z,1754759450.361 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.80 m.
2025-08-09T17:10:50.404Z,1754759450.404 [DAT](INFO): checking for new query: numPingsReceived=119, elapsed TxPingTime=47.621777
2025-08-09T17:10:50.656Z,1754759450.656 [DAT](INFO): DAT read: Rx Time:17:10:49.7329 

2025-08-09T17:10:50.656Z,1754759450.656 [DAT](INFO): Rx dataTimestamp_ set to:1754759450.656012
2025-08-09T17:10:50.658Z,1754759450.658 [DAT](INFO): DAT read: Bearing 151.5,  -9.6 (Local)

2025-08-09T17:10:50.659Z,1754759450.659 [DAT](INFO): Local bearing/azimuth received:
 Bearing 151.5,  -9.6 (Local)

2025-08-09T17:10:50.669Z,1754759450.669 [DAT](INFO): DAT read: Range 11 to 50 :    18.9 m (trip time 12.6 ms) speed -0.2

2025-08-09T17:10:50.676Z,1754759450.676 [DAT](INFO): DAT read: 17:10:49.7329 LVL= 26864, 20305, 31074, 32755, AGC= 65, IDX= 513,-0.23,-1.038, 0.799,-0.624,-0.226, PHS=-0.710, 1.070,-0.443, RAW= 322.0,   1.0, CAL= 320.4,  -2.0, ROT= 189.6,   2.0

2025-08-09T17:10:50.677Z,1754759450.677 [DAT](INFO): got valid direction response:
 17:10:49.7329 LVL= 26864, 20305, 31074, 32755, AGC= 65, IDX= 513,-0.23,-1.038, 0.799,-0.624,-0.226, PHS=-0.710, 1.070,-0.443, RAW= 322.0,   1.0, CAL= 320.4,  -2.0, ROT= 189.6,   2.0

2025-08-09T17:10:50.718Z,1754759450.718 [DAT](INFO): #Rx 120: Read range and direction messages.
2025-08-09T17:10:50.719Z,1754759450.719 [DAT](INFO): direction in FSK: [-0.985395,-0.166667,-0.034899]
2025-08-09T17:10:50.720Z,1754759450.720 [DAT](INFO): publishing direction and range info
2025-08-09T17:10:50.735Z,1754759450.735 [DAT](INFO): ****** received valid address query ******
2025-08-09T17:10:50.735Z,1754759450.735 [DAT](INFO): ****** received valid ping request ******
2025-08-09T17:10:50.735Z,1754759450.735 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode.
2025-08-09T17:10:50.817Z,1754759450.817 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 18.900000 m,
      deltaT: 0.504412 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-08-09T17:10:50.828Z,1754759450.828 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 18.900000 m,
      bearing: 7.192029 deg,
      lat: 36.906105 deg,
      lon: -122.115882 deg,
      deltaT: 1.007884 s,
      deltaX: 0.100000 m,
      approachRate: 0.099218 m/s,
      posRepo size: 4

2025-08-09T17:10:50.828Z,1754759450.828 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.90 m.
2025-08-09T17:10:50.907Z,1754759450.907 [DAT](INFO): Reached modem response timeout
2025-08-09T17:10:50.908Z,1754759450.908 [DAT](DEBUG): Acoustic response timeout
2025-08-09T17:10:50.908Z,1754759450.908 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode.
2025-08-09T17:10:51.155Z,1754759451.155 [RDI_Pathfinder](ERROR): only read 2 of 4 data items for bottom velocity. Device response is::BS,   +25,  +254, 
2025-08-09T17:10:51.161Z,1754759451.161 [DAT](INFO): DAT read: Rx Time:17:10:50.2331 

2025-08-09T17:10:51.163Z,1754759451.163 [DAT](INFO): Rx dataTimestamp_ set to:1754759451.161868
2025-08-09T17:10:51.165Z,1754759451.165 [DAT](INFO): DAT read: Bearing 157.8,   0.3 (Local)

2025-08-09T17:10:51.165Z,1754759451.165 [DAT](INFO): Local bearing/azimuth received:
 Bearing 157.8,   0.3 (Local)

2025-08-09T17:10:51.169Z,1754759451.169 [DAT](INFO): DAT read: Range 11 to 50 :    19.2 m (trip time 12.8 ms) speed -0.5

2025-08-09T17:10:51.180Z,1754759451.180 [DAT](INFO): DAT read: 17:10:50.2331 LVL= 30704, 20881, 31362, 32067, AGC= 69, IDX=   3,-0.20,-2.647,-0.687,-2.523,-2.094, PHS=-0.451, 1.452,-0.473, RAW= 330.6,  -5.6, CAL= 330.0,  -8.6, ROT= 180.0,   8.6

2025-08-09T17:10:51.181Z,1754759451.181 [DAT](INFO): got valid direction response:
 17:10:50.2331 LVL= 30704, 20881, 31362, 32067, AGC= 69, IDX=   3,-0.20,-2.647,-0.687,-2.523,-2.094, PHS=-0.451, 1.452,-0.473, RAW= 330.6,  -5.6, CAL= 330.0,  -8.6, ROT= 180.0,   8.6

2025-08-09T17:10:51.181Z,1754759451.181 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-09T17:10:51.199Z,1754759451.199 [DAT](INFO): direction in FSK: [-0.988756,-0.000000,-0.149535]
2025-08-09T17:10:51.199Z,1754759451.199 [DAT](INFO): publishing direction and range info
2025-08-09T17:10:51.211Z,1754759451.211 [DAT](DEBUG): Acoustic response timeout
2025-08-09T17:10:51.211Z,1754759451.211 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode.
2025-08-09T17:10:51.240Z,1754759451.240 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 19.200001 m,
      deltaT: 0.505856 s,
      deltaX: 0.300001 m,
      approachRate: 0.593056 m/s,
      rangeRepo size: 4

2025-08-09T17:10:51.242Z,1754759451.242 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 19.200001 m,
      bearing: 7.547684 deg,
      lat: 36.906105 deg,
      lon: -122.115880 deg,
      deltaT: 0.505856 s,
      deltaX: 0.300001 m,
      approachRate: 0.593056 m/s,
      posRepo size: 4

2025-08-09T17:10:51.246Z,1754759451.246 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.20 m.
2025-08-09T17:10:51.411Z,1754759451.411 [DAT](INFO): Reached modem response timeout
2025-08-09T17:10:51.411Z,1754759451.411 [DAT](DEBUG): Acoustic response timeout
2025-08-09T17:10:51.412Z,1754759451.412 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode.
2025-08-09T17:10:51.610Z,1754759451.610 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.20 m.
2025-08-09T17:10:51.666Z,1754759451.666 [DAT](INFO): DAT read: Rx Time:17:10:50.7331 

2025-08-09T17:10:51.667Z,1754759451.667 [DAT](INFO): Rx dataTimestamp_ set to:1754759451.666342
2025-08-09T17:10:51.669Z,1754759451.669 [DAT](INFO): DAT read: Bearing 157.4,  -0.2 (Local)

2025-08-09T17:10:51.670Z,1754759451.670 [DAT](INFO): Local bearing/azimuth received:
 Bearing 157.4,  -0.2 (Local)

2025-08-09T17:10:51.674Z,1754759451.674 [DAT](INFO): DAT read: Range 11 to 50 :    19.2 m (trip time 12.8 ms) speed -0.3

2025-08-09T17:10:51.700Z,1754759451.700 [DAT](INFO): DAT read: 17:10:50.7331 LVL= 32464, 24561, 32754, 32755, AGC= 67, IDX= 499,-0.15, 2.121,-2.206, 2.260, 2.691, PHS=-0.468, 1.431,-0.475, RAW= 330.2,  -5.2, CAL= 329.6,  -8.2, ROT= 180.4,   8.2

2025-08-09T17:10:51.701Z,1754759451.701 [DAT](INFO): got valid direction response:
 17:10:50.7331 LVL= 32464, 24561, 32754, 32755, AGC= 67, IDX= 499,-0.15, 2.121,-2.206, 2.260, 2.691, PHS=-0.468, 1.431,-0.475, RAW= 330.2,  -5.2, CAL= 329.6,  -8.2, ROT= 180.4,   8.2

2025-08-09T17:10:51.702Z,1754759451.702 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-09T17:10:51.719Z,1754759451.719 [DAT](INFO): direction in FSK: [-0.989752,-0.006910,-0.142629]
2025-08-09T17:10:51.719Z,1754759451.719 [DAT](INFO): publishing direction and range info
2025-08-09T17:10:51.731Z,1754759451.731 [DAT](DEBUG): Acoustic response timeout
2025-08-09T17:10:51.731Z,1754759451.731 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode.
2025-08-09T17:10:51.915Z,1754759451.915 [DAT](INFO): Reached modem response timeout
2025-08-09T17:10:51.915Z,1754759451.915 [DAT](DEBUG): Acoustic response timeout
2025-08-09T17:10:51.916Z,1754759451.916 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode.
2025-08-09T17:10:51.980Z,1754759451.980 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 19.200001 m,
      deltaT: 0.504474 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-08-09T17:10:51.987Z,1754759451.987 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 19.200001 m,
      bearing: 7.782329 deg,
      lat: 36.906105 deg,
      lon: -122.115880 deg,
      deltaT: 0.504474 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      posRepo size: 4

2025-08-09T17:10:51.988Z,1754759451.988 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.20 m.
2025-08-09T17:10:52.169Z,1754759452.169 [DAT](INFO): DAT read: Rx Time:17:10:51.2333 

2025-08-09T17:10:52.170Z,1754759452.170 [DAT](INFO): Rx dataTimestamp_ set to:1754759452.169502
2025-08-09T17:10:52.172Z,1754759452.172 [DAT](INFO): DAT read: Bearing 157.0,  -0.3 (Local)

2025-08-09T17:10:52.172Z,1754759452.172 [DAT](INFO): Local bearing/azimuth received:
 Bearing 157.0,  -0.3 (Local)

2025-08-09T17:10:52.176Z,1754759452.176 [DAT](INFO): DAT read: Range 11 to 50 :    19.5 m (trip time 13.0 ms) speed 0.0

2025-08-09T17:10:52.183Z,1754759452.183 [DAT](INFO): DAT read: 17:10:51.2333 LVL= 27520, 27473, 32530, 32755, AGC= 67, IDX= 501,-0.18, 3.125,-1.231,-3.011,-2.576, PHS=-0.479, 1.390,-0.479, RAW= 330.0,  -4.7, CAL= 329.4,  -7.7, ROT= 180.6,   7.7

2025-08-09T17:10:52.185Z,1754759452.185 [DAT](INFO): got valid direction response:
 17:10:51.2333 LVL= 27520, 27473, 32530, 32755, AGC= 67, IDX= 501,-0.18, 3.125,-1.231,-3.011,-2.576, PHS=-0.479, 1.390,-0.479, RAW= 330.0,  -4.7, CAL= 329.4,  -7.7, ROT= 180.6,   7.7

2025-08-09T17:10:52.185Z,1754759452.185 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-09T17:10:52.188Z,1754759452.188 [DAT](INFO): direction in FSK: [-0.990929,-0.010378,-0.133986]
2025-08-09T17:10:52.188Z,1754759452.188 [DAT](INFO): publishing direction and range info
2025-08-09T17:10:52.191Z,1754759452.191 [DAT](DEBUG): Acoustic response timeout
2025-08-09T17:10:52.191Z,1754759452.191 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode.
2025-08-09T17:10:52.389Z,1754759452.389 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 19.500000 m,
      deltaT: 0.503160 s,
      deltaX: 0.299999 m,
      approachRate: 0.596230 m/s,
      rangeRepo size: 4

2025-08-09T17:10:52.391Z,1754759452.391 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 19.500000 m,
      bearing: 7.992846 deg,
      lat: 36.906105 deg,
      lon: -122.115879 deg,
      deltaT: 0.503160 s,
      deltaX: 0.299999 m,
      approachRate: 0.596230 m/s,
      posRepo size: 4

2025-08-09T17:10:52.392Z,1754759452.392 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.50 m.
2025-08-09T17:10:52.419Z,1754759452.419 [DAT](INFO): Reached modem response timeout
2025-08-09T17:10:52.419Z,1754759452.419 [DAT](DEBUG): Acoustic response timeout
2025-08-09T17:10:52.420Z,1754759452.420 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode.
2025-08-09T17:10:52.673Z,1754759452.673 [DAT](INFO): DAT read: Rx Time:17:10:51.7333 

2025-08-09T17:10:52.673Z,1754759452.673 [DAT](INFO): Rx dataTimestamp_ set to:1754759452.673042
2025-08-09T17:10:52.675Z,1754759452.675 [DAT](INFO): DAT read: Bearing 157.4,  -0.7 (Local)

2025-08-09T17:10:52.676Z,1754759452.676 [DAT](INFO): Local bearing/azimuth received:
 Bearing 157.4,  -0.7 (Local)

2025-08-09T17:10:52.679Z,1754759452.679 [DAT](INFO): DAT read: Range 11 to 50 :    19.5 m (trip time 13.0 ms) speed -0.2

2025-08-09T17:10:52.695Z,1754759452.695 [DAT](INFO): DAT read: 17:10:51.7333 LVL= 29040, 20353, 32754, 32755, AGC= 68, IDX= 501,-0.19, 1.987,-2.375, 2.150, 2.561, PHS=-0.473, 1.392,-0.456, RAW= 329.6,  -5.0, CAL= 328.9,  -8.1, ROT= 181.1,   8.1

2025-08-09T17:10:52.696Z,1754759452.696 [DAT](INFO): got valid direction response:
 17:10:51.7333 LVL= 29040, 20353, 32754, 32755, AGC= 68, IDX= 501,-0.19, 1.987,-2.375, 2.150, 2.561, PHS=-0.473, 1.392,-0.456, RAW= 329.6,  -5.0, CAL= 328.9,  -8.1, ROT= 181.1,   8.1

2025-08-09T17:10:52.696Z,1754759452.696 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-09T17:10:52.697Z,1754759452.697 [DAT](INFO): direction in FSK: [-0.989841,-0.019006,-0.140901]
2025-08-09T17:10:52.698Z,1754759452.698 [DAT](INFO): publishing direction and range info
2025-08-09T17:10:52.701Z,1754759452.701 [DAT](DEBUG): Acoustic response timeout
2025-08-09T17:10:52.701Z,1754759452.701 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode.
2025-08-09T17:10:52.813Z,1754759452.813 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 19.500000 m,
      deltaT: 0.503540 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-08-09T17:10:52.819Z,1754759452.819 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 19.500000 m,
      bearing: 8.019305 deg,
      lat: 36.906105 deg,
      lon: -122.115879 deg,
      deltaT: 0.503540 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      posRepo size: 4

2025-08-09T17:10:52.819Z,1754759452.819 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.50 m.
2025-08-09T17:10:52.923Z,1754759452.923 [DAT](INFO): Reached modem response timeout
2025-08-09T17:10:52.924Z,1754759452.924 [DAT](DEBUG): Acoustic response timeout
2025-08-09T17:10:52.924Z,1754759452.924 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode.
2025-08-09T17:10:53.177Z,1754759453.177 [DAT](INFO): DAT read: Rx Time:17:10:52.2333 

2025-08-09T17:10:53.178Z,1754759453.178 [DAT](INFO): Rx dataTimestamp_ set to:1754759453.177660
2025-08-09T17:10:53.180Z,1754759453.180 [DAT](INFO): DAT read: Bearing 156.9,  -1.4 (Local)

2025-08-09T17:10:53.181Z,1754759453.181 [DAT](INFO): Local bearing/azimuth received:
 Bearing 156.9,  -1.4 (Local)

2025-08-09T17:10:53.193Z,1754759453.193 [DAT](INFO): DAT read: Range 11 to 50 :    19.7 m (trip time 13.1 ms) speed -0.1

2025-08-09T17:10:53.197Z,1754759453.197 [DAT](INFO): DAT read: 17:10:52.2333 LVL= 32304, 21809, 32754, 32755, AGC= 68, IDX= 502,-0.28, 1.619,-2.737, 1.805, 2.222, PHS=-0.501, 1.370,-0.461, RAW= 328.9,  -4.4, CAL= 328.3,  -7.5, ROT= 181.7,   7.5

2025-08-09T17:10:53.227Z,1754759453.227 [DAT](INFO): got valid direction response:
 17:10:52.2333 LVL= 32304, 21809, 32754, 32755, AGC= 68, IDX= 502,-0.28, 1.619,-2.737, 1.805, 2.222, PHS=-0.501, 1.370,-0.461, RAW= 328.9,  -4.4, CAL= 328.3,  -7.5, ROT= 181.7,   7.5

2025-08-09T17:10:53.227Z,1754759453.227 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-09T17:10:53.228Z,1754759453.228 [DAT](INFO): direction in FSK: [-0.991008,-0.029412,-0.130526]
2025-08-09T17:10:53.228Z,1754759453.228 [DAT](INFO): publishing direction and range info
2025-08-09T17:10:53.239Z,1754759453.239 [DAT](DEBUG): Acoustic response timeout
2025-08-09T17:10:53.240Z,1754759453.240 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode.
2025-08-09T17:10:53.261Z,1754759453.261 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for altitude. Device response is::BD,     -215.25,     +1598.25,     -  7.56,  0.00
2025-08-09T17:10:53.302Z,1754759453.302 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 19.700001 m,
      deltaT: 0.504618 s,
      deltaX: 0.200001 m,
      approachRate: 0.396341 m/s,
      rangeRepo size: 4

2025-08-09T17:10:53.312Z,1754759453.312 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 19.700001 m,
      bearing: 8.011446 deg,
      lat: 36.906106 deg,
      lon: -122.115879 deg,
      deltaT: 0.504618 s,
      deltaX: 0.200001 m,
      approachRate: 0.396341 m/s,
      posRepo size: 4

2025-08-09T17:10:53.312Z,1754759453.312 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.70 m.
2025-08-09T17:10:53.428Z,1754759453.428 [DAT](INFO): Reached modem response timeout
2025-08-09T17:10:53.428Z,1754759453.428 [DAT](DEBUG): Acoustic response timeout
2025-08-09T17:10:53.428Z,1754759453.428 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode.
2025-08-09T17:10:53.648Z,1754759453.648 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.70 m.
2025-08-09T17:10:53.681Z,1754759453.681 [DAT](INFO): DAT read: Rx Time:17:10:52.7333 

2025-08-09T17:10:53.682Z,1754759453.682 [DAT](INFO): Rx dataTimestamp_ set to:1754759453.681335
2025-08-09T17:10:53.684Z,1754759453.684 [DAT](INFO): DAT read: Bearing 157.2,  -1.5 (Local)

2025-08-09T17:10:53.684Z,1754759453.684 [DAT](INFO): Local bearing/azimuth received:
 Bearing 157.2,  -1.5 (Local)

2025-08-09T17:10:53.687Z,1754759453.687 [DAT](INFO): DAT read: Range 11 to 50 :    19.7 m (trip time 13.1 ms) speed -0.1

2025-08-09T17:10:53.691Z,1754759453.691 [DAT](INFO): DAT read: 17:10:52.7333 LVL= 28112, 20849, 32754, 32755, AGC= 68, IDX= 502,-0.34,-0.219, 1.773,-0.020, 0.398, PHS=-0.515, 1.421,-0.462, RAW= 328.6,  -4.7, CAL= 328.0,  -7.8, ROT= 182.0,   7.8

2025-08-09T17:10:53.692Z,1754759453.692 [DAT](INFO): got valid direction response:
 17:10:52.7333 LVL= 28112, 20849, 32754, 32755, AGC= 68, IDX= 502,-0.34,-0.219, 1.773,-0.020, 0.398, PHS=-0.515, 1.421,-0.462, RAW= 328.6,  -4.7, CAL= 328.0,  -7.8, ROT= 182.0,   7.8

2025-08-09T17:10:53.693Z,1754759453.693 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-09T17:10:53.694Z,1754759453.694 [DAT](INFO): direction in FSK: [-0.990144,-0.034576,-0.135716]
2025-08-09T17:10:53.701Z,1754759453.701 [DAT](INFO): publishing direction and range info
2025-08-09T17:10:53.709Z,1754759453.709 [DAT](DEBUG): Acoustic response timeout
2025-08-09T17:10:53.710Z,1754759453.710 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode.
2025-08-09T17:10:53.931Z,1754759453.931 [DAT](INFO): Reached modem response timeout
2025-08-09T17:10:53.931Z,1754759453.931 [DAT](DEBUG): Acoustic response timeout
2025-08-09T17:10:53.932Z,1754759453.932 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode.
2025-08-09T17:10:53.997Z,1754759453.997 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 19.700001 m,
      deltaT: 0.503675 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-08-09T17:10:53.999Z,1754759453.999 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 19.700001 m,
      bearing: 8.460006 deg,
      lat: 36.906105 deg,
      lon: -122.115878 deg,
      deltaT: 0.503675 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      posRepo size: 4

2025-08-09T17:10:53.999Z,1754759453.999 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.70 m.
2025-08-09T17:10:54.185Z,1754759454.185 [DAT](INFO): DAT read: Rx Time:17:10:53.2334 

2025-08-09T17:10:54.186Z,1754759454.186 [DAT](INFO): Rx dataTimestamp_ set to:1754759454.185240
2025-08-09T17:10:54.187Z,1754759454.187 [DAT](INFO): DAT read: Bearing 157.2,  -1.4 (Local)

2025-08-09T17:10:54.187Z,1754759454.187 [DAT](INFO): Local bearing/azimuth received:
 Bearing 157.2,  -1.4 (Local)

2025-08-09T17:10:54.189Z,1754759454.189 [DAT](INFO): DAT read: Range 11 to 50 :    19.8 m (trip time 13.2 ms) speed -0.1

2025-08-09T17:10:54.194Z,1754759454.194 [DAT](INFO): DAT read: 17:10:53.2334 LVL= 32752, 19873, 29842, 32755, AGC= 67, IDX= 503, 0.50, 2.065,-2.309, 2.259, 2.660, PHS=-0.493, 1.359,-0.445, RAW= 328.7,  -4.7, CAL= 328.0,  -7.7, ROT= 182.0,   7.7

2025-08-09T17:10:54.195Z,1754759454.195 [DAT](INFO): got valid direction response:
 17:10:53.2334 LVL= 32752, 19873, 29842, 32755, AGC= 67, IDX= 503, 0.50, 2.065,-2.309, 2.259, 2.660, PHS=-0.493, 1.359,-0.445, RAW= 328.7,  -4.7, CAL= 328.0,  -7.7, ROT= 182.0,   7.7

2025-08-09T17:10:54.195Z,1754759454.195 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-09T17:10:54.196Z,1754759454.196 [DAT](INFO): direction in FSK: [-0.990380,-0.034585,-0.133986]
2025-08-09T17:10:54.197Z,1754759454.197 [DAT](INFO): publishing direction and range info
2025-08-09T17:10:54.201Z,1754759454.201 [DAT](DEBUG): Acoustic response timeout
2025-08-09T17:10:54.201Z,1754759454.201 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode.
2025-08-09T17:10:54.416Z,1754759454.416 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 19.799999 m,
      deltaT: 0.503905 s,
      deltaX: 0.099998 m,
      approachRate: 0.198447 m/s,
      rangeRepo size: 4

2025-08-09T17:10:54.418Z,1754759454.418 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 19.799999 m,
      bearing: 9.037396 deg,
      lat: 36.906105 deg,
      lon: -122.115875 deg,
      deltaT: 0.503905 s,
      deltaX: 0.099998 m,
      approachRate: 0.198447 m/s,
      posRepo size: 4

2025-08-09T17:10:54.419Z,1754759454.419 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.80 m.
2025-08-09T17:10:54.435Z,1754759454.435 [DAT](INFO): Reached modem response timeout
2025-08-09T17:10:54.435Z,1754759454.435 [DAT](DEBUG): Acoustic response timeout
2025-08-09T17:10:54.436Z,1754759454.436 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode.
2025-08-09T17:10:54.688Z,1754759454.688 [DAT](INFO): DAT read: Rx Time:17:10:53.7334 

2025-08-09T17:10:54.688Z,1754759454.688 [DAT](INFO): Rx dataTimestamp_ set to:1754759454.688093
2025-08-09T17:10:54.690Z,1754759454.690 [DAT](INFO): DAT read: Bearing 158.0,  -1.7 (Local)

2025-08-09T17:10:54.690Z,1754759454.690 [DAT](INFO): Local bearing/azimuth received:
 Bearing 158.0,  -1.7 (Local)

2025-08-09T17:10:54.696Z,1754759454.696 [DAT](INFO): DAT read: Range 11 to 50 :    19.8 m (trip time 13.2 ms) speed 0.0

2025-08-09T17:10:54.701Z,1754759454.701 [DAT](INFO): DAT read: 17:10:53.7334 LVL= 25184, 20289, 30274, 32755, AGC= 68, IDX= 503, 0.23, 1.682,-2.650, 1.896, 2.272, PHS=-0.488, 1.407,-0.420, RAW= 328.2,  -5.4, CAL= 327.6,  -8.5, ROT= 182.4,   8.5

2025-08-09T17:10:54.702Z,1754759454.702 [DAT](INFO): got valid direction response:
 17:10:53.7334 LVL= 25184, 20289, 30274, 32755, AGC= 68, IDX= 503, 0.23, 1.682,-2.650, 1.896, 2.272, PHS=-0.488, 1.407,-0.420, RAW= 328.2,  -5.4, CAL= 327.6,  -8.5, ROT= 182.4,   8.5

2025-08-09T17:10:54.703Z,1754759454.703 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-09T17:10:54.704Z,1754759454.704 [DAT](INFO): direction in FSK: [-0.988148,-0.041416,-0.147809]
2025-08-09T17:10:54.704Z,1754759454.704 [DAT](INFO): publishing direction and range info
2025-08-09T17:10:54.723Z,1754759454.723 [DAT](DEBUG): Acoustic response timeout
2025-08-09T17:10:54.724Z,1754759454.724 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode.
2025-08-09T17:10:54.825Z,1754759454.825 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 19.799999 m,
      deltaT: 0.502853 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-08-09T17:10:54.831Z,1754759454.831 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 19.799999 m,
      bearing: 9.247505 deg,
      lat: 36.906104 deg,
      lon: -122.115874 deg,
      deltaT: 0.502853 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      posRepo size: 4

2025-08-09T17:10:54.832Z,1754759454.832 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.80 m.
2025-08-09T17:10:54.939Z,1754759454.939 [DAT](INFO): Reached modem response timeout
2025-08-09T17:10:54.939Z,1754759454.939 [DAT](DEBUG): Acoustic response timeout
2025-08-09T17:10:54.940Z,1754759454.940 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode.
2025-08-09T17:10:55.192Z,1754759455.192 [DAT](INFO): DAT read: Rx Time:17:10:54.2336 

2025-08-09T17:10:55.192Z,1754759455.192 [DAT](INFO): Rx dataTimestamp_ set to:1754759455.192031
2025-08-09T17:10:55.194Z,1754759455.194 [DAT](INFO): DAT read: Bearing 157.7,  -2.3 (Local)

2025-08-09T17:10:55.194Z,1754759455.194 [DAT](INFO): Local bearing/azimuth received:
 Bearing 157.7,  -2.3 (Local)

2025-08-09T17:10:55.196Z,1754759455.196 [DAT](INFO): DAT read: Range 11 to 50 :    20.1 m (trip time 13.4 ms) speed -0.2

2025-08-09T17:10:55.209Z,1754759455.209 [DAT](INFO): DAT read: 17:10:54.2336 LVL= 31088, 21617, 32482, 32755, AGC= 67, IDX= 505, 0.04, 2.880,-1.442, 3.116,-2.789, PHS=-0.512, 1.393,-0.422, RAW= 327.6,  -5.0, CAL= 326.9,  -8.1, ROT= 183.1,   8.1

2025-08-09T17:10:55.210Z,1754759455.210 [DAT](INFO): got valid direction response:
 17:10:54.2336 LVL= 31088, 21617, 32482, 32755, AGC= 67, IDX= 505, 0.04, 2.880,-1.442, 3.116,-2.789, PHS=-0.512, 1.393,-0.422, RAW= 327.6,  -5.0, CAL= 326.9,  -8.1, ROT= 183.1,   8.1

2025-08-09T17:10:55.222Z,1754759455.222 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-09T17:10:55.223Z,1754759455.223 [DAT](INFO): direction in FSK: [-0.988575,-0.053539,-0.140901]
2025-08-09T17:10:55.224Z,1754759455.224 [DAT](INFO): publishing direction and range info
2025-08-09T17:10:55.239Z,1754759455.239 [DAT](DEBUG): Acoustic response timeout
2025-08-09T17:10:55.239Z,1754759455.239 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode.
2025-08-09T17:10:55.324Z,1754759455.324 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 20.100000 m,
      deltaT: 0.503938 s,
      deltaX: 0.300001 m,
      approachRate: 0.595314 m/s,
      rangeRepo size: 4

2025-08-09T17:10:55.326Z,1754759455.326 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 20.100000 m,
      bearing: 9.243236 deg,
      lat: 36.906104 deg,
      lon: -122.115874 deg,
      deltaT: 0.503938 s,
      deltaX: 0.300001 m,
      approachRate: 0.595314 m/s,
      posRepo size: 4

2025-08-09T17:10:55.331Z,1754759455.331 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 20.10 m.
2025-08-09T17:10:55.443Z,1754759455.443 [DAT](INFO): Reached modem response timeout
2025-08-09T17:10:55.443Z,1754759455.443 [DAT](DEBUG): Acoustic response timeout
2025-08-09T17:10:55.444Z,1754759455.444 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode.
2025-08-09T17:10:55.651Z,1754759455.651 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 20.10 m.
2025-08-09T17:10:55.696Z,1754759455.696 [DAT](INFO): DAT read: Rx Time:17:10:54.7336 

2025-08-09T17:10:55.696Z,1754759455.696 [DAT](INFO): Rx dataTimestamp_ set to:1754759455.696185
2025-08-09T17:10:55.698Z,1754759455.698 [DAT](INFO): DAT read: Bearing 156.8,  -2.2 (Local)

2025-08-09T17:10:55.698Z,1754759455.698 [DAT](INFO): Local bearing/azimuth received:
 Bearing 156.8,  -2.2 (Local)

2025-08-09T17:10:55.700Z,1754759455.700 [DAT](INFO): DAT read: Range 11 to 50 :    20.1 m (trip time 13.4 ms) speed 0.0

2025-08-09T17:10:55.705Z,1754759455.705 [DAT](INFO): DAT read: 17:10:54.7336 LVL= 26688, 24113, 32610, 32755, AGC= 68, IDX= 505,-0.20, 1.531,-2.795, 1.760, 2.166, PHS=-0.533, 1.368,-0.450, RAW= 327.8,  -4.2, CAL= 327.1,  -7.3, ROT= 182.9,   7.3

2025-08-09T17:10:55.706Z,1754759455.706 [DAT](INFO): got valid direction response:
 17:10:54.7336 LVL= 26688, 24113, 32610, 32755, AGC= 68, IDX= 505,-0.20, 1.531,-2.795, 1.760, 2.166, PHS=-0.533, 1.368,-0.450, RAW= 327.8,  -4.2, CAL= 327.1,  -7.3, ROT= 182.9,   7.3

2025-08-09T17:10:55.706Z,1754759455.706 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-09T17:10:55.707Z,1754759455.707 [DAT](INFO): direction in FSK: [-0.990624,-0.050183,-0.127065]
2025-08-09T17:10:55.708Z,1754759455.708 [DAT](INFO): publishing direction and range info
2025-08-09T17:10:55.719Z,1754759455.719 [DAT](DEBUG): Acoustic response timeout
2025-08-09T17:10:55.719Z,1754759455.719 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode.
2025-08-09T17:10:55.949Z,1754759455.949 [DAT](INFO): Reached modem response timeout
2025-08-09T17:10:55.949Z,1754759455.949 [DAT](DEBUG): Acoustic response timeout
2025-08-09T17:10:55.950Z,1754759455.950 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode.
2025-08-09T17:10:56.145Z,1754759456.145 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error. Device response is::TS,00021420580454,35.0,  0.0  0
2025-08-09T17:10:56.204Z,1754759456.204 [DAT](INFO): DAT read: Rx Time:17:10:55.2337 

2025-08-09T17:10:56.205Z,1754759456.205 [DAT](INFO): Rx dataTimestamp_ set to:1754759456.204662
2025-08-09T17:10:56.206Z,1754759456.206 [DAT](INFO): DAT read: Bearing 157.2,  -1.2 (Local)

2025-08-09T17:10:56.207Z,1754759456.207 [DAT](INFO): Local bearing/azimuth received:
 Bearing 157.2,  -1.2 (Local)

2025-08-09T17:10:56.209Z,1754759456.209 [DAT](INFO): DAT read: Range 11 to 50 :    20.3 m (trip time 13.5 ms) speed 0.0

2025-08-09T17:10:56.213Z,1754759456.213 [DAT](INFO): DAT read: 17:10:55.2337 LVL= 28912, 20961, 32530, 32755, AGC= 69, IDX= 506, 0.45,-1.891, 0.053,-1.695,-1.285, PHS=-0.504, 1.384,-0.454, RAW= 328.7,  -4.6, CAL= 328.0,  -7.7, ROT= 182.0,   7.7

2025-08-09T17:10:56.215Z,1754759456.215 [DAT](INFO): got valid direction response:
 17:10:55.2337 LVL= 28912, 20961, 32530, 32755, AGC= 69, IDX= 506, 0.45,-1.891, 0.053,-1.695,-1.285, PHS=-0.504, 1.384,-0.454, RAW= 328.7,  -4.6, CAL= 328.0,  -7.7, ROT= 182.0,   7.7

2025-08-09T17:10:56.215Z,1754759456.215 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-09T17:10:56.216Z,1754759456.216 [DAT](INFO): direction in FSK: [-0.990380,-0.034585,-0.133986]
2025-08-09T17:10:56.216Z,1754759456.216 [DAT](INFO): publishing direction and range info
2025-08-09T17:10:56.220Z,1754759456.220 [DAT](DEBUG): Acoustic response timeout
2025-08-09T17:10:56.221Z,1754759456.221 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode.
2025-08-09T17:10:56.233Z,1754759456.233 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 20.299999 m,
      deltaT: 1.012631 s,
      deltaX: 0.199999 m,
      approachRate: 0.197504 m/s,
      rangeRepo size: 4

2025-08-09T17:10:56.244Z,1754759456.244 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 20.100000 m,
      bearing: 9.568029 deg,
      lat: 36.906104 deg,
      lon: -122.115873 deg,
      deltaT: 0.504154 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      posRepo size: 4

2025-08-09T17:10:56.244Z,1754759456.244 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 20.10 m.
2025-08-09T17:10:56.455Z,1754759456.455 [DAT](INFO): Reached modem response timeout
2025-08-09T17:10:56.456Z,1754759456.456 [DAT](DEBUG): Acoustic response timeout
2025-08-09T17:10:56.456Z,1754759456.456 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode.
2025-08-09T17:10:56.547Z,1754759456.547 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 20.10 m.
2025-08-09T17:10:56.708Z,1754759456.708 [DAT](INFO): DAT read: Rx Time:17:10:55.7337 

2025-08-09T17:10:56.708Z,1754759456.708 [DAT](INFO): Rx dataTimestamp_ set to:1754759456.708031
2025-08-09T17:10:56.710Z,1754759456.710 [DAT](INFO): DAT read: Bearing 157.3,  -2.1 (Local)

2025-08-09T17:10:56.710Z,1754759456.710 [DAT](INFO): Local bearing/azimuth received:
 Bearing 157.3,  -2.1 (Local)

2025-08-09T17:10:56.712Z,1754759456.712 [DAT](INFO): DAT read: Range 11 to 50 :    20.3 m (trip time 13.5 ms) speed 0.0

2025-08-09T17:10:56.717Z,1754759456.717 [DAT](INFO): DAT read: 17:10:55.7337 LVL= 30368, 20529, 31650, 32755, AGC= 68, IDX= 506, 0.20,-2.969,-1.047,-2.742,-2.358, PHS=-0.509, 1.356,-0.428, RAW= 327.8,  -4.6, CAL= 327.1,  -7.7, ROT= 182.9,   7.7

2025-08-09T17:10:56.718Z,1754759456.718 [DAT](INFO): got valid direction response:
 17:10:55.7337 LVL= 30368, 20529, 31650, 32755, AGC= 68, IDX= 506, 0.20,-2.969,-1.047,-2.742,-2.358, PHS=-0.509, 1.356,-0.428, RAW= 327.8,  -4.6, CAL= 327.1,  -7.7, ROT= 182.9,   7.7

2025-08-09T17:10:56.718Z,1754759456.718 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-09T17:10:56.719Z,1754759456.719 [DAT](INFO): direction in FSK: [-0.989714,-0.050137,-0.133986]
2025-08-09T17:10:56.719Z,1754759456.719 [DAT](INFO): publishing direction and range info
2025-08-09T17:10:56.723Z,1754759456.723 [DAT](DEBUG): Acoustic response timeout
2025-08-09T17:10:56.724Z,1754759456.724 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode.
2025-08-09T17:10:56.933Z,1754759456.933 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 20.299999 m,
      deltaT: 0.503369 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-08-09T17:10:56.935Z,1754759456.935 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 20.299999 m,
      bearing: 10.009159 deg,
      lat: 36.906104 deg,
      lon: -122.115871 deg,
      deltaT: 1.011846 s,
      deltaX: 0.199999 m,
      approachRate: 0.197657 m/s,
      posRepo size: 4

2025-08-09T17:10:56.936Z,1754759456.936 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 20.30 m.
2025-08-09T17:10:56.959Z,1754759456.959 [DAT](INFO): Reached modem response timeout
2025-08-09T17:10:56.959Z,1754759456.959 [DAT](DEBUG): Acoustic response timeout
2025-08-09T17:10:56.959Z,1754759456.959 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode.
2025-08-09T17:10:57.212Z,1754759457.212 [DAT](INFO): DAT read: Rx Time:17:10:56.2338 

2025-08-09T17:10:57.213Z,1754759457.213 [DAT](INFO): Rx dataTimestamp_ set to:1754759457.212558
2025-08-09T17:10:57.214Z,1754759457.214 [DAT](INFO): DAT read: Bearing 157.4,  -1.9 (Local)

2025-08-09T17:10:57.215Z,1754759457.215 [DAT](INFO): Local bearing/azimuth received:
 Bearing 157.4,  -1.9 (Local)

2025-08-09T17:10:57.217Z,1754759457.217 [DAT](INFO): DAT read: Range 11 to 50 :    20.4 m (trip time 13.6 ms) speed 0.0

2025-08-09T17:10:57.221Z,1754759457.221 [DAT](INFO): DAT read: 17:10:56.2338 LVL= 31664, 23281, 30898, 32755, AGC= 67, IDX= 507,-0.02, 2.364,-1.951, 2.590, 2.984, PHS=-0.517, 1.393,-0.438, RAW= 327.9,  -4.7, CAL= 327.2,  -7.8, ROT= 182.8,   7.8

2025-08-09T17:10:57.222Z,1754759457.222 [DAT](INFO): got valid direction response:
 17:10:56.2338 LVL= 31664, 23281, 30898, 32755, AGC= 67, IDX= 507,-0.02, 2.364,-1.951, 2.590, 2.984, PHS=-0.517, 1.393,-0.438, RAW= 327.9,  -4.7, CAL= 327.2,  -7.8, ROT= 182.8,   7.8

2025-08-09T17:10:57.223Z,1754759457.223 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-09T17:10:57.224Z,1754759457.224 [DAT](INFO): direction in FSK: [-0.989565,-0.048398,-0.135716]
2025-08-09T17:10:57.224Z,1754759457.224 [DAT](INFO): publishing direction and range info
2025-08-09T17:10:57.227Z,1754759457.227 [DAT](DEBUG): Acoustic response timeout
2025-08-09T17:10:57.228Z,1754759457.228 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode.
2025-08-09T17:10:57.355Z,1754759457.355 [RDI_Pathfinder](ERROR): only read 3 of 4 data items for beam range. Device response is::RA,  0.00,  78.03,  74.64,  76.33
2025-08-09T17:10:57.399Z,1754759457.399 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 20.400000 m,
      deltaT: 0.504527 s,
      deltaX: 0.100000 m,
      approachRate: 0.198206 m/s,
      rangeRepo size: 4

2025-08-09T17:10:57.401Z,1754759457.401 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 20.400000 m,
      bearing: 9.970287 deg,
      lat: 36.906104 deg,
      lon: -122.115871 deg,
      deltaT: 0.504527 s,
      deltaX: 0.100000 m,
      approachRate: 0.198206 m/s,
      posRepo size: 4

2025-08-09T17:10:57.402Z,1754759457.402 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 20.40 m.
2025-08-09T17:10:57.464Z,1754759457.464 [DAT](INFO): Reached modem response timeout
2025-08-09T17:10:57.464Z,1754759457.464 [DAT](DEBUG): Acoustic response timeout
2025-08-09T17:10:57.464Z,1754759457.464 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode.
2025-08-09T17:10:57.716Z,1754759457.716 [DAT](INFO): DAT read: Rx Time:17:10:56.7338 

2025-08-09T17:10:57.716Z,1754759457.716 [DAT](INFO): Rx dataTimestamp_ set to:1754759457.716133
2025-08-09T17:10:57.718Z,1754759457.718 [DAT](INFO): DAT read: Bearing 157.4,  -2.1 (Local)

2025-08-09T17:10:57.718Z,1754759457.718 [DAT](INFO): Local bearing/azimuth received:
 Bearing 157.4,  -2.1 (Local)

2025-08-09T17:10:57.720Z,1754759457.720 [DAT](INFO): DAT read: Range 11 to 50 :    20.4 m (trip time 13.6 ms) speed -0.2

2025-08-09T17:10:57.725Z,1754759457.725 [DAT](INFO): DAT read: 17:10:56.7338 LVL= 29296, 23153, 32754, 32755, AGC= 68, IDX= 507,-0.29, 0.643, 2.657, 0.880, 1.279, PHS=-0.534, 1.423,-0.443, RAW= 327.6,  -4.7, CAL= 327.0,  -7.8, ROT= 183.0,   7.8

2025-08-09T17:10:57.726Z,1754759457.726 [DAT](INFO): got valid direction response:
 17:10:56.7338 LVL= 29296, 23153, 32754, 32755, AGC= 68, IDX= 507,-0.29, 0.643, 2.657, 0.880, 1.279, PHS=-0.534, 1.423,-0.443, RAW= 327.6,  -4.7, CAL= 327.0,  -7.8, ROT= 183.0,   7.8

2025-08-09T17:10:57.726Z,1754759457.726 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-09T17:10:57.727Z,1754759457.727 [DAT](INFO): direction in FSK: [-0.989390,-0.051852,-0.135716]
2025-08-09T17:10:57.727Z,1754759457.727 [DAT](INFO): publishing direction and range info
2025-08-09T17:10:57.731Z,1754759457.731 [DAT](DEBUG): Acoustic response timeout
2025-08-09T17:10:57.732Z,1754759457.732 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode.
2025-08-09T17:10:57.759Z,1754759457.759 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 20.400000 m,
      deltaT: 0.503575 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-08-09T17:10:57.761Z,1754759457.761 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 20.400000 m,
      bearing: 9.953847 deg,
      lat: 36.906104 deg,
      lon: -122.115871 deg,
      deltaT: 0.503575 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      posRepo size: 4

2025-08-09T17:10:57.762Z,1754759457.762 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 20.40 m.
2025-08-09T17:10:57.967Z,1754759457.967 [DAT](INFO): Reached modem response timeout
2025-08-09T17:10:57.967Z,1754759457.967 [DAT](DEBUG): Acoustic response timeout
2025-08-09T17:10:57.968Z,1754759457.968 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode.
2025-08-09T17:10:58.220Z,1754759458.220 [DAT](INFO): DAT read: Rx Time:17:10:57.2339 

2025-08-09T17:10:58.220Z,1754759458.220 [DAT](INFO): Rx dataTimestamp_ set to:1754759458.219921
2025-08-09T17:10:58.221Z,1754759458.221 [DAT](INFO): DAT read: Bearing 157.3,  -1.8 (Local)

2025-08-09T17:10:58.222Z,1754759458.222 [DAT](INFO): Local bearing/azimuth received:
 Bearing 157.3,  -1.8 (Local)

2025-08-09T17:10:58.224Z,1754759458.224 [DAT](INFO): DAT read: Range 11 to 50 :    20.6 m (trip time 13.7 ms) speed 0.0

2025-08-09T17:10:58.228Z,1754759458.228 [DAT](INFO): DAT read: 17:10:57.2339 LVL= 26928, 23217, 32450, 32755, AGC= 66, IDX= 508, 0.27,-2.523,-0.578,-2.299,-1.905, PHS=-0.516, 1.373,-0.437, RAW= 327.9,  -4.6, CAL= 327.2,  -7.7, ROT= 182.8,   7.7

2025-08-09T17:10:58.229Z,1754759458.229 [DAT](INFO): got valid direction response:
 17:10:57.2339 LVL= 26928, 23217, 32450, 32755, AGC= 66, IDX= 508, 0.27,-2.523,-0.578,-2.299,-1.905, PHS=-0.516, 1.373,-0.437, RAW= 327.9,  -4.6, CAL= 327.2,  -7.7, ROT= 182.8,   7.7

2025-08-09T17:10:58.230Z,1754759458.230 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-09T17:10:58.231Z,1754759458.231 [DAT](INFO): direction in FSK: [-0.989800,-0.048409,-0.133986]
2025-08-09T17:10:58.231Z,1754759458.231 [DAT](INFO): publishing direction and range info
2025-08-09T17:10:58.234Z,1754759458.234 [DAT](DEBUG): Acoustic response timeout
2025-08-09T17:10:58.235Z,1754759458.235 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode.
2025-08-09T17:10:58.253Z,1754759458.253 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 20.600000 m,
      deltaT: 0.503788 s,
      deltaX: 0.200001 m,
      approachRate: 0.396994 m/s,
      rangeRepo size: 4

2025-08-09T17:10:58.259Z,1754759458.259 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 20.600000 m,
      bearing: 9.940014 deg,
      lat: 36.906104 deg,
      lon: -122.115871 deg,
      deltaT: 0.503788 s,
      deltaX: 0.200001 m,
      approachRate: 0.396994 m/s,
      posRepo size: 4

2025-08-09T17:10:58.260Z,1754759458.260 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 20.60 m.
2025-08-09T17:10:58.471Z,1754759458.471 [DAT](INFO): Reached modem response timeout
2025-08-09T17:10:58.471Z,1754759458.471 [DAT](DEBUG): Acoustic response timeout
2025-08-09T17:10:58.472Z,1754759458.472 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode.
2025-08-09T17:10:58.603Z,1754759458.603 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 20.60 m.
2025-08-09T17:10:58.724Z,1754759458.724 [DAT](INFO): DAT read: Rx Time:17:10:57.7339 

2025-08-09T17:10:58.724Z,1754759458.724 [DAT](INFO): Rx dataTimestamp_ set to:1754759458.724081
2025-08-09T17:10:58.726Z,1754759458.726 [DAT](INFO): DAT read: Bearing 157.8,  -1.7 (Local)

2025-08-09T17:10:58.726Z,1754759458.726 [DAT](INFO): Local bearing/azimuth received:
 Bearing 157.8,  -1.7 (Local)

2025-08-09T17:10:58.728Z,1754759458.728 [DAT](INFO): DAT read: Range 11 to 50 :    20.6 m (trip time 13.7 ms) speed 0.0

2025-08-09T17:10:58.733Z,1754759458.733 [DAT](INFO): DAT read: 17:10:57.7339 LVL= 29408, 21425, 32754, 32755, AGC= 67, IDX= 508,-0.03, 1.395,-2.874, 1.622, 2.014, PHS=-0.517, 1.440,-0.437, RAW= 327.9,  -5.1, CAL= 327.3,  -8.2, ROT= 182.7,   8.2

2025-08-09T17:10:58.734Z,1754759458.734 [DAT](INFO): got valid direction response:
 17:10:57.7339 LVL= 29408, 21425, 32754, 32755, AGC= 67, IDX= 508,-0.03, 1.395,-2.874, 1.622, 2.014, PHS=-0.517, 1.440,-0.437, RAW= 327.9,  -5.1, CAL= 327.3,  -8.2, ROT= 182.7,   8.2

2025-08-09T17:10:58.734Z,1754759458.734 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-09T17:10:58.735Z,1754759458.735 [DAT](INFO): direction in FSK: [-0.988677,-0.046625,-0.142629]
2025-08-09T17:10:58.735Z,1754759458.735 [DAT](INFO): publishing direction and range info
2025-08-09T17:10:58.759Z,1754759458.759 [DAT](DEBUG): Acoustic response timeout
2025-08-09T17:10:58.759Z,1754759458.759 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode.
2025-08-09T17:10:58.966Z,1754759458.966 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 20.600000 m,
      deltaT: 0.504160 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-08-09T17:10:58.968Z,1754759458.968 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 20.600000 m,
      bearing: 9.959271 deg,
      lat: 36.906104 deg,
      lon: -122.115870 deg,
      deltaT: 0.504160 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      posRepo size: 4

2025-08-09T17:10:58.968Z,1754759458.968 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 20.60 m.
2025-08-09T17:10:58.975Z,1754759458.975 [DAT](INFO): Reached modem response timeout
2025-08-09T17:10:58.975Z,1754759458.975 [DAT](DEBUG): Acoustic response timeout
2025-08-09T17:10:58.976Z,1754759458.976 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode.
2025-08-09T17:10:59.228Z,1754759459.228 [DAT](INFO): DAT read: Rx Time:17:10:58.2340 

2025-08-09T17:10:59.229Z,1754759459.229 [DAT](INFO): Rx dataTimestamp_ set to:1754759459.228278
2025-08-09T17:10:59.230Z,1754759459.230 [DAT](INFO): DAT read: Bearing 157.2,  -1.4 (Local)

2025-08-09T17:10:59.231Z,1754759459.231 [DAT](INFO): Local bearing/azimuth received:
 Bearing 157.2,  -1.4 (Local)

2025-08-09T17:10:59.233Z,1754759459.233 [DAT](INFO): DAT read: Range 11 to 50 :    20.7 m (trip time 13.8 ms) speed -0.1

2025-08-09T17:10:59.238Z,1754759459.238 [DAT](INFO): DAT read: 17:10:58.2340 LVL= 27616, 23905, 32754, 32755, AGC= 66, IDX= 510,-0.40, 2.522,-1.805, 2.733, 3.141, PHS=-0.517, 1.383,-0.452, RAW= 328.3,  -4.5, CAL= 327.6,  -7.6, ROT= 182.4,   7.6

2025-08-09T17:10:59.239Z,1754759459.239 [DAT](INFO): got valid direction response:
 17:10:58.2340 LVL= 27616, 23905, 32754, 32755, AGC= 66, IDX= 510,-0.40, 2.522,-1.805, 2.733, 3.141, PHS=-0.517, 1.383,-0.452, RAW= 328.3,  -4.5, CAL= 327.6,  -7.6, ROT= 182.4,   7.6

2025-08-09T17:10:59.239Z,1754759459.239 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-09T17:10:59.240Z,1754759459.240 [DAT](INFO): direction in FSK: [-0.990346,-0.041508,-0.132256]
2025-08-09T17:10:59.241Z,1754759459.241 [DAT](INFO): publishing direction and range info
2025-08-09T17:10:59.244Z,1754759459.244 [DAT](DEBUG): Acoustic response timeout
2025-08-09T17:10:59.244Z,1754759459.244 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode.
2025-08-09T17:10:59.428Z,1754759459.428 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 20.700001 m,
      deltaT: 0.504197 s,
      deltaX: 0.100000 m,
      approachRate: 0.198336 m/s,
      rangeRepo size: 4

2025-08-09T17:10:59.435Z,1754759459.435 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 20.700001 m,
      bearing: 9.889719 deg,
      lat: 36.906105 deg,
      lon: -122.115870 deg,
      deltaT: 0.504197 s,
      deltaX: 0.100000 m,
      approachRate: 0.198336 m/s,
      posRepo size: 4

2025-08-09T17:10:59.435Z,1754759459.435 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 20.70 m.
2025-08-09T17:10:59.480Z,1754759459.480 [DAT](INFO): Reached modem response timeout
2025-08-09T17:10:59.480Z,1754759459.480 [DAT](DEBUG): Acoustic response timeout
2025-08-09T17:10:59.481Z,1754759459.481 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode.
2025-08-09T17:10:59.732Z,1754759459.732 [DAT](INFO): DAT read: Rx Time:17:10:58.7339 

2025-08-09T17:10:59.732Z,1754759459.732 [DAT](INFO): Rx dataTimestamp_ set to:1754759459.732145
2025-08-09T17:10:59.734Z,1754759459.734 [DAT](INFO): DAT read: Bearing 157.3,  -1.4 (Local)

2025-08-09T17:10:59.734Z,1754759459.734 [DAT](INFO): Local bearing/azimuth received:
 Bearing 157.3,  -1.4 (Local)

2025-08-09T17:10:59.736Z,1754759459.736 [DAT](INFO): DAT read: Range 11 to 50 :    20.6 m (trip time 13.7 ms) speed 0.0

2025-08-09T17:10:59.745Z,1754759459.745 [DAT](INFO): DAT read: 17:10:58.7339 LVL= 30800, 22257, 32754, 32755, AGC= 66, IDX= 509, 0.13, 2.434,-1.908, 2.648, 3.047, PHS=-0.511, 1.373,-0.443, RAW= 328.2,  -4.6, CAL= 327.5,  -7.7, ROT= 182.5,   7.7

2025-08-09T17:10:59.746Z,1754759459.746 [DAT](INFO): got valid direction response:
 17:10:58.7339 LVL= 30800, 22257, 32754, 32755, AGC= 66, IDX= 509, 0.13, 2.434,-1.908, 2.648, 3.047, PHS=-0.511, 1.373,-0.443, RAW= 328.2,  -4.6, CAL= 327.5,  -7.7, ROT= 182.5,   7.7

2025-08-09T17:10:59.746Z,1754759459.746 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-09T17:10:59.747Z,1754759459.747 [DAT](INFO): direction in FSK: [-0.990040,-0.043226,-0.133986]
2025-08-09T17:10:59.748Z,1754759459.748 [DAT](INFO): publishing direction and range info
2025-08-09T17:10:59.751Z,1754759459.751 [DAT](DEBUG): Acoustic response timeout
2025-08-09T17:10:59.751Z,1754759459.751 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode.
2025-08-09T17:10:59.829Z,1754759459.829 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 20.600000 m,
      deltaT: 0.503867 s,
      deltaX: -0.100000 m,
      approachRate: -0.198466 m/s,
      rangeRepo size: 4

2025-08-09T17:10:59.855Z,1754759459.855 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 20.600000 m,
      bearing: 9.750608 deg,
      lat: 36.906105 deg,
      lon: -122.115871 deg,
      deltaT: 0.503867 s,
      deltaX: -0.100000 m,
      approachRate: -0.198466 m/s,
      posRepo size: 4

2025-08-09T17:10:59.856Z,1754759459.856 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 20.60 m.
2025-08-09T17:10:59.983Z,1754759459.983 [DAT](INFO): Reached modem response timeout
2025-08-09T17:10:59.984Z,1754759459.984 [DAT](DEBUG): Acoustic response timeout
2025-08-09T17:10:59.984Z,1754759459.984 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode.
2025-08-09T17:11:00.229Z,1754759460.229 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 20.60 m.
2025-08-09T17:11:00.256Z,1754759460.256 [DAT](INFO): DAT read: Rx Time:17:10:59.2341 

2025-08-09T17:11:00.256Z,1754759460.256 [DAT](INFO): Rx dataTimestamp_ set to:1754759460.256121
2025-08-09T17:11:00.258Z,1754759460.258 [DAT](INFO): DAT read: Bearing 157.6,  -1.4 (Local)

2025-08-09T17:11:00.258Z,1754759460.258 [DAT](INFO): Local bearing/azimuth received:
 Bearing 157.6,  -1.4 (Local)

2025-08-09T17:11:00.260Z,1754759460.260 [DAT](INFO): DAT read: Range 11 to 50 :    20.9 m (trip time 13.9 ms) speed 0.0

2025-08-09T17:11:00.265Z,1754759460.265 [DAT](INFO): DAT read: 17:10:59.2341 LVL= 29056, 21537, 32754, 32755, AGC= 66, IDX= 511,-0.21, 2.361,-1.934, 2.576, 2.978, PHS=-0.515, 1.416,-0.446, RAW= 328.2,  -4.9, CAL= 327.6,  -8.0, ROT= 182.4,   8.0

2025-08-09T17:11:00.266Z,1754759460.266 [DAT](INFO): got valid direction response:
 17:10:59.2341 LVL= 29056, 21537, 32754, 32755, AGC= 66, IDX= 511,-0.21, 2.361,-1.934, 2.576, 2.978, PHS=-0.515, 1.416,-0.446, RAW= 328.2,  -4.9, CAL= 327.6,  -8.0, ROT= 182.4,   8.0

2025-08-09T17:11:00.266Z,1754759460.266 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-09T17:11:00.267Z,1754759460.267 [DAT](INFO): direction in FSK: [-0.989399,-0.041468,-0.139173]
2025-08-09T17:11:00.267Z,1754759460.267 [DAT](INFO): publishing direction and range info
2025-08-09T17:11:00.275Z,1754759460.275 [DAT](DEBUG): Acoustic response timeout
2025-08-09T17:11:00.276Z,1754759460.276 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode.
2025-08-09T17:11:00.507Z,1754759460.507 [DAT](INFO): Reached modem response timeout
2025-08-09T17:11:00.507Z,1754759460.507 [DAT](DEBUG): Acoustic response timeout
2025-08-09T17:11:00.508Z,1754759460.508 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode.
2025-08-09T17:11:00.635Z,1754759460.635 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 20.900000 m,
      deltaT: 0.523976 s,
      deltaX: 0.299999 m,
      approachRate: 0.572544 m/s,
      rangeRepo size: 4

2025-08-09T17:11:00.637Z,1754759460.637 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 20.900000 m,
      bearing: 9.536875 deg,
      lat: 36.906105 deg,
      lon: -122.115871 deg,
      deltaT: 0.523976 s,
      deltaX: 0.299999 m,
      approachRate: 0.572544 m/s,
      posRepo size: 4

2025-08-09T17:11:00.638Z,1754759460.638 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 20.90 m.
2025-08-09T17:11:00.761Z,1754759460.761 [DAT](INFO): DAT read: Rx Time:17:10:59.7340 

2025-08-09T17:11:00.761Z,1754759460.761 [DAT](INFO): Rx dataTimestamp_ set to:1754759460.760765
2025-08-09T17:11:00.762Z,1754759460.762 [DAT](INFO): DAT read: Bearing 157.5,  -0.7 (Local)

2025-08-09T17:11:00.763Z,1754759460.763 [DAT](INFO): Local bearing/azimuth received:
 Bearing 157.5,  -0.7 (Local)

2025-08-09T17:11:00.765Z,1754759460.765 [DAT](INFO): DAT read: Range 11 to 50 :    20.7 m (trip time 13.8 ms) speed 0.0

2025-08-09T17:11:00.771Z,1754759460.771 [DAT](INFO): DAT read: 17:10:59.7340 LVL= 32752, 23105, 32754, 32755, AGC= 68, IDX= 510, 0.23,-2.968,-1.020,-2.778,-2.367, PHS=-0.499, 1.392,-0.455, RAW= 328.8,  -4.7, CAL= 328.2,  -7.8, ROT= 181.8,   7.8

2025-08-09T17:11:00.773Z,1754759460.773 [DAT](INFO): got valid direction response:
 17:10:59.7340 LVL= 32752, 23105, 32754, 32755, AGC= 68, IDX= 510, 0.23,-2.968,-1.020,-2.778,-2.367, PHS=-0.499, 1.392,-0.455, RAW= 328.8,  -4.7, CAL= 328.2,  -7.8, ROT= 181.8,   7.8

2025-08-09T17:11:00.773Z,1754759460.773 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-09T17:11:00.774Z,1754759460.774 [DAT](INFO): direction in FSK: [-0.990259,-0.031120,-0.135716]
2025-08-09T17:11:00.777Z,1754759460.777 [DAT](INFO): publishing direction and range info
2025-08-09T17:11:00.783Z,1754759460.783 [DAT](DEBUG): Acoustic response timeout
2025-08-09T17:11:00.783Z,1754759460.783 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode.
2025-08-09T17:11:00.972Z,1754759460.972 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 20.700001 m,
      deltaT: 0.504644 s,
      deltaX: -0.199999 m,
      approachRate: -0.396317 m/s,
      rangeRepo size: 4

2025-08-09T17:11:00.974Z,1754759460.974 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 20.700001 m,
      bearing: 9.423144 deg,
      lat: 36.906104 deg,
      lon: -122.115872 deg,
      deltaT: 0.504644 s,
      deltaX: -0.199999 m,
      approachRate: -0.396317 m/s,
      posRepo size: 4

2025-08-09T17:11:00.975Z,1754759460.975 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 20.70 m.
2025-08-09T17:11:01.011Z,1754759461.011 [DAT](INFO): Reached modem response timeout
2025-08-09T17:11:01.012Z,1754759461.012 [DAT](DEBUG): Acoustic response timeout
2025-08-09T17:11:01.012Z,1754759461.012 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode.
2025-08-09T17:11:01.264Z,1754759461.264 [DAT](INFO): DAT read: Rx Time:17:11:00.2341 

2025-08-09T17:11:01.264Z,1754759461.264 [DAT](INFO): Rx dataTimestamp_ set to:1754759461.264016
2025-08-09T17:11:01.266Z,1754759461.266 [DAT](INFO): DAT read: Bearing 157.6,  -1.1 (Local)

2025-08-09T17:11:01.266Z,1754759461.266 [DAT](INFO): Local bearing/azimuth received:
 Bearing 157.6,  -1.1 (Local)

2025-08-09T17:11:01.268Z,1754759461.268 [DAT](INFO): DAT read: Range 11 to 50 :    20.9 m (trip time 13.9 ms) speed 0.0

2025-08-09T17:11:01.277Z,1754759461.277 [DAT](INFO): DAT read: 17:11:00.2341 LVL= 32752, 22449, 32754, 32755, AGC= 66, IDX= 511,-0.09, 1.164, 3.140, 1.371, 1.777, PHS=-0.511, 1.409,-0.450, RAW= 328.4,  -4.8, CAL= 327.7,  -7.9, ROT= 182.3,   7.9

2025-08-09T17:11:01.291Z,1754759461.291 [DAT](INFO): got valid direction response:
 17:11:00.2341 LVL= 32752, 22449, 32754, 32755, AGC= 66, IDX= 511,-0.09, 1.164, 3.140, 1.371, 1.777, PHS=-0.511, 1.409,-0.450, RAW= 328.4,  -4.8, CAL= 327.7,  -7.9, ROT= 182.3,   7.9

2025-08-09T17:11:01.292Z,1754759461.292 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-09T17:11:01.293Z,1754759461.293 [DAT](INFO): direction in FSK: [-0.989712,-0.039751,-0.137445]
2025-08-09T17:11:01.293Z,1754759461.293 [DAT](INFO): publishing direction and range info
2025-08-09T17:11:01.296Z,1754759461.296 [DAT](DEBUG): Acoustic response timeout
2025-08-09T17:11:01.297Z,1754759461.297 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode.
2025-08-09T17:11:01.427Z,1754759461.427 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 20.900000 m,
      deltaT: 0.503251 s,
      deltaX: 0.199999 m,
      approachRate: 0.397414 m/s,
      rangeRepo size: 4

2025-08-09T17:11:01.429Z,1754759461.429 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 20.900000 m,
      bearing: 9.384584 deg,
      lat: 36.906104 deg,
      lon: -122.115872 deg,
      deltaT: 0.503251 s,
      deltaX: 0.199999 m,
      approachRate: 0.397414 m/s,
      posRepo size: 4

2025-08-09T17:11:01.430Z,1754759461.430 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 20.90 m.
2025-08-09T17:11:01.515Z,1754759461.515 [DAT](INFO): Reached modem response timeout
2025-08-09T17:11:01.515Z,1754759461.515 [DAT](DEBUG): Acoustic response timeout
2025-08-09T17:11:01.516Z,1754759461.516 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode.
2025-08-09T17:11:01.768Z,1754759461.768 [DAT](INFO): DAT read: Rx Time:17:11:00.7340 

2025-08-09T17:11:01.768Z,1754759461.768 [DAT](INFO): Rx dataTimestamp_ set to:1754759461.768195
2025-08-09T17:11:01.770Z,1754759461.770 [DAT](INFO): DAT read: Bearing 157.6,  -1.0 (Local)

2025-08-09T17:11:01.770Z,1754759461.770 [DAT](INFO): Local bearing/azimuth received:
 Bearing 157.6,  -1.0 (Local)

2025-08-09T17:11:01.772Z,1754759461.772 [DAT](INFO): DAT read: Range 11 to 50 :    20.7 m (trip time 13.8 ms) speed 0.1

2025-08-09T17:11:01.777Z,1754759461.777 [DAT](INFO): DAT read: 17:11:00.7340 LVL= 30544, 23329, 32754, 32755, AGC= 67, IDX= 510, 0.38, 1.240,-3.110, 1.439, 1.841, PHS=-0.499, 1.378,-0.445, RAW= 328.6,  -4.7, CAL= 327.9,  -7.8, ROT= 182.1,   7.8

2025-08-09T17:11:01.778Z,1754759461.778 [DAT](INFO): got valid direction response:
 17:11:00.7340 LVL= 30544, 23329, 32754, 32755, AGC= 67, IDX= 510, 0.38, 1.240,-3.110, 1.439, 1.841, PHS=-0.499, 1.378,-0.445, RAW= 328.6,  -4.7, CAL= 327.9,  -7.8, ROT= 182.1,   7.8

2025-08-09T17:11:01.778Z,1754759461.778 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-09T17:11:01.779Z,1754759461.779 [DAT](INFO): direction in FSK: [-0.990082,-0.036305,-0.135716]
2025-08-09T17:11:01.780Z,1754759461.780 [DAT](INFO): publishing direction and range info
2025-08-09T17:11:01.787Z,1754759461.787 [DAT](DEBUG): Acoustic response timeout
2025-08-09T17:11:01.787Z,1754759461.787 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode.
2025-08-09T17:11:01.799Z,1754759461.799 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 20.700001 m,
      deltaT: 0.504179 s,
      deltaX: -0.199999 m,
      approachRate: -0.396682 m/s,
      rangeRepo size: 4

2025-08-09T17:11:01.801Z,1754759461.801 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 20.700001 m,
      bearing: 9.403920 deg,
      lat: 36.906103 deg,
      lon: -122.115872 deg,
      deltaT: 0.504179 s,
      deltaX: -0.199999 m,
      approachRate: -0.396682 m/s,
      posRepo size: 4

2025-08-09T17:11:01.802Z,1754759461.802 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 20.70 m.
2025-08-09T17:11:02.019Z,1754759462.019 [DAT](INFO): Reached modem response timeout
2025-08-09T17:11:02.019Z,1754759462.019 [DAT](DEBUG): Acoustic response timeout
2025-08-09T17:11:02.020Z,1754759462.020 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode.
2025-08-09T17:11:02.264Z,1754759462.264 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 20.70 m.
2025-08-09T17:11:02.272Z,1754759462.272 [DAT](INFO): DAT read: Rx Time:17:11:01.2342 

2025-08-09T17:11:02.272Z,1754759462.272 [DAT](INFO): Rx dataTimestamp_ set to:1754759462.272155
2025-08-09T17:11:02.274Z,1754759462.274 [DAT](INFO): DAT read: Bearing 156.6,  -0.5 (Local)

2025-08-09T17:11:02.274Z,1754759462.274 [DAT](INFO): Local bearing/azimuth received:
 Bearing 156.6,  -0.5 (Local)

2025-08-09T17:11:02.276Z,1754759462.276 [DAT](INFO): DAT read: Range 11 to 50 :    21.0 m (trip time 14.0 ms) speed -0.1

2025-08-09T17:11:02.281Z,1754759462.281 [DAT](INFO): DAT read: 17:11:01.2342 LVL= 28992, 23681, 32754, 32755, AGC= 68, IDX= 512,-0.03,-0.043, 1.690, 0.134, 0.525, PHS=-0.466, 1.210,-0.435, RAW= 329.1,  -3.8, CAL= 328.4,  -6.8, ROT= 181.6,   6.8

2025-08-09T17:11:02.282Z,1754759462.282 [DAT](INFO): got valid direction response:
 17:11:01.2342 LVL= 28992, 23681, 32754, 32755, AGC= 68, IDX= 512,-0.03,-0.043, 1.690, 0.134, 0.525, PHS=-0.466, 1.210,-0.435, RAW= 329.1,  -3.8, CAL= 328.4,  -6.8, ROT= 181.6,   6.8

2025-08-09T17:11:02.282Z,1754759462.282 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-09T17:11:02.283Z,1754759462.283 [DAT](INFO): direction in FSK: [-0.992578,-0.027725,-0.118404]
2025-08-09T17:11:02.284Z,1754759462.284 [DAT](INFO): publishing direction and range info
2025-08-09T17:11:02.287Z,1754759462.287 [DAT](DEBUG): Acoustic response timeout
2025-08-09T17:11:02.288Z,1754759462.288 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode.
2025-08-09T17:11:02.523Z,1754759462.523 [DAT](INFO): Reached modem response timeout
2025-08-09T17:11:02.523Z,1754759462.523 [DAT](DEBUG): Acoustic response timeout
2025-08-09T17:11:02.524Z,1754759462.524 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode.
2025-08-09T17:11:02.658Z,1754759462.658 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 21.000000 m,
      deltaT: 0.503960 s,
      deltaX: 0.299999 m,
      approachRate: 0.595284 m/s,
      rangeRepo size: 4

2025-08-09T17:11:02.665Z,1754759462.665 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 21.000000 m,
      bearing: 9.034518 deg,
      lat: 36.906104 deg,
      lon: -122.115873 deg,
      deltaT: 0.503960 s,
      deltaX: 0.299999 m,
      approachRate: 0.595284 m/s,
      posRepo size: 4

2025-08-09T17:11:02.674Z,1754759462.674 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.00 m.
2025-08-09T17:11:02.776Z,1754759462.776 [DAT](INFO): DAT read: Rx Time:17:11:01.7342 

2025-08-09T17:11:02.776Z,1754759462.776 [DAT](INFO): Rx dataTimestamp_ set to:1754759462.776141
2025-08-09T17:11:02.778Z,1754759462.778 [DAT](INFO): DAT read: Bearing 157.3,   4.5 (Local)

2025-08-09T17:11:02.778Z,1754759462.778 [DAT](INFO): Local bearing/azimuth received:
 Bearing 157.3,   4.5 (Local)

2025-08-09T17:11:02.780Z,1754759462.780 [DAT](INFO): DAT read: Range 11 to 50 :    21.0 m (trip time 14.0 ms) speed 0.0

2025-08-09T17:11:02.785Z,1754759462.785 [DAT](INFO): DAT read: 17:11:01.7342 LVL= 32352, 19825, 28050, 32755, AGC= 67, IDX= 512,-0.44,-1.190, 0.924,-1.218,-0.623, PHS=-0.466, 1.592,-0.639, RAW= 334.0,  -4.6, CAL= 333.5,  -7.6, ROT= 176.5,   7.6

2025-08-09T17:11:02.786Z,1754759462.786 [DAT](INFO): got valid direction response:
 17:11:01.7342 LVL= 32352, 19825, 28050, 32755, AGC= 67, IDX= 512,-0.44,-1.190, 0.924,-1.218,-0.623, PHS=-0.466, 1.592,-0.639, RAW= 334.0,  -4.6, CAL= 333.5,  -7.6, ROT= 176.5,   7.6

2025-08-09T17:11:02.787Z,1754759462.787 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-09T17:11:02.788Z,1754759462.788 [DAT](INFO): direction in FSK: [-0.989367,0.060512,-0.132256]
2025-08-09T17:11:02.788Z,1754759462.788 [DAT](INFO): publishing direction and range info
2025-08-09T17:11:02.793Z,1754759462.793 [DAT](DEBUG): Acoustic response timeout
2025-08-09T17:11:02.794Z,1754759462.794 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode.
2025-08-09T17:11:02.991Z,1754759462.991 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 21.000000 m,
      deltaT: 0.503986 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-08-09T17:11:02.993Z,1754759462.993 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 21.000000 m,
      bearing: 8.769601 deg,
      lat: 36.906104 deg,
      lon: -122.115874 deg,
      deltaT: 0.503986 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      posRepo size: 4

2025-08-09T17:11:02.994Z,1754759462.994 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.00 m.
2025-08-09T17:11:03.028Z,1754759463.028 [DAT](INFO): Reached modem response timeout
2025-08-09T17:11:03.028Z,1754759463.028 [DAT](DEBUG): Acoustic response timeout
2025-08-09T17:11:03.029Z,1754759463.029 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode.
2025-08-09T17:11:03.279Z,1754759463.279 [DAT](INFO): DAT read: Rx Time:17:11:02.2343 

2025-08-09T17:11:03.280Z,1754759463.280 [DAT](INFO): Rx dataTimestamp_ set to:1754759463.279655
2025-08-09T17:11:03.281Z,1754759463.281 [DAT](INFO): DAT read: Range 11 to 50 :    21.2 m (trip time 14.1 ms) speed 0.0

2025-08-09T17:11:03.282Z,1754759463.282 [DAT](ERROR): #Rx 1: Read range message, but no direction.
2025-08-09T17:11:03.283Z,1754759463.283 [DAT](DEBUG): Acoustic response timeout
2025-08-09T17:11:03.283Z,1754759463.283 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode.
2025-08-09T17:11:03.420Z,1754759463.420 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 21.200001 m,
      deltaT: 0.503514 s,
      deltaX: 0.200001 m,
      approachRate: 0.397210 m/s,
      rangeRepo size: 4

2025-08-09T17:11:03.420Z,1754759463.420 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.00 m.
2025-08-09T17:11:03.531Z,1754759463.531 [DAT](INFO): Reached modem response timeout
2025-08-09T17:11:03.531Z,1754759463.531 [DAT](DEBUG): Acoustic response timeout
2025-08-09T17:11:03.532Z,1754759463.532 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode.
2025-08-09T17:11:03.784Z,1754759463.784 [DAT](INFO): DAT read: Rx Time:17:11:02.7343 

2025-08-09T17:11:03.784Z,1754759463.784 [DAT](INFO): Rx dataTimestamp_ set to:1754759463.783968
2025-08-09T17:11:03.785Z,1754759463.785 [DAT](INFO): DAT read: Range 11 to 50 :    21.2 m (trip time 14.1 ms) speed 0.0

2025-08-09T17:11:03.786Z,1754759463.786 [DAT](ERROR): #Rx 1: Read range message, but no direction.
2025-08-09T17:11:03.787Z,1754759463.787 [DAT](DEBUG): Acoustic response timeout
2025-08-09T17:11:03.787Z,1754759463.787 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode.
2025-08-09T17:11:03.803Z,1754759463.803 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 21.200001 m,
      deltaT: 0.504313 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-08-09T17:11:03.804Z,1754759463.804 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.00 m.
2025-08-09T17:11:04.035Z,1754759464.035 [DAT](INFO): Reached modem response timeout
2025-08-09T17:11:04.035Z,1754759464.035 [DAT](DEBUG): Acoustic response timeout
2025-08-09T17:11:04.036Z,1754759464.036 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode.
2025-08-09T17:11:04.271Z,1754759464.271 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.00 m.
2025-08-09T17:11:04.288Z,1754759464.288 [DAT](INFO): DAT read: Rx Time:17:11:03.2344 

2025-08-09T17:11:04.288Z,1754759464.288 [DAT](INFO): Rx dataTimestamp_ set to:1754759464.288083
2025-08-09T17:11:04.290Z,1754759464.290 [DAT](INFO): DAT read: Bearing 157.8,  -1.0 (Local)

2025-08-09T17:11:04.290Z,1754759464.290 [DAT](INFO): Local bearing/azimuth received:
 Bearing 157.8,  -1.0 (Local)

2025-08-09T17:11:04.292Z,1754759464.292 [DAT](INFO): DAT read: Range 11 to 50 :    21.3 m (trip time 14.2 ms) speed -0.2

2025-08-09T17:11:04.297Z,1754759464.297 [DAT](INFO): DAT read: 17:11:03.2344 LVL= 27296, 26273, 26850, 29123, AGC= 69, IDX=   2, 0.31, 2.870,-1.502, 3.069,-2.816, PHS=-0.495, 1.360,-0.442, RAW= 328.6,  -4.7, CAL= 327.9,  -7.8, ROT= 182.1,   7.8

2025-08-09T17:11:04.298Z,1754759464.298 [DAT](INFO): got valid direction response:
 17:11:03.2344 LVL= 27296, 26273, 26850, 29123, AGC= 69, IDX=   2, 0.31, 2.870,-1.502, 3.069,-2.816, PHS=-0.495, 1.360,-0.442, RAW= 328.6,  -4.7, CAL= 327.9,  -7.8, ROT= 182.1,   7.8

2025-08-09T17:11:04.298Z,1754759464.298 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-09T17:11:04.299Z,1754759464.299 [DAT](INFO): direction in FSK: [-0.990082,-0.036305,-0.135716]
2025-08-09T17:11:04.299Z,1754759464.299 [DAT](INFO): publishing direction and range info
2025-08-09T17:11:04.308Z,1754759464.308 [DAT](DEBUG): Acoustic response timeout
2025-08-09T17:11:04.308Z,1754759464.308 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode.
2025-08-09T17:11:04.539Z,1754759464.539 [DAT](INFO): Reached modem response timeout
2025-08-09T17:11:04.539Z,1754759464.539 [DAT](DEBUG): Acoustic response timeout
2025-08-09T17:11:04.540Z,1754759464.540 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode.
2025-08-09T17:11:04.688Z,1754759464.688 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 21.299999 m,
      deltaT: 0.504115 s,
      deltaX: 0.099998 m,
      approachRate: 0.198364 m/s,
      rangeRepo size: 4

2025-08-09T17:11:04.690Z,1754759464.690 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 21.299999 m,
      bearing: 9.032502 deg,
      lat: 36.906104 deg,
      lon: -122.115873 deg,
      deltaT: 1.511942 s,
      deltaX: 0.299999 m,
      approachRate: 0.198420 m/s,
      posRepo size: 4

2025-08-09T17:11:04.707Z,1754759464.707 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.30 m.
2025-08-09T17:11:04.793Z,1754759464.793 [DAT](INFO): DAT read: Rx Time:17:11:03.7344 

2025-08-09T17:11:04.793Z,1754759464.793 [DAT](INFO): Rx dataTimestamp_ set to:1754759464.792741
2025-08-09T17:11:04.794Z,1754759464.794 [DAT](INFO): DAT read: Bearing 157.5,  -0.7 (Local)

2025-08-09T17:11:04.795Z,1754759464.795 [DAT](INFO): Local bearing/azimuth received:
 Bearing 157.5,  -0.7 (Local)

2025-08-09T17:11:04.797Z,1754759464.797 [DAT](INFO): DAT read: Range 11 to 50 :    21.3 m (trip time 14.2 ms) speed 0.0

2025-08-09T17:11:04.804Z,1754759464.804 [DAT](INFO): DAT read: 17:11:03.7344 LVL= 32752, 27105, 32754, 32755, AGC= 68, IDX= 498,-0.01, 0.651, 2.638, 0.840, 1.276, PHS=-0.522, 1.407,-0.480, RAW= 328.9,  -4.3, CAL= 328.2,  -7.4, ROT= 181.8,   7.4

2025-08-09T17:11:04.805Z,1754759464.805 [DAT](INFO): got valid direction response:
 17:11:03.7344 LVL= 32752, 27105, 32754, 32755, AGC= 68, IDX= 498,-0.01, 0.651, 2.638, 0.840, 1.276, PHS=-0.522, 1.407,-0.480, RAW= 328.9,  -4.3, CAL= 328.2,  -7.4, ROT= 181.8,   7.4

2025-08-09T17:11:04.806Z,1754759464.806 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-09T17:11:04.807Z,1754759464.807 [DAT](INFO): direction in FSK: [-0.991182,-0.031149,-0.128796]
2025-08-09T17:11:04.807Z,1754759464.807 [DAT](INFO): publishing direction and range info
2025-08-09T17:11:04.815Z,1754759464.815 [DAT](DEBUG): Acoustic response timeout
2025-08-09T17:11:04.816Z,1754759464.816 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode.
2025-08-09T17:11:05.015Z,1754759465.015 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 21.299999 m,
      deltaT: 0.504658 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-08-09T17:11:05.017Z,1754759465.017 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 21.299999 m,
      bearing: 8.843688 deg,
      lat: 36.906103 deg,
      lon: -122.115874 deg,
      deltaT: 0.504658 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      posRepo size: 4

2025-08-09T17:11:05.017Z,1754759465.017 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.30 m.
2025-08-09T17:11:05.043Z,1754759465.043 [DAT](INFO): DAT read: user:430>

2025-08-09T17:11:05.044Z,1754759465.044 [DAT](INFO): Reached modem response timeout
2025-08-09T17:11:05.044Z,1754759465.044 [DAT](DEBUG): Acoustic response timeout
2025-08-09T17:11:05.044Z,1754759465.044 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode.
2025-08-09T17:11:05.295Z,1754759465.295 [DAT](INFO): DAT read: 0

2025-08-09T17:11:05.296Z,1754759465.296 [DAT](INFO): unknown deviceResponse_: 0

2025-08-09T17:11:05.296Z,1754759465.296 [DAT](INFO): DAT read: Ok

2025-08-09T17:11:05.296Z,1754759465.296 [DAT](INFO): unknown deviceResponse_: Ok

2025-08-09T17:11:05.297Z,1754759465.297 [DAT](INFO): DAT read: user:431>

2025-08-09T17:11:05.297Z,1754759465.297 [DAT](INFO): DAT read: Tx time:17:11:04.7391

2025-08-09T17:11:05.298Z,1754759465.298 [DAT](INFO): Ping request sent.
2025-08-09T17:11:05.298Z,1754759465.298 [DAT](INFO): transmitted an acoustic signal
2025-08-09T17:11:05.298Z,1754759465.298 [DAT](INFO): publishing transmit ping time
2025-08-09T17:11:05.299Z,1754759465.299 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000848
2025-08-09T17:11:05.443Z,1754759465.443 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.30 m.
2025-08-09T17:11:05.548Z,1754759465.548 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.249940
2025-08-09T17:11:05.799Z,1754759465.799 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.501563
2025-08-09T17:11:05.811Z,1754759465.811 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.30 m.
2025-08-09T17:11:06.051Z,1754759466.051 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.753501
2025-08-09T17:11:06.283Z,1754759466.283 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.30 m.
2025-08-09T17:11:06.315Z,1754759466.315 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.016830
2025-08-09T17:11:06.555Z,1754759466.555 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.257393
2025-08-09T17:11:06.660Z,1754759466.660 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.30 m.
2025-08-09T17:11:06.807Z,1754759466.807 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.509608
2025-08-09T17:11:07.019Z,1754759467.019 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.30 m.
2025-08-09T17:11:07.061Z,1754759467.061 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762454
2025-08-09T17:11:07.311Z,1754759467.311 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.013460
2025-08-09T17:11:07.449Z,1754759467.449 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.30 m.
2025-08-09T17:11:07.564Z,1754759467.564 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.265795
2025-08-09T17:11:07.816Z,1754759467.816 [DAT](INFO): DAT read: Rx Time:17:11:06.8978 

2025-08-09T17:11:07.816Z,1754759467.816 [DAT](INFO): Rx dataTimestamp_ set to:1754759467.815972
2025-08-09T17:11:07.818Z,1754759467.818 [DAT](INFO): DAT read: Bearing 158.3,  -1.0 (Local)

2025-08-09T17:11:07.818Z,1754759467.818 [DAT](INFO): Local bearing/azimuth received:
 Bearing 158.3,  -1.0 (Local)

2025-08-09T17:11:07.820Z,1754759467.820 [DAT](INFO): DAT read: Range 11 to 50 :    22.2 m (trip time 14.8 ms) speed -0.1

2025-08-09T17:11:07.825Z,1754759467.825 [DAT](INFO): DAT read: 17:11:06.8978 LVL= 31440, 21745, 32754, 32755, AGC= 65, IDX= 347,-0.03,-1.439, 0.511,-1.240,-0.840, PHS=-0.497, 1.396,-0.443, RAW= 328.6,  -4.9, CAL= 327.9,  -8.0, ROT= 182.1,   8.0

2025-08-09T17:11:07.826Z,1754759467.826 [DAT](INFO): got valid direction response:
 17:11:06.8978 LVL= 31440, 21745, 32754, 32755, AGC= 65, IDX= 347,-0.03,-1.439, 0.511,-1.240,-0.840, PHS=-0.497, 1.396,-0.443, RAW= 328.6,  -4.9, CAL= 327.9,  -8.0, ROT= 182.1,   8.0

2025-08-09T17:11:07.826Z,1754759467.826 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-09T17:11:07.827Z,1754759467.827 [DAT](INFO): direction in FSK: [-0.989603,-0.036287,-0.139173]
2025-08-09T17:11:07.827Z,1754759467.827 [DAT](INFO): publishing direction and range info
2025-08-09T17:11:07.831Z,1754759467.831 [DAT](INFO): checking for new query: numPingsReceived=1, elapsed TxPingTime=2.532853
2025-08-09T17:11:07.961Z,1754759467.961 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 22.200001 m,
      deltaT: 3.023231 s,
      deltaX: 0.900002 m,
      approachRate: 0.297695 m/s,
      rangeRepo size: 4

2025-08-09T17:11:07.967Z,1754759467.967 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 22.200001 m,
      bearing: 8.904122 deg,
      lat: 36.906104 deg,
      lon: -122.115874 deg,
      deltaT: 3.023231 s,
      deltaX: 0.900002 m,
      approachRate: 0.297695 m/s,
      posRepo size: 4

2025-08-09T17:11:07.967Z,1754759467.967 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 22.20 m.
2025-08-09T17:11:08.068Z,1754759468.068 [DAT](INFO): checking for new query: numPingsReceived=1, elapsed TxPingTime=2.770342
2025-08-09T17:11:08.320Z,1754759468.320 [DAT](INFO): DAT read: Rx Time:17:11:07.3979 

2025-08-09T17:11:08.320Z,1754759468.320 [DAT](INFO): Rx dataTimestamp_ set to:1754759468.320124
2025-08-09T17:11:08.322Z,1754759468.322 [DAT](INFO): DAT read: Bearing 158.0,  -1.2 (Local)

2025-08-09T17:11:08.322Z,1754759468.322 [DAT](INFO): Local bearing/azimuth received:
 Bearing 158.0,  -1.2 (Local)

2025-08-09T17:11:08.325Z,1754759468.325 [DAT](INFO): DAT read: Range 11 to 50 :    22.4 m (trip time 14.9 ms) speed -0.2

2025-08-09T17:11:08.333Z,1754759468.333 [DAT](INFO): DAT read: 17:11:07.3979 LVL= 32752, 22897, 32754, 32755, AGC= 66, IDX= 508,-0.13,-1.586, 0.388,-1.381,-0.970, PHS=-0.513, 1.404,-0.455, RAW= 328.5,  -4.7, CAL= 327.8,  -7.7, ROT= 182.2,   7.7

2025-08-09T17:11:08.334Z,1754759468.334 [DAT](INFO): got valid direction response:
 17:11:07.3979 LVL= 32752, 22897, 32754, 32755, AGC= 66, IDX= 508,-0.13,-1.586, 0.388,-1.381,-0.970, PHS=-0.513, 1.404,-0.455, RAW= 328.5,  -4.7, CAL= 327.8,  -7.7, ROT= 182.2,   7.7

2025-08-09T17:11:08.342Z,1754759468.342 [DAT](INFO): #Rx 2: Read range and direction messages.
2025-08-09T17:11:08.343Z,1754759468.343 [DAT](INFO): direction in FSK: [-0.990253,-0.038042,-0.133986]
2025-08-09T17:11:08.344Z,1754759468.344 [DAT](INFO): publishing direction and range info
2025-08-09T17:11:08.355Z,1754759468.355 [DAT](INFO): checking for new query: numPingsReceived=2, elapsed TxPingTime=3.057526
2025-08-09T17:11:08.428Z,1754759468.428 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 22.400000 m,
      deltaT: 0.504152 s,
      deltaX: 0.199999 m,
      approachRate: 0.396703 m/s,
      rangeRepo size: 4

2025-08-09T17:11:08.434Z,1754759468.434 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 22.400000 m,
      bearing: 9.201371 deg,
      lat: 36.906105 deg,
      lon: -122.115873 deg,
      deltaT: 0.504152 s,
      deltaX: 0.199999 m,
      approachRate: 0.396703 m/s,
      posRepo size: 4

2025-08-09T17:11:08.435Z,1754759468.435 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 22.40 m.
2025-08-09T17:11:08.571Z,1754759468.571 [DAT](INFO): checking for new query: numPingsReceived=2, elapsed TxPingTime=3.273610
2025-08-09T17:11:08.694Z,1754759468.694 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 22.40 m.
2025-08-09T17:11:08.825Z,1754759468.825 [DAT](INFO): DAT read: Rx Time:17:11:07.8979 

2025-08-09T17:11:08.825Z,1754759468.825 [DAT](INFO): Rx dataTimestamp_ set to:1754759468.824929
2025-08-09T17:11:08.827Z,1754759468.827 [DAT](INFO): DAT read: Bearing 158.4,  -1.3 (Local)

2025-08-09T17:11:08.827Z,1754759468.827 [DAT](INFO): Local bearing/azimuth received:
 Bearing 158.4,  -1.3 (Local)

2025-08-09T17:11:08.829Z,1754759468.829 [DAT](INFO): DAT read: Range 11 to 50 :    22.4 m (trip time 14.9 ms) speed -0.3

2025-08-09T17:11:08.835Z,1754759468.835 [DAT](INFO): DAT read: 17:11:07.8979 LVL= 32752, 23089, 32754, 32755, AGC= 67, IDX= 508,-0.23, 2.832,-1.466, 3.040,-2.841, PHS=-0.508, 1.420,-0.446, RAW= 328.4,  -5.0, CAL= 327.7,  -8.1, ROT= 182.3,   8.1

2025-08-09T17:11:08.836Z,1754759468.836 [DAT](INFO): got valid direction response:
 17:11:07.8979 LVL= 32752, 23089, 32754, 32755, AGC= 67, IDX= 508,-0.23, 2.832,-1.466, 3.040,-2.841, PHS=-0.508, 1.420,-0.446, RAW= 328.4,  -5.0, CAL= 327.7,  -8.1, ROT= 182.3,   8.1

2025-08-09T17:11:08.837Z,1754759468.837 [DAT](INFO): #Rx 3: Read range and direction messages.
2025-08-09T17:11:08.839Z,1754759468.839 [DAT](INFO): direction in FSK: [-0.989226,-0.039731,-0.140901]
2025-08-09T17:11:08.839Z,1754759468.839 [DAT](INFO): publishing direction and range info
2025-08-09T17:11:08.846Z,1754759468.846 [DAT](INFO): checking for new query: numPingsReceived=3, elapsed TxPingTime=3.547924
2025-08-09T17:11:09.075Z,1754759469.075 [DAT](INFO): checking for new query: numPingsReceived=3, elapsed TxPingTime=3.777637
2025-08-09T17:11:09.143Z,1754759469.143 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 22.400000 m,
      deltaT: 0.504805 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-08-09T17:11:09.151Z,1754759469.151 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 22.400000 m,
      bearing: 9.327935 deg,
      lat: 36.906105 deg,
      lon: -122.115872 deg,
      deltaT: 0.504805 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      posRepo size: 4

2025-08-09T17:11:09.152Z,1754759469.152 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 22.40 m.
2025-08-09T17:11:09.333Z,1754759469.333 [DAT](INFO): DAT read: Rx Time:17:11:08.3980 

2025-08-09T17:11:09.335Z,1754759469.335 [DAT](INFO): Rx dataTimestamp_ set to:1754759469.333704
2025-08-09T17:11:09.336Z,1754759469.336 [DAT](INFO): DAT read: Bearing 158.3,  -1.5 (Local)

2025-08-09T17:11:09.336Z,1754759469.336 [DAT](INFO): Local bearing/azimuth received:
 Bearing 158.3,  -1.5 (Local)

2025-08-09T17:11:09.339Z,1754759469.339 [DAT](INFO): DAT read: Range 11 to 50 :    22.5 m (trip time 15.0 ms) speed -0.2

2025-08-09T17:11:09.352Z,1754759469.352 [DAT](INFO): DAT read: 17:11:08.3980 LVL= 32400, 20417, 30706, 32755, AGC= 66, IDX= 509,-0.35, 2.742,-1.581, 2.954,-2.929, PHS=-0.510, 1.393,-0.444, RAW= 328.2,  -4.8, CAL= 327.6,  -7.9, ROT= 182.4,   7.9

2025-08-09T17:11:09.353Z,1754759469.353 [DAT](INFO): got valid direction response:
 17:11:08.3980 LVL= 32400, 20417, 30706, 32755, AGC= 66, IDX= 509,-0.35, 2.742,-1.581, 2.954,-2.929, PHS=-0.510, 1.393,-0.444, RAW= 328.2,  -4.8, CAL= 327.6,  -7.9, ROT= 182.4,   7.9

2025-08-09T17:11:09.353Z,1754759469.353 [DAT](INFO): #Rx 4: Read range and direction messages.
2025-08-09T17:11:09.354Z,1754759469.354 [DAT](INFO): direction in FSK: [-0.989641,-0.041478,-0.137445]
2025-08-09T17:11:09.369Z,1754759469.369 [DAT](INFO): publishing direction and range info
2025-08-09T17:11:09.390Z,1754759469.390 [DAT](INFO): checking for new query: numPingsReceived=4, elapsed TxPingTime=4.092334
2025-08-09T17:11:09.564Z,1754759469.564 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 22.500000 m,
      deltaT: 0.508775 s,
      deltaX: 0.100000 m,
      approachRate: 0.196551 m/s,
      rangeRepo size: 4

2025-08-09T17:11:09.566Z,1754759469.566 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 22.500000 m,
      bearing: 9.454973 deg,
      lat: 36.906106 deg,
      lon: -122.115872 deg,
      deltaT: 0.508775 s,
      deltaX: 0.100000 m,
      approachRate: 0.196551 m/s,
      posRepo size: 4

2025-08-09T17:11:09.571Z,1754759469.571 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 22.50 m.
2025-08-09T17:11:09.579Z,1754759469.579 [DAT](INFO): checking for new query: numPingsReceived=4, elapsed TxPingTime=4.281594
2025-08-09T17:11:09.832Z,1754759469.832 [DAT](INFO): DAT read: Rx Time:17:11:08.8979 

2025-08-09T17:11:09.833Z,1754759469.833 [DAT](INFO): Rx dataTimestamp_ set to:1754759469.832299
2025-08-09T17:11:09.834Z,1754759469.834 [DAT](INFO): DAT read: Bearing 158.3,  -0.9 (Local)

2025-08-09T17:11:09.834Z,1754759469.834 [DAT](INFO): Local bearing/azimuth received:
 Bearing 158.3,  -0.9 (Local)

2025-08-09T17:11:09.836Z,1754759469.836 [DAT](INFO): DAT read: Range 11 to 50 :    22.4 m (trip time 14.9 ms) speed -0.3

2025-08-09T17:11:09.842Z,1754759469.842 [DAT](INFO): DAT read: 17:11:08.8979 LVL= 31440, 21617, 32754, 32755, AGC= 66, IDX= 508, 0.38,-2.790,-0.853,-2.601,-2.190, PHS=-0.498, 1.382,-0.455, RAW= 328.8,  -4.7, CAL= 328.2,  -7.8, ROT= 181.8,   7.8

2025-08-09T17:11:09.844Z,1754759469.844 [DAT](INFO): got valid direction response:
 17:11:08.8979 LVL= 31440, 21617, 32754, 32755, AGC= 66, IDX= 508, 0.38,-2.790,-0.853,-2.601,-2.190, PHS=-0.498, 1.382,-0.455, RAW= 328.8,  -4.7, CAL= 328.2,  -7.8, ROT= 181.8,   7.8

2025-08-09T17:11:09.844Z,1754759469.844 [DAT](INFO): #Rx 5: Read range and direction messages.
2025-08-09T17:11:09.846Z,1754759469.846 [DAT](INFO): direction in FSK: [-0.990259,-0.031120,-0.135716]
2025-08-09T17:11:09.846Z,1754759469.846 [DAT](INFO): publishing direction and range info
2025-08-09T17:11:09.852Z,1754759469.852 [DAT](INFO): checking for new query: numPingsReceived=5, elapsed TxPingTime=4.553594
2025-08-09T17:11:10.001Z,1754759470.001 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 22.400000 m,
      deltaT: 0.498595 s,
      deltaX: -0.100000 m,
      approachRate: -0.200564 m/s,
      rangeRepo size: 4

2025-08-09T17:11:10.007Z,1754759470.007 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 22.400000 m,
      bearing: 9.457681 deg,
      lat: 36.906106 deg,
      lon: -122.115872 deg,
      deltaT: 0.498595 s,
      deltaX: -0.100000 m,
      approachRate: -0.200564 m/s,
      posRepo size: 4

2025-08-09T17:11:10.008Z,1754759470.008 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 22.40 m.
2025-08-09T17:11:10.083Z,1754759470.083 [DAT](INFO): checking for new query: numPingsReceived=5, elapsed TxPingTime=4.785647
2025-08-09T17:11:10.336Z,1754759470.336 [DAT](INFO): DAT read: Rx Time:17:11:09.3981 

2025-08-09T17:11:10.337Z,1754759470.337 [DAT](INFO): Rx dataTimestamp_ set to:1754759470.336233
2025-08-09T17:11:10.338Z,1754759470.338 [DAT](INFO): DAT read: Bearing 158.0,  -1.3 (Local)

2025-08-09T17:11:10.338Z,1754759470.338 [DAT](INFO): Local bearing/azimuth received:
 Bearing 158.0,  -1.3 (Local)

2025-08-09T17:11:10.340Z,1754759470.340 [DAT](INFO): DAT read: Range 11 to 50 :    22.7 m (trip time 15.1 ms) speed 0.0

2025-08-09T17:11:10.345Z,1754759470.345 [DAT](INFO): DAT read: 17:11:09.3981 LVL= 32752, 25713, 32754, 32755, AGC= 66, IDX= 510, 0.20,-1.232, 0.733,-1.029,-0.609, PHS=-0.520, 1.388,-0.463, RAW= 328.5,  -4.3, CAL= 327.8,  -7.4, ROT= 182.2,   7.4

2025-08-09T17:11:10.346Z,1754759470.346 [DAT](INFO): got valid direction response:
 17:11:09.3981 LVL= 32752, 25713, 32754, 32755, AGC= 66, IDX= 510, 0.20,-1.232, 0.733,-1.029,-0.609, PHS=-0.520, 1.388,-0.463, RAW= 328.5,  -4.3, CAL= 327.8,  -7.4, ROT= 182.2,   7.4

2025-08-09T17:11:10.346Z,1754759470.346 [DAT](INFO): #Rx 6: Read range and direction messages.
2025-08-09T17:11:10.347Z,1754759470.347 [DAT](INFO): direction in FSK: [-0.990940,-0.038068,-0.128796]
2025-08-09T17:11:10.348Z,1754759470.348 [DAT](INFO): publishing direction and range info
2025-08-09T17:11:10.355Z,1754759470.355 [DAT](INFO): checking for new query: numPingsReceived=6, elapsed TxPingTime=5.057379
2025-08-09T17:11:10.553Z,1754759470.553 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 22.700001 m,
      deltaT: 0.503934 s,
      deltaX: 0.300001 m,
      approachRate: 0.595318 m/s,
      rangeRepo size: 4

2025-08-09T17:11:10.559Z,1754759470.559 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 22.700001 m,
      bearing: 9.529484 deg,
      lat: 36.906106 deg,
      lon: -122.115871 deg,
      deltaT: 0.503934 s,
      deltaX: 0.300001 m,
      approachRate: 0.595318 m/s,
      posRepo size: 4

2025-08-09T17:11:10.560Z,1754759470.560 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 22.70 m.
2025-08-09T17:11:10.587Z,1754759470.587 [DAT](INFO): checking for new query: numPingsReceived=6, elapsed TxPingTime=5.289619
2025-08-09T17:11:10.841Z,1754759470.841 [DAT](INFO): DAT read: Rx Time:17:11:09.8981 

2025-08-09T17:11:10.841Z,1754759470.841 [DAT](INFO): Rx dataTimestamp_ set to:1754759470.840995
2025-08-09T17:11:10.843Z,1754759470.843 [DAT](INFO): DAT read: Bearing 158.6,  -0.8 (Local)

2025-08-09T17:11:10.844Z,1754759470.844 [DAT](INFO): Local bearing/azimuth received:
 Bearing 158.6,  -0.8 (Local)

2025-08-09T17:11:10.847Z,1754759470.847 [DAT](INFO): DAT read: Range 11 to 50 :    22.7 m (trip time 15.1 ms) speed -0.3

2025-08-09T17:11:10.853Z,1754759470.853 [DAT](INFO): DAT read: 17:11:09.8981 LVL= 32752, 21345, 32754, 32755, AGC= 65, IDX= 510, 0.05,-2.269,-0.368,-2.083,-1.685, PHS=-0.482, 1.361,-0.442, RAW= 328.9,  -4.8, CAL= 328.3,  -7.9, ROT= 181.7,   7.9

2025-08-09T17:11:10.859Z,1754759470.859 [DAT](INFO): got valid direction response:
 17:11:09.8981 LVL= 32752, 21345, 32754, 32755, AGC= 65, IDX= 510, 0.05,-2.269,-0.368,-2.083,-1.685, PHS=-0.482, 1.361,-0.442, RAW= 328.9,  -4.8, CAL= 328.3,  -7.9, ROT= 181.7,   7.9

2025-08-09T17:11:10.859Z,1754759470.859 [DAT](INFO): #Rx 7: Read range and direction messages.
2025-08-09T17:11:10.861Z,1754759470.861 [DAT](INFO): direction in FSK: [-0.990074,-0.029385,-0.137445]
2025-08-09T17:11:10.861Z,1754759470.861 [DAT](INFO): publishing direction and range info
2025-08-09T17:11:10.898Z,1754759470.898 [DAT](INFO): checking for new query: numPingsReceived=7, elapsed TxPingTime=5.572325
2025-08-09T17:11:10.952Z,1754759470.952 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 22.700001 m,
      deltaT: 0.504762 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-08-09T17:11:10.954Z,1754759470.954 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 22.700001 m,
      bearing: 9.531285 deg,
      lat: 36.906106 deg,
      lon: -122.115871 deg,
      deltaT: 0.504762 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      posRepo size: 4

2025-08-09T17:11:10.958Z,1754759470.958 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 22.70 m.
2025-08-09T17:11:11.092Z,1754759471.092 [DAT](INFO): checking for new query: numPingsReceived=7, elapsed TxPingTime=5.793696
2025-08-09T17:11:11.347Z,1754759471.347 [DAT](INFO): DAT read: Rx Time:17:11:10.3983 

2025-08-09T17:11:11.349Z,1754759471.349 [DAT](INFO): Rx dataTimestamp_ set to:1754759471.347962
2025-08-09T17:11:11.353Z,1754759471.353 [DAT](INFO): DAT read: Bearing 163.8, -11.4 (Local)

2025-08-09T17:11:11.354Z,1754759471.354 [DAT](INFO): Local bearing/azimuth received:
 Bearing 163.8, -11.4 (Local)

2025-08-09T17:11:11.364Z,1754759471.364 [DAT](INFO): DAT read: Range 11 to 50 :    23.0 m (trip time 15.3 ms) speed -0.2

2025-08-09T17:11:11.369Z,1754759471.369 [DAT](INFO): DAT read: 17:11:10.3983 LVL= 32752, 24817, 32754, 32755, AGC= 67, IDX= 512,-0.12, 1.349,-2.736, 1.984, 2.035, PHS=-0.584, 1.558,-0.094, RAW= 317.4,  -9.1, CAL= 317.2, -12.6, ROT= 192.8,  12.6

2025-08-09T17:11:11.371Z,1754759471.371 [DAT](INFO): got valid direction response:
 17:11:10.3983 LVL= 32752, 24817, 32754, 32755, AGC= 67, IDX= 512,-0.12, 1.349,-2.736, 1.984, 2.035, PHS=-0.584, 1.558,-0.094, RAW= 317.4,  -9.1, CAL= 317.2, -12.6, ROT= 192.8,  12.6

2025-08-09T17:11:11.371Z,1754759471.371 [DAT](INFO): #Rx 8: Read range and direction messages.
2025-08-09T17:11:11.372Z,1754759471.372 [DAT](INFO): direction in FSK: [-0.951665,-0.216213,-0.218143]
2025-08-09T17:11:11.372Z,1754759471.372 [DAT](INFO): publishing direction and range info
2025-08-09T17:11:11.380Z,1754759471.380 [DAT](INFO): checking for new query: numPingsReceived=8, elapsed TxPingTime=6.082073
2025-08-09T17:11:11.412Z,1754759471.412 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 23.000000 m,
      deltaT: 0.506967 s,
      deltaX: 0.299999 m,
      approachRate: 0.591753 m/s,
      rangeRepo size: 4

2025-08-09T17:11:11.414Z,1754759471.414 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 23.000000 m,
      bearing: 9.560534 deg,
      lat: 36.906106 deg,
      lon: -122.115871 deg,
      deltaT: 0.506967 s,
      deltaX: 0.299999 m,
      approachRate: 0.591753 m/s,
      posRepo size: 4

2025-08-09T17:11:11.419Z,1754759471.419 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 23.00 m.
2025-08-09T17:11:11.596Z,1754759471.596 [DAT](INFO): checking for new query: numPingsReceived=8, elapsed TxPingTime=6.298243
2025-08-09T17:11:11.849Z,1754759471.849 [DAT](INFO): DAT read: Rx Time:17:11:10.8983 

2025-08-09T17:11:11.850Z,1754759471.850 [DAT](INFO): Rx dataTimestamp_ set to:1754759471.849016
2025-08-09T17:11:11.851Z,1754759471.851 [DAT](INFO): DAT read: Bearing 152.1,  -1.3 (Local)

2025-08-09T17:11:11.852Z,1754759471.852 [DAT](INFO): Local bearing/azimuth received:
 Bearing 152.1,  -1.3 (Local)

2025-08-09T17:11:11.855Z,1754759471.855 [DAT](INFO): DAT read: Range 11 to 50 :    23.0 m (trip time 15.3 ms) speed -0.1

2025-08-09T17:11:11.877Z,1754759471.877 [DAT](INFO): DAT read: 17:11:10.8983 LVL= 32752, 23633, 32674, 32755, AGC= 66, IDX= 512,-0.24,-1.155, 0.650,-0.979,-0.420, PHS=-0.633, 1.114,-0.604, RAW= 329.1,   1.4, CAL= 328.0,  -1.4, ROT= 182.0,   1.4

2025-08-09T17:11:11.878Z,1754759471.878 [DAT](INFO): got valid direction response:
 17:11:10.8983 LVL= 32752, 23633, 32674, 32755, AGC= 66, IDX= 512,-0.24,-1.155, 0.650,-0.979,-0.420, PHS=-0.633, 1.114,-0.604, RAW= 329.1,   1.4, CAL= 328.0,  -1.4, ROT= 182.0,   1.4

2025-08-09T17:11:11.879Z,1754759471.879 [DAT](INFO): #Rx 9: Read range and direction messages.
2025-08-09T17:11:11.880Z,1754759471.880 [DAT](INFO): direction in FSK: [-0.999093,-0.034889,-0.024432]
2025-08-09T17:11:11.880Z,1754759471.880 [DAT](INFO): publishing direction and range info
2025-08-09T17:11:11.892Z,1754759471.892 [DAT](INFO): checking for new query: numPingsReceived=9, elapsed TxPingTime=6.594415
2025-08-09T17:11:11.899Z,1754759471.899 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 23.000000 m,
      deltaT: 0.501054 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-08-09T17:11:11.901Z,1754759471.901 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 23.000000 m,
      bearing: 9.339819 deg,
      lat: 36.906106 deg,
      lon: -122.115872 deg,
      deltaT: 0.501054 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      posRepo size: 4

2025-08-09T17:11:11.902Z,1754759471.902 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 23.00 m.
2025-08-09T17:11:12.099Z,1754759472.099 [DAT](INFO): checking for new query: numPingsReceived=9, elapsed TxPingTime=6.801557
2025-08-09T17:11:12.202Z,1754759472.202 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 23.00 m.
2025-08-09T17:11:12.355Z,1754759472.355 [DAT](INFO): DAT read: Rx Time:17:11:11.3984 

2025-08-09T17:11:12.356Z,1754759472.356 [DAT](INFO): Rx dataTimestamp_ set to:1754759472.355089
2025-08-09T17:11:12.360Z,1754759472.360 [DAT](INFO): DAT read: Range 11 to 50 :    23.1 m (trip time 15.4 ms) speed -0.2

2025-08-09T17:11:12.362Z,1754759472.362 [DAT](ERROR): #Rx 10: Read range message, but no direction.
2025-08-09T17:11:12.364Z,1754759472.364 [DAT](INFO): checking for new query: numPingsReceived=10, elapsed TxPingTime=7.066697
2025-08-09T17:11:12.570Z,1754759472.570 [RDI_Pathfinder](ERROR): only read 3 of 4 data items for beam range. Device response is::RA,  0.00,  75.99,  72.26,  75.31
2025-08-09T17:11:12.590Z,1754759472.590 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 23.100000 m,
      deltaT: 0.506073 s,
      deltaX: 0.100000 m,
      approachRate: 0.197601 m/s,
      rangeRepo size: 4

2025-08-09T17:11:12.591Z,1754759472.591 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 23.00 m.
2025-08-09T17:11:12.603Z,1754759472.603 [DAT](INFO): checking for new query: numPingsReceived=10, elapsed TxPingTime=7.305454
2025-08-09T17:11:12.856Z,1754759472.856 [DAT](INFO): DAT read: Rx Time:17:11:11.8984 

2025-08-09T17:11:12.857Z,1754759472.857 [DAT](INFO): Rx dataTimestamp_ set to:1754759472.856856
2025-08-09T17:11:12.859Z,1754759472.859 [DAT](INFO): DAT read: Bearing 146.1,  11.5 (Local)

2025-08-09T17:11:12.859Z,1754759472.859 [DAT](INFO): Local bearing/azimuth received:
 Bearing 146.1,  11.5 (Local)

2025-08-09T17:11:12.862Z,1754759472.862 [DAT](INFO): DAT read: Range 11 to 50 :    23.1 m (trip time 15.4 ms) speed 0.0

2025-08-09T17:11:12.868Z,1754759472.868 [DAT](INFO): DAT read: 17:11:11.8984 LVL= 32752, 24945, 32754, 32755, AGC= 67, IDX= 513, 0.11, 1.757,-2.888, 1.494, 2.417, PHS=-0.557, 1.024,-0.967, RAW= 341.2,   5.5, CAL= 340.9,   4.2, ROT= 169.1,  -4.2

2025-08-09T17:11:12.870Z,1754759472.870 [DAT](INFO): got valid direction response:
 17:11:11.8984 LVL= 32752, 24945, 32754, 32755, AGC= 67, IDX= 513, 0.11, 1.757,-2.888, 1.494, 2.417, PHS=-0.557, 1.024,-0.967, RAW= 341.2,   5.5, CAL= 340.9,   4.2, ROT= 169.1,  -4.2

2025-08-09T17:11:12.871Z,1754759472.871 [DAT](INFO): #Rx 11: Read range and direction messages.
2025-08-09T17:11:12.872Z,1754759472.872 [DAT](INFO): direction in FSK: [-0.979322,0.188588,0.073238]
2025-08-09T17:11:12.872Z,1754759472.872 [DAT](INFO): publishing direction and range info
2025-08-09T17:11:12.877Z,1754759472.877 [DAT](INFO): checking for new query: numPingsReceived=11, elapsed TxPingTime=7.579154
2025-08-09T17:11:13.056Z,1754759473.056 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 23.100000 m,
      deltaT: 0.501767 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-08-09T17:11:13.062Z,1754759473.062 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 23.100000 m,
      bearing: 9.238052 deg,
      lat: 36.906108 deg,
      lon: -122.115872 deg,
      deltaT: 1.007840 s,
      deltaX: 0.100000 m,
      approachRate: 0.099222 m/s,
      posRepo size: 4

2025-08-09T17:11:13.063Z,1754759473.063 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 23.10 m.
2025-08-09T17:11:13.108Z,1754759473.108 [DAT](INFO): checking for new query: numPingsReceived=11, elapsed TxPingTime=7.809813
2025-08-09T17:11:13.364Z,1754759473.364 [DAT](INFO): DAT read: Rx Time:17:11:12.3985 

2025-08-09T17:11:13.365Z,1754759473.365 [DAT](INFO): Rx dataTimestamp_ set to:1754759473.364320
2025-08-09T17:11:13.375Z,1754759473.375 [DAT](INFO): DAT read: Bearing 158.6,  -1.0 (Local)

2025-08-09T17:11:13.376Z,1754759473.376 [DAT](INFO): Local bearing/azimuth received:
 Bearing 158.6,  -1.0 (Local)

2025-08-09T17:11:13.386Z,1754759473.386 [DAT](INFO): DAT read: Range 11 to 50 :    23.3 m (trip time 15.5 ms) speed -0.4

2025-08-09T17:11:13.417Z,1754759473.417 [DAT](INFO): DAT read: 17:11:12.3985 LVL= 27216, 25745, 32754, 29011, AGC= 72, IDX=   2,-0.10, 1.382,-2.921, 1.580, 1.996, PHS=-0.511, 1.412,-0.460, RAW= 328.7,  -4.7, CAL= 328.0,  -7.8, ROT= 182.0,   7.8

2025-08-09T17:11:13.443Z,1754759473.443 [DAT](INFO): got valid direction response:
 17:11:12.3985 LVL= 27216, 25745, 32754, 29011, AGC= 72, IDX=   2,-0.10, 1.382,-2.921, 1.580, 1.996, PHS=-0.511, 1.412,-0.460, RAW= 328.7,  -4.7, CAL= 328.0,  -7.8, ROT= 182.0,   7.8

2025-08-09T17:11:13.443Z,1754759473.443 [DAT](INFO): #Rx 12: Read range and direction messages.
2025-08-09T17:11:13.444Z,1754759473.444 [DAT](INFO): direction in FSK: [-0.990144,-0.034576,-0.135716]
2025-08-09T17:11:13.444Z,1754759473.444 [DAT](INFO): publishing direction and range info
2025-08-09T17:11:13.461Z,1754759473.461 [DAT](INFO): checking for new query: numPingsReceived=12, elapsed TxPingTime=8.162889
2025-08-09T17:11:13.533Z,1754759473.533 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 23.299999 m,
      deltaT: 0.507464 s,
      deltaX: 0.199999 m,
      approachRate: 0.394114 m/s,
      rangeRepo size: 4

2025-08-09T17:11:13.542Z,1754759473.542 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 23.299999 m,
      bearing: 9.273750 deg,
      lat: 36.906108 deg,
      lon: -122.115872 deg,
      deltaT: 0.507464 s,
      deltaX: 0.199999 m,
      approachRate: 0.394114 m/s,
      posRepo size: 4

2025-08-09T17:11:13.551Z,1754759473.551 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 23.30 m.
2025-08-09T17:11:13.612Z,1754759473.612 [DAT](INFO): checking for new query: numPingsReceived=12, elapsed TxPingTime=8.314225
2025-08-09T17:11:13.817Z,1754759473.817 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 23.30 m.
2025-08-09T17:11:13.865Z,1754759473.865 [DAT](INFO): DAT read: Rx Time:17:11:12.8985 

2025-08-09T17:11:13.865Z,1754759473.865 [DAT](INFO): Rx dataTimestamp_ set to:1754759473.865197
2025-08-09T17:11:13.869Z,1754759473.869 [DAT](INFO): DAT read: Bearing 157.5,  -0.8 (Local)

2025-08-09T17:11:13.869Z,1754759473.869 [DAT](INFO): Local bearing/azimuth received:
 Bearing 157.5,  -0.8 (Local)

2025-08-09T17:11:13.873Z,1754759473.873 [DAT](INFO): DAT read: Range 11 to 50 :    23.3 m (trip time 15.5 ms) speed -0.2

2025-08-09T17:11:13.886Z,1754759473.886 [DAT](INFO): DAT read: 17:11:12.8985 LVL= 32752, 26097, 32754, 32755, AGC= 69, IDX= 498,-0.47, 0.688, 2.660, 0.869, 1.328, PHS=-0.538, 1.377,-0.502, RAW= 329.1,  -3.6, CAL= 328.3,  -6.6, ROT= 181.7,   6.6

2025-08-09T17:11:13.887Z,1754759473.887 [DAT](INFO): got valid direction response:
 17:11:12.8985 LVL= 32752, 26097, 32754, 32755, AGC= 69, IDX= 498,-0.47, 0.688, 2.660, 0.869, 1.328, PHS=-0.538, 1.377,-0.502, RAW= 329.1,  -3.6, CAL= 328.3,  -6.6, ROT= 181.7,   6.6

2025-08-09T17:11:13.888Z,1754759473.888 [DAT](INFO): #Rx 13: Read range and direction messages.
2025-08-09T17:11:13.889Z,1754759473.889 [DAT](INFO): direction in FSK: [-0.992936,-0.029470,-0.114937]
2025-08-09T17:11:13.889Z,1754759473.889 [DAT](INFO): publishing direction and range info
2025-08-09T17:11:13.897Z,1754759473.897 [DAT](INFO): checking for new query: numPingsReceived=13, elapsed TxPingTime=8.598847
2025-08-09T17:11:14.117Z,1754759474.117 [DAT](INFO): checking for new query: numPingsReceived=13, elapsed TxPingTime=8.818567
2025-08-09T17:11:14.288Z,1754759474.288 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 23.299999 m,
      deltaT: 0.500877 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-08-09T17:11:14.290Z,1754759474.290 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 23.299999 m,
      bearing: 9.251387 deg,
      lat: 36.906108 deg,
      lon: -122.115872 deg,
      deltaT: 0.500877 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      posRepo size: 4

2025-08-09T17:11:14.294Z,1754759474.294 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 23.30 m.
2025-08-09T17:11:14.375Z,1754759474.375 [DAT](INFO): DAT read: Rx Time:17:11:13.3986 

2025-08-09T17:11:14.376Z,1754759474.376 [DAT](INFO): Rx dataTimestamp_ set to:1754759474.375495
2025-08-09T17:11:14.382Z,1754759474.382 [DAT](INFO): DAT read: Bearing 158.4,  -0.7 (Local)

2025-08-09T17:11:14.383Z,1754759474.383 [DAT](INFO): Local bearing/azimuth received:
 Bearing 158.4,  -0.7 (Local)

2025-08-09T17:11:14.405Z,1754759474.405 [DAT](INFO): DAT read: Range 11 to 50 :    23.4 m (trip time 15.6 ms) speed -0.3

2025-08-09T17:11:14.420Z,1754759474.420 [DAT](INFO): DAT read: 17:11:13.3986 LVL= 32752, 23409, 32754, 32755, AGC= 70, IDX= 499, 0.15, 2.773,-1.613, 2.952,-2.915, PHS=-0.494, 1.347,-0.461, RAW= 329.1,  -4.3, CAL= 328.4,  -7.4, ROT= 181.6,   7.4

2025-08-09T17:11:14.421Z,1754759474.421 [DAT](INFO): got valid direction response:
 17:11:13.3986 LVL= 32752, 23409, 32754, 32755, AGC= 70, IDX= 499, 0.15, 2.773,-1.613, 2.952,-2.915, PHS=-0.494, 1.347,-0.461, RAW= 329.1,  -4.3, CAL= 328.4,  -7.4, ROT= 181.6,   7.4

2025-08-09T17:11:14.421Z,1754759474.421 [DAT](INFO): #Rx 14: Read range and direction messages.
2025-08-09T17:11:14.431Z,1754759474.431 [DAT](INFO): direction in FSK: [-0.991285,-0.027689,-0.128796]
2025-08-09T17:11:14.432Z,1754759474.432 [DAT](INFO): publishing direction and range info
2025-08-09T17:11:14.443Z,1754759474.443 [DAT](INFO): checking for new query: numPingsReceived=14, elapsed TxPingTime=9.145546
2025-08-09T17:11:14.621Z,1754759474.621 [DAT](INFO): checking for new query: numPingsReceived=14, elapsed TxPingTime=9.322529
2025-08-09T17:11:14.679Z,1754759474.679 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 23.400000 m,
      deltaT: 0.510298 s,
      deltaX: 0.100000 m,
      approachRate: 0.195965 m/s,
      rangeRepo size: 4

2025-08-09T17:11:14.681Z,1754759474.681 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 23.400000 m,
      bearing: 9.139163 deg,
      lat: 36.906107 deg,
      lon: -122.115873 deg,
      deltaT: 0.510298 s,
      deltaX: 0.100000 m,
      approachRate: 0.195965 m/s,
      posRepo size: 4

2025-08-09T17:11:14.682Z,1754759474.682 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 23.40 m.
2025-08-09T17:11:14.873Z,1754759474.873 [DAT](INFO): DAT read: Rx Time:17:11:13.8986 

2025-08-09T17:11:14.873Z,1754759474.873 [DAT](INFO): Rx dataTimestamp_ set to:1754759474.872844
2025-08-09T17:11:14.875Z,1754759474.875 [DAT](INFO): DAT read: Bearing 159.2,  -0.8 (Local)

2025-08-09T17:11:14.876Z,1754759474.876 [DAT](INFO): Local bearing/azimuth received:
 Bearing 159.2,  -0.8 (Local)

2025-08-09T17:11:14.878Z,1754759474.878 [DAT](INFO): DAT read: Range 11 to 50 :    23.4 m (trip time 15.6 ms) speed 0.0

2025-08-09T17:11:14.884Z,1754759474.884 [DAT](INFO): DAT read: 17:11:13.8986 LVL= 32720, 23137, 32754, 32755, AGC= 67, IDX= 499,-0.06,-1.162, 0.758,-0.975,-0.577, PHS=-0.483, 1.380,-0.442, RAW= 328.9,  -5.0, CAL= 328.3,  -8.1, ROT= 181.7,   8.1

2025-08-09T17:11:14.885Z,1754759474.885 [DAT](INFO): got valid direction response:
 17:11:13.8986 LVL= 32720, 23137, 32754, 32755, AGC= 67, IDX= 499,-0.06,-1.162, 0.758,-0.975,-0.577, PHS=-0.483, 1.380,-0.442, RAW= 328.9,  -5.0, CAL= 328.3,  -8.1, ROT= 181.7,   8.1

2025-08-09T17:11:14.886Z,1754759474.886 [DAT](INFO): #Rx 15: Read range and direction messages.
2025-08-09T17:11:14.887Z,1754759474.887 [DAT](INFO): direction in FSK: [-0.989588,-0.029370,-0.140901]
2025-08-09T17:11:14.887Z,1754759474.887 [DAT](INFO): publishing direction and range info
2025-08-09T17:11:14.891Z,1754759474.891 [DAT](INFO): checking for new query: numPingsReceived=15, elapsed TxPingTime=9.592843
2025-08-09T17:11:15.125Z,1754759475.125 [DAT](INFO): checking for new query: numPingsReceived=15, elapsed TxPingTime=9.826480
2025-08-09T17:11:15.177Z,1754759475.177 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 23.400000 m,
      deltaT: 0.497349 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-08-09T17:11:15.184Z,1754759475.184 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 23.400000 m,
      bearing: 9.146388 deg,
      lat: 36.906107 deg,
      lon: -122.115873 deg,
      deltaT: 0.497349 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      posRepo size: 4

2025-08-09T17:11:15.184Z,1754759475.184 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 23.40 m.
2025-08-09T17:11:15.380Z,1754759475.380 [DAT](INFO): DAT read: Rx Time:17:11:14.3987 

2025-08-09T17:11:15.381Z,1754759475.381 [DAT](INFO): Rx dataTimestamp_ set to:1754759475.380178
2025-08-09T17:11:15.385Z,1754759475.385 [DAT](INFO): DAT read: Bearing 158.6,  -1.1 (Local)

2025-08-09T17:11:15.386Z,1754759475.386 [DAT](INFO): Local bearing/azimuth received:
 Bearing 158.6,  -1.1 (Local)

2025-08-09T17:11:15.394Z,1754759475.394 [DAT](INFO): DAT read: Range 11 to 50 :    23.6 m (trip time 15.7 ms) speed 0.0

2025-08-09T17:11:15.439Z,1754759475.439 [DAT](INFO): DAT read: 17:11:14.3987 LVL= 31920, 26033, 32754, 32755, AGC= 70, IDX= 500, 0.41, 2.649,-1.770, 2.842,-3.042, PHS=-0.490, 1.317,-0.443, RAW= 328.7,  -4.3, CAL= 328.0,  -7.4, ROT= 182.0,   7.4

2025-08-09T17:11:15.440Z,1754759475.440 [DAT](INFO): got valid direction response:
 17:11:14.3987 LVL= 31920, 26033, 32754, 32755, AGC= 70, IDX= 500, 0.41, 2.649,-1.770, 2.842,-3.042, PHS=-0.490, 1.317,-0.443, RAW= 328.7,  -4.3, CAL= 328.0,  -7.4, ROT= 182.0,   7.4

2025-08-09T17:11:15.440Z,1754759475.440 [DAT](INFO): #Rx 16: Read range and direction messages.
2025-08-09T17:11:15.441Z,1754759475.441 [DAT](INFO): direction in FSK: [-0.991067,-0.034609,-0.128796]
2025-08-09T17:11:15.442Z,1754759475.442 [DAT](INFO): publishing direction and range info
2025-08-09T17:11:15.459Z,1754759475.459 [DAT](INFO): checking for new query: numPingsReceived=16, elapsed TxPingTime=10.161318
2025-08-09T17:11:15.628Z,1754759475.628 [DAT](INFO): checking for new query: numPingsReceived=16, elapsed TxPingTime=10.330282
2025-08-09T17:11:15.752Z,1754759475.752 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 23.600000 m,
      deltaT: 0.507334 s,
      deltaX: 0.200001 m,
      approachRate: 0.394219 m/s,
      rangeRepo size: 4

2025-08-09T17:11:15.768Z,1754759475.768 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 23.600000 m,
      bearing: 9.163238 deg,
      lat: 36.906107 deg,
      lon: -122.115873 deg,
      deltaT: 0.507334 s,
      deltaX: 0.200001 m,
      approachRate: 0.394219 m/s,
      posRepo size: 4

2025-08-09T17:11:15.769Z,1754759475.769 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 23.60 m.
2025-08-09T17:11:15.880Z,1754759475.880 [DAT](INFO): DAT read: Rx Time:17:11:14.8987 

2025-08-09T17:11:15.881Z,1754759475.881 [DAT](INFO): Rx dataTimestamp_ set to:1754759475.880316
2025-08-09T17:11:15.882Z,1754759475.882 [DAT](INFO): DAT read: Bearing 157.8,  -0.8 (Local)

2025-08-09T17:11:15.882Z,1754759475.882 [DAT](INFO): Local bearing/azimuth received:
 Bearing 157.8,  -0.8 (Local)

2025-08-09T17:11:15.884Z,1754759475.884 [DAT](INFO): DAT read: Range 11 to 50 :    23.6 m (trip time 15.7 ms) speed 0.0

2025-08-09T17:11:15.889Z,1754759475.889 [DAT](INFO): DAT read: 17:11:14.8987 LVL= 32752, 26577, 32754, 32755, AGC= 68, IDX= 500,-0.01, 1.168, 3.093, 1.350, 1.798, PHS=-0.528, 1.340,-0.493, RAW= 329.0,  -3.5, CAL= 328.3,  -6.5, ROT= 181.7,   6.5

2025-08-09T17:11:15.890Z,1754759475.890 [DAT](INFO): got valid direction response:
 17:11:14.8987 LVL= 32752, 26577, 32754, 32755, AGC= 68, IDX= 500,-0.01, 1.168, 3.093, 1.350, 1.798, PHS=-0.528, 1.340,-0.493, RAW= 329.0,  -3.5, CAL= 328.3,  -6.5, ROT= 181.7,   6.5

2025-08-09T17:11:15.891Z,1754759475.891 [DAT](INFO): #Rx 17: Read range and direction messages.
2025-08-09T17:11:15.892Z,1754759475.892 [DAT](INFO): direction in FSK: [-0.993135,-0.029476,-0.113203]
2025-08-09T17:11:15.892Z,1754759475.892 [DAT](INFO): publishing direction and range info
2025-08-09T17:11:15.895Z,1754759475.895 [DAT](INFO): checking for new query: numPingsReceived=17, elapsed TxPingTime=10.597502
2025-08-09T17:11:16.133Z,1754759476.133 [DAT](INFO): checking for new query: numPingsReceived=17, elapsed TxPingTime=10.834533
2025-08-09T17:11:16.185Z,1754759476.185 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 23.600000 m,
      deltaT: 0.500138 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-08-09T17:11:16.187Z,1754759476.187 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 23.600000 m,
      bearing: 9.150020 deg,
      lat: 36.906107 deg,
      lon: -122.115873 deg,
      deltaT: 0.500138 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      posRepo size: 4

2025-08-09T17:11:16.187Z,1754759476.187 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 23.60 m.
2025-08-09T17:11:16.388Z,1754759476.388 [DAT](INFO): DAT read: Rx Time:17:11:15.3988 

2025-08-09T17:11:16.389Z,1754759476.389 [DAT](INFO): Rx dataTimestamp_ set to:1754759476.388435
2025-08-09T17:11:16.393Z,1754759476.393 [DAT](INFO): DAT read: Bearing 159.1,  -0.5 (Local)

2025-08-09T17:11:16.395Z,1754759476.395 [DAT](INFO): Local bearing/azimuth received:
 Bearing 159.1,  -0.5 (Local)

2025-08-09T17:11:16.401Z,1754759476.401 [DAT](INFO): DAT read: Range 11 to 50 :    23.7 m (trip time 15.8 ms) speed 0.0

2025-08-09T17:11:16.417Z,1754759476.417 [DAT](INFO): DAT read: 17:11:15.3988 LVL= 29088, 20449, 32754, 32755, AGC= 67, IDX= 502,-0.43, 1.884,-2.468, 2.059, 2.476, PHS=-0.490, 1.385,-0.461, RAW= 329.2,  -4.7, CAL= 328.6,  -7.8, ROT= 181.4,   7.8

2025-08-09T17:11:16.428Z,1754759476.428 [DAT](INFO): got valid direction response:
 17:11:15.3988 LVL= 29088, 20449, 32754, 32755, AGC= 67, IDX= 502,-0.43, 1.884,-2.468, 2.059, 2.476, PHS=-0.490, 1.385,-0.461, RAW= 329.2,  -4.7, CAL= 328.6,  -7.8, ROT= 181.4,   7.8

2025-08-09T17:11:16.428Z,1754759476.428 [DAT](INFO): #Rx 18: Read range and direction messages.
2025-08-09T17:11:16.429Z,1754759476.429 [DAT](INFO): direction in FSK: [-0.990452,-0.024206,-0.135716]
2025-08-09T17:11:16.430Z,1754759476.430 [DAT](INFO): publishing direction and range info
2025-08-09T17:11:16.461Z,1754759476.461 [DAT](INFO): checking for new query: numPingsReceived=18, elapsed TxPingTime=11.163476
2025-08-09T17:11:16.636Z,1754759476.636 [DAT](INFO): checking for new query: numPingsReceived=18, elapsed TxPingTime=11.338444
2025-08-09T17:11:16.681Z,1754759476.681 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 23.700001 m,
      deltaT: 0.508119 s,
      deltaX: 0.100000 m,
      approachRate: 0.196805 m/s,
      rangeRepo size: 4

2025-08-09T17:11:16.687Z,1754759476.687 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 23.700001 m,
      bearing: 9.121453 deg,
      lat: 36.906107 deg,
      lon: -122.115873 deg,
      deltaT: 0.508119 s,
      deltaX: 0.100000 m,
      approachRate: 0.196805 m/s,
      posRepo size: 4

2025-08-09T17:11:16.688Z,1754759476.688 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 23.70 m.
2025-08-09T17:11:16.889Z,1754759476.889 [DAT](INFO): DAT read: Rx Time:17:11:15.8988 

2025-08-09T17:11:16.889Z,1754759476.889 [DAT](INFO): Rx dataTimestamp_ set to:1754759476.888919
2025-08-09T17:11:16.892Z,1754759476.892 [DAT](INFO): DAT read: Bearing 159.1,  -0.6 (Local)

2025-08-09T17:11:16.893Z,1754759476.893 [DAT](INFO): Local bearing/azimuth received:
 Bearing 159.1,  -0.6 (Local)

2025-08-09T17:11:16.896Z,1754759476.896 [DAT](INFO): DAT read: Range 11 to 50 :    23.7 m (trip time 15.8 ms) speed -0.2

2025-08-09T17:11:16.902Z,1754759476.902 [DAT](INFO): DAT read: 17:11:15.8988 LVL= 31376, 23153, 32754, 32755, AGC= 69, IDX= 501, 0.07, 2.338,-2.000, 2.517, 2.938, PHS=-0.498, 1.390,-0.466, RAW= 329.1,  -4.6, CAL= 328.5,  -7.7, ROT= 181.5,   7.7

2025-08-09T17:11:16.904Z,1754759476.904 [DAT](INFO): got valid direction response:
 17:11:15.8988 LVL= 31376, 23153, 32754, 32755, AGC= 69, IDX= 501, 0.07, 2.338,-2.000, 2.517, 2.938, PHS=-0.498, 1.390,-0.466, RAW= 329.1,  -4.6, CAL= 328.5,  -7.7, ROT= 181.5,   7.7

2025-08-09T17:11:16.904Z,1754759476.904 [DAT](INFO): #Rx 19: Read range and direction messages.
2025-08-09T17:11:16.905Z,1754759476.905 [DAT](INFO): direction in FSK: [-0.990644,-0.025941,-0.133986]
2025-08-09T17:11:16.906Z,1754759476.906 [DAT](INFO): publishing direction and range info
2025-08-09T17:11:16.929Z,1754759476.929 [DAT](INFO): checking for new query: numPingsReceived=19, elapsed TxPingTime=11.631275
2025-08-09T17:11:17.104Z,1754759477.104 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 23.700001 m,
      deltaT: 0.500484 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-08-09T17:11:17.106Z,1754759477.106 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 23.700001 m,
      bearing: 9.186030 deg,
      lat: 36.906107 deg,
      lon: -122.115872 deg,
      deltaT: 0.500484 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      posRepo size: 4

2025-08-09T17:11:17.107Z,1754759477.107 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 23.70 m.
2025-08-09T17:11:17.140Z,1754759477.140 [DAT](INFO): checking for new query: numPingsReceived=19, elapsed TxPingTime=11.841924
2025-08-09T17:11:17.395Z,1754759477.395 [DAT](INFO): DAT read: Rx Time:17:11:16.3989 

2025-08-09T17:11:17.396Z,1754759477.396 [DAT](INFO): Rx dataTimestamp_ set to:1754759477.395560
2025-08-09T17:11:17.400Z,1754759477.400 [DAT](INFO): DAT read: Bearing 159.4,  -0.6 (Local)

2025-08-09T17:11:17.401Z,1754759477.401 [DAT](INFO): Local bearing/azimuth received:
 Bearing 159.4,  -0.6 (Local)

2025-08-09T17:11:17.410Z,1754759477.410 [DAT](INFO): DAT read: Range 11 to 50 :    23.9 m (trip time 15.9 ms) speed -0.2

2025-08-09T17:11:17.454Z,1754759477.454 [DAT](INFO): DAT read: 17:11:16.3989 LVL= 28944, 22881, 32754, 32755, AGC= 67, IDX= 502,-0.32, 1.788,-2.603, 1.963, 2.369, PHS=-0.479, 1.356,-0.450, RAW= 329.2,  -4.7, CAL= 328.6,  -7.8, ROT= 181.4,   7.8

2025-08-09T17:11:17.456Z,1754759477.456 [DAT](INFO): got valid direction response:
 17:11:16.3989 LVL= 28944, 22881, 32754, 32755, AGC= 67, IDX= 502,-0.32, 1.788,-2.603, 1.963, 2.369, PHS=-0.479, 1.356,-0.450, RAW= 329.2,  -4.7, CAL= 328.6,  -7.8, ROT= 181.4,   7.8

2025-08-09T17:11:17.456Z,1754759477.456 [DAT](INFO): #Rx 20: Read range and direction messages.
2025-08-09T17:11:17.457Z,1754759477.457 [DAT](INFO): direction in FSK: [-0.990452,-0.024206,-0.135716]
2025-08-09T17:11:17.457Z,1754759477.457 [DAT](INFO): publishing direction and range info
2025-08-09T17:11:17.486Z,1754759477.486 [DAT](INFO): checking for new query: numPingsReceived=20, elapsed TxPingTime=12.168207
2025-08-09T17:11:17.611Z,1754759477.611 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 23.900000 m,
      deltaT: 0.506641 s,
      deltaX: 0.199999 m,
      approachRate: 0.394755 m/s,
      rangeRepo size: 4

2025-08-09T17:11:17.620Z,1754759477.620 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 23.900000 m,
      bearing: 9.164127 deg,
      lat: 36.906107 deg,
      lon: -122.115872 deg,
      deltaT: 0.506641 s,
      deltaX: 0.199999 m,
      approachRate: 0.394755 m/s,
      posRepo size: 4

2025-08-09T17:11:17.621Z,1754759477.621 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 23.90 m.
2025-08-09T17:11:17.644Z,1754759477.644 [DAT](INFO): checking for new query: numPingsReceived=20, elapsed TxPingTime=12.345680
2025-08-09T17:11:17.896Z,1754759477.897 [DAT](INFO): DAT read: Rx Time:17:11:16.8988 

2025-08-09T17:11:17.897Z,1754759477.897 [DAT](INFO): Rx dataTimestamp_ set to:1754759477.896687
2025-08-09T17:11:17.899Z,1754759477.899 [DAT](INFO): DAT read: Bearing 159.7,  -0.7 (Local)

2025-08-09T17:11:17.900Z,1754759477.900 [DAT](INFO): Local bearing/azimuth received:
 Bearing 159.7,  -0.7 (Local)

2025-08-09T17:11:17.903Z,1754759477.903 [DAT](INFO): DAT read: Range 11 to 50 :    23.7 m (trip time 15.8 ms) speed -0.2

2025-08-09T17:11:17.908Z,1754759477.908 [DAT](INFO): DAT read: 17:11:16.8988 LVL= 32752, 24145, 32754, 32755, AGC= 69, IDX= 501, 0.16, 2.050,-2.275, 2.230, 2.642, PHS=-0.491, 1.410,-0.457, RAW= 329.1,  -5.0, CAL= 328.5,  -8.1, ROT= 181.5,   8.1

2025-08-09T17:11:17.909Z,1754759477.909 [DAT](INFO): got valid direction response:
 17:11:16.8988 LVL= 32752, 24145, 32754, 32755, AGC= 69, IDX= 501, 0.16, 2.050,-2.275, 2.230, 2.642, PHS=-0.491, 1.410,-0.457, RAW= 329.1,  -5.0, CAL= 328.5,  -8.1, ROT= 181.5,   8.1

2025-08-09T17:11:17.909Z,1754759477.909 [DAT](INFO): #Rx 21: Read range and direction messages.
2025-08-09T17:11:17.910Z,1754759477.910 [DAT](INFO): direction in FSK: [-0.989684,-0.025916,-0.140901]
2025-08-09T17:11:17.911Z,1754759477.911 [DAT](INFO): publishing direction and range info
2025-08-09T17:11:17.919Z,1754759477.919 [DAT](INFO): checking for new query: numPingsReceived=21, elapsed TxPingTime=12.621537
2025-08-09T17:11:18.080Z,1754759478.080 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 23.700001 m,
      deltaT: 0.501127 s,
      deltaX: -0.199999 m,
      approachRate: -0.399098 m/s,
      rangeRepo size: 4

2025-08-09T17:11:18.082Z,1754759478.082 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 23.700001 m,
      bearing: 9.139252 deg,
      lat: 36.906107 deg,
      lon: -122.115872 deg,
      deltaT: 0.501127 s,
      deltaX: -0.199999 m,
      approachRate: -0.399098 m/s,
      posRepo size: 4

2025-08-09T17:11:18.086Z,1754759478.086 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 23.70 m.
2025-08-09T17:11:18.148Z,1754759478.148 [DAT](INFO): checking for new query: numPingsReceived=21, elapsed TxPingTime=12.849920
2025-08-09T17:11:18.403Z,1754759478.403 [DAT](INFO): DAT read: Rx Time:17:11:17.3990 

2025-08-09T17:11:18.405Z,1754759478.405 [DAT](INFO): Rx dataTimestamp_ set to:1754759478.403748
2025-08-09T17:11:18.408Z,1754759478.408 [DAT](INFO): DAT read: Bearing 159.3,  -1.1 (Local)

2025-08-09T17:11:18.410Z,1754759478.410 [DAT](INFO): Local bearing/azimuth received:
 Bearing 159.3,  -1.1 (Local)

2025-08-09T17:11:18.448Z,1754759478.448 [DAT](INFO): DAT read: Range 11 to 50 :    24.0 m (trip time 16.0 ms) speed -0.3

2025-08-09T17:11:18.491Z,1754759478.491 [DAT](INFO): DAT read: 17:11:17.3990 LVL= 32288, 21889, 32754, 32755, AGC= 66, IDX= 503,-0.21, 1.786,-2.555, 1.978, 2.400, PHS=-0.512, 1.374,-0.466, RAW= 328.8,  -4.3, CAL= 328.1,  -7.4, ROT= 181.9,   7.4

2025-08-09T17:11:18.492Z,1754759478.492 [DAT](INFO): got valid direction response:
 17:11:17.3990 LVL= 32288, 21889, 32754, 32755, AGC= 66, IDX= 503,-0.21, 1.786,-2.555, 1.978, 2.400, PHS=-0.512, 1.374,-0.466, RAW= 328.8,  -4.3, CAL= 328.1,  -7.4, ROT= 181.9,   7.4

2025-08-09T17:11:18.492Z,1754759478.492 [DAT](INFO): #Rx 22: Read range and direction messages.
2025-08-09T17:11:18.493Z,1754759478.493 [DAT](INFO): direction in FSK: [-0.991126,-0.032879,-0.128796]
2025-08-09T17:11:18.493Z,1754759478.493 [DAT](INFO): publishing direction and range info
2025-08-09T17:11:18.505Z,1754759478.505 [DAT](INFO): checking for new query: numPingsReceived=22, elapsed TxPingTime=13.207005
2025-08-09T17:11:18.641Z,1754759478.641 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 24.000000 m,
      deltaT: 0.507061 s,
      deltaX: 0.299999 m,
      approachRate: 0.591643 m/s,
      rangeRepo size: 4

2025-08-09T17:11:18.645Z,1754759478.645 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 24.000000 m,
      bearing: 9.178470 deg,
      lat: 36.906107 deg,
      lon: -122.115872 deg,
      deltaT: 0.507061 s,
      deltaX: 0.299999 m,
      approachRate: 0.591643 m/s,
      posRepo size: 4

2025-08-09T17:11:18.646Z,1754759478.646 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.00 m.
2025-08-09T17:11:18.651Z,1754759478.651 [DAT](INFO): checking for new query: numPingsReceived=22, elapsed TxPingTime=13.353543
2025-08-09T17:11:18.904Z,1754759478.904 [DAT](INFO): DAT read: Rx Time:17:11:17.8988 

2025-08-09T17:11:18.904Z,1754759478.904 [DAT](INFO): Rx dataTimestamp_ set to:1754759478.903962
2025-08-09T17:11:18.906Z,1754759478.906 [DAT](INFO): DAT read: Bearing 159.1,   0.1 (Local)

2025-08-09T17:11:18.906Z,1754759478.906 [DAT](INFO): Local bearing/azimuth received:
 Bearing 159.1,   0.1 (Local)

2025-08-09T17:11:18.908Z,1754759478.908 [DAT](INFO): DAT read: Range 11 to 50 :    23.7 m (trip time 15.8 ms) speed 0.0

2025-08-09T17:11:18.913Z,1754759478.913 [DAT](INFO): DAT read: 17:11:17.8988 LVL= 32752, 28273, 32754, 32755, AGC= 69, IDX= 502, 0.23, 2.335,-2.026, 2.482, 2.935, PHS=-0.497, 1.368,-0.497, RAW= 330.0,  -4.1, CAL= 329.3,  -7.1, ROT= 180.7,   7.1

2025-08-09T17:11:18.914Z,1754759478.914 [DAT](INFO): got valid direction response:
 17:11:17.8988 LVL= 32752, 28273, 32754, 32755, AGC= 69, IDX= 502, 0.23, 2.335,-2.026, 2.482, 2.935, PHS=-0.497, 1.368,-0.497, RAW= 330.0,  -4.1, CAL= 329.3,  -7.1, ROT= 180.7,   7.1

2025-08-09T17:11:18.914Z,1754759478.914 [DAT](INFO): #Rx 23: Read range and direction messages.
2025-08-09T17:11:18.915Z,1754759478.915 [DAT](INFO): direction in FSK: [-0.992258,-0.012123,-0.123601]
2025-08-09T17:11:18.915Z,1754759478.915 [DAT](INFO): publishing direction and range info
2025-08-09T17:11:18.919Z,1754759478.919 [DAT](INFO): checking for new query: numPingsReceived=23, elapsed TxPingTime=13.621491
2025-08-09T17:11:19.067Z,1754759479.067 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 23.700001 m,
      deltaT: 0.500214 s,
      deltaX: -0.299999 m,
      approachRate: -0.599742 m/s,
      rangeRepo size: 4

2025-08-09T17:11:19.069Z,1754759479.069 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 23.700001 m,
      bearing: 9.168901 deg,
      lat: 36.906106 deg,
      lon: -122.115872 deg,
      deltaT: 0.500214 s,
      deltaX: -0.299999 m,
      approachRate: -0.599742 m/s,
      posRepo size: 4

2025-08-09T17:11:19.070Z,1754759479.070 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 23.70 m.
2025-08-09T17:11:19.155Z,1754759479.155 [DAT](INFO): checking for new query: numPingsReceived=23, elapsed TxPingTime=13.857663
2025-08-09T17:11:19.408Z,1754759479.408 [DAT](INFO): DAT read: Rx Time:17:11:18.3990 

2025-08-09T17:11:19.409Z,1754759479.409 [DAT](INFO): Rx dataTimestamp_ set to:1754759479.408603
2025-08-09T17:11:19.410Z,1754759479.410 [DAT](INFO): DAT read: Bearing 159.6,  -0.3 (Local)

2025-08-09T17:11:19.411Z,1754759479.411 [DAT](INFO): Local bearing/azimuth received:
 Bearing 159.6,  -0.3 (Local)

2025-08-09T17:11:19.413Z,1754759479.413 [DAT](INFO): DAT read: Range 11 to 50 :    24.0 m (trip time 16.0 ms) speed -0.3

2025-08-09T17:11:19.421Z,1754759479.421 [DAT](INFO): DAT read: 17:11:18.3990 LVL= 32752, 25585, 32754, 32755, AGC= 68, IDX= 504,-0.21, 2.236,-2.098, 2.396, 2.835, PHS=-0.497, 1.395,-0.483, RAW= 329.6,  -4.5, CAL= 329.0,  -7.5, ROT= 181.0,   7.5

2025-08-09T17:11:19.426Z,1754759479.426 [DAT](INFO): got valid direction response:
 17:11:18.3990 LVL= 32752, 25585, 32754, 32755, AGC= 68, IDX= 504,-0.21, 2.236,-2.098, 2.396, 2.835, PHS=-0.497, 1.395,-0.483, RAW= 329.6,  -4.5, CAL= 329.0,  -7.5, ROT= 181.0,   7.5

2025-08-09T17:11:19.429Z,1754759479.429 [DAT](INFO): #Rx 24: Read range and direction messages.
2025-08-09T17:11:19.433Z,1754759479.433 [DAT](INFO): direction in FSK: [-0.991294,-0.017303,-0.130526]
2025-08-09T17:11:19.435Z,1754759479.435 [DAT](INFO): publishing direction and range info
2025-08-09T17:11:19.500Z,1754759479.500 [DAT](INFO): checking for new query: numPingsReceived=24, elapsed TxPingTime=14.202091
2025-08-09T17:11:19.659Z,1754759479.659 [DAT](INFO): checking for new query: numPingsReceived=24, elapsed TxPingTime=14.361594
2025-08-09T17:11:19.672Z,1754759479.672 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 24.000000 m,
      deltaT: 0.504641 s,
      deltaX: 0.299999 m,
      approachRate: 0.594481 m/s,
      rangeRepo size: 4

2025-08-09T17:11:19.679Z,1754759479.679 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 24.000000 m,
      bearing: 9.127907 deg,
      lat: 36.906106 deg,
      lon: -122.115872 deg,
      deltaT: 0.504641 s,
      deltaX: 0.299999 m,
      approachRate: 0.594481 m/s,
      posRepo size: 4

2025-08-09T17:11:19.679Z,1754759479.679 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.00 m.
2025-08-09T17:11:19.913Z,1754759479.913 [DAT](INFO): DAT read: Rx Time:17:11:18.8989 

2025-08-09T17:11:19.913Z,1754759479.913 [DAT](INFO): Rx dataTimestamp_ set to:1754759479.912786
2025-08-09T17:11:19.916Z,1754759479.916 [DAT](INFO): DAT read: Bearing 159.7,  -0.0 (Local)

2025-08-09T17:11:19.917Z,1754759479.917 [DAT](INFO): Local bearing/azimuth received:
 Bearing 159.7,  -0.0 (Local)

2025-08-09T17:11:19.934Z,1754759479.934 [DAT](INFO): DAT read: Range 11 to 50 :    23.9 m (trip time 15.9 ms) speed -0.2

2025-08-09T17:11:19.939Z,1754759479.939 [DAT](INFO): DAT read: 17:11:18.8989 LVL= 32752, 25297, 32754, 32755, AGC= 67, IDX= 503, 0.19, 2.291,-2.087, 2.444, 2.874, PHS=-0.481, 1.367,-0.474, RAW= 329.8,  -4.5, CAL= 329.2,  -7.6, ROT= 180.8,   7.6

2025-08-09T17:11:19.940Z,1754759479.940 [DAT](INFO): got valid direction response:
 17:11:18.8989 LVL= 32752, 25297, 32754, 32755, AGC= 67, IDX= 503, 0.19, 2.291,-2.087, 2.444, 2.874, PHS=-0.481, 1.367,-0.474, RAW= 329.8,  -4.5, CAL= 329.2,  -7.6, ROT= 180.8,   7.6

2025-08-09T17:11:19.940Z,1754759479.940 [DAT](INFO): #Rx 25: Read range and direction messages.
2025-08-09T17:11:19.941Z,1754759479.941 [DAT](INFO): direction in FSK: [-0.991119,-0.013839,-0.132256]
2025-08-09T17:11:19.942Z,1754759479.942 [DAT](INFO): publishing direction and range info
2025-08-09T17:11:19.945Z,1754759479.945 [DAT](INFO): checking for new query: numPingsReceived=25, elapsed TxPingTime=14.647491
2025-08-09T17:11:20.037Z,1754759480.037 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 23.900000 m,
      deltaT: 0.504183 s,
      deltaX: -0.100000 m,
      approachRate: -0.198341 m/s,
      rangeRepo size: 4

2025-08-09T17:11:20.044Z,1754759480.044 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 23.900000 m,
      bearing: 9.125761 deg,
      lat: 36.906105 deg,
      lon: -122.115872 deg,
      deltaT: 0.504183 s,
      deltaX: -0.100000 m,
      approachRate: -0.198341 m/s,
      posRepo size: 4

2025-08-09T17:11:20.044Z,1754759480.044 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 23.90 m.
2025-08-09T17:11:20.164Z,1754759480.164 [DAT](INFO): checking for new query: numPingsReceived=25, elapsed TxPingTime=14.866347
2025-08-09T17:11:20.387Z,1754759480.387 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-09T17:11:20.389Z,1754759480.389 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 23.90 m.
2025-08-09T17:11:20.416Z,1754759480.416 [DAT](INFO): DAT read: Rx Time:17:11:19.3990 

2025-08-09T17:11:20.418Z,1754759480.418 [DAT](INFO): Rx dataTimestamp_ set to:1754759480.417011
2025-08-09T17:11:20.422Z,1754759480.422 [DAT](INFO): DAT read: Bearing 159.5,   0.3 (Local)

2025-08-09T17:11:20.424Z,1754759480.424 [DAT](INFO): Local bearing/azimuth received:
 Bearing 159.5,   0.3 (Local)

2025-08-09T17:11:20.451Z,1754759480.451 [DAT](INFO): DAT read: Range 11 to 50 :    24.0 m (trip time 16.0 ms) speed -0.2

2025-08-09T17:11:20.514Z,1754759480.514 [DAT](INFO): DAT read: 17:11:19.3990 LVL= 31664, 22417, 32754, 32755, AGC= 68, IDX= 504,-0.22, 0.482, 2.445, 0.621, 1.080, PHS=-0.496, 1.411,-0.503, RAW= 330.2,  -4.4, CAL= 329.5,  -7.4, ROT= 180.5,   7.4

2025-08-09T17:11:20.523Z,1754759480.523 [DAT](INFO): got valid direction response:
 17:11:19.3990 LVL= 31664, 22417, 32754, 32755, AGC= 68, IDX= 504,-0.22, 0.482, 2.445, 0.621, 1.080, PHS=-0.496, 1.411,-0.503, RAW= 330.2,  -4.4, CAL= 329.5,  -7.4, ROT= 180.5,   7.4

2025-08-09T17:11:20.523Z,1754759480.523 [DAT](INFO): #Rx 26: Read range and direction messages.
2025-08-09T17:11:20.524Z,1754759480.524 [DAT](INFO): direction in FSK: [-0.991633,-0.008654,-0.128796]
2025-08-09T17:11:20.525Z,1754759480.525 [DAT](INFO): publishing direction and range info
2025-08-09T17:11:20.533Z,1754759480.533 [DAT](INFO): checking for new query: numPingsReceived=26, elapsed TxPingTime=15.235307
2025-08-09T17:11:20.672Z,1754759480.672 [DAT](INFO): checking for new query: numPingsReceived=26, elapsed TxPingTime=15.373333
2025-08-09T17:11:20.820Z,1754759480.820 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 24.000000 m,
      deltaT: 0.504225 s,
      deltaX: 0.100000 m,
      approachRate: 0.198325 m/s,
      rangeRepo size: 4

2025-08-09T17:11:20.826Z,1754759480.826 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 24.000000 m,
      bearing: 8.909067 deg,
      lat: 36.906106 deg,
      lon: -122.115873 deg,
      deltaT: 0.504225 s,
      deltaX: 0.100000 m,
      approachRate: 0.198325 m/s,
      posRepo size: 4

2025-08-09T17:11:20.827Z,1754759480.827 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.00 m.
2025-08-09T17:11:20.920Z,1754759480.920 [DAT](INFO): DAT read: Rx Time:17:11:19.8989 

2025-08-09T17:11:20.920Z,1754759480.920 [DAT](INFO): Rx dataTimestamp_ set to:1754759480.920160
2025-08-09T17:11:20.922Z,1754759480.922 [DAT](INFO): DAT read: Bearing 159.6,   0.6 (Local)

2025-08-09T17:11:20.922Z,1754759480.922 [DAT](INFO): Local bearing/azimuth received:
 Bearing 159.6,   0.6 (Local)

2025-08-09T17:11:20.924Z,1754759480.924 [DAT](INFO): DAT read: Range 11 to 50 :    23.9 m (trip time 15.9 ms) speed 0.1

2025-08-09T17:11:20.930Z,1754759480.930 [DAT](INFO): DAT read: 17:11:19.8989 LVL= 30832, 23217, 32754, 32755, AGC= 68, IDX= 503, 0.10, 1.523,-2.864, 1.650, 2.098, PHS=-0.474, 1.366,-0.493, RAW= 330.5,  -4.4, CAL= 329.9,  -7.4, ROT= 180.1,   7.4

2025-08-09T17:11:20.931Z,1754759480.931 [DAT](INFO): got valid direction response:
 17:11:19.8989 LVL= 30832, 23217, 32754, 32755, AGC= 68, IDX= 503, 0.10, 1.523,-2.864, 1.650, 2.098, PHS=-0.474, 1.366,-0.493, RAW= 330.5,  -4.4, CAL= 329.9,  -7.4, ROT= 180.1,   7.4

2025-08-09T17:11:20.931Z,1754759480.931 [DAT](INFO): #Rx 27: Read range and direction messages.
2025-08-09T17:11:20.932Z,1754759480.932 [DAT](INFO): direction in FSK: [-0.991670,-0.001731,-0.128796]
2025-08-09T17:11:20.932Z,1754759480.932 [DAT](INFO): publishing direction and range info
2025-08-09T17:11:20.947Z,1754759480.947 [DAT](INFO): checking for new query: numPingsReceived=27, elapsed TxPingTime=15.649046
2025-08-09T17:11:21.171Z,1754759481.171 [DAT](INFO): checking for new query: numPingsReceived=27, elapsed TxPingTime=15.873440
2025-08-09T17:11:21.280Z,1754759481.280 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 23.900000 m,
      deltaT: 0.503149 s,
      deltaX: -0.100000 m,
      approachRate: -0.198749 m/s,
      rangeRepo size: 4

2025-08-09T17:11:21.282Z,1754759481.282 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 23.900000 m,
      bearing: 8.740980 deg,
      lat: 36.906105 deg,
      lon: -122.115874 deg,
      deltaT: 0.503149 s,
      deltaX: -0.100000 m,
      approachRate: -0.198749 m/s,
      posRepo size: 4

2025-08-09T17:11:21.286Z,1754759481.286 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 23.90 m.
2025-08-09T17:11:21.424Z,1754759481.424 [DAT](INFO): DAT read: Rx Time:17:11:20.3991 

2025-08-09T17:11:21.424Z,1754759481.424 [DAT](INFO): Rx dataTimestamp_ set to:1754759481.424220
2025-08-09T17:11:21.426Z,1754759481.426 [DAT](INFO): DAT read: Bearing 159.3,   0.3 (Local)

2025-08-09T17:11:21.426Z,1754759481.426 [DAT](INFO): Local bearing/azimuth received:
 Bearing 159.3,   0.3 (Local)

2025-08-09T17:11:21.428Z,1754759481.428 [DAT](INFO): DAT read: Range 11 to 50 :    24.2 m (trip time 16.1 ms) speed -0.3

2025-08-09T17:11:21.437Z,1754759481.437 [DAT](INFO): DAT read: 17:11:20.3991 LVL= 32368, 21857, 32754, 32755, AGC= 68, IDX= 505,-0.32, 0.503, 2.407, 0.638, 1.094, PHS=-0.489, 1.358,-0.499, RAW= 330.3,  -4.0, CAL= 329.6,  -7.1, ROT= 180.4,   7.1

2025-08-09T17:11:21.438Z,1754759481.438 [DAT](INFO): got valid direction response:
 17:11:20.3991 LVL= 32368, 21857, 32754, 32755, AGC= 68, IDX= 505,-0.32, 0.503, 2.407, 0.638, 1.094, PHS=-0.489, 1.358,-0.499, RAW= 330.3,  -4.0, CAL= 329.6,  -7.1, ROT= 180.4,   7.1

2025-08-09T17:11:21.438Z,1754759481.438 [DAT](INFO): #Rx 28: Read range and direction messages.
2025-08-09T17:11:21.439Z,1754759481.439 [DAT](INFO): direction in FSK: [-0.992308,-0.006928,-0.123601]
2025-08-09T17:11:21.440Z,1754759481.440 [DAT](INFO): publishing direction and range info
2025-08-09T17:11:21.443Z,1754759481.443 [DAT](INFO): checking for new query: numPingsReceived=28, elapsed TxPingTime=16.145382
2025-08-09T17:11:21.675Z,1754759481.675 [DAT](INFO): checking for new query: numPingsReceived=28, elapsed TxPingTime=16.377577
2025-08-09T17:11:21.680Z,1754759481.680 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 24.200001 m,
      deltaT: 0.504060 s,
      deltaX: 0.300001 m,
      approachRate: 0.595169 m/s,
      rangeRepo size: 4

2025-08-09T17:11:21.683Z,1754759481.683 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 24.200001 m,
      bearing: 8.738061 deg,
      lat: 36.906106 deg,
      lon: -122.115873 deg,
      deltaT: 0.504060 s,
      deltaX: 0.300001 m,
      approachRate: 0.595169 m/s,
      posRepo size: 4

2025-08-09T17:11:21.684Z,1754759481.684 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.20 m.
2025-08-09T17:11:21.928Z,1754759481.928 [DAT](INFO): DAT read: Rx Time:17:11:20.8990 

2025-08-09T17:11:21.928Z,1754759481.928 [DAT](INFO): Rx dataTimestamp_ set to:1754759481.928082
2025-08-09T17:11:21.930Z,1754759481.930 [DAT](INFO): DAT read: Bearing 158.5,   0.9 (Local)

2025-08-09T17:11:21.930Z,1754759481.930 [DAT](INFO): Local bearing/azimuth received:
 Bearing 158.5,   0.9 (Local)

2025-08-09T17:11:21.933Z,1754759481.933 [DAT](INFO): DAT read: Range 11 to 50 :    24.0 m (trip time 16.0 ms) speed 0.0

2025-08-09T17:11:21.938Z,1754759481.938 [DAT](INFO): DAT read: 17:11:20.8990 LVL= 28288, 24625, 32754, 32755, AGC= 66, IDX= 504,-0.01, 0.393, 2.230, 0.506, 0.982, PHS=-0.487, 1.293,-0.520, RAW= 330.9,  -3.2, CAL= 330.2,  -6.2, ROT= 179.8,   6.2

2025-08-09T17:11:21.939Z,1754759481.939 [DAT](INFO): got valid direction response:
 17:11:20.8990 LVL= 28288, 24625, 32754, 32755, AGC= 66, IDX= 504,-0.01, 0.393, 2.230, 0.506, 0.982, PHS=-0.487, 1.293,-0.520, RAW= 330.9,  -3.2, CAL= 330.2,  -6.2, ROT= 179.8,   6.2

2025-08-09T17:11:21.939Z,1754759481.939 [DAT](INFO): #Rx 29: Read range and direction messages.
2025-08-09T17:11:21.940Z,1754759481.940 [DAT](INFO): direction in FSK: [-0.994145,0.003470,-0.107999]
2025-08-09T17:11:21.941Z,1754759481.941 [DAT](INFO): publishing direction and range info
2025-08-09T17:11:21.955Z,1754759481.955 [DAT](INFO): checking for new query: numPingsReceived=29, elapsed TxPingTime=16.657118
2025-08-09T17:11:22.066Z,1754759482.066 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 24.000000 m,
      deltaT: 0.503862 s,
      deltaX: -0.200001 m,
      approachRate: -0.396936 m/s,
      rangeRepo size: 4

2025-08-09T17:11:22.076Z,1754759482.076 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 24.000000 m,
      bearing: 8.693225 deg,
      lat: 36.906106 deg,
      lon: -122.115874 deg,
      deltaT: 0.503862 s,
      deltaX: -0.200001 m,
      approachRate: -0.396936 m/s,
      posRepo size: 4

2025-08-09T17:11:22.076Z,1754759482.076 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.00 m.
2025-08-09T17:11:22.180Z,1754759482.180 [DAT](INFO): checking for new query: numPingsReceived=29, elapsed TxPingTime=16.882502
2025-08-09T17:11:22.424Z,1754759482.424 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.00 m.
2025-08-09T17:11:22.435Z,1754759482.435 [DAT](INFO): DAT read: Rx Time:17:11:21.3991 

2025-08-09T17:11:22.436Z,1754759482.436 [DAT](INFO): Rx dataTimestamp_ set to:1754759482.435622
2025-08-09T17:11:22.437Z,1754759482.437 [DAT](INFO): DAT read: Bearing 159.4,   1.2 (Local)

2025-08-09T17:11:22.438Z,1754759482.438 [DAT](INFO): Local bearing/azimuth received:
 Bearing 159.4,   1.2 (Local)

2025-08-09T17:11:22.440Z,1754759482.440 [DAT](INFO): DAT read: Range 11 to 50 :    24.2 m (trip time 16.1 ms) speed 0.0

2025-08-09T17:11:22.445Z,1754759482.445 [DAT](INFO): DAT read: 17:11:21.3991 LVL= 28272, 22769, 32754, 32755, AGC= 66, IDX= 505, 0.44, 1.120, 2.988, 1.224, 1.689, PHS=-0.467, 1.344,-0.509, RAW= 331.1,  -4.1, CAL= 330.5,  -7.1, ROT= 179.5,   7.1

2025-08-09T17:11:22.446Z,1754759482.446 [DAT](INFO): got valid direction response:
 17:11:21.3991 LVL= 28272, 22769, 32754, 32755, AGC= 66, IDX= 505, 0.44, 1.120, 2.988, 1.224, 1.689, PHS=-0.467, 1.344,-0.509, RAW= 331.1,  -4.1, CAL= 330.5,  -7.1, ROT= 179.5,   7.1

2025-08-09T17:11:22.471Z,1754759482.471 [DAT](INFO): #Rx 30: Read range and direction messages.
2025-08-09T17:11:22.474Z,1754759482.474 [DAT](INFO): direction in FSK: [-0.992294,0.008660,-0.123601]
2025-08-09T17:11:22.479Z,1754759482.479 [DAT](INFO): publishing direction and range info
2025-08-09T17:11:22.523Z,1754759482.523 [DAT](INFO): checking for new query: numPingsReceived=30, elapsed TxPingTime=17.225130
2025-08-09T17:11:22.684Z,1754759482.684 [DAT](INFO): checking for new query: numPingsReceived=30, elapsed TxPingTime=17.385662
2025-08-09T17:11:22.902Z,1754759482.902 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 24.200001 m,
      deltaT: 0.507540 s,
      deltaX: 0.200001 m,
      approachRate: 0.394059 m/s,
      rangeRepo size: 4

2025-08-09T17:11:22.908Z,1754759482.908 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 24.200001 m,
      bearing: 8.288522 deg,
      lat: 36.906106 deg,
      lon: -122.115876 deg,
      deltaT: 0.507540 s,
      deltaX: 0.200001 m,
      approachRate: 0.394059 m/s,
      posRepo size: 4

2025-08-09T17:11:22.908Z,1754759482.908 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.20 m.
2025-08-09T17:11:22.936Z,1754759482.936 [DAT](INFO): DAT read: Rx Time:17:11:21.8991 

2025-08-09T17:11:22.936Z,1754759482.936 [DAT](INFO): Rx dataTimestamp_ set to:1754759482.936203
2025-08-09T17:11:22.938Z,1754759482.938 [DAT](INFO): DAT read: Bearing 158.0,   3.3 (Local)

2025-08-09T17:11:22.938Z,1754759482.938 [DAT](INFO): Local bearing/azimuth received:
 Bearing 158.0,   3.3 (Local)

2025-08-09T17:11:22.940Z,1754759482.940 [DAT](INFO): DAT read: Range 11 to 50 :    24.2 m (trip time 16.1 ms) speed 0.0

2025-08-09T17:11:22.945Z,1754759482.945 [DAT](INFO): DAT read: 17:11:21.8991 LVL= 32752, 23249, 32754, 32755, AGC= 67, IDX= 505,-0.04,-1.931,-0.151,-1.902,-1.377, PHS=-0.452, 1.271,-0.570, RAW= 333.3,  -2.8, CAL= 332.6,  -5.8, ROT= 177.4,   5.8

2025-08-09T17:11:22.946Z,1754759482.946 [DAT](INFO): got valid direction response:
 17:11:21.8991 LVL= 32752, 23249, 32754, 32755, AGC= 67, IDX= 505,-0.04,-1.931,-0.151,-1.902,-1.377, PHS=-0.452, 1.271,-0.570, RAW= 333.3,  -2.8, CAL= 332.6,  -5.8, ROT= 177.4,   5.8

2025-08-09T17:11:22.947Z,1754759482.947 [DAT](INFO): #Rx 31: Read range and direction messages.
2025-08-09T17:11:22.948Z,1754759482.948 [DAT](INFO): direction in FSK: [-0.993857,0.045131,-0.101056]
2025-08-09T17:11:22.948Z,1754759482.948 [DAT](INFO): publishing direction and range info
2025-08-09T17:11:22.953Z,1754759482.953 [DAT](INFO): checking for new query: numPingsReceived=31, elapsed TxPingTime=17.655100
2025-08-09T17:11:23.187Z,1754759483.187 [DAT](INFO): checking for new query: numPingsReceived=31, elapsed TxPingTime=17.889446
2025-08-09T17:11:23.328Z,1754759483.328 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 24.200001 m,
      deltaT: 0.500581 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-08-09T17:11:23.330Z,1754759483.330 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 24.200001 m,
      bearing: 8.074216 deg,
      lat: 36.906107 deg,
      lon: -122.115876 deg,
      deltaT: 0.500581 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      posRepo size: 4

2025-08-09T17:11:23.334Z,1754759483.334 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.20 m.
2025-08-09T17:11:23.440Z,1754759483.440 [DAT](INFO): DAT read: Rx Time:17:11:22.3993 

2025-08-09T17:11:23.440Z,1754759483.440 [DAT](INFO): Rx dataTimestamp_ set to:1754759483.440114
2025-08-09T17:11:23.442Z,1754759483.442 [DAT](INFO): DAT read: Bearing 161.3,  -0.7 (Local)

2025-08-09T17:11:23.442Z,1754759483.442 [DAT](INFO): Local bearing/azimuth received:
 Bearing 161.3,  -0.7 (Local)

2025-08-09T17:11:23.444Z,1754759483.444 [DAT](INFO): DAT read: Range 11 to 50 :    24.5 m (trip time 16.3 ms) speed 0.0

2025-08-09T17:11:23.449Z,1754759483.449 [DAT](INFO): DAT read: 17:11:22.3993 LVL= 29200, 22961, 32754, 32755, AGC= 68, IDX= 506, 0.10, 2.752,-1.557, 2.935,-2.960, PHS=-0.470, 1.447,-0.433, RAW= 329.0,  -5.8, CAL= 328.5,  -8.9, ROT= 181.5,   8.9

2025-08-09T17:11:23.450Z,1754759483.450 [DAT](INFO): got valid direction response:
 17:11:22.3993 LVL= 29200, 22961, 32754, 32755, AGC= 68, IDX= 506, 0.10, 2.752,-1.557, 2.935,-2.960, PHS=-0.470, 1.447,-0.433, RAW= 329.0,  -5.8, CAL= 328.5,  -8.9, ROT= 181.5,   8.9

2025-08-09T17:11:23.450Z,1754759483.450 [DAT](INFO): #Rx 32: Read range and direction messages.
2025-08-09T17:11:23.451Z,1754759483.451 [DAT](INFO): direction in FSK: [-0.987621,-0.025862,-0.154710]
2025-08-09T17:11:23.452Z,1754759483.452 [DAT](INFO): publishing direction and range info
2025-08-09T17:11:23.459Z,1754759483.459 [DAT](INFO): checking for new query: numPingsReceived=32, elapsed TxPingTime=18.161579
2025-08-09T17:11:23.691Z,1754759483.691 [DAT](INFO): checking for new query: numPingsReceived=32, elapsed TxPingTime=18.393412
2025-08-09T17:11:23.811Z,1754759483.811 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 24.500000 m,
      deltaT: 0.503911 s,
      deltaX: 0.299999 m,
      approachRate: 0.595342 m/s,
      rangeRepo size: 4

2025-08-09T17:11:23.813Z,1754759483.813 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 24.500000 m,
      bearing: 8.093560 deg,
      lat: 36.906107 deg,
      lon: -122.115876 deg,
      deltaT: 0.503911 s,
      deltaX: 0.299999 m,
      approachRate: 0.595342 m/s,
      posRepo size: 4

2025-08-09T17:11:23.813Z,1754759483.813 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.50 m.
2025-08-09T17:11:23.944Z,1754759483.944 [DAT](INFO): DAT read: Rx Time:17:11:22.8992 

2025-08-09T17:11:23.945Z,1754759483.945 [DAT](INFO): Rx dataTimestamp_ set to:1754759483.944584
2025-08-09T17:11:23.946Z,1754759483.946 [DAT](INFO): DAT read: Bearing 157.8,   1.2 (Local)

2025-08-09T17:11:23.947Z,1754759483.947 [DAT](INFO): Local bearing/azimuth received:
 Bearing 157.8,   1.2 (Local)

2025-08-09T17:11:23.949Z,1754759483.949 [DAT](INFO): DAT read: Range 11 to 50 :    24.3 m (trip time 16.2 ms) speed -0.1

2025-08-09T17:11:23.953Z,1754759483.953 [DAT](INFO): DAT read: 17:11:22.8992 LVL= 32752, 27505, 32754, 32755, AGC= 69, IDX= 506,-0.24,-2.154,-0.301,-2.057,-1.542, PHS=-0.510, 1.286,-0.559, RAW= 331.3,  -2.4, CAL= 330.6,  -5.4, ROT= 179.4,   5.4

2025-08-09T17:11:23.955Z,1754759483.955 [DAT](INFO): got valid direction response:
 17:11:22.8992 LVL= 32752, 27505, 32754, 32755, AGC= 69, IDX= 506,-0.24,-2.154,-0.301,-2.057,-1.542, PHS=-0.510, 1.286,-0.559, RAW= 331.3,  -2.4, CAL= 330.6,  -5.4, ROT= 179.4,   5.4

2025-08-09T17:11:23.956Z,1754759483.956 [DAT](INFO): #Rx 33: Read range and direction messages.
2025-08-09T17:11:23.957Z,1754759483.957 [DAT](INFO): direction in FSK: [-0.995507,0.010425,-0.094108]
2025-08-09T17:11:23.957Z,1754759483.957 [DAT](INFO): publishing direction and range info
2025-08-09T17:11:23.960Z,1754759483.960 [DAT](INFO): checking for new query: numPingsReceived=33, elapsed TxPingTime=18.662399
2025-08-09T17:11:24.176Z,1754759484.176 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 24.299999 m,
      deltaT: 0.504470 s,
      deltaX: -0.200001 m,
      approachRate: -0.396457 m/s,
      rangeRepo size: 4

2025-08-09T17:11:24.178Z,1754759484.178 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 24.299999 m,
      bearing: 7.907861 deg,
      lat: 36.906107 deg,
      lon: -122.115877 deg,
      deltaT: 0.504470 s,
      deltaX: -0.200001 m,
      approachRate: -0.396457 m/s,
      posRepo size: 4

2025-08-09T17:11:24.182Z,1754759484.182 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.30 m.
2025-08-09T17:11:24.196Z,1754759484.196 [DAT](INFO): checking for new query: numPingsReceived=33, elapsed TxPingTime=18.897781
2025-08-09T17:11:24.448Z,1754759484.448 [DAT](INFO): DAT read: Rx Time:17:11:23.3992 

2025-08-09T17:11:24.448Z,1754759484.448 [DAT](INFO): Rx dataTimestamp_ set to:1754759484.448070
2025-08-09T17:11:24.450Z,1754759484.450 [DAT](INFO): DAT read: Bearing 158.7,   4.5 (Local)

2025-08-09T17:11:24.450Z,1754759484.450 [DAT](INFO): Local bearing/azimuth received:
 Bearing 158.7,   4.5 (Local)

2025-08-09T17:11:24.452Z,1754759484.452 [DAT](INFO): DAT read: Range 11 to 50 :    24.3 m (trip time 16.2 ms) speed 0.0

2025-08-09T17:11:24.457Z,1754759484.457 [DAT](INFO): DAT read: 17:11:23.3992 LVL= 29680, 23905, 32578, 32755, AGC= 69, IDX= 506, 0.05, 0.251, 2.006, 0.235, 0.767, PHS=-0.415, 1.284,-0.577, RAW= 334.5,  -3.3, CAL= 333.9,  -6.3, ROT= 176.1,   6.3

2025-08-09T17:11:24.458Z,1754759484.458 [DAT](INFO): got valid direction response:
 17:11:23.3992 LVL= 29680, 23905, 32578, 32755, AGC= 69, IDX= 506, 0.05, 0.251, 2.006, 0.235, 0.767, PHS=-0.415, 1.284,-0.577, RAW= 334.5,  -3.3, CAL= 333.9,  -6.3, ROT= 176.1,   6.3

2025-08-09T17:11:24.458Z,1754759484.458 [DAT](INFO): #Rx 34: Read range and direction messages.
2025-08-09T17:11:24.459Z,1754759484.459 [DAT](INFO): direction in FSK: [-0.991659,0.067604,-0.109734]
2025-08-09T17:11:24.459Z,1754759484.459 [DAT](INFO): publishing direction and range info
2025-08-09T17:11:24.467Z,1754759484.467 [DAT](INFO): checking for new query: numPingsReceived=34, elapsed TxPingTime=19.169668
2025-08-09T17:11:24.691Z,1754759484.691 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 24.299999 m,
      deltaT: 0.503486 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-08-09T17:11:24.693Z,1754759484.693 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 24.299999 m,
      bearing: 7.690141 deg,
      lat: 36.906107 deg,
      lon: -122.115878 deg,
      deltaT: 0.503486 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      posRepo size: 4

2025-08-09T17:11:24.694Z,1754759484.694 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.30 m.
2025-08-09T17:11:24.699Z,1754759484.699 [DAT](INFO): checking for new query: numPingsReceived=34, elapsed TxPingTime=19.401558
2025-08-09T17:11:24.953Z,1754759484.953 [DAT](INFO): DAT read: Rx Time:17:11:23.8992 

2025-08-09T17:11:24.953Z,1754759484.953 [DAT](INFO): Rx dataTimestamp_ set to:1754759484.952752
2025-08-09T17:11:24.955Z,1754759484.955 [DAT](INFO): DAT read: Bearing 160.1,  -2.7 (Local)

2025-08-09T17:11:24.956Z,1754759484.956 [DAT](INFO): Local bearing/azimuth received:
 Bearing 160.1,  -2.7 (Local)

2025-08-09T17:11:24.958Z,1754759484.958 [DAT](INFO): DAT read: Range 11 to 50 :    24.3 m (trip time 16.2 ms) speed -0.1

2025-08-09T17:11:24.999Z,1754759484.999 [DAT](INFO): DAT read: 17:11:23.8992 LVL= 26432, 22001, 32754, 32243, AGC= 68, IDX= 505, 0.34, 0.472, 2.479, 0.718, 1.118, PHS=-0.544, 1.406,-0.444, RAW= 327.4,  -4.4, CAL= 326.7,  -7.6, ROT= 183.3,   7.6

2025-08-09T17:11:24.000Z,1754759485.000 [DAT](INFO): got valid direction response:
 17:11:23.8992 LVL= 26432, 22001, 32754, 32243, AGC= 68, IDX= 505, 0.34, 0.472, 2.479, 0.718, 1.118, PHS=-0.544, 1.406,-0.444, RAW= 327.4,  -4.4, CAL= 326.7,  -7.6, ROT= 183.3,   7.6

2025-08-09T17:11:25.000Z,1754759485.000 [DAT](INFO): #Rx 35: Read range and direction messages.
2025-08-09T17:11:25.001Z,1754759485.001 [DAT](INFO): direction in FSK: [-0.989572,-0.057058,-0.132256]
2025-08-09T17:11:25.001Z,1754759485.001 [DAT](INFO): publishing direction and range info
2025-08-09T17:11:25.033Z,1754759485.033 [DAT](INFO): checking for new query: numPingsReceived=35, elapsed TxPingTime=19.735052
2025-08-09T17:11:25.203Z,1754759485.203 [DAT](INFO): checking for new query: numPingsReceived=35, elapsed TxPingTime=19.905451
2025-08-09T17:11:25.204Z,1754759485.204 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 24.299999 m,
      deltaT: 0.504682 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-08-09T17:11:25.206Z,1754759485.206 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 24.299999 m,
      bearing: 7.711541 deg,
      lat: 36.906107 deg,
      lon: -122.115878 deg,
      deltaT: 0.504682 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      posRepo size: 4

2025-08-09T17:11:25.212Z,1754759485.212 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.30 m.
2025-08-09T17:11:25.456Z,1754759485.456 [DAT](INFO): DAT read: Rx Time:17:11:24.3993 

2025-08-09T17:11:25.456Z,1754759485.456 [DAT](INFO): Rx dataTimestamp_ set to:1754759485.456002
2025-08-09T17:11:25.458Z,1754759485.458 [DAT](INFO): DAT read: Bearing 156.7,   7.9 (Local)

2025-08-09T17:11:25.458Z,1754759485.458 [DAT](INFO): Local bearing/azimuth received:
 Bearing 156.7,   7.9 (Local)

2025-08-09T17:11:25.461Z,1754759485.461 [DAT](INFO): DAT read: Range 11 to 50 :    24.5 m (trip time 16.3 ms) speed 0.0

2025-08-09T17:11:25.467Z,1754759485.467 [DAT](INFO): DAT read: 17:11:24.3993 LVL= 32752, 29489, 32754, 32755, AGC= 68, IDX= 507, 0.05,-0.862, 0.849,-1.010,-0.349, PHS=-0.411, 1.243,-0.705, RAW= 338.0,  -1.4, CAL= 337.5,  -4.3, ROT= 172.5,   4.3

2025-08-09T17:11:25.469Z,1754759485.469 [DAT](INFO): got valid direction response:
 17:11:24.3993 LVL= 32752, 29489, 32754, 32755, AGC= 68, IDX= 507, 0.05,-0.862, 0.849,-1.010,-0.349, PHS=-0.411, 1.243,-0.705, RAW= 338.0,  -1.4, CAL= 337.5,  -4.3, ROT= 172.5,   4.3

2025-08-09T17:11:25.469Z,1754759485.469 [DAT](INFO): #Rx 36: Read range and direction messages.
2025-08-09T17:11:25.502Z,1754759485.502 [DAT](INFO): direction in FSK: [-0.988654,0.130159,-0.074979]
2025-08-09T17:11:25.503Z,1754759485.503 [DAT](INFO): publishing direction and range info
2025-08-09T17:11:25.535Z,1754759485.535 [DAT](INFO): checking for new query: numPingsReceived=36, elapsed TxPingTime=20.236977
2025-08-09T17:11:25.707Z,1754759485.707 [DAT](INFO): checking for new query: numPingsReceived=36, elapsed TxPingTime=20.409550
2025-08-09T17:11:25.833Z,1754759485.833 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 24.500000 m,
      deltaT: 0.503250 s,
      deltaX: 0.200001 m,
      approachRate: 0.397418 m/s,
      rangeRepo size: 4

2025-08-09T17:11:25.836Z,1754759485.836 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 24.500000 m,
      bearing: 7.727764 deg,
      lat: 36.906107 deg,
      lon: -122.115878 deg,
      deltaT: 0.503250 s,
      deltaX: 0.200001 m,
      approachRate: 0.397418 m/s,
      posRepo size: 4

2025-08-09T17:11:25.836Z,1754759485.836 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.50 m.
2025-08-09T17:11:25.960Z,1754759485.960 [DAT](INFO): DAT read: Rx Time:17:11:24.8992 

2025-08-09T17:11:25.961Z,1754759485.961 [DAT](INFO): Rx dataTimestamp_ set to:1754759485.960284
2025-08-09T17:11:25.962Z,1754759485.962 [DAT](INFO): DAT read: Bearing 164.9,  -6.7 (Local)

2025-08-09T17:11:25.963Z,1754759485.963 [DAT](INFO): Local bearing/azimuth received:
 Bearing 164.9,  -6.7 (Local)

2025-08-09T17:11:25.966Z,1754759485.966 [DAT](INFO): DAT read: Range 11 to 50 :    24.3 m (trip time 16.2 ms) speed 0.0

2025-08-09T17:11:25.973Z,1754759485.973 [DAT](INFO): DAT read: 17:11:24.8992 LVL= 29424, 24945, 30194, 32755, AGC= 68, IDX= 506, 0.10, 2.637,-1.627, 3.047,-3.071, PHS=-0.473, 1.489,-0.209, RAW= 322.9,  -8.8, CAL= 322.6, -12.2, ROT= 187.4,  12.2

2025-08-09T17:11:25.979Z,1754759485.979 [DAT](INFO): got valid direction response:
 17:11:24.8992 LVL= 29424, 24945, 30194, 32755, AGC= 68, IDX= 506, 0.10, 2.637,-1.627, 3.047,-3.071, PHS=-0.473, 1.489,-0.209, RAW= 322.9,  -8.8, CAL= 322.6, -12.2, ROT= 187.4,  12.2

2025-08-09T17:11:25.979Z,1754759485.979 [DAT](INFO): #Rx 37: Read range and direction messages.
2025-08-09T17:11:25.980Z,1754759485.980 [DAT](INFO): direction in FSK: [-0.969275,-0.125887,-0.211325]
2025-08-09T17:11:25.980Z,1754759485.980 [DAT](INFO): publishing direction and range info
2025-08-09T17:11:25.988Z,1754759485.988 [DAT](INFO): checking for new query: numPingsReceived=37, elapsed TxPingTime=20.690069
2025-08-09T17:11:26.193Z,1754759486.193 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 24.299999 m,
      deltaT: 0.504282 s,
      deltaX: -0.200001 m,
      approachRate: -0.396605 m/s,
      rangeRepo size: 4

2025-08-09T17:11:26.199Z,1754759486.199 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 24.299999 m,
      bearing: 7.736881 deg,
      lat: 36.906107 deg,
      lon: -122.115878 deg,
      deltaT: 0.504282 s,
      deltaX: -0.200001 m,
      approachRate: -0.396605 m/s,
      posRepo size: 4

2025-08-09T17:11:26.200Z,1754759486.200 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.30 m.
2025-08-09T17:11:26.216Z,1754759486.216 [DAT](INFO): checking for new query: numPingsReceived=37, elapsed TxPingTime=20.916023
2025-08-09T17:11:26.464Z,1754759486.464 [DAT](INFO): DAT read: Rx Time:17:11:25.3994 

2025-08-09T17:11:26.465Z,1754759486.465 [DAT](INFO): Rx dataTimestamp_ set to:1754759486.464312
2025-08-09T17:11:26.466Z,1754759486.466 [DAT](INFO): DAT read: Bearing 159.8,  -2.2 (Local)

2025-08-09T17:11:26.466Z,1754759486.466 [DAT](INFO): Local bearing/azimuth received:
 Bearing 159.8,  -2.2 (Local)

2025-08-09T17:11:26.468Z,1754759486.468 [DAT](INFO): DAT read: Range 11 to 50 :    24.6 m (trip time 16.4 ms) speed -0.2

2025-08-09T17:11:26.473Z,1754759486.473 [DAT](INFO): DAT read: 17:11:25.3994 LVL= 27408, 20033, 32754, 31475, AGC= 67, IDX= 508,-0.03,-0.325, 1.701,-0.106, 0.326, PHS=-0.550, 1.420,-0.476, RAW= 328.1,  -4.1, CAL= 327.4,  -7.2, ROT= 182.6,   7.2

2025-08-09T17:11:26.474Z,1754759486.474 [DAT](INFO): got valid direction response:
 17:11:25.3994 LVL= 27408, 20033, 32754, 31475, AGC= 67, IDX= 508,-0.03,-0.325, 1.701,-0.106, 0.326, PHS=-0.550, 1.420,-0.476, RAW= 328.1,  -4.1, CAL= 327.4,  -7.2, ROT= 182.6,   7.2

2025-08-09T17:11:26.475Z,1754759486.475 [DAT](INFO): #Rx 38: Read range and direction messages.
2025-08-09T17:11:26.476Z,1754759486.476 [DAT](INFO): direction in FSK: [-0.991093,-0.045005,-0.125333]
2025-08-09T17:11:26.476Z,1754759486.476 [DAT](INFO): publishing direction and range info
2025-08-09T17:11:26.535Z,1754759486.535 [DAT](INFO): checking for new query: numPingsReceived=38, elapsed TxPingTime=21.203749
2025-08-09T17:11:26.719Z,1754759486.719 [DAT](INFO): DAT read: Rx Time:17:11:25.8994 

2025-08-09T17:11:26.720Z,1754759486.720 [DAT](INFO): Rx dataTimestamp_ set to:1754759486.719000
2025-08-09T17:11:26.723Z,1754759486.723 [DAT](INFO): checking for new query: numPingsReceived=38, elapsed TxPingTime=21.423536
2025-08-09T17:11:26.793Z,1754759486.793 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 24.600000 m,
      deltaT: 0.504028 s,
      deltaX: 0.300001 m,
      approachRate: 0.595207 m/s,
      rangeRepo size: 4

2025-08-09T17:11:26.799Z,1754759486.799 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 24.600000 m,
      bearing: 11.053767 deg,
      lat: 36.906104 deg,
      lon: -122.115863 deg,
      deltaT: 0.504028 s,
      deltaX: 0.300001 m,
      approachRate: 0.595207 m/s,
      posRepo size: 4

2025-08-09T17:11:26.800Z,1754759486.800 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.60 m.
2025-08-09T17:11:26.968Z,1754759486.968 [DAT](INFO): DAT read: Bearing 157.0,   3.5 (Local)

2025-08-09T17:11:26.968Z,1754759486.968 [DAT](INFO): Local bearing/azimuth received:
 Bearing 157.0,   3.5 (Local)

2025-08-09T17:11:26.971Z,1754759486.971 [DAT](INFO): DAT read: Range 11 to 50 :    24.6 m (trip time 16.4 ms) speed -0.2

2025-08-09T17:11:26.975Z,1754759486.975 [DAT](INFO): DAT read: 17:11:25.8994 LVL= 27120, 21345, 32754, 32755, AGC= 66, IDX= 508,-0.21, 2.357,-2.079, 2.357, 2.957, PHS=-0.498, 1.292,-0.644, RAW= 333.9,  -1.6, CAL= 333.2,  -4.6, ROT= 176.8,   4.6

2025-08-09T17:11:26.976Z,1754759486.976 [DAT](INFO): got valid direction response:
 17:11:25.8994 LVL= 27120, 21345, 32754, 32755, AGC= 66, IDX= 508,-0.21, 2.357,-2.079, 2.357, 2.957, PHS=-0.498, 1.292,-0.644, RAW= 333.9,  -1.6, CAL= 333.2,  -4.6, ROT= 176.8,   4.6

2025-08-09T17:11:26.977Z,1754759486.977 [DAT](INFO): #Rx 39: Read range and direction messages.
2025-08-09T17:11:26.978Z,1754759486.978 [DAT](INFO): direction in FSK: [-0.995225,0.055642,-0.080199]
2025-08-09T17:11:26.978Z,1754759486.978 [DAT](INFO): publishing direction and range info
2025-08-09T17:11:26.981Z,1754759486.981 [DAT](INFO): checking for new query: numPingsReceived=39, elapsed TxPingTime=21.683449
2025-08-09T17:11:27.132Z,1754759487.132 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 24.600000 m,
      deltaT: 0.502329 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-08-09T17:11:27.134Z,1754759487.134 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 24.600000 m,
      bearing: 11.054807 deg,
      lat: 36.906104 deg,
      lon: -122.115863 deg,
      deltaT: 0.502329 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      posRepo size: 4

2025-08-09T17:11:27.138Z,1754759487.138 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.60 m.
2025-08-09T17:11:27.222Z,1754759487.222 [DAT](INFO): DAT read: Rx Time:17:11:26.3995 

2025-08-09T17:11:27.224Z,1754759487.224 [DAT](INFO): Rx dataTimestamp_ set to:1754759487.223009
2025-08-09T17:11:27.226Z,1754759487.226 [DAT](INFO): DAT read: Bearing 157.4,   5.2 (Local)

2025-08-09T17:11:27.228Z,1754759487.228 [DAT](INFO): Local bearing/azimuth received:
 Bearing 157.4,   5.2 (Local)

2025-08-09T17:11:27.230Z,1754759487.230 [DAT](INFO): checking for new query: numPingsReceived=39, elapsed TxPingTime=21.931280
2025-08-09T17:11:27.466Z,1754759487.466 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.60 m.
2025-08-09T17:11:27.473Z,1754759487.473 [DAT](INFO): DAT read: Range 11 to 50 :    24.8 m (trip time 16.5 ms) speed -0.1

2025-08-09T17:11:27.478Z,1754759487.478 [DAT](INFO): DAT read: 17:11:26.3995 LVL= 31136, 19185, 32754, 32755, AGC= 66, IDX= 509, 0.31,-1.337, 0.471,-1.399,-0.782, PHS=-0.454, 1.297,-0.661, RAW= 335.5,  -2.0, CAL= 334.9,  -4.9, ROT= 175.1,   4.9

2025-08-09T17:11:27.479Z,1754759487.479 [DAT](INFO): got valid direction response:
 17:11:26.3995 LVL= 31136, 19185, 32754, 32755, AGC= 66, IDX= 509, 0.31,-1.337, 0.471,-1.399,-0.782, PHS=-0.454, 1.297,-0.661, RAW= 335.5,  -2.0, CAL= 334.9,  -4.9, ROT= 175.1,   4.9

2025-08-09T17:11:27.479Z,1754759487.479 [DAT](INFO): #Rx 40: Read range and direction messages.
2025-08-09T17:11:27.480Z,1754759487.480 [DAT](INFO): direction in FSK: [-0.992704,0.085105,-0.085417]
2025-08-09T17:11:27.480Z,1754759487.480 [DAT](INFO): publishing direction and range info
2025-08-09T17:11:27.484Z,1754759487.484 [DAT](INFO): checking for new query: numPingsReceived=40, elapsed TxPingTime=22.186102
2025-08-09T17:11:27.726Z,1754759487.726 [DAT](INFO): DAT read: Rx Time:17:11:26.8995 

2025-08-09T17:11:27.728Z,1754759487.728 [DAT](INFO): Rx dataTimestamp_ set to:1754759487.726930
2025-08-09T17:11:27.733Z,1754759487.733 [DAT](INFO): DAT read: Bearing 156.8,   5.6 (Local)

2025-08-09T17:11:27.734Z,1754759487.734 [DAT](INFO): Local bearing/azimuth received:
 Bearing 156.8,   5.6 (Local)

2025-08-09T17:11:27.743Z,1754759487.743 [DAT](INFO): DAT read: Range 11 to 50 :    24.8 m (trip time 16.5 ms) speed 0.0

2025-08-09T17:11:27.745Z,1754759487.745 [DAT](ERROR): #Rx 41: Read range message, but no direction.
2025-08-09T17:11:27.757Z,1754759487.757 [DAT](INFO): checking for new query: numPingsReceived=41, elapsed TxPingTime=22.458370
2025-08-09T17:11:27.937Z,1754759487.937 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 24.799999 m,
      deltaT: 0.760289 s,
      deltaX: 0.199999 m,
      approachRate: 0.263056 m/s,
      rangeRepo size: 4

2025-08-09T17:11:27.943Z,1754759487.943 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 24.799999 m,
      bearing: 5.202967 deg,
      lat: 36.906108 deg,
      lon: -122.115891 deg,
      deltaT: 0.760289 s,
      deltaX: 0.199999 m,
      approachRate: 0.263056 m/s,
      posRepo size: 4

2025-08-09T17:11:27.943Z,1754759487.943 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.80 m.
2025-08-09T17:11:27.979Z,1754759487.979 [DAT](INFO): DAT read: 17:11:26.8995 LVL= 30768, 25521, 32754, 32755, AGC= 65, IDX= 509, 0.01,-2.781,-0.975,-2.861,-2.216, PHS=-0.463, 1.286,-0.689, RAW= 336.0,  -1.4, CAL= 335.4,  -4.4, ROT= 174.6,   4.4

2025-08-09T17:11:27.980Z,1754759487.980 [DAT](INFO): got valid direction response:
 17:11:26.8995 LVL= 30768, 25521, 32754, 32755, AGC= 65, IDX= 509, 0.01,-2.781,-0.975,-2.861,-2.216, PHS=-0.463, 1.286,-0.689, RAW= 336.0,  -1.4, CAL= 335.4,  -4.4, ROT= 174.6,   4.4

2025-08-09T17:11:27.981Z,1754759487.981 [DAT](INFO): #Rx 42: Read direction message, but no range.
2025-08-09T17:11:27.982Z,1754759487.982 [DAT](INFO): direction in FSK: [-0.992628,0.093831,-0.076719]
2025-08-09T17:11:27.985Z,1754759487.985 [DAT](INFO): checking for new query: numPingsReceived=42, elapsed TxPingTime=22.687527
2025-08-09T17:11:28.230Z,1754759488.230 [DAT](INFO): DAT read: Rx Time:17:11:27.3996 

2025-08-09T17:11:28.231Z,1754759488.231 [DAT](INFO): Rx dataTimestamp_ set to:1754759488.230622
2025-08-09T17:11:28.234Z,1754759488.234 [DAT](INFO): DAT read: Bearing 156.9,   5.5 (Local)

2025-08-09T17:11:28.235Z,1754759488.235 [DAT](INFO): Local bearing/azimuth received:
 Bearing 156.9,   5.5 (Local)

2025-08-09T17:11:28.239Z,1754759488.239 [DAT](INFO): DAT read: Range 11 to 50 :    24.9 m (trip time 16.6 ms) speed 0.0

2025-08-09T17:11:28.241Z,1754759488.241 [DAT](ERROR): #Rx 43: Read range message, but no direction.
2025-08-09T17:11:28.279Z,1754759488.279 [DAT](INFO): checking for new query: numPingsReceived=43, elapsed TxPingTime=22.980951
2025-08-09T17:11:28.367Z,1754759488.367 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 24.900000 m,
      deltaT: 0.503692 s,
      deltaX: 0.100000 m,
      approachRate: 0.198535 m/s,
      rangeRepo size: 4

2025-08-09T17:11:28.369Z,1754759488.369 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 24.900000 m,
      bearing: 5.218423 deg,
      lat: 36.906108 deg,
      lon: -122.115891 deg,
      deltaT: 0.503692 s,
      deltaX: 0.100000 m,
      approachRate: 0.198535 m/s,
      posRepo size: 4

2025-08-09T17:11:28.370Z,1754759488.370 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.90 m.
2025-08-09T17:11:28.485Z,1754759488.485 [DAT](INFO): DAT read: 17:11:27.3996 LVL= 32752, 25585, 32754, 32755, AGC= 65, IDX= 510,-0.24, 2.256,-2.175, 2.174, 2.832, PHS=-0.474, 1.321,-0.702, RAW= 335.9,  -1.5, CAL= 335.3,  -4.4, ROT= 174.7,   4.4

2025-08-09T17:11:28.486Z,1754759488.486 [DAT](INFO): got valid direction response:
 17:11:27.3996 LVL= 32752, 25585, 32754, 32755, AGC= 65, IDX= 510,-0.24, 2.256,-2.175, 2.174, 2.832, PHS=-0.474, 1.321,-0.702, RAW= 335.9,  -1.5, CAL= 335.3,  -4.4, ROT= 174.7,   4.4

2025-08-09T17:11:28.487Z,1754759488.487 [DAT](INFO): #Rx 44: Read direction message, but no range.
2025-08-09T17:11:28.488Z,1754759488.488 [DAT](INFO): direction in FSK: [-0.992790,0.092098,-0.076719]
2025-08-09T17:11:28.491Z,1754759488.491 [DAT](INFO): checking for new query: numPingsReceived=44, elapsed TxPingTime=23.193186
2025-08-09T17:11:28.735Z,1754759488.735 [DAT](INFO): DAT read: Rx Time:17:11:27.8995 

2025-08-09T17:11:28.737Z,1754759488.737 [DAT](INFO): Rx dataTimestamp_ set to:1754759488.735859
2025-08-09T17:11:28.740Z,1754759488.740 [DAT](INFO): DAT read: Bearing 158.0,   4.5 (Local)

2025-08-09T17:11:28.741Z,1754759488.741 [DAT](INFO): Local bearing/azimuth received:
 Bearing 158.0,   4.5 (Local)

2025-08-09T17:11:28.744Z,1754759488.744 [DAT](INFO): DAT read: Range 11 to 50 :    24.8 m (trip time 16.5 ms) speed 0.0

2025-08-09T17:11:28.751Z,1754759488.751 [DAT](ERROR): #Rx 45: Read range message, but no direction.
2025-08-09T17:11:28.754Z,1754759488.754 [DAT](INFO): checking for new query: numPingsReceived=45, elapsed TxPingTime=23.455544
2025-08-09T17:11:28.881Z,1754759488.881 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 24.799999 m,
      deltaT: 0.505237 s,
      deltaX: -0.100000 m,
      approachRate: -0.197928 m/s,
      rangeRepo size: 4

2025-08-09T17:11:28.887Z,1754759488.887 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 24.799999 m,
      bearing: 3.527874 deg,
      lat: 36.906108 deg,
      lon: -122.115899 deg,
      deltaT: 0.505237 s,
      deltaX: -0.100000 m,
      approachRate: -0.197928 m/s,
      posRepo size: 4

2025-08-09T17:11:28.887Z,1754759488.887 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.80 m.
2025-08-09T17:11:28.990Z,1754759488.990 [DAT](INFO): DAT read: 17:11:27.8995 LVL= 32752, 24129, 32754, 32755, AGC= 66, IDX= 509, 0.41, 2.935,-1.488, 2.893,-2.787, PHS=-0.459, 1.344,-0.647, RAW= 334.9,  -2.5, CAL= 334.3,  -5.5, ROT= 175.7,   5.5

2025-08-09T17:11:28.992Z,1754759488.992 [DAT](INFO): got valid direction response:
 17:11:27.8995 LVL= 32752, 24129, 32754, 32755, AGC= 66, IDX= 509, 0.41, 2.935,-1.488, 2.893,-2.787, PHS=-0.459, 1.344,-0.647, RAW= 334.9,  -2.5, CAL= 334.3,  -5.5, ROT= 175.7,   5.5

2025-08-09T17:11:28.992Z,1754759488.992 [DAT](INFO): #Rx 46: Read direction message, but no range.
2025-08-09T17:11:28.994Z,1754759488.994 [DAT](INFO): direction in FSK: [-0.992594,0.074634,-0.095846]
2025-08-09T17:11:28.997Z,1754759488.997 [DAT](INFO): checking for new query: numPingsReceived=46, elapsed TxPingTime=23.699661
2025-08-09T17:11:29.176Z,1754759489.176 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.80 m.
2025-08-09T17:11:29.240Z,1754759489.240 [DAT](INFO): DAT read: Rx Time:17:11:28.3997 

2025-08-09T17:11:29.241Z,1754759489.241 [DAT](INFO): Rx dataTimestamp_ set to:1754759489.240254
2025-08-09T17:11:29.245Z,1754759489.245 [DAT](INFO): DAT read: Bearing 158.4,   4.0 (Local)

2025-08-09T17:11:29.246Z,1754759489.246 [DAT](INFO): Local bearing/azimuth received:
 Bearing 158.4,   4.0 (Local)

2025-08-09T17:11:29.251Z,1754759489.251 [DAT](INFO): DAT read: Range 11 to 50 :    24.9 m (trip time 16.6 ms) speed -0.2

2025-08-09T17:11:29.253Z,1754759489.253 [DAT](ERROR): #Rx 47: Read range message, but no direction.
2025-08-09T17:11:29.257Z,1754759489.257 [DAT](INFO): checking for new query: numPingsReceived=47, elapsed TxPingTime=23.958817
2025-08-09T17:11:29.491Z,1754759489.491 [DAT](INFO): DAT read: 17:11:28.3997 LVL= 32752, 25489, 32754, 32755, AGC= 66, IDX= 511, 0.18,-2.076,-0.247,-2.094,-1.527, PHS=-0.447, 1.325,-0.611, RAW= 334.4,  -2.9, CAL= 333.8,  -5.9, ROT= 176.2,   5.9

2025-08-09T17:11:29.492Z,1754759489.492 [DAT](INFO): got valid direction response:
 17:11:28.3997 LVL= 32752, 25489, 32754, 32755, AGC= 66, IDX= 511, 0.18,-2.076,-0.247,-2.094,-1.527, PHS=-0.447, 1.325,-0.611, RAW= 334.4,  -2.9, CAL= 333.8,  -5.9, ROT= 176.2,   5.9

2025-08-09T17:11:29.492Z,1754759489.492 [DAT](INFO): #Rx 48: Read direction message, but no range.
2025-08-09T17:11:29.493Z,1754759489.493 [DAT](INFO): direction in FSK: [-0.992516,0.065923,-0.102793]
2025-08-09T17:11:29.497Z,1754759489.497 [DAT](INFO): checking for new query: numPingsReceived=48, elapsed TxPingTime=24.198811
2025-08-09T17:11:29.671Z,1754759489.671 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 24.900000 m,
      deltaT: 0.504395 s,
      deltaX: 0.100000 m,
      approachRate: 0.198258 m/s,
      rangeRepo size: 4

2025-08-09T17:11:29.673Z,1754759489.673 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 24.900000 m,
      bearing: 3.568091 deg,
      lat: 36.906108 deg,
      lon: -122.115899 deg,
      deltaT: 0.504395 s,
      deltaX: 0.100000 m,
      approachRate: 0.198258 m/s,
      posRepo size: 4

2025-08-09T17:11:29.674Z,1754759489.674 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.90 m.
2025-08-09T17:11:29.743Z,1754759489.743 [DAT](INFO): DAT read: Rx Time:17:11:28.8997 

2025-08-09T17:11:29.745Z,1754759489.745 [DAT](INFO): Rx dataTimestamp_ set to:1754759489.743909
2025-08-09T17:11:29.749Z,1754759489.749 [DAT](INFO): DAT read: Bearing 160.5,   2.3 (Local)

2025-08-09T17:11:29.750Z,1754759489.750 [DAT](INFO): Local bearing/azimuth received:
 Bearing 160.5,   2.3 (Local)

2025-08-09T17:11:29.761Z,1754759489.761 [DAT](INFO): DAT read: Range 11 to 50 :    24.9 m (trip time 16.6 ms) speed -0.3

2025-08-09T17:11:29.763Z,1754759489.763 [DAT](ERROR): #Rx 49: Read range message, but no direction.
2025-08-09T17:11:29.766Z,1754759489.766 [DAT](INFO): checking for new query: numPingsReceived=49, elapsed TxPingTime=24.467472
2025-08-09T17:11:29.989Z,1754759489.989 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 24.900000 m,
      deltaT: 0.503655 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-08-09T17:11:29.990Z,1754759489.990 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.90 m.
2025-08-09T17:11:29.995Z,1754759489.995 [DAT](INFO): DAT read: 17:11:28.8997 LVL= 32752, 29777, 32754, 32755, AGC= 66, IDX= 511, 0.04, 1.838,-2.602, 1.889, 2.355, PHS=-0.414, 1.371,-0.510, RAW= 332.6,  -4.9, CAL= 332.0,  -8.0, ROT= 178.0,   8.0

2025-08-09T17:11:29.996Z,1754759489.996 [DAT](INFO): got valid direction response:
 17:11:28.8997 LVL= 32752, 29777, 32754, 32755, AGC= 66, IDX= 511, 0.04, 1.838,-2.602, 1.889, 2.355, PHS=-0.414, 1.371,-0.510, RAW= 332.6,  -4.9, CAL= 332.0,  -8.0, ROT= 178.0,   8.0

2025-08-09T17:11:29.996Z,1754759489.996 [DAT](INFO): #Rx 50: Read direction message, but no range.
2025-08-09T17:11:29.997Z,1754759489.997 [DAT](INFO): direction in FSK: [-0.989665,0.034560,-0.139173]
2025-08-09T17:11:30.001Z,1754759490.001 [DAT](INFO): checking for new query: numPingsReceived=50, elapsed TxPingTime=24.703037
2025-08-09T17:11:30.245Z,1754759490.245 [DAT](INFO): DAT read: Rx Time:17:11:29.3999 

2025-08-09T17:11:30.245Z,1754759490.245 [DAT](INFO): Rx dataTimestamp_ set to:1754759490.244872
2025-08-09T17:11:30.246Z,1754759490.246 [DAT](INFO): DAT read: Range 11 to 50 :    25.2 m (trip time 16.8 ms) speed 0.0

2025-08-09T17:11:30.247Z,1754759490.247 [DAT](ERROR): #Rx 51: Read range message, but no direction.
2025-08-09T17:11:30.248Z,1754759490.248 [DAT](INFO): checking for new query: numPingsReceived=51, elapsed TxPingTime=24.950178
2025-08-09T17:11:30.375Z,1754759490.375 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 25.200001 m,
      deltaT: 0.500963 s,
      deltaX: 0.300001 m,
      approachRate: 0.598849 m/s,
      rangeRepo size: 4

2025-08-09T17:11:30.377Z,1754759490.377 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 25.200001 m,
      bearing: 3.616128 deg,
      lat: 36.906108 deg,
      lon: -122.115899 deg,
      deltaT: 1.004618 s,
      deltaX: 0.300001 m,
      approachRate: 0.298622 m/s,
      posRepo size: 4

2025-08-09T17:11:30.377Z,1754759490.377 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.20 m.
2025-08-09T17:11:30.495Z,1754759490.495 [DAT](INFO): checking for new query: numPingsReceived=51, elapsed TxPingTime=25.197607
2025-08-09T17:11:30.753Z,1754759490.753 [DAT](INFO): DAT read: Rx Time:17:11:29.8998 

2025-08-09T17:11:30.771Z,1754759490.771 [DAT](INFO): Rx dataTimestamp_ set to:1754759490.753655
2025-08-09T17:11:30.773Z,1754759490.773 [DAT](INFO): DAT read: Bearing 275.9, -15.3 (Local)

2025-08-09T17:11:30.773Z,1754759490.773 [DAT](INFO): Local bearing/azimuth received:
 Bearing 275.9, -15.3 (Local)

2025-08-09T17:11:30.775Z,1754759490.775 [DAT](INFO): DAT read: Range 11 to 50 :    25.1 m (trip time 16.7 ms) speed -0.2

2025-08-09T17:11:30.800Z,1754759490.800 [DAT](INFO): DAT read: 17:11:29.8998 LVL= 30896, 27041, 31842, 32755, AGC= 67, IDX= 513,-0.50, 2.160, 1.516, 2.897, 0.711, PHS= 1.551, 0.850, 2.142, RAW= 177.2, -55.1, CAL= 177.9, -53.1, ROT= 332.1,  53.1

2025-08-09T17:11:30.801Z,1754759490.801 [DAT](INFO): got valid direction response:
 17:11:29.8998 LVL= 30896, 27041, 31842, 32755, AGC= 67, IDX= 513,-0.50, 2.160, 1.516, 2.897, 0.711, PHS= 1.551, 0.850, 2.142, RAW= 177.2, -55.1, CAL= 177.9, -53.1, ROT= 332.1,  53.1

2025-08-09T17:11:30.801Z,1754759490.801 [DAT](INFO): #Rx 52: Read range and direction messages.
2025-08-09T17:11:30.806Z,1754759490.806 [DAT](INFO): direction in FSK: [0.530631,-0.280955,-0.799685]
2025-08-09T17:11:30.807Z,1754759490.807 [DAT](INFO): publishing direction and range info
2025-08-09T17:11:30.818Z,1754759490.818 [DAT](INFO): checking for new query: numPingsReceived=52, elapsed TxPingTime=25.512182
2025-08-09T17:11:30.983Z,1754759490.983 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 25.100000 m,
      deltaT: 0.508783 s,
      deltaX: -0.100000 m,
      approachRate: -0.196548 m/s,
      rangeRepo size: 4

2025-08-09T17:11:30.985Z,1754759490.985 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 25.100000 m,
      bearing: 4.753363 deg,
      lat: 36.906106 deg,
      lon: -122.115894 deg,
      deltaT: 0.508783 s,
      deltaX: -0.100000 m,
      approachRate: -0.196548 m/s,
      posRepo size: 4

2025-08-09T17:11:30.986Z,1754759490.986 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.10 m.
2025-08-09T17:11:31.004Z,1754759491.004 [DAT](INFO): checking for new query: numPingsReceived=52, elapsed TxPingTime=25.706104
2025-08-09T17:11:31.260Z,1754759491.260 [DAT](INFO): DAT read: Rx Time:17:11:30.4000 

2025-08-09T17:11:31.261Z,1754759491.261 [DAT](INFO): Rx dataTimestamp_ set to:1754759491.260460
2025-08-09T17:11:31.265Z,1754759491.265 [DAT](INFO): DAT read: Bearing 162.0,  -2.3 (Local)

2025-08-09T17:11:31.271Z,1754759491.271 [DAT](INFO): Local bearing/azimuth received:
 Bearing 162.0,  -2.3 (Local)

2025-08-09T17:11:31.275Z,1754759491.275 [DAT](INFO): DAT read: Range 11 to 50 :    25.4 m (trip time 16.9 ms) speed -0.2

2025-08-09T17:11:31.280Z,1754759491.280 [DAT](INFO): DAT read: 17:11:30.4000 LVL= 32752, 28785, 32754, 32755, AGC= 70, IDX=   2, 0.15,-1.657, 0.280,-1.437,-1.095, PHS=-0.460, 1.420,-0.386, RAW= 328.0,  -6.3, CAL= 327.5,  -9.4, ROT= 182.5,   9.4

2025-08-09T17:11:31.281Z,1754759491.281 [DAT](INFO): got valid direction response:
 17:11:30.4000 LVL= 32752, 28785, 32754, 32755, AGC= 70, IDX=   2, 0.15,-1.657, 0.280,-1.437,-1.095, PHS=-0.460, 1.420,-0.386, RAW= 328.0,  -6.3, CAL= 327.5,  -9.4, ROT= 182.5,   9.4

2025-08-09T17:11:31.281Z,1754759491.281 [DAT](INFO): #Rx 53: Read range and direction messages.
2025-08-09T17:11:31.282Z,1754759491.282 [DAT](INFO): direction in FSK: [-0.985633,-0.043034,-0.163326]
2025-08-09T17:11:31.295Z,1754759491.295 [DAT](INFO): publishing direction and range info
2025-08-09T17:11:31.298Z,1754759491.298 [DAT](INFO): checking for new query: numPingsReceived=53, elapsed TxPingTime=26.000084
2025-08-09T17:11:31.441Z,1754759491.441 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 25.400000 m,
      deltaT: 0.506805 s,
      deltaX: 0.299999 m,
      approachRate: 0.591942 m/s,
      rangeRepo size: 4

2025-08-09T17:11:31.447Z,1754759491.447 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 25.400000 m,
      bearing: 6.504709 deg,
      lat: 36.906106 deg,
      lon: -122.115885 deg,
      deltaT: 0.506805 s,
      deltaX: 0.299999 m,
      approachRate: 0.591942 m/s,
      posRepo size: 4

2025-08-09T17:11:31.448Z,1754759491.448 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.40 m.
2025-08-09T17:11:31.507Z,1754759491.507 [DAT](INFO): checking for new query: numPingsReceived=53, elapsed TxPingTime=26.209570
2025-08-09T17:11:31.765Z,1754759491.765 [DAT](INFO): DAT read: Rx Time:17:11:30.9000 

2025-08-09T17:11:31.767Z,1754759491.767 [DAT](INFO): Rx dataTimestamp_ set to:1754759491.765271
2025-08-09T17:11:31.776Z,1754759491.776 [DAT](INFO): DAT read: Bearing 160.6,  -3.1 (Local)

2025-08-09T17:11:31.776Z,1754759491.776 [DAT](INFO): Local bearing/azimuth received:
 Bearing 160.6,  -3.1 (Local)

2025-08-09T17:11:31.796Z,1754759491.796 [DAT](INFO): DAT read: Range 11 to 50 :    25.4 m (trip time 16.9 ms) speed -0.1

2025-08-09T17:11:31.817Z,1754759491.817 [DAT](INFO): DAT read: 17:11:30.9000 LVL= 32752, 28993, 32754, 32755, AGC= 64, IDX= 498,-0.05, 1.821,-2.512, 2.061, 2.437, PHS=-0.515, 1.378,-0.420, RAW= 327.5,  -4.9, CAL= 326.8,  -8.0, ROT= 183.2,   8.0

2025-08-09T17:11:31.827Z,1754759491.827 [DAT](INFO): got valid direction response:
 17:11:30.9000 LVL= 32752, 28993, 32754, 32755, AGC= 64, IDX= 498,-0.05, 1.821,-2.512, 2.061, 2.437, PHS=-0.515, 1.378,-0.420, RAW= 327.5,  -4.9, CAL= 326.8,  -8.0, ROT= 183.2,   8.0

2025-08-09T17:11:31.827Z,1754759491.827 [DAT](INFO): #Rx 54: Read range and direction messages.
2025-08-09T17:11:31.828Z,1754759491.828 [DAT](INFO): direction in FSK: [-0.988724,-0.055278,-0.139173]
2025-08-09T17:11:31.828Z,1754759491.828 [DAT](INFO): publishing direction and range info
2025-08-09T17:11:31.841Z,1754759491.841 [DAT](INFO): checking for new query: numPingsReceived=54, elapsed TxPingTime=26.542952
2025-08-09T17:11:31.985Z,1754759491.985 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 25.400000 m,
      deltaT: 0.504811 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-08-09T17:11:31.991Z,1754759491.991 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 25.400000 m,
      bearing: 10.971847 deg,
      lat: 36.906103 deg,
      lon: -122.115864 deg,
      deltaT: 0.504811 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      posRepo size: 4

2025-08-09T17:11:31.992Z,1754759491.992 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.40 m.
2025-08-09T17:11:32.011Z,1754759492.011 [DAT](INFO): checking for new query: numPingsReceived=54, elapsed TxPingTime=26.713614
2025-08-09T17:11:32.267Z,1754759492.267 [DAT](INFO): DAT read: Rx Time:17:11:31.4000 

2025-08-09T17:11:32.269Z,1754759492.269 [DAT](INFO): Rx dataTimestamp_ set to:1754759492.268085
2025-08-09T17:11:32.279Z,1754759492.279 [DAT](INFO): DAT read: Bearing 159.7,  -3.0 (Local)

2025-08-09T17:11:32.280Z,1754759492.280 [DAT](INFO): Local bearing/azimuth received:
 Bearing 159.7,  -3.0 (Local)

2025-08-09T17:11:32.282Z,1754759492.282 [DAT](INFO): DAT read: Range 11 to 50 :    25.5 m (trip time 17.0 ms) speed 0.0

2025-08-09T17:11:32.319Z,1754759492.319 [DAT](INFO): DAT read: 17:11:31.4000 LVL= 32752, 20977, 32754, 32755, AGC= 68, IDX= 499,-0.47,-2.954,-1.038,-2.725,-2.323, PHS=-0.529, 1.331,-0.446, RAW= 327.7,  -4.0, CAL= 327.0,  -7.0, ROT= 183.0,   7.0

2025-08-09T17:11:32.320Z,1754759492.320 [DAT](INFO): got valid direction response:
 17:11:31.4000 LVL= 32752, 20977, 32754, 32755, AGC= 68, IDX= 499,-0.47,-2.954,-1.038,-2.725,-2.323, PHS=-0.529, 1.331,-0.446, RAW= 327.7,  -4.0, CAL= 327.0,  -7.0, ROT= 183.0,   7.0

2025-08-09T17:11:32.320Z,1754759492.320 [DAT](INFO): #Rx 55: Read range and direction messages.
2025-08-09T17:11:32.321Z,1754759492.321 [DAT](INFO): direction in FSK: [-0.991186,-0.051946,-0.121869]
2025-08-09T17:11:32.321Z,1754759492.321 [DAT](INFO): publishing direction and range info
2025-08-09T17:11:32.344Z,1754759492.344 [DAT](INFO): checking for new query: numPingsReceived=55, elapsed TxPingTime=27.045923
2025-08-09T17:11:32.407Z,1754759492.407 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 25.500000 m,
      deltaT: 0.502814 s,
      deltaX: 0.100000 m,
      approachRate: 0.198881 m/s,
      rangeRepo size: 4

2025-08-09T17:11:32.409Z,1754759492.409 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 25.500000 m,
      bearing: 11.468875 deg,
      lat: 36.906103 deg,
      lon: -122.115861 deg,
      deltaT: 0.502814 s,
      deltaX: 0.100000 m,
      approachRate: 0.198881 m/s,
      posRepo size: 4

2025-08-09T17:11:32.410Z,1754759492.410 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.50 m.
2025-08-09T17:11:32.515Z,1754759492.515 [DAT](INFO): checking for new query: numPingsReceived=55, elapsed TxPingTime=27.217636
2025-08-09T17:11:32.771Z,1754759492.771 [DAT](INFO): DAT read: Rx Time:17:11:31.8999 

2025-08-09T17:11:32.772Z,1754759492.772 [DAT](INFO): Rx dataTimestamp_ set to:1754759492.771255
2025-08-09T17:11:32.774Z,1754759492.774 [DAT](INFO): DAT read: Bearing 159.8,  -1.9 (Local)

2025-08-09T17:11:32.775Z,1754759492.775 [DAT](INFO): Local bearing/azimuth received:
 Bearing 159.8,  -1.9 (Local)

2025-08-09T17:11:32.777Z,1754759492.777 [DAT](INFO): DAT read: Range 11 to 50 :    25.2 m (trip time 16.8 ms) speed -0.3

2025-08-09T17:11:32.781Z,1754759492.781 [DAT](INFO): DAT read: 17:11:31.8999 LVL= 27984, 20561, 31410, 32755, AGC= 67, IDX= 498, 0.07,-2.182,-0.245,-1.991,-1.565, PHS=-0.515, 1.365,-0.470, RAW= 328.8,  -4.1, CAL= 328.1,  -7.2, ROT= 181.9,   7.2

2025-08-09T17:11:32.783Z,1754759492.783 [DAT](INFO): got valid direction response:
 17:11:31.8999 LVL= 27984, 20561, 31410, 32755, AGC= 67, IDX= 498, 0.07,-2.182,-0.245,-1.991,-1.565, PHS=-0.515, 1.365,-0.470, RAW= 328.8,  -4.1, CAL= 328.1,  -7.2, ROT= 181.9,   7.2

2025-08-09T17:11:32.783Z,1754759492.783 [DAT](INFO): #Rx 56: Read range and direction messages.
2025-08-09T17:11:32.784Z,1754759492.784 [DAT](INFO): direction in FSK: [-0.991569,-0.032894,-0.125333]
2025-08-09T17:11:32.784Z,1754759492.784 [DAT](INFO): publishing direction and range info
2025-08-09T17:11:32.788Z,1754759492.788 [DAT](INFO): checking for new query: numPingsReceived=56, elapsed TxPingTime=27.490351
2025-08-09T17:11:32.844Z,1754759492.844 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 25.200001 m,
      deltaT: 0.503170 s,
      deltaX: -0.299999 m,
      approachRate: -0.596218 m/s,
      rangeRepo size: 4

2025-08-09T17:11:32.853Z,1754759492.853 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 25.200001 m,
      bearing: 11.500716 deg,
      lat: 36.906103 deg,
      lon: -122.115861 deg,
      deltaT: 0.503170 s,
      deltaX: -0.299999 m,
      approachRate: -0.596218 m/s,
      posRepo size: 4

2025-08-09T17:11:32.854Z,1754759492.854 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.20 m.
2025-08-09T17:11:33.019Z,1754759493.019 [DAT](INFO): checking for new query: numPingsReceived=56, elapsed TxPingTime=27.721506
2025-08-09T17:11:33.136Z,1754759493.136 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.20 m.
2025-08-09T17:11:33.274Z,1754759493.274 [DAT](INFO): DAT read: Rx Time:17:11:32.4000 

2025-08-09T17:11:33.274Z,1754759493.274 [DAT](INFO): Rx dataTimestamp_ set to:1754759493.274203
2025-08-09T17:11:33.276Z,1754759493.276 [DAT](INFO): DAT read: Bearing 160.1,  -1.9 (Local)

2025-08-09T17:11:33.276Z,1754759493.276 [DAT](INFO): Local bearing/azimuth received:
 Bearing 160.1,  -1.9 (Local)

2025-08-09T17:11:33.278Z,1754759493.278 [DAT](INFO): DAT read: Range 11 to 50 :    25.5 m (trip time 17.0 ms) speed -0.1

2025-08-09T17:11:33.283Z,1754759493.283 [DAT](INFO): DAT read: 17:11:32.4000 LVL= 28112, 22977, 29122, 32755, AGC= 67, IDX= 500,-0.24,-2.207,-0.253,-2.015,-1.594, PHS=-0.510, 1.387,-0.464, RAW= 328.8,  -4.4, CAL= 328.1,  -7.5, ROT= 181.9,   7.5

2025-08-09T17:11:33.284Z,1754759493.284 [DAT](INFO): got valid direction response:
 17:11:32.4000 LVL= 28112, 22977, 29122, 32755, AGC= 67, IDX= 500,-0.24,-2.207,-0.253,-2.015,-1.594, PHS=-0.510, 1.387,-0.464, RAW= 328.8,  -4.4, CAL= 328.1,  -7.5, ROT= 181.9,   7.5

2025-08-09T17:11:33.284Z,1754759493.284 [DAT](INFO): #Rx 57: Read range and direction messages.
2025-08-09T17:11:33.285Z,1754759493.285 [DAT](INFO): direction in FSK: [-0.990900,-0.032872,-0.130526]
2025-08-09T17:11:33.285Z,1754759493.285 [DAT](INFO): publishing direction and range info
2025-08-09T17:11:33.289Z,1754759493.289 [DAT](INFO): checking for new query: numPingsReceived=57, elapsed TxPingTime=27.991365
2025-08-09T17:11:33.523Z,1754759493.523 [DAT](INFO): checking for new query: numPingsReceived=57, elapsed TxPingTime=28.225365
2025-08-09T17:11:33.547Z,1754759493.547 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 25.500000 m,
      deltaT: 0.502948 s,
      deltaX: 0.299999 m,
      approachRate: 0.596482 m/s,
      rangeRepo size: 4

2025-08-09T17:11:33.549Z,1754759493.549 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 25.500000 m,
      bearing: 11.018134 deg,
      lat: 36.906103 deg,
      lon: -122.115864 deg,
      deltaT: 0.502948 s,
      deltaX: 0.299999 m,
      approachRate: 0.596482 m/s,
      posRepo size: 4

2025-08-09T17:11:33.549Z,1754759493.549 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.50 m.
2025-08-09T17:11:33.776Z,1754759493.776 [DAT](INFO): DAT read: Rx Time:17:11:32.9000 

2025-08-09T17:11:33.776Z,1754759493.776 [DAT](INFO): Rx dataTimestamp_ set to:1754759493.776144
2025-08-09T17:11:33.778Z,1754759493.778 [DAT](INFO): DAT read: Bearing 160.9,  -1.7 (Local)

2025-08-09T17:11:33.778Z,1754759493.778 [DAT](INFO): Local bearing/azimuth received:
 Bearing 160.9,  -1.7 (Local)

2025-08-09T17:11:33.780Z,1754759493.780 [DAT](INFO): DAT read: Range 11 to 50 :    25.4 m (trip time 16.9 ms) speed 0.0

2025-08-09T17:11:33.785Z,1754759493.785 [DAT](INFO): DAT read: 17:11:32.9000 LVL= 30256, 23313, 32754, 32755, AGC= 68, IDX= 499, 0.33,-2.169,-0.233,-1.979,-1.586, PHS=-0.481, 1.397,-0.437, RAW= 328.8,  -5.2, CAL= 328.2,  -8.3, ROT= 181.8,   8.3

2025-08-09T17:11:33.786Z,1754759493.786 [DAT](INFO): got valid direction response:
 17:11:32.9000 LVL= 30256, 23313, 32754, 32755, AGC= 68, IDX= 499, 0.33,-2.169,-0.233,-1.979,-1.586, PHS=-0.481, 1.397,-0.437, RAW= 328.8,  -5.2, CAL= 328.2,  -8.3, ROT= 181.8,   8.3

2025-08-09T17:11:33.786Z,1754759493.786 [DAT](INFO): #Rx 58: Read range and direction messages.
2025-08-09T17:11:33.787Z,1754759493.787 [DAT](INFO): direction in FSK: [-0.989038,-0.031082,-0.144356]
2025-08-09T17:11:33.788Z,1754759493.788 [DAT](INFO): publishing direction and range info
2025-08-09T17:11:33.796Z,1754759493.796 [DAT](INFO): checking for new query: numPingsReceived=58, elapsed TxPingTime=28.498144
2025-08-09T17:11:33.985Z,1754759493.985 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 25.400000 m,
      deltaT: 0.501941 s,
      deltaX: -0.100000 m,
      approachRate: -0.199227 m/s,
      rangeRepo size: 4

2025-08-09T17:11:33.996Z,1754759493.996 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 25.400000 m,
      bearing: 10.371515 deg,
      lat: 36.906103 deg,
      lon: -122.115867 deg,
      deltaT: 0.501941 s,
      deltaX: -0.100000 m,
      approachRate: -0.199227 m/s,
      posRepo size: 4

2025-08-09T17:11:33.997Z,1754759493.997 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.40 m.
2025-08-09T17:11:34.028Z,1754759494.028 [DAT](INFO): checking for new query: numPingsReceived=58, elapsed TxPingTime=28.729828
2025-08-09T17:11:34.280Z,1754759494.280 [DAT](INFO): DAT read: Rx Time:17:11:33.4001 

2025-08-09T17:11:34.280Z,1754759494.280 [DAT](INFO): Rx dataTimestamp_ set to:1754759494.280188
2025-08-09T17:11:34.282Z,1754759494.282 [DAT](INFO): DAT read: Bearing 160.9,  -1.7 (Local)

2025-08-09T17:11:34.282Z,1754759494.282 [DAT](INFO): Local bearing/azimuth received:
 Bearing 160.9,  -1.7 (Local)

2025-08-09T17:11:34.284Z,1754759494.284 [DAT](INFO): DAT read: Range 11 to 50 :    25.7 m (trip time 17.1 ms) speed 0.1

2025-08-09T17:11:34.304Z,1754759494.304 [DAT](INFO): DAT read: 17:11:33.4001 LVL= 29264, 27233, 32754, 32755, AGC= 69, IDX= 501,-0.01,-2.151,-0.216,-1.963,-1.571, PHS=-0.478, 1.400,-0.436, RAW= 328.9,  -5.3, CAL= 328.3,  -8.4, ROT= 181.7,   8.4

2025-08-09T17:11:34.305Z,1754759494.305 [DAT](INFO): got valid direction response:
 17:11:33.4001 LVL= 29264, 27233, 32754, 32755, AGC= 69, IDX= 501,-0.01,-2.151,-0.216,-1.963,-1.571, PHS=-0.478, 1.400,-0.436, RAW= 328.9,  -5.3, CAL= 328.3,  -8.4, ROT= 181.7,   8.4

2025-08-09T17:11:34.305Z,1754759494.305 [DAT](INFO): #Rx 59: Read range and direction messages.
2025-08-09T17:11:34.306Z,1754759494.306 [DAT](INFO): direction in FSK: [-0.988837,-0.029348,-0.146083]
2025-08-09T17:11:34.323Z,1754759494.323 [DAT](INFO): publishing direction and range info
2025-08-09T17:11:34.326Z,1754759494.326 [DAT](INFO): checking for new query: numPingsReceived=59, elapsed TxPingTime=29.028053
2025-08-09T17:11:34.432Z,1754759494.432 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 25.700001 m,
      deltaT: 0.504044 s,
      deltaX: 0.300001 m,
      approachRate: 0.595188 m/s,
      rangeRepo size: 4

2025-08-09T17:11:34.438Z,1754759494.438 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 25.700001 m,
      bearing: 10.310638 deg,
      lat: 36.906103 deg,
      lon: -122.115867 deg,
      deltaT: 0.504044 s,
      deltaX: 0.300001 m,
      approachRate: 0.595188 m/s,
      posRepo size: 4

2025-08-09T17:11:34.439Z,1754759494.439 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.70 m.
2025-08-09T17:11:34.533Z,1754759494.533 [DAT](INFO): checking for new query: numPingsReceived=59, elapsed TxPingTime=29.234377
2025-08-09T17:11:34.784Z,1754759494.784 [DAT](INFO): DAT read: Rx Time:17:11:33.9000 

2025-08-09T17:11:34.784Z,1754759494.784 [DAT](INFO): Rx dataTimestamp_ set to:1754759494.784123
2025-08-09T17:11:34.786Z,1754759494.786 [DAT](INFO): DAT read: Bearing 160.6,  -2.1 (Local)

2025-08-09T17:11:34.786Z,1754759494.786 [DAT](INFO): Local bearing/azimuth received:
 Bearing 160.6,  -2.1 (Local)

2025-08-09T17:11:34.788Z,1754759494.788 [DAT](INFO): DAT read: Range 11 to 50 :    25.5 m (trip time 17.0 ms) speed -0.1

2025-08-09T17:11:34.794Z,1754759494.794 [DAT](INFO): DAT read: 17:11:33.9000 LVL= 29808, 22961, 32754, 32755, AGC= 68, IDX= 501,-0.40, 2.014,-2.351, 2.213, 2.604, PHS=-0.488, 1.373,-0.435, RAW= 328.6,  -5.0, CAL= 327.9,  -8.1, ROT= 182.1,   8.1

2025-08-09T17:11:34.795Z,1754759494.795 [DAT](INFO): got valid direction response:
 17:11:33.9000 LVL= 29808, 22961, 32754, 32755, AGC= 68, IDX= 501,-0.40, 2.014,-2.351, 2.213, 2.604, PHS=-0.488, 1.373,-0.435, RAW= 328.6,  -5.0, CAL= 327.9,  -8.1, ROT= 182.1,   8.1

2025-08-09T17:11:34.795Z,1754759494.795 [DAT](INFO): #Rx 60: Read range and direction messages.
2025-08-09T17:11:34.796Z,1754759494.796 [DAT](INFO): direction in FSK: [-0.989359,-0.036278,-0.140901]
2025-08-09T17:11:34.796Z,1754759494.796 [DAT](INFO): publishing direction and range info
2025-08-09T17:11:34.809Z,1754759494.809 [DAT](INFO): checking for new query: numPingsReceived=60, elapsed TxPingTime=29.510950
2025-08-09T17:11:34.946Z,1754759494.946 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 25.500000 m,
      deltaT: 0.503935 s,
      deltaX: -0.200001 m,
      approachRate: -0.396878 m/s,
      rangeRepo size: 4

2025-08-09T17:11:34.948Z,1754759494.948 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 25.500000 m,
      bearing: 10.378951 deg,
      lat: 36.906102 deg,
      lon: -122.115867 deg,
      deltaT: 0.503935 s,
      deltaX: -0.200001 m,
      approachRate: -0.396878 m/s,
      posRepo size: 4

2025-08-09T17:11:34.948Z,1754759494.948 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.50 m.
2025-08-09T17:11:35.036Z,1754759495.036 [DAT](INFO): checking for new query: numPingsReceived=60, elapsed TxPingTime=29.737766
2025-08-09T17:11:35.289Z,1754759495.289 [DAT](INFO): DAT read: Rx Time:17:11:34.4002 

2025-08-09T17:11:35.289Z,1754759495.289 [DAT](INFO): Rx dataTimestamp_ set to:1754759495.288918
2025-08-09T17:11:35.291Z,1754759495.291 [DAT](INFO): DAT read: Bearing 160.5,  -1.8 (Local)

2025-08-09T17:11:35.292Z,1754759495.292 [DAT](INFO): Local bearing/azimuth received:
 Bearing 160.5,  -1.8 (Local)

2025-08-09T17:11:35.294Z,1754759495.294 [DAT](INFO): DAT read: Range 11 to 50 :    25.8 m (trip time 17.2 ms) speed -0.2

2025-08-09T17:11:35.311Z,1754759495.311 [DAT](INFO): DAT read: 17:11:34.4002 LVL= 30576, 19665, 32210, 32755, AGC= 69, IDX= 502, 0.07,-2.358,-0.450,-2.173,-1.774, PHS=-0.483, 1.368,-0.444, RAW= 328.9,  -4.9, CAL= 328.3,  -8.0, ROT= 181.7,   8.0

2025-08-09T17:11:35.312Z,1754759495.312 [DAT](INFO): got valid direction response:
 17:11:34.4002 LVL= 30576, 19665, 32210, 32755, AGC= 69, IDX= 502, 0.07,-2.358,-0.450,-2.173,-1.774, PHS=-0.483, 1.368,-0.444, RAW= 328.9,  -4.9, CAL= 328.3,  -8.0, ROT= 181.7,   8.0

2025-08-09T17:11:35.312Z,1754759495.312 [DAT](INFO): #Rx 61: Read range and direction messages.
2025-08-09T17:11:35.313Z,1754759495.313 [DAT](INFO): direction in FSK: [-0.989832,-0.029378,-0.139173]
2025-08-09T17:11:35.314Z,1754759495.314 [DAT](INFO): publishing direction and range info
2025-08-09T17:11:35.317Z,1754759495.317 [DAT](INFO): checking for new query: numPingsReceived=61, elapsed TxPingTime=30.019175
2025-08-09T17:11:35.382Z,1754759495.382 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 25.799999 m,
      deltaT: 0.504795 s,
      deltaX: 0.299999 m,
      approachRate: 0.594299 m/s,
      rangeRepo size: 4

2025-08-09T17:11:35.388Z,1754759495.388 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 25.799999 m,
      bearing: 10.201167 deg,
      lat: 36.906103 deg,
      lon: -122.115868 deg,
      deltaT: 0.504795 s,
      deltaX: 0.299999 m,
      approachRate: 0.594299 m/s,
      posRepo size: 4

2025-08-09T17:11:35.389Z,1754759495.389 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.80 m.
2025-08-09T17:11:35.547Z,1754759495.547 [DAT](INFO): checking for new query: numPingsReceived=61, elapsed TxPingTime=30.248774
2025-08-09T17:11:35.792Z,1754759495.792 [DAT](INFO): DAT read: Rx Time:17:11:34.9002 

2025-08-09T17:11:35.793Z,1754759495.793 [DAT](INFO): Rx dataTimestamp_ set to:1754759495.792661
2025-08-09T17:11:35.794Z,1754759495.794 [DAT](INFO): DAT read: Bearing 161.0,  -1.3 (Local)

2025-08-09T17:11:35.795Z,1754759495.795 [DAT](INFO): Local bearing/azimuth received:
 Bearing 161.0,  -1.3 (Local)

2025-08-09T17:11:35.797Z,1754759495.797 [DAT](INFO): DAT read: Range 11 to 50 :    25.8 m (trip time 17.2 ms) speed 0.0

2025-08-09T17:11:35.801Z,1754759495.801 [DAT](INFO): DAT read: 17:11:34.9002 LVL= 31616, 24129, 32754, 32755, AGC= 71, IDX= 502,-0.41, 1.540,-2.798, 1.709, 2.117, PHS=-0.475, 1.413,-0.452, RAW= 329.4,  -5.2, CAL= 328.8,  -8.3, ROT= 181.2,   8.3

2025-08-09T17:11:35.802Z,1754759495.802 [DAT](INFO): got valid direction response:
 17:11:34.9002 LVL= 31616, 24129, 32754, 32755, AGC= 71, IDX= 502,-0.41, 1.540,-2.798, 1.709, 2.117, PHS=-0.475, 1.413,-0.452, RAW= 329.4,  -5.2, CAL= 328.8,  -8.3, ROT= 181.2,   8.3

2025-08-09T17:11:35.803Z,1754759495.803 [DAT](INFO): #Rx 62: Read range and direction messages.
2025-08-09T17:11:35.804Z,1754759495.804 [DAT](INFO): direction in FSK: [-0.989309,-0.020723,-0.144356]
2025-08-09T17:11:35.804Z,1754759495.804 [DAT](INFO): publishing direction and range info
2025-08-09T17:11:35.828Z,1754759495.828 [DAT](INFO): checking for new query: numPingsReceived=62, elapsed TxPingTime=30.529873
2025-08-09T17:11:35.976Z,1754759495.976 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 25.799999 m,
      deltaT: 0.503743 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-08-09T17:11:35.978Z,1754759495.978 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 25.799999 m,
      bearing: 10.118415 deg,
      lat: 36.906104 deg,
      lon: -122.115868 deg,
      deltaT: 0.503743 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      posRepo size: 4

2025-08-09T17:11:35.979Z,1754759495.979 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.80 m.
2025-08-09T17:11:36.043Z,1754759496.043 [DAT](INFO): checking for new query: numPingsReceived=62, elapsed TxPingTime=30.745617
2025-08-09T17:11:36.296Z,1754759496.296 [DAT](INFO): DAT read: Rx Time:17:11:35.4002 

2025-08-09T17:11:36.296Z,1754759496.296 [DAT](INFO): Rx dataTimestamp_ set to:1754759496.295967
2025-08-09T17:11:36.298Z,1754759496.298 [DAT](INFO): DAT read: Bearing 159.5,  -0.8 (Local)

2025-08-09T17:11:36.298Z,1754759496.298 [DAT](INFO): Local bearing/azimuth received:
 Bearing 159.5,  -0.8 (Local)

2025-08-09T17:11:36.300Z,1754759496.300 [DAT](INFO): DAT read: Range 11 to 50 :    25.8 m (trip time 17.2 ms) speed 0.1

2025-08-09T17:11:36.305Z,1754759496.305 [DAT](INFO): DAT read: 17:11:35.4002 LVL= 32752, 27105, 32754, 32755, AGC= 69, IDX= 502, 0.07, 1.198, 3.130, 1.342, 1.808, PHS=-0.508, 1.366,-0.510, RAW= 330.1,  -3.8, CAL= 329.4,  -6.8, ROT= 180.6,   6.8

2025-08-09T17:11:36.306Z,1754759496.306 [DAT](INFO): got valid direction response:
 17:11:35.4002 LVL= 32752, 27105, 32754, 32755, AGC= 69, IDX= 502, 0.07, 1.198, 3.130, 1.342, 1.808, PHS=-0.508, 1.366,-0.510, RAW= 330.1,  -3.8, CAL= 329.4,  -6.8, ROT= 180.6,   6.8

2025-08-09T17:11:36.306Z,1754759496.306 [DAT](INFO): #Rx 63: Read range and direction messages.
2025-08-09T17:11:36.307Z,1754759496.307 [DAT](INFO): direction in FSK: [-0.992911,-0.010398,-0.118404]
2025-08-09T17:11:36.307Z,1754759496.307 [DAT](INFO): publishing direction and range info
2025-08-09T17:11:36.311Z,1754759496.311 [DAT](INFO): checking for new query: numPingsReceived=63, elapsed TxPingTime=31.012730
2025-08-09T17:11:36.428Z,1754759496.428 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 25.799999 m,
      deltaT: 0.503306 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-08-09T17:11:36.430Z,1754759496.430 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 25.799999 m,
      bearing: 10.104507 deg,
      lat: 36.906104 deg,
      lon: -122.115868 deg,
      deltaT: 0.503306 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      posRepo size: 4

2025-08-09T17:11:36.438Z,1754759496.438 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.80 m.
2025-08-09T17:11:36.548Z,1754759496.548 [DAT](INFO): checking for new query: numPingsReceived=63, elapsed TxPingTime=31.249804
2025-08-09T17:11:36.800Z,1754759496.800 [DAT](INFO): DAT read: Rx Time:17:11:35.9001 

2025-08-09T17:11:36.800Z,1754759496.800 [DAT](INFO): Rx dataTimestamp_ set to:1754759496.800113
2025-08-09T17:11:36.802Z,1754759496.802 [DAT](INFO): DAT read: Bearing 160.3,  -1.4 (Local)

2025-08-09T17:11:36.802Z,1754759496.802 [DAT](INFO): Local bearing/azimuth received:
 Bearing 160.3,  -1.4 (Local)

2025-08-09T17:11:36.804Z,1754759496.804 [DAT](INFO): DAT read: Range 11 to 50 :    25.7 m (trip time 17.1 ms) speed -0.3

2025-08-09T17:11:36.809Z,1754759496.809 [DAT](INFO): DAT read: 17:11:35.9001 LVL= 32752, 27057, 32594, 32755, AGC= 69, IDX= 502,-0.46,-1.429, 0.481,-1.263,-0.835, PHS=-0.492, 1.361,-0.472, RAW= 329.4,  -4.4, CAL= 328.8,  -7.4, ROT= 181.2,   7.4

2025-08-09T17:11:36.810Z,1754759496.810 [DAT](INFO): got valid direction response:
 17:11:35.9001 LVL= 32752, 27057, 32594, 32755, AGC= 69, IDX= 502,-0.46,-1.429, 0.481,-1.263,-0.835, PHS=-0.492, 1.361,-0.472, RAW= 329.4,  -4.4, CAL= 328.8,  -7.4, ROT= 181.2,   7.4

2025-08-09T17:11:36.811Z,1754759496.811 [DAT](INFO): #Rx 64: Read range and direction messages.
2025-08-09T17:11:36.812Z,1754759496.812 [DAT](INFO): direction in FSK: [-0.991454,-0.020768,-0.128796]
2025-08-09T17:11:36.812Z,1754759496.812 [DAT](INFO): publishing direction and range info
2025-08-09T17:11:36.815Z,1754759496.815 [DAT](INFO): checking for new query: numPingsReceived=64, elapsed TxPingTime=31.517645
2025-08-09T17:11:36.927Z,1754759496.927 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 25.700001 m,
      deltaT: 0.504146 s,
      deltaX: -0.099998 m,
      approachRate: -0.198352 m/s,
      rangeRepo size: 4

2025-08-09T17:11:36.929Z,1754759496.929 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 25.700001 m,
      bearing: 9.682491 deg,
      lat: 36.906104 deg,
      lon: -122.115871 deg,
      deltaT: 0.504146 s,
      deltaX: -0.099998 m,
      approachRate: -0.198352 m/s,
      posRepo size: 4

2025-08-09T17:11:36.930Z,1754759496.930 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.70 m.
2025-08-09T17:11:37.052Z,1754759497.052 [DAT](INFO): checking for new query: numPingsReceived=64, elapsed TxPingTime=31.753708
2025-08-09T17:11:37.185Z,1754759497.185 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.70 m.
2025-08-09T17:11:37.304Z,1754759497.304 [DAT](INFO): DAT read: Rx Time:17:11:36.4003 

2025-08-09T17:11:37.304Z,1754759497.304 [DAT](INFO): Rx dataTimestamp_ set to:1754759497.304118
2025-08-09T17:11:37.306Z,1754759497.306 [DAT](INFO): DAT read: Bearing 161.0,  -1.5 (Local)

2025-08-09T17:11:37.306Z,1754759497.306 [DAT](INFO): Local bearing/azimuth received:
 Bearing 161.0,  -1.5 (Local)

2025-08-09T17:11:37.308Z,1754759497.308 [DAT](INFO): DAT read: Range 11 to 50 :    26.0 m (trip time 17.3 ms) speed -0.7

2025-08-09T17:11:37.335Z,1754759497.335 [DAT](INFO): DAT read: 17:11:36.4003 LVL= 31152, 25521, 30514, 32755, AGC= 69, IDX= 503,-0.10,-0.740, 1.283,-0.568,-0.134, PHS=-0.504, 1.462,-0.478, RAW= 329.3,  -5.0, CAL= 328.7,  -8.1, ROT= 181.3,   8.1

2025-08-09T17:11:37.336Z,1754759497.336 [DAT](INFO): got valid direction response:
 17:11:36.4003 LVL= 31152, 25521, 30514, 32755, AGC= 69, IDX= 503,-0.10,-0.740, 1.283,-0.568,-0.134, PHS=-0.504, 1.462,-0.478, RAW= 329.3,  -5.0, CAL= 328.7,  -8.1, ROT= 181.3,   8.1

2025-08-09T17:11:37.336Z,1754759497.336 [DAT](INFO): #Rx 65: Read range and direction messages.
2025-08-09T17:11:37.337Z,1754759497.337 [DAT](INFO): direction in FSK: [-0.989769,-0.022461,-0.140901]
2025-08-09T17:11:37.337Z,1754759497.337 [DAT](INFO): publishing direction and range info
2025-08-09T17:11:37.361Z,1754759497.361 [DAT](INFO): checking for new query: numPingsReceived=65, elapsed TxPingTime=32.063065
2025-08-09T17:11:37.567Z,1754759497.567 [DAT](INFO): checking for new query: numPingsReceived=65, elapsed TxPingTime=32.269535
2025-08-09T17:11:37.620Z,1754759497.620 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 26.000000 m,
      deltaT: 0.504005 s,
      deltaX: 0.299999 m,
      approachRate: 0.595231 m/s,
      rangeRepo size: 4

2025-08-09T17:11:37.623Z,1754759497.623 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 26.000000 m,
      bearing: 9.673204 deg,
      lat: 36.906104 deg,
      lon: -122.115871 deg,
      deltaT: 0.504005 s,
      deltaX: 0.299999 m,
      approachRate: 0.595231 m/s,
      posRepo size: 4

2025-08-09T17:11:37.624Z,1754759497.624 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 26.00 m.
2025-08-09T17:11:37.820Z,1754759497.820 [DAT](INFO): DAT read: Rx Time:17:11:36.9002 

2025-08-09T17:11:37.820Z,1754759497.820 [DAT](INFO): Rx dataTimestamp_ set to:1754759497.820164
2025-08-09T17:11:37.822Z,1754759497.822 [DAT](INFO): DAT read: Bearing 161.2,  -0.7 (Local)

2025-08-09T17:11:37.822Z,1754759497.822 [DAT](INFO): Local bearing/azimuth received:
 Bearing 161.2,  -0.7 (Local)

2025-08-09T17:11:37.824Z,1754759497.824 [DAT](INFO): DAT read: Range 11 to 50 :    25.8 m (trip time 17.2 ms) speed 0.0

2025-08-09T17:11:37.829Z,1754759497.829 [DAT](INFO): DAT read: 17:11:36.9002 LVL= 32752, 27473, 32754, 32755, AGC= 68, IDX= 502, 0.17,-0.575, 1.300,-0.434,-0.023, PHS=-0.450, 1.368,-0.455, RAW= 330.1,  -5.1, CAL= 329.5,  -8.2, ROT= 180.5,   8.2

2025-08-09T17:11:37.830Z,1754759497.830 [DAT](INFO): got valid direction response:
 17:11:36.9002 LVL= 32752, 27473, 32754, 32755, AGC= 68, IDX= 502, 0.17,-0.575, 1.300,-0.434,-0.023, PHS=-0.450, 1.368,-0.455, RAW= 330.1,  -5.1, CAL= 329.5,  -8.2, ROT= 180.5,   8.2

2025-08-09T17:11:37.830Z,1754759497.830 [DAT](INFO): #Rx 66: Read range and direction messages.
2025-08-09T17:11:37.831Z,1754759497.831 [DAT](INFO): direction in FSK: [-0.989739,-0.008637,-0.142629]
2025-08-09T17:11:37.832Z,1754759497.832 [DAT](INFO): publishing direction and range info
2025-08-09T17:11:37.843Z,1754759497.843 [DAT](INFO): checking for new query: numPingsReceived=66, elapsed TxPingTime=32.544868
2025-08-09T17:11:38.049Z,1754759498.049 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 25.799999 m,
      deltaT: 0.516046 s,
      deltaX: -0.200001 m,
      approachRate: -0.387564 m/s,
      rangeRepo size: 4

2025-08-09T17:11:38.055Z,1754759498.055 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 25.799999 m,
      bearing: 9.641489 deg,
      lat: 36.906104 deg,
      lon: -122.115871 deg,
      deltaT: 0.516046 s,
      deltaX: -0.200001 m,
      approachRate: -0.387564 m/s,
      posRepo size: 4

2025-08-09T17:11:38.056Z,1754759498.056 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.80 m.
2025-08-09T17:11:38.073Z,1754759498.073 [DAT](INFO): checking for new query: numPingsReceived=66, elapsed TxPingTime=32.774860
2025-08-09T17:11:38.324Z,1754759498.324 [DAT](INFO): DAT read: Rx Time:17:11:37.4003 

2025-08-09T17:11:38.324Z,1754759498.324 [DAT](INFO): Rx dataTimestamp_ set to:1754759498.324067
2025-08-09T17:11:38.326Z,1754759498.326 [DAT](INFO): DAT read: Bearing 160.9,   0.6 (Local)

2025-08-09T17:11:38.326Z,1754759498.326 [DAT](INFO): Local bearing/azimuth received:
 Bearing 160.9,   0.6 (Local)

2025-08-09T17:11:38.328Z,1754759498.328 [DAT](INFO): DAT read: Range 11 to 50 :    26.0 m (trip time 17.3 ms) speed -0.1

2025-08-09T17:11:38.335Z,1754759498.335 [DAT](INFO): DAT read: 17:11:37.4003 LVL= 27056, 32753, 32754, 32755, AGC= 71, IDX= 503, 0.34, 1.703,-2.785, 1.797, 2.225, PHS=-0.421, 1.318,-0.472, RAW= 331.4,  -4.9, CAL= 330.9,  -7.9, ROT= 179.1,   7.9

2025-08-09T17:11:38.339Z,1754759498.339 [DAT](INFO): got valid direction response:
 17:11:37.4003 LVL= 27056, 32753, 32754, 32755, AGC= 71, IDX= 503, 0.34, 1.703,-2.785, 1.797, 2.225, PHS=-0.421, 1.318,-0.472, RAW= 331.4,  -4.9, CAL= 330.9,  -7.9, ROT= 179.1,   7.9

2025-08-09T17:11:38.339Z,1754759498.339 [DAT](INFO): #Rx 67: Read range and direction messages.
2025-08-09T17:11:38.340Z,1754759498.340 [DAT](INFO): direction in FSK: [-0.990387,0.015558,-0.137445]
2025-08-09T17:11:38.340Z,1754759498.340 [DAT](INFO): publishing direction and range info
2025-08-09T17:11:38.368Z,1754759498.368 [DAT](INFO): checking for new query: numPingsReceived=67, elapsed TxPingTime=33.070148
2025-08-09T17:11:38.500Z,1754759498.500 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 26.000000 m,
      deltaT: 0.503903 s,
      deltaX: 0.200001 m,
      approachRate: 0.396903 m/s,
      rangeRepo size: 4

2025-08-09T17:11:38.507Z,1754759498.507 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 26.000000 m,
      bearing: 9.101961 deg,
      lat: 36.906105 deg,
      lon: -122.115873 deg,
      deltaT: 0.503903 s,
      deltaX: 0.200001 m,
      approachRate: 0.396903 m/s,
      posRepo size: 4

2025-08-09T17:11:38.507Z,1754759498.507 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 26.00 m.
2025-08-09T17:11:38.578Z,1754759498.578 [DAT](INFO): checking for new query: numPingsReceived=67, elapsed TxPingTime=33.279469
2025-08-09T17:11:38.828Z,1754759498.828 [DAT](INFO): DAT read: Rx Time:17:11:37.9003 

2025-08-09T17:11:38.828Z,1754759498.828 [DAT](INFO): Rx dataTimestamp_ set to:1754759498.828123
2025-08-09T17:11:38.830Z,1754759498.830 [DAT](INFO): DAT read: Bearing 160.4,   0.4 (Local)

2025-08-09T17:11:38.830Z,1754759498.830 [DAT](INFO): Local bearing/azimuth received:
 Bearing 160.4,   0.4 (Local)

2025-08-09T17:11:38.839Z,1754759498.839 [DAT](INFO): DAT read: Range 11 to 50 :    26.0 m (trip time 17.3 ms) speed 0.0

2025-08-09T17:11:38.853Z,1754759498.853 [DAT](INFO): DAT read: 17:11:37.9003 LVL= 32752, 26081, 32754, 32755, AGC= 70, IDX= 503,-0.30,-1.255, 0.603,-1.158,-0.696, PHS=-0.457, 1.344,-0.506, RAW= 331.3,  -4.2, CAL= 330.7,  -7.2, ROT= 179.3,   7.2

2025-08-09T17:11:38.855Z,1754759498.855 [DAT](INFO): got valid direction response:
 17:11:37.9003 LVL= 32752, 26081, 32754, 32755, AGC= 70, IDX= 503,-0.30,-1.255, 0.603,-1.158,-0.696, PHS=-0.457, 1.344,-0.506, RAW= 331.3,  -4.2, CAL= 330.7,  -7.2, ROT= 179.3,   7.2

2025-08-09T17:11:38.855Z,1754759498.855 [DAT](INFO): #Rx 68: Read range and direction messages.
2025-08-09T17:11:38.856Z,1754759498.856 [DAT](INFO): direction in FSK: [-0.992041,0.012121,-0.125333]
2025-08-09T17:11:38.857Z,1754759498.857 [DAT](INFO): publishing direction and range info
2025-08-09T17:11:38.865Z,1754759498.865 [DAT](INFO): checking for new query: numPingsReceived=68, elapsed TxPingTime=33.566826
2025-08-09T17:11:39.008Z,1754759499.008 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 26.000000 m,
      deltaT: 0.504056 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-08-09T17:11:39.012Z,1754759499.012 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 26.000000 m,
      bearing: 9.101172 deg,
      lat: 36.906105 deg,
      lon: -122.115873 deg,
      deltaT: 0.504056 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      posRepo size: 4

2025-08-09T17:11:39.013Z,1754759499.013 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 26.00 m.
2025-08-09T17:11:39.081Z,1754759499.081 [DAT](INFO): checking for new query: numPingsReceived=68, elapsed TxPingTime=33.782841
2025-08-09T17:11:39.301Z,1754759499.301 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 26.00 m.
2025-08-09T17:11:39.332Z,1754759499.332 [DAT](INFO): DAT read: Rx Time:17:11:38.4004 

2025-08-09T17:11:39.332Z,1754759499.332 [DAT](INFO): Rx dataTimestamp_ set to:1754759499.332186
2025-08-09T17:11:39.334Z,1754759499.334 [DAT](INFO): DAT read: Bearing 161.1,  -1.0 (Local)

2025-08-09T17:11:39.334Z,1754759499.334 [DAT](INFO): Local bearing/azimuth received:
 Bearing 161.1,  -1.0 (Local)

2025-08-09T17:11:39.336Z,1754759499.336 [DAT](INFO): DAT read: Range 11 to 50 :    26.1 m (trip time 17.4 ms) speed -0.1

2025-08-09T17:11:39.341Z,1754759499.341 [DAT](INFO): DAT read: 17:11:38.4004 LVL= 28096, 22369, 32754, 32755, AGC= 71, IDX= 504,-0.08, 0.799, 2.751, 0.945, 1.383, PHS=-0.482, 1.413,-0.483, RAW= 330.0,  -4.8, CAL= 329.4,  -7.8, ROT= 180.6,   7.8

2025-08-09T17:11:39.342Z,1754759499.342 [DAT](INFO): got valid direction response:
 17:11:38.4004 LVL= 28096, 22369, 32754, 32755, AGC= 71, IDX= 504,-0.08, 0.799, 2.751, 0.945, 1.383, PHS=-0.482, 1.413,-0.483, RAW= 330.0,  -4.8, CAL= 329.4,  -7.8, ROT= 180.6,   7.8

2025-08-09T17:11:39.342Z,1754759499.342 [DAT](INFO): #Rx 69: Read range and direction messages.
2025-08-09T17:11:39.343Z,1754759499.343 [DAT](INFO): direction in FSK: [-0.990694,-0.010375,-0.135716]
2025-08-09T17:11:39.344Z,1754759499.344 [DAT](INFO): publishing direction and range info
2025-08-09T17:11:39.355Z,1754759499.355 [DAT](INFO): checking for new query: numPingsReceived=69, elapsed TxPingTime=34.057461
2025-08-09T17:11:39.584Z,1754759499.584 [DAT](INFO): checking for new query: numPingsReceived=69, elapsed TxPingTime=34.286194
2025-08-09T17:11:39.801Z,1754759499.801 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 26.100000 m,
      deltaT: 0.504063 s,
      deltaX: 0.100000 m,
      approachRate: 0.198389 m/s,
      rangeRepo size: 4

2025-08-09T17:11:39.808Z,1754759499.808 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 26.100000 m,
      bearing: 9.093043 deg,
      lat: 36.906105 deg,
      lon: -122.115873 deg,
      deltaT: 0.504063 s,
      deltaX: 0.100000 m,
      approachRate: 0.198389 m/s,
      posRepo size: 4

2025-08-09T17:11:39.808Z,1754759499.808 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 26.10 m.
2025-08-09T17:11:39.836Z,1754759499.836 [DAT](INFO): DAT read: Rx Time:17:11:38.9003 

2025-08-09T17:11:39.836Z,1754759499.836 [DAT](INFO): Rx dataTimestamp_ set to:1754759499.836179
2025-08-09T17:11:39.838Z,1754759499.838 [DAT](INFO): DAT read: Bearing 161.1,  -0.6 (Local)

2025-08-09T17:11:39.839Z,1754759499.839 [DAT](INFO): Local bearing/azimuth received:
 Bearing 161.1,  -0.6 (Local)

2025-08-09T17:11:39.841Z,1754759499.841 [DAT](INFO): DAT read: Range 11 to 50 :    26.0 m (trip time 17.3 ms) speed 0.0

2025-08-09T17:11:39.848Z,1754759499.848 [DAT](INFO): DAT read: 17:11:38.9003 LVL= 30448, 21809, 32754, 32755, AGC= 71, IDX= 503, 0.09, 1.262,-3.086, 1.390, 1.835, PHS=-0.471, 1.407,-0.489, RAW= 330.5,  -4.8, CAL= 329.9,  -7.9, ROT= 180.1,   7.9

2025-08-09T17:11:39.849Z,1754759499.849 [DAT](INFO): got valid direction response:
 17:11:38.9003 LVL= 30448, 21809, 32754, 32755, AGC= 71, IDX= 503, 0.09, 1.262,-3.086, 1.390, 1.835, PHS=-0.471, 1.407,-0.489, RAW= 330.5,  -4.8, CAL= 329.9,  -7.9, ROT= 180.1,   7.9

2025-08-09T17:11:39.850Z,1754759499.850 [DAT](INFO): #Rx 70: Read range and direction messages.
2025-08-09T17:11:39.851Z,1754759499.851 [DAT](INFO): direction in FSK: [-0.990508,-0.001729,-0.137445]
2025-08-09T17:11:39.852Z,1754759499.852 [DAT](INFO): publishing direction and range info
2025-08-09T17:11:39.857Z,1754759499.857 [DAT](INFO): checking for new query: numPingsReceived=70, elapsed TxPingTime=34.559189
2025-08-09T17:11:40.088Z,1754759500.088 [DAT](INFO): checking for new query: numPingsReceived=70, elapsed TxPingTime=34.790359
2025-08-09T17:11:40.297Z,1754759500.297 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 26.000000 m,
      deltaT: 0.503993 s,
      deltaX: -0.100000 m,
      approachRate: -0.198416 m/s,
      rangeRepo size: 4

2025-08-09T17:11:40.303Z,1754759500.303 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 26.000000 m,
      bearing: 9.046639 deg,
      lat: 36.906105 deg,
      lon: -122.115874 deg,
      deltaT: 0.503993 s,
      deltaX: -0.100000 m,
      approachRate: -0.198416 m/s,
      posRepo size: 4

2025-08-09T17:11:40.303Z,1754759500.303 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 26.00 m.
2025-08-09T17:11:40.342Z,1754759500.342 [DAT](INFO): DAT read: Rx Time:17:11:39.4003 

2025-08-09T17:11:40.343Z,1754759500.343 [DAT](INFO): Rx dataTimestamp_ set to:1754759500.342394
2025-08-09T17:11:40.345Z,1754759500.345 [DAT](INFO): DAT read: Bearing 161.6,  -0.6 (Local)

2025-08-09T17:11:40.345Z,1754759500.345 [DAT](INFO): Local bearing/azimuth received:
 Bearing 161.6,  -0.6 (Local)

2025-08-09T17:11:40.348Z,1754759500.348 [DAT](INFO): DAT read: Range 11 to 50 :    26.0 m (trip time 17.3 ms) speed 0.0

2025-08-09T17:11:40.354Z,1754759500.354 [DAT](INFO): DAT read: 17:11:39.4003 LVL= 32752, 27377, 32754, 32755, AGC= 71, IDX= 503, 0.21, 3.114,-1.253,-3.041,-2.613, PHS=-0.454, 1.405,-0.472, RAW= 330.5,  -5.2, CAL= 329.9,  -8.3, ROT= 180.1,   8.3

2025-08-09T17:11:40.355Z,1754759500.355 [DAT](INFO): got valid direction response:
 17:11:39.4003 LVL= 32752, 27377, 32754, 32755, AGC= 71, IDX= 503, 0.21, 3.114,-1.253,-3.041,-2.613, PHS=-0.454, 1.405,-0.472, RAW= 330.5,  -5.2, CAL= 329.9,  -8.3, ROT= 180.1,   8.3

2025-08-09T17:11:40.355Z,1754759500.355 [DAT](INFO): #Rx 71: Read range and direction messages.
2025-08-09T17:11:40.356Z,1754759500.356 [DAT](INFO): direction in FSK: [-0.989524,-0.001727,-0.144356]
2025-08-09T17:11:40.356Z,1754759500.356 [DAT](INFO): publishing direction and range info
2025-08-09T17:11:40.368Z,1754759500.368 [DAT](INFO): checking for new query: numPingsReceived=71, elapsed TxPingTime=35.070293
2025-08-09T17:11:40.592Z,1754759500.592 [DAT](INFO): checking for new query: numPingsReceived=71, elapsed TxPingTime=35.294167
2025-08-09T17:11:40.803Z,1754759500.803 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 26.000000 m,
      deltaT: 0.506215 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-08-09T17:11:40.805Z,1754759500.805 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 26.000000 m,
      bearing: 9.049113 deg,
      lat: 36.906105 deg,
      lon: -122.115874 deg,
      deltaT: 0.506215 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      posRepo size: 4

2025-08-09T17:11:40.805Z,1754759500.805 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 26.00 m.
2025-08-09T17:11:40.845Z,1754759500.845 [DAT](INFO): DAT read: Rx Time:17:11:39.9003 

2025-08-09T17:11:40.846Z,1754759500.846 [DAT](INFO): Rx dataTimestamp_ set to:1754759500.844916
2025-08-09T17:11:40.848Z,1754759500.848 [DAT](INFO): DAT read: Bearing 161.6,  -0.4 (Local)

2025-08-09T17:11:40.848Z,1754759500.848 [DAT](INFO): Local bearing/azimuth received:
 Bearing 161.6,  -0.4 (Local)

2025-08-09T17:11:40.851Z,1754759500.851 [DAT](INFO): DAT read: Range 11 to 50 :    26.0 m (trip time 17.3 ms) speed 0.0

2025-08-09T17:11:40.857Z,1754759500.857 [DAT](INFO): DAT read: 17:11:39.9003 LVL= 32688, 23665, 32754, 32755, AGC= 69, IDX= 503,-0.34,-0.165, 1.784,-0.047, 0.396, PHS=-0.459, 1.432,-0.487, RAW= 330.7,  -5.2, CAL= 330.2,  -8.2, ROT= 179.8,   8.2

2025-08-09T17:11:40.859Z,1754759500.859 [DAT](INFO): got valid direction response:
 17:11:39.9003 LVL= 32688, 23665, 32754, 32755, AGC= 69, IDX= 503,-0.34,-0.165, 1.784,-0.047, 0.396, PHS=-0.459, 1.432,-0.487, RAW= 330.7,  -5.2, CAL= 330.2,  -8.2, ROT= 179.8,   8.2

2025-08-09T17:11:40.860Z,1754759500.860 [DAT](INFO): #Rx 72: Read range and direction messages.
2025-08-09T17:11:40.861Z,1754759500.861 [DAT](INFO): direction in FSK: [-0.989770,0.003455,-0.142629]
2025-08-09T17:11:40.862Z,1754759500.862 [DAT](INFO): publishing direction and range info
2025-08-09T17:11:40.883Z,1754759500.883 [DAT](INFO): checking for new query: numPingsReceived=72, elapsed TxPingTime=35.585537
2025-08-09T17:11:41.098Z,1754759501.098 [DAT](INFO): checking for new query: numPingsReceived=72, elapsed TxPingTime=35.800282
2025-08-09T17:11:41.297Z,1754759501.297 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 26.000000 m,
      deltaT: 0.502522 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-08-09T17:11:41.300Z,1754759501.300 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 26.000000 m,
      bearing: 9.087047 deg,
      lat: 36.906104 deg,
      lon: -122.115874 deg,
      deltaT: 0.502522 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      posRepo size: 4

2025-08-09T17:11:41.300Z,1754759501.300 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 26.00 m.
2025-08-09T17:11:41.348Z,1754759501.348 [DAT](INFO): DAT read: Rx Time:17:11:40.4004 

2025-08-09T17:11:41.349Z,1754759501.349 [DAT](INFO): Rx dataTimestamp_ set to:1754759501.348311
2025-08-09T17:11:41.350Z,1754759501.350 [DAT](INFO): DAT read: Bearing 160.8,  -0.5 (Local)

2025-08-09T17:11:41.351Z,1754759501.351 [DAT](INFO): Local bearing/azimuth received:
 Bearing 160.8,  -0.5 (Local)

2025-08-09T17:11:41.354Z,1754759501.354 [DAT](INFO): DAT read: Range 11 to 50 :    26.1 m (trip time 17.4 ms) speed 0.0

2025-08-09T17:11:41.360Z,1754759501.360 [DAT](INFO): DAT read: 17:11:40.4004 LVL= 31664, 22881, 32754, 32755, AGC= 67, IDX= 504,-0.11, 1.803,-2.517, 1.918, 2.393, PHS=-0.488, 1.419,-0.519, RAW= 330.8,  -4.3, CAL= 330.2,  -7.4, ROT= 179.8,   7.4

2025-08-09T17:11:41.362Z,1754759501.362 [DAT](INFO): got valid direction response:
 17:11:40.4004 LVL= 31664, 22881, 32754, 32755, AGC= 67, IDX= 504,-0.11, 1.803,-2.517, 1.918, 2.393, PHS=-0.488, 1.419,-0.519, RAW= 330.8,  -4.3, CAL= 330.2,  -7.4, ROT= 179.8,   7.4

2025-08-09T17:11:41.362Z,1754759501.362 [DAT](INFO): #Rx 73: Read range and direction messages.
2025-08-09T17:11:41.364Z,1754759501.364 [DAT](INFO): direction in FSK: [-0.991665,0.003462,-0.128796]
2025-08-09T17:11:41.364Z,1754759501.364 [DAT](INFO): publishing direction and range info
2025-08-09T17:11:41.369Z,1754759501.369 [DAT](INFO): checking for new query: numPingsReceived=73, elapsed TxPingTime=36.071419
2025-08-09T17:11:41.600Z,1754759501.600 [DAT](INFO): checking for new query: numPingsReceived=73, elapsed TxPingTime=36.301712
2025-08-09T17:11:41.643Z,1754759501.643 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 26.100000 m,
      deltaT: 0.503395 s,
      deltaX: 0.100000 m,
      approachRate: 0.198652 m/s,
      rangeRepo size: 4

2025-08-09T17:11:41.645Z,1754759501.645 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 26.100000 m,
      bearing: 9.086713 deg,
      lat: 36.906104 deg,
      lon: -122.115874 deg,
      deltaT: 0.503395 s,
      deltaX: 0.100000 m,
      approachRate: 0.198652 m/s,
      posRepo size: 4

2025-08-09T17:11:41.646Z,1754759501.646 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 26.10 m.
2025-08-09T17:11:41.853Z,1754759501.853 [DAT](INFO): DAT read: Rx Time:17:11:40.9003 

2025-08-09T17:11:41.854Z,1754759501.854 [DAT](INFO): Rx dataTimestamp_ set to:1754759501.853216
2025-08-09T17:11:41.856Z,1754759501.856 [DAT](INFO): DAT read: Bearing 161.7,   0.2 (Local)

2025-08-09T17:11:41.856Z,1754759501.856 [DAT](INFO): Local bearing/azimuth received:
 Bearing 161.7,   0.2 (Local)

2025-08-09T17:11:41.859Z,1754759501.859 [DAT](INFO): DAT read: Range 11 to 50 :    26.0 m (trip time 17.3 ms) speed 0.1

2025-08-09T17:11:41.865Z,1754759501.865 [DAT](INFO): DAT read: 17:11:40.9003 LVL= 29168, 21825, 31330, 32755, AGC= 68, IDX= 503, 0.18, 2.387,-1.982, 2.479, 2.930, PHS=-0.441, 1.416,-0.496, RAW= 331.4,  -5.1, CAL= 330.9,  -8.2, ROT= 179.1,   8.2

2025-08-09T17:11:41.867Z,1754759501.867 [DAT](INFO): got valid direction response:
 17:11:40.9003 LVL= 29168, 21825, 31330, 32755, AGC= 68, IDX= 503, 0.18, 2.387,-1.982, 2.479, 2.930, PHS=-0.441, 1.416,-0.496, RAW= 331.4,  -5.1, CAL= 330.9,  -8.2, ROT= 179.1,   8.2

2025-08-09T17:11:41.867Z,1754759501.867 [DAT](INFO): #Rx 74: Read range and direction messages.
2025-08-09T17:11:41.869Z,1754759501.869 [DAT](INFO): direction in FSK: [-0.989654,0.015547,-0.142629]
2025-08-09T17:11:41.869Z,1754759501.869 [DAT](INFO): publishing direction and range info
2025-08-09T17:11:41.877Z,1754759501.877 [DAT](INFO): checking for new query: numPingsReceived=74, elapsed TxPingTime=36.579483
2025-08-09T17:11:42.061Z,1754759502.061 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 26.000000 m,
      deltaT: 0.504905 s,
      deltaX: -0.100000 m,
      approachRate: -0.198058 m/s,
      rangeRepo size: 4

2025-08-09T17:11:42.069Z,1754759502.069 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 26.000000 m,
      bearing: 8.994004 deg,
      lat: 36.906103 deg,
      lon: -122.115874 deg,
      deltaT: 0.504905 s,
      deltaX: -0.100000 m,
      approachRate: -0.198058 m/s,
      posRepo size: 4

2025-08-09T17:11:42.076Z,1754759502.076 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 26.00 m.
2025-08-09T17:11:42.103Z,1754759502.103 [DAT](INFO): checking for new query: numPingsReceived=74, elapsed TxPingTime=36.805565
2025-08-09T17:11:42.356Z,1754759502.356 [DAT](INFO): DAT read: Rx Time:17:11:41.4005 

2025-08-09T17:11:42.357Z,1754759502.357 [DAT](INFO): Rx dataTimestamp_ set to:1754759502.356321
2025-08-09T17:11:42.358Z,1754759502.358 [DAT](INFO): DAT read: Bearing 161.0,   0.2 (Local)

2025-08-09T17:11:42.358Z,1754759502.358 [DAT](INFO): Local bearing/azimuth received:
 Bearing 161.0,   0.2 (Local)

2025-08-09T17:11:42.360Z,1754759502.360 [DAT](INFO): DAT read: Range 11 to 50 :    26.3 m (trip time 17.5 ms) speed 0.1

2025-08-09T17:11:42.369Z,1754759502.369 [DAT](INFO): DAT read: 17:11:41.4005 LVL= 27824, 20033, 32754, 32755, AGC= 68, IDX= 505,-0.38, 2.047,-2.356, 2.134, 2.601, PHS=-0.453, 1.371,-0.511, RAW= 331.6,  -4.4, CAL= 331.0,  -7.5, ROT= 179.0,   7.5

2025-08-09T17:11:42.370Z,1754759502.370 [DAT](INFO): got valid direction response:
 17:11:41.4005 LVL= 27824, 20033, 32754, 32755, AGC= 68, IDX= 505,-0.38, 2.047,-2.356, 2.134, 2.601, PHS=-0.453, 1.371,-0.511, RAW= 331.6,  -4.4, CAL= 331.0,  -7.5, ROT= 179.0,   7.5

2025-08-09T17:11:42.371Z,1754759502.371 [DAT](INFO): #Rx 75: Read range and direction messages.
2025-08-09T17:11:42.372Z,1754759502.372 [DAT](INFO): direction in FSK: [-0.991294,0.017303,-0.130526]
2025-08-09T17:11:42.372Z,1754759502.372 [DAT](INFO): publishing direction and range info
2025-08-09T17:11:42.375Z,1754759502.375 [DAT](INFO): checking for new query: numPingsReceived=75, elapsed TxPingTime=37.077431
2025-08-09T17:11:42.491Z,1754759502.491 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 26.299999 m,
      deltaT: 0.503105 s,
      deltaX: 0.299999 m,
      approachRate: 0.596295 m/s,
      rangeRepo size: 4

2025-08-09T17:11:42.493Z,1754759502.493 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 26.299999 m,
      bearing: 8.905787 deg,
      lat: 36.906103 deg,
      lon: -122.115875 deg,
      deltaT: 0.503105 s,
      deltaX: 0.299999 m,
      approachRate: 0.596295 m/s,
      posRepo size: 4

2025-08-09T17:11:42.494Z,1754759502.494 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 26.30 m.
2025-08-09T17:11:42.608Z,1754759502.608 [DAT](INFO): checking for new query: numPingsReceived=75, elapsed TxPingTime=37.309834
2025-08-09T17:11:42.860Z,1754759502.860 [DAT](INFO): DAT read: Rx Time:17:11:41.9004 

2025-08-09T17:11:42.861Z,1754759502.861 [DAT](INFO): Rx dataTimestamp_ set to:1754759502.860646
2025-08-09T17:11:42.863Z,1754759502.863 [DAT](INFO): DAT read: Bearing 161.2,   0.5 (Local)

2025-08-09T17:11:42.864Z,1754759502.864 [DAT](INFO): Local bearing/azimuth received:
 Bearing 161.2,   0.5 (Local)

2025-08-09T17:11:42.867Z,1754759502.867 [DAT](INFO): DAT read: Range 11 to 50 :    26.1 m (trip time 17.4 ms) speed 0.2

2025-08-09T17:11:42.873Z,1754759502.873 [DAT](INFO): DAT read: 17:11:41.9004 LVL= 29392, 23793, 32754, 32755, AGC= 70, IDX= 504,-0.05, 0.961, 2.877, 1.033, 1.512, PHS=-0.449, 1.410,-0.523, RAW= 331.9,  -4.7, CAL= 331.3,  -7.7, ROT= 178.7,   7.7

2025-08-09T17:11:42.875Z,1754759502.875 [DAT](INFO): got valid direction response:
 17:11:41.9004 LVL= 29392, 23793, 32754, 32755, AGC= 70, IDX= 504,-0.05, 0.961, 2.877, 1.033, 1.512, PHS=-0.449, 1.410,-0.523, RAW= 331.9,  -4.7, CAL= 331.3,  -7.7, ROT= 178.7,   7.7

2025-08-09T17:11:42.875Z,1754759502.875 [DAT](INFO): #Rx 76: Read range and direction messages.
2025-08-09T17:11:42.876Z,1754759502.876 [DAT](INFO): direction in FSK: [-0.990728,0.022483,-0.133986]
2025-08-09T17:11:42.877Z,1754759502.877 [DAT](INFO): publishing direction and range info
2025-08-09T17:11:42.880Z,1754759502.880 [DAT](INFO): checking for new query: numPingsReceived=76, elapsed TxPingTime=37.582489
2025-08-09T17:11:43.030Z,1754759503.030 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 26.100000 m,
      deltaT: 0.504325 s,
      deltaX: -0.199999 m,
      approachRate: -0.396567 m/s,
      rangeRepo size: 4

2025-08-09T17:11:43.032Z,1754759503.032 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 26.100000 m,
      bearing: 8.298296 deg,
      lat: 36.906103 deg,
      lon: -122.115878 deg,
      deltaT: 0.504325 s,
      deltaX: -0.199999 m,
      approachRate: -0.396567 m/s,
      posRepo size: 4

2025-08-09T17:11:43.033Z,1754759503.033 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 26.10 m.
2025-08-09T17:11:43.112Z,1754759503.112 [DAT](INFO): checking for new query: numPingsReceived=76, elapsed TxPingTime=37.813980
2025-08-09T17:11:43.367Z,1754759503.367 [DAT](INFO): DAT read: Rx Time:17:11:42.4005 

2025-08-09T17:11:43.367Z,1754759503.367 [DAT](INFO): Rx dataTimestamp_ set to:1754759503.367089
2025-08-09T17:11:43.369Z,1754759503.369 [DAT](INFO): DAT read: Bearing 161.8,   1.4 (Local)

2025-08-09T17:11:43.369Z,1754759503.369 [DAT](INFO): Local bearing/azimuth received:
 Bearing 161.8,   1.4 (Local)

2025-08-09T17:11:43.371Z,1754759503.371 [DAT](INFO): DAT read: Range 11 to 50 :    26.3 m (trip time 17.5 ms) speed 0.0

2025-08-09T17:11:43.376Z,1754759503.376 [DAT](INFO): DAT read: 17:11:42.4005 LVL= 30912, 23825, 32754, 32755, AGC= 67, IDX= 505, 0.31,-2.470,-0.542,-2.435,-1.946, PHS=-0.423, 1.448,-0.533, RAW= 332.9,  -5.2, CAL= 332.3,  -8.2, ROT= 177.7,   8.2

2025-08-09T17:11:43.378Z,1754759503.378 [DAT](INFO): got valid direction response:
 17:11:42.4005 LVL= 30912, 23825, 32754, 32755, AGC= 67, IDX= 505, 0.31,-2.470,-0.542,-2.435,-1.946, PHS=-0.423, 1.448,-0.533, RAW= 332.9,  -5.2, CAL= 332.3,  -8.2, ROT= 177.7,   8.2

2025-08-09T17:11:43.379Z,1754759503.379 [DAT](INFO): #Rx 77: Read range and direction messages.
2025-08-09T17:11:43.380Z,1754759503.380 [DAT](INFO): direction in FSK: [-0.988979,0.039722,-0.142629]
2025-08-09T17:11:43.381Z,1754759503.381 [DAT](INFO): publishing direction and range info
2025-08-09T17:11:43.390Z,1754759503.390 [DAT](INFO): checking for new query: numPingsReceived=77, elapsed TxPingTime=38.092297
2025-08-09T17:11:43.499Z,1754759503.499 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 26.299999 m,
      deltaT: 0.506443 s,
      deltaX: 0.199999 m,
      approachRate: 0.394909 m/s,
      rangeRepo size: 4

2025-08-09T17:11:43.501Z,1754759503.501 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 26.299999 m,
      bearing: 8.233539 deg,
      lat: 36.906104 deg,
      lon: -122.115878 deg,
      deltaT: 0.506443 s,
      deltaX: 0.199999 m,
      approachRate: 0.394909 m/s,
      posRepo size: 4

2025-08-09T17:11:43.502Z,1754759503.502 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 26.30 m.
2025-08-09T17:11:43.615Z,1754759503.615 [DAT](INFO): checking for new query: numPingsReceived=77, elapsed TxPingTime=38.317589
2025-08-09T17:11:43.869Z,1754759503.869 [DAT](INFO): DAT read: Rx Time:17:11:42.9005 

2025-08-09T17:11:43.869Z,1754759503.869 [DAT](INFO): Rx dataTimestamp_ set to:1754759503.868824
2025-08-09T17:11:43.871Z,1754759503.871 [DAT](INFO): DAT read: Bearing 161.0,   1.3 (Local)

2025-08-09T17:11:43.872Z,1754759503.872 [DAT](INFO): Local bearing/azimuth received:
 Bearing 161.0,   1.3 (Local)

2025-08-09T17:11:43.875Z,1754759503.875 [DAT](INFO): DAT read: Range 11 to 50 :    26.3 m (trip time 17.5 ms) speed 0.0

2025-08-09T17:11:43.893Z,1754759503.893 [DAT](INFO): DAT read: 17:11:42.9005 LVL= 28880, 22097, 32754, 32755, AGC= 69, IDX= 505,-0.14, 0.323, 2.199, 0.365, 0.861, PHS=-0.436, 1.383,-0.540, RAW= 332.8,  -4.4, CAL= 332.2,  -7.4, ROT= 177.8,   7.4

2025-08-09T17:11:43.894Z,1754759503.894 [DAT](INFO): got valid direction response:
 17:11:42.9005 LVL= 28880, 22097, 32754, 32755, AGC= 69, IDX= 505,-0.14, 0.323, 2.199, 0.365, 0.861, PHS=-0.436, 1.383,-0.540, RAW= 332.8,  -4.4, CAL= 332.2,  -7.4, ROT= 177.8,   7.4

2025-08-09T17:11:43.896Z,1754759503.896 [DAT](INFO): #Rx 78: Read range and direction messages.
2025-08-09T17:11:43.897Z,1754759503.897 [DAT](INFO): direction in FSK: [-0.990940,0.038068,-0.128796]
2025-08-09T17:11:43.897Z,1754759503.897 [DAT](INFO): publishing direction and range info
2025-08-09T17:11:43.913Z,1754759503.913 [DAT](INFO): checking for new query: numPingsReceived=78, elapsed TxPingTime=38.614914
2025-08-09T17:11:44.005Z,1754759504.005 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 26.299999 m,
      deltaT: 0.501735 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-08-09T17:11:44.012Z,1754759504.012 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 26.299999 m,
      bearing: 7.898659 deg,
      lat: 36.906105 deg,
      lon: -122.115879 deg,
      deltaT: 0.501735 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      posRepo size: 4

2025-08-09T17:11:44.012Z,1754759504.012 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 26.30 m.
2025-08-09T17:11:44.120Z,1754759504.120 [DAT](INFO): checking for new query: numPingsReceived=78, elapsed TxPingTime=38.822201
2025-08-09T17:11:44.300Z,1754759504.300 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 26.30 m.
2025-08-09T17:11:44.372Z,1754759504.372 [DAT](INFO): DAT read: Rx Time:17:11:43.4005 

2025-08-09T17:11:44.372Z,1754759504.372 [DAT](INFO): Rx dataTimestamp_ set to:1754759504.372134
2025-08-09T17:11:44.374Z,1754759504.374 [DAT](INFO): DAT read: Bearing 160.9,   1.0 (Local)

2025-08-09T17:11:44.374Z,1754759504.374 [DAT](INFO): Local bearing/azimuth received:
 Bearing 160.9,   1.0 (Local)

2025-08-09T17:11:44.376Z,1754759504.376 [DAT](INFO): DAT read: Range 11 to 50 :    26.3 m (trip time 17.5 ms) speed 0.0

2025-08-09T17:11:44.383Z,1754759504.383 [DAT](INFO): DAT read: 17:11:43.4005 LVL= 30832, 24769, 32754, 32755, AGC= 67, IDX= 505, 0.16, 2.375,-2.088, 2.427, 2.906, PHS=-0.429, 1.334,-0.524, RAW= 332.6,  -4.2, CAL= 332.0,  -7.3, ROT= 178.0,   7.3

2025-08-09T17:11:44.384Z,1754759504.384 [DAT](INFO): got valid direction response:
 17:11:43.4005 LVL= 30832, 24769, 32754, 32755, AGC= 67, IDX= 505, 0.16, 2.375,-2.088, 2.427, 2.906, PHS=-0.429, 1.334,-0.524, RAW= 332.6,  -4.2, CAL= 332.0,  -7.3, ROT= 178.0,   7.3

2025-08-09T17:11:44.385Z,1754759504.385 [DAT](INFO): #Rx 79: Read range and direction messages.
2025-08-09T17:11:44.391Z,1754759504.391 [DAT](INFO): direction in FSK: [-0.991290,0.034617,-0.127065]
2025-08-09T17:11:44.391Z,1754759504.391 [DAT](INFO): publishing direction and range info
2025-08-09T17:11:44.399Z,1754759504.399 [DAT](INFO): checking for new query: numPingsReceived=79, elapsed TxPingTime=39.100979
2025-08-09T17:11:44.624Z,1754759504.624 [DAT](INFO): checking for new query: numPingsReceived=79, elapsed TxPingTime=39.325706
2025-08-09T17:11:44.725Z,1754759504.725 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 26.299999 m,
      deltaT: 0.503310 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-08-09T17:11:44.733Z,1754759504.733 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 26.299999 m,
      bearing: 7.421656 deg,
      lat: 36.906105 deg,
      lon: -122.115881 deg,
      deltaT: 0.503310 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      posRepo size: 4

2025-08-09T17:11:44.753Z,1754759504.753 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 26.30 m.
2025-08-09T17:11:44.877Z,1754759504.877 [DAT](INFO): DAT read: Rx Time:17:11:43.9005 

2025-08-09T17:11:44.878Z,1754759504.878 [DAT](INFO): Rx dataTimestamp_ set to:1754759504.877406
2025-08-09T17:11:44.880Z,1754759504.880 [DAT](INFO): DAT read: Bearing 160.7,   1.1 (Local)

2025-08-09T17:11:44.880Z,1754759504.880 [DAT](INFO): Local bearing/azimuth received:
 Bearing 160.7,   1.1 (Local)

2025-08-09T17:11:44.883Z,1754759504.883 [DAT](INFO): DAT read: Range 11 to 50 :    26.3 m (trip time 17.5 ms) speed 0.0

2025-08-09T17:11:44.889Z,1754759504.889 [DAT](INFO): DAT read: 17:11:43.9005 LVL= 26672, 18161, 32754, 32755, AGC= 66, IDX= 505,-0.30,-0.841, 1.064,-0.799,-0.283, PHS=-0.456, 1.392,-0.559, RAW= 332.7,  -4.0, CAL= 332.1,  -7.0, ROT= 177.9,   7.0

2025-08-09T17:11:44.894Z,1754759504.894 [DAT](INFO): got valid direction response:
 17:11:43.9005 LVL= 26672, 18161, 32754, 32755, AGC= 66, IDX= 505,-0.30,-0.841, 1.064,-0.799,-0.283, PHS=-0.456, 1.392,-0.559, RAW= 332.7,  -4.0, CAL= 332.1,  -7.0, ROT= 177.9,   7.0

2025-08-09T17:11:44.896Z,1754759504.896 [DAT](INFO): #Rx 80: Read range and direction messages.
2025-08-09T17:11:44.897Z,1754759504.897 [DAT](INFO): direction in FSK: [-0.991880,0.036371,-0.121869]
2025-08-09T17:11:44.897Z,1754759504.897 [DAT](INFO): publishing direction and range info
2025-08-09T17:11:44.923Z,1754759504.923 [DAT](INFO): checking for new query: numPingsReceived=80, elapsed TxPingTime=39.624706
2025-08-09T17:11:45.127Z,1754759505.127 [DAT](INFO): checking for new query: numPingsReceived=80, elapsed TxPingTime=39.829460
2025-08-09T17:11:45.168Z,1754759505.168 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 26.299999 m,
      deltaT: 0.505272 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-08-09T17:11:45.172Z,1754759505.172 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 26.299999 m,
      bearing: 7.358091 deg,
      lat: 36.906104 deg,
      lon: -122.115882 deg,
      deltaT: 0.505272 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      posRepo size: 4

2025-08-09T17:11:45.173Z,1754759505.173 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 26.30 m.
2025-08-09T17:11:45.380Z,1754759505.380 [DAT](INFO): DAT read: Rx Time:17:11:44.4006 

2025-08-09T17:11:45.381Z,1754759505.381 [DAT](INFO): Rx dataTimestamp_ set to:1754759505.380260
2025-08-09T17:11:45.382Z,1754759505.382 [DAT](INFO): DAT read: Bearing 161.0,   1.9 (Local)

2025-08-09T17:11:45.382Z,1754759505.382 [DAT](INFO): Local bearing/azimuth received:
 Bearing 161.0,   1.9 (Local)

2025-08-09T17:11:45.384Z,1754759505.384 [DAT](INFO): DAT read: Range 11 to 50 :    26.4 m (trip time 17.6 ms) speed -0.1

2025-08-09T17:11:45.390Z,1754759505.390 [DAT](INFO): DAT read: 17:11:44.4006 LVL= 31120, 24545, 32754, 32755, AGC= 68, IDX= 506, 0.09, 1.880,-2.603, 1.899, 2.394, PHS=-0.412, 1.331,-0.539, RAW= 333.5,  -4.3, CAL= 332.9,  -7.3, ROT= 177.1,   7.3

2025-08-09T17:11:45.392Z,1754759505.392 [DAT](INFO): got valid direction response:
 17:11:44.4006 LVL= 31120, 24545, 32754, 32755, AGC= 68, IDX= 506, 0.09, 1.880,-2.603, 1.899, 2.394, PHS=-0.412, 1.331,-0.539, RAW= 333.5,  -4.3, CAL= 332.9,  -7.3, ROT= 177.1,   7.3

2025-08-09T17:11:45.392Z,1754759505.392 [DAT](INFO): #Rx 81: Read range and direction messages.
2025-08-09T17:11:45.393Z,1754759505.393 [DAT](INFO): direction in FSK: [-0.990624,0.050183,-0.127065]
2025-08-09T17:11:45.394Z,1754759505.394 [DAT](INFO): publishing direction and range info
2025-08-09T17:11:45.398Z,1754759505.398 [DAT](INFO): checking for new query: numPingsReceived=81, elapsed TxPingTime=40.099800
2025-08-09T17:11:45.558Z,1754759505.558 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 26.400000 m,
      deltaT: 0.502854 s,
      deltaX: 0.100000 m,
      approachRate: 0.198866 m/s,
      rangeRepo size: 4

2025-08-09T17:11:45.566Z,1754759505.566 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 26.400000 m,
      bearing: 7.104118 deg,
      lat: 36.906105 deg,
      lon: -122.115883 deg,
      deltaT: 0.502854 s,
      deltaX: 0.100000 m,
      approachRate: 0.198866 m/s,
      posRepo size: 4

2025-08-09T17:11:45.572Z,1754759505.572 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 26.40 m.
2025-08-09T17:11:45.632Z,1754759505.632 [DAT](INFO): checking for new query: numPingsReceived=81, elapsed TxPingTime=40.334049
2025-08-09T17:11:45.884Z,1754759505.884 [DAT](INFO): DAT read: Rx Time:17:11:44.9006 

2025-08-09T17:11:45.884Z,1754759505.884 [DAT](INFO): Rx dataTimestamp_ set to:1754759505.884051
2025-08-09T17:11:45.886Z,1754759505.886 [DAT](INFO): DAT read: Bearing 161.0,   1.8 (Local)

2025-08-09T17:11:45.886Z,1754759505.886 [DAT](INFO): Local bearing/azimuth received:
 Bearing 161.0,   1.8 (Local)

2025-08-09T17:11:45.888Z,1754759505.888 [DAT](INFO): DAT read: Range 11 to 50 :    26.4 m (trip time 17.6 ms) speed 0.3

2025-08-09T17:11:45.893Z,1754759505.893 [DAT](INFO): DAT read: 17:11:44.9006 LVL= 32752, 26545, 32754, 32755, AGC= 68, IDX= 506,-0.32,-1.085, 0.822,-1.071,-0.546, PHS=-0.437, 1.413,-0.569, RAW= 333.4,  -4.3, CAL= 332.9,  -7.3, ROT= 177.1,   7.3

2025-08-09T17:11:45.894Z,1754759505.894 [DAT](INFO): got valid direction response:
 17:11:44.9006 LVL= 32752, 26545, 32754, 32755, AGC= 68, IDX= 506,-0.32,-1.085, 0.822,-1.071,-0.546, PHS=-0.437, 1.413,-0.569, RAW= 333.4,  -4.3, CAL= 332.9,  -7.3, ROT= 177.1,   7.3

2025-08-09T17:11:45.894Z,1754759505.894 [DAT](INFO): #Rx 82: Read range and direction messages.
2025-08-09T17:11:45.896Z,1754759505.896 [DAT](INFO): direction in FSK: [-0.990624,0.050183,-0.127065]
2025-08-09T17:11:45.896Z,1754759505.896 [DAT](INFO): publishing direction and range info
2025-08-09T17:11:45.900Z,1754759505.900 [DAT](INFO): checking for new query: numPingsReceived=82, elapsed TxPingTime=40.601780
2025-08-09T17:11:46.121Z,1754759506.121 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 26.400000 m,
      deltaT: 0.503791 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-08-09T17:11:46.127Z,1754759506.127 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 26.400000 m,
      bearing: 7.098036 deg,
      lat: 36.906104 deg,
      lon: -122.115883 deg,
      deltaT: 0.503791 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      posRepo size: 4

2025-08-09T17:11:46.128Z,1754759506.128 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 26.40 m.
2025-08-09T17:11:46.135Z,1754759506.135 [DAT](INFO): checking for new query: numPingsReceived=82, elapsed TxPingTime=40.837563
2025-08-09T17:11:46.388Z,1754759506.388 [DAT](INFO): DAT read: Rx Time:17:11:45.4008 

2025-08-09T17:11:46.388Z,1754759506.388 [DAT](INFO): Rx dataTimestamp_ set to:1754759506.388094
2025-08-09T17:11:46.390Z,1754759506.390 [DAT](INFO): DAT read: Bearing 161.2,   1.9 (Local)

2025-08-09T17:11:46.390Z,1754759506.390 [DAT](INFO): Local bearing/azimuth received:
 Bearing 161.2,   1.9 (Local)

2025-08-09T17:11:46.392Z,1754759506.392 [DAT](INFO): DAT read: Range 11 to 50 :    26.7 m (trip time 17.8 ms) speed 0.0

2025-08-09T17:11:46.397Z,1754759506.397 [DAT](INFO): DAT read: 17:11:45.4008 LVL= 32752, 26161, 32754, 32755, AGC= 68, IDX= 508, 0.06, 3.054,-1.349, 3.065,-2.703, PHS=-0.424, 1.398,-0.560, RAW= 333.5,  -4.4, CAL= 333.0,  -7.4, ROT= 177.0,   7.4

2025-08-09T17:11:46.398Z,1754759506.398 [DAT](INFO): got valid direction response:
 17:11:45.4008 LVL= 32752, 26161, 32754, 32755, AGC= 68, IDX= 508, 0.06, 3.054,-1.349, 3.065,-2.703, PHS=-0.424, 1.398,-0.560, RAW= 333.5,  -4.4, CAL= 333.0,  -7.4, ROT= 177.0,   7.4

2025-08-09T17:11:46.398Z,1754759506.398 [DAT](INFO): #Rx 83: Read range and direction messages.
2025-08-09T17:11:46.399Z,1754759506.399 [DAT](INFO): direction in FSK: [-0.990312,0.051900,-0.128796]
2025-08-09T17:11:46.400Z,1754759506.400 [DAT](INFO): publishing direction and range info
2025-08-09T17:11:46.403Z,1754759506.403 [DAT](INFO): checking for new query: numPingsReceived=83, elapsed TxPingTime=41.105206
2025-08-09T17:11:46.608Z,1754759506.608 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 26.700001 m,
      deltaT: 0.504043 s,
      deltaX: 0.300001 m,
      approachRate: 0.595190 m/s,
      rangeRepo size: 4

2025-08-09T17:11:46.615Z,1754759506.615 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 26.700001 m,
      bearing: 6.719398 deg,
      lat: 36.906104 deg,
      lon: -122.115885 deg,
      deltaT: 0.504043 s,
      deltaX: 0.300001 m,
      approachRate: 0.595190 m/s,
      posRepo size: 4

2025-08-09T17:11:46.615Z,1754759506.615 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 26.70 m.
2025-08-09T17:11:46.639Z,1754759506.639 [DAT](INFO): checking for new query: numPingsReceived=83, elapsed TxPingTime=41.341518
2025-08-09T17:11:46.892Z,1754759506.892 [DAT](INFO): DAT read: Rx Time:17:11:45.9007 

2025-08-09T17:11:46.892Z,1754759506.892 [DAT](INFO): Rx dataTimestamp_ set to:1754759506.892173
2025-08-09T17:11:46.894Z,1754759506.894 [DAT](INFO): DAT read: Bearing 161.6,   1.8 (Local)

2025-08-09T17:11:46.894Z,1754759506.894 [DAT](INFO): Local bearing/azimuth received:
 Bearing 161.6,   1.8 (Local)

2025-08-09T17:11:46.896Z,1754759506.896 [DAT](INFO): DAT read: Range 11 to 50 :    26.6 m (trip time 17.7 ms) speed 0.3

2025-08-09T17:11:46.901Z,1754759506.901 [DAT](INFO): DAT read: 17:11:45.9007 LVL= 31408, 30817, 32754, 32755, AGC= 67, IDX= 508,-0.32,-0.388, 1.516,-0.373, 0.134, PHS=-0.421, 1.427,-0.552, RAW= 333.4,  -4.8, CAL= 332.8,  -7.8, ROT= 177.2,   7.8

2025-08-09T17:11:46.902Z,1754759506.902 [DAT](INFO): got valid direction response:
 17:11:45.9007 LVL= 31408, 30817, 32754, 32755, AGC= 67, IDX= 508,-0.32,-0.388, 1.516,-0.373, 0.134, PHS=-0.421, 1.427,-0.552, RAW= 333.4,  -4.8, CAL= 332.8,  -7.8, ROT= 177.2,   7.8

2025-08-09T17:11:46.902Z,1754759506.902 [DAT](INFO): #Rx 84: Read range and direction messages.
2025-08-09T17:11:46.903Z,1754759506.903 [DAT](INFO): direction in FSK: [-0.989565,0.048398,-0.135716]
2025-08-09T17:11:46.904Z,1754759506.904 [DAT](INFO): publishing direction and range info
2025-08-09T17:11:46.916Z,1754759506.916 [DAT](INFO): checking for new query: numPingsReceived=84, elapsed TxPingTime=41.618099
2025-08-09T17:11:47.095Z,1754759507.095 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 26.600000 m,
      deltaT: 0.504079 s,
      deltaX: -0.100000 m,
      approachRate: -0.198382 m/s,
      rangeRepo size: 4

2025-08-09T17:11:47.097Z,1754759507.097 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 26.600000 m,
      bearing: 6.702588 deg,
      lat: 36.906105 deg,
      lon: -122.115885 deg,
      deltaT: 0.504079 s,
      deltaX: -0.100000 m,
      approachRate: -0.198382 m/s,
      posRepo size: 4

2025-08-09T17:11:47.097Z,1754759507.097 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 26.60 m.
2025-08-09T17:11:47.148Z,1754759507.148 [DAT](INFO): checking for new query: numPingsReceived=84, elapsed TxPingTime=41.850018
2025-08-09T17:11:47.400Z,1754759507.400 [DAT](INFO): DAT read: Rx Time:17:11:46.4009 

2025-08-09T17:11:47.400Z,1754759507.400 [DAT](INFO): Rx dataTimestamp_ set to:1754759507.400015
2025-08-09T17:11:47.402Z,1754759507.402 [DAT](INFO): DAT read: Bearing 160.6,   2.2 (Local)

2025-08-09T17:11:47.402Z,1754759507.402 [DAT](INFO): Local bearing/azimuth received:
 Bearing 160.6,   2.2 (Local)

2025-08-09T17:11:47.404Z,1754759507.404 [DAT](INFO): DAT read: Range 11 to 50 :    26.9 m (trip time 17.9 ms) speed 0.0

2025-08-09T17:11:47.409Z,1754759507.409 [DAT](INFO): DAT read: 17:11:46.4009 LVL= 30448, 27345, 32754, 32755, AGC= 67, IDX= 509, 0.07, 2.114,-2.321, 2.115, 2.648, PHS=-0.431, 1.360,-0.577, RAW= 333.9,  -3.8, CAL= 333.3,  -6.8, ROT= 176.7,   6.8

2025-08-09T17:11:47.410Z,1754759507.410 [DAT](INFO): got valid direction response:
 17:11:46.4009 LVL= 30448, 27345, 32754, 32755, AGC= 67, IDX= 509, 0.07, 2.114,-2.321, 2.115, 2.648, PHS=-0.431, 1.360,-0.577, RAW= 333.9,  -3.8, CAL= 333.3,  -6.8, ROT= 176.7,   6.8

2025-08-09T17:11:47.410Z,1754759507.410 [DAT](INFO): #Rx 85: Read range and direction messages.
2025-08-09T17:11:47.411Z,1754759507.411 [DAT](INFO): direction in FSK: [-0.991319,0.057159,-0.118404]
2025-08-09T17:11:47.411Z,1754759507.411 [DAT](INFO): publishing direction and range info
2025-08-09T17:11:47.432Z,1754759507.432 [DAT](INFO): checking for new query: numPingsReceived=85, elapsed TxPingTime=42.134483
2025-08-09T17:11:47.548Z,1754759507.548 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 26.900000 m,
      deltaT: 0.507842 s,
      deltaX: 0.299999 m,
      approachRate: 0.590733 m/s,
      rangeRepo size: 4

2025-08-09T17:11:47.550Z,1754759507.550 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 26.900000 m,
      bearing: 6.663342 deg,
      lat: 36.906105 deg,
      lon: -122.115885 deg,
      deltaT: 0.507842 s,
      deltaX: 0.299999 m,
      approachRate: 0.590733 m/s,
      posRepo size: 4

2025-08-09T17:11:47.556Z,1754759507.556 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 26.90 m.
2025-08-09T17:11:47.652Z,1754759507.652 [DAT](INFO): checking for new query: numPingsReceived=85, elapsed TxPingTime=42.353924
2025-08-09T17:11:47.905Z,1754759507.905 [DAT](INFO): DAT read: Rx Time:17:11:46.9009 

2025-08-09T17:11:47.906Z,1754759507.906 [DAT](INFO): Rx dataTimestamp_ set to:1754759507.905333
2025-08-09T17:11:47.907Z,1754759507.907 [DAT](INFO): DAT read: Bearing 160.7,   1.6 (Local)

2025-08-09T17:11:47.908Z,1754759507.908 [DAT](INFO): Local bearing/azimuth received:
 Bearing 160.7,   1.6 (Local)

2025-08-09T17:11:47.911Z,1754759507.911 [DAT](INFO): DAT read: Range 11 to 50 :    26.9 m (trip time 17.9 ms) speed 0.1

2025-08-09T17:11:47.916Z,1754759507.916 [DAT](INFO): DAT read: 17:11:46.9009 LVL= 32752, 25377, 32754, 32755, AGC= 70, IDX= 509,-0.37,-0.521, 1.392,-0.501, 0.034, PHS=-0.453, 1.403,-0.579, RAW= 333.3,  -3.9, CAL= 332.7,  -6.9, ROT= 177.3,   6.9

2025-08-09T17:11:47.917Z,1754759507.917 [DAT](INFO): got valid direction response:
 17:11:46.9009 LVL= 32752, 25377, 32754, 32755, AGC= 70, IDX= 509,-0.37,-0.521, 1.392,-0.501, 0.034, PHS=-0.453, 1.403,-0.579, RAW= 333.3,  -3.9, CAL= 332.7,  -6.9, ROT= 177.3,   6.9

2025-08-09T17:11:47.918Z,1754759507.918 [DAT](INFO): #Rx 86: Read range and direction messages.
2025-08-09T17:11:47.919Z,1754759507.919 [DAT](INFO): direction in FSK: [-0.991655,0.046765,-0.120137]
2025-08-09T17:11:47.919Z,1754759507.919 [DAT](INFO): publishing direction and range info
2025-08-09T17:11:47.923Z,1754759507.923 [DAT](INFO): checking for new query: numPingsReceived=86, elapsed TxPingTime=42.624828
2025-08-09T17:11:48.103Z,1754759508.103 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 26.900000 m,
      deltaT: 0.505318 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-08-09T17:11:48.105Z,1754759508.105 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 26.900000 m,
      bearing: 6.662629 deg,
      lat: 36.906106 deg,
      lon: -122.115885 deg,
      deltaT: 0.505318 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      posRepo size: 4

2025-08-09T17:11:48.106Z,1754759508.106 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 26.90 m.
2025-08-09T17:11:48.156Z,1754759508.156 [DAT](INFO): checking for new query: numPingsReceived=86, elapsed TxPingTime=42.857918
2025-08-09T17:11:48.408Z,1754759508.408 [DAT](INFO): DAT read: Rx Time:17:11:47.4009 

2025-08-09T17:11:48.408Z,1754759508.408 [DAT](INFO): Rx dataTimestamp_ set to:1754759508.408053
2025-08-09T17:11:48.410Z,1754759508.410 [DAT](INFO): DAT read: Bearing 161.2,   1.8 (Local)

2025-08-09T17:11:48.410Z,1754759508.410 [DAT](INFO): Local bearing/azimuth received:
 Bearing 161.2,   1.8 (Local)

2025-08-09T17:11:48.412Z,1754759508.412 [DAT](INFO): DAT read: Range 11 to 50 :    26.9 m (trip time 17.9 ms) speed -0.1

2025-08-09T17:11:48.417Z,1754759508.417 [DAT](INFO): DAT read: 17:11:47.4009 LVL= 32752, 30881, 32754, 32755, AGC= 69, IDX= 509, 0.08, 0.843, 2.717, 0.855, 1.372, PHS=-0.427, 1.390,-0.561, RAW= 333.5,  -4.3, CAL= 332.9,  -7.3, ROT= 177.1,   7.3

2025-08-09T17:11:48.418Z,1754759508.418 [DAT](INFO): got valid direction response:
 17:11:47.4009 LVL= 32752, 30881, 32754, 32755, AGC= 69, IDX= 509, 0.08, 0.843, 2.717, 0.855, 1.372, PHS=-0.427, 1.390,-0.561, RAW= 333.5,  -4.3, CAL= 332.9,  -7.3, ROT= 177.1,   7.3

2025-08-09T17:11:48.418Z,1754759508.418 [DAT](INFO): #Rx 87: Read range and direction messages.
2025-08-09T17:11:48.419Z,1754759508.419 [DAT](INFO): direction in FSK: [-0.990624,0.050183,-0.127065]
2025-08-09T17:11:48.420Z,1754759508.420 [DAT](INFO): publishing direction and range info
2025-08-09T17:11:48.423Z,1754759508.423 [DAT](INFO): checking for new query: numPingsReceived=87, elapsed TxPingTime=43.125175
2025-08-09T17:11:48.588Z,1754759508.588 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 26.900000 m,
      deltaT: 0.502720 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-08-09T17:11:48.595Z,1754759508.595 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 26.900000 m,
      bearing: 6.883123 deg,
      lat: 36.906107 deg,
      lon: -122.115884 deg,
      deltaT: 0.502720 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      posRepo size: 4

2025-08-09T17:11:48.595Z,1754759508.595 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 26.90 m.
2025-08-09T17:11:48.660Z,1754759508.660 [DAT](INFO): checking for new query: numPingsReceived=87, elapsed TxPingTime=43.361736
2025-08-09T17:11:48.912Z,1754759508.912 [DAT](INFO): DAT read: Rx Time:17:11:47.9008 

2025-08-09T17:11:48.912Z,1754759508.912 [DAT](INFO): Rx dataTimestamp_ set to:1754759508.912113
2025-08-09T17:11:48.914Z,1754759508.914 [DAT](INFO): DAT read: Bearing 161.4,   2.6 (Local)

2025-08-09T17:11:48.914Z,1754759508.914 [DAT](INFO): Local bearing/azimuth received:
 Bearing 161.4,   2.6 (Local)

2025-08-09T17:11:48.916Z,1754759508.916 [DAT](INFO): DAT read: Range 11 to 50 :    26.7 m (trip time 17.8 ms) speed 0.0

2025-08-09T17:11:48.924Z,1754759508.924 [DAT](INFO): DAT read: 17:11:47.9008 LVL= 32752, 22737, 32754, 32755, AGC= 67, IDX= 509,-0.39,-1.070, 0.796,-1.086,-0.559, PHS=-0.409, 1.400,-0.571, RAW= 334.3,  -4.5, CAL= 333.7,  -7.5, ROT= 176.3,   7.5

2025-08-09T17:11:48.925Z,1754759508.925 [DAT](INFO): got valid direction response:
 17:11:47.9008 LVL= 32752, 22737, 32754, 32755, AGC= 67, IDX= 509,-0.39,-1.070, 0.796,-1.086,-0.559, PHS=-0.409, 1.400,-0.571, RAW= 334.3,  -4.5, CAL= 333.7,  -7.5, ROT= 176.3,   7.5

2025-08-09T17:11:48.926Z,1754759508.926 [DAT](INFO): #Rx 88: Read range and direction messages.
2025-08-09T17:11:48.936Z,1754759508.936 [DAT](INFO): direction in FSK: [-0.989378,0.063980,-0.130526]
2025-08-09T17:11:48.936Z,1754759508.936 [DAT](INFO): publishing direction and range info
2025-08-09T17:11:48.944Z,1754759508.944 [DAT](INFO): checking for new query: numPingsReceived=88, elapsed TxPingTime=43.646084
2025-08-09T17:11:49.115Z,1754759509.115 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 26.700001 m,
      deltaT: 0.504060 s,
      deltaX: -0.199999 m,
      approachRate: -0.396776 m/s,
      rangeRepo size: 4

2025-08-09T17:11:49.117Z,1754759509.117 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 26.700001 m,
      bearing: 6.908639 deg,
      lat: 36.906107 deg,
      lon: -122.115884 deg,
      deltaT: 0.504060 s,
      deltaX: -0.199999 m,
      approachRate: -0.396776 m/s,
      posRepo size: 4

2025-08-09T17:11:49.117Z,1754759509.117 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 26.70 m.
2025-08-09T17:11:49.164Z,1754759509.164 [DAT](INFO): checking for new query: numPingsReceived=88, elapsed TxPingTime=43.865906
2025-08-09T17:11:49.416Z,1754759509.416 [DAT](INFO): DAT read: Rx Time:17:11:48.4010 

2025-08-09T17:11:49.417Z,1754759509.417 [DAT](INFO): Rx dataTimestamp_ set to:1754759509.416330
2025-08-09T17:11:49.418Z,1754759509.418 [DAT](INFO): DAT read: Bearing 161.5,   2.3 (Local)

2025-08-09T17:11:49.418Z,1754759509.418 [DAT](INFO): Local bearing/azimuth received:
 Bearing 161.5,   2.3 (Local)

2025-08-09T17:11:49.420Z,1754759509.420 [DAT](INFO): DAT read: Range 11 to 50 :    27.0 m (trip time 18.0 ms) speed 0.0

2025-08-09T17:11:49.425Z,1754759509.425 [DAT](INFO): DAT read: 17:11:48.4010 LVL= 31088, 23217, 32466, 32755, AGC= 69, IDX= 510,-0.01, 0.909, 2.750, 0.907, 1.418, PHS=-0.407, 1.376,-0.556, RAW= 334.0,  -4.5, CAL= 333.4,  -7.5, ROT= 176.6,   7.5

2025-08-09T17:11:49.426Z,1754759509.426 [DAT](INFO): got valid direction response:
 17:11:48.4010 LVL= 31088, 23217, 32466, 32755, AGC= 69, IDX= 510,-0.01, 0.909, 2.750, 0.907, 1.418, PHS=-0.407, 1.376,-0.556, RAW= 334.0,  -4.5, CAL= 333.4,  -7.5, ROT= 176.6,   7.5

2025-08-09T17:11:49.426Z,1754759509.426 [DAT](INFO): #Rx 89: Read range and direction messages.
2025-08-09T17:11:49.427Z,1754759509.427 [DAT](INFO): direction in FSK: [-0.989700,0.058799,-0.130526]
2025-08-09T17:11:49.428Z,1754759509.428 [DAT](INFO): publishing direction and range info
2025-08-09T17:11:49.432Z,1754759509.432 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 27.000000 m,
      deltaT: 0.504217 s,
      deltaX: 0.299999 m,
      approachRate: 0.594980 m/s,
      rangeRepo size: 4

2025-08-09T17:11:49.433Z,1754759509.433 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 26.70 m.
2025-08-09T17:11:49.435Z,1754759509.435 [DAT](INFO): checking for new query: numPingsReceived=89, elapsed TxPingTime=44.137451
2025-08-09T17:11:49.671Z,1754759509.671 [DAT](INFO): checking for new query: numPingsReceived=89, elapsed TxPingTime=44.372711
2025-08-09T17:11:49.845Z,1754759509.845 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 26.70 m.
2025-08-09T17:11:49.925Z,1754759509.925 [DAT](INFO): DAT read: Rx Time:17:11:48.9008 

2025-08-09T17:11:49.927Z,1754759509.927 [DAT](INFO): Rx dataTimestamp_ set to:1754759509.925618
2025-08-09T17:11:49.931Z,1754759509.931 [DAT](INFO): DAT read: Bearing 161.3,   2.1 (Local)

2025-08-09T17:11:49.932Z,1754759509.932 [DAT](INFO): Local bearing/azimuth received:
 Bearing 161.3,   2.1 (Local)

2025-08-09T17:11:49.945Z,1754759509.945 [DAT](INFO): DAT read: Range 11 to 50 :    26.7 m (trip time 17.8 ms) speed 0.4

2025-08-09T17:11:49.959Z,1754759509.959 [DAT](INFO): DAT read: 17:11:48.9008 LVL= 29904, 20545, 32754, 32755, AGC= 69, IDX= 509, 0.38, 0.230, 2.107, 0.231, 0.760, PHS=-0.427, 1.392,-0.572, RAW= 333.8,  -4.2, CAL= 333.2,  -7.2, ROT= 176.8,   7.2

2025-08-09T17:11:49.960Z,1754759509.960 [DAT](INFO): got valid direction response:
 17:11:48.9008 LVL= 29904, 20545, 32754, 32755, AGC= 69, IDX= 509, 0.38, 0.230, 2.107, 0.231, 0.760, PHS=-0.427, 1.392,-0.572, RAW= 333.8,  -4.2, CAL= 333.2,  -7.2, ROT= 176.8,   7.2

2025-08-09T17:11:49.960Z,1754759509.960 [DAT](INFO): #Rx 90: Read range and direction messages.
2025-08-09T17:11:49.961Z,1754759509.961 [DAT](INFO): direction in FSK: [-0.990568,0.055381,-0.125333]
2025-08-09T17:11:49.961Z,1754759509.961 [DAT](INFO): publishing direction and range info
2025-08-09T17:11:49.970Z,1754759509.970 [DAT](INFO): checking for new query: numPingsReceived=90, elapsed TxPingTime=44.671741
2025-08-09T17:11:50.171Z,1754759510.171 [DAT](INFO): checking for new query: numPingsReceived=90, elapsed TxPingTime=44.873470
2025-08-09T17:11:50.345Z,1754759510.345 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 26.700001 m,
      deltaT: 0.509288 s,
      deltaX: -0.299999 m,
      approachRate: -0.589056 m/s,
      rangeRepo size: 4

2025-08-09T17:11:50.351Z,1754759510.351 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 26.700001 m,
      bearing: 6.788924 deg,
      lat: 36.906107 deg,
      lon: -122.115885 deg,
      deltaT: 1.013505 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      posRepo size: 4

2025-08-09T17:11:50.352Z,1754759510.352 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 26.70 m.
2025-08-09T17:11:50.424Z,1754759510.424 [DAT](INFO): DAT read: Rx Time:17:11:49.4010 

2025-08-09T17:11:50.425Z,1754759510.425 [DAT](INFO): Rx dataTimestamp_ set to:1754759510.424306
2025-08-09T17:11:50.426Z,1754759510.426 [DAT](INFO): DAT read: Bearing 161.1,   2.7 (Local)

2025-08-09T17:11:50.426Z,1754759510.426 [DAT](INFO): Local bearing/azimuth received:
 Bearing 161.1,   2.7 (Local)

2025-08-09T17:11:50.428Z,1754759510.428 [DAT](INFO): DAT read: Range 11 to 50 :    27.0 m (trip time 18.0 ms) speed 0.0

2025-08-09T17:11:50.433Z,1754759510.433 [DAT](INFO): DAT read: 17:11:49.4010 LVL= 29520, 25425, 32754, 32755, AGC= 69, IDX= 511,-0.16, 0.212, 2.080, 0.193, 0.740, PHS=-0.426, 1.384,-0.592, RAW= 334.3,  -3.9, CAL= 333.8,  -6.9, ROT= 176.2,   6.9

2025-08-09T17:11:50.434Z,1754759510.434 [DAT](INFO): got valid direction response:
 17:11:49.4010 LVL= 29520, 25425, 32754, 32755, AGC= 69, IDX= 511,-0.16, 0.212, 2.080, 0.193, 0.740, PHS=-0.426, 1.384,-0.592, RAW= 334.3,  -3.9, CAL= 333.8,  -6.9, ROT= 176.2,   6.9

2025-08-09T17:11:50.435Z,1754759510.435 [DAT](INFO): #Rx 91: Read range and direction messages.
2025-08-09T17:11:50.435Z,1754759510.435 [DAT](INFO): direction in FSK: [-0.990575,0.065794,-0.120137]
2025-08-09T17:11:50.436Z,1754759510.436 [DAT](INFO): publishing direction and range info
2025-08-09T17:11:50.447Z,1754759510.447 [DAT](INFO): checking for new query: numPingsReceived=91, elapsed TxPingTime=45.149551
2025-08-09T17:11:50.676Z,1754759510.676 [DAT](INFO): checking for new query: numPingsReceived=91, elapsed TxPingTime=45.378139
2025-08-09T17:11:50.804Z,1754759510.804 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 27.000000 m,
      deltaT: 0.498688 s,
      deltaX: 0.299999 m,
      approachRate: 0.601577 m/s,
      rangeRepo size: 4

2025-08-09T17:11:50.806Z,1754759510.806 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 27.000000 m,
      bearing: 6.704873 deg,
      lat: 36.906107 deg,
      lon: -122.115885 deg,
      deltaT: 0.498688 s,
      deltaX: 0.299999 m,
      approachRate: 0.601577 m/s,
      posRepo size: 4

2025-08-09T17:11:50.807Z,1754759510.807 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 27.00 m.
2025-08-09T17:11:50.933Z,1754759510.933 [DAT](INFO): DAT read: Rx Time:17:11:49.9009 

2025-08-09T17:11:50.934Z,1754759510.934 [DAT](INFO): Rx dataTimestamp_ set to:1754759510.933187
2025-08-09T17:11:50.935Z,1754759510.935 [DAT](INFO): DAT read: Bearing 160.8,   2.6 (Local)

2025-08-09T17:11:50.935Z,1754759510.935 [DAT](INFO): Local bearing/azimuth received:
 Bearing 160.8,   2.6 (Local)

2025-08-09T17:11:50.938Z,1754759510.938 [DAT](INFO): DAT read: Range 11 to 50 :    26.9 m (trip time 17.9 ms) speed -0.1

2025-08-09T17:11:50.944Z,1754759510.944 [DAT](INFO): DAT read: 17:11:49.9009 LVL= 32752, 24049, 32754, 32755, AGC= 69, IDX= 510, 0.08, 0.832, 2.640, 0.823, 1.362, PHS=-0.428, 1.323,-0.582, RAW= 334.2,  -3.5, CAL= 333.6,  -6.4, ROT= 176.4,   6.4

2025-08-09T17:11:50.946Z,1754759510.946 [DAT](INFO): got valid direction response:
 17:11:49.9009 LVL= 32752, 24049, 32754, 32755, AGC= 69, IDX= 510, 0.08, 0.832, 2.640, 0.823, 1.362, PHS=-0.428, 1.323,-0.582, RAW= 334.2,  -3.5, CAL= 333.6,  -6.4, ROT= 176.4,   6.4

2025-08-09T17:11:50.946Z,1754759510.946 [DAT](INFO): #Rx 92: Read range and direction messages.
2025-08-09T17:11:50.948Z,1754759510.948 [DAT](INFO): direction in FSK: [-0.991807,0.062399,-0.111469]
2025-08-09T17:11:50.949Z,1754759510.949 [DAT](INFO): publishing direction and range info
2025-08-09T17:11:50.953Z,1754759510.953 [DAT](INFO): checking for new query: numPingsReceived=92, elapsed TxPingTime=45.655491
2025-08-09T17:11:51.179Z,1754759511.179 [DAT](INFO): checking for new query: numPingsReceived=92, elapsed TxPingTime=45.881527
2025-08-09T17:11:51.281Z,1754759511.281 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 26.900000 m,
      deltaT: 0.508881 s,
      deltaX: -0.100000 m,
      approachRate: -0.196510 m/s,
      rangeRepo size: 4

2025-08-09T17:11:51.287Z,1754759511.287 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 26.900000 m,
      bearing: 6.729859 deg,
      lat: 36.906106 deg,
      lon: -122.115886 deg,
      deltaT: 0.508881 s,
      deltaX: -0.100000 m,
      approachRate: -0.196510 m/s,
      posRepo size: 4

2025-08-09T17:11:51.288Z,1754759511.288 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 26.90 m.
2025-08-09T17:11:51.432Z,1754759511.432 [DAT](INFO): DAT read: Rx Time:17:11:50.4009 

2025-08-09T17:11:51.433Z,1754759511.433 [DAT](INFO): Rx dataTimestamp_ set to:1754759511.432393
2025-08-09T17:11:51.434Z,1754759511.434 [DAT](INFO): DAT read: Bearing 161.4,   3.3 (Local)

2025-08-09T17:11:51.434Z,1754759511.434 [DAT](INFO): Local bearing/azimuth received:
 Bearing 161.4,   3.3 (Local)

2025-08-09T17:11:51.436Z,1754759511.436 [DAT](INFO): DAT read: Range 11 to 50 :    26.9 m (trip time 17.9 ms) speed 0.0

2025-08-09T17:11:51.445Z,1754759511.445 [DAT](INFO): DAT read: 17:11:50.4009 LVL= 30176, 22401, 32754, 32755, AGC= 71, IDX= 510, 0.48, 0.220, 2.055, 0.187, 0.734, PHS=-0.412, 1.366,-0.591, RAW= 334.7,  -3.9, CAL= 334.2,  -6.9, ROT= 175.8,   6.9

2025-08-09T17:11:51.446Z,1754759511.446 [DAT](INFO): got valid direction response:
 17:11:50.4009 LVL= 30176, 22401, 32754, 32755, AGC= 71, IDX= 510, 0.48, 0.220, 2.055, 0.187, 0.734, PHS=-0.412, 1.366,-0.591, RAW= 334.7,  -3.9, CAL= 334.2,  -6.9, ROT= 175.8,   6.9

2025-08-09T17:11:51.447Z,1754759511.447 [DAT](INFO): #Rx 93: Read range and direction messages.
2025-08-09T17:11:51.448Z,1754759511.448 [DAT](INFO): direction in FSK: [-0.990091,0.072708,-0.120137]
2025-08-09T17:11:51.448Z,1754759511.448 [DAT](INFO): publishing direction and range info
2025-08-09T17:11:51.476Z,1754759511.476 [DAT](INFO): checking for new query: numPingsReceived=93, elapsed TxPingTime=46.178032
2025-08-09T17:11:51.624Z,1754759511.624 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 26.900000 m,
      deltaT: 0.499206 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-08-09T17:11:51.631Z,1754759511.631 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 26.900000 m,
      bearing: 6.773575 deg,
      lat: 36.906106 deg,
      lon: -122.115886 deg,
      deltaT: 0.499206 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      posRepo size: 4

2025-08-09T17:11:51.632Z,1754759511.632 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 26.90 m.
2025-08-09T17:11:51.684Z,1754759511.684 [DAT](INFO): checking for new query: numPingsReceived=93, elapsed TxPingTime=46.386143
2025-08-09T17:11:51.939Z,1754759511.939 [DAT](INFO): DAT read: Rx Time:17:11:50.9009 

2025-08-09T17:11:51.941Z,1754759511.941 [DAT](INFO): Rx dataTimestamp_ set to:1754759511.939936
2025-08-09T17:11:51.945Z,1754759511.945 [DAT](INFO): DAT read: Bearing 161.0,   3.4 (Local)

2025-08-09T17:11:51.947Z,1754759511.947 [DAT](INFO): Local bearing/azimuth received:
 Bearing 161.0,   3.4 (Local)

2025-08-09T17:11:51.964Z,1754759511.964 [DAT](INFO): DAT read: Range 11 to 50 :    26.9 m (trip time 17.9 ms) speed 0.1

2025-08-09T17:11:51.993Z,1754759511.993 [DAT](INFO): DAT read: 17:11:50.9009 LVL= 32752, 26481, 32754, 32755, AGC= 69, IDX= 510,-0.22,-2.089,-0.287,-2.120,-1.562, PHS=-0.425, 1.320,-0.602, RAW= 334.8,  -3.2, CAL= 334.2,  -6.2, ROT= 175.8,   6.2

2025-08-09T17:11:51.994Z,1754759511.994 [DAT](INFO): got valid direction response:
 17:11:50.9009 LVL= 32752, 26481, 32754, 32755, AGC= 69, IDX= 510,-0.22,-2.089,-0.287,-2.120,-1.562, PHS=-0.425, 1.320,-0.602, RAW= 334.8,  -3.2, CAL= 334.2,  -6.2, ROT= 175.8,   6.2

2025-08-09T17:11:52.011Z,1754759512.011 [DAT](INFO): #Rx 94: Read range and direction messages.
2025-08-09T17:11:52.012Z,1754759512.012 [DAT](INFO): direction in FSK: [-0.991481,0.072810,-0.107999]
2025-08-09T17:11:52.012Z,1754759512.012 [DAT](INFO): publishing direction and range info
2025-08-09T17:11:52.027Z,1754759512.027 [DAT](INFO): checking for new query: numPingsReceived=94, elapsed TxPingTime=46.729626
2025-08-09T17:11:52.149Z,1754759512.149 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 26.900000 m,
      deltaT: 0.507543 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-08-09T17:11:52.163Z,1754759512.163 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 26.900000 m,
      bearing: 6.857525 deg,
      lat: 36.906105 deg,
      lon: -122.115886 deg,
      deltaT: 0.507543 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      posRepo size: 4

2025-08-09T17:11:52.163Z,1754759512.163 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 26.90 m.
2025-08-09T17:11:52.187Z,1754759512.187 [DAT](INFO): checking for new query: numPingsReceived=94, elapsed TxPingTime=46.889477
2025-08-09T17:11:52.440Z,1754759512.440 [DAT](INFO): DAT read: Rx Time:17:11:51.4010 

2025-08-09T17:11:52.440Z,1754759512.440 [DAT](INFO): Rx dataTimestamp_ set to:1754759512.440098
2025-08-09T17:11:52.442Z,1754759512.442 [DAT](INFO): DAT read: Bearing 161.1,   3.5 (Local)

2025-08-09T17:11:52.442Z,1754759512.442 [DAT](INFO): Local bearing/azimuth received:
 Bearing 161.1,   3.5 (Local)

2025-08-09T17:11:52.444Z,1754759512.444 [DAT](INFO): DAT read: Range 11 to 50 :    27.0 m (trip time 18.0 ms) speed 0.0

2025-08-09T17:11:52.449Z,1754759512.449 [DAT](INFO): DAT read: 17:11:51.4010 LVL= 32752, 23761, 32754, 32755, AGC= 69, IDX= 511, 0.02,-0.199, 1.586,-0.233, 0.328, PHS=-0.425, 1.303,-0.605, RAW= 334.9,  -3.0, CAL= 334.3,  -6.0, ROT= 175.7,   6.0

2025-08-09T17:11:52.450Z,1754759512.450 [DAT](INFO): got valid direction response:
 17:11:51.4010 LVL= 32752, 23761, 32754, 32755, AGC= 69, IDX= 511, 0.02,-0.199, 1.586,-0.233, 0.328, PHS=-0.425, 1.303,-0.605, RAW= 334.9,  -3.0, CAL= 334.3,  -6.0, ROT= 175.7,   6.0

2025-08-09T17:11:52.450Z,1754759512.450 [DAT](INFO): #Rx 95: Read range and direction messages.
2025-08-09T17:11:52.451Z,1754759512.451 [DAT](INFO): direction in FSK: [-0.991722,0.074568,-0.104528]
2025-08-09T17:11:52.451Z,1754759512.451 [DAT](INFO): publishing direction and range info
2025-08-09T17:11:52.487Z,1754759512.487 [DAT](INFO): checking for new query: numPingsReceived=95, elapsed TxPingTime=47.189285
2025-08-09T17:11:52.620Z,1754759512.620 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 27.000000 m,
      deltaT: 0.500162 s,
      deltaX: 0.100000 m,
      approachRate: 0.199936 m/s,
      rangeRepo size: 4

2025-08-09T17:11:52.626Z,1754759512.626 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 27.000000 m,
      bearing: 6.912409 deg,
      lat: 36.906106 deg,
      lon: -122.115886 deg,
      deltaT: 0.500162 s,
      deltaX: 0.100000 m,
      approachRate: 0.199936 m/s,
      posRepo size: 4

2025-08-09T17:11:52.627Z,1754759512.627 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 27.00 m.
2025-08-09T17:11:52.692Z,1754759512.692 [DAT](INFO): checking for new query: numPingsReceived=95, elapsed TxPingTime=47.393707
2025-08-09T17:11:52.949Z,1754759512.949 [DAT](INFO): DAT read: Rx Time:17:11:51.9009 

2025-08-09T17:11:52.951Z,1754759512.951 [DAT](INFO): Rx dataTimestamp_ set to:1754759512.949506
2025-08-09T17:11:52.954Z,1754759512.954 [DAT](INFO): DAT read: Bearing 161.1,   4.6 (Local)

2025-08-09T17:11:52.964Z,1754759512.964 [DAT](INFO): Local bearing/azimuth received:
 Bearing 161.1,   4.6 (Local)

2025-08-09T17:11:52.966Z,1754759512.966 [DAT](INFO): DAT read: Range 11 to 50 :    26.9 m (trip time 17.9 ms) speed 0.0

2025-08-09T17:11:52.971Z,1754759512.971 [DAT](INFO): DAT read: 17:11:51.9009 LVL= 30896, 31313, 32754, 32755, AGC= 70, IDX= 510, 0.21,-0.899, 0.858,-0.976,-0.382, PHS=-0.415, 1.285,-0.637, RAW= 336.1,  -2.6, CAL= 335.5,  -5.5, ROT= 174.5,   5.5

2025-08-09T17:11:52.972Z,1754759512.972 [DAT](INFO): got valid direction response:
 17:11:51.9009 LVL= 30896, 31313, 32754, 32755, AGC= 70, IDX= 510, 0.21,-0.899, 0.858,-0.976,-0.382, PHS=-0.415, 1.285,-0.637, RAW= 336.1,  -2.6, CAL= 335.5,  -5.5, ROT= 174.5,   5.5

2025-08-09T17:11:52.972Z,1754759512.972 [DAT](INFO): #Rx 96: Read range and direction messages.
2025-08-09T17:11:52.974Z,1754759512.974 [DAT](INFO): direction in FSK: [-0.990814,0.095405,-0.095846]
2025-08-09T17:11:52.999Z,1754759512.999 [DAT](INFO): publishing direction and range info
2025-08-09T17:11:53.015Z,1754759513.015 [DAT](INFO): checking for new query: numPingsReceived=96, elapsed TxPingTime=47.716751
2025-08-09T17:11:53.124Z,1754759513.124 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 26.900000 m,
      deltaT: 0.509408 s,
      deltaX: -0.100000 m,
      approachRate: -0.196307 m/s,
      rangeRepo size: 4

2025-08-09T17:11:53.126Z,1754759513.126 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 26.900000 m,
      bearing: 6.980843 deg,
      lat: 36.906106 deg,
      lon: -122.115886 deg,
      deltaT: 0.509408 s,
      deltaX: -0.100000 m,
      approachRate: -0.196307 m/s,
      posRepo size: 4

2025-08-09T17:11:53.130Z,1754759513.130 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 26.90 m.
2025-08-09T17:11:53.195Z,1754759513.195 [DAT](INFO): checking for new query: numPingsReceived=96, elapsed TxPingTime=47.897617
2025-08-09T17:11:53.447Z,1754759513.447 [DAT](INFO): DAT read: Rx Time:17:11:52.4010 

2025-08-09T17:11:53.448Z,1754759513.448 [DAT](INFO): Rx dataTimestamp_ set to:1754759513.447536
2025-08-09T17:11:53.449Z,1754759513.449 [DAT](INFO): DAT read: Range 11 to 50 :    27.0 m (trip time 18.0 ms) speed 0.2

2025-08-09T17:11:53.450Z,1754759513.450 [DAT](ERROR): #Rx 97: Read range message, but no direction.
2025-08-09T17:11:53.451Z,1754759513.451 [DAT](INFO): checking for new query: numPingsReceived=97, elapsed TxPingTime=48.152794
2025-08-09T17:11:53.541Z,1754759513.541 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 27.000000 m,
      deltaT: 0.498030 s,
      deltaX: 0.100000 m,
      approachRate: 0.200792 m/s,
      rangeRepo size: 4

2025-08-09T17:11:53.544Z,1754759513.544 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 26.90 m.
2025-08-09T17:11:53.699Z,1754759513.699 [DAT](INFO): checking for new query: numPingsReceived=97, elapsed TxPingTime=48.401615
2025-08-09T17:11:53.957Z,1754759513.957 [DAT](INFO): DAT read: Rx Time:17:11:52.9010 

2025-08-09T17:11:53.959Z,1754759513.959 [DAT](INFO): Rx dataTimestamp_ set to:1754759513.957744
2025-08-09T17:11:53.963Z,1754759513.963 [DAT](INFO): DAT read: Bearing 161.4,   5.5 (Local)

2025-08-09T17:11:53.964Z,1754759513.964 [DAT](INFO): Local bearing/azimuth received:
 Bearing 161.4,   5.5 (Local)

2025-08-09T17:11:53.977Z,1754759513.977 [DAT](INFO): DAT read: Range 11 to 50 :    27.0 m (trip time 18.0 ms) speed 0.0

2025-08-09T17:11:54.016Z,1754759514.016 [DAT](INFO): DAT read: 17:11:52.9010 LVL= 32752, 26353, 32754, 32755, AGC= 70, IDX= 511,-0.18, 2.721,-1.815, 2.597,-3.051, PHS=-0.410, 1.281,-0.679, RAW= 337.3,  -2.1, CAL= 336.7,  -5.1, ROT= 173.3,   5.1

2025-08-09T17:11:54.017Z,1754759514.017 [DAT](INFO): got valid direction response:
 17:11:52.9010 LVL= 32752, 26353, 32754, 32755, AGC= 70, IDX= 511,-0.18, 2.721,-1.815, 2.597,-3.051, PHS=-0.410, 1.281,-0.679, RAW= 337.3,  -2.1, CAL= 336.7,  -5.1, ROT= 173.3,   5.1

2025-08-09T17:11:54.017Z,1754759514.017 [DAT](INFO): #Rx 98: Read range and direction messages.
2025-08-09T17:11:54.018Z,1754759514.018 [DAT](INFO): direction in FSK: [-0.989239,0.116209,-0.088894]
2025-08-09T17:11:54.038Z,1754759514.038 [DAT](INFO): publishing direction and range info
2025-08-09T17:11:54.053Z,1754759514.053 [DAT](INFO): checking for new query: numPingsReceived=98, elapsed TxPingTime=48.754448
2025-08-09T17:11:54.150Z,1754759514.150 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 27.000000 m,
      deltaT: 0.510208 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-08-09T17:11:54.156Z,1754759514.156 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 27.000000 m,
      bearing: 7.035746 deg,
      lat: 36.906106 deg,
      lon: -122.115886 deg,
      deltaT: 1.008238 s,
      deltaX: 0.100000 m,
      approachRate: 0.099183 m/s,
      posRepo size: 4

2025-08-09T17:11:54.157Z,1754759514.157 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 27.00 m.
2025-08-09T17:11:54.204Z,1754759514.204 [DAT](INFO): checking for new query: numPingsReceived=98, elapsed TxPingTime=48.906399
2025-08-09T17:11:54.455Z,1754759514.455 [DAT](INFO): DAT read: Rx Time:17:11:53.4011 

2025-08-09T17:11:54.456Z,1754759514.456 [DAT](INFO): Rx dataTimestamp_ set to:1754759514.455596
2025-08-09T17:11:54.457Z,1754759514.457 [DAT](INFO): DAT read: Range 11 to 50 :    27.2 m (trip time 18.1 ms) speed 0.0

2025-08-09T17:11:54.458Z,1754759514.458 [DAT](ERROR): #Rx 99: Read range message, but no direction.
2025-08-09T17:11:54.459Z,1754759514.459 [DAT](INFO): checking for new query: numPingsReceived=99, elapsed TxPingTime=49.160896
2025-08-09T17:11:54.659Z,1754759514.659 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 27.200001 m,
      deltaT: 0.497852 s,
      deltaX: 0.200001 m,
      approachRate: 0.401727 m/s,
      rangeRepo size: 4

2025-08-09T17:11:54.659Z,1754759514.659 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 27.00 m.
2025-08-09T17:11:54.707Z,1754759514.707 [DAT](INFO): checking for new query: numPingsReceived=99, elapsed TxPingTime=49.409622
2025-08-09T17:11:54.963Z,1754759514.963 [DAT](INFO): DAT read: Rx Time:17:11:53.9010 

2025-08-09T17:11:54.965Z,1754759514.965 [DAT](INFO): Rx dataTimestamp_ set to:1754759514.964168
2025-08-09T17:11:54.970Z,1754759514.970 [DAT](INFO): DAT read: Bearing 162.8,   5.7 (Local)

2025-08-09T17:11:54.975Z,1754759514.975 [DAT](INFO): Local bearing/azimuth received:
 Bearing 162.8,   5.7 (Local)

2025-08-09T17:11:54.981Z,1754759514.981 [DAT](INFO): DAT read: Range 11 to 50 :    27.0 m (trip time 18.0 ms) speed 0.0

2025-08-09T17:11:55.035Z,1754759515.035 [DAT](INFO): DAT read: 17:11:53.9010 LVL= 32752, 21361, 32754, 32755, AGC= 70, IDX= 511, 0.12,-1.261, 0.501,-1.403,-0.769, PHS=-0.390, 1.315,-0.678, RAW= 337.7,  -2.7, CAL= 337.2,  -5.6, ROT= 172.8,   5.6

2025-08-09T17:11:55.036Z,1754759515.036 [DAT](INFO): got valid direction response:
 17:11:53.9010 LVL= 32752, 21361, 32754, 32755, AGC= 70, IDX= 511, 0.12,-1.261, 0.501,-1.403,-0.769, PHS=-0.390, 1.315,-0.678, RAW= 337.7,  -2.7, CAL= 337.2,  -5.6, ROT= 172.8,   5.6

2025-08-09T17:11:55.036Z,1754759515.036 [DAT](INFO): #Rx 100: Read range and direction messages.
2025-08-09T17:11:55.037Z,1754759515.037 [DAT](INFO): direction in FSK: [-0.987380,0.124735,-0.097583]
2025-08-09T17:11:55.037Z,1754759515.037 [DAT](INFO): publishing direction and range info
2025-08-09T17:11:55.068Z,1754759515.068 [DAT](INFO): checking for new query: numPingsReceived=100, elapsed TxPingTime=49.770126
2025-08-09T17:11:55.204Z,1754759515.204 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 27.000000 m,
      deltaT: 0.508572 s,
      deltaX: -0.200001 m,
      approachRate: -0.393259 m/s,
      rangeRepo size: 4

2025-08-09T17:11:55.206Z,1754759515.206 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 27.000000 m,
      bearing: 6.425547 deg,
      lat: 36.906106 deg,
      lon: -122.115890 deg,
      deltaT: 1.006424 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      posRepo size: 4

2025-08-09T17:11:55.218Z,1754759515.218 [DAT](INFO): DAT read: Rx Time:17:11:54.4010 

2025-08-09T17:11:55.219Z,1754759515.219 [DAT](INFO): Rx dataTimestamp_ set to:1754759515.218385
2025-08-09T17:11:55.222Z,1754759515.222 [DAT](INFO): DAT read: Bearing 162.9,   6.3 (Local)

2025-08-09T17:11:55.223Z,1754759515.223 [DAT](INFO): Local bearing/azimuth received:
 Bearing 162.9,   6.3 (Local)

2025-08-09T17:11:55.226Z,1754759515.226 [DAT](INFO): checking for new query: numPingsReceived=100, elapsed TxPingTime=49.927105
2025-08-09T17:11:55.229Z,1754759515.229 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 27.00 m.
2025-08-09T17:11:55.465Z,1754759515.465 [DAT](INFO): DAT read: Range 11 to 50 :    27.0 m (trip time 18.0 ms) speed 0.0

2025-08-09T17:11:55.469Z,1754759515.469 [DAT](INFO): DAT read: 17:11:54.4010 LVL= 29680, 26801, 32754, 32755, AGC= 69, IDX= 511, 0.22,-0.400, 1.290,-0.560, 0.071, PHS=-0.369, 1.264,-0.675, RAW= 338.4,  -2.5, CAL= 337.9,  -5.4, ROT= 172.1,   5.4

2025-08-09T17:11:55.471Z,1754759515.471 [DAT](INFO): got valid direction response:
 17:11:54.4010 LVL= 29680, 26801, 32754, 32755, AGC= 69, IDX= 511, 0.22,-0.400, 1.290,-0.560, 0.071, PHS=-0.369, 1.264,-0.675, RAW= 338.4,  -2.5, CAL= 337.9,  -5.4, ROT= 172.1,   5.4

2025-08-09T17:11:55.471Z,1754759515.471 [DAT](INFO): #Rx 101: Read range and direction messages.
2025-08-09T17:11:55.472Z,1754759515.472 [DAT](INFO): direction in FSK: [-0.986114,0.136835,-0.094108]
2025-08-09T17:11:55.472Z,1754759515.472 [DAT](INFO): publishing direction and range info
2025-08-09T17:11:55.476Z,1754759515.476 [DAT](INFO): checking for new query: numPingsReceived=101, elapsed TxPingTime=50.177971
2025-08-09T17:11:55.493Z,1754759515.493 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 27.000000 m,
      deltaT: 0.498648 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-08-09T17:11:55.499Z,1754759515.499 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 27.000000 m,
      bearing: 5.841994 deg,
      lat: 36.906106 deg,
      lon: -122.115893 deg,
      deltaT: 0.498648 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      posRepo size: 4

2025-08-09T17:11:55.499Z,1754759515.499 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 27.00 m.
2025-08-09T17:11:55.718Z,1754759515.718 [DAT](INFO): DAT read: Rx Time:17:11:54.9009 

2025-08-09T17:11:55.720Z,1754759515.720 [DAT](INFO): Rx dataTimestamp_ set to:1754759515.718747
2025-08-09T17:11:55.722Z,1754759515.722 [DAT](INFO): DAT read: Bearing 161.9,   6.3 (Local)

2025-08-09T17:11:55.723Z,1754759515.723 [DAT](INFO): Local bearing/azimuth received:
 Bearing 161.9,   6.3 (Local)

2025-08-09T17:11:55.725Z,1754759515.725 [DAT](INFO): checking for new query: numPingsReceived=101, elapsed TxPingTime=50.427040
2025-08-09T17:11:55.860Z,1754759515.860 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 27.00 m.
2025-08-09T17:11:55.979Z,1754759515.979 [DAT](INFO): DAT read: Range 11 to 50 :    26.9 m (trip time 17.9 ms) speed 0.1

2025-08-09T17:11:56.013Z,1754759516.013 [DAT](INFO): DAT read: 17:11:54.9009 LVL= 32752, 25377, 32754, 32755, AGC= 69, IDX= 511,-0.49, 2.810,-1.748, 2.641,-2.957, PHS=-0.414, 1.254,-0.729, RAW= 338.5,  -1.2, CAL= 338.0,  -4.1, ROT= 172.0,   4.1

2025-08-09T17:11:56.024Z,1754759516.024 [DAT](INFO): got valid direction response:
 17:11:54.9009 LVL= 32752, 25377, 32754, 32755, AGC= 69, IDX= 511,-0.49, 2.810,-1.748, 2.641,-2.957, PHS=-0.414, 1.254,-0.729, RAW= 338.5,  -1.2, CAL= 338.0,  -4.1, ROT= 172.0,   4.1

2025-08-09T17:11:56.024Z,1754759516.024 [DAT](INFO): #Rx 102: Read range and direction messages.
2025-08-09T17:11:56.025Z,1754759516.025 [DAT](INFO): direction in FSK: [-0.987734,0.138817,-0.071497]
2025-08-09T17:11:56.025Z,1754759516.025 [DAT](INFO): publishing direction and range info
2025-08-09T17:11:56.033Z,1754759516.033 [DAT](INFO): checking for new query: numPingsReceived=102, elapsed TxPingTime=50.735458
2025-08-09T17:11:56.222Z,1754759516.222 [DAT](INFO): DAT read: Rx Time:17:11:55.4010 

2025-08-09T17:11:56.224Z,1754759516.224 [DAT](INFO): Rx dataTimestamp_ set to:1754759516.222781
2025-08-09T17:11:56.225Z,1754759516.225 [DAT](INFO): checking for new query: numPingsReceived=102, elapsed TxPingTime=50.927399
2025-08-09T17:11:56.300Z,1754759516.300 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 26.900000 m,
      deltaT: 0.505363 s,
      deltaX: -0.100000 m,
      approachRate: -0.197878 m/s,
      rangeRepo size: 4

2025-08-09T17:11:56.314Z,1754759516.314 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 26.900000 m,
      bearing: 5.901137 deg,
      lat: 36.906106 deg,
      lon: -122.115893 deg,
      deltaT: 0.505363 s,
      deltaX: -0.100000 m,
      approachRate: -0.197878 m/s,
      posRepo size: 4

2025-08-09T17:11:56.315Z,1754759516.315 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 26.90 m.
2025-08-09T17:11:56.472Z,1754759516.472 [DAT](INFO): DAT read: Range 11 to 50 :    27.0 m (trip time 18.0 ms) speed 0.0

2025-08-09T17:11:56.473Z,1754759516.473 [DAT](ERROR): #Rx 103: Read range message, but no direction.
2025-08-09T17:11:56.473Z,1754759516.473 [DAT](INFO): checking for new query: numPingsReceived=103, elapsed TxPingTime=51.175617
2025-08-09T17:11:56.706Z,1754759516.706 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 27.000000 m,
      deltaT: 0.502526 s,
      deltaX: 0.100000 m,
      approachRate: 0.198995 m/s,
      rangeRepo size: 4

2025-08-09T17:11:56.706Z,1754759516.706 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 26.90 m.
2025-08-09T17:11:56.726Z,1754759516.726 [DAT](INFO): DAT read: Rx Time:17:11:55.9010 

2025-08-09T17:11:56.728Z,1754759516.728 [DAT](INFO): Rx dataTimestamp_ set to:1754759516.726738
2025-08-09T17:11:56.730Z,1754759516.730 [DAT](INFO): DAT read: Bearing 162.3,   7.4 (Local)

2025-08-09T17:11:56.731Z,1754759516.731 [DAT](INFO): Local bearing/azimuth received:
 Bearing 162.3,   7.4 (Local)

2025-08-09T17:11:56.733Z,1754759516.733 [DAT](INFO): checking for new query: numPingsReceived=103, elapsed TxPingTime=51.434761
2025-08-09T17:11:56.983Z,1754759516.983 [DAT](INFO): DAT read: Range 11 to 50 :    27.0 m (trip time 18.0 ms) speed -0.1

2025-08-09T17:11:56.999Z,1754759516.999 [DAT](INFO): DAT read: 17:11:55.9010 LVL= 31216, 23713, 32754, 32755, AGC= 69, IDX= 511,-0.11,-3.101,-1.400, 2.970,-2.598, PHS=-0.401, 1.243,-0.759, RAW= 339.7,  -0.9, CAL= 339.2,  -3.8, ROT= 170.8,   3.8

2025-08-09T17:11:57.021Z,1754759517.021 [DAT](INFO): got valid direction response:
 17:11:55.9010 LVL= 31216, 23713, 32754, 32755, AGC= 69, IDX= 511,-0.11,-3.101,-1.400, 2.970,-2.598, PHS=-0.401, 1.243,-0.759, RAW= 339.7,  -0.9, CAL= 339.2,  -3.8, ROT= 170.8,   3.8

2025-08-09T17:11:57.023Z,1754759517.023 [DAT](INFO): #Rx 104: Read range and direction messages.
2025-08-09T17:11:57.024Z,1754759517.024 [DAT](INFO): direction in FSK: [-0.984966,0.159530,-0.066274]
2025-08-09T17:11:57.025Z,1754759517.025 [DAT](INFO): publishing direction and range info
2025-08-09T17:11:57.050Z,1754759517.050 [DAT](INFO): checking for new query: numPingsReceived=104, elapsed TxPingTime=51.751434
2025-08-09T17:11:57.165Z,1754759517.165 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 27.000000 m,
      deltaT: 0.505691 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-08-09T17:11:57.171Z,1754759517.171 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 27.000000 m,
      bearing: 5.587433 deg,
      lat: 36.906106 deg,
      lon: -122.115895 deg,
      deltaT: 1.008217 s,
      deltaX: 0.100000 m,
      approachRate: 0.099185 m/s,
      posRepo size: 4

2025-08-09T17:11:57.171Z,1754759517.171 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 27.00 m.
2025-08-09T17:11:57.233Z,1754759517.233 [DAT](INFO): DAT read: Rx Time:17:11:56.4011 

2025-08-09T17:11:57.234Z,1754759517.234 [DAT](INFO): Rx dataTimestamp_ set to:1754759517.233330
2025-08-09T17:11:57.237Z,1754759517.237 [DAT](INFO): DAT read: Bearing 144.0,  16.0 (Local)

2025-08-09T17:11:57.241Z,1754759517.241 [DAT](INFO): Local bearing/azimuth received:
 Bearing 144.0,  16.0 (Local)

2025-08-09T17:11:57.246Z,1754759517.246 [DAT](INFO): DAT read: Range 11 to 50 :    27.2 m (trip time 18.1 ms) speed 0.0

2025-08-09T17:11:57.261Z,1754759517.261 [DAT](ERROR): #Rx 105: Read range message, but no direction.
2025-08-09T17:11:57.269Z,1754759517.269 [DAT](INFO): checking for new query: numPingsReceived=105, elapsed TxPingTime=51.970497
2025-08-09T17:11:57.483Z,1754759517.483 [DAT](INFO): DAT read: 17:11:56.4011 LVL= 32752, 24881, 32754, 32755, AGC= 66, IDX= 512, 0.07,-2.368,-1.374,-2.672,-1.861, PHS=-0.404, 0.532,-0.855, RAW= 348.6,  11.9, CAL= 348.9,  14.0, ROT= 161.1, -14.0

2025-08-09T17:11:57.484Z,1754759517.484 [DAT](INFO): got valid direction response:
 17:11:56.4011 LVL= 32752, 24881, 32754, 32755, AGC= 66, IDX= 512, 0.07,-2.368,-1.374,-2.672,-1.861, PHS=-0.404, 0.532,-0.855, RAW= 348.6,  11.9, CAL= 348.9,  14.0, ROT= 161.1, -14.0

2025-08-09T17:11:57.485Z,1754759517.485 [DAT](INFO): #Rx 106: Read direction message, but no range.
2025-08-09T17:11:57.486Z,1754759517.486 [DAT](INFO): direction in FSK: [-0.917983,0.314296,0.241922]
2025-08-09T17:11:57.496Z,1754759517.496 [DAT](INFO): checking for new query: numPingsReceived=106, elapsed TxPingTime=52.197781
2025-08-09T17:11:57.578Z,1754759517.578 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 27.200001 m,
      deltaT: 0.256934 s,
      deltaX: 0.200001 m,
      approachRate: 0.778413 m/s,
      rangeRepo size: 4

2025-08-09T17:11:57.584Z,1754759517.584 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 27.200001 m,
      bearing: 5.597129 deg,
      lat: 36.906106 deg,
      lon: -122.115895 deg,
      deltaT: 0.256934 s,
      deltaX: 0.200001 m,
      approachRate: 0.778413 m/s,
      posRepo size: 4

2025-08-09T17:11:57.585Z,1754759517.585 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 27.20 m.
2025-08-09T17:11:57.735Z,1754759517.735 [DAT](INFO): DAT read: Rx Time:17:11:56.9010 

2025-08-09T17:11:57.737Z,1754759517.737 [DAT](INFO): Rx dataTimestamp_ set to:1754759517.735713
2025-08-09T17:11:57.740Z,1754759517.740 [DAT](INFO): DAT read: Bearing 163.5,   7.0 (Local)

2025-08-09T17:11:57.741Z,1754759517.741 [DAT](INFO): Local bearing/azimuth received:
 Bearing 163.5,   7.0 (Local)

2025-08-09T17:11:57.747Z,1754759517.747 [DAT](INFO): DAT read: Range 11 to 50 :    27.0 m (trip time 18.0 ms) speed -0.1

2025-08-09T17:11:57.749Z,1754759517.749 [DAT](ERROR): #Rx 107: Read range message, but no direction.
2025-08-09T17:11:57.772Z,1754759517.772 [DAT](INFO): checking for new query: numPingsReceived=107, elapsed TxPingTime=52.474277
2025-08-09T17:11:57.917Z,1754759517.917 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 27.000000 m,
      deltaT: 0.502383 s,
      deltaX: -0.200001 m,
      approachRate: -0.398104 m/s,
      rangeRepo size: 4

2025-08-09T17:11:57.917Z,1754759517.917 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 27.20 m.
2025-08-09T17:11:57.994Z,1754759517.994 [DAT](INFO): DAT read: 17:11:56.9010 LVL= 32752, 27585, 32754, 32755, AGC= 67, IDX= 511, 0.21,-1.661, 0.041,-1.868,-1.165, PHS=-0.394, 1.252,-0.747, RAW= 339.5,  -1.2, CAL= 339.0,  -4.1, ROT= 171.0,   4.1

2025-08-09T17:11:57.998Z,1754759517.998 [DAT](INFO): got valid direction response:
 17:11:56.9010 LVL= 32752, 27585, 32754, 32755, AGC= 67, IDX= 511, 0.21,-1.661, 0.041,-1.868,-1.165, PHS=-0.394, 1.252,-0.747, RAW= 339.5,  -1.2, CAL= 339.0,  -4.1, ROT= 171.0,   4.1

2025-08-09T17:11:58.004Z,1754759518.004 [DAT](INFO): #Rx 108: Read direction message, but no range.
2025-08-09T17:11:58.012Z,1754759518.012 [DAT](INFO): direction in FSK: [-0.985161,0.156034,-0.071497]
2025-08-09T17:11:58.059Z,1754759518.059 [DAT](INFO): checking for new query: numPingsReceived=108, elapsed TxPingTime=52.744404
2025-08-09T17:11:58.239Z,1754759518.239 [DAT](INFO): DAT read: Rx Time:17:11:57.4011 

2025-08-09T17:11:58.240Z,1754759518.240 [DAT](INFO): Rx dataTimestamp_ set to:1754759518.239464
2025-08-09T17:11:58.244Z,1754759518.244 [DAT](INFO): DAT read: Bearing  43.1,  -2.4 (Local)

2025-08-09T17:11:58.245Z,1754759518.245 [DAT](INFO): Local bearing/azimuth received:
 Bearing  43.1,  -2.4 (Local)

2025-08-09T17:11:58.256Z,1754759518.256 [DAT](INFO): DAT read: Range 11 to 50 :    27.2 m (trip time 18.1 ms) speed 0.0

2025-08-09T17:11:58.259Z,1754759518.259 [DAT](ERROR): #Rx 109: Read range message, but no direction.
2025-08-09T17:11:58.262Z,1754759518.262 [DAT](INFO): checking for new query: numPingsReceived=109, elapsed TxPingTime=52.963436
2025-08-09T17:11:58.383Z,1754759518.383 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 27.200001 m,
      deltaT: 0.503751 s,
      deltaX: 0.200001 m,
      approachRate: 0.397023 m/s,
      rangeRepo size: 4

2025-08-09T17:11:58.385Z,1754759518.385 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 27.200001 m,
      bearing: 5.594098 deg,
      lat: 36.906106 deg,
      lon: -122.115895 deg,
      deltaT: 1.006134 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      posRepo size: 4

2025-08-09T17:11:58.386Z,1754759518.386 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 27.20 m.
2025-08-09T17:11:58.492Z,1754759518.492 [DAT](INFO): DAT read: 17:11:57.4011 LVL= 32752, 21985, 32754, 32755, AGC= 67, IDX= 512, 0.41,-2.897, 2.409,-2.687,-1.624, PHS=-1.171,-2.206,-1.107, RAW= 153.0,  56.0, CAL= 155.7,  63.2, ROT= 354.3, -63.2

2025-08-09T17:11:58.495Z,1754759518.495 [DAT](INFO): got valid direction response:
 17:11:57.4011 LVL= 32752, 21985, 32754, 32755, AGC= 67, IDX= 512, 0.41,-2.897, 2.409,-2.687,-1.624, PHS=-1.171,-2.206,-1.107, RAW= 153.0,  56.0, CAL= 155.7,  63.2, ROT= 354.3, -63.2

2025-08-09T17:11:58.495Z,1754759518.495 [DAT](INFO): #Rx 110: Read direction message, but no range.
2025-08-09T17:11:58.497Z,1754759518.497 [DAT](INFO): direction in FSK: [0.448648,-0.044781,0.892586]
2025-08-09T17:11:58.501Z,1754759518.501 [DAT](INFO): checking for new query: numPingsReceived=110, elapsed TxPingTime=53.203335
2025-08-09T17:11:58.740Z,1754759518.740 [DAT](INFO): DAT read: Rx Time:17:11:57.9010 

2025-08-09T17:11:58.740Z,1754759518.740 [DAT](INFO): Rx dataTimestamp_ set to:1754759518.739700
2025-08-09T17:11:58.741Z,1754759518.741 [DAT](INFO): DAT read: Range 11 to 50 :    27.0 m (trip time 18.0 ms) speed 0.0

2025-08-09T17:11:58.742Z,1754759518.742 [DAT](ERROR): #Rx 111: Read range message, but no direction.
2025-08-09T17:11:58.743Z,1754759518.743 [DAT](INFO): checking for new query: numPingsReceived=111, elapsed TxPingTime=53.444988
2025-08-09T17:11:58.761Z,1754759518.761 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 27.000000 m,
      deltaT: 0.500236 s,
      deltaX: -0.200001 m,
      approachRate: -0.399813 m/s,
      rangeRepo size: 4

2025-08-09T17:11:58.792Z,1754759518.792 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 27.000000 m,
      bearing: 5.606323 deg,
      lat: 36.906105 deg,
      lon: -122.115895 deg,
      deltaT: 0.500236 s,
      deltaX: -0.200001 m,
      approachRate: -0.399813 m/s,
      posRepo size: 4

2025-08-09T17:11:58.792Z,1754759518.792 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 27.00 m.
2025-08-09T17:11:58.995Z,1754759518.995 [DAT](INFO): checking for new query: numPingsReceived=111, elapsed TxPingTime=53.695671
2025-08-09T17:11:59.238Z,1754759519.238 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 27.00 m.
2025-08-09T17:11:59.244Z,1754759519.244 [DAT](INFO): DAT read: Rx Time:17:11:58.4010 

2025-08-09T17:11:59.244Z,1754759519.244 [DAT](INFO): Rx dataTimestamp_ set to:1754759519.243780
2025-08-09T17:11:59.245Z,1754759519.245 [DAT](INFO): DAT read: Range 11 to 50 :    27.0 m (trip time 18.0 ms) speed 0.0

2025-08-09T17:11:59.246Z,1754759519.246 [DAT](ERROR): #Rx 112: Read range message, but no direction.
2025-08-09T17:11:59.247Z,1754759519.247 [DAT](INFO): checking for new query: numPingsReceived=112, elapsed TxPingTime=53.949051
2025-08-09T17:11:59.496Z,1754759519.496 [DAT](INFO): checking for new query: numPingsReceived=112, elapsed TxPingTime=54.198208
2025-08-09T17:11:59.600Z,1754759519.600 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 27.000000 m,
      deltaT: 0.504080 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-08-09T17:11:59.600Z,1754759519.600 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 27.00 m.
2025-08-09T17:11:59.752Z,1754759519.752 [DAT](INFO): DAT read: Rx Time:17:11:58.9010 

2025-08-09T17:11:59.753Z,1754759519.753 [DAT](INFO): Rx dataTimestamp_ set to:1754759519.752187
2025-08-09T17:11:59.757Z,1754759519.757 [DAT](INFO): DAT read: Bearing 163.8,   8.7 (Local)

2025-08-09T17:11:59.758Z,1754759519.758 [DAT](INFO): Local bearing/azimuth received:
 Bearing 163.8,   8.7 (Local)

2025-08-09T17:11:59.800Z,1754759519.800 [DAT](INFO): DAT read: Range 11 to 50 :    27.0 m (trip time 18.0 ms) speed 0.0

2025-08-09T17:11:59.831Z,1754759519.831 [DAT](INFO): DAT read: 17:11:58.9010 LVL= 32752, 29169, 32754, 32755, AGC= 66, IDX= 511,-0.14, 2.396,-2.202, 2.103, 2.892, PHS=-0.395, 1.234,-0.833, RAW= 341.6,  -0.1, CAL= 341.2,  -3.0, ROT= 168.8,   3.0

2025-08-09T17:11:59.833Z,1754759519.833 [DAT](INFO): got valid direction response:
 17:11:58.9010 LVL= 32752, 29169, 32754, 32755, AGC= 66, IDX= 511,-0.14, 2.396,-2.202, 2.103, 2.892, PHS=-0.395, 1.234,-0.833, RAW= 341.6,  -0.1, CAL= 341.2,  -3.0, ROT= 168.8,   3.0

2025-08-09T17:11:59.833Z,1754759519.833 [DAT](INFO): #Rx 113: Read range and direction messages.
2025-08-09T17:11:59.839Z,1754759519.839 [DAT](INFO): direction in FSK: [-0.979611,0.193968,-0.052336]
2025-08-09T17:11:59.839Z,1754759519.839 [DAT](INFO): publishing direction and range info
2025-08-09T17:11:59.849Z,1754759519.849 [DAT](INFO): checking for new query: numPingsReceived=113, elapsed TxPingTime=54.550926
2025-08-09T17:11:59.000Z,1754759520.000 [DAT](INFO): checking for new query: numPingsReceived=113, elapsed TxPingTime=54.701656
2025-08-09T17:12:00.033Z,1754759520.033 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 27.000000 m,
      deltaT: 0.508407 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-08-09T17:12:00.063Z,1754759520.063 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 27.000000 m,
      bearing: 5.541034 deg,
      lat: 36.906106 deg,
      lon: -122.115895 deg,
      deltaT: 1.012487 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      posRepo size: 4

2025-08-09T17:12:00.065Z,1754759520.065 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 27.00 m.
2025-08-09T17:12:00.252Z,1754759520.252 [DAT](INFO): DAT read: Rx Time:17:11:59.4011 

2025-08-09T17:12:00.252Z,1754759520.252 [DAT](INFO): Rx dataTimestamp_ set to:1754759520.251696
2025-08-09T17:12:00.253Z,1754759520.253 [DAT](INFO): DAT read: Range 11 to 50 :    27.2 m (trip time 18.1 ms) speed -0.1

2025-08-09T17:12:00.254Z,1754759520.254 [DAT](ERROR): #Rx 114: Read range message, but no direction.
2025-08-09T17:12:00.255Z,1754759520.255 [DAT](INFO): checking for new query: numPingsReceived=114, elapsed TxPingTime=54.957005
2025-08-09T17:12:00.440Z,1754759520.440 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 27.200001 m,
      deltaT: 0.499509 s,
      deltaX: 0.200001 m,
      approachRate: 0.400395 m/s,
      rangeRepo size: 4

2025-08-09T17:12:00.440Z,1754759520.440 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 27.00 m.
2025-08-09T17:12:00.505Z,1754759520.505 [DAT](INFO): checking for new query: numPingsReceived=114, elapsed TxPingTime=55.207020
2025-08-09T17:12:00.763Z,1754759520.763 [DAT](INFO): DAT read: Rx Time:17:11:59.9010 

2025-08-09T17:12:00.765Z,1754759520.765 [DAT](INFO): Rx dataTimestamp_ set to:1754759520.763569
2025-08-09T17:12:00.769Z,1754759520.769 [DAT](INFO): DAT read: Bearing 164.5,   9.7 (Local)

2025-08-09T17:12:00.770Z,1754759520.770 [DAT](INFO): Local bearing/azimuth received:
 Bearing 164.5,   9.7 (Local)

2025-08-09T17:12:00.777Z,1754759520.777 [DAT](INFO): DAT read: Range 11 to 50 :    27.0 m (trip time 18.0 ms) speed 0.0

2025-08-09T17:12:00.794Z,1754759520.794 [DAT](INFO): DAT read: 17:11:59.9010 LVL= 31632, 22513, 32754, 32755, AGC= 67, IDX= 511,-0.07,-3.137,-1.476, 2.809,-2.661, PHS=-0.373, 1.231,-0.857, RAW= 342.8,  -0.0, CAL= 342.3,  -2.9, ROT= 167.7,   2.9

2025-08-09T17:12:00.795Z,1754759520.795 [DAT](INFO): got valid direction response:
 17:11:59.9010 LVL= 31632, 22513, 32754, 32755, AGC= 67, IDX= 511,-0.07,-3.137,-1.476, 2.809,-2.661, PHS=-0.373, 1.231,-0.857, RAW= 342.8,  -0.0, CAL= 342.3,  -2.9, ROT= 167.7,   2.9

2025-08-09T17:12:00.795Z,1754759520.795 [DAT](INFO): #Rx 115: Read range and direction messages.
2025-08-09T17:12:00.796Z,1754759520.796 [DAT](INFO): direction in FSK: [-0.975794,0.212758,-0.050593]
2025-08-09T17:12:00.797Z,1754759520.797 [DAT](INFO): publishing direction and range info
2025-08-09T17:12:00.828Z,1754759520.828 [DAT](INFO): checking for new query: numPingsReceived=115, elapsed TxPingTime=55.530380
2025-08-09T17:12:00.881Z,1754759520.881 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 27.000000 m,
      deltaT: 0.511873 s,
      deltaX: -0.200001 m,
      approachRate: -0.390723 m/s,
      rangeRepo size: 4

2025-08-09T17:12:00.891Z,1754759520.891 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 27.000000 m,
      bearing: 5.782877 deg,
      lat: 36.906107 deg,
      lon: -122.115893 deg,
      deltaT: 1.011382 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      posRepo size: 4

2025-08-09T17:12:00.892Z,1754759520.892 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 27.00 m.
2025-08-09T17:12:01.008Z,1754759521.008 [DAT](INFO): checking for new query: numPingsReceived=115, elapsed TxPingTime=55.709808
2025-08-09T17:12:01.264Z,1754759521.264 [DAT](INFO): DAT read: Rx Time:17:12:00.4011 

2025-08-09T17:12:01.265Z,1754759521.265 [DAT](INFO): Rx dataTimestamp_ set to:1754759521.264387
2025-08-09T17:12:01.271Z,1754759521.271 [DAT](INFO): DAT read: Bearing 153.7,  25.6 (Local)

2025-08-09T17:12:01.272Z,1754759521.272 [DAT](INFO): Local bearing/azimuth received:
 Bearing 153.7,  25.6 (Local)

2025-08-09T17:12:01.274Z,1754759521.274 [DAT](INFO): DAT read: Range 11 to 50 :    27.2 m (trip time 18.1 ms) speed 0.0

2025-08-09T17:12:01.315Z,1754759521.315 [DAT](INFO): DAT read: 17:12:00.4011 LVL= 28240, 24177, 32754, 32755, AGC= 66, IDX= 512,-0.06,-2.976,-1.703, 2.331,-2.592, PHS=-0.283, 0.934,-1.405, RAW= 358.7,   7.5, CAL= 358.7,   7.1, ROT= 151.3,  -7.1

2025-08-09T17:12:01.316Z,1754759521.316 [DAT](INFO): got valid direction response:
 17:12:00.4011 LVL= 28240, 24177, 32754, 32755, AGC= 66, IDX= 512,-0.06,-2.976,-1.703, 2.331,-2.592, PHS=-0.283, 0.934,-1.405, RAW= 358.7,   7.5, CAL= 358.7,   7.1, ROT= 151.3,  -7.1

2025-08-09T17:12:01.316Z,1754759521.316 [DAT](INFO): #Rx 116: Read range and direction messages.
2025-08-09T17:12:01.317Z,1754759521.317 [DAT](INFO): direction in FSK: [-0.870420,0.476541,0.123601]
2025-08-09T17:12:01.317Z,1754759521.317 [DAT](INFO): publishing direction and range info
2025-08-09T17:12:01.329Z,1754759521.329 [DAT](INFO): checking for new query: numPingsReceived=116, elapsed TxPingTime=56.031281
2025-08-09T17:12:01.428Z,1754759521.428 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 27.200001 m,
      deltaT: 0.500818 s,
      deltaX: 0.200001 m,
      approachRate: 0.399348 m/s,
      rangeRepo size: 4

2025-08-09T17:12:01.434Z,1754759521.434 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 27.200001 m,
      bearing: 5.768659 deg,
      lat: 36.906107 deg,
      lon: -122.115893 deg,
      deltaT: 0.500818 s,
      deltaX: 0.200001 m,
      approachRate: 0.399348 m/s,
      posRepo size: 4

2025-08-09T17:12:01.435Z,1754759521.435 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 27.20 m.
2025-08-09T17:12:01.512Z,1754759521.512 [DAT](INFO): checking for new query: numPingsReceived=116, elapsed TxPingTime=56.213688
2025-08-09T17:12:01.769Z,1754759521.769 [DAT](INFO): DAT read: Rx Time:17:12:00.9010 

2025-08-09T17:12:01.771Z,1754759521.771 [DAT](INFO): Rx dataTimestamp_ set to:1754759521.770347
2025-08-09T17:12:01.772Z,1754759521.772 [DAT](INFO): DAT read: Bearing 165.0,   9.2 (Local)

2025-08-09T17:12:01.773Z,1754759521.773 [DAT](INFO): Local bearing/azimuth received:
 Bearing 165.0,   9.2 (Local)

2025-08-09T17:12:01.783Z,1754759521.783 [DAT](INFO): DAT read: Range 11 to 50 :    27.0 m (trip time 18.0 ms) speed 0.0

2025-08-09T17:12:01.823Z,1754759521.823 [DAT](INFO): DAT read: 17:12:00.9010 LVL= 32752, 30065, 32754, 32755, AGC= 68, IDX= 511,-0.06, 2.842,-1.717, 2.499,-2.938, PHS=-0.401, 1.266,-0.890, RAW= 342.5,   0.3, CAL= 342.0,  -2.7, ROT= 168.0,   2.7

2025-08-09T17:12:01.824Z,1754759521.824 [DAT](INFO): got valid direction response:
 17:12:00.9010 LVL= 32752, 30065, 32754, 32755, AGC= 68, IDX= 511,-0.06, 2.842,-1.717, 2.499,-2.938, PHS=-0.401, 1.266,-0.890, RAW= 342.5,   0.3, CAL= 342.0,  -2.7, ROT= 168.0,   2.7

2025-08-09T17:12:01.825Z,1754759521.825 [DAT](INFO): #Rx 117: Read range and direction messages.
2025-08-09T17:12:01.826Z,1754759521.826 [DAT](INFO): direction in FSK: [-0.977062,0.207681,-0.047106]
2025-08-09T17:12:01.834Z,1754759521.834 [DAT](INFO): publishing direction and range info
2025-08-09T17:12:01.894Z,1754759521.894 [DAT](INFO): checking for new query: numPingsReceived=117, elapsed TxPingTime=56.572037
2025-08-09T17:12:01.941Z,1754759521.941 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 27.000000 m,
      deltaT: 0.505960 s,
      deltaX: -0.200001 m,
      approachRate: -0.395290 m/s,
      rangeRepo size: 4

2025-08-09T17:12:01.948Z,1754759521.948 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 27.000000 m,
      bearing: 5.758743 deg,
      lat: 36.906107 deg,
      lon: -122.115893 deg,
      deltaT: 0.505960 s,
      deltaX: -0.200001 m,
      approachRate: -0.395290 m/s,
      posRepo size: 4

2025-08-09T17:12:01.948Z,1754759521.948 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 27.00 m.
2025-08-09T17:12:02.018Z,1754759522.018 [DAT](INFO): checking for new query: numPingsReceived=117, elapsed TxPingTime=56.720390
2025-08-09T17:12:02.272Z,1754759522.272 [DAT](INFO): DAT read: Rx Time:17:12:01.4011 

2025-08-09T17:12:02.272Z,1754759522.272 [DAT](INFO): Rx dataTimestamp_ set to:1754759522.271742
2025-08-09T17:12:02.273Z,1754759522.273 [DAT](INFO): DAT read: Range 11 to 50 :    27.2 m (trip time 18.1 ms) speed 0.0

2025-08-09T17:12:02.274Z,1754759522.274 [DAT](ERROR): #Rx 118: Read range message, but no direction.
2025-08-09T17:12:02.275Z,1754759522.275 [DAT](INFO): checking for new query: numPingsReceived=118, elapsed TxPingTime=56.977028
2025-08-09T17:12:02.316Z,1754759522.316 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 27.200001 m,
      deltaT: 0.501395 s,
      deltaX: 0.200001 m,
      approachRate: 0.398889 m/s,
      rangeRepo size: 4

2025-08-09T17:12:02.316Z,1754759522.316 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 27.00 m.
2025-08-09T17:12:02.523Z,1754759522.523 [DAT](INFO): checking for new query: numPingsReceived=118, elapsed TxPingTime=57.225445
2025-08-09T17:12:02.673Z,1754759522.673 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 27.00 m.
2025-08-09T17:12:02.776Z,1754759522.776 [DAT](INFO): DAT read: Rx Time:17:12:01.9010 

2025-08-09T17:12:02.777Z,1754759522.777 [DAT](INFO): Rx dataTimestamp_ set to:1754759522.776223
2025-08-09T17:12:02.778Z,1754759522.778 [DAT](INFO): DAT read: Bearing 165.8,  10.2 (Local)

2025-08-09T17:12:02.782Z,1754759522.782 [DAT](INFO): Local bearing/azimuth received:
 Bearing 165.8,  10.2 (Local)

2025-08-09T17:12:02.784Z,1754759522.784 [DAT](INFO): DAT read: Range 11 to 50 :    27.0 m (trip time 18.0 ms) speed 0.0

2025-08-09T17:12:02.789Z,1754759522.789 [DAT](INFO): DAT read: 17:12:01.9010 LVL= 30384, 27377, 32754, 32755, AGC= 67, IDX= 511,-0.01, 2.734,-1.858, 2.350,-3.079, PHS=-0.369, 1.266,-0.898, RAW= 343.6,   0.0, CAL= 343.1,  -2.9, ROT= 166.9,   2.9

2025-08-09T17:12:02.790Z,1754759522.790 [DAT](INFO): got valid direction response:
 17:12:01.9010 LVL= 30384, 27377, 32754, 32755, AGC= 67, IDX= 511,-0.01, 2.734,-1.858, 2.350,-3.079, PHS=-0.369, 1.266,-0.898, RAW= 343.6,   0.0, CAL= 343.1,  -2.9, ROT= 166.9,   2.9

2025-08-09T17:12:02.791Z,1754759522.791 [DAT](INFO): #Rx 119: Read range and direction messages.
2025-08-09T17:12:02.792Z,1754759522.792 [DAT](INFO): direction in FSK: [-0.972729,0.226361,-0.050593]
2025-08-09T17:12:02.792Z,1754759522.792 [DAT](INFO): publishing direction and range info
2025-08-09T17:12:02.812Z,1754759522.812 [DAT](INFO): checking for new query: numPingsReceived=119, elapsed TxPingTime=57.514656
2025-08-09T17:12:03.029Z,1754759523.029 [DAT](INFO): checking for new query: numPingsReceived=119, elapsed TxPingTime=57.730881
2025-08-09T17:12:03.166Z,1754759523.166 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 27.000000 m,
      deltaT: 0.504481 s,
      deltaX: -0.200001 m,
      approachRate: -0.396449 m/s,
      rangeRepo size: 4

2025-08-09T17:12:03.168Z,1754759523.168 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 27.000000 m,
      bearing: 6.239397 deg,
      lat: 36.906107 deg,
      lon: -122.115891 deg,
      deltaT: 1.005876 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      posRepo size: 4

2025-08-09T17:12:03.168Z,1754759523.168 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 27.00 m.
2025-08-09T17:12:03.280Z,1754759523.280 [DAT](INFO): DAT read: Rx Time:17:12:02.4010 

2025-08-09T17:12:03.281Z,1754759523.281 [DAT](INFO): Rx dataTimestamp_ set to:1754759523.280330
2025-08-09T17:12:03.282Z,1754759523.282 [DAT](INFO): DAT read: Bearing 166.3,  10.6 (Local)

2025-08-09T17:12:03.282Z,1754759523.282 [DAT](INFO): Local bearing/azimuth received:
 Bearing 166.3,  10.6 (Local)

2025-08-09T17:12:03.284Z,1754759523.284 [DAT](INFO): DAT read: Range 11 to 50 :    27.0 m (trip time 18.0 ms) speed -0.1

2025-08-09T17:12:03.289Z,1754759523.289 [DAT](INFO): DAT read: 17:12:02.4010 LVL= 30624, 24049, 32754, 32755, AGC= 67, IDX= 511, 0.04, 2.543,-2.096, 2.153, 2.992, PHS=-0.348, 1.240,-0.883, RAW= 344.0,  -0.1, CAL= 343.6,  -3.0, ROT= 166.4,   3.0

2025-08-09T17:12:03.290Z,1754759523.290 [DAT](INFO): got valid direction response:
 17:12:02.4010 LVL= 30624, 24049, 32754, 32755, AGC= 67, IDX= 511, 0.04, 2.543,-2.096, 2.153, 2.992, PHS=-0.348, 1.240,-0.883, RAW= 344.0,  -0.1, CAL= 343.6,  -3.0, ROT= 166.4,   3.0

2025-08-09T17:12:03.291Z,1754759523.291 [DAT](INFO): #Rx 120: Read range and direction messages.
2025-08-09T17:12:03.292Z,1754759523.292 [DAT](INFO): direction in FSK: [-0.970629,0.234820,-0.052336]
2025-08-09T17:12:03.292Z,1754759523.292 [DAT](INFO): publishing direction and range info
2025-08-09T17:12:03.295Z,1754759523.295 [DAT](INFO): ****** received valid address query ******
2025-08-09T17:12:03.295Z,1754759523.295 [DAT](INFO): ****** received valid ping request ******
2025-08-09T17:12:03.296Z,1754759523.296 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-09T17:12:03.532Z,1754759523.532 [DAT](INFO): Reached modem response timeout
2025-08-09T17:12:03.532Z,1754759523.532 [DAT](DEBUG): Acoustic response timeout
2025-08-09T17:12:03.533Z,1754759523.533 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-09T17:12:03.601Z,1754759523.601 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 27.000000 m,
      deltaT: 0.504107 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-08-09T17:12:03.603Z,1754759523.603 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 27.000000 m,
      bearing: 6.220913 deg,
      lat: 36.906107 deg,
      lon: -122.115891 deg,
      deltaT: 0.504107 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      posRepo size: 4

2025-08-09T17:12:03.603Z,1754759523.603 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 27.00 m.
2025-08-09T17:12:03.784Z,1754759523.784 [DAT](INFO): DAT read: Rx Time:17:12:02.9009 

2025-08-09T17:12:03.784Z,1754759523.784 [DAT](INFO): Rx dataTimestamp_ set to:1754759523.784042
2025-08-09T17:12:03.786Z,1754759523.786 [DAT](INFO): DAT read: Bearing 166.9,  10.9 (Local)

2025-08-09T17:12:03.786Z,1754759523.786 [DAT](INFO): Local bearing/azimuth received:
 Bearing 166.9,  10.9 (Local)

2025-08-09T17:12:03.788Z,1754759523.788 [DAT](INFO): DAT read: Range 11 to 50 :    26.9 m (trip time 17.9 ms) speed 0.0

2025-08-09T17:12:03.794Z,1754759523.794 [DAT](INFO): DAT read: 17:12:02.9009 LVL= 32752, 29425, 32754, 32755, AGC= 69, IDX= 510, 0.09, 0.181, 1.870,-0.242, 0.624, PHS=-0.341, 1.291,-0.910, RAW= 344.4,  -0.4, CAL= 344.0,  -3.4, ROT= 166.0,   3.4

2025-08-09T17:12:03.795Z,1754759523.795 [DAT](INFO): got valid direction response:
 17:12:02.9009 LVL= 32752, 29425, 32754, 32755, AGC= 69, IDX= 510, 0.09, 0.181, 1.870,-0.242, 0.624, PHS=-0.341, 1.291,-0.910, RAW= 344.4,  -0.4, CAL= 344.0,  -3.4, ROT= 166.0,   3.4

2025-08-09T17:12:03.795Z,1754759523.795 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-09T17:12:03.796Z,1754759523.796 [DAT](INFO): direction in FSK: [-0.968588,0.241496,-0.059306]
2025-08-09T17:12:03.797Z,1754759523.797 [DAT](INFO): publishing direction and range info
2025-08-09T17:12:03.800Z,1754759523.800 [DAT](DEBUG): Acoustic response timeout
2025-08-09T17:12:03.800Z,1754759523.800 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-09T17:12:03.987Z,1754759523.987 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 26.900000 m,
      deltaT: 0.503712 s,
      deltaX: -0.100000 m,
      approachRate: -0.198527 m/s,
      rangeRepo size: 4

2025-08-09T17:12:03.989Z,1754759523.989 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 26.900000 m,
      bearing: 6.227287 deg,
      lat: 36.906107 deg,
      lon: -122.115891 deg,
      deltaT: 0.503712 s,
      deltaX: -0.100000 m,
      approachRate: -0.198527 m/s,
      posRepo size: 4

2025-08-09T17:12:03.990Z,1754759523.990 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 26.90 m.
2025-08-09T17:12:04.036Z,1754759524.036 [DAT](INFO): Reached modem response timeout
2025-08-09T17:12:04.036Z,1754759524.036 [DAT](DEBUG): Acoustic response timeout
2025-08-09T17:12:04.037Z,1754759524.037 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-09T17:12:04.288Z,1754759524.288 [DAT](INFO): DAT read: Rx Time:17:12:03.4010 

2025-08-09T17:12:04.288Z,1754759524.288 [DAT](INFO): Rx dataTimestamp_ set to:1754759524.287978
2025-08-09T17:12:04.290Z,1754759524.290 [DAT](INFO): DAT read: Bearing 167.2,  10.7 (Local)

2025-08-09T17:12:04.290Z,1754759524.290 [DAT](INFO): Local bearing/azimuth received:
 Bearing 167.2,  10.7 (Local)

2025-08-09T17:12:04.292Z,1754759524.292 [DAT](INFO): DAT read: Range 11 to 50 :    27.0 m (trip time 18.0 ms) speed 0.0

2025-08-09T17:12:04.297Z,1754759524.297 [DAT](INFO): DAT read: 17:12:03.4010 LVL= 32752, 23537, 32754, 32755, AGC= 68, IDX= 511, 0.10, 0.721, 2.427, 0.298, 1.174, PHS=-0.350, 1.298,-0.919, RAW= 344.3,  -0.3, CAL= 343.8,  -3.2, ROT= 166.2,   3.2

2025-08-09T17:12:04.298Z,1754759524.298 [DAT](INFO): got valid direction response:
 17:12:03.4010 LVL= 32752, 23537, 32754, 32755, AGC= 68, IDX= 511, 0.10, 0.721, 2.427, 0.298, 1.174, PHS=-0.350, 1.298,-0.919, RAW= 344.3,  -0.3, CAL= 343.8,  -3.2, ROT= 166.2,   3.2

2025-08-09T17:12:04.298Z,1754759524.298 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-09T17:12:04.299Z,1754759524.299 [DAT](INFO): direction in FSK: [-0.969620,0.238162,-0.055822]
2025-08-09T17:12:04.299Z,1754759524.299 [DAT](INFO): publishing direction and range info
2025-08-09T17:12:04.302Z,1754759524.302 [DAT](DEBUG): Acoustic response timeout
2025-08-09T17:12:04.303Z,1754759524.303 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-09T17:12:04.467Z,1754759524.467 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 27.000000 m,
      deltaT: 0.503936 s,
      deltaX: 0.100000 m,
      approachRate: 0.198439 m/s,
      rangeRepo size: 4

2025-08-09T17:12:04.469Z,1754759524.469 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 27.000000 m,
      bearing: 6.257375 deg,
      lat: 36.906108 deg,
      lon: -122.115891 deg,
      deltaT: 0.503936 s,
      deltaX: 0.100000 m,
      approachRate: 0.198439 m/s,
      posRepo size: 4

2025-08-09T17:12:04.469Z,1754759524.469 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 27.00 m.
2025-08-09T17:12:04.540Z,1754759524.540 [DAT](INFO): Reached modem response timeout
2025-08-09T17:12:04.541Z,1754759524.541 [DAT](DEBUG): Acoustic response timeout
2025-08-09T17:12:04.541Z,1754759524.541 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-09T17:12:04.797Z,1754759524.797 [DAT](INFO): DAT read: Rx Time:17:12:03.9009 

2025-08-09T17:12:04.797Z,1754759524.797 [DAT](INFO): Rx dataTimestamp_ set to:1754759524.797148
2025-08-09T17:12:04.799Z,1754759524.799 [DAT](INFO): DAT read: Bearing 168.4,  10.8 (Local)

2025-08-09T17:12:04.799Z,1754759524.799 [DAT](INFO): Local bearing/azimuth received:
 Bearing 168.4,  10.8 (Local)

2025-08-09T17:12:04.801Z,1754759524.801 [DAT](INFO): DAT read: Range 11 to 50 :    26.9 m (trip time 17.9 ms) speed 0.2

2025-08-09T17:12:04.832Z,1754759524.832 [DAT](INFO): DAT read: 17:12:03.9009 LVL= 32752, 25201, 32754, 32755, AGC= 67, IDX= 510, 0.15,-1.913,-0.189,-2.348,-1.489, PHS=-0.322, 1.345,-0.904, RAW= 344.4,  -1.2, CAL= 344.0,  -4.2, ROT= 166.0,   4.2

2025-08-09T17:12:04.833Z,1754759524.833 [DAT](INFO): got valid direction response:
 17:12:03.9009 LVL= 32752, 25201, 32754, 32755, AGC= 67, IDX= 510, 0.15,-1.913,-0.189,-2.348,-1.489, PHS=-0.322, 1.345,-0.904, RAW= 344.4,  -1.2, CAL= 344.0,  -4.2, ROT= 166.0,   4.2

2025-08-09T17:12:04.834Z,1754759524.834 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-09T17:12:04.835Z,1754759524.835 [DAT](INFO): direction in FSK: [-0.967690,0.241272,-0.073238]
2025-08-09T17:12:04.835Z,1754759524.835 [DAT](INFO): publishing direction and range info
2025-08-09T17:12:04.878Z,1754759524.878 [DAT](DEBUG): Acoustic response timeout
2025-08-09T17:12:04.879Z,1754759524.879 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-09T17:12:04.943Z,1754759524.943 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 26.900000 m,
      deltaT: 0.509170 s,
      deltaX: -0.100000 m,
      approachRate: -0.196399 m/s,
      rangeRepo size: 4

2025-08-09T17:12:04.945Z,1754759524.945 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 26.900000 m,
      bearing: 6.279611 deg,
      lat: 36.906108 deg,
      lon: -122.115891 deg,
      deltaT: 0.509170 s,
      deltaX: -0.100000 m,
      approachRate: -0.196399 m/s,
      posRepo size: 4

2025-08-09T17:12:04.945Z,1754759524.945 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 26.90 m.
2025-08-09T17:12:05.049Z,1754759525.049 [DAT](INFO): Reached modem response timeout
2025-08-09T17:12:05.049Z,1754759525.049 [DAT](DEBUG): Acoustic response timeout
2025-08-09T17:12:05.050Z,1754759525.050 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-09T17:12:05.300Z,1754759525.300 [DAT](INFO): DAT read: Rx Time:17:12:04.4010 

2025-08-09T17:12:05.300Z,1754759525.300 [DAT](INFO): Rx dataTimestamp_ set to:1754759525.300193
2025-08-09T17:12:05.302Z,1754759525.302 [DAT](INFO): DAT read: Bearing 168.4,  10.8 (Local)

2025-08-09T17:12:05.302Z,1754759525.302 [DAT](INFO): Local bearing/azimuth received:
 Bearing 168.4,  10.8 (Local)

2025-08-09T17:12:05.304Z,1754759525.304 [DAT](INFO): DAT read: Range 11 to 50 :    27.0 m (trip time 18.0 ms) speed 0.0

2025-08-09T17:12:05.309Z,1754759525.309 [DAT](INFO): DAT read: 17:12:04.4010 LVL= 32752, 25905, 32754, 32755, AGC= 66, IDX= 511, 0.05,-0.334, 1.385,-0.771, 0.096, PHS=-0.328, 1.334,-0.911, RAW= 344.5,  -1.0, CAL= 344.1,  -3.9, ROT= 165.9,   3.9

2025-08-09T17:12:05.310Z,1754759525.310 [DAT](INFO): got valid direction response:
 17:12:04.4010 LVL= 32752, 25905, 32754, 32755, AGC= 66, IDX= 511, 0.05,-0.334, 1.385,-0.771, 0.096, PHS=-0.328, 1.334,-0.911, RAW= 344.5,  -1.0, CAL= 344.1,  -3.9, ROT= 165.9,   3.9

2025-08-09T17:12:05.310Z,1754759525.310 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-09T17:12:05.311Z,1754759525.311 [DAT](INFO): direction in FSK: [-0.967626,0.243051,-0.068015]
2025-08-09T17:12:05.312Z,1754759525.312 [DAT](INFO): publishing direction and range info
2025-08-09T17:12:05.317Z,1754759525.317 [DAT](DEBUG): Acoustic response timeout
2025-08-09T17:12:05.317Z,1754759525.317 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-09T17:12:05.467Z,1754759525.467 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 27.000000 m,
      deltaT: 0.503045 s,
      deltaX: 0.100000 m,
      approachRate: 0.198790 m/s,
      rangeRepo size: 4

2025-08-09T17:12:05.469Z,1754759525.469 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 27.000000 m,
      bearing: 6.300385 deg,
      lat: 36.906108 deg,
      lon: -122.115891 deg,
      deltaT: 0.503045 s,
      deltaX: 0.100000 m,
      approachRate: 0.198790 m/s,
      posRepo size: 4

2025-08-09T17:12:05.470Z,1754759525.470 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 27.00 m.
2025-08-09T17:12:05.553Z,1754759525.553 [DAT](INFO): Reached modem response timeout
2025-08-09T17:12:05.553Z,1754759525.553 [DAT](DEBUG): Acoustic response timeout
2025-08-09T17:12:05.553Z,1754759525.553 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-09T17:12:05.804Z,1754759525.804 [DAT](INFO): DAT read: Rx Time:17:12:04.9008 

2025-08-09T17:12:05.804Z,1754759525.804 [DAT](INFO): Rx dataTimestamp_ set to:1754759525.804165
2025-08-09T17:12:05.806Z,1754759525.806 [DAT](INFO): DAT read: Bearing 169.3,  11.4 (Local)

2025-08-09T17:12:05.810Z,1754759525.810 [DAT](INFO): Local bearing/azimuth received:
 Bearing 169.3,  11.4 (Local)

2025-08-09T17:12:05.812Z,1754759525.812 [DAT](INFO): DAT read: Range 11 to 50 :    26.7 m (trip time 17.8 ms) speed 0.1

2025-08-09T17:12:05.817Z,1754759525.817 [DAT](INFO): DAT read: 17:12:04.9008 LVL= 31504, 28657, 32754, 32755, AGC= 68, IDX= 510,-0.04,-2.546,-0.838,-3.009,-2.151, PHS=-0.293, 1.358,-0.902, RAW= 345.1,  -1.6, CAL= 344.7,  -4.6, ROT= 165.3,   4.6

2025-08-09T17:12:05.818Z,1754759525.818 [DAT](INFO): got valid direction response:
 17:12:04.9008 LVL= 31504, 28657, 32754, 32755, AGC= 68, IDX= 510,-0.04,-2.546,-0.838,-3.009,-2.151, PHS=-0.293, 1.358,-0.902, RAW= 345.1,  -1.6, CAL= 344.7,  -4.6, ROT= 165.3,   4.6

2025-08-09T17:12:05.818Z,1754759525.818 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-09T17:12:05.819Z,1754759525.819 [DAT](INFO): direction in FSK: [-0.964152,0.252940,-0.080199]
2025-08-09T17:12:05.820Z,1754759525.820 [DAT](INFO): publishing direction and range info
2025-08-09T17:12:05.822Z,1754759525.822 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 27.00 m.
2025-08-09T17:12:05.827Z,1754759525.827 [DAT](DEBUG): Acoustic response timeout
2025-08-09T17:12:05.827Z,1754759525.827 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-09T17:12:06.055Z,1754759526.055 [DAT](INFO): Reached modem response timeout
2025-08-09T17:12:06.055Z,1754759526.055 [DAT](DEBUG): Acoustic response timeout
2025-08-09T17:12:06.056Z,1754759526.056 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-09T17:12:06.295Z,1754759526.295 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 26.700001 m,
      deltaT: 0.503972 s,
      deltaX: -0.299999 m,
      approachRate: -0.595270 m/s,
      rangeRepo size: 4

2025-08-09T17:12:06.297Z,1754759526.297 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 26.700001 m,
      bearing: 6.686471 deg,
      lat: 36.906107 deg,
      lon: -122.115889 deg,
      deltaT: 0.503972 s,
      deltaX: -0.299999 m,
      approachRate: -0.595270 m/s,
      posRepo size: 4

2025-08-09T17:12:06.298Z,1754759526.298 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 26.70 m.
2025-08-09T17:12:06.308Z,1754759526.308 [DAT](INFO): DAT read: Rx Time:17:12:05.4009 

2025-08-09T17:12:06.308Z,1754759526.308 [DAT](INFO): Rx dataTimestamp_ set to:1754759526.308136
2025-08-09T17:12:06.310Z,1754759526.310 [DAT](INFO): DAT read: Bearing 168.7,  11.3 (Local)

2025-08-09T17:12:06.310Z,1754759526.310 [DAT](INFO): Local bearing/azimuth received:
 Bearing 168.7,  11.3 (Local)

2025-08-09T17:12:06.312Z,1754759526.312 [DAT](INFO): DAT read: Range 11 to 50 :    26.9 m (trip time 17.9 ms) speed -0.1

2025-08-09T17:12:06.317Z,1754759526.317 [DAT](INFO): DAT read: 17:12:05.4009 LVL= 31280, 25873, 32754, 32755, AGC= 68, IDX= 511,-0.20,-0.459, 1.275,-0.926,-0.031, PHS=-0.326, 1.351,-0.939, RAW= 345.0,  -0.8, CAL= 344.6,  -3.8, ROT= 165.4,   3.8

2025-08-09T17:12:06.318Z,1754759526.318 [DAT](INFO): got valid direction response:
 17:12:05.4009 LVL= 31280, 25873, 32754, 32755, AGC= 68, IDX= 511,-0.20,-0.459, 1.275,-0.926,-0.031, PHS=-0.326, 1.351,-0.939, RAW= 345.0,  -0.8, CAL= 344.6,  -3.8, ROT= 165.4,   3.8

2025-08-09T17:12:06.318Z,1754759526.318 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-09T17:12:06.319Z,1754759526.319 [DAT](INFO): direction in FSK: [-0.965582,0.251515,-0.066274]
2025-08-09T17:12:06.320Z,1754759526.320 [DAT](INFO): publishing direction and range info
2025-08-09T17:12:06.331Z,1754759526.331 [DAT](DEBUG): Acoustic response timeout
2025-08-09T17:12:06.331Z,1754759526.331 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-09T17:12:06.559Z,1754759526.559 [DAT](INFO): Reached modem response timeout
2025-08-09T17:12:06.559Z,1754759526.559 [DAT](DEBUG): Acoustic response timeout
2025-08-09T17:12:06.560Z,1754759526.560 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-09T17:12:06.584Z,1754759526.584 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 26.900000 m,
      deltaT: 0.503971 s,
      deltaX: 0.199999 m,
      approachRate: 0.396846 m/s,
      rangeRepo size: 4

2025-08-09T17:12:06.607Z,1754759526.607 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 26.900000 m,
      bearing: 6.778882 deg,
      lat: 36.906108 deg,
      lon: -122.115889 deg,
      deltaT: 0.503971 s,
      deltaX: 0.199999 m,
      approachRate: 0.396846 m/s,
      posRepo size: 4

2025-08-09T17:12:06.607Z,1754759526.607 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 26.90 m.
2025-08-09T17:12:06.812Z,1754759526.812 [DAT](INFO): DAT read: Rx Time:17:12:05.9008 

2025-08-09T17:12:06.812Z,1754759526.812 [DAT](INFO): Rx dataTimestamp_ set to:1754759526.812120
2025-08-09T17:12:06.814Z,1754759526.814 [DAT](INFO): DAT read: Bearing 168.3,  11.0 (Local)

2025-08-09T17:12:06.814Z,1754759526.814 [DAT](INFO): Local bearing/azimuth received:
 Bearing 168.3,  11.0 (Local)

2025-08-09T17:12:06.816Z,1754759526.816 [DAT](INFO): DAT read: Range 11 to 50 :    26.7 m (trip time 17.8 ms) speed 0.0

2025-08-09T17:12:06.821Z,1754759526.821 [DAT](INFO): DAT read: 17:12:05.9008 LVL= 32752, 30865, 32754, 32755, AGC= 68, IDX= 510,-0.38,-0.590, 1.153,-1.047,-0.133, PHS=-0.355, 1.331,-0.958, RAW= 344.7,  -0.2, CAL= 344.3,  -3.1, ROT= 165.7,   3.1

2025-08-09T17:12:06.822Z,1754759526.822 [DAT](INFO): got valid direction response:
 17:12:05.9008 LVL= 32752, 30865, 32754, 32755, AGC= 68, IDX= 510,-0.38,-0.590, 1.153,-1.047,-0.133, PHS=-0.355, 1.331,-0.958, RAW= 344.7,  -0.2, CAL= 344.3,  -3.1, ROT= 165.7,   3.1

2025-08-09T17:12:06.822Z,1754759526.822 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-09T17:12:06.823Z,1754759526.823 [DAT](INFO): direction in FSK: [-0.967598,0.246638,-0.054079]
2025-08-09T17:12:06.824Z,1754759526.824 [DAT](INFO): publishing direction and range info
2025-08-09T17:12:06.832Z,1754759526.832 [DAT](DEBUG): Acoustic response timeout
2025-08-09T17:12:06.832Z,1754759526.832 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-09T17:12:07.004Z,1754759527.004 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 26.700001 m,
      deltaT: 0.503984 s,
      deltaX: -0.199999 m,
      approachRate: -0.396836 m/s,
      rangeRepo size: 4

2025-08-09T17:12:07.011Z,1754759527.011 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 26.700001 m,
      bearing: 6.972553 deg,
      lat: 36.906107 deg,
      lon: -122.115888 deg,
      deltaT: 0.503984 s,
      deltaX: -0.199999 m,
      approachRate: -0.396836 m/s,
      posRepo size: 4

2025-08-09T17:12:07.012Z,1754759527.012 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 26.70 m.
2025-08-09T17:12:07.063Z,1754759527.063 [DAT](INFO): Reached modem response timeout
2025-08-09T17:12:07.063Z,1754759527.063 [DAT](DEBUG): Acoustic response timeout
2025-08-09T17:12:07.063Z,1754759527.063 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-09T17:12:07.316Z,1754759527.316 [DAT](INFO): DAT read: Rx Time:17:12:06.4008 

2025-08-09T17:12:07.316Z,1754759527.316 [DAT](INFO): Rx dataTimestamp_ set to:1754759527.315985
2025-08-09T17:12:07.318Z,1754759527.318 [DAT](INFO): DAT read: Bearing 169.6,  11.2 (Local)

2025-08-09T17:12:07.318Z,1754759527.318 [DAT](INFO): Local bearing/azimuth received:
 Bearing 169.6,  11.2 (Local)

2025-08-09T17:12:07.320Z,1754759527.320 [DAT](INFO): DAT read: Range 11 to 50 :    26.7 m (trip time 17.8 ms) speed 0.1

2025-08-09T17:12:07.325Z,1754759527.325 [DAT](INFO): DAT read: 17:12:06.4008 LVL= 31840, 24673, 32754, 32755, AGC= 66, IDX= 510,-0.46,-0.571, 1.166,-1.036,-0.149, PHS=-0.320, 1.360,-0.931, RAW= 344.9,  -1.1, CAL= 344.5,  -4.0, ROT= 165.5,   4.0

2025-08-09T17:12:07.326Z,1754759527.326 [DAT](INFO): got valid direction response:
 17:12:06.4008 LVL= 31840, 24673, 32754, 32755, AGC= 66, IDX= 510,-0.46,-0.571, 1.166,-1.036,-0.149, PHS=-0.320, 1.360,-0.931, RAW= 344.9,  -1.1, CAL= 344.5,  -4.0, ROT= 165.5,   4.0

2025-08-09T17:12:07.326Z,1754759527.326 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-09T17:12:07.328Z,1754759527.328 [DAT](INFO): direction in FSK: [-0.965789,0.249770,-0.069756]
2025-08-09T17:12:07.328Z,1754759527.328 [DAT](INFO): publishing direction and range info
2025-08-09T17:12:07.331Z,1754759527.331 [DAT](DEBUG): Acoustic response timeout
2025-08-09T17:12:07.331Z,1754759527.331 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-09T17:12:07.511Z,1754759527.511 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 26.700001 m,
      deltaT: 0.503865 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-08-09T17:12:07.513Z,1754759527.513 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 26.700001 m,
      bearing: 7.130859 deg,
      lat: 36.906107 deg,
      lon: -122.115887 deg,
      deltaT: 0.503865 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      posRepo size: 4

2025-08-09T17:12:07.514Z,1754759527.514 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 26.70 m.
2025-08-09T17:12:07.567Z,1754759527.567 [DAT](INFO): Reached modem response timeout
2025-08-09T17:12:07.568Z,1754759527.568 [DAT](DEBUG): Acoustic response timeout
2025-08-09T17:12:07.568Z,1754759527.568 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-09T17:12:07.819Z,1754759527.819 [DAT](INFO): DAT read: user:432>

2025-08-09T17:12:07.820Z,1754759527.820 [DAT](INFO): DAT read: Command 'r50' not found

2025-08-09T17:12:07.821Z,1754759527.821 [DAT](INFO): unknown deviceResponse_: Command 'r50' not found

2025-08-09T17:12:07.821Z,1754759527.821 [DAT](INFO): DAT read: Error

2025-08-09T17:12:07.821Z,1754759527.821 [DAT](INFO): unknown deviceResponse_: Error

2025-08-09T17:12:07.822Z,1754759527.822 [DAT](INFO): DAT read: user:433>

2025-08-09T17:12:07.822Z,1754759527.822 [DAT](INFO): DAT read: Tx time:17:12:07.3388

2025-08-09T17:12:07.823Z,1754759527.823 [DAT](INFO): Ping request sent.
2025-08-09T17:12:07.823Z,1754759527.823 [DAT](INFO): transmitted an acoustic signal
2025-08-09T17:12:07.823Z,1754759527.823 [DAT](INFO): publishing transmit ping time
2025-08-09T17:12:07.824Z,1754759527.824 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000763
2025-08-09T17:12:07.825Z,1754759527.825 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 26.70 m.
2025-08-09T17:12:08.071Z,1754759528.071 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.248477
2025-08-09T17:12:08.264Z,1754759528.264 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 26.70 m.
2025-08-09T17:12:08.324Z,1754759528.324 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.501672
2025-08-09T17:12:08.575Z,1754759528.575 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.752399
2025-08-09T17:12:08.621Z,1754759528.621 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 26.70 m.
2025-08-09T17:12:08.827Z,1754759528.827 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.004463
2025-08-09T17:12:09.079Z,1754759529.079 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.256583
2025-08-09T17:12:09.104Z,1754759529.104 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 26.70 m.
2025-08-09T17:12:09.331Z,1754759529.331 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.508421
2025-08-09T17:12:09.497Z,1754759529.497 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 26.70 m.
2025-08-09T17:12:09.583Z,1754759529.583 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.760541
2025-08-09T17:12:09.835Z,1754759529.835 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.012484
2025-08-09T17:12:09.955Z,1754759529.955 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 26.70 m.
2025-08-09T17:12:10.087Z,1754759530.087 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.264399
2025-08-09T17:12:10.339Z,1754759530.339 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.516554
2025-08-09T17:12:10.426Z,1754759530.426 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 26.70 m.
2025-08-09T17:12:10.591Z,1754759530.591 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.768517
2025-08-09T17:12:10.787Z,1754759530.787 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 26.70 m.
2025-08-09T17:12:10.844Z,1754759530.844 [DAT](INFO): DAT read: Rx Time:17:12:09.7787

2025-08-09T17:12:10.844Z,1754759530.844 [DAT](INFO): Rx dataTimestamp_ set to:1754759530.843916
2025-08-09T17:12:10.845Z,1754759530.845 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.022270
2025-08-09T17:12:11.096Z,1754759531.096 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.272791
2025-08-09T17:12:11.275Z,1754759531.275 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 26.70 m.
2025-08-09T17:12:11.355Z,1754759531.355 [DAT](INFO): DAT read: 17:12:09.7787 LVL= 32752, 32753, 32754, 32755, AGC= 63, IDX= 507, 0.06, 2.353,-2.095, 1.851, 2.853, PHS=-0.398, 1.381,-1.046, RAW= 344.9,   0.6, CAL= 344.5,  -2.4, ROT= 165.5,   2.4

2025-08-09T17:12:11.356Z,1754759531.356 [DAT](INFO): got valid direction response:
 17:12:09.7787 LVL= 32752, 32753, 32754, 32755, AGC= 63, IDX= 507, 0.06, 2.353,-2.095, 1.851, 2.853, PHS=-0.398, 1.381,-1.046, RAW= 344.9,   0.6, CAL= 344.5,  -2.4, ROT= 165.5,   2.4

2025-08-09T17:12:11.357Z,1754759531.357 [DAT](INFO): DAT read: Bearing 169.6,  11.1 (Local)

2025-08-09T17:12:11.358Z,1754759531.358 [DAT](INFO): Local bearing/azimuth received:
 Bearing 169.6,  11.1 (Local)

2025-08-09T17:12:11.360Z,1754759531.360 [DAT](INFO): DAT read: Range 11 to 50 : 26.8 m  (Round-trip  35.8 ms) speed  0.0 m/s

2025-08-09T17:12:11.361Z,1754759531.361 [DAT](INFO): DAT read: user:434>

2025-08-09T17:12:11.367Z,1754759531.367 [DAT](INFO): DAT read: Tx time:17:12:10.8887

2025-08-09T17:12:11.367Z,1754759531.367 [DAT](INFO): Ping request sent.
2025-08-09T17:12:11.367Z,1754759531.367 [DAT](INFO): transmitted an acoustic signal
2025-08-09T17:12:11.368Z,1754759531.368 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-09T17:12:11.369Z,1754759531.369 [DAT](INFO): direction in FSK: [-0.967298,0.250160,-0.041876]
2025-08-09T17:12:11.369Z,1754759531.369 [DAT](INFO): publishing transmit ping time
2025-08-09T17:12:11.369Z,1754759531.369 [DAT](INFO): publishing direction and range info
2025-08-09T17:12:11.377Z,1754759531.377 [DAT](INFO): publishing transmit ping time
2025-08-09T17:12:11.377Z,1754759531.377 [DAT](INFO): publishing direction and range info
2025-08-09T17:12:11.709Z,1754759531.709 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 26.799999 m,
      deltaT: 4.032880 s,
      deltaX: 0.099998 m,
      approachRate: 0.024796 m/s,
      rangeRepo size: 4

2025-08-09T17:12:11.711Z,1754759531.711 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 26.799999 m,
      bearing: 7.689054 deg,
      lat: 36.906106 deg,
      lon: -122.115885 deg,
      deltaT: 4.032880 s,
      deltaX: 0.099998 m,
      approachRate: 0.024796 m/s,
      posRepo size: 4

2025-08-09T17:12:11.712Z,1754759531.712 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 26.80 m.
2025-08-09T17:12:12.115Z,1754759532.115 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 26.80 m.
2025-08-09T17:12:12.646Z,1754759532.646 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 26.80 m.
2025-08-09T17:12:12.934Z,1754759532.934 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 26.80 m.
2025-08-09T17:12:13.338Z,1754759533.338 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 26.80 m.
2025-08-09T17:12:13.735Z,1754759533.735 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 26.80 m.
2025-08-09T17:12:14.122Z,1754759534.122 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 26.80 m.
2025-08-09T17:12:14.373Z,1754759534.373 [DAT](INFO): DAT read: Rx Time:17:12:13.3288

2025-08-09T17:12:14.374Z,1754759534.374 [DAT](INFO): Rx dataTimestamp_ set to:1754759534.373501
2025-08-09T17:12:14.561Z,1754759534.561 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 26.80 m.
2025-08-09T17:12:14.899Z,1754759534.899 [DAT](INFO): DAT read: 17:12:13.3288 LVL= 29728, 28593, 32754, 32755, AGC= 63, IDX= 444, 0.19,-0.300, 1.403,-0.805, 0.126, PHS=-0.323, 1.322,-0.975, RAW= 346.0,  -0.2, CAL= 345.5,  -3.2, ROT= 164.5,   3.2

2025-08-09T17:12:14.900Z,1754759534.900 [DAT](INFO): got valid direction response:
 17:12:13.3288 LVL= 29728, 28593, 32754, 32755, AGC= 63, IDX= 444, 0.19,-0.300, 1.403,-0.805, 0.126, PHS=-0.323, 1.322,-0.975, RAW= 346.0,  -0.2, CAL= 345.5,  -3.2, ROT= 164.5,   3.2

2025-08-09T17:12:14.901Z,1754759534.901 [DAT](INFO): DAT read: Bearing 172.0,  12.3 (Local)

2025-08-09T17:12:14.901Z,1754759534.901 [DAT](INFO): Local bearing/azimuth received:
 Bearing 172.0,  12.3 (Local)

2025-08-09T17:12:14.903Z,1754759534.903 [DAT](INFO): DAT read: Range 11 to 50 : 26.9 m  (Round-trip  35.9 ms) speed  0.0 m/s

2025-08-09T17:12:14.903Z,1754759534.903 [DAT](INFO): DAT read: user:435>

2025-08-09T17:12:14.904Z,1754759534.904 [DAT](INFO): DAT read: Tx time:17:12:14.4387

2025-08-09T17:12:14.904Z,1754759534.904 [DAT](INFO): Ping request sent.
2025-08-09T17:12:14.905Z,1754759534.905 [DAT](INFO): transmitted an acoustic signal
2025-08-09T17:12:14.905Z,1754759534.905 [DAT](INFO): #Rx 2: Read range and direction messages.
2025-08-09T17:12:14.906Z,1754759534.906 [DAT](INFO): direction in FSK: [-0.962128,0.266822,-0.055822]
2025-08-09T17:12:14.922Z,1754759534.922 [DAT](INFO): publishing transmit ping time
2025-08-09T17:12:14.923Z,1754759534.923 [DAT](INFO): publishing direction and range info
2025-08-09T17:12:14.926Z,1754759534.926 [DAT](INFO): publishing transmit ping time
2025-08-09T17:12:14.926Z,1754759534.926 [DAT](INFO): publishing direction and range info
2025-08-09T17:12:15.019Z,1754759535.019 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 26.900000 m,
      deltaT: 3.528285 s,
      deltaX: 0.100000 m,
      approachRate: 0.028342 m/s,
      rangeRepo size: 4

2025-08-09T17:12:15.031Z,1754759535.031 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 26.900000 m,
      bearing: 7.906533 deg,
      lat: 36.906106 deg,
      lon: -122.115885 deg,
      deltaT: 3.528285 s,
      deltaX: 0.100000 m,
      approachRate: 0.028342 m/s,
      posRepo size: 4

2025-08-09T17:12:15.032Z,1754759535.032 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 26.90 m.
2025-08-09T17:12:15.371Z,1754759535.371 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 26.90 m.
2025-08-09T17:12:15.736Z,1754759535.736 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 26.90 m.
2025-08-09T17:12:16.155Z,1754759536.155 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 26.90 m.
2025-08-09T17:12:16.579Z,1754759536.579 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 26.90 m.
2025-08-09T17:12:16.947Z,1754759536.947 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 26.90 m.
2025-08-09T17:12:17.400Z,1754759537.400 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 26.90 m.
2025-08-09T17:12:17.765Z,1754759537.765 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 26.90 m.
2025-08-09T17:12:17.900Z,1754759537.900 [DAT](INFO): DAT read: Rx Time:17:12:16.8790

2025-08-09T17:12:17.900Z,1754759537.900 [DAT](INFO): Rx dataTimestamp_ set to:1754759537.899849
2025-08-09T17:12:18.194Z,1754759538.194 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 26.90 m.
2025-08-09T17:12:18.588Z,1754759538.588 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 26.90 m.
2025-08-09T17:12:18.664Z,1754759538.664 [DAT](INFO): DAT read: 17:12:16.8790 LVL= 32752, 32753, 32754, 32755, AGC= 67, IDX= 446,-0.05,-1.277, 0.528,-1.735,-0.789, PHS=-0.386, 1.362,-0.990, RAW= 344.3,   0.1, CAL= 343.9,  -2.8, ROT= 166.1,   2.8

2025-08-09T17:12:18.665Z,1754759538.665 [DAT](INFO): got valid direction response:
 17:12:16.8790 LVL= 32752, 32753, 32754, 32755, AGC= 67, IDX= 446,-0.05,-1.277, 0.528,-1.735,-0.789, PHS=-0.386, 1.362,-0.990, RAW= 344.3,   0.1, CAL= 343.9,  -2.8, ROT= 166.1,   2.8

2025-08-09T17:12:18.667Z,1754759538.667 [DAT](INFO): DAT read: Bearing 172.6,  11.2 (Local)

2025-08-09T17:12:18.667Z,1754759538.667 [DAT](INFO): Local bearing/azimuth received:
 Bearing 172.6,  11.2 (Local)

2025-08-09T17:12:18.669Z,1754759538.669 [DAT](INFO): DAT read: Range 11 to 50 : 27.0 m  (Round-trip  36.1 ms) speed  0.0 m/s

2025-08-09T17:12:18.670Z,1754759538.670 [DAT](INFO): DAT read: user:436>

2025-08-09T17:12:18.671Z,1754759538.671 [DAT](INFO): DAT read: Tx time:17:12:17.9887

2025-08-09T17:12:18.671Z,1754759538.671 [DAT](INFO): Ping request sent.
2025-08-09T17:12:18.671Z,1754759538.671 [DAT](INFO): transmitted an acoustic signal
2025-08-09T17:12:18.671Z,1754759538.671 [DAT](INFO): #Rx 3: Read range and direction messages.
2025-08-09T17:12:18.672Z,1754759538.672 [DAT](INFO): direction in FSK: [-0.969558,0.239941,-0.048850]
2025-08-09T17:12:18.673Z,1754759538.673 [DAT](INFO): publishing transmit ping time
2025-08-09T17:12:18.673Z,1754759538.673 [DAT](INFO): publishing direction and range info
2025-08-09T17:12:18.681Z,1754759538.681 [DAT](INFO): publishing transmit ping time
2025-08-09T17:12:18.681Z,1754759538.681 [DAT](INFO): publishing direction and range info
2025-08-09T17:12:18.982Z,1754759538.982 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 27.000000 m,
      deltaT: 3.777879 s,
      deltaX: 0.100000 m,
      approachRate: 0.026470 m/s,
      rangeRepo size: 4

2025-08-09T17:12:18.984Z,1754759538.984 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 27.000000 m,
      bearing: 10.483126 deg,
      lat: 36.906106 deg,
      lon: -122.115873 deg,
      deltaT: 3.777879 s,
      deltaX: 0.100000 m,
      approachRate: 0.026470 m/s,
      posRepo size: 4

2025-08-09T17:12:18.985Z,1754759538.985 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 27.00 m.
2025-08-09T17:12:19.411Z,1754759539.411 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 27.00 m.
2025-08-09T17:12:19.777Z,1754759539.777 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 27.00 m.
2025-08-09T17:12:20.195Z,1754759540.195 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 27.00 m.
2025-08-09T17:12:20.607Z,1754759540.607 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-09T17:12:20.609Z,1754759540.609 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 27.00 m.
2025-08-09T17:12:20.675Z,1754759540.675 [DAT](INFO): ****** received valid address query ******
2025-08-09T17:12:20.675Z,1754759540.675 [DAT](INFO): ****** received valid ping request ******
2025-08-09T17:12:20.675Z,1754759540.675 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-09T17:12:20.928Z,1754759540.928 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.256458
2025-08-09T17:12:20.999Z,1754759540.999 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 27.00 m.
2025-08-09T17:12:21.180Z,1754759541.180 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.509070
2025-08-09T17:12:21.431Z,1754759541.431 [DAT](INFO): DAT read: Rx Time:17:12:20.4289

2025-08-09T17:12:21.432Z,1754759541.432 [DAT](INFO): Rx dataTimestamp_ set to:1754759541.431510
2025-08-09T17:12:21.432Z,1754759541.432 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.761285
2025-08-09T17:12:21.454Z,1754759541.454 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 27.00 m.
2025-08-09T17:12:21.686Z,1754759541.686 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.014556
2025-08-09T17:12:21.809Z,1754759541.809 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 27.00 m.
2025-08-09T17:12:21.942Z,1754759541.942 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.270415
2025-08-09T17:12:22.197Z,1754759542.197 [DAT](INFO): DAT read: 17:12:20.4289 LVL= 26960, 28113, 32754, 32755, AGC= 68, IDX= 445, 0.02, 2.352,-2.228, 1.897, 2.837, PHS=-0.383, 1.263,-0.984, RAW= 345.0,   1.1, CAL= 344.5,  -1.9, ROT= 165.5,   1.9

2025-08-09T17:12:22.198Z,1754759542.198 [DAT](INFO): got valid direction response:
 17:12:20.4289 LVL= 26960, 28113, 32754, 32755, AGC= 68, IDX= 445, 0.02, 2.352,-2.228, 1.897, 2.837, PHS=-0.383, 1.263,-0.984, RAW= 345.0,   1.1, CAL= 344.5,  -1.9, ROT= 165.5,   1.9

2025-08-09T17:12:22.199Z,1754759542.199 [DAT](INFO): DAT read: Bearing 172.6,  12.2 (Local)

2025-08-09T17:12:22.200Z,1754759542.200 [DAT](INFO): Local bearing/azimuth received:
 Bearing 172.6,  12.2 (Local)

2025-08-09T17:12:22.201Z,1754759542.201 [DAT](INFO): DAT read: Range 11 to 50 : 27.0 m  (Round-trip  36.0 ms) speed  0.0 m/s

2025-08-09T17:12:22.202Z,1754759542.202 [DAT](INFO): DAT read: user:437>

2025-08-09T17:12:22.203Z,1754759542.203 [DAT](INFO): DAT read: Tx time:17:12:21.5387

2025-08-09T17:12:22.203Z,1754759542.203 [DAT](INFO): Ping request sent.
2025-08-09T17:12:22.203Z,1754759542.203 [DAT](INFO): transmitted an acoustic signal
2025-08-09T17:12:22.204Z,1754759542.204 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-09T17:12:22.205Z,1754759542.205 [DAT](INFO): direction in FSK: [-0.967615,0.250242,-0.033155]
2025-08-09T17:12:22.205Z,1754759542.205 [DAT](INFO): publishing transmit ping time
2025-08-09T17:12:22.205Z,1754759542.205 [DAT](INFO): publishing direction and range info
2025-08-09T17:12:22.220Z,1754759542.220 [DAT](INFO): publishing transmit ping time
2025-08-09T17:12:22.221Z,1754759542.221 [DAT](INFO): publishing direction and range info
2025-08-09T17:12:22.256Z,1754759542.256 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 27.000000 m,
      deltaT: 3.535776 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-08-09T17:12:22.258Z,1754759542.258 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 27.000000 m,
      bearing: 10.644729 deg,
      lat: 36.906106 deg,
      lon: -122.115872 deg,
      deltaT: 3.535776 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      posRepo size: 4

2025-08-09T17:12:22.263Z,1754759542.263 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 27.00 m.
2025-08-09T17:12:22.637Z,1754759542.637 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 27.00 m.
2025-08-09T17:12:23.063Z,1754759543.063 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 27.00 m.
2025-08-09T17:12:23.568Z,1754759543.568 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 27.00 m.
2025-08-09T17:12:23.904Z,1754759543.904 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 27.00 m.
2025-08-09T17:12:24.294Z,1754759544.294 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 27.00 m.
2025-08-09T17:12:24.729Z,1754759544.729 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 27.00 m.
2025-08-09T17:12:24.963Z,1754759544.963 [DAT](INFO): DAT read: Rx Time:17:12:23.9785

2025-08-09T17:12:24.964Z,1754759544.964 [DAT](INFO): Rx dataTimestamp_ set to:1754759544.963610
2025-08-09T17:12:25.088Z,1754759545.088 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 27.00 m.
2025-08-09T17:12:25.560Z,1754759545.560 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 27.00 m.
2025-08-09T17:12:25.725Z,1754759545.725 [DAT](INFO): DAT read: 17:12:23.9785 LVL= 28464, 31169, 32754, 32755, AGC= 64, IDX= 441, 0.34,-2.904,-1.232, 2.872,-2.442, PHS=-0.360, 1.255,-1.014, RAW= 346.3,   1.2, CAL= 345.8,  -1.8, ROT= 164.2,   1.8

2025-08-09T17:12:25.727Z,1754759545.727 [DAT](INFO): got valid direction response:
 17:12:23.9785 LVL= 28464, 31169, 32754, 32755, AGC= 64, IDX= 441, 0.34,-2.904,-1.232, 2.872,-2.442, PHS=-0.360, 1.255,-1.014, RAW= 346.3,   1.2, CAL= 345.8,  -1.8, ROT= 164.2,   1.8

2025-08-09T17:12:25.728Z,1754759545.728 [DAT](INFO): DAT read: Bearing 172.9,  13.6 (Local)

2025-08-09T17:12:25.728Z,1754759545.728 [DAT](INFO): Local bearing/azimuth received:
 Bearing 172.9,  13.6 (Local)

2025-08-09T17:12:25.729Z,1754759545.729 [DAT](INFO): DAT read: Range 11 to 50 : 26.7 m  (Round-trip  35.6 ms) speed  0.0 m/s

2025-08-09T17:12:25.730Z,1754759545.730 [DAT](INFO): DAT read: user:438>

2025-08-09T17:12:25.731Z,1754759545.731 [DAT](INFO): DAT read: Tx time:17:12:25.0887

2025-08-09T17:12:25.731Z,1754759545.731 [DAT](INFO): Ping request sent.
2025-08-09T17:12:25.731Z,1754759545.731 [DAT](INFO): transmitted an acoustic signal
2025-08-09T17:12:25.732Z,1754759545.732 [DAT](INFO): #Rx 2: Read range and direction messages.
2025-08-09T17:12:25.733Z,1754759545.733 [DAT](INFO): direction in FSK: [-0.961743,0.272146,-0.031411]
2025-08-09T17:12:25.733Z,1754759545.733 [DAT](INFO): publishing transmit ping time
2025-08-09T17:12:25.733Z,1754759545.733 [DAT](INFO): publishing direction and range info
2025-08-09T17:12:25.762Z,1754759545.762 [DAT](INFO): publishing transmit ping time
2025-08-09T17:12:25.764Z,1754759545.764 [DAT](INFO): publishing direction and range info
2025-08-09T17:12:25.932Z,1754759545.932 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 26.700001 m,
      deltaT: 3.527935 s,
      deltaX: -0.299999 m,
      approachRate: -0.085035 m/s,
      rangeRepo size: 4

2025-08-09T17:12:25.938Z,1754759545.938 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 26.700001 m,
      bearing: 13.395852 deg,
      lat: 36.906106 deg,
      lon: -122.115857 deg,
      deltaT: 3.527935 s,
      deltaX: -0.299999 m,
      approachRate: -0.085035 m/s,
      posRepo size: 4

2025-08-09T17:12:25.939Z,1754759545.939 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 26.70 m.
2025-08-09T17:12:26.303Z,1754759546.303 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 26.70 m.
2025-08-09T17:12:26.724Z,1754759546.724 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 26.70 m.
2025-08-09T17:12:27.103Z,1754759547.103 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 26.70 m.
2025-08-09T17:12:27.560Z,1754759547.560 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 26.70 m.
2025-08-09T17:12:27.949Z,1754759547.949 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 26.70 m.
2025-08-09T17:12:28.352Z,1754759548.352 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 26.70 m.
2025-08-09T17:12:28.499Z,1754759548.499 [DAT](INFO): DAT read: Rx Time:17:12:27.5282

2025-08-09T17:12:28.501Z,1754759548.501 [DAT](INFO): Rx dataTimestamp_ set to:1754759548.499933
2025-08-09T17:12:28.785Z,1754759548.785 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 26.70 m.
2025-08-09T17:12:29.177Z,1754759549.177 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 26.70 m.
2025-08-09T17:12:29.258Z,1754759549.258 [DAT](INFO): DAT read: 17:12:27.5281 LVL= 29920, 32753, 32754, 32755, AGC= 63, IDX= 438, 0.46,-0.997, 0.699,-1.540,-0.590, PHS=-0.305, 1.334,-0.994, RAW= 346.7,  -0.3, CAL= 346.3,  -3.3, ROT= 163.7,   3.3

2025-08-09T17:12:29.259Z,1754759549.259 [DAT](INFO): got valid direction response:
 17:12:27.5281 LVL= 29920, 32753, 32754, 32755, AGC= 63, IDX= 438, 0.46,-0.997, 0.699,-1.540,-0.590, PHS=-0.305, 1.334,-0.994, RAW= 346.7,  -0.3, CAL= 346.3,  -3.3, ROT= 163.7,   3.3

2025-08-09T17:12:29.261Z,1754759549.261 [DAT](INFO): DAT read: Bearing 174.7,  14.1 (Local)

2025-08-09T17:12:29.261Z,1754759549.261 [DAT](INFO): Local bearing/azimuth received:
 Bearing 174.7,  14.1 (Local)

2025-08-09T17:12:29.267Z,1754759549.267 [DAT](INFO): DAT read: Range 11 to 50 : 26.4 m  (Round-trip  35.3 ms) speed  0.0 m/s

2025-08-09T17:12:29.268Z,1754759549.268 [DAT](INFO): DAT read: user:439>

2025-08-09T17:12:29.269Z,1754759549.269 [DAT](INFO): DAT read: Tx time:17:12:28.6386

2025-08-09T17:12:29.270Z,1754759549.270 [DAT](INFO): Ping request sent.
2025-08-09T17:12:29.271Z,1754759549.271 [DAT](INFO): transmitted an acoustic signal
2025-08-09T17:12:29.271Z,1754759549.271 [DAT](INFO): #Rx 3: Read range and direction messages.
2025-08-09T17:12:29.273Z,1754759549.273 [DAT](INFO): direction in FSK: [-0.958214,0.280201,-0.057564]
2025-08-09T17:12:29.273Z,1754759549.273 [DAT](INFO): publishing transmit ping time
2025-08-09T17:12:29.273Z,1754759549.273 [DAT](INFO): publishing direction and range info
2025-08-09T17:12:29.290Z,1754759549.290 [DAT](INFO): publishing transmit ping time
2025-08-09T17:12:29.291Z,1754759549.291 [DAT](INFO): publishing direction and range info
2025-08-09T17:12:29.613Z,1754759549.613 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 26.400000 m,
      deltaT: 3.533180 s,
      deltaX: -0.300001 m,
      approachRate: -0.084910 m/s,
      rangeRepo size: 4

2025-08-09T17:12:29.615Z,1754759549.615 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 26.400000 m,
      bearing: 13.783411 deg,
      lat: 36.906106 deg,
      lon: -122.115857 deg,
      deltaT: 3.533180 s,
      deltaX: -0.300001 m,
      approachRate: -0.084910 m/s,
      posRepo size: 4

2025-08-09T17:12:29.616Z,1754759549.616 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 26.40 m.
2025-08-09T17:12:29.994Z,1754759549.994 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 26.40 m.
2025-08-09T17:12:30.417Z,1754759550.417 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 26.40 m.
2025-08-09T17:12:30.829Z,1754759550.829 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 26.40 m.
2025-08-09T17:12:31.206Z,1754759551.206 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 26.40 m.
2025-08-09T17:12:31.629Z,1754759551.629 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 26.40 m.
2025-08-09T17:12:32.028Z,1754759552.028 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 26.40 m.
2025-08-09T17:12:32.275Z,1754759552.275 [DAT](INFO): DAT read: Rx Time:17:12:31.0781

2025-08-09T17:12:32.276Z,1754759552.276 [DAT](INFO): Rx dataTimestamp_ set to:1754759552.275484
2025-08-09T17:12:32.415Z,1754759552.415 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 26.40 m.
2025-08-09T17:12:32.787Z,1754759552.787 [DAT](INFO): DAT read: 17:12:31.0781 LVL= 28944, 25009, 32754, 32755, AGC= 61, IDX= 439,-0.38,-2.135,-0.469,-2.679,-1.694, PHS=-0.339, 1.270,-1.029, RAW= 347.0,   1.0, CAL= 346.5,  -2.0, ROT= 163.5,   2.0

2025-08-09T17:12:32.791Z,1754759552.791 [DAT](INFO): got valid direction response:
 17:12:31.0781 LVL= 28944, 25009, 32754, 32755, AGC= 61, IDX= 439,-0.38,-2.135,-0.469,-2.679,-1.694, PHS=-0.339, 1.270,-1.029, RAW= 347.0,   1.0, CAL= 346.5,  -2.0, ROT= 163.5,   2.0

2025-08-09T17:12:32.792Z,1754759552.792 [DAT](INFO): DAT read: Bearing 174.0,  14.1 (Local)

2025-08-09T17:12:32.792Z,1754759552.792 [DAT](INFO): Local bearing/azimuth received:
 Bearing 174.0,  14.1 (Local)

2025-08-09T17:12:32.794Z,1754759552.794 [DAT](INFO): DAT read: Range 11 to 50 : 26.4 m  (Round-trip  35.3 ms) speed  0.0 m/s

2025-08-09T17:12:32.795Z,1754759552.795 [DAT](INFO): DAT read: user:440>

2025-08-09T17:12:32.795Z,1754759552.795 [DAT](INFO): DAT read: Tx time:17:12:32.1886

2025-08-09T17:12:32.796Z,1754759552.796 [DAT](INFO): Ping request sent.
2025-08-09T17:12:32.796Z,1754759552.796 [DAT](INFO): transmitted an acoustic signal
2025-08-09T17:12:32.796Z,1754759552.796 [DAT](INFO): #Rx 4: Read range and direction messages.
2025-08-09T17:12:32.797Z,1754759552.797 [DAT](INFO): direction in FSK: [-0.958236,0.283842,-0.034899]
2025-08-09T17:12:32.797Z,1754759552.797 [DAT](INFO): publishing transmit ping time
2025-08-09T17:12:32.797Z,1754759552.797 [DAT](INFO): publishing direction and range info
2025-08-09T17:12:32.808Z,1754759552.808 [DAT](INFO): publishing transmit ping time
2025-08-09T17:12:32.808Z,1754759552.808 [DAT](INFO): publishing direction and range info
2025-08-09T17:12:32.960Z,1754759552.960 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 26.400000 m,
      deltaT: 3.526716 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-08-09T17:12:32.966Z,1754759552.966 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 26.400000 m,
      bearing: 14.350318 deg,
      lat: 36.906106 deg,
      lon: -122.115855 deg,
      deltaT: 3.526716 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      posRepo size: 4

2025-08-09T17:12:32.975Z,1754759552.975 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 26.40 m.
2025-08-09T17:12:33.272Z,1754759553.272 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 26.40 m.
2025-08-09T17:12:33.688Z,1754759553.688 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 26.40 m.
2025-08-09T17:12:34.061Z,1754759554.061 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 26.40 m.
2025-08-09T17:12:34.478Z,1754759554.478 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 26.40 m.
2025-08-09T17:12:34.904Z,1754759554.904 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 26.40 m.
2025-08-09T17:12:35.300Z,1754759555.300 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 26.40 m.
2025-08-09T17:12:35.698Z,1754759555.698 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 26.40 m.
2025-08-09T17:12:35.804Z,1754759555.804 [DAT](INFO): DAT read: Rx Time:17:12:34.6282

2025-08-09T17:12:35.804Z,1754759555.804 [DAT](INFO): Rx dataTimestamp_ set to:1754759555.804111
2025-08-09T17:12:36.088Z,1754759556.088 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 26.40 m.
2025-08-09T17:12:36.313Z,1754759556.313 [DAT](INFO): DAT read: 17:12:34.6282 LVL= 30784, 22161, 32754, 32755, AGC= 60, IDX= 439, 0.14,-2.103,-0.574-1.690, PHS=-0.311, 1.161,-1.049, RAW= 349.2,   2.1, CAL= 348.7,  -0.9, ROT= 161.3,   0.9

2025-08-09T17:12:36.314Z,1754759556.314 [DAT](INFO): unknown deviceResponse_: 17:12:34.6282 LVL= 30784, 22161, 32754, 32755, AGC= 60, IDX= 439, 0.14,-2.103,-0.574-1.690, PHS=-0.311, 1.161,-1.049, RAW= 349.2,   2.1, CAL= 348.7,  -0.9, ROT= 161.3,   0.9

2025-08-09T17:12:36.315Z,1754759556.315 [DAT](INFO): DAT read: Bearing 174.9,  16.3 (Local)

2025-08-09T17:12:36.316Z,1754759556.316 [DAT](INFO): Local bearing/azimuth received:
 Bearing 174.9,  16.3 (Local)

2025-08-09T17:12:36.317Z,1754759556.317 [DAT](INFO): DAT read: Range 11 to 50 : 26.5 m  (Round-trip  35.4 ms) speed  0.0 m/s

2025-08-09T17:12:36.318Z,1754759556.318 [DAT](INFO): DAT read: user:441>

2025-08-09T17:12:36.323Z,1754759556.323 [DAT](INFO): DAT read: Tx time:17:12:35.7386

2025-08-09T17:12:36.323Z,1754759556.323 [DAT](INFO): Ping request sent.
2025-08-09T17:12:36.324Z,1754759556.323 [DAT](INFO): transmitted an acoustic signal
2025-08-09T17:12:36.324Z,1754759556.324 [DAT](ERROR): #Rx 5: Read range message, but no direction.
2025-08-09T17:12:36.324Z,1754759556.324 [DAT](INFO): publishing transmit ping time
2025-08-09T17:12:36.325Z,1754759556.325 [DAT](INFO): publishing transmit ping time
2025-08-09T17:12:36.510Z,1754759556.510 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 26.500000 m,
      deltaT: 3.528164 s,
      deltaX: 0.100000 m,
      approachRate: 0.028343 m/s,
      rangeRepo size: 4

2025-08-09T17:12:36.515Z,1754759556.515 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 26.40 m.
2025-08-09T17:12:36.913Z,1754759556.913 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 26.40 m.
2025-08-09T17:12:37.307Z,1754759557.307 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 26.40 m.
2025-08-09T17:12:37.783Z,1754759557.783 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 26.40 m.
2025-08-09T17:12:38.108Z,1754759558.108 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 26.40 m.
2025-08-09T17:12:38.534Z,1754759558.534 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 26.40 m.
2025-08-09T17:12:38.949Z,1754759558.949 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 26.40 m.
2025-08-09T17:12:39.315Z,1754759559.315 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 26.40 m.
2025-08-09T17:12:39.331Z,1754759559.331 [DAT](INFO): DAT read: Rx Time:17:12:38.1781

2025-08-09T17:12:39.332Z,1754759559.332 [DAT](INFO): Rx dataTimestamp_ set to:1754759559.331456
2025-08-09T17:12:39.780Z,1754759559.780 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 26.40 m.
2025-08-09T17:12:39.850Z,1754759559.850 [DAT](INFO): DAT read: 17:12:38.1781 LVL= 30496, 24769, 32754, 32755, AGC= 62, IDX= 438, 0.18,-1.773,-0.310,-2.429,-1.378, PHS=-0.294, 1.113,-1.095, RAW= 351.0,   2.9, CAL= 350.6,  -0.1, ROT= 159.4,   0.1

2025-08-09T17:12:39.859Z,1754759559.859 [DAT](INFO): got valid direction response:
 17:12:38.1781 LVL= 30496, 24769, 32754, 32755, AGC= 62, IDX= 438, 0.18,-1.773,-0.310,-2.429,-1.378, PHS=-0.294, 1.113,-1.095, RAW= 351.0,   2.9, CAL= 350.6,  -0.1, ROT= 159.4,   0.1

2025-08-09T17:12:39.861Z,1754759559.861 [DAT](INFO): DAT read: Bearing 175.5,  18.4 (Local)

2025-08-09T17:12:39.861Z,1754759559.861 [DAT](INFO): Local bearing/azimuth received:
 Bearing 175.5,  18.4 (Local)

2025-08-09T17:12:39.868Z,1754759559.868 [DAT](INFO): DAT read: Range 11 to 50 : 26.4 m  (Round-trip  35.3 ms) speed  0.0 m/s

2025-08-09T17:12:39.869Z,1754759559.869 [DAT](INFO): DAT read: user:442>

2025-08-09T17:12:39.870Z,1754759559.870 [DAT](INFO): DAT read: Tx time:17:12:39.2886

2025-08-09T17:12:39.875Z,1754759559.875 [DAT](INFO): Ping request sent.
2025-08-09T17:12:39.875Z,1754759559.875 [DAT](INFO): transmitted an acoustic signal
2025-08-09T17:12:39.875Z,1754759559.875 [DAT](INFO): #Rx 6: Read range and direction messages.
2025-08-09T17:12:39.876Z,1754759559.876 [DAT](INFO): direction in FSK: [-0.936058,0.351841,-0.001745]
2025-08-09T17:12:39.877Z,1754759559.877 [DAT](INFO): publishing transmit ping time
2025-08-09T17:12:39.877Z,1754759559.877 [DAT](INFO): publishing direction and range info
2025-08-09T17:12:39.888Z,1754759559.888 [DAT](INFO): publishing transmit ping time
2025-08-09T17:12:39.888Z,1754759559.888 [DAT](INFO): publishing direction and range info
2025-08-09T17:12:40.150Z,1754759560.150 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 26.400000 m,
      deltaT: 3.528606 s,
      deltaX: -0.100000 m,
      approachRate: -0.028340 m/s,
      rangeRepo size: 4

2025-08-09T17:12:40.152Z,1754759560.152 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 26.400000 m,
      bearing: 15.049245 deg,
      lat: 36.906104 deg,
      lon: -122.115853 deg,
      deltaT: 7.056770 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      posRepo size: 4

2025-08-09T17:12:40.153Z,1754759560.153 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 26.40 m.
2025-08-09T17:12:40.537Z,1754759560.537 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 26.40 m.
2025-08-09T17:12:40.951Z,1754759560.951 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 26.40 m.
2025-08-09T17:12:41.348Z,1754759561.348 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 26.40 m.
2025-08-09T17:12:41.773Z,1754759561.773 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 26.40 m.
2025-08-09T17:12:42.143Z,1754759562.143 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 26.40 m.
2025-08-09T17:12:42.557Z,1754759562.557 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 26.40 m.
2025-08-09T17:12:42.864Z,1754759562.864 [DAT](INFO): DAT read: Rx Time:17:12:41.7278

2025-08-09T17:12:42.865Z,1754759562.865 [DAT](INFO): Rx dataTimestamp_ set to:1754759562.864314
2025-08-09T17:12:43.031Z,1754759563.031 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 26.40 m.
2025-08-09T17:12:43.359Z,1754759563.359 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 26.40 m.
2025-08-09T17:12:43.373Z,1754759563.373 [DAT](INFO): DAT read: 17:12:41.7278 LVL= 29216, 23185, 32754, 32755, AGC= 58, IDX= 435, 0.29, 0.894, 2.325, 0.207, 1.273, PHS=-0.277, 1.097,-1.110, RAW= 351.9,   3.0, CAL= 351.5,   0.1, ROT= 158.5,  -0.1

2025-08-09T17:12:43.374Z,1754759563.374 [DAT](INFO): got valid direction response:
 17:12:41.7278 LVL= 29216, 23185, 32754, 32755, AGC= 58, IDX= 435, 0.29, 0.894, 2.325, 0.207, 1.273, PHS=-0.277, 1.097,-1.110, RAW= 351.9,   3.0, CAL= 351.5,   0.1, ROT= 158.5,  -0.1

2025-08-09T17:12:43.375Z,1754759563.375 [DAT](INFO): DAT read: Bearing 176.5,  19.3 (Local)

2025-08-09T17:12:43.375Z,1754759563.375 [DAT](INFO): Local bearing/azimuth received:
 Bearing 176.5,  19.3 (Local)

2025-08-09T17:12:43.377Z,1754759563.377 [DAT](INFO): DAT read: Range 11 to 50 : 26.2 m  (Round-trip  35.0 ms) speed  0.0 m/s

2025-08-09T17:12:43.378Z,1754759563.378 [DAT](INFO): DAT read: user:443>

2025-08-09T17:12:43.378Z,1754759563.378 [DAT](INFO): DAT read: Tx time:17:12:42.8386

2025-08-09T17:12:43.379Z,1754759563.379 [DAT](INFO): Ping request sent.
2025-08-09T17:12:43.379Z,1754759563.379 [DAT](INFO): transmitted an acoustic signal
2025-08-09T17:12:43.379Z,1754759563.379 [DAT](INFO): #Rx 7: Read range and direction messages.
2025-08-09T17:12:43.380Z,1754759563.380 [DAT](INFO): direction in FSK: [-0.930416,0.366501,0.001745]
2025-08-09T17:12:43.380Z,1754759563.380 [DAT](INFO): publishing transmit ping time
2025-08-09T17:12:43.381Z,1754759563.381 [DAT](INFO): publishing direction and range info
2025-08-09T17:12:43.388Z,1754759563.388 [DAT](INFO): publishing transmit ping time
2025-08-09T17:12:43.388Z,1754759563.388 [DAT](INFO): publishing direction and range info
2025-08-09T17:12:43.780Z,1754759563.780 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 26.200001 m,
      deltaT: 3.531299 s,
      deltaX: -0.199999 m,
      approachRate: -0.056636 m/s,
      rangeRepo size: 4

2025-08-09T17:12:43.798Z,1754759563.798 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 26.200001 m,
      bearing: 15.496375 deg,
      lat: 36.906104 deg,
      lon: -122.115853 deg,
      deltaT: 3.531299 s,
      deltaX: -0.199999 m,
      approachRate: -0.056636 m/s,
      posRepo size: 4

2025-08-09T17:12:43.799Z,1754759563.799 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 26.20 m.
2025-08-09T17:12:44.159Z,1754759564.159 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 26.20 m.
2025-08-09T17:12:44.565Z,1754759564.565 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 26.20 m.
2025-08-09T17:12:45.029Z,1754759565.029 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 26.20 m.
2025-08-09T17:12:45.370Z,1754759565.370 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 26.20 m.
2025-08-09T17:12:45.815Z,1754759565.815 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 26.20 m.
2025-08-09T17:12:46.184Z,1754759566.184 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 26.20 m.
2025-08-09T17:12:46.395Z,1754759566.395 [DAT](INFO): DAT read: Rx Time:17:12:45.2776

2025-08-09T17:12:46.396Z,1754759566.396 [DAT](INFO): Rx dataTimestamp_ set to:1754759566.395511
2025-08-09T17:12:46.596Z,1754759566.596 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 26.20 m.
2025-08-09T17:12:46.905Z,1754759566.905 [DAT](INFO): DAT read: 17:12:45.2776 LVL= 28448, 22337, 32754, 32755, AGC= 58, IDX= 434,-0.19,-2.537,-1.121, 3.081,-2.128, PHS=-0.306, 1.052,-1.118, RAW= 351.7,   4.0, CAL= 351.4,   1.5, ROT= 158.6,  -1.5

2025-08-09T17:12:46.906Z,1754759566.906 [DAT](INFO): got valid direction response:
 17:12:45.2776 LVL= 28448, 22337, 32754, 32755, AGC= 58, IDX= 434,-0.19,-2.537,-1.121, 3.081,-2.128, PHS=-0.306, 1.052,-1.118, RAW= 351.7,   4.0, CAL= 351.4,   1.5, ROT= 158.6,  -1.5

2025-08-09T17:12:46.907Z,1754759566.907 [DAT](INFO): DAT read: Bearing 176.8,  19.1 (Local)

2025-08-09T17:12:46.907Z,1754759566.907 [DAT](INFO): Local bearing/azimuth received:
 Bearing 176.8,  19.1 (Local)

2025-08-09T17:12:46.908Z,1754759566.908 [DAT](INFO): DAT read: Range 11 to 50 : 26.1 m  (Round-trip  34.9 ms) speed  0.0 m/s

2025-08-09T17:12:46.909Z,1754759566.909 [DAT](INFO): #Rx 8: Read range and direction messages.
2025-08-09T17:12:46.910Z,1754759566.910 [DAT](INFO): direction in FSK: [-0.930737,0.364752,0.026177]
2025-08-09T17:12:46.910Z,1754759566.910 [DAT](INFO): publishing direction and range info
2025-08-09T17:12:47.089Z,1754759567.089 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 26.100000 m,
      deltaT: 3.532037 s,
      deltaX: -0.100000 m,
      approachRate: -0.028312 m/s,
      rangeRepo size: 4

2025-08-09T17:12:47.091Z,1754759567.091 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 26.100000 m,
      bearing: 15.937543 deg,
      lat: 36.906103 deg,
      lon: -122.115851 deg,
      deltaT: 3.532037 s,
      deltaX: -0.100000 m,
      approachRate: -0.028312 m/s,
      posRepo size: 4

2025-08-09T17:12:47.092Z,1754759567.092 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 26.10 m.
2025-08-09T17:12:47.391Z,1754759567.391 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 26.10 m.
2025-08-09T17:12:47.851Z,1754759567.851 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 26.10 m.
2025-08-09T17:12:48.206Z,1754759568.206 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 26.10 m.
2025-08-09T17:12:48.622Z,1754759568.622 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 26.10 m.
2025-08-09T17:12:49.050Z,1754759569.050 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 26.10 m.
2025-08-09T17:12:49.423Z,1754759569.423 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 26.10 m.
2025-08-09T17:12:49.857Z,1754759569.857 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 26.10 m.
2025-08-09T17:12:50.243Z,1754759570.243 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 26.10 m.
2025-08-09T17:12:50.630Z,1754759570.630 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 26.10 m.
2025-08-09T17:12:51.056Z,1754759571.056 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 26.10 m.
2025-08-09T17:12:51.488Z,1754759571.488 [BPC1](ERROR): BPC1B failed to parse battery data due to unrecognized msg size.
2025-08-09T17:12:51.507Z,1754759571.507 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 26.10 m.
2025-08-09T17:12:51.916Z,1754759571.916 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 26.10 m.
2025-08-09T17:12:52.275Z,1754759572.275 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 26.10 m.
2025-08-09T17:12:52.645Z,1754759572.645 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 26.10 m.
2025-08-09T17:12:53.087Z,1754759573.087 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 26.10 m.
2025-08-09T17:12:53.478Z,1754759573.478 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 26.10 m.
2025-08-09T17:12:53.913Z,1754759573.913 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 26.10 m.
2025-08-09T17:12:54.261Z,1754759574.261 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 26.10 m.
2025-08-09T17:12:54.670Z,1754759574.670 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 26.10 m.
2025-08-09T17:12:55.104Z,1754759575.104 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 26.10 m.
2025-08-09T17:12:55.480Z,1754759575.480 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 26.10 m.
2025-08-09T17:12:55.947Z,1754759575.947 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 26.10 m.
2025-08-09T17:12:56.299Z,1754759576.299 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 26.10 m.
2025-08-09T17:12:56.706Z,1754759576.706 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 26.10 m.
2025-08-09T17:12:57.146Z,1754759577.146 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 26.10 m.
2025-08-09T17:12:57.511Z,1754759577.511 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 26.10 m.
2025-08-09T17:12:57.994Z,1754759577.994 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 26.10 m.
2025-08-09T17:12:58.299Z,1754759578.299 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 26.10 m.
2025-08-09T17:12:58.704Z,1754759578.704 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 26.10 m.
2025-08-09T17:12:59.140Z,1754759579.140 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 26.10 m.
2025-08-09T17:12:59.513Z,1754759579.513 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 26.10 m.
2025-08-09T17:13:00.044Z,1754759580.044 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 26.10 m.
2025-08-09T17:13:00.323Z,1754759580.323 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 26.10 m.
2025-08-09T17:13:00.731Z,1754759580.731 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 26.10 m.
2025-08-09T17:13:01.201Z,1754759581.201 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 26.10 m.
2025-08-09T17:13:01.532Z,1754759581.532 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 26.10 m.
2025-08-09T17:13:01.997Z,1754759581.997 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 26.10 m.
2025-08-09T17:13:02.363Z,1754759582.363 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 26.10 m.
2025-08-09T17:13:02.755Z,1754759582.755 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 26.10 m.
2025-08-09T17:13:03.189Z,1754759583.189 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 26.10 m.
2025-08-09T17:13:03.553Z,1754759583.553 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 26.10 m.
2025-08-09T17:13:04.029Z,1754759584.029 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 26.10 m.
2025-08-09T17:13:04.397Z,1754759584.397 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 26.10 m.
2025-08-09T17:13:04.764Z,1754759584.764 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 26.10 m.
2025-08-09T17:13:05.208Z,1754759585.208 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 26.10 m.
2025-08-09T17:13:05.573Z,1754759585.573 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 26.10 m.
2025-08-09T17:13:06.011Z,1754759586.011 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 26.10 m.
2025-08-09T17:13:06.402Z,1754759586.402 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 26.10 m.
2025-08-09T17:13:06.792Z,1754759586.792 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 26.10 m.
2025-08-09T17:13:07.236Z,1754759587.236 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 26.10 m.
2025-08-09T17:13:07.598Z,1754759587.598 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 26.10 m.
2025-08-09T17:13:08.001Z,1754759588.001 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 26.10 m.
2025-08-09T17:13:08.442Z,1754759588.442 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 26.10 m.
2025-08-09T17:13:08.804Z,1754759588.804 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 26.10 m.
2025-08-09T17:13:09.300Z,1754759589.300 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 26.10 m.
2025-08-09T17:13:09.625Z,1754759589.625 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 26.10 m.
2025-08-09T17:13:10.034Z,1754759590.034 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 26.10 m.
2025-08-09T17:13:10.473Z,1754759590.473 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 26.10 m.
2025-08-09T17:13:10.828Z,1754759590.828 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 26.10 m.
2025-08-09T17:13:11.275Z,1754759591.275 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 26.10 m.
2025-08-09T17:13:11.646Z,1754759591.646 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 26.10 m.
2025-08-09T17:13:12.056Z,1754759592.056 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 26.10 m.
2025-08-09T17:13:12.484Z,1754759592.484 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 26.10 m.
2025-08-09T17:13:12.921Z,1754759592.921 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 26.10 m.
2025-08-09T17:13:13.285Z,1754759593.285 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 26.10 m.
2025-08-09T17:13:13.657Z,1754759593.657 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 26.10 m.
2025-08-09T17:13:14.061Z,1754759594.061 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 26.10 m.
2025-08-09T17:13:14.486Z,1754759594.486 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 26.10 m.
2025-08-09T17:13:14.876Z,1754759594.876 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 26.10 m.
2025-08-09T17:13:15.300Z,1754759595.300 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 26.10 m.
2025-08-09T17:13:15.689Z,1754759595.689 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 26.10 m.
2025-08-09T17:13:16.075Z,1754759596.075 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 26.10 m.
2025-08-09T17:13:16.476Z,1754759596.476 [RDI_Pathfinder](ERROR): only read 2 of 4 data items for water velocity. Device response is::WS,-32768,-2:WE,-32768,-32768,-32768,V
2025-08-09T17:13:16.491Z,1754759596.491 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 26.10 m.
2025-08-09T17:13:16.900Z,1754759596.900 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 26.10 m.
2025-08-09T17:13:17.328Z,1754759597.328 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 26.10 m.
2025-08-09T17:13:17.692Z,1754759597.692 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 26.10 m.
2025-08-09T17:13:18.096Z,1754759598.096 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 26.10 m.
2025-08-09T17:13:18.524Z,1754759598.524 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 26.10 m.
2025-08-09T17:13:18.929Z,1754759598.929 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 26.10 m.
2025-08-09T17:13:19.349Z,1754759599.349 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 26.10 m.
2025-08-09T17:13:19.715Z,1754759599.715 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 26.10 m.
2025-08-09T17:13:20.122Z,1754759600.122 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 26.10 m.
2025-08-09T17:13:20.545Z,1754759600.545 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 26.10 m.
2025-08-09T17:13:20.931Z,1754759600.931 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-09T17:13:20.933Z,1754759600.933 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 26.10 m.
2025-08-09T17:13:20.959Z,1754759600.959 [DAT](DEBUG): Acoustic response timeout
2025-08-09T17:13:20.959Z,1754759600.959 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-09T17:13:21.211Z,1754759601.211 [DAT](INFO): DAT read: user:444>

2025-08-09T17:13:21.212Z,1754759601.212 [DAT](INFO): DAT read: Tx time:17:13:20.5884

2025-08-09T17:13:21.212Z,1754759601.212 [DAT](INFO): Ping request sent.
2025-08-09T17:13:21.212Z,1754759601.212 [DAT](INFO): transmitted an acoustic signal
2025-08-09T17:13:21.212Z,1754759601.212 [DAT](INFO): publishing transmit ping time
2025-08-09T17:13:21.213Z,1754759601.213 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000741
2025-08-09T17:13:21.387Z,1754759601.387 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 26.10 m.
2025-08-09T17:13:21.464Z,1754759601.464 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251655
2025-08-09T17:13:21.715Z,1754759601.715 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.503103
2025-08-09T17:13:21.734Z,1754759601.734 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 26.10 m.
2025-08-09T17:13:21.967Z,1754759601.967 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754923
2025-08-09T17:13:22.207Z,1754759602.207 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 26.10 m.
2025-08-09T17:13:22.222Z,1754759602.222 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.009096
2025-08-09T17:13:22.471Z,1754759602.471 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.259031
2025-08-09T17:13:22.585Z,1754759602.585 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 26.10 m.
2025-08-09T17:13:22.723Z,1754759602.723 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510904
2025-08-09T17:13:22.975Z,1754759602.975 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762999
2025-08-09T17:13:22.984Z,1754759602.984 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 26.10 m.
2025-08-09T17:13:23.227Z,1754759603.227 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.015012
2025-08-09T17:13:23.408Z,1754759603.408 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 26.10 m.
2025-08-09T17:13:23.479Z,1754759603.479 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.267016
2025-08-09T17:13:23.731Z,1754759603.731 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.519089
2025-08-09T17:13:23.765Z,1754759603.765 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 26.10 m.
2025-08-09T17:13:23.984Z,1754759603.984 [DAT](INFO): DAT read: Rx Time:17:13:23.0268

2025-08-09T17:13:23.984Z,1754759603.984 [DAT](INFO): Rx dataTimestamp_ set to:1754759603.984050
2025-08-09T17:13:23.985Z,1754759603.985 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.772565
2025-08-09T17:13:24.181Z,1754759604.181 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 26.10 m.
2025-08-09T17:13:24.237Z,1754759604.237 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.024060
2025-08-09T17:13:24.487Z,1754759604.487 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274933
2025-08-09T17:13:24.621Z,1754759604.621 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 26.10 m.
2025-08-09T17:13:24.745Z,1754759604.745 [DAT](INFO): DAT read: 17:13:23.0268 LVL= 27200, 24017, 32754, 32755, AGC= 55, IDX= 427,-0.27, 2.608,-2.673, 1.504, 2.850, PHS=-0.139, 0.806,-1.390, RAW=   4.6,   7.6, CAL=   4.6,   7.5, ROT= 145.4,  -7.5

2025-08-09T17:13:24.746Z,1754759604.746 [DAT](INFO): got valid direction response:
 17:13:23.0268 LVL= 27200, 24017, 32754, 32755, AGC= 55, IDX= 427,-0.27, 2.608,-2.673, 1.504, 2.850, PHS=-0.139, 0.806,-1.390, RAW=   4.6,   7.6, CAL=   4.6,   7.5, ROT= 145.4,  -7.5

2025-08-09T17:13:24.747Z,1754759604.747 [DAT](INFO): DAT read: Bearing 186.4,  31.3 (Local)

2025-08-09T17:13:24.747Z,1754759604.747 [DAT](INFO): Local bearing/azimuth received:
 Bearing 186.4,  31.3 (Local)

2025-08-09T17:13:24.748Z,1754759604.748 [DAT](INFO): DAT read: Range 11 to 50 : 25.6 m  (Round-trip  34.2 ms) speed  0.0 m/s

2025-08-09T17:13:24.749Z,1754759604.749 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-09T17:13:24.750Z,1754759604.750 [DAT](INFO): direction in FSK: [-0.816094,0.562986,0.130526]
2025-08-09T17:13:24.750Z,1754759604.750 [DAT](INFO): publishing direction and range info
2025-08-09T17:13:24.997Z,1754759604.997 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 25.600000 m,
      deltaT: 37.840006 s,
      deltaX: -0.500000 m,
      approachRate: -0.013214 m/s,
      rangeRepo size: 4

2025-08-09T17:13:25.003Z,1754759605.003 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 25.600000 m,
      bearing: 16.899450 deg,
      lat: 36.906103 deg,
      lon: -122.115848 deg,
      deltaT: 37.840006 s,
      deltaX: -0.500000 m,
      approachRate: -0.013214 m/s,
      posRepo size: 4

2025-08-09T17:13:25.003Z,1754759605.003 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.60 m.
2025-08-09T17:13:25.421Z,1754759605.421 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.60 m.
2025-08-09T17:13:25.776Z,1754759605.776 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.60 m.
2025-08-09T17:13:26.229Z,1754759606.229 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.60 m.
2025-08-09T17:13:26.600Z,1754759606.600 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.60 m.
2025-08-09T17:13:26.991Z,1754759606.991 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.60 m.
2025-08-09T17:13:27.457Z,1754759607.457 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.60 m.
2025-08-09T17:13:27.792Z,1754759607.792 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.60 m.
2025-08-09T17:13:28.209Z,1754759608.209 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.60 m.
2025-08-09T17:13:28.632Z,1754759608.632 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.60 m.
2025-08-09T17:13:29.046Z,1754759609.046 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.60 m.
2025-08-09T17:13:29.460Z,1754759609.460 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.60 m.
2025-08-09T17:13:29.820Z,1754759609.820 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.60 m.
2025-08-09T17:13:30.239Z,1754759610.239 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.60 m.
2025-08-09T17:13:30.658Z,1754759610.658 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.60 m.
2025-08-09T17:13:31.024Z,1754759611.024 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.60 m.
2025-08-09T17:13:31.490Z,1754759611.490 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.60 m.
2025-08-09T17:13:31.849Z,1754759611.849 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.60 m.
2025-08-09T17:13:32.235Z,1754759612.235 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.60 m.
2025-08-09T17:13:32.659Z,1754759612.659 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.60 m.
2025-08-09T17:13:33.050Z,1754759613.050 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.60 m.
2025-08-09T17:13:33.528Z,1754759613.528 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.60 m.
2025-08-09T17:13:33.860Z,1754759613.861 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.60 m.
2025-08-09T17:13:34.260Z,1754759614.260 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.60 m.
2025-08-09T17:13:34.686Z,1754759614.686 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.60 m.
2025-08-09T17:13:35.132Z,1754759615.132 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.60 m.
2025-08-09T17:13:35.566Z,1754759615.566 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.60 m.
2025-08-09T17:13:35.928Z,1754759615.928 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.60 m.
2025-08-09T17:13:36.294Z,1754759616.294 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.60 m.
2025-08-09T17:13:36.711Z,1754759616.711 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.60 m.
2025-08-09T17:13:37.083Z,1754759617.083 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.60 m.
2025-08-09T17:13:37.566Z,1754759617.566 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.60 m.
2025-08-09T17:13:37.903Z,1754759617.903 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.60 m.
2025-08-09T17:13:38.312Z,1754759618.312 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.60 m.
2025-08-09T17:13:38.737Z,1754759618.737 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.60 m.
2025-08-09T17:13:39.104Z,1754759619.104 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.60 m.
2025-08-09T17:13:39.574Z,1754759619.574 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.60 m.
2025-08-09T17:13:39.936Z,1754759619.936 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.60 m.
2025-08-09T17:13:40.315Z,1754759620.315 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.60 m.
2025-08-09T17:13:40.739Z,1754759620.739 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.60 m.
2025-08-09T17:13:41.134Z,1754759621.134 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.60 m.
2025-08-09T17:13:41.593Z,1754759621.593 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.60 m.
2025-08-09T17:13:41.978Z,1754759621.978 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.60 m.
2025-08-09T17:13:42.343Z,1754759622.343 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.60 m.
2025-08-09T17:13:42.767Z,1754759622.767 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.60 m.
2025-08-09T17:13:43.148Z,1754759623.148 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.60 m.
2025-08-09T17:13:43.615Z,1754759623.615 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.60 m.
2025-08-09T17:13:43.979Z,1754759623.979 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.60 m.
2025-08-09T17:13:44.380Z,1754759624.380 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.60 m.
2025-08-09T17:13:44.792Z,1754759624.792 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.60 m.
2025-08-09T17:13:45.165Z,1754759625.165 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.60 m.
2025-08-09T17:13:45.574Z,1754759625.574 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.60 m.
2025-08-09T17:13:46.008Z,1754759626.008 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.60 m.
2025-08-09T17:13:46.416Z,1754759626.416 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.60 m.
2025-08-09T17:13:46.819Z,1754759626.819 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.60 m.
2025-08-09T17:13:47.195Z,1754759627.195 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.60 m.
2025-08-09T17:13:47.603Z,1754759627.603 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.60 m.
2025-08-09T17:13:48.032Z,1754759628.032 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.60 m.
2025-08-09T17:13:48.454Z,1754759628.454 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.60 m.
2025-08-09T17:13:48.830Z,1754759628.830 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.60 m.
2025-08-09T17:13:49.291Z,1754759629.291 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.60 m.
2025-08-09T17:13:49.810Z,1754759629.810 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.60 m.
2025-08-09T17:13:50.211Z,1754759630.211 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.60 m.
2025-08-09T17:13:50.628Z,1754759630.628 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.60 m.
2025-08-09T17:13:51.046Z,1754759631.046 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.60 m.
2025-08-09T17:13:51.412Z,1754759631.412 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.60 m.
2025-08-09T17:13:51.851Z,1754759631.851 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.60 m.
2025-08-09T17:13:52.262Z,1754759632.262 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.60 m.
2025-08-09T17:13:52.679Z,1754759632.679 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.60 m.
2025-08-09T17:13:53.098Z,1754759633.098 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.60 m.
2025-08-09T17:13:53.491Z,1754759633.491 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.60 m.
2025-08-09T17:13:53.911Z,1754759633.911 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.60 m.
2025-08-09T17:13:54.285Z,1754759634.285 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.60 m.
2025-08-09T17:13:54.767Z,1754759634.767 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.60 m.
2025-08-09T17:13:55.132Z,1754759635.132 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.60 m.
2025-08-09T17:13:55.492Z,1754759635.492 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.60 m.
2025-08-09T17:13:55.923Z,1754759635.923 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.60 m.
2025-08-09T17:13:56.332Z,1754759636.332 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.60 m.
2025-08-09T17:13:56.707Z,1754759636.707 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.60 m.
2025-08-09T17:13:57.139Z,1754759637.139 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.60 m.
2025-08-09T17:13:57.528Z,1754759637.528 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.60 m.
2025-08-09T17:13:57.951Z,1754759637.951 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.60 m.
2025-08-09T17:13:58.368Z,1754759638.368 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.60 m.
2025-08-09T17:13:58.755Z,1754759638.755 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.60 m.
2025-08-09T17:13:59.204Z,1754759639.204 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.60 m.
2025-08-09T17:13:59.568Z,1754759639.568 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.60 m.
2025-08-09T17:13:59.985Z,1754759639.985 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.60 m.
2025-08-09T17:14:00.391Z,1754759640.391 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.60 m.
2025-08-09T17:14:00.847Z,1754759640.847 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.60 m.
2025-08-09T17:14:01.321Z,1754759641.321 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.60 m.
2025-08-09T17:14:01.723Z,1754759641.723 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.60 m.
2025-08-09T17:14:02.120Z,1754759642.120 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.60 m.
2025-08-09T17:14:02.493Z,1754759642.493 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.60 m.
2025-08-09T17:14:02.969Z,1754759642.969 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.60 m.
2025-08-09T17:14:03.378Z,1754759643.378 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.60 m.
2025-08-09T17:14:03.808Z,1754759643.808 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.60 m.
2025-08-09T17:14:04.206Z,1754759644.206 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.60 m.
2025-08-09T17:14:04.577Z,1754759644.577 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.60 m.
2025-08-09T17:14:05.003Z,1754759645.003 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.60 m.
2025-08-09T17:14:05.371Z,1754759645.371 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.60 m.
2025-08-09T17:14:05.779Z,1754759645.779 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.60 m.
2025-08-09T17:14:06.236Z,1754759646.236 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.60 m.
2025-08-09T17:14:06.623Z,1754759646.623 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.60 m.
2025-08-09T17:14:07.043Z,1754759647.043 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.60 m.
2025-08-09T17:14:07.438Z,1754759647.438 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.60 m.
2025-08-09T17:14:07.977Z,1754759647.977 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.60 m.
2025-08-09T17:14:08.403Z,1754759648.403 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.60 m.
2025-08-09T17:14:08.764Z,1754759648.764 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.60 m.
2025-08-09T17:14:09.192Z,1754759649.192 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.60 m.
2025-08-09T17:14:09.593Z,1754759649.593 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.60 m.
2025-08-09T17:14:10.038Z,1754759650.038 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.60 m.
2025-08-09T17:14:10.384Z,1754759650.384 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.60 m.
2025-08-09T17:14:10.786Z,1754759650.786 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.60 m.
2025-08-09T17:14:11.258Z,1754759651.258 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.60 m.
2025-08-09T17:14:11.650Z,1754759651.650 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.60 m.
2025-08-09T17:14:12.112Z,1754759652.112 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.60 m.
2025-08-09T17:14:12.464Z,1754759652.464 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.60 m.
2025-08-09T17:14:13.188Z,1754759653.188 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.60 m.
2025-08-09T17:14:13.574Z,1754759653.574 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.60 m.
2025-08-09T17:14:13.988Z,1754759653.988 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.60 m.
2025-08-09T17:14:14.410Z,1754759654.410 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.60 m.
2025-08-09T17:14:14.860Z,1754759654.860 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.60 m.
2025-08-09T17:14:15.247Z,1754759655.247 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.60 m.
2025-08-09T17:14:15.651Z,1754759655.651 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.60 m.
2025-08-09T17:14:16.102Z,1754759656.102 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.60 m.
2025-08-09T17:14:16.471Z,1754759656.471 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.60 m.
2025-08-09T17:14:16.845Z,1754759656.845 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.60 m.
2025-08-09T17:14:17.272Z,1754759657.272 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.60 m.
2025-08-09T17:14:17.663Z,1754759657.663 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.60 m.
2025-08-09T17:14:18.189Z,1754759658.189 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.60 m.
2025-08-09T17:14:18.478Z,1754759658.478 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.60 m.
2025-08-09T17:14:18.918Z,1754759658.918 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.60 m.
2025-08-09T17:14:19.395Z,1754759659.395 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.60 m.
2025-08-09T17:14:19.680Z,1754759659.680 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.60 m.
2025-08-09T17:14:20.171Z,1754759660.171 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.60 m.
2025-08-09T17:14:20.580Z,1754759660.580 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.60 m.
2025-08-09T17:14:20.986Z,1754759660.986 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-09T17:14:20.988Z,1754759660.988 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.60 m.
2025-08-09T17:14:21.235Z,1754759661.235 [DAT](DEBUG): Acoustic response timeout
2025-08-09T17:14:21.235Z,1754759661.235 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-09T17:14:21.409Z,1754759661.409 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.60 m.
2025-08-09T17:14:21.488Z,1754759661.488 [DAT](INFO): DAT read: user:445>

2025-08-09T17:14:21.488Z,1754759661.488 [DAT](INFO): DAT read: Tx time:17:14:20.8397

2025-08-09T17:14:21.489Z,1754759661.489 [DAT](INFO): Ping request sent.
2025-08-09T17:14:21.489Z,1754759661.489 [DAT](INFO): transmitted an acoustic signal
2025-08-09T17:14:21.489Z,1754759661.489 [DAT](INFO): publishing transmit ping time
2025-08-09T17:14:21.490Z,1754759661.490 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000742
2025-08-09T17:14:21.739Z,1754759661.739 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250517
2025-08-09T17:14:21.797Z,1754759661.797 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.60 m.
2025-08-09T17:14:21.991Z,1754759661.991 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502336
2025-08-09T17:14:22.238Z,1754759662.238 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.60 m.
2025-08-09T17:14:22.243Z,1754759662.243 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754520
2025-08-09T17:14:22.495Z,1754759662.495 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006521
2025-08-09T17:14:22.614Z,1754759662.614 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.60 m.
2025-08-09T17:14:22.747Z,1754759662.747 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258381
2025-08-09T17:14:22.999Z,1754759662.999 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510543
2025-08-09T17:14:23.027Z,1754759663.027 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.60 m.
2025-08-09T17:14:23.252Z,1754759663.252 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762680
2025-08-09T17:14:23.456Z,1754759663.456 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.60 m.
2025-08-09T17:14:23.505Z,1754759663.505 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.016014
2025-08-09T17:14:23.755Z,1754759663.755 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266383
2025-08-09T17:14:23.833Z,1754759663.833 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.60 m.
2025-08-09T17:14:24.007Z,1754759664.007 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518450
2025-08-09T17:14:24.269Z,1754759664.269 [DAT](INFO): DAT read: Rx Time:17:14:23.2781

2025-08-09T17:14:24.270Z,1754759664.270 [DAT](INFO): Rx dataTimestamp_ set to:1754759664.269140
2025-08-09T17:14:24.272Z,1754759664.272 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.783260
2025-08-09T17:14:24.301Z,1754759664.301 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.60 m.
2025-08-09T17:14:24.520Z,1754759664.520 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.030695
2025-08-09T17:14:24.745Z,1754759664.745 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.60 m.
2025-08-09T17:14:24.773Z,1754759664.773 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.284055
2025-08-09T17:14:25.028Z,1754759665.028 [DAT](INFO): DAT read: 17:14:23.2781 LVL= 18976, 17681, 23986, 26947, AGC= 52, IDX= 443,-0.05,-0.994,-1.353,-2.901,-1.511, PHS= 0.619, 0.202,-1.434, RAW=  41.1,   6.6, CAL=  40.0,   6.3, ROT= 110.0,  -6.3

2025-08-09T17:14:25.029Z,1754759665.029 [DAT](INFO): got valid direction response:
 17:14:23.2781 LVL= 18976, 17681, 23986, 26947, AGC= 52, IDX= 443,-0.05,-0.994,-1.353,-2.901,-1.511, PHS= 0.619, 0.202,-1.434, RAW=  41.1,   6.6, CAL=  40.0,   6.3, ROT= 110.0,  -6.3

2025-08-09T17:14:25.030Z,1754759665.030 [DAT](INFO): DAT read: Bearing 189.1,  65.9 (Local)

2025-08-09T17:14:25.031Z,1754759665.031 [DAT](INFO): Local bearing/azimuth received:
 Bearing 189.1,  65.9 (Local)

2025-08-09T17:14:25.032Z,1754759665.032 [DAT](INFO): DAT read: Range 11 to 50 : 25.6 m  (Round-trip  34.2 ms) speed  0.0 m/s

2025-08-09T17:14:25.033Z,1754759665.033 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-09T17:14:25.034Z,1754759665.034 [DAT](INFO): direction in FSK: [-0.339955,0.934018,0.109734]
2025-08-09T17:14:25.034Z,1754759665.034 [DAT](INFO): publishing direction and range info
2025-08-09T17:14:25.235Z,1754759665.235 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 25.600000 m,
      deltaT: 60.283892 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-08-09T17:14:25.237Z,1754759665.237 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 25.600000 m,
      bearing: 18.451516 deg,
      lat: 36.906103 deg,
      lon: -122.115848 deg,
      deltaT: 60.283892 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      posRepo size: 4

2025-08-09T17:14:25.238Z,1754759665.238 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.60 m.
2025-08-09T17:14:25.742Z,1754759665.742 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.60 m.
2025-08-09T17:14:26.115Z,1754759666.115 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.60 m.
2025-08-09T17:14:26.536Z,1754759666.536 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.60 m.
2025-08-09T17:14:26.940Z,1754759666.940 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.60 m.
2025-08-09T17:14:27.368Z,1754759667.368 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.60 m.
2025-08-09T17:14:27.784Z,1754759667.784 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.60 m.
2025-08-09T17:14:28.330Z,1754759668.330 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.60 m.
2025-08-09T17:14:28.599Z,1754759668.599 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.60 m.
2025-08-09T17:14:29.008Z,1754759669.008 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.60 m.
2025-08-09T17:14:29.432Z,1754759669.432 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.60 m.
2025-08-09T17:14:29.808Z,1754759669.808 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.60 m.
2025-08-09T17:14:30.198Z,1754759670.198 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.60 m.
2025-08-09T17:14:30.624Z,1754759670.624 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.60 m.
2025-08-09T17:14:30.999Z,1754759670.999 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.60 m.
2025-08-09T17:14:31.399Z,1754759671.399 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error. Device response is::TS,00021421013972,35.0,  0.0,1489.5,  0
2025-08-09T17:14:31.416Z,1754759671.416 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.60 m.
2025-08-09T17:14:31.815Z,1754759671.815 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.60 m.
2025-08-09T17:14:32.346Z,1754759672.346 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.60 m.
2025-08-09T17:14:32.742Z,1754759672.742 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.60 m.
2025-08-09T17:14:33.124Z,1754759673.124 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.60 m.
2025-08-09T17:14:33.543Z,1754759673.543 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.60 m.
2025-08-09T17:14:33.909Z,1754759673.909 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.60 m.
2025-08-09T17:14:34.375Z,1754759674.375 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.60 m.
2025-08-09T17:14:34.720Z,1754759674.720 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.60 m.
2025-08-09T17:14:35.159Z,1754759675.159 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.60 m.
2025-08-09T17:14:35.589Z,1754759675.589 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.60 m.
2025-08-09T17:14:35.959Z,1754759675.959 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.60 m.
2025-08-09T17:14:36.431Z,1754759676.431 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.60 m.
2025-08-09T17:14:36.877Z,1754759676.877 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.60 m.
2025-08-09T17:14:37.299Z,1754759677.299 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.60 m.
2025-08-09T17:14:37.724Z,1754759677.724 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.60 m.
2025-08-09T17:14:38.096Z,1754759678.096 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.60 m.
2025-08-09T17:14:38.528Z,1754759678.528 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.60 m.
2025-08-09T17:14:38.918Z,1754759678.918 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.60 m.
2025-08-09T17:14:39.336Z,1754759679.336 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.60 m.
2025-08-09T17:14:39.762Z,1754759679.762 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.60 m.
2025-08-09T17:14:40.129Z,1754759680.129 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.60 m.
2025-08-09T17:14:40.550Z,1754759680.550 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.60 m.
2025-08-09T17:14:40.930Z,1754759680.930 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.60 m.
2025-08-09T17:14:41.456Z,1754759681.456 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.60 m.
2025-08-09T17:14:41.919Z,1754759681.919 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.60 m.
2025-08-09T17:14:42.275Z,1754759682.275 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.60 m.
2025-08-09T17:14:42.696Z,1754759682.696 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.60 m.
2025-08-09T17:14:43.072Z,1754759683.072 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.60 m.
2025-08-09T17:14:43.550Z,1754759683.550 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.60 m.
2025-08-09T17:14:43.914Z,1754759683.914 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.60 m.
2025-08-09T17:14:44.323Z,1754759684.323 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.60 m.
2025-08-09T17:14:44.753Z,1754759684.753 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.60 m.
2025-08-09T17:14:45.119Z,1754759685.119 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.60 m.
2025-08-09T17:14:45.590Z,1754759685.590 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.60 m.
2025-08-09T17:14:45.954Z,1754759685.954 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.60 m.
2025-08-09T17:14:46.369Z,1754759686.369 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.60 m.
2025-08-09T17:14:46.898Z,1754759686.898 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.60 m.
2025-08-09T17:14:47.203Z,1754759687.203 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.60 m.
2025-08-09T17:14:47.617Z,1754759687.617 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.60 m.
2025-08-09T17:14:48.016Z,1754759688.016 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.60 m.
2025-08-09T17:14:48.372Z,1754759688.372 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.60 m.
2025-08-09T17:14:48.806Z,1754759688.806 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.60 m.
2025-08-09T17:14:49.180Z,1754759689.180 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.60 m.
2025-08-09T17:14:49.634Z,1754759689.634 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.60 m.
2025-08-09T17:14:49.988Z,1754759689.988 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.60 m.
2025-08-09T17:14:50.401Z,1754759690.401 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.60 m.
2025-08-09T17:14:50.822Z,1754759690.822 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.60 m.
2025-08-09T17:14:51.198Z,1754759691.198 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.60 m.
2025-08-09T17:14:51.659Z,1754759691.659 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.60 m.
2025-08-09T17:14:52.016Z,1754759692.016 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.60 m.
2025-08-09T17:14:52.427Z,1754759692.427 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.60 m.
2025-08-09T17:14:52.856Z,1754759692.856 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.60 m.
2025-08-09T17:14:53.229Z,1754759693.229 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.60 m.
2025-08-09T17:14:53.686Z,1754759693.686 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.60 m.
2025-08-09T17:14:54.044Z,1754759694.044 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.60 m.
2025-08-09T17:14:54.486Z,1754759694.486 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.60 m.
2025-08-09T17:14:54.896Z,1754759694.896 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.60 m.
2025-08-09T17:14:55.268Z,1754759695.268 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.60 m.
2025-08-09T17:14:55.744Z,1754759695.744 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.60 m.
2025-08-09T17:14:56.048Z,1754759696.048 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.60 m.
2025-08-09T17:14:56.453Z,1754759696.453 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.60 m.
2025-08-09T17:14:56.897Z,1754759696.897 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.60 m.
2025-08-09T17:14:57.282Z,1754759697.282 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.60 m.
2025-08-09T17:14:57.756Z,1754759697.756 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.60 m.
2025-08-09T17:14:58.132Z,1754759698.132 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.60 m.
2025-08-09T17:14:58.533Z,1754759698.533 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.60 m.
2025-08-09T17:14:58.954Z,1754759698.954 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.60 m.
2025-08-09T17:14:59.333Z,1754759699.333 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.60 m.
2025-08-09T17:14:59.783Z,1754759699.783 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.60 m.
2025-08-09T17:15:00.158Z,1754759700.158 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.60 m.
2025-08-09T17:15:00.568Z,1754759700.568 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.60 m.
2025-08-09T17:15:01.038Z,1754759701.038 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.60 m.
2025-08-09T17:15:01.365Z,1754759701.365 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.60 m.
2025-08-09T17:15:01.823Z,1754759701.823 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.60 m.
2025-08-09T17:15:02.179Z,1754759702.179 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.60 m.
2025-08-09T17:15:02.586Z,1754759702.586 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.60 m.
2025-08-09T17:15:03.002Z,1754759703.002 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.60 m.
2025-08-09T17:15:03.374Z,1754759703.374 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.60 m.
2025-08-09T17:15:03.849Z,1754759703.849 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.60 m.
2025-08-09T17:15:04.211Z,1754759704.211 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.60 m.
2025-08-09T17:15:04.591Z,1754759704.591 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.60 m.
2025-08-09T17:15:05.008Z,1754759705.008 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.60 m.
2025-08-09T17:15:05.397Z,1754759705.397 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.60 m.
2025-08-09T17:15:05.885Z,1754759705.885 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.60 m.
2025-08-09T17:15:06.294Z,1754759706.294 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.60 m.
2025-08-09T17:15:06.693Z,1754759706.693 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.60 m.
2025-08-09T17:15:07.128Z,1754759707.128 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.60 m.
2025-08-09T17:15:07.580Z,1754759707.580 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.60 m.
2025-08-09T17:15:08.016Z,1754759708.016 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.60 m.
2025-08-09T17:15:08.422Z,1754759708.422 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.60 m.
2025-08-09T17:15:08.884Z,1754759708.884 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.60 m.
2025-08-09T17:15:09.259Z,1754759709.259 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.60 m.
2025-08-09T17:15:09.624Z,1754759709.624 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.60 m.
2025-08-09T17:15:10.042Z,1754759710.042 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.60 m.
2025-08-09T17:15:10.419Z,1754759710.419 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.60 m.
2025-08-09T17:15:10.826Z,1754759710.826 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.60 m.
2025-08-09T17:15:11.301Z,1754759711.301 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.60 m.
2025-08-09T17:15:11.668Z,1754759711.668 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.60 m.
2025-08-09T17:15:12.079Z,1754759712.079 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.60 m.
2025-08-09T17:15:12.484Z,1754759712.484 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.60 m.
2025-08-09T17:15:12.977Z,1754759712.977 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.60 m.
2025-08-09T17:15:13.429Z,1754759713.429 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.60 m.
2025-08-09T17:15:13.837Z,1754759713.837 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.60 m.
2025-08-09T17:15:14.273Z,1754759714.273 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.60 m.
2025-08-09T17:15:14.680Z,1754759714.680 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.60 m.
2025-08-09T17:15:15.096Z,1754759715.096 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.60 m.
2025-08-09T17:15:15.534Z,1754759715.534 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.60 m.
2025-08-09T17:15:16.009Z,1754759716.009 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.60 m.
2025-08-09T17:15:16.354Z,1754759716.354 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.60 m.
2025-08-09T17:15:16.767Z,1754759716.767 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.60 m.
2025-08-09T17:15:17.180Z,1754759717.180 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.60 m.
2025-08-09T17:15:17.549Z,1754759717.549 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.60 m.
2025-08-09T17:15:18.009Z,1754759718.009 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.60 m.
2025-08-09T17:15:18.381Z,1754759718.381 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.60 m.
2025-08-09T17:15:18.759Z,1754759718.759 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.60 m.
2025-08-09T17:15:19.213Z,1754759719.213 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.60 m.
2025-08-09T17:15:19.214Z,1754759719.214 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Resuming propulsion at range: 25.60 m and bearing: 21.156403 deg. Not drifting fast enough.
2025-08-09T17:15:19.582Z,1754759719.582 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.60 m.
2025-08-09T17:15:19.584Z,1754759719.584 [lineCaptureHoming:LineCapture:HoldBuoyancy] Running Loop=1
2025-08-09T17:15:19.584Z,1754759719.584 [lineCaptureHoming:LineCapture:HoldBuoyancy](DEBUG): Aggregate::initialize lineCaptureHoming:LineCapture:HoldBuoyancy
2025-08-09T17:15:19.584Z,1754759719.584 [lineCaptureHoming:LineCapture:HoldBuoyancy:A.Buoyancy] Running Loop=1
2025-08-09T17:15:19.584Z,1754759719.584 [lineCaptureHoming:LineCapture:HoldBuoyancy:A.Buoyancy](DEBUG): Initialize Buoyancy Component.
2025-08-09T17:15:20.040Z,1754759720.040 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.60 m.
2025-08-09T17:15:20.437Z,1754759720.437 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.60 m.
2025-08-09T17:15:20.927Z,1754759720.927 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.60 m.
2025-08-09T17:15:21.363Z,1754759721.363 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-09T17:15:21.365Z,1754759721.365 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.60 m.
2025-08-09T17:15:21.487Z,1754759721.487 [DAT](DEBUG): Acoustic response timeout
2025-08-09T17:15:21.487Z,1754759721.487 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-09T17:15:21.739Z,1754759721.739 [DAT](INFO): DAT read: user:446>

2025-08-09T17:15:21.740Z,1754759721.740 [DAT](INFO): DAT read: Tx time:17:15:21.0878

2025-08-09T17:15:21.740Z,1754759721.740 [DAT](INFO): Ping request sent.
2025-08-09T17:15:21.740Z,1754759721.740 [DAT](INFO): transmitted an acoustic signal
2025-08-09T17:15:21.740Z,1754759721.740 [DAT](INFO): publishing transmit ping time
2025-08-09T17:15:21.741Z,1754759721.741 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000740
2025-08-09T17:15:21.809Z,1754759721.809 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.60 m.
2025-08-09T17:15:21.994Z,1754759721.994 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.253015
2025-08-09T17:15:22.214Z,1754759722.214 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.60 m.
2025-08-09T17:15:22.243Z,1754759722.243 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.503016
2025-08-09T17:15:22.495Z,1754759722.495 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.755016
2025-08-09T17:15:22.577Z,1754759722.577 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.60 m.
2025-08-09T17:15:22.747Z,1754759722.747 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006821
2025-08-09T17:15:22.989Z,1754759722.989 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.60 m.
2025-08-09T17:15:23.019Z,1754759723.019 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.261650
2025-08-09T17:15:23.252Z,1754759723.252 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.511484
2025-08-09T17:15:23.484Z,1754759723.484 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.60 m.
2025-08-09T17:15:23.503Z,1754759723.503 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762857
2025-08-09T17:15:23.756Z,1754759723.756 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.015491
2025-08-09T17:15:23.885Z,1754759723.885 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.60 m.
2025-08-09T17:15:24.008Z,1754759724.008 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.267617
2025-08-09T17:15:24.259Z,1754759724.259 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518945
2025-08-09T17:15:24.303Z,1754759724.303 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.60 m.
2025-08-09T17:15:24.511Z,1754759724.511 [DAT](INFO): DAT read: Rx Time:17:15:23.5247

2025-08-09T17:15:24.512Z,1754759724.512 [DAT](INFO): Rx dataTimestamp_ set to:1754759724.511675
2025-08-09T17:15:24.512Z,1754759724.512 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.772151
2025-08-09T17:15:24.708Z,1754759724.708 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.60 m.
2025-08-09T17:15:24.764Z,1754759724.764 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.023752
2025-08-09T17:15:25.016Z,1754759725.016 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.275132
2025-08-09T17:15:25.166Z,1754759725.166 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.60 m.
2025-08-09T17:15:25.276Z,1754759725.276 [DAT](INFO): DAT read: 17:15:23.5247 LVL= 15664, 24769, 26498, 32339, AGC= 55, IDX= 427, 0.14, 1.063,-0.675,-0.670, 0.121, PHS= 1.044,-0.751,-0.835, RAW=  87.7,   6.0, CAL=  87.0,   4.1, ROT=  63.0,  -4.1

2025-08-09T17:15:25.277Z,1754759725.277 [DAT](INFO): got valid direction response:
 17:15:23.5247 LVL= 15664, 24769, 26498, 32339, AGC= 55, IDX= 427, 0.14, 1.063,-0.675,-0.670, 0.121, PHS= 1.044,-0.751,-0.835, RAW=  87.7,   6.0, CAL=  87.0,   4.1, ROT=  63.0,  -4.1

2025-08-09T17:15:25.282Z,1754759725.282 [DAT](INFO): DAT read: Bearing  89.2,  66.5 (Local)

2025-08-09T17:15:25.282Z,1754759725.282 [DAT](INFO): Local bearing/azimuth received:
 Bearing  89.2,  66.5 (Local)

2025-08-09T17:15:25.283Z,1754759725.283 [DAT](INFO): DAT read: Range 11 to 50 : 24.5 m  (Round-trip  32.7 ms) speed  0.0 m/s

2025-08-09T17:15:25.284Z,1754759725.284 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-09T17:15:25.285Z,1754759725.285 [DAT](INFO): direction in FSK: [0.452829,0.888726,0.071497]
2025-08-09T17:15:25.285Z,1754759725.285 [DAT](INFO): publishing direction and range info
2025-08-09T17:15:25.510Z,1754759725.510 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 24.500000 m,
      deltaT: 60.245047 s,
      deltaX: -1.100000 m,
      approachRate: -0.018259 m/s,
      rangeRepo size: 4

2025-08-09T17:15:25.512Z,1754759725.512 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 24.500000 m,
      bearing: 21.097501 deg,
      lat: 36.906103 deg,
      lon: -122.115848 deg,
      deltaT: 60.245047 s,
      deltaX: -1.100000 m,
      approachRate: -0.018259 m/s,
      posRepo size: 4

2025-08-09T17:15:25.513Z,1754759725.513 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.50 m.
2025-08-09T17:15:25.904Z,1754759725.904 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.50 m.
2025-08-09T17:15:26.337Z,1754759726.337 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.50 m.
2025-08-09T17:15:26.755Z,1754759726.755 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.50 m.
2025-08-09T17:15:27.216Z,1754759727.216 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.50 m.
2025-08-09T17:15:27.560Z,1754759727.560 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.50 m.
2025-08-09T17:15:27.954Z,1754759727.954 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.50 m.
2025-08-09T17:15:28.377Z,1754759728.377 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.50 m.
2025-08-09T17:15:28.762Z,1754759728.762 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.50 m.
2025-08-09T17:15:29.245Z,1754759729.245 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.50 m.
2025-08-09T17:15:29.720Z,1754759729.720 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.50 m.
2025-08-09T17:15:30.384Z,1754759730.384 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.50 m.
2025-08-09T17:15:30.719Z,1754759730.719 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.50 m.
2025-08-09T17:15:31.116Z,1754759731.116 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.50 m.
2025-08-09T17:15:31.550Z,1754759731.550 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.50 m.
2025-08-09T17:15:31.934Z,1754759731.934 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.50 m.
2025-08-09T17:15:32.447Z,1754759732.447 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.50 m.
2025-08-09T17:15:32.807Z,1754759732.807 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.50 m.
2025-08-09T17:15:33.278Z,1754759733.278 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.50 m.
2025-08-09T17:15:33.641Z,1754759733.641 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.50 m.
2025-08-09T17:15:34.092Z,1754759734.092 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.50 m.
2025-08-09T17:15:34.477Z,1754759734.477 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.50 m.
2025-08-09T17:15:34.879Z,1754759734.879 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.50 m.
2025-08-09T17:15:35.309Z,1754759735.309 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.50 m.
2025-08-09T17:15:35.677Z,1754759735.677 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.50 m.
2025-08-09T17:15:36.070Z,1754759736.070 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.50 m.
2025-08-09T17:15:36.502Z,1754759736.502 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.50 m.
2025-08-09T17:15:36.901Z,1754759736.901 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.50 m.
2025-08-09T17:15:37.394Z,1754759737.394 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.50 m.
2025-08-09T17:15:37.769Z,1754759737.769 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.50 m.
2025-08-09T17:15:38.273Z,1754759738.273 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.50 m.
2025-08-09T17:15:38.684Z,1754759738.684 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.50 m.
2025-08-09T17:15:39.048Z,1754759739.048 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.50 m.
2025-08-09T17:15:39.477Z,1754759739.477 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.50 m.
2025-08-09T17:15:39.852Z,1754759739.852 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.50 m.
2025-08-09T17:15:40.251Z,1754759740.251 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.50 m.
2025-08-09T17:15:40.703Z,1754759740.703 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.50 m.
2025-08-09T17:15:41.064Z,1754759741.064 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.50 m.
2025-08-09T17:15:41.491Z,1754759741.491 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.50 m.
2025-08-09T17:15:41.867Z,1754759741.867 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.50 m.
2025-08-09T17:15:42.265Z,1754759742.265 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.50 m.
2025-08-09T17:15:42.697Z,1754759742.697 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.50 m.
2025-08-09T17:15:43.089Z,1754759743.089 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.50 m.
2025-08-09T17:15:43.520Z,1754759743.520 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.50 m.
2025-08-09T17:15:43.889Z,1754759743.889 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.50 m.
2025-08-09T17:15:44.289Z,1754759744.289 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.50 m.
2025-08-09T17:15:44.779Z,1754759744.779 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.50 m.
2025-08-09T17:15:45.098Z,1754759745.098 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.50 m.
2025-08-09T17:15:45.551Z,1754759745.551 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.50 m.
2025-08-09T17:15:45.922Z,1754759745.922 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.50 m.
2025-08-09T17:15:46.325Z,1754759746.325 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.50 m.
2025-08-09T17:15:46.751Z,1754759746.751 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.50 m.
2025-08-09T17:15:47.113Z,1754759747.113 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.50 m.
2025-08-09T17:15:47.547Z,1754759747.547 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.50 m.
2025-08-09T17:15:47.934Z,1754759747.934 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.50 m.
2025-08-09T17:15:48.323Z,1754759748.323 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.50 m.
2025-08-09T17:15:48.748Z,1754759748.748 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.50 m.
2025-08-09T17:15:49.150Z,1754759749.150 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.50 m.
2025-08-09T17:15:49.569Z,1754759749.569 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.50 m.
2025-08-09T17:15:49.940Z,1754759749.940 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.50 m.
2025-08-09T17:15:50.344Z,1754759750.344 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.50 m.
2025-08-09T17:15:50.778Z,1754759750.778 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.50 m.
2025-08-09T17:15:51.169Z,1754759751.169 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.50 m.
2025-08-09T17:15:51.601Z,1754759751.601 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.50 m.
2025-08-09T17:15:51.961Z,1754759751.961 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.50 m.
2025-08-09T17:15:52.369Z,1754759752.369 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.50 m.
2025-08-09T17:15:52.804Z,1754759752.804 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.50 m.
2025-08-09T17:15:53.183Z,1754759753.183 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.50 m.
2025-08-09T17:15:53.613Z,1754759753.613 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.50 m.
2025-08-09T17:15:53.979Z,1754759753.979 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.50 m.
2025-08-09T17:15:54.385Z,1754759754.385 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.50 m.
2025-08-09T17:15:54.822Z,1754759754.822 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.50 m.
2025-08-09T17:15:55.191Z,1754759755.191 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.50 m.
2025-08-09T17:15:55.663Z,1754759755.663 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.50 m.
2025-08-09T17:15:56.001Z,1754759756.001 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.50 m.
2025-08-09T17:15:56.412Z,1754759756.412 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.50 m.
2025-08-09T17:15:56.845Z,1754759756.845 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.50 m.
2025-08-09T17:15:57.241Z,1754759757.241 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.50 m.
2025-08-09T17:15:57.668Z,1754759757.668 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.50 m.
2025-08-09T17:15:58.032Z,1754759758.032 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.50 m.
2025-08-09T17:15:58.423Z,1754759758.423 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.50 m.
2025-08-09T17:15:58.876Z,1754759758.876 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.50 m.
2025-08-09T17:15:59.299Z,1754759759.299 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.50 m.
2025-08-09T17:15:59.701Z,1754759759.701 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.50 m.
2025-08-09T17:16:00.063Z,1754759760.063 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.50 m.
2025-08-09T17:16:00.481Z,1754759760.481 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.50 m.
2025-08-09T17:16:00.899Z,1754759760.899 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.50 m.
2025-08-09T17:16:01.261Z,1754759761.261 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.50 m.
2025-08-09T17:16:01.703Z,1754759761.703 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.50 m.
2025-08-09T17:16:02.059Z,1754759762.059 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.50 m.
2025-08-09T17:16:02.464Z,1754759762.464 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.50 m.
2025-08-09T17:16:03.037Z,1754759763.037 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.50 m.
2025-08-09T17:16:03.294Z,1754759763.294 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.50 m.
2025-08-09T17:16:03.732Z,1754759763.732 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.50 m.
2025-08-09T17:16:04.080Z,1754759764.080 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.50 m.
2025-08-09T17:16:04.492Z,1754759764.492 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.50 m.
2025-08-09T17:16:04.917Z,1754759764.917 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.50 m.
2025-08-09T17:16:05.292Z,1754759765.292 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.50 m.
2025-08-09T17:16:05.762Z,1754759765.762 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.50 m.
2025-08-09T17:16:06.122Z,1754759766.122 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.50 m.
2025-08-09T17:16:06.504Z,1754759766.504 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.50 m.
2025-08-09T17:16:06.947Z,1754759766.947 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.50 m.
2025-08-09T17:16:07.311Z,1754759767.311 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.50 m.
2025-08-09T17:16:07.787Z,1754759767.787 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.50 m.
2025-08-09T17:16:08.137Z,1754759768.137 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.50 m.
2025-08-09T17:16:08.526Z,1754759768.526 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.50 m.
2025-08-09T17:16:08.950Z,1754759768.950 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.50 m.
2025-08-09T17:16:09.343Z,1754759769.343 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.50 m.
2025-08-09T17:16:09.819Z,1754759769.819 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.50 m.
2025-08-09T17:16:10.139Z,1754759770.139 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.50 m.
2025-08-09T17:16:10.545Z,1754759770.545 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.50 m.
2025-08-09T17:16:10.975Z,1754759770.975 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.50 m.
2025-08-09T17:16:11.352Z,1754759771.352 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.50 m.
2025-08-09T17:16:11.870Z,1754759771.870 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.50 m.
2025-08-09T17:16:12.165Z,1754759772.165 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.50 m.
2025-08-09T17:16:12.637Z,1754759772.637 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.50 m.
2025-08-09T17:16:13.052Z,1754759773.052 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.50 m.
2025-08-09T17:16:13.392Z,1754759773.392 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.50 m.
2025-08-09T17:16:13.856Z,1754759773.856 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.50 m.
2025-08-09T17:16:14.218Z,1754759774.218 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.50 m.
2025-08-09T17:16:14.601Z,1754759774.601 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.50 m.
2025-08-09T17:16:15.014Z,1754759775.014 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.50 m.
2025-08-09T17:16:15.410Z,1754759775.410 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.50 m.
2025-08-09T17:16:15.867Z,1754759775.867 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.50 m.
2025-08-09T17:16:16.246Z,1754759776.246 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.50 m.
2025-08-09T17:16:16.618Z,1754759776.618 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.50 m.
2025-08-09T17:16:17.045Z,1754759777.045 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.50 m.
2025-08-09T17:16:17.428Z,1754759777.428 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.50 m.
2025-08-09T17:16:17.894Z,1754759777.894 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.50 m.
2025-08-09T17:16:18.245Z,1754759778.245 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.50 m.
2025-08-09T17:16:18.638Z,1754759778.638 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.50 m.
2025-08-09T17:16:19.069Z,1754759779.069 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.50 m.
2025-08-09T17:16:19.436Z,1754759779.436 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.50 m.
2025-08-09T17:16:19.851Z,1754759779.851 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.50 m.
2025-08-09T17:16:20.272Z,1754759780.272 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.50 m.
2025-08-09T17:16:20.642Z,1754759780.642 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.50 m.
2025-08-09T17:16:21.097Z,1754759781.097 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.50 m.
2025-08-09T17:16:21.451Z,1754759781.451 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-09T17:16:21.453Z,1754759781.453 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.50 m.
2025-08-09T17:16:21.524Z,1754759781.524 [DAT](DEBUG): Acoustic response timeout
2025-08-09T17:16:21.525Z,1754759781.525 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-09T17:16:21.775Z,1754759781.775 [DAT](INFO): DAT read: user:447>

2025-08-09T17:16:21.776Z,1754759781.776 [DAT](INFO): DAT read: Tx time:17:16:21.1376

2025-08-09T17:16:21.776Z,1754759781.776 [DAT](INFO): Ping request sent.
2025-08-09T17:16:21.776Z,1754759781.776 [DAT](INFO): transmitted an acoustic signal
2025-08-09T17:16:21.776Z,1754759781.776 [DAT](INFO): publishing transmit ping time
2025-08-09T17:16:21.777Z,1754759781.777 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000748
2025-08-09T17:16:21.937Z,1754759781.937 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.50 m.
2025-08-09T17:16:22.028Z,1754759782.028 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.252186
2025-08-09T17:16:22.279Z,1754759782.279 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.503096
2025-08-09T17:16:22.298Z,1754759782.298 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.50 m.
2025-08-09T17:16:22.531Z,1754759782.531 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754969
2025-08-09T17:16:22.668Z,1754759782.668 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.50 m.
2025-08-09T17:16:22.784Z,1754759782.784 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.008170
2025-08-09T17:16:23.035Z,1754759783.035 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.259027
2025-08-09T17:16:23.123Z,1754759783.123 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.50 m.
2025-08-09T17:16:23.287Z,1754759783.287 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510965
2025-08-09T17:16:23.487Z,1754759783.487 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.50 m.
2025-08-09T17:16:23.540Z,1754759783.540 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.763731
2025-08-09T17:16:23.792Z,1754759783.792 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.015543
2025-08-09T17:16:23.924Z,1754759783.924 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.50 m.
2025-08-09T17:16:24.043Z,1754759784.043 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266902
2025-08-09T17:16:24.295Z,1754759784.295 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.519065
2025-08-09T17:16:24.313Z,1754759784.313 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.50 m.
2025-08-09T17:16:24.549Z,1754759784.549 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.772020
2025-08-09T17:16:24.704Z,1754759784.704 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.50 m.
2025-08-09T17:16:24.800Z,1754759784.800 [DAT](INFO): DAT read: Rx Time:17:16:23.5901

2025-08-09T17:16:24.801Z,1754759784.801 [DAT](INFO): Rx dataTimestamp_ set to:1754759784.800120
2025-08-09T17:16:24.801Z,1754759784.801 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.024993
2025-08-09T17:16:25.053Z,1754759785.053 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.276614
2025-08-09T17:16:25.179Z,1754759785.179 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.50 m.
2025-08-09T17:16:25.312Z,1754759785.312 [DAT](INFO): DAT read: 17:16:23.5901 LVL= 32752, 17985, 27106, 31299, AGC= 62, IDX=  91,-0.40, 2.283,-1.862,-2.887,-2.791, PHS=-1.106, 0.975,-0.139, RAW= 302.3,   3.0, CAL= 300.1,  -0.8, ROT= 209.9,   0.8

2025-08-09T17:16:25.313Z,1754759785.313 [DAT](INFO): got valid direction response:
 17:16:23.5901 LVL= 32752, 17985, 27106, 31299, AGC= 62, IDX=  91,-0.40, 2.283,-1.862,-2.887,-2.791, PHS=-1.106, 0.975,-0.139, RAW= 302.3,   3.0, CAL= 300.1,  -0.8, ROT= 209.9,   0.8

2025-08-09T17:16:25.314Z,1754759785.314 [DAT](INFO): DAT read: Bearing 161.1, -35.3 (Local)

2025-08-09T17:16:25.314Z,1754759785.314 [DAT](INFO): Local bearing/azimuth received:
 Bearing 161.1, -35.3 (Local)

2025-08-09T17:16:25.316Z,1754759785.316 [DAT](INFO): DAT read: Range 11 to 50 : 36.2 m  (Round-trip  48.3 ms) speed -0.4 m/s

2025-08-09T17:16:25.316Z,1754759785.316 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-09T17:16:25.317Z,1754759785.317 [DAT](INFO): direction in FSK: [-0.866812,-0.498439,-0.013962]
2025-08-09T17:16:25.318Z,1754759785.318 [DAT](INFO): publishing direction and range info
2025-08-09T17:16:25.512Z,1754759785.512 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 36.200001 m,
      deltaT: 60.035016 s,
      deltaX: 11.700001 m,
      approachRate: 0.194886 m/s,
      rangeRepo size: 4

2025-08-09T17:16:25.514Z,1754759785.514 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 36.200001 m,
      bearing: 51.712559 deg,
      lat: 36.906105 deg,
      lon: -122.115889 deg,
      deltaT: 60.035016 s,
      deltaX: 11.700001 m,
      approachRate: 0.194886 m/s,
      posRepo size: 4

2025-08-09T17:16:25.515Z,1754759785.515 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 36.20 m.
2025-08-09T17:16:26.020Z,1754759786.020 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 36.20 m.
2025-08-09T17:16:26.389Z,1754759786.389 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 36.20 m.
2025-08-09T17:16:26.720Z,1754759786.720 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 36.20 m.
2025-08-09T17:16:27.150Z,1754759787.150 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 36.20 m.
2025-08-09T17:16:27.515Z,1754759787.515 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 36.20 m.
2025-08-09T17:16:27.993Z,1754759787.993 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 36.20 m.
2025-08-09T17:16:28.355Z,1754759788.355 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 36.20 m.
2025-08-09T17:16:28.727Z,1754759788.727 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 36.20 m.
2025-08-09T17:16:29.171Z,1754759789.171 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 36.20 m.
2025-08-09T17:16:29.537Z,1754759789.537 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 36.20 m.
2025-08-09T17:16:29.953Z,1754759789.953 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 36.20 m.
2025-08-09T17:16:30.373Z,1754759790.373 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 36.20 m.
2025-08-09T17:16:30.748Z,1754759790.748 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 36.20 m.
2025-08-09T17:16:31.172Z,1754759791.172 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 36.20 m.
2025-08-09T17:16:31.575Z,1754759791.575 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 36.20 m.
2025-08-09T17:16:31.959Z,1754759791.959 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 36.20 m.
2025-08-09T17:16:32.414Z,1754759792.414 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 36.20 m.
2025-08-09T17:16:32.769Z,1754759792.769 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 36.20 m.
2025-08-09T17:16:33.240Z,1754759793.240 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 36.20 m.
2025-08-09T17:16:33.616Z,1754759793.616 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 36.20 m.
2025-08-09T17:16:34.141Z,1754759794.141 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 36.20 m.
2025-08-09T17:16:34.509Z,1754759794.509 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 36.20 m.
2025-08-09T17:16:34.901Z,1754759794.901 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 36.20 m.
2025-08-09T17:16:35.322Z,1754759795.322 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 36.20 m.
2025-08-09T17:16:35.786Z,1754759795.786 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 36.20 m.
2025-08-09T17:16:36.223Z,1754759796.223 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 36.20 m.
2025-08-09T17:16:36.228Z,1754759796.228 [lineCaptureHoming:LineCapture:StandardEnvelopes:A.AltitudeEnvelope](IMPORTANT): Altitude envelope ACTIVE. Altitude:3.950000m. At depth:67.413193m.
2025-08-09T17:16:36.230Z,1754759796.230 [lineCaptureHoming:StandardEnvelopes:A.AltitudeEnvelope](IMPORTANT): Altitude envelope ACTIVE. Altitude:3.950000m. At depth:67.413193m.
2025-08-09T17:16:36.683Z,1754759796.683 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 36.20 m.
2025-08-09T17:16:37.104Z,1754759797.104 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 36.20 m.
2025-08-09T17:16:37.512Z,1754759797.512 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 36.20 m.
2025-08-09T17:16:37.943Z,1754759797.943 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 36.20 m.
2025-08-09T17:16:38.606Z,1754759798.606 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 36.20 m.
2025-08-09T17:16:39.073Z,1754759799.073 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 36.20 m.
2025-08-09T17:16:39.492Z,1754759799.492 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 36.20 m.
2025-08-09T17:16:39.877Z,1754759799.877 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 36.20 m.
2025-08-09T17:16:40.302Z,1754759800.302 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 36.20 m.
2025-08-09T17:16:40.676Z,1754759800.676 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 36.20 m.
2025-08-09T17:16:41.090Z,1754759801.090 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 36.20 m.
2025-08-09T17:16:41.622Z,1754759801.622 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 36.20 m.
2025-08-09T17:16:42.105Z,1754759802.105 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 36.20 m.
2025-08-09T17:16:42.564Z,1754759802.564 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 36.20 m.
2025-08-09T17:16:43.054Z,1754759803.054 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 36.20 m.
2025-08-09T17:16:43.461Z,1754759803.461 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 36.20 m.
2025-08-09T17:16:43.965Z,1754759803.965 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 36.20 m.
2025-08-09T17:16:44.382Z,1754759804.382 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 36.20 m.
2025-08-09T17:16:44.872Z,1754759804.872 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 36.20 m.
2025-08-09T17:16:45.333Z,1754759805.333 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 36.20 m.
2025-08-09T17:16:45.805Z,1754759805.805 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 36.20 m.
2025-08-09T17:16:46.210Z,1754759806.210 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 36.20 m.
2025-08-09T17:16:46.641Z,1754759806.641 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 36.20 m.
2025-08-09T17:16:47.060Z,1754759807.060 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 36.20 m.
2025-08-09T17:16:47.597Z,1754759807.597 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 36.20 m.
2025-08-09T17:16:47.965Z,1754759807.965 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 36.20 m.
2025-08-09T17:16:48.477Z,1754759808.477 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 36.20 m.
2025-08-09T17:16:48.944Z,1754759808.944 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 36.20 m.
2025-08-09T17:16:49.386Z,1754759809.386 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 36.20 m.
2025-08-09T17:16:49.761Z,1754759809.761 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 36.20 m.
2025-08-09T17:16:50.164Z,1754759810.164 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 36.20 m.
2025-08-09T17:16:50.695Z,1754759810.695 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 36.20 m.
2025-08-09T17:16:51.184Z,1754759811.184 [ElevatorOffsetCalculator](INFO): New estimator for commanded vars: speed 0.80 m/s, pitch 30.00 deg, mass-position 20.71 mm (3 active estimators).
2025-08-09T17:16:51.193Z,1754759811.193 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 36.20 m.
2025-08-09T17:16:51.823Z,1754759811.823 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 36.20 m.
2025-08-09T17:16:52.269Z,1754759812.269 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 36.20 m.
2025-08-09T17:16:52.696Z,1754759812.696 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 36.20 m.
2025-08-09T17:16:53.109Z,1754759813.109 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 36.20 m.
2025-08-09T17:16:53.609Z,1754759813.609 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 36.20 m.
2025-08-09T17:16:54.032Z,1754759814.032 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 36.20 m.
2025-08-09T17:16:54.591Z,1754759814.591 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 36.20 m.
2025-08-09T17:16:55.072Z,1754759815.072 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 36.20 m.
2025-08-09T17:16:55.489Z,1754759815.489 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 36.20 m.
2025-08-09T17:16:55.896Z,1754759815.896 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 36.20 m.
2025-08-09T17:16:56.268Z,1754759816.268 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 36.20 m.
2025-08-09T17:16:56.695Z,1754759816.695 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 36.20 m.
2025-08-09T17:16:57.164Z,1754759817.164 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 36.20 m.
2025-08-09T17:16:57.621Z,1754759817.621 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 36.20 m.
2025-08-09T17:16:58.116Z,1754759818.116 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 36.20 m.
2025-08-09T17:16:58.555Z,1754759818.555 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 36.20 m.
2025-08-09T17:16:58.916Z,1754759818.916 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 36.20 m.
2025-08-09T17:16:59.328Z,1754759819.328 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 36.20 m.
2025-08-09T17:16:59.752Z,1754759819.752 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 36.20 m.
2025-08-09T17:17:00.152Z,1754759820.152 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 36.20 m.
2025-08-09T17:17:00.593Z,1754759820.593 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 36.20 m.
2025-08-09T17:17:00.958Z,1754759820.958 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 36.20 m.
2025-08-09T17:17:01.375Z,1754759821.375 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 36.20 m.
2025-08-09T17:17:01.785Z,1754759821.785 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 36.20 m.
2025-08-09T17:17:02.178Z,1754759822.178 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 36.20 m.
2025-08-09T17:17:02.597Z,1754759822.597 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 36.20 m.
2025-08-09T17:17:02.960Z,1754759822.960 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 36.20 m.
2025-08-09T17:17:03.423Z,1754759823.423 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 36.20 m.
2025-08-09T17:17:03.897Z,1754759823.897 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 36.20 m.
2025-08-09T17:17:04.295Z,1754759824.295 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 36.20 m.
2025-08-09T17:17:04.813Z,1754759824.813 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 36.20 m.
2025-08-09T17:17:05.336Z,1754759825.336 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 36.20 m.
2025-08-09T17:17:05.725Z,1754759825.725 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 36.20 m.
2025-08-09T17:17:06.117Z,1754759826.117 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 36.20 m.
2025-08-09T17:17:06.699Z,1754759826.699 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 36.20 m.
2025-08-09T17:17:07.130Z,1754759827.130 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 36.20 m.
2025-08-09T17:17:07.539Z,1754759827.539 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 36.20 m.
2025-08-09T17:17:08.050Z,1754759828.050 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 36.20 m.
2025-08-09T17:17:08.424Z,1754759828.424 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 36.20 m.
2025-08-09T17:17:08.885Z,1754759828.885 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 36.20 m.
2025-08-09T17:17:09.241Z,1754759829.241 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 36.20 m.
2025-08-09T17:17:09.686Z,1754759829.686 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 36.20 m.
2025-08-09T17:17:10.041Z,1754759830.041 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 36.20 m.
2025-08-09T17:17:10.445Z,1754759830.445 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 36.20 m.
2025-08-09T17:17:10.884Z,1754759830.884 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 36.20 m.
2025-08-09T17:17:11.275Z,1754759831.275 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 36.20 m.
2025-08-09T17:17:11.729Z,1754759831.729 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 36.20 m.
2025-08-09T17:17:12.229Z,1754759832.229 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 36.20 m.
2025-08-09T17:17:12.620Z,1754759832.620 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 36.20 m.
2025-08-09T17:17:13.185Z,1754759833.185 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 36.20 m.
2025-08-09T17:17:13.566Z,1754759833.566 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 36.20 m.
2025-08-09T17:17:14.057Z,1754759834.057 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 36.20 m.
2025-08-09T17:17:14.425Z,1754759834.425 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 36.20 m.
2025-08-09T17:17:14.865Z,1754759834.865 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 36.20 m.
2025-08-09T17:17:15.231Z,1754759835.231 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 36.20 m.
2025-08-09T17:17:15.800Z,1754759835.800 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 36.20 m.
2025-08-09T17:17:16.291Z,1754759836.291 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 36.20 m.
2025-08-09T17:17:16.808Z,1754759836.808 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 36.20 m.
2025-08-09T17:17:17.128Z,1754759837.128 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 36.20 m.
2025-08-09T17:17:17.530Z,1754759837.530 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 36.20 m.
2025-08-09T17:17:18.034Z,1754759838.034 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 36.20 m.
2025-08-09T17:17:18.561Z,1754759838.561 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 36.20 m.
2025-08-09T17:17:18.953Z,1754759838.953 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 36.20 m.
2025-08-09T17:17:19.389Z,1754759839.389 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 36.20 m.
2025-08-09T17:17:19.880Z,1754759839.880 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 36.20 m.
2025-08-09T17:17:20.216Z,1754759840.216 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 36.20 m.
2025-08-09T17:17:20.610Z,1754759840.610 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 36.20 m.
2025-08-09T17:17:21.036Z,1754759841.036 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 36.20 m.
2025-08-09T17:17:21.430Z,1754759841.430 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 36.20 m.
2025-08-09T17:17:21.904Z,1754759841.904 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-09T17:17:21.910Z,1754759841.910 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 36.20 m.
2025-08-09T17:17:22.047Z,1754759842.047 [DAT](DEBUG): Acoustic response timeout
2025-08-09T17:17:22.047Z,1754759842.047 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-09T17:17:22.231Z,1754759842.231 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 36.20 m.
2025-08-09T17:17:22.299Z,1754759842.299 [DAT](INFO): DAT read: user:448>

2025-08-09T17:17:22.300Z,1754759842.300 [DAT](INFO): DAT read: Tx time:17:17:21.6875

2025-08-09T17:17:22.300Z,1754759842.300 [DAT](INFO): Ping request sent.
2025-08-09T17:17:22.300Z,1754759842.300 [DAT](INFO): transmitted an acoustic signal
2025-08-09T17:17:22.301Z,1754759842.301 [DAT](INFO): publishing transmit ping time
2025-08-09T17:17:22.301Z,1754759842.301 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000742
2025-08-09T17:17:22.551Z,1754759842.551 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250797
2025-08-09T17:17:22.643Z,1754759842.643 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 36.20 m.
2025-08-09T17:17:22.806Z,1754759842.806 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.505165
2025-08-09T17:17:23.055Z,1754759843.055 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754834
2025-08-09T17:17:23.066Z,1754759843.066 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 36.20 m.
2025-08-09T17:17:23.307Z,1754759843.307 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006798
2025-08-09T17:17:23.528Z,1754759843.528 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 36.20 m.
2025-08-09T17:17:23.560Z,1754759843.560 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.259912
2025-08-09T17:17:23.814Z,1754759843.814 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.512907
2025-08-09T17:17:23.962Z,1754759843.962 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 36.20 m.
2025-08-09T17:17:24.063Z,1754759844.063 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762772
2025-08-09T17:17:24.315Z,1754759844.315 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014778
2025-08-09T17:17:24.478Z,1754759844.478 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 36.20 m.
2025-08-09T17:17:24.567Z,1754759844.567 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266744
2025-08-09T17:17:24.823Z,1754759844.823 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.522335
2025-08-09T17:17:24.983Z,1754759844.983 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 36.20 m.
2025-08-09T17:17:25.071Z,1754759845.071 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770909
2025-08-09T17:17:25.323Z,1754759845.323 [DAT](INFO): DAT read: Rx Time:17:17:24.1842

2025-08-09T17:17:25.324Z,1754759845.324 [DAT](INFO): Rx dataTimestamp_ set to:1754759845.323359
2025-08-09T17:17:25.324Z,1754759845.324 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.023720
2025-08-09T17:17:25.427Z,1754759845.427 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 36.20 m.
2025-08-09T17:17:25.576Z,1754759845.576 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.275138
2025-08-09T17:17:25.871Z,1754759845.871 [DAT](INFO): DAT read: 17:17:24.1841 LVL= 32752, 21681, 26834, 32755, AGC= 70, IDX= 369, 0.20, 0.716, 2.924, 1.670, 1.948, PHS=-1.130, 1.021,-0.322, RAW= 308.2,   4.6, CAL= 305.8,   2.4, ROT= 204.2,  -2.4

2025-08-09T17:17:25.883Z,1754759845.883 [DAT](INFO): got valid direction response:
 17:17:24.1841 LVL= 32752, 21681, 26834, 32755, AGC= 70, IDX= 369, 0.20, 0.716, 2.924, 1.670, 1.948, PHS=-1.130, 1.021,-0.322, RAW= 308.2,   4.6, CAL= 305.8,   2.4, ROT= 204.2,  -2.4

2025-08-09T17:17:25.884Z,1754759845.884 [DAT](INFO): DAT read: Bearing 154.1, -35.0 (Local)

2025-08-09T17:17:25.884Z,1754759845.884 [DAT](INFO): Local bearing/azimuth received:
 Bearing 154.1, -35.0 (Local)

2025-08-09T17:17:25.885Z,1754759845.885 [DAT](INFO): DAT read: Range 11 to 50 : 69.4 m  (Round-trip  92.6 ms) speed -0.7 m/s

2025-08-09T17:17:25.886Z,1754759845.886 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-09T17:17:25.895Z,1754759845.895 [DAT](INFO): direction in FSK: [-0.911320,-0.409563,0.041876]
2025-08-09T17:17:25.895Z,1754759845.895 [DAT](INFO): publishing direction and range info
2025-08-09T17:17:26.024Z,1754759846.024 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 69.400002 m,
      deltaT: 60.525737 s,
      deltaX: 33.200001 m,
      approachRate: 0.548527 m/s,
      rangeRepo size: 4

2025-08-09T17:17:26.031Z,1754759846.031 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 69.400002 m,
      bearing: 36.306988 deg,
      lat: 36.906105 deg,
      lon: -122.115889 deg,
      deltaT: 60.525737 s,
      deltaX: 33.200001 m,
      approachRate: 0.548527 m/s,
      posRepo size: 4

2025-08-09T17:17:26.031Z,1754759846.031 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 69.40 m.
2025-08-09T17:17:26.325Z,1754759846.325 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 69.40 m.
2025-08-09T17:17:26.711Z,1754759846.711 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 69.40 m.
2025-08-09T17:17:27.181Z,1754759847.181 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 69.40 m.
2025-08-09T17:17:27.553Z,1754759847.553 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 69.40 m.
2025-08-09T17:17:28.045Z,1754759848.045 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 69.40 m.
2025-08-09T17:17:28.510Z,1754759848.510 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 69.40 m.
2025-08-09T17:17:28.975Z,1754759848.975 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 69.40 m.
2025-08-09T17:17:29.323Z,1754759849.323 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 69.40 m.
2025-08-09T17:17:29.710Z,1754759849.710 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 69.40 m.
2025-08-09T17:17:30.199Z,1754759850.199 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 69.40 m.
2025-08-09T17:17:30.571Z,1754759850.571 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 69.40 m.
2025-08-09T17:17:31.031Z,1754759851.031 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 69.40 m.
2025-08-09T17:17:31.448Z,1754759851.448 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 69.40 m.
2025-08-09T17:17:31.939Z,1754759851.939 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 69.40 m.
2025-08-09T17:17:32.288Z,1754759852.288 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 69.40 m.
2025-08-09T17:17:32.648Z,1754759852.648 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 69.40 m.
2025-08-09T17:17:33.075Z,1754759853.075 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 69.40 m.
2025-08-09T17:17:33.463Z,1754759853.463 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 69.40 m.
2025-08-09T17:17:33.840Z,1754759853.840 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 69.40 m.
2025-08-09T17:17:34.276Z,1754759854.276 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 69.40 m.
2025-08-09T17:17:34.667Z,1754759854.667 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 69.40 m.
2025-08-09T17:17:35.090Z,1754759855.090 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 69.40 m.
2025-08-09T17:17:35.501Z,1754759855.501 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 69.40 m.
2025-08-09T17:17:35.936Z,1754759855.936 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 69.40 m.
2025-08-09T17:17:36.512Z,1754759856.512 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 69.40 m.
2025-08-09T17:17:36.969Z,1754759856.969 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 69.40 m.
2025-08-09T17:17:37.379Z,1754759857.379 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 69.40 m.
2025-08-09T17:17:37.767Z,1754759857.767 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 69.40 m.
2025-08-09T17:17:38.176Z,1754759858.176 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 69.40 m.
2025-08-09T17:17:38.552Z,1754759858.552 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 69.40 m.
2025-08-09T17:17:38.968Z,1754759858.968 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 69.40 m.
2025-08-09T17:17:39.380Z,1754759859.380 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 69.40 m.
2025-08-09T17:17:39.774Z,1754759859.774 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 69.40 m.
2025-08-09T17:17:40.205Z,1754759860.205 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 69.40 m.
2025-08-09T17:17:40.572Z,1754759860.572 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 69.40 m.
2025-08-09T17:17:40.988Z,1754759860.988 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 69.40 m.
2025-08-09T17:17:41.463Z,1754759861.463 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 69.40 m.
2025-08-09T17:17:41.939Z,1754759861.939 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 69.40 m.
2025-08-09T17:17:42.461Z,1754759862.461 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 69.40 m.
2025-08-09T17:17:42.810Z,1754759862.810 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 69.40 m.
2025-08-09T17:17:43.244Z,1754759863.244 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 69.40 m.
2025-08-09T17:17:43.616Z,1754759863.616 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 69.40 m.
2025-08-09T17:17:44.068Z,1754759864.068 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 69.40 m.
2025-08-09T17:17:44.462Z,1754759864.462 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 69.40 m.
2025-08-09T17:17:44.942Z,1754759864.942 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 69.40 m.
2025-08-09T17:17:45.309Z,1754759865.309 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 69.40 m.
2025-08-09T17:17:45.675Z,1754759865.675 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 69.40 m.
2025-08-09T17:17:46.090Z,1754759866.090 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 69.40 m.
2025-08-09T17:17:46.482Z,1754759866.482 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 69.40 m.
2025-08-09T17:17:46.891Z,1754759866.891 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 69.40 m.
2025-08-09T17:17:47.369Z,1754759867.369 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 69.40 m.
2025-08-09T17:17:47.917Z,1754759867.917 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 69.40 m.
2025-08-09T17:17:48.338Z,1754759868.338 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 69.40 m.
2025-08-09T17:17:48.697Z,1754759868.697 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 69.40 m.
2025-08-09T17:17:49.113Z,1754759869.113 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 69.40 m.
2025-08-09T17:17:49.705Z,1754759869.705 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 69.40 m.
2025-08-09T17:17:50.079Z,1754759870.079 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 69.40 m.
2025-08-09T17:17:50.597Z,1754759870.597 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 69.40 m.
2025-08-09T17:17:51.056Z,1754759871.056 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 69.40 m.
2025-08-09T17:17:51.483Z,1754759871.483 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 69.40 m.
2025-08-09T17:17:51.952Z,1754759871.952 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 69.40 m.
2025-08-09T17:17:52.421Z,1754759872.421 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 69.40 m.
2025-08-09T17:17:52.777Z,1754759872.777 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 69.40 m.
2025-08-09T17:17:53.195Z,1754759873.195 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 69.40 m.
2025-08-09T17:17:53.636Z,1754759873.636 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 69.40 m.
2025-08-09T17:17:54.105Z,1754759874.105 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 69.40 m.
2025-08-09T17:17:54.528Z,1754759874.528 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 69.40 m.
2025-08-09T17:17:55.006Z,1754759875.006 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 69.40 m.
2025-08-09T17:17:55.500Z,1754759875.500 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 69.40 m.
2025-08-09T17:17:55.884Z,1754759875.884 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 69.40 m.
2025-08-09T17:17:56.346Z,1754759876.346 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 69.40 m.
2025-08-09T17:17:56.716Z,1754759876.716 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 69.40 m.
2025-08-09T17:17:57.075Z,1754759877.075 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 69.40 m.
2025-08-09T17:17:57.503Z,1754759877.503 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 69.40 m.
2025-08-09T17:17:57.961Z,1754759877.961 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 69.40 m.
2025-08-09T17:17:58.365Z,1754759878.365 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 69.40 m.
2025-08-09T17:17:58.745Z,1754759878.745 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 69.40 m.
2025-08-09T17:17:59.126Z,1754759879.126 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 69.40 m.
2025-08-09T17:17:59.538Z,1754759879.538 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 69.40 m.
2025-08-09T17:17:59.942Z,1754759879.942 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 69.40 m.
2025-08-09T17:18:00.394Z,1754759880.394 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 69.40 m.
2025-08-09T17:18:00.748Z,1754759880.748 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 69.40 m.
2025-08-09T17:18:01.144Z,1754759881.144 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 69.40 m.
2025-08-09T17:18:01.556Z,1754759881.556 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 69.40 m.
2025-08-09T17:18:01.936Z,1754759881.936 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 69.40 m.
2025-08-09T17:18:02.350Z,1754759882.350 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 69.40 m.
2025-08-09T17:18:02.766Z,1754759882.766 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 69.40 m.
2025-08-09T17:18:03.147Z,1754759883.147 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 69.40 m.
2025-08-09T17:18:03.583Z,1754759883.583 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 69.40 m.
2025-08-09T17:18:03.962Z,1754759883.962 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 69.40 m.
2025-08-09T17:18:04.355Z,1754759884.355 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 69.40 m.
2025-08-09T17:18:04.800Z,1754759884.800 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 69.40 m.
2025-08-09T17:18:05.170Z,1754759885.170 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 69.40 m.
2025-08-09T17:18:05.593Z,1754759885.593 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 69.40 m.
2025-08-09T17:18:05.978Z,1754759885.978 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 69.40 m.
2025-08-09T17:18:06.477Z,1754759886.477 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 69.40 m.
2025-08-09T17:18:06.899Z,1754759886.899 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 69.40 m.
2025-08-09T17:18:07.214Z,1754759887.214 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 69.40 m.
2025-08-09T17:18:07.633Z,1754759887.633 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 69.40 m.
2025-08-09T17:18:08.077Z,1754759888.077 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 69.40 m.
2025-08-09T17:18:08.460Z,1754759888.460 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 69.40 m.
2025-08-09T17:18:08.907Z,1754759888.907 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 69.40 m.
2025-08-09T17:18:09.243Z,1754759889.243 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 69.40 m.
2025-08-09T17:18:09.731Z,1754759889.731 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 69.40 m.
2025-08-09T17:18:10.094Z,1754759890.094 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 69.40 m.
2025-08-09T17:18:10.595Z,1754759890.595 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 69.40 m.
2025-08-09T17:18:11.012Z,1754759891.012 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 69.40 m.
2025-08-09T17:18:11.425Z,1754759891.425 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 69.40 m.
2025-08-09T17:18:11.811Z,1754759891.811 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 69.40 m.
2025-08-09T17:18:12.186Z,1754759892.186 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 69.40 m.
2025-08-09T17:18:12.639Z,1754759892.639 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 69.40 m.
2025-08-09T17:18:12.969Z,1754759892.969 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 69.40 m.
2025-08-09T17:18:13.393Z,1754759893.393 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 69.40 m.
2025-08-09T17:18:13.806Z,1754759893.806 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 69.40 m.
2025-08-09T17:18:14.222Z,1754759894.222 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 69.40 m.
2025-08-09T17:18:14.667Z,1754759894.667 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 69.40 m.
2025-08-09T17:18:15.117Z,1754759895.117 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 69.40 m.
2025-08-09T17:18:15.521Z,1754759895.521 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 69.40 m.
2025-08-09T17:18:15.944Z,1754759895.944 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 69.40 m.
2025-08-09T17:18:16.338Z,1754759896.338 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 69.40 m.
2025-08-09T17:18:16.781Z,1754759896.781 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 69.40 m.
2025-08-09T17:18:17.140Z,1754759897.140 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 69.40 m.
2025-08-09T17:18:17.543Z,1754759897.543 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 69.40 m.
2025-08-09T17:18:17.987Z,1754759897.987 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 69.40 m.
2025-08-09T17:18:18.415Z,1754759898.415 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 69.40 m.
2025-08-09T17:18:18.824Z,1754759898.824 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 69.40 m.
2025-08-09T17:18:19.179Z,1754759899.179 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 69.40 m.
2025-08-09T17:18:19.589Z,1754759899.589 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 69.40 m.
2025-08-09T17:18:20.018Z,1754759900.018 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 69.40 m.
2025-08-09T17:18:20.398Z,1754759900.398 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 69.40 m.
2025-08-09T17:18:20.828Z,1754759900.828 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 69.40 m.
2025-08-09T17:18:21.223Z,1754759901.223 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 69.40 m.
2025-08-09T17:18:21.603Z,1754759901.603 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 69.40 m.
2025-08-09T17:18:22.026Z,1754759902.026 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-09T17:18:22.028Z,1754759902.028 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 69.40 m.
2025-08-09T17:18:22.055Z,1754759902.055 [DAT](DEBUG): Acoustic response timeout
2025-08-09T17:18:22.055Z,1754759902.055 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-09T17:18:22.307Z,1754759902.307 [DAT](INFO): DAT read: user:449>

2025-08-09T17:18:22.308Z,1754759902.308 [DAT](INFO): DAT read: Tx time:17:18:21.6873

2025-08-09T17:18:22.308Z,1754759902.308 [DAT](INFO): Ping request sent.
2025-08-09T17:18:22.308Z,1754759902.308 [DAT](INFO): transmitted an acoustic signal
2025-08-09T17:18:22.308Z,1754759902.308 [DAT](INFO): publishing transmit ping time
2025-08-09T17:18:22.309Z,1754759902.309 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000744
2025-08-09T17:18:22.479Z,1754759902.479 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 69.40 m.
2025-08-09T17:18:22.559Z,1754759902.559 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251052
2025-08-09T17:18:22.811Z,1754759902.811 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.503152
2025-08-09T17:18:22.892Z,1754759902.892 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 69.40 m.
2025-08-09T17:18:23.063Z,1754759903.063 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.755058
2025-08-09T17:18:23.235Z,1754759903.235 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 69.40 m.
2025-08-09T17:18:23.316Z,1754759903.316 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.007717
2025-08-09T17:18:23.567Z,1754759903.567 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.259017
2025-08-09T17:18:23.643Z,1754759903.643 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 69.40 m.
2025-08-09T17:18:23.822Z,1754759903.822 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.513820
2025-08-09T17:18:24.071Z,1754759904.071 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.763228
2025-08-09T17:18:24.113Z,1754759904.113 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 69.40 m.
2025-08-09T17:18:24.325Z,1754759904.325 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.016186
2025-08-09T17:18:24.440Z,1754759904.440 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 69.40 m.
2025-08-09T17:18:24.575Z,1754759904.575 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.267071
2025-08-09T17:18:24.829Z,1754759904.829 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.520537
2025-08-09T17:18:24.865Z,1754759904.865 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for water mass range. Device response is::WD,        +0.00,        +0    +0.00,  20.00,2326.15
2025-08-09T17:18:24.913Z,1754759904.913 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 69.40 m.
2025-08-09T17:18:25.079Z,1754759905.079 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770988
2025-08-09T17:18:25.258Z,1754759905.258 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 69.40 m.
2025-08-09T17:18:25.333Z,1754759905.333 [DAT](INFO): DAT read: Rx Time:17:18:24.2342

2025-08-09T17:18:25.334Z,1754759905.334 [DAT](INFO): Rx dataTimestamp_ set to:1754759905.333281
2025-08-09T17:18:25.335Z,1754759905.335 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.026384
2025-08-09T17:18:25.583Z,1754759905.583 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.275102
2025-08-09T17:18:25.639Z,1754759905.639 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 69.40 m.
2025-08-09T17:18:25.847Z,1754759905.847 [DAT](INFO): DAT read: 17:18:24.2342 LVL= 32752, 24913, 32754, 32755, AGC= 67, IDX= 436,-0.34,-2.013, 0.110,-1.429,-1.243, PHS=-0.668, 1.398,-0.230, RAW= 318.4,  -5.4, CAL= 317.6,  -8.7, ROT= 192.4,   8.7

2025-08-09T17:18:25.850Z,1754759905.850 [DAT](INFO): got valid direction response:
 17:18:24.2342 LVL= 32752, 24913, 32754, 32755, AGC= 67, IDX= 436,-0.34,-2.013, 0.110,-1.429,-1.243, PHS=-0.668, 1.398,-0.230, RAW= 318.4,  -5.4, CAL= 317.6,  -8.7, ROT= 192.4,   8.7

2025-08-09T17:18:25.852Z,1754759905.852 [DAT](INFO): DAT read: Bearing 167.7,  -2.9 (Local)

2025-08-09T17:18:25.853Z,1754759905.853 [DAT](INFO): Local bearing/azimuth received:
 Bearing 167.7,  -2.9 (Local)

2025-08-09T17:18:25.855Z,1754759905.855 [DAT](INFO): DAT read: Range 11 to 50 : 107.1 m  (Round-trip  142.8 ms) speed -0.6 m/s

2025-08-09T17:18:25.857Z,1754759905.857 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-09T17:18:25.858Z,1754759905.858 [DAT](INFO): direction in FSK: [-0.965435,-0.212264,-0.151261]
2025-08-09T17:18:25.869Z,1754759905.869 [DAT](INFO): publishing direction and range info
2025-08-09T17:18:26.079Z,1754759906.079 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 107.099998 m,
      deltaT: 60.008450 s,
      deltaX: 37.699997 m,
      approachRate: 0.628245 m/s,
      rangeRepo size: 4

2025-08-09T17:18:26.081Z,1754759906.081 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 107.099998 m,
      bearing: 30.732879 deg,
      lat: 36.906105 deg,
      lon: -122.115889 deg,
      deltaT: 60.008450 s,
      deltaX: 37.699997 m,
      approachRate: 0.628245 m/s,
      posRepo size: 4

2025-08-09T17:18:26.082Z,1754759906.082 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 107.10 m.
2025-08-09T17:18:26.474Z,1754759906.474 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 107.10 m.
2025-08-09T17:18:26.915Z,1754759906.915 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 107.10 m.
2025-08-09T17:18:27.271Z,1754759907.271 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 107.10 m.
2025-08-09T17:18:27.412Z,1754759907.412 [CTD_Seabird](ERROR): Failed to parse device response: 9,3.70193,1966.35
2025-08-09T17:18:27.659Z,1754759907.659 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 107.10 m.
2025-08-09T17:18:28.090Z,1754759908.090 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 107.10 m.
2025-08-09T17:18:28.482Z,1754759908.482 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 107.10 m.
2025-08-09T17:18:28.920Z,1754759908.920 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 107.10 m.
2025-08-09T17:18:29.278Z,1754759909.278 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 107.10 m.
2025-08-09T17:18:29.694Z,1754759909.694 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 107.10 m.
2025-08-09T17:18:30.168Z,1754759910.168 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 107.10 m.
2025-08-09T17:18:30.543Z,1754759910.543 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 107.10 m.
2025-08-09T17:18:31.052Z,1754759911.052 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 107.10 m.
2025-08-09T17:18:31.510Z,1754759911.510 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 107.10 m.
2025-08-09T17:18:31.940Z,1754759911.940 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 107.10 m.
2025-08-09T17:18:32.292Z,1754759912.292 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 107.10 m.
2025-08-09T17:18:32.702Z,1754759912.702 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 107.10 m.
2025-08-09T17:18:33.119Z,1754759913.119 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 107.10 m.
2025-08-09T17:18:33.515Z,1754759913.515 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 107.10 m.
2025-08-09T17:18:33.978Z,1754759913.978 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 107.10 m.
2025-08-09T17:18:34.295Z,1754759914.295 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 107.10 m.
2025-08-09T17:18:34.706Z,1754759914.706 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 107.10 m.
2025-08-09T17:18:35.135Z,1754759915.135 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 107.10 m.
2025-08-09T17:18:35.507Z,1754759915.507 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 107.10 m.
2025-08-09T17:18:36.002Z,1754759916.002 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 107.10 m.
2025-08-09T17:18:36.359Z,1754759916.359 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 107.10 m.
2025-08-09T17:18:36.790Z,1754759916.790 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 107.10 m.
2025-08-09T17:18:37.180Z,1754759917.180 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 107.10 m.
2025-08-09T17:18:37.564Z,1754759917.564 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 107.10 m.
2025-08-09T17:18:38.025Z,1754759918.025 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 107.10 m.
2025-08-09T17:18:38.376Z,1754759918.376 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 107.10 m.
2025-08-09T17:18:38.780Z,1754759918.780 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 107.10 m.
2025-08-09T17:18:39.204Z,1754759919.204 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 107.10 m.
2025-08-09T17:18:39.610Z,1754759919.610 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 107.10 m.
2025-08-09T17:18:40.045Z,1754759920.045 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 107.10 m.
2025-08-09T17:18:40.398Z,1754759920.398 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 107.10 m.
2025-08-09T17:18:40.829Z,1754759920.829 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 107.10 m.
2025-08-09T17:18:41.232Z,1754759921.232 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 107.10 m.
2025-08-09T17:18:41.604Z,1754759921.604 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 107.10 m.
2025-08-09T17:18:42.085Z,1754759922.085 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 107.10 m.
2025-08-09T17:18:42.424Z,1754759922.424 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 107.10 m.
2025-08-09T17:18:42.869Z,1754759922.869 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 107.10 m.
2025-08-09T17:18:43.261Z,1754759923.261 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 107.10 m.
2025-08-09T17:18:43.629Z,1754759923.629 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 107.10 m.
2025-08-09T17:18:44.093Z,1754759924.093 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 107.10 m.
2025-08-09T17:18:44.438Z,1754759924.438 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 107.10 m.
2025-08-09T17:18:44.853Z,1754759924.853 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 107.10 m.
2025-08-09T17:18:45.276Z,1754759925.276 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 107.10 m.
2025-08-09T17:18:45.647Z,1754759925.647 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 107.10 m.
2025-08-09T17:18:46.125Z,1754759926.125 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 107.10 m.
2025-08-09T17:18:46.487Z,1754759926.487 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 107.10 m.
2025-08-09T17:18:46.897Z,1754759926.897 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 107.10 m.
2025-08-09T17:18:47.322Z,1754759927.322 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 107.10 m.
2025-08-09T17:18:47.675Z,1754759927.675 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 107.10 m.
2025-08-09T17:18:48.161Z,1754759928.161 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 107.10 m.
2025-08-09T17:18:48.559Z,1754759928.559 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 107.10 m.
2025-08-09T17:18:48.946Z,1754759928.946 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 107.10 m.
2025-08-09T17:18:49.447Z,1754759929.447 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 107.10 m.
2025-08-09T17:18:49.755Z,1754759929.755 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 107.10 m.
2025-08-09T17:18:50.190Z,1754759930.190 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 107.10 m.
2025-08-09T17:18:50.581Z,1754759930.581 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 107.10 m.
2025-08-09T17:18:51.027Z,1754759931.027 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 107.10 m.
2025-08-09T17:18:51.421Z,1754759931.421 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 107.10 m.
2025-08-09T17:18:51.802Z,1754759931.802 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 107.10 m.
2025-08-09T17:18:52.226Z,1754759932.226 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 107.10 m.
2025-08-09T17:18:52.598Z,1754759932.598 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 107.10 m.
2025-08-09T17:18:52.985Z,1754759932.985 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 107.10 m.
2025-08-09T17:18:53.408Z,1754759933.408 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 107.10 m.
2025-08-09T17:18:53.820Z,1754759933.820 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 107.10 m.
2025-08-09T17:18:54.245Z,1754759934.245 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 107.10 m.
2025-08-09T17:18:54.614Z,1754759934.614 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 107.10 m.
2025-08-09T17:18:55.016Z,1754759935.016 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 107.10 m.
2025-08-09T17:18:55.437Z,1754759935.437 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 107.10 m.
2025-08-09T17:18:55.822Z,1754759935.822 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 107.10 m.
2025-08-09T17:18:56.280Z,1754759936.280 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 107.10 m.
2025-08-09T17:18:56.617Z,1754759936.617 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 107.10 m.
2025-08-09T17:18:57.020Z,1754759937.020 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 107.10 m.
2025-08-09T17:18:57.443Z,1754759937.443 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 107.10 m.
2025-08-09T17:18:57.839Z,1754759937.839 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 107.10 m.
2025-08-09T17:18:58.316Z,1754759938.316 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 107.10 m.
2025-08-09T17:18:58.645Z,1754759938.645 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 107.10 m.
2025-08-09T17:18:59.044Z,1754759939.044 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 107.10 m.
2025-08-09T17:18:59.472Z,1754759939.472 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 107.10 m.
2025-08-09T17:18:59.872Z,1754759939.872 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 107.10 m.
2025-08-09T17:18:59.881Z,1754759939.881 [lineCaptureHoming:MicromodemComms:CheckIn:A](INFO): Timed out from 2025-08-09T17:08:59.7Z
2025-08-09T17:18:59.881Z,1754759939.881 [lineCaptureHoming:MicromodemComms:CheckIn:A] Stopped
2025-08-09T17:18:59.881Z,1754759939.881 [lineCaptureHoming:MicromodemComms:CheckIn](INFO): Completed lineCaptureHoming:MicromodemComms:CheckIn
2025-08-09T17:18:59.881Z,1754759939.881 [lineCaptureHoming:MicromodemComms:CheckIn] Stopped
2025-08-09T17:18:59.881Z,1754759939.881 [lineCaptureHoming:MicromodemComms:CheckIn](DEBUG): Aggregate::uninitialize lineCaptureHoming:MicromodemComms:CheckIn
2025-08-09T17:18:59.881Z,1754759939.881 [lineCaptureHoming:MicromodemComms](INFO): Completed lineCaptureHoming:MicromodemComms
2025-08-09T17:19:00.325Z,1754759940.325 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 107.10 m.
2025-08-09T17:19:00.330Z,1754759940.330 [lineCaptureHoming:MicromodemComms] Running Loop=1
2025-08-09T17:19:00.346Z,1754759940.346 [lineCaptureHoming:MicromodemComms](DEBUG): Aggregate::initialize lineCaptureHoming:MicromodemComms
2025-08-09T17:19:00.346Z,1754759940.346 [lineCaptureHoming:MicromodemComms:CheckIn] Running Loop=1
2025-08-09T17:19:00.346Z,1754759940.346 [lineCaptureHoming:MicromodemComms:CheckIn](DEBUG): Aggregate::initialize lineCaptureHoming:MicromodemComms:CheckIn
2025-08-09T17:19:00.347Z,1754759940.347 [lineCaptureHoming:MicromodemComms:CheckIn:A] Running Loop=1
2025-08-09T17:19:00.818Z,1754759940.818 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 107.10 m.
2025-08-09T17:19:01.197Z,1754759941.197 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 107.10 m.
2025-08-09T17:19:01.638Z,1754759941.638 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 107.10 m.
2025-08-09T17:19:02.027Z,1754759942.027 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 107.10 m.
2025-08-09T17:19:02.446Z,1754759942.446 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 107.10 m.
2025-08-09T17:19:02.817Z,1754759942.817 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 107.10 m.
2025-08-09T17:19:03.234Z,1754759943.234 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 107.10 m.
2025-08-09T17:19:03.664Z,1754759943.664 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 107.10 m.
2025-08-09T17:19:04.029Z,1754759944.029 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 107.10 m.
2025-08-09T17:19:04.453Z,1754759944.453 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 107.10 m.
2025-08-09T17:19:04.832Z,1754759944.832 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 107.10 m.
2025-08-09T17:19:05.385Z,1754759945.385 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 107.10 m.
2025-08-09T17:19:05.657Z,1754759945.657 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 107.10 m.
2025-08-09T17:19:06.064Z,1754759946.064 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 107.10 m.
2025-08-09T17:19:06.520Z,1754759946.520 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 107.10 m.
2025-08-09T17:19:06.856Z,1754759946.856 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 107.10 m.
2025-08-09T17:19:07.426Z,1754759947.426 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 107.10 m.
2025-08-09T17:19:07.798Z,1754759947.798 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 107.10 m.
2025-08-09T17:19:08.261Z,1754759948.261 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 107.10 m.
2025-08-09T17:19:08.689Z,1754759948.689 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 107.10 m.
2025-08-09T17:19:09.072Z,1754759949.072 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 107.10 m.
2025-08-09T17:19:09.496Z,1754759949.496 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 107.10 m.
2025-08-09T17:19:09.888Z,1754759949.888 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 107.10 m.
2025-08-09T17:19:10.287Z,1754759950.287 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 107.10 m.
2025-08-09T17:19:10.701Z,1754759950.701 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 107.10 m.
2025-08-09T17:19:11.076Z,1754759951.076 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 107.10 m.
2025-08-09T17:19:11.523Z,1754759951.523 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 107.10 m.
2025-08-09T17:19:11.909Z,1754759951.909 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 107.10 m.
2025-08-09T17:19:12.296Z,1754759952.296 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 107.10 m.
2025-08-09T17:19:12.721Z,1754759952.721 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 107.10 m.
2025-08-09T17:19:13.107Z,1754759953.107 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 107.10 m.
2025-08-09T17:19:13.588Z,1754759953.588 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 107.10 m.
2025-08-09T17:19:13.916Z,1754759953.916 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 107.10 m.
2025-08-09T17:19:14.326Z,1754759954.326 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 107.10 m.
2025-08-09T17:19:14.787Z,1754759954.787 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 107.10 m.
2025-08-09T17:19:15.135Z,1754759955.135 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 107.10 m.
2025-08-09T17:19:15.572Z,1754759955.572 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 107.10 m.
2025-08-09T17:19:15.936Z,1754759955.936 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 107.10 m.
2025-08-09T17:19:16.340Z,1754759956.340 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 107.10 m.
2025-08-09T17:19:16.750Z,1754759956.750 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error. Device response is::TS,00021421062495,35.0,  0.0,1489.5,  0
2025-08-09T17:19:16.780Z,1754759956.780 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 107.10 m.
2025-08-09T17:19:17.147Z,1754759957.147 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 107.10 m.
2025-08-09T17:19:17.604Z,1754759957.604 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 107.10 m.
2025-08-09T17:19:17.959Z,1754759957.959 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 107.10 m.
2025-08-09T17:19:18.376Z,1754759958.376 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 107.10 m.
2025-08-09T17:19:18.817Z,1754759958.817 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 107.10 m.
2025-08-09T17:19:19.167Z,1754759959.167 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 107.10 m.
2025-08-09T17:19:19.689Z,1754759959.689 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 107.10 m.
2025-08-09T17:19:20.050Z,1754759960.050 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 107.10 m.
2025-08-09T17:19:20.452Z,1754759960.452 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 107.10 m.
2025-08-09T17:19:20.889Z,1754759960.889 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 107.10 m.
2025-08-09T17:19:21.354Z,1754759961.354 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 107.10 m.
2025-08-09T17:19:21.799Z,1754759961.799 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 107.10 m.
2025-08-09T17:19:22.180Z,1754759962.180 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-09T17:19:22.182Z,1754759962.182 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 107.10 m.
2025-08-09T17:19:22.323Z,1754759962.323 [DAT](DEBUG): Acoustic response timeout
2025-08-09T17:19:22.323Z,1754759962.323 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-09T17:19:22.577Z,1754759962.577 [DAT](INFO): DAT read: user:450>

2025-08-09T17:19:22.580Z,1754759962.580 [DAT](INFO): DAT read: Tx time:17:19:21.9371

2025-08-09T17:19:22.581Z,1754759962.581 [DAT](INFO): Ping request sent.
2025-08-09T17:19:22.581Z,1754759962.581 [DAT](INFO): transmitted an acoustic signal
2025-08-09T17:19:22.582Z,1754759962.582 [DAT](INFO): publishing transmit ping time
2025-08-09T17:19:22.584Z,1754759962.584 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.002928
2025-08-09T17:19:22.692Z,1754759962.692 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 107.10 m.
2025-08-09T17:19:22.828Z,1754759962.828 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.246823
2025-08-09T17:19:23.012Z,1754759963.012 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 107.10 m.
2025-08-09T17:19:23.079Z,1754759963.079 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.498509
2025-08-09T17:19:23.331Z,1754759963.331 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.750346
2025-08-09T17:19:23.418Z,1754759963.418 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 107.10 m.
2025-08-09T17:19:23.586Z,1754759963.586 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.004767
2025-08-09T17:19:23.835Z,1754759963.835 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.254499
2025-08-09T17:19:23.860Z,1754759963.860 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 107.10 m.
2025-08-09T17:19:24.087Z,1754759964.087 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.506379
2025-08-09T17:19:24.225Z,1754759964.225 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 107.10 m.
2025-08-09T17:19:24.340Z,1754759964.340 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.758558
2025-08-09T17:19:24.594Z,1754759964.594 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.012546
2025-08-09T17:19:24.697Z,1754759964.697 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 107.10 m.
2025-08-09T17:19:24.844Z,1754759964.844 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.262957
2025-08-09T17:19:25.043Z,1754759965.043 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 107.10 m.
2025-08-09T17:19:25.096Z,1754759965.096 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.515240
2025-08-09T17:19:25.347Z,1754759965.347 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.766406
2025-08-09T17:19:25.445Z,1754759965.445 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 107.10 m.
2025-08-09T17:19:25.601Z,1754759965.601 [DAT](INFO): DAT read: Rx Time:17:19:24.5704

2025-08-09T17:19:25.603Z,1754759965.603 [DAT](INFO): Rx dataTimestamp_ set to:1754759965.601914
2025-08-09T17:19:25.605Z,1754759965.605 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.023558
2025-08-09T17:19:25.852Z,1754759965.852 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.270715
2025-08-09T17:19:25.905Z,1754759965.905 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 107.10 m.
2025-08-09T17:19:26.106Z,1754759966.106 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.524993
2025-08-09T17:19:26.276Z,1754759966.276 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 107.10 m.
2025-08-09T17:19:26.368Z,1754759966.368 [DAT](INFO): DAT read: 17:19:24.5704 LVL= 32752, 28849, 32754, 32755, AGC= 69, IDX= 279,-0.35, 1.233, 2.489, 1.584, 1.251, PHS= 0.084, 1.283, 0.288, RAW= 320.8, -27.8, CAL= 320.3, -31.7, ROT= 189.7,  31.7

2025-08-09T17:19:26.369Z,1754759966.369 [DAT](INFO): got valid direction response:
 17:19:24.5704 LVL= 32752, 28849, 32754, 32755, AGC= 69, IDX= 279,-0.35, 1.233, 2.489, 1.584, 1.251, PHS= 0.084, 1.283, 0.288, RAW= 320.8, -27.8, CAL= 320.3, -31.7, ROT= 189.7,  31.7

2025-08-09T17:19:26.371Z,1754759966.371 [DAT](INFO): DAT read: Bearing 191.6,  -8.6 (Local)

2025-08-09T17:19:26.371Z,1754759966.371 [DAT](INFO): Local bearing/azimuth received:
 Bearing 191.6,  -8.6 (Local)

2025-08-09T17:19:26.373Z,1754759966.373 [DAT](INFO): DAT read: Range 11 to 50 : 171.8 m  (Round-trip  229.1 ms) speed -0.5 m/s

2025-08-09T17:19:26.373Z,1754759966.373 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-09T17:19:26.375Z,1754759966.375 [DAT](INFO): direction in FSK: [-0.838647,-0.143353,-0.525472]
2025-08-09T17:19:26.375Z,1754759966.375 [DAT](INFO): publishing direction and range info
2025-08-09T17:19:26.749Z,1754759966.749 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 171.800003 m,
      deltaT: 60.517927 s,
      deltaX: 64.700005 m,
      approachRate: 1.069105 m/s,
      rangeRepo size: 4

2025-08-09T17:19:26.787Z,1754759966.787 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 171.800003 m,
      bearing: 31.067842 deg,
      lat: 36.906072 deg,
      lon: -122.115825 deg,
      deltaT: 60.517927 s,
      deltaX: 64.700005 m,
      approachRate: 1.069105 m/s,
      posRepo size: 4

2025-08-09T17:19:26.788Z,1754759966.788 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 171.80 m.
2025-08-09T17:19:26.788Z,1754759966.788 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Completed rollout at range: 171.80 m. Resuming terminal guidance.
2025-08-09T17:19:26.788Z,1754759966.788 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Transitioning guidance mode to: TERMINAL_GUIDANCE
2025-08-09T17:19:27.136Z,1754759967.136 [lineCaptureHoming:UpdatePingUpdateRate_Terminal] Running Loop=1
2025-08-09T17:19:27.136Z,1754759967.136 [lineCaptureHoming:UpdatePingUpdateRate_Terminal](DEBUG): Aggregate::initialize lineCaptureHoming:UpdatePingUpdateRate_Terminal
2025-08-09T17:19:27.136Z,1754759967.136 [lineCaptureHoming:UpdatePingUpdateRate_Terminal:A] Running Loop=1
2025-08-09T17:19:27.137Z,1754759967.137 [lineCaptureHoming:UpdatePingUpdateRate_Terminal:A](INFO): Entering Terminal tracking update period  2.000000 s sec at 171.800003 m (mode  1.000000 count ).
2025-08-09T17:19:27.137Z,1754759967.137 [lineCaptureHoming:UpdatePingUpdateRate_Terminal:A] Stopped
2025-08-09T17:19:27.138Z,1754759967.138 [lineCaptureHoming:UpdatePingUpdateRate_Terminal:B] Running Loop=1
2025-08-09T17:19:27.539Z,1754759967.539 [lineCaptureHoming:UpdatePingUpdateRate_Terminal:B] Stopped
2025-08-09T17:19:27.539Z,1754759967.539 [lineCaptureHoming:UpdatePingUpdateRate_Terminal:C] Running Loop=1
2025-08-09T17:19:27.540Z,1754759967.540 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-09T17:19:27.617Z,1754759967.617 [DAT](INFO): ****** received valid address query ******
2025-08-09T17:19:27.618Z,1754759967.618 [DAT](INFO): ****** received valid ping request ******
2025-08-09T17:19:27.619Z,1754759967.619 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-09T17:19:27.868Z,1754759967.868 [DAT](INFO): DAT read: user:451>

2025-08-09T17:19:27.869Z,1754759967.869 [DAT](INFO): DAT read: Tx time:17:19:27.2371

2025-08-09T17:19:27.869Z,1754759967.869 [DAT](INFO): Ping request sent.
2025-08-09T17:19:27.869Z,1754759967.869 [DAT](INFO): transmitted an acoustic signal
2025-08-09T17:19:27.870Z,1754759967.870 [DAT](INFO): publishing transmit ping time
2025-08-09T17:19:27.871Z,1754759967.871 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.001067
2025-08-09T17:19:27.961Z,1754759967.961 [lineCaptureHoming:UpdatePingUpdateRate_Terminal:C] Stopped
2025-08-09T17:19:27.961Z,1754759967.961 [lineCaptureHoming:UpdatePingUpdateRate_Terminal:D] Running Loop=1
2025-08-09T17:19:28.119Z,1754759968.119 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250103
2025-08-09T17:19:28.360Z,1754759968.360 [lineCaptureHoming:UpdatePingUpdateRate_Terminal:D] Stopped
2025-08-09T17:19:28.360Z,1754759968.360 [lineCaptureHoming:UpdatePingUpdateRate_Terminal](INFO): Completed lineCaptureHoming:UpdatePingUpdateRate_Terminal
2025-08-09T17:19:28.360Z,1754759968.360 [lineCaptureHoming:UpdatePingUpdateRate_Terminal] Stopped
2025-08-09T17:19:28.360Z,1754759968.360 [lineCaptureHoming:UpdatePingUpdateRate_Terminal](DEBUG): Aggregate::uninitialize lineCaptureHoming:UpdatePingUpdateRate_Terminal
2025-08-09T17:19:28.371Z,1754759968.371 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502287
2025-08-09T17:19:28.623Z,1754759968.623 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754089
2025-08-09T17:19:28.876Z,1754759968.876 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006615
2025-08-09T17:19:29.127Z,1754759969.127 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258235
2025-08-09T17:19:29.383Z,1754759969.383 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.514151
2025-08-09T17:19:29.565Z,1754759969.565 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-09T17:19:29.638Z,1754759969.638 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.768855
2025-08-09T17:19:29.887Z,1754759969.887 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.018179
2025-08-09T17:19:30.139Z,1754759970.139 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.270135
2025-08-09T17:19:30.408Z,1754759970.408 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.538754
2025-08-09T17:19:30.662Z,1754759970.662 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.792356
2025-08-09T17:19:30.912Z,1754759970.912 [DAT](INFO): DAT read: Rx Time:17:19:29.8752

2025-08-09T17:19:30.913Z,1754759970.913 [DAT](INFO): Rx dataTimestamp_ set to:1754759970.912015
2025-08-09T17:19:30.913Z,1754759970.913 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.044042
2025-08-09T17:19:31.163Z,1754759971.163 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.294077
2025-08-09T17:19:31.433Z,1754759971.433 [DAT](INFO): DAT read: 17:19:29.8752 LVL= 32752, 31329, 32754, 32755, AGC= 71, IDX= 473, 0.42,-2.734,-0.595,-1.996,-1.642, PHS=-0.990, 1.093,-0.398, RAW= 314.0,   3.2, CAL= 311.6,   0.4, ROT= 198.4,  -0.4

2025-08-09T17:19:31.441Z,1754759971.441 [DAT](INFO): got valid direction response:
 17:19:29.8752 LVL= 32752, 31329, 32754, 32755, AGC= 71, IDX= 473, 0.42,-2.734,-0.595,-1.996,-1.642, PHS=-0.990, 1.093,-0.398, RAW= 314.0,   3.2, CAL= 311.6,   0.4, ROT= 198.4,  -0.4

2025-08-09T17:19:31.442Z,1754759971.442 [DAT](INFO): DAT read: Bearing 159.5, -23.5 (Local)

2025-08-09T17:19:31.443Z,1754759971.443 [DAT](INFO): Local bearing/azimuth received:
 Bearing 159.5, -23.5 (Local)

2025-08-09T17:19:31.444Z,1754759971.444 [DAT](INFO): DAT read: Range 11 to 50 : 175.5 m  (Round-trip  234.0 ms) speed -0.5 m/s

2025-08-09T17:19:31.445Z,1754759971.445 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-09T17:19:31.447Z,1754759971.447 [DAT](INFO): direction in FSK: [-0.948853,-0.315641,0.006981]
2025-08-09T17:19:31.448Z,1754759971.448 [DAT](INFO): publishing direction and range info
2025-08-09T17:19:31.453Z,1754759971.453 [DAT](INFO): ****** received valid address query ******
2025-08-09T17:19:31.453Z,1754759971.453 [DAT](INFO): ****** received valid ping request ******
2025-08-09T17:19:31.454Z,1754759971.454 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-09T17:19:31.616Z,1754759971.616 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 175.500000 m,
      deltaT: nan s,
      deltaX: nan m,
      approachRate: -1.000000 m/s,
      rangeRepo size: 1

2025-08-09T17:19:31.633Z,1754759971.633 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 175.500000 m,
      bearing: 31.191509 deg,
      lat: 36.906072 deg,
      lon: -122.115815 deg,
      deltaT: nan s,
      deltaX: nan m,
      approachRate: -1.000000 m/s,
      posRepo size: 1

2025-08-09T17:19:31.633Z,1754759971.633 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 175.50 m.
2025-08-09T17:19:31.640Z,1754759971.640 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 175.500000 m,
      nav range: 151.066208 m,
      bearing: 31.191509 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.000000 deg/s,
      cmd heading: 21.156403 deg,
      new cmd heading: 31.191509 deg.

2025-08-09T17:19:31.667Z,1754759971.667 [DAT](INFO): DAT read: user:452>

2025-08-09T17:19:31.668Z,1754759971.668 [DAT](INFO): DAT read: Tx time:17:19:31.0871

2025-08-09T17:19:31.668Z,1754759971.668 [DAT](INFO): Ping request sent.
2025-08-09T17:19:31.668Z,1754759971.668 [DAT](INFO): transmitted an acoustic signal
2025-08-09T17:19:31.670Z,1754759971.670 [DAT](INFO): publishing transmit ping time
2025-08-09T17:19:31.692Z,1754759971.692 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.022879
2025-08-09T17:19:31.919Z,1754759971.919 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250952
2025-08-09T17:19:32.009Z,1754759972.009 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-09T17:19:32.011Z,1754759972.011 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 175.50 m.
2025-08-09T17:19:32.014Z,1754759972.014 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 175.500000 m,
      nav range: 151.336319 m,
      bearing: 31.169956 deg,
      approach rate: 0.682519 m/s,
      LOS rate: -0.054363 deg/s,
      cmd heading: 31.191510 deg,
      new cmd heading: 31.169956 deg.

2025-08-09T17:19:32.171Z,1754759972.171 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502834
2025-08-09T17:19:32.412Z,1754759972.412 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 175.50 m.
2025-08-09T17:19:32.414Z,1754759972.414 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 175.500000 m,
      nav range: 151.599579 m,
      bearing: 31.149025 deg,
      approach rate: 0.657002 m/s,
      LOS rate: -0.052146 deg/s,
      cmd heading: 31.169958 deg,
      new cmd heading: 31.149025 deg.

2025-08-09T17:19:32.423Z,1754759972.423 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754895
2025-08-09T17:19:32.676Z,1754759972.676 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.007403
2025-08-09T17:19:32.829Z,1754759972.829 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 175.50 m.
2025-08-09T17:19:32.832Z,1754759972.832 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 175.500000 m,
      nav range: 151.870560 m,
      bearing: 31.122536 deg,
      approach rate: 0.648910 m/s,
      LOS rate: -0.063319 deg/s,
      cmd heading: 31.149026 deg,
      new cmd heading: 31.122536 deg.

2025-08-09T17:19:32.929Z,1754759972.929 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.260198
2025-08-09T17:19:33.179Z,1754759973.179 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510676
2025-08-09T17:19:33.239Z,1754759973.239 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 175.50 m.
2025-08-09T17:19:33.241Z,1754759973.241 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 175.500000 m,
      nav range: 152.132721 m,
      bearing: 31.093450 deg,
      approach rate: 0.640812 m/s,
      LOS rate: -0.070973 deg/s,
      cmd heading: 31.122536 deg,
      new cmd heading: 31.093450 deg.

2025-08-09T17:19:33.437Z,1754759973.437 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.767611
2025-08-09T17:19:33.613Z,1754759973.613 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 175.50 m.
2025-08-09T17:19:33.617Z,1754759973.617 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 175.500000 m,
      nav range: 152.373444 m,
      bearing: 31.065203 deg,
      approach rate: 0.642025 m/s,
      LOS rate: -0.075220 deg/s,
      cmd heading: 31.093449 deg,
      new cmd heading: 31.065203 deg.

2025-08-09T17:19:33.684Z,1754759973.684 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.015693
2025-08-09T17:19:33.935Z,1754759973.935 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266792
2025-08-09T17:19:34.110Z,1754759974.110 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-09T17:19:34.112Z,1754759974.112 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 175.50 m.
2025-08-09T17:19:34.115Z,1754759974.115 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 175.500000 m,
      nav range: 152.696320 m,
      bearing: 31.025798 deg,
      approach rate: 0.647446 m/s,
      LOS rate: -0.078849 deg/s,
      cmd heading: 31.065203 deg,
      new cmd heading: 31.025798 deg.

2025-08-09T17:19:34.188Z,1754759974.188 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.519748
2025-08-09T17:19:34.439Z,1754759974.439 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770937
2025-08-09T17:19:34.478Z,1754759974.478 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 175.50 m.
2025-08-09T17:19:34.481Z,1754759974.481 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 175.500000 m,
      nav range: 152.926804 m,
      bearing: 30.996078 deg,
      approach rate: 0.636023 m/s,
      LOS rate: -0.081890 deg/s,
      cmd heading: 31.025800 deg,
      new cmd heading: 30.996078 deg.

2025-08-09T17:19:34.691Z,1754759974.691 [DAT](INFO): DAT read: Rx Time:17:19:33.6964

2025-08-09T17:19:34.692Z,1754759974.692 [DAT](INFO): Rx dataTimestamp_ set to:1754759974.691603
2025-08-09T17:19:34.692Z,1754759974.692 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.024002
2025-08-09T17:19:34.943Z,1754759974.943 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274948
2025-08-09T17:19:34.947Z,1754759974.947 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 175.50 m.
2025-08-09T17:19:34.949Z,1754759974.949 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 175.500000 m,
      nav range: 153.228271 m,
      bearing: 30.950920 deg,
      approach rate: 0.638327 m/s,
      LOS rate: -0.095429 deg/s,
      cmd heading: 30.996078 deg,
      new cmd heading: 30.950920 deg.

2025-08-09T17:19:35.199Z,1754759975.199 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.529614
2025-08-09T17:19:35.303Z,1754759975.303 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 175.50 m.
2025-08-09T17:19:35.305Z,1754759975.305 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 175.500000 m,
      nav range: 153.453568 m,
      bearing: 30.915474 deg,
      approach rate: 0.633245 m/s,
      LOS rate: -0.099484 deg/s,
      cmd heading: 30.950920 deg,
      new cmd heading: 30.915474 deg.

2025-08-09T17:19:35.453Z,1754759975.453 [DAT](INFO): DAT read: 17:19:33.6964 LVL= 32752, 28337, 32754, 32755, AGC= 71, IDX= 130, 0.32, 2.835,-1.077,-2.395,-2.187, PHS=-1.160, 1.155,-0.253, RAW= 307.1,   2.6, CAL= 304.9,  -0.9, ROT= 205.1,   0.9

2025-08-09T17:19:35.454Z,1754759975.454 [DAT](INFO): got valid direction response:
 17:19:33.6964 LVL= 32752, 28337, 32754, 32755, AGC= 71, IDX= 130, 0.32, 2.835,-1.077,-2.395,-2.187, PHS=-1.160, 1.155,-0.253, RAW= 307.1,   2.6, CAL= 304.9,  -0.9, ROT= 205.1,   0.9

2025-08-09T17:19:35.455Z,1754759975.455 [DAT](INFO): DAT read: Bearing 154.4, -31.3 (Local)

2025-08-09T17:19:35.455Z,1754759975.455 [DAT](INFO): Local bearing/azimuth received:
 Bearing 154.4, -31.3 (Local)

2025-08-09T17:19:35.457Z,1754759975.457 [DAT](INFO): DAT read: Range 11 to 50 : 153.9 m  (Round-trip  205.2 ms) speed -0.5 m/s

2025-08-09T17:19:35.457Z,1754759975.457 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-09T17:19:35.463Z,1754759975.463 [DAT](INFO): direction in FSK: [-0.905457,-0.424147,-0.015707]
2025-08-09T17:19:35.463Z,1754759975.463 [DAT](INFO): publishing direction and range info
2025-08-09T17:19:35.467Z,1754759975.467 [DAT](INFO): ****** received valid address query ******
2025-08-09T17:19:35.467Z,1754759975.467 [DAT](INFO): ****** received valid ping request ******
2025-08-09T17:19:35.467Z,1754759975.467 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-09T17:19:35.700Z,1754759975.700 [DAT](INFO): DAT read: user:453>

2025-08-09T17:19:35.702Z,1754759975.702 [DAT](INFO): DAT read: Tx time:17:19:35.0871

2025-08-09T17:19:35.703Z,1754759975.703 [DAT](INFO): Ping request sent.
2025-08-09T17:19:35.703Z,1754759975.703 [DAT](INFO): transmitted an acoustic signal
2025-08-09T17:19:35.703Z,1754759975.703 [DAT](INFO): publishing transmit ping time
2025-08-09T17:19:35.704Z,1754759975.704 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.001175
2025-08-09T17:19:35.914Z,1754759975.914 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](ERROR): addTargetRange::Rejecting new target range. Approach rate out of bounds.
 range: 153.899994 m,
 deltaT: 4.030180 s,
 deltaX: -21.600006 m,
 approachRate: -5.359564 m/s,
 rangeRepo size: 1
2025-08-09T17:19:35.915Z,1754759975.915 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 175.50 m.
2025-08-09T17:19:35.917Z,1754759975.917 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 175.500000 m,
      nav range: 153.819946 m,
      bearing: 30.855823 deg,
      approach rate: 0.619820 m/s,
      LOS rate: -0.100673 deg/s,
      cmd heading: 30.915475 deg,
      new cmd heading: 30.855823 deg.

2025-08-09T17:19:35.952Z,1754759975.952 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.249456
2025-08-09T17:19:36.205Z,1754759976.205 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.501412
2025-08-09T17:19:36.256Z,1754759976.256 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-09T17:19:36.259Z,1754759976.259 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 175.50 m.
2025-08-09T17:19:36.261Z,1754759976.261 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 175.500000 m,
      nav range: 154.048477 m,
      bearing: 30.816843 deg,
      approach rate: 0.626883 m/s,
      LOS rate: -0.106770 deg/s,
      cmd heading: 30.855824 deg,
      new cmd heading: 30.816843 deg.

2025-08-09T17:19:36.456Z,1754759976.456 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.752633
2025-08-09T17:19:36.648Z,1754759976.648 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 175.50 m.
2025-08-09T17:19:36.651Z,1754759976.651 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 175.500000 m,
      nav range: 154.288177 m,
      bearing: 30.774063 deg,
      approach rate: 0.615115 m/s,
      LOS rate: -0.109609 deg/s,
      cmd heading: 30.816844 deg,
      new cmd heading: 30.774063 deg.

2025-08-09T17:19:36.709Z,1754759976.709 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.005935
2025-08-09T17:19:36.959Z,1754759976.959 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.256288
2025-08-09T17:19:37.093Z,1754759977.093 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 175.50 m.
2025-08-09T17:19:37.096Z,1754759977.096 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 175.500000 m,
      nav range: 154.558960 m,
      bearing: 30.726762 deg,
      approach rate: 0.608120 m/s,
      LOS rate: -0.106043 deg/s,
      cmd heading: 30.774063 deg,
      new cmd heading: 30.726762 deg.

2025-08-09T17:19:37.212Z,1754759977.212 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.508660
2025-08-09T17:19:37.463Z,1754759977.463 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.760532
2025-08-09T17:19:37.468Z,1754759977.468 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 175.50 m.
2025-08-09T17:19:37.471Z,1754759977.471 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 175.500000 m,
      nav range: 154.781876 m,
      bearing: 30.684056 deg,
      approach rate: 0.594916 m/s,
      LOS rate: -0.113809 deg/s,
      cmd heading: 30.726760 deg,
      new cmd heading: 30.684056 deg.

2025-08-09T17:19:37.716Z,1754759977.716 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.013559
2025-08-09T17:19:37.967Z,1754759977.967 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.264447
2025-08-09T17:19:38.197Z,1754759978.197 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 175.50 m.
2025-08-09T17:19:38.220Z,1754759978.220 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.516866
2025-08-09T17:19:38.244Z,1754759978.244 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 175.500000 m,
      nav range: 155.202423 m,
      bearing: 30.601629 deg,
      approach rate: 0.577574 m/s,
      LOS rate: -0.112897 deg/s,
      cmd heading: 30.684055 deg,
      new cmd heading: 30.601629 deg.

2025-08-09T17:19:38.472Z,1754759978.472 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.769582
2025-08-09T17:19:38.664Z,1754759978.664 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-09T17:19:38.667Z,1754759978.667 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 175.50 m.
2025-08-09T17:19:38.669Z,1754759978.669 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 175.500000 m,
      nav range: 155.480118 m,
      bearing: 30.542240 deg,
      approach rate: 0.590374 m/s,
      LOS rate: -0.126034 deg/s,
      cmd heading: 30.601628 deg,
      new cmd heading: 30.542240 deg.

2025-08-09T17:19:38.723Z,1754759978.723 [DAT](INFO): DAT read: Rx Time:17:19:37.7000

2025-08-09T17:19:38.724Z,1754759978.724 [DAT](INFO): Rx dataTimestamp_ set to:1754759978.723545
2025-08-09T17:19:38.724Z,1754759978.724 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.021497
2025-08-09T17:19:38.976Z,1754759978.977 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.273559
2025-08-09T17:19:39.087Z,1754759979.087 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 175.50 m.
2025-08-09T17:19:39.089Z,1754759979.089 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 175.500000 m,
      nav range: 155.702988 m,
      bearing: 30.493535 deg,
      approach rate: 0.529800 m/s,
      LOS rate: -0.115614 deg/s,
      cmd heading: 30.542239 deg,
      new cmd heading: 30.493535 deg.

2025-08-09T17:19:39.234Z,1754759979.234 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.530202
2025-08-09T17:19:39.473Z,1754759979.473 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 175.50 m.
2025-08-09T17:19:39.475Z,1754759979.475 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 175.500000 m,
      nav range: 155.904938 m,
      bearing: 30.447520 deg,
      approach rate: 0.523590 m/s,
      LOS rate: -0.119147 deg/s,
      cmd heading: 30.493537 deg,
      new cmd heading: 30.447520 deg.

2025-08-09T17:19:39.489Z,1754759979.489 [DAT](INFO): DAT read: 17:19:37.7000 LVL= 32752, 30705, 32754, 31779, AGC= 66, IDX= 454, 0.26,-2.975,-0.766,-1.880,-1.696, PHS=-1.177, 0.975,-0.228, RAW= 303.9,   4.6, CAL= 301.5,   1.9, ROT= 208.5,  -1.9

2025-08-09T17:19:39.502Z,1754759979.502 [DAT](INFO): got valid direction response:
 17:19:37.7000 LVL= 32752, 30705, 32754, 31779, AGC= 66, IDX= 454, 0.26,-2.975,-0.766,-1.880,-1.696, PHS=-1.177, 0.975,-0.228, RAW= 303.9,   4.6, CAL= 301.5,   1.9, ROT= 208.5,  -1.9

2025-08-09T17:19:39.503Z,1754759979.503 [DAT](INFO): DAT read: Bearing 140.6, -35.4 (Local)

2025-08-09T17:19:39.504Z,1754759979.504 [DAT](INFO): Local bearing/azimuth received:
 Bearing 140.6, -35.4 (Local)

2025-08-09T17:19:39.505Z,1754759979.505 [DAT](INFO): DAT read: Range 11 to 50 : 156.5 m  (Round-trip  208.7 ms) speed -0.4 m/s

2025-08-09T17:19:39.506Z,1754759979.506 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-09T17:19:39.507Z,1754759979.507 [DAT](INFO): direction in FSK: [-0.878334,-0.476896,0.033155]
2025-08-09T17:19:39.507Z,1754759979.507 [DAT](INFO): publishing direction and range info
2025-08-09T17:19:39.510Z,1754759979.510 [DAT](INFO): ****** received valid address query ******
2025-08-09T17:19:39.518Z,1754759979.518 [DAT](INFO): ****** received valid ping request ******
2025-08-09T17:19:39.520Z,1754759979.520 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-09T17:19:39.735Z,1754759979.735 [DAT](INFO): DAT read: user:454>

2025-08-09T17:19:39.736Z,1754759979.736 [DAT](INFO): DAT read: Tx time:17:19:39.1371

2025-08-09T17:19:39.736Z,1754759979.736 [DAT](INFO): Ping request sent.
2025-08-09T17:19:39.736Z,1754759979.736 [DAT](INFO): transmitted an acoustic signal
2025-08-09T17:19:39.737Z,1754759979.737 [DAT](INFO): publishing transmit ping time
2025-08-09T17:19:39.737Z,1754759979.737 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000736
2025-08-09T17:19:39.987Z,1754759979.987 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250968
2025-08-09T17:19:39.993Z,1754759979.993 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 156.500000 m,
      deltaT: 8.066595 s,
      deltaX: -19.000000 m,
      approachRate: -2.355393 m/s,
      rangeRepo size: 2

2025-08-09T17:19:39.997Z,1754759979.997 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 156.500000 m,
      bearing: 30.613068 deg,
      lat: 36.906072 deg,
      lon: -122.115807 deg,
      deltaT: 8.066595 s,
      deltaX: -19.000000 m,
      approachRate: -2.355393 m/s,
      posRepo size: 2

2025-08-09T17:19:39.997Z,1754759979.997 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 156.50 m.
2025-08-09T17:19:40.016Z,1754759980.016 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 156.500000 m,
      nav range: 156.514893 m,
      bearing: 30.613068 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.119147 deg/s,
      cmd heading: 30.447522 deg,
      new cmd heading: 30.263135 deg.

2025-08-09T17:19:40.240Z,1754759980.240 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.503274
2025-08-09T17:19:40.365Z,1754759980.365 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 156.50 m.
2025-08-09T17:19:40.367Z,1754759980.367 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 156.500000 m,
      nav range: 156.698669 m,
      bearing: 30.567721 deg,
      approach rate: 0.488698 m/s,
      LOS rate: -0.120444 deg/s,
      cmd heading: 30.263134 deg,
      new cmd heading: 30.127254 deg.

2025-08-09T17:19:40.491Z,1754759980.491 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754987
2025-08-09T17:19:40.744Z,1754759980.744 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.007155
2025-08-09T17:19:40.900Z,1754759980.900 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-09T17:19:40.906Z,1754759980.906 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 156.50 m.
2025-08-09T17:19:40.909Z,1754759980.909 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 156.500000 m,
      nav range: 156.945587 m,
      bearing: 30.501741 deg,
      approach rate: 0.459362 m/s,
      LOS rate: -0.122556 deg/s,
      cmd heading: 30.127254 deg,
      new cmd heading: 29.929625 deg.

2025-08-09T17:19:40.996Z,1754759980.996 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.259556
2025-08-09T17:19:41.247Z,1754759981.247 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510769
2025-08-09T17:19:41.283Z,1754759981.283 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 156.50 m.
2025-08-09T17:19:41.285Z,1754759981.285 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 156.500000 m,
      nav range: 157.119492 m,
      bearing: 30.453329 deg,
      approach rate: 0.457529 m/s,
      LOS rate: -0.127227 deg/s,
      cmd heading: 29.929626 deg,
      new cmd heading: 29.784551 deg.

2025-08-09T17:19:41.503Z,1754759981.503 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.766251
2025-08-09T17:19:41.657Z,1754759981.657 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 156.50 m.
2025-08-09T17:19:41.660Z,1754759981.660 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 156.500000 m,
      nav range: 157.283722 m,
      bearing: 30.405927 deg,
      approach rate: 0.438448 m/s,
      LOS rate: -0.126416 deg/s,
      cmd heading: 29.784549 deg,
      new cmd heading: 29.642493 deg.

2025-08-09T17:19:41.751Z,1754759981.751 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014928
2025-08-09T17:19:42.003Z,1754759982.003 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266923
2025-08-09T17:19:42.084Z,1754759982.084 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 156.50 m.
2025-08-09T17:19:42.087Z,1754759982.087 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 156.500000 m,
      nav range: 157.457245 m,
      bearing: 30.353198 deg,
      approach rate: 0.406271 m/s,
      LOS rate: -0.123318 deg/s,
      cmd heading: 29.642495 deg,
      new cmd heading: 29.484484 deg.

2025-08-09T17:19:42.255Z,1754759982.255 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518842
2025-08-09T17:19:42.467Z,1754759982.467 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 156.50 m.
2025-08-09T17:19:42.469Z,1754759982.469 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 156.500000 m,
      nav range: 157.610428 m,
      bearing: 30.304928 deg,
      approach rate: 0.400458 m/s,
      LOS rate: -0.126068 deg/s,
      cmd heading: 29.484482 deg,
      new cmd heading: 29.339812 deg.

2025-08-09T17:19:42.508Z,1754759982.508 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.771130
2025-08-09T17:19:42.759Z,1754759982.759 [DAT](INFO): DAT read: Rx Time:17:19:41.7525

2025-08-09T17:19:42.760Z,1754759982.760 [DAT](INFO): Rx dataTimestamp_ set to:1754759982.759461
2025-08-09T17:19:42.760Z,1754759982.760 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.023923
2025-08-09T17:19:42.991Z,1754759982.991 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-09T17:19:42.993Z,1754759982.993 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 156.50 m.
2025-08-09T17:19:43.000Z,1754759983.000 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 156.500000 m,
      nav range: 157.800522 m,
      bearing: 30.240514 deg,
      approach rate: 0.360858 m/s,
      LOS rate: -0.122130 deg/s,
      cmd heading: 29.339812 deg,
      new cmd heading: 29.146804 deg.

2025-08-09T17:19:43.011Z,1754759983.011 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274995
2025-08-09T17:19:43.267Z,1754759983.267 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.529640
2025-08-09T17:19:43.351Z,1754759983.351 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 156.50 m.
2025-08-09T17:19:43.354Z,1754759983.354 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 156.500000 m,
      nav range: 157.942902 m,
      bearing: 30.190539 deg,
      approach rate: 0.398017 m/s,
      LOS rate: -0.139579 deg/s,
      cmd heading: 29.146804 deg,
      new cmd heading: 28.997013 deg.

2025-08-09T17:19:43.521Z,1754759983.521 [DAT](INFO): DAT read: 17:19:41.7525 LVL= 31968, 23409, 26866, 31171, AGC= 63, IDX= 449,-0.48,-1.421, 0.737,-0.188,-0.112, PHS=-1.207, 0.893,-0.121, RAW= 298.9,   4.8, CAL= 296.6,   1.5, ROT= 213.4,  -1.5

2025-08-09T17:19:43.522Z,1754759983.522 [DAT](INFO): got valid direction response:
 17:19:41.7525 LVL= 31968, 23409, 26866, 31171, AGC= 63, IDX= 449,-0.48,-1.421, 0.737,-0.188,-0.112, PHS=-1.207, 0.893,-0.121, RAW= 298.9,   4.8, CAL= 296.6,   1.5, ROT= 213.4,  -1.5

2025-08-09T17:19:43.523Z,1754759983.523 [DAT](INFO): DAT read: Bearing 129.8, -38.7 (Local)

2025-08-09T17:19:43.523Z,1754759983.523 [DAT](INFO): Local bearing/azimuth received:
 Bearing 129.8, -38.7 (Local)

2025-08-09T17:19:43.524Z,1754759983.524 [DAT](INFO): DAT read: Range 11 to 50 : 158.4 m  (Round-trip  211.3 ms) speed -0.4 m/s

2025-08-09T17:19:43.525Z,1754759983.525 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-09T17:19:43.526Z,1754759983.526 [DAT](INFO): direction in FSK: [-0.834562,-0.550292,0.026177]
2025-08-09T17:19:43.527Z,1754759983.527 [DAT](INFO): publishing direction and range info
2025-08-09T17:19:43.530Z,1754759983.530 [DAT](INFO): ****** received valid address query ******
2025-08-09T17:19:43.530Z,1754759983.530 [DAT](INFO): ****** received valid ping request ******
2025-08-09T17:19:43.530Z,1754759983.530 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-09T17:19:43.767Z,1754759983.767 [DAT](INFO): DAT read: user:455>

2025-08-09T17:19:43.768Z,1754759983.768 [DAT](INFO): DAT read: Tx time:17:19:43.1371

2025-08-09T17:19:43.768Z,1754759983.768 [DAT](INFO): Ping request sent.
2025-08-09T17:19:43.768Z,1754759983.768 [DAT](INFO): transmitted an acoustic signal
2025-08-09T17:19:43.769Z,1754759983.769 [DAT](INFO): publishing transmit ping time
2025-08-09T17:19:43.769Z,1754759983.769 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000741
2025-08-09T17:19:43.770Z,1754759983.770 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 158.399994 m,
      deltaT: 4.031771 s,
      deltaX: 1.899994 m,
      approachRate: 0.471255 m/s,
      rangeRepo size: 3

2025-08-09T17:19:43.772Z,1754759983.772 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 158.399994 m,
      bearing: 28.484146 deg,
      lat: 36.906158 deg,
      lon: -122.115807 deg,
      deltaT: 4.031771 s,
      deltaX: 1.899994 m,
      approachRate: 0.471255 m/s,
      posRepo size: 3

2025-08-09T17:19:43.773Z,1754759983.773 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 158.40 m.
2025-08-09T17:19:43.776Z,1754759983.776 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 158.399994 m,
      nav range: 166.426468 m,
      bearing: 28.484146 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.139579 deg/s,
      cmd heading: 28.997011 deg,
      new cmd heading: 28.823458 deg.

2025-08-09T17:19:44.020Z,1754759984.020 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251702
2025-08-09T17:19:44.185Z,1754759984.185 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 158.40 m.
2025-08-09T17:19:44.199Z,1754759984.199 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 158.399994 m,
      nav range: 166.570999 m,
      bearing: 28.434910 deg,
      approach rate: 0.344647 m/s,
      LOS rate: -0.117305 deg/s,
      cmd heading: 28.823460 deg,
      new cmd heading: 28.675881 deg.

2025-08-09T17:19:44.272Z,1754759984.272 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.503593
2025-08-09T17:19:44.523Z,1754759984.523 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754873
2025-08-09T17:19:44.558Z,1754759984.558 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 158.40 m.
2025-08-09T17:19:44.561Z,1754759984.561 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 158.399994 m,
      nav range: 166.707138 m,
      bearing: 28.386922 deg,
      approach rate: 0.364598 m/s,
      LOS rate: -0.128413 deg/s,
      cmd heading: 28.675880 deg,
      new cmd heading: 28.532034 deg.

2025-08-09T17:19:44.776Z,1754759984.776 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.008016
2025-08-09T17:19:45.011Z,1754759985.011 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-09T17:19:45.013Z,1754759985.013 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 158.40 m.
2025-08-09T17:19:45.027Z,1754759985.027 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258940
2025-08-09T17:19:45.032Z,1754759985.032 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 158.399994 m,
      nav range: 166.861710 m,
      bearing: 28.327840 deg,
      approach rate: 0.340103 m/s,
      LOS rate: -0.129877 deg/s,
      cmd heading: 28.532034 deg,
      new cmd heading: 28.354954 deg.

2025-08-09T17:19:45.279Z,1754759985.279 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510806
2025-08-09T17:19:45.376Z,1754759985.376 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 158.40 m.
2025-08-09T17:19:45.379Z,1754759985.379 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 158.399994 m,
      nav range: 166.977631 m,
      bearing: 28.281924 deg,
      approach rate: 0.319375 m/s,
      LOS rate: -0.126417 deg/s,
      cmd heading: 28.354953 deg,
      new cmd heading: 28.217300 deg.

2025-08-09T17:19:45.531Z,1754759985.531 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762829
2025-08-09T17:19:45.767Z,1754759985.767 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 158.40 m.
2025-08-09T17:19:45.770Z,1754759985.770 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 158.399994 m,
      nav range: 167.110519 m,
      bearing: 28.227332 deg,
      approach rate: 0.340135 m/s,
      LOS rate: -0.139621 deg/s,
      cmd heading: 28.217299 deg,
      new cmd heading: 28.053652 deg.

2025-08-09T17:19:45.783Z,1754759985.783 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014779
2025-08-09T17:19:46.035Z,1754759986.035 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266795
2025-08-09T17:19:46.233Z,1754759986.233 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 158.40 m.
2025-08-09T17:19:46.240Z,1754759986.240 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 158.399994 m,
      nav range: 167.250137 m,
      bearing: 28.165847 deg,
      approach rate: 0.299055 m/s,
      LOS rate: -0.131586 deg/s,
      cmd heading: 28.053653 deg,
      new cmd heading: 27.869355 deg.

2025-08-09T17:19:46.287Z,1754759986.287 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518964
2025-08-09T17:19:46.540Z,1754759986.540 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.771326
2025-08-09T17:19:46.583Z,1754759986.583 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 158.40 m.
2025-08-09T17:19:46.585Z,1754759986.585 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 158.399994 m,
      nav range: 167.360931 m,
      bearing: 28.115217 deg,
      approach rate: 0.317209 m/s,
      LOS rate: -0.144862 deg/s,
      cmd heading: 27.869356 deg,
      new cmd heading: 27.717565 deg.

2025-08-09T17:19:46.793Z,1754759986.793 [DAT](INFO): DAT read: Rx Time:17:19:45.7546

2025-08-09T17:19:46.793Z,1754759986.793 [DAT](INFO): Rx dataTimestamp_ set to:1754759986.792708
2025-08-09T17:19:46.794Z,1754759986.794 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.025108
2025-08-09T17:19:47.043Z,1754759987.043 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274950
2025-08-09T17:19:47.045Z,1754759987.045 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-09T17:19:47.048Z,1754759987.048 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 158.40 m.
2025-08-09T17:19:47.051Z,1754759987.051 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 158.399994 m,
      nav range: 167.515503 m,
      bearing: 28.045851 deg,
      approach rate: 0.332375 m/s,
      LOS rate: -0.149020 deg/s,
      cmd heading: 27.717565 deg,
      new cmd heading: 27.509660 deg.

2025-08-09T17:19:47.314Z,1754759987.314 [DAT](INFO): DAT read: 17:19:45.7546 LVL= 32752, 23009, 29938, 32643, AGC= 61, IDX= 470, 0.42,-0.933, 1.029, 0.627, 0.322, PHS=-1.154, 0.752, 0.260, RAW= 284.4,   1.7, CAL= 283.1,  -3.6, ROT= 226.9,   3.6

2025-08-09T17:19:47.318Z,1754759987.318 [DAT](INFO): got valid direction response:
 17:19:45.7546 LVL= 32752, 23009, 29938, 32643, AGC= 61, IDX= 470, 0.42,-0.933, 1.029, 0.627, 0.322, PHS=-1.154, 0.752, 0.260, RAW= 284.4,   1.7, CAL= 283.1,  -3.6, ROT= 226.9,   3.6

2025-08-09T17:19:47.319Z,1754759987.319 [DAT](INFO): DAT read: Bearing 130.5, -48.2 (Local)

2025-08-09T17:19:47.320Z,1754759987.320 [DAT](INFO): Local bearing/azimuth received:
 Bearing 130.5, -48.2 (Local)

2025-08-09T17:19:47.322Z,1754759987.322 [DAT](INFO): DAT read: Range 11 to 50 : 160.1 m  (Round-trip  213.5 ms) speed -0.8 m/s

2025-08-09T17:19:47.323Z,1754759987.323 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-09T17:19:47.324Z,1754759987.324 [DAT](INFO): direction in FSK: [-0.681926,-0.728721,-0.062791]
2025-08-09T17:19:47.324Z,1754759987.324 [DAT](INFO): publishing direction and range info
2025-08-09T17:19:47.329Z,1754759987.329 [DAT](INFO): ****** received valid address query ******
2025-08-09T17:19:47.329Z,1754759987.329 [DAT](INFO): ****** received valid ping request ******
2025-08-09T17:19:47.329Z,1754759987.329 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-09T17:19:47.447Z,1754759987.447 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 160.100006 m,
      deltaT: 3.781396 s,
      deltaX: 1.700012 m,
      approachRate: 0.449573 m/s,
      rangeRepo size: 4

2025-08-09T17:19:47.449Z,1754759987.449 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 160.100006 m,
      bearing: 21.747536 deg,
      lat: 36.906170 deg,
      lon: -122.116022 deg,
      deltaT: 3.781396 s,
      deltaX: 1.700012 m,
      approachRate: 0.449573 m/s,
      posRepo size: 4

2025-08-09T17:19:47.451Z,1754759987.451 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 160.10 m.
2025-08-09T17:19:47.453Z,1754759987.453 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 160.100006 m,
      nav range: 160.822693 m,
      bearing: 21.747536 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.149020 deg/s,
      cmd heading: 27.509659 deg,
      new cmd heading: 27.333486 deg.

2025-08-09T17:19:47.548Z,1754759987.548 [DAT](INFO): DAT read: user:456>

2025-08-09T17:19:47.549Z,1754759987.549 [DAT](INFO): DAT read: Tx time:17:19:46.9370

2025-08-09T17:19:47.549Z,1754759987.549 [DAT](INFO): Ping request sent.
2025-08-09T17:19:47.549Z,1754759987.549 [DAT](INFO): transmitted an acoustic signal
2025-08-09T17:19:47.550Z,1754759987.550 [DAT](INFO): publishing transmit ping time
2025-08-09T17:19:47.551Z,1754759987.551 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.001189
2025-08-09T17:19:47.799Z,1754759987.799 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.249968
2025-08-09T17:19:47.805Z,1754759987.805 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 160.10 m.
2025-08-09T17:19:47.808Z,1754759987.808 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 160.100006 m,
      nav range: 160.965347 m,
      bearing: 21.690095 deg,
      approach rate: 0.392162 m/s,
      LOS rate: -0.157767 deg/s,
      cmd heading: 27.333486 deg,
      new cmd heading: 27.161317 deg.

2025-08-09T17:19:48.051Z,1754759988.051 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.501910
2025-08-09T17:19:48.244Z,1754759988.244 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 160.10 m.
2025-08-09T17:19:48.247Z,1754759988.247 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 160.100006 m,
      nav range: 161.136871 m,
      bearing: 21.622219 deg,
      approach rate: 0.390974 m/s,
      LOS rate: -0.154552 deg/s,
      cmd heading: 27.161316 deg,
      new cmd heading: 26.957907 deg.

2025-08-09T17:19:48.304Z,1754759988.304 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754894
2025-08-09T17:19:48.555Z,1754759988.555 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.005886
2025-08-09T17:19:48.629Z,1754759988.629 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 160.10 m.
2025-08-09T17:19:48.631Z,1754759988.631 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 160.100006 m,
      nav range: 161.284943 m,
      bearing: 21.563816 deg,
      approach rate: 0.385081 m/s,
      LOS rate: -0.151746 deg/s,
      cmd heading: 26.957906 deg,
      new cmd heading: 26.782858 deg.

2025-08-09T17:19:48.808Z,1754759988.808 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258643
2025-08-09T17:19:49.059Z,1754759989.059 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.509898
2025-08-09T17:19:49.179Z,1754759989.179 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-09T17:19:49.201Z,1754759989.201 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 160.10 m.
2025-08-09T17:19:49.209Z,1754759989.209 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 160.100006 m,
      nav range: 161.509155 m,
      bearing: 21.474448 deg,
      approach rate: 0.404722 m/s,
      LOS rate: -0.161092 deg/s,
      cmd heading: 26.782859 deg,
      new cmd heading: 26.515129 deg.

2025-08-09T17:19:49.311Z,1754759989.311 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.761857
2025-08-09T17:19:49.565Z,1754759989.565 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.015101
2025-08-09T17:19:49.708Z,1754759989.708 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 160.10 m.
2025-08-09T17:19:49.715Z,1754759989.715 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 160.100006 m,
      nav range: 161.708221 m,
      bearing: 21.388989 deg,
      approach rate: 0.379048 m/s,
      LOS rate: -0.162525 deg/s,
      cmd heading: 26.515129 deg,
      new cmd heading: 26.259070 deg.

2025-08-09T17:19:49.815Z,1754759989.815 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.265870
2025-08-09T17:19:50.068Z,1754759990.068 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518407
2025-08-09T17:19:50.167Z,1754759990.167 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 160.10 m.
2025-08-09T17:19:50.173Z,1754759990.173 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 160.100006 m,
      nav range: 161.897156 m,
      bearing: 21.310682 deg,
      approach rate: 0.411520 m/s,
      LOS rate: -0.170362 deg/s,
      cmd heading: 26.259070 deg,
      new cmd heading: 26.024426 deg.

2025-08-09T17:19:50.319Z,1754759990.319 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.769844
2025-08-09T17:19:50.561Z,1754759990.561 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 160.10 m.
2025-08-09T17:19:50.564Z,1754759990.564 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 160.100006 m,
      nav range: 162.042603 m,
      bearing: 21.248256 deg,
      approach rate: 0.368926 m/s,
      LOS rate: -0.158202 deg/s,
      cmd heading: 26.024426 deg,
      new cmd heading: 25.837316 deg.

2025-08-09T17:19:50.571Z,1754759990.571 [DAT](INFO): DAT read: Rx Time:17:19:49.5568

2025-08-09T17:19:50.572Z,1754759990.572 [DAT](INFO): Rx dataTimestamp_ set to:1754759990.571590
2025-08-09T17:19:50.572Z,1754759990.572 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.023029
2025-08-09T17:19:50.823Z,1754759990.823 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.273855
2025-08-09T17:19:50.928Z,1754759990.928 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 160.10 m.
2025-08-09T17:19:50.931Z,1754759990.931 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 160.100006 m,
      nav range: 162.186523 m,
      bearing: 21.184238 deg,
      approach rate: 0.392045 m/s,
      LOS rate: -0.174234 deg/s,
      cmd heading: 25.837316 deg,
      new cmd heading: 25.645432 deg.

2025-08-09T17:19:51.078Z,1754759991.078 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.528568
2025-08-09T17:19:51.333Z,1754759991.333 [DAT](INFO): DAT read: 17:19:49.5568 LVL= 32752, 30001, 32754, 32755, AGC= 64, IDX= 444, 0.40,-0.105, 1.518, 1.867, 0.985, PHS=-0.989, 0.577, 0.838, RAW= 262.4,  -5.0, CAL= 260.7, -10.2, ROT= 249.3,  10.2

2025-08-09T17:19:51.334Z,1754759991.334 [DAT](INFO): got valid direction response:
 17:19:49.5568 LVL= 32752, 30001, 32754, 32755, AGC= 64, IDX= 444, 0.40,-0.105, 1.518, 1.867, 0.985, PHS=-0.989, 0.577, 0.838, RAW= 262.4,  -5.0, CAL= 260.7, -10.2, ROT= 249.3,  10.2

2025-08-09T17:19:51.335Z,1754759991.335 [DAT](INFO): DAT read: Bearing 148.9, -61.6 (Local)

2025-08-09T17:19:51.335Z,1754759991.335 [DAT](INFO): Local bearing/azimuth received:
 Bearing 148.9, -61.6 (Local)

2025-08-09T17:19:51.337Z,1754759991.337 [DAT](INFO): DAT read: Range 11 to 50 : 161.7 m  (Round-trip  215.7 ms) speed  0.0 m/s

2025-08-09T17:19:51.337Z,1754759991.337 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-09T17:19:51.339Z,1754759991.339 [DAT](INFO): direction in FSK: [-0.347889,-0.920660,-0.177085]
2025-08-09T17:19:51.339Z,1754759991.339 [DAT](INFO): publishing direction and range info
2025-08-09T17:19:51.342Z,1754759991.342 [DAT](INFO): ****** received valid address query ******
2025-08-09T17:19:51.346Z,1754759991.346 [DAT](INFO): ****** received valid ping request ******
2025-08-09T17:19:51.346Z,1754759991.346 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-09T17:19:51.436Z,1754759991.436 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 161.699997 m,
      deltaT: 4.030858 s,
      deltaX: 1.599991 m,
      approachRate: 0.396936 m/s,
      rangeRepo size: 4

2025-08-09T17:19:51.438Z,1754759991.438 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 161.699997 m,
      bearing: 21.282292 deg,
      lat: 36.906158 deg,
      lon: -122.116022 deg,
      deltaT: 4.030858 s,
      deltaX: 1.599991 m,
      approachRate: 0.396936 m/s,
      posRepo size: 4

2025-08-09T17:19:51.443Z,1754759991.443 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 161.70 m.
2025-08-09T17:19:51.445Z,1754759991.445 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 161.699997 m,
      nav range: 161.095413 m,
      bearing: 21.282292 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.174234 deg/s,
      cmd heading: 25.645433 deg,
      new cmd heading: 25.383045 deg.

2025-08-09T17:19:51.580Z,1754759991.580 [DAT](INFO): DAT read: user:457>

2025-08-09T17:19:51.581Z,1754759991.581 [DAT](INFO): DAT read: Tx time:17:19:50.9870

2025-08-09T17:19:51.582Z,1754759991.582 [DAT](INFO): Ping request sent.
2025-08-09T17:19:51.582Z,1754759991.582 [DAT](INFO): transmitted an acoustic signal
2025-08-09T17:19:51.583Z,1754759991.583 [DAT](INFO): publishing transmit ping time
2025-08-09T17:19:51.584Z,1754759991.584 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.001774
2025-08-09T17:19:51.809Z,1754759991.809 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-09T17:19:51.812Z,1754759991.812 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 161.70 m.
2025-08-09T17:19:51.814Z,1754759991.814 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 161.699997 m,
      nav range: 161.257462 m,
      bearing: 21.205978 deg,
      approach rate: 0.424771 m/s,
      LOS rate: -0.199838 deg/s,
      cmd heading: 25.383044 deg,
      new cmd heading: 25.154333 deg.

2025-08-09T17:19:51.831Z,1754759991.831 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.249545
2025-08-09T17:19:52.087Z,1754759992.087 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.504762
2025-08-09T17:19:52.273Z,1754759992.273 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 161.70 m.
2025-08-09T17:19:52.276Z,1754759992.276 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 161.699997 m,
      nav range: 161.424225 m,
      bearing: 21.134205 deg,
      approach rate: 0.361434 m/s,
      LOS rate: -0.155396 deg/s,
      cmd heading: 25.154333 deg,
      new cmd heading: 24.939238 deg.

2025-08-09T17:19:52.335Z,1754759992.335 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.753607
2025-08-09T17:19:52.587Z,1754759992.587 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.005549
2025-08-09T17:19:52.625Z,1754759992.625 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 161.70 m.
2025-08-09T17:19:52.632Z,1754759992.632 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 161.699997 m,
      nav range: 161.541321 m,
      bearing: 21.079924 deg,
      approach rate: 0.332737 m/s,
      LOS rate: -0.154132 deg/s,
      cmd heading: 24.939237 deg,
      new cmd heading: 24.776513 deg.

2025-08-09T17:19:52.852Z,1754759992.852 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.270055
2025-08-09T17:19:53.095Z,1754759993.095 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.513444
2025-08-09T17:19:53.209Z,1754759993.209 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 161.70 m.
2025-08-09T17:19:53.216Z,1754759993.216 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 161.699997 m,
      nav range: 161.734741 m,
      bearing: 20.984490 deg,
      approach rate: 0.331318 m/s,
      LOS rate: -0.163277 deg/s,
      cmd heading: 24.776513 deg,
      new cmd heading: 24.490556 deg.

2025-08-09T17:19:53.347Z,1754759993.347 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.765435
2025-08-09T17:19:53.600Z,1754759993.600 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.017753
2025-08-09T17:19:53.719Z,1754759993.719 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 161.70 m.
2025-08-09T17:19:53.722Z,1754759993.722 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 161.699997 m,
      nav range: 161.920181 m,
      bearing: 20.893406 deg,
      approach rate: 0.363243 m/s,
      LOS rate: -0.178213 deg/s,
      cmd heading: 24.490557 deg,
      new cmd heading: 24.217620 deg.

2025-08-09T17:19:53.853Z,1754759993.853 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.271140
2025-08-09T17:19:54.104Z,1754759994.104 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.522274
2025-08-09T17:19:54.203Z,1754759994.203 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-09T17:19:54.205Z,1754759994.205 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 161.70 m.
2025-08-09T17:19:54.208Z,1754759994.208 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 161.699997 m,
      nav range: 162.051437 m,
      bearing: 20.812632 deg,
      approach rate: 0.270277 m/s,
      LOS rate: -0.166191 deg/s,
      cmd heading: 24.217619 deg,
      new cmd heading: 23.975495 deg.

2025-08-09T17:19:54.355Z,1754759994.355 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.773324
2025-08-09T17:19:54.577Z,1754759994.577 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 161.70 m.
2025-08-09T17:19:54.580Z,1754759994.580 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 161.699997 m,
      nav range: 162.149185 m,
      bearing: 20.749934 deg,
      approach rate: 0.262419 m/s,
      LOS rate: -0.168221 deg/s,
      cmd heading: 23.975496 deg,
      new cmd heading: 23.787516 deg.

2025-08-09T17:19:54.607Z,1754759994.607 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.025390
2025-08-09T17:19:54.860Z,1754759994.860 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.277906
2025-08-09T17:19:54.971Z,1754759994.971 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 161.70 m.
2025-08-09T17:19:54.974Z,1754759994.974 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 161.699997 m,
      nav range: 162.249039 m,
      bearing: 20.683123 deg,
      approach rate: 0.253513 m/s,
      LOS rate: -0.169518 deg/s,
      cmd heading: 23.787517 deg,
      new cmd heading: 23.587208 deg.

2025-08-09T17:19:55.112Z,1754759995.112 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.530086
2025-08-09T17:19:55.363Z,1754759995.363 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.781443
2025-08-09T17:19:55.443Z,1754759995.443 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 161.70 m.
2025-08-09T17:19:55.446Z,1754759995.446 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 161.699997 m,
      nav range: 162.359116 m,
      bearing: 20.598233 deg,
      approach rate: 0.233252 m/s,
      LOS rate: -0.179760 deg/s,
      cmd heading: 23.587208 deg,
      new cmd heading: 23.332712 deg.

2025-08-09T17:19:55.615Z,1754759995.615 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.033565
2025-08-09T17:19:55.804Z,1754759995.804 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 161.70 m.
2025-08-09T17:19:55.807Z,1754759995.807 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 161.699997 m,
      nav range: 162.434418 m,
      bearing: 20.537489 deg,
      approach rate: 0.208524 m/s,
      LOS rate: -0.168132 deg/s,
      cmd heading: 23.332712 deg,
      new cmd heading: 23.150565 deg.

2025-08-09T17:19:55.868Z,1754759995.868 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.285955
2025-08-09T17:19:56.119Z,1754759996.119 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.537608
2025-08-09T17:19:56.225Z,1754759996.225 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-09T17:19:56.227Z,1754759996.227 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 161.70 m.
2025-08-09T17:19:56.230Z,1754759996.230 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 161.699997 m,
      nav range: 162.513474 m,
      bearing: 20.461586 deg,
      approach rate: 0.187058 m/s,
      LOS rate: -0.179511 deg/s,
      cmd heading: 23.150566 deg,
      new cmd heading: 22.922968 deg.

2025-08-09T17:19:56.371Z,1754759996.371 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.789457
2025-08-09T17:19:56.606Z,1754759996.606 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 161.70 m.
2025-08-09T17:19:56.612Z,1754759996.612 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 161.699997 m,
      nav range: 162.574524 m,
      bearing: 20.399647 deg,
      approach rate: 0.161233 m/s,
      LOS rate: -0.163519 deg/s,
      cmd heading: 22.922969 deg,
      new cmd heading: 22.737222 deg.

2025-08-09T17:19:56.623Z,1754759996.623 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.041523
2025-08-09T17:19:56.876Z,1754759996.876 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.294535
2025-08-09T17:19:57.001Z,1754759997.001 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 161.70 m.
2025-08-09T17:19:57.004Z,1754759997.004 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 161.699997 m,
      nav range: 162.638702 m,
      bearing: 20.330963 deg,
      approach rate: 0.162305 m/s,
      LOS rate: -0.173628 deg/s,
      cmd heading: 22.737222 deg,
      new cmd heading: 22.531254 deg.

2025-08-09T17:19:57.129Z,1754759997.129 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.547358
2025-08-09T17:19:57.379Z,1754759997.379 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.797456
2025-08-09T17:19:57.424Z,1754759997.424 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 161.70 m.
2025-08-09T17:19:57.427Z,1754759997.427 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 161.699997 m,
      nav range: 162.694229 m,
      bearing: 20.252453 deg,
      approach rate: 0.131177 m/s,
      LOS rate: -0.185411 deg/s,
      cmd heading: 22.531254 deg,
      new cmd heading: 22.295805 deg.

2025-08-09T17:19:57.632Z,1754759997.632 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.050254
2025-08-09T17:19:57.808Z,1754759997.808 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 161.70 m.
2025-08-09T17:19:57.810Z,1754759997.810 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 161.699997 m,
      nav range: 162.740143 m,
      bearing: 20.182759 deg,
      approach rate: 0.119787 m/s,
      LOS rate: -0.181777 deg/s,
      cmd heading: 22.295805 deg,
      new cmd heading: 22.086784 deg.

2025-08-09T17:19:57.885Z,1754759997.885 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.303351
2025-08-09T17:19:58.135Z,1754759998.135 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.553268
2025-08-09T17:19:58.250Z,1754759998.250 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-09T17:19:58.252Z,1754759998.252 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 161.70 m.
2025-08-09T17:19:58.255Z,1754759998.255 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 161.699997 m,
      nav range: 162.778564 m,
      bearing: 20.103419 deg,
      approach rate: 0.086390 m/s,
      LOS rate: -0.178352 deg/s,
      cmd heading: 22.086784 deg,
      new cmd heading: 21.848821 deg.

2025-08-09T17:19:58.387Z,1754759998.387 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.805403
2025-08-09T17:19:58.635Z,1754759998.635 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 161.70 m.
2025-08-09T17:19:58.637Z,1754759998.637 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 161.699997 m,
      nav range: 162.813248 m,
      bearing: 20.032383 deg,
      approach rate: 0.090817 m/s,
      LOS rate: -0.185966 deg/s,
      cmd heading: 21.848821 deg,
      new cmd heading: 21.635760 deg.

2025-08-09T17:19:58.657Z,1754759998.657 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.074712
2025-08-09T17:19:58.908Z,1754759998.908 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.325664
2025-08-09T17:19:59.011Z,1754759999.011 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 161.70 m.
2025-08-09T17:19:59.014Z,1754759999.014 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 161.699997 m,
      nav range: 162.839874 m,
      bearing: 19.963664 deg,
      approach rate: 0.070691 m/s,
      LOS rate: -0.182413 deg/s,
      cmd heading: 21.635760 deg,
      new cmd heading: 21.429637 deg.

2025-08-09T17:19:59.160Z,1754759999.160 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.578500
2025-08-09T17:19:59.411Z,1754759999.411 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.829509
2025-08-09T17:19:59.442Z,1754759999.442 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 161.70 m.
2025-08-09T17:19:59.445Z,1754759999.445 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 161.699997 m,
      nav range: 162.864120 m,
      bearing: 19.883970 deg,
      approach rate: 0.056261 m/s,
      LOS rate: -0.184896 deg/s,
      cmd heading: 21.429637 deg,
      new cmd heading: 21.190590 deg.

2025-08-09T17:19:59.664Z,1754759999.664 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.081966
2025-08-09T17:19:59.824Z,1754759999.824 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 161.70 m.
2025-08-09T17:19:59.827Z,1754759999.827 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 161.699997 m,
      nav range: 162.882263 m,
      bearing: 19.813235 deg,
      approach rate: 0.047483 m/s,
      LOS rate: -0.185105 deg/s,
      cmd heading: 21.190590 deg,
      new cmd heading: 20.978412 deg.

2025-08-09T17:19:59.916Z,1754759999.916 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.333858
2025-08-09T17:20:00.168Z,1754760000.168 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.586538
2025-08-09T17:20:00.257Z,1754760000.257 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-09T17:20:00.260Z,1754760000.260 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 161.70 m.
2025-08-09T17:20:00.262Z,1754760000.262 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 161.699997 m,
      nav range: 162.898056 m,
      bearing: 19.733688 deg,
      approach rate: 0.036254 m/s,
      LOS rate: -0.182589 deg/s,
      cmd heading: 20.978412 deg,
      new cmd heading: 20.739795 deg.

2025-08-09T17:20:00.419Z,1754760000.419 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.837332
2025-08-09T17:20:00.643Z,1754760000.643 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 161.70 m.
2025-08-09T17:20:00.645Z,1754760000.645 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 161.699997 m,
      nav range: 162.908707 m,
      bearing: 19.663250 deg,
      approach rate: 0.027831 m/s,
      LOS rate: -0.184048 deg/s,
      cmd heading: 20.739794 deg,
      new cmd heading: 20.528496 deg.

2025-08-09T17:20:00.677Z,1754760000.677 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.095601
2025-08-09T17:20:00.927Z,1754760000.927 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.345444
2025-08-09T17:20:01.035Z,1754760001.035 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 161.70 m.
2025-08-09T17:20:01.037Z,1754760001.037 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 161.699997 m,
      nav range: 162.916199 m,
      bearing: 19.591215 deg,
      approach rate: 0.019087 m/s,
      LOS rate: -0.183507 deg/s,
      cmd heading: 20.528496 deg,
      new cmd heading: 20.312402 deg.

2025-08-09T17:20:01.183Z,1754760001.183 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.600176
2025-08-09T17:20:01.431Z,1754760001.431 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.849499
2025-08-09T17:20:01.470Z,1754760001.470 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 161.70 m.
2025-08-09T17:20:01.473Z,1754760001.473 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 161.699997 m,
      nav range: 162.923828 m,
      bearing: 19.506184 deg,
      approach rate: 0.017543 m/s,
      LOS rate: -0.195515 deg/s,
      cmd heading: 20.312402 deg,
      new cmd heading: 20.057323 deg.

2025-08-09T17:20:01.683Z,1754760001.683 [DAT](INFO): Reached modem response timeout
2025-08-09T17:20:01.683Z,1754760001.683 [DAT](DEBUG): Acoustic response timeout
2025-08-09T17:20:01.684Z,1754760001.684 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-09T17:20:01.876Z,1754760001.876 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 161.70 m.
2025-08-09T17:20:01.883Z,1754760001.883 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 161.699997 m,
      nav range: 162.926926 m,
      bearing: 19.431411 deg,
      approach rate: 0.007627 m/s,
      LOS rate: -0.184112 deg/s,
      cmd heading: 20.057323 deg,
      new cmd heading: 19.833010 deg.

2025-08-09T17:20:01.935Z,1754760001.935 [DAT](INFO): Reached modem response timeout
2025-08-09T17:20:01.935Z,1754760001.935 [DAT](DEBUG): Acoustic response timeout
2025-08-09T17:20:01.935Z,1754760001.935 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-09T17:20:02.189Z,1754760002.189 [DAT](INFO): Reached modem response timeout
2025-08-09T17:20:02.189Z,1754760002.189 [DAT](DEBUG): Acoustic response timeout
2025-08-09T17:20:02.190Z,1754760002.190 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-09T17:20:02.273Z,1754760002.273 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-09T17:20:02.275Z,1754760002.275 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 161.70 m.
2025-08-09T17:20:02.278Z,1754760002.278 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 161.699997 m,
      nav range: 162.932053 m,
      bearing: 19.351918 deg,
      approach rate: 0.012837 m/s,
      LOS rate: -0.199030 deg/s,
      cmd heading: 19.833010 deg,
      new cmd heading: 19.594539 deg.

2025-08-09T17:20:02.439Z,1754760002.439 [DAT](INFO): Reached modem response timeout
2025-08-09T17:20:02.439Z,1754760002.439 [DAT](DEBUG): Acoustic response timeout
2025-08-09T17:20:02.439Z,1754760002.439 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-09T17:20:02.669Z,1754760002.669 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 161.70 m.
2025-08-09T17:20:02.674Z,1754760002.674 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 161.699997 m,
      nav range: 162.933121 m,
      bearing: 19.279055 deg,
      approach rate: 0.002716 m/s,
      LOS rate: -0.185246 deg/s,
      cmd heading: 19.594539 deg,
      new cmd heading: 19.375952 deg.

2025-08-09T17:20:02.691Z,1754760002.691 [DAT](INFO): Reached modem response timeout
2025-08-09T17:20:02.691Z,1754760002.691 [DAT](DEBUG): Acoustic response timeout
2025-08-09T17:20:02.691Z,1754760002.691 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-09T17:20:02.943Z,1754760002.943 [DAT](INFO): Reached modem response timeout
2025-08-09T17:20:02.943Z,1754760002.943 [DAT](DEBUG): Acoustic response timeout
2025-08-09T17:20:02.943Z,1754760002.943 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-09T17:20:03.081Z,1754760003.081 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 161.70 m.
2025-08-09T17:20:03.084Z,1754760003.084 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 161.699997 m,
      nav range: 162.930511 m,
      bearing: 19.204016 deg,
      approach rate: -0.006632 m/s,
      LOS rate: -0.190720 deg/s,
      cmd heading: 19.375952 deg,
      new cmd heading: 19.150833 deg.

2025-08-09T17:20:03.197Z,1754760003.197 [DAT](INFO): Reached modem response timeout
2025-08-09T17:20:03.198Z,1754760003.198 [DAT](DEBUG): Acoustic response timeout
2025-08-09T17:20:03.200Z,1754760003.200 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-09T17:20:03.447Z,1754760003.447 [DAT](INFO): Reached modem response timeout
2025-08-09T17:20:03.447Z,1754760003.447 [DAT](DEBUG): Acoustic response timeout
2025-08-09T17:20:03.447Z,1754760003.447 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-09T17:20:03.561Z,1754760003.561 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 161.70 m.
2025-08-09T17:20:03.563Z,1754760003.563 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 161.699997 m,
      nav range: 162.938065 m,
      bearing: 19.112139 deg,
      approach rate: 0.015150 m/s,
      LOS rate: -0.184272 deg/s,
      cmd heading: 19.150833 deg,
      new cmd heading: 18.875219 deg.

2025-08-09T17:20:03.700Z,1754760003.700 [DAT](INFO): Reached modem response timeout
2025-08-09T17:20:03.700Z,1754760003.700 [DAT](DEBUG): Acoustic response timeout
2025-08-09T17:20:03.700Z,1754760003.700 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-09T17:20:03.925Z,1754760003.925 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 161.70 m.
2025-08-09T17:20:03.927Z,1754760003.927 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 161.699997 m,
      nav range: 162.936508 m,
      bearing: 19.045027 deg,
      approach rate: -0.004276 m/s,
      LOS rate: -0.184378 deg/s,
      cmd heading: 18.875219 deg,
      new cmd heading: 18.673881 deg.

2025-08-09T17:20:03.951Z,1754760003.951 [DAT](INFO): DAT read: Response Not Received

2025-08-09T17:20:03.952Z,1754760003.952 [DAT](INFO): response not received
2025-08-09T17:20:03.952Z,1754760003.952 [DAT](INFO): DAT read: user:458>

2025-08-09T17:20:03.953Z,1754760003.953 [DAT](INFO): DAT read: Tx time:17:20:03.4370

2025-08-09T17:20:03.953Z,1754760003.953 [DAT](INFO): Ping request sent.
2025-08-09T17:20:03.953Z,1754760003.953 [DAT](INFO): transmitted an acoustic signal
2025-08-09T17:20:03.953Z,1754760003.953 [DAT](INFO): publishing transmit ping time
2025-08-09T17:20:03.954Z,1754760003.954 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000744
2025-08-09T17:20:04.207Z,1754760004.207 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.253805
2025-08-09T17:20:04.349Z,1754760004.349 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-09T17:20:04.351Z,1754760004.351 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 161.70 m.
2025-08-09T17:20:04.354Z,1754760004.354 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 161.699997 m,
      nav range: 162.934586 m,
      bearing: 18.964319 deg,
      approach rate: -0.004508 m/s,
      LOS rate: -0.189222 deg/s,
      cmd heading: 18.673881 deg,
      new cmd heading: 18.431754 deg.

2025-08-09T17:20:04.456Z,1754760004.456 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502395
2025-08-09T17:20:04.707Z,1754760004.707 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754128
2025-08-09T17:20:04.747Z,1754760004.747 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 161.70 m.
2025-08-09T17:20:04.750Z,1754760004.750 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 161.699997 m,
      nav range: 162.933090 m,
      bearing: 18.889136 deg,
      approach rate: -0.003777 m/s,
      LOS rate: -0.189896 deg/s,
      cmd heading: 18.431754 deg,
      new cmd heading: 18.206205 deg.

2025-08-09T17:20:04.959Z,1754760004.959 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006002
2025-08-09T17:20:05.124Z,1754760005.124 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 161.70 m.
2025-08-09T17:20:05.131Z,1754760005.131 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 161.699997 m,
      nav range: 162.924072 m,
      bearing: 18.817735 deg,
      approach rate: -0.023911 m/s,
      LOS rate: -0.189325 deg/s,
      cmd heading: 18.206204 deg,
      new cmd heading: 17.991992 deg.

2025-08-09T17:20:05.215Z,1754760005.215 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.261415
2025-08-09T17:20:05.463Z,1754760005.463 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510036
2025-08-09T17:20:05.544Z,1754760005.544 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for water mass range. Device response is::WD,        +0.00,        +0.0  +0.00,  20.00,2426.63
2025-08-09T17:20:05.570Z,1754760005.570 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 161.70 m.
2025-08-09T17:20:05.572Z,1754760005.572 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 161.699997 m,
      nav range: 162.913757 m,
      bearing: 18.733517 deg,
      approach rate: -0.023155 m/s,
      LOS rate: -0.189062 deg/s,
      cmd heading: 17.991992 deg,
      new cmd heading: 17.739323 deg.

2025-08-09T17:20:05.715Z,1754760005.715 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762013
2025-08-09T17:20:05.927Z,1754760005.927 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 161.70 m.
2025-08-09T17:20:05.930Z,1754760005.930 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 161.699997 m,
      nav range: 162.898071 m,
      bearing: 18.665851 deg,
      approach rate: -0.043861 m/s,
      LOS rate: -0.189227 deg/s,
      cmd heading: 17.739323 deg,
      new cmd heading: 17.536305 deg.

2025-08-09T17:20:05.967Z,1754760005.967 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014127
2025-08-09T17:20:06.224Z,1754760006.224 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.269983
2025-08-09T17:20:06.364Z,1754760006.364 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-09T17:20:06.366Z,1754760006.366 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 161.70 m.
2025-08-09T17:20:06.385Z,1754760006.385 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 161.699997 m,
      nav range: 162.890091 m,
      bearing: 18.583727 deg,
      approach rate: -0.018199 m/s,
      LOS rate: -0.187288 deg/s,
      cmd heading: 17.536306 deg,
      new cmd heading: 17.289925 deg.

2025-08-09T17:20:06.471Z,1754760006.471 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518130
2025-08-09T17:20:06.723Z,1754760006.723 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.769908
2025-08-09T17:20:06.746Z,1754760006.746 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 161.70 m.
2025-08-09T17:20:06.752Z,1754760006.752 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 161.699997 m,
      nav range: 162.875809 m,
      bearing: 18.514216 deg,
      approach rate: -0.037610 m/s,
      LOS rate: -0.183064 deg/s,
      cmd heading: 17.289925 deg,
      new cmd heading: 17.081374 deg.

2025-08-09T17:20:06.977Z,1754760006.977 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.023632
2025-08-09T17:20:07.149Z,1754760007.149 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 161.70 m.
2025-08-09T17:20:07.153Z,1754760007.153 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 161.699997 m,
      nav range: 162.856400 m,
      bearing: 18.438856 deg,
      approach rate: -0.048136 m/s,
      LOS rate: -0.186919 deg/s,
      cmd heading: 17.081374 deg,
      new cmd heading: 16.855268 deg.

2025-08-09T17:20:07.231Z,1754760007.231 [DAT](INFO): DAT read: Rx Time:17:20:06.0900

2025-08-09T17:20:07.232Z,1754760007.232 [DAT](INFO): Rx dataTimestamp_ set to:1754760007.231378
2025-08-09T17:20:07.235Z,1754760007.235 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.280717
2025-08-09T17:20:07.479Z,1754760007.479 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.526025
2025-08-09T17:20:07.576Z,1754760007.576 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 161.70 m.
2025-08-09T17:20:07.578Z,1754760007.578 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 161.699997 m,
      nav range: 162.834259 m,
      bearing: 18.357867 deg,
      approach rate: -0.051884 m/s,
      LOS rate: -0.189815 deg/s,
      cmd heading: 16.855268 deg,
      new cmd heading: 16.612271 deg.

2025-08-09T17:20:07.737Z,1754760007.737 [DAT](INFO): DAT read: 17:20:06.0900 LVL= 32752, 32753, 32754, 29827, AGC= 69, IDX= 240, 0.32,-0.666,-0.328, 0.536,-1.027, PHS= 0.463, 0.744, 1.519, RAW= 224.9, -45.5, CAL= 224.5, -46.1, ROT= 285.5,  46.1

2025-08-09T17:20:07.739Z,1754760007.739 [DAT](INFO): got valid direction response:
 17:20:06.0900 LVL= 32752, 32753, 32754, 29827, AGC= 69, IDX= 240, 0.32,-0.666,-0.328, 0.536,-1.027, PHS= 0.463, 0.744, 1.519, RAW= 224.9, -45.5, CAL= 224.5, -46.1, ROT= 285.5,  46.1

2025-08-09T17:20:07.740Z,1754760007.740 [DAT](INFO): DAT read: Bearing 160.2, -32.0 (Local)

2025-08-09T17:20:07.740Z,1754760007.740 [DAT](INFO): Local bearing/azimuth received:
 Bearing 160.2, -32.0 (Local)

2025-08-09T17:20:07.741Z,1754760007.741 [DAT](INFO): DAT read: Range 11 to 50 : 186.6 m  (Round-trip  248.9 ms) speed  0.0 m/s

2025-08-09T17:20:07.742Z,1754760007.742 [DAT](INFO): DAT read: user:459>

2025-08-09T17:20:07.743Z,1754760007.743 [DAT](INFO): DAT read: Tx time:17:20:07.1870

2025-08-09T17:20:07.743Z,1754760007.743 [DAT](INFO): Ping request sent.
2025-08-09T17:20:07.744Z,1754760007.744 [DAT](INFO): transmitted an acoustic signal
2025-08-09T17:20:07.744Z,1754760007.744 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-09T17:20:07.745Z,1754760007.745 [DAT](INFO): direction in FSK: [0.185304,-0.668183,-0.720551]
2025-08-09T17:20:07.745Z,1754760007.745 [DAT](INFO): publishing transmit ping time
2025-08-09T17:20:07.745Z,1754760007.745 [DAT](INFO): publishing direction and range info
2025-08-09T17:20:07.748Z,1754760007.748 [DAT](INFO): publishing transmit ping time
2025-08-09T17:20:07.749Z,1754760007.749 [DAT](INFO): publishing direction and range info
2025-08-09T17:20:07.969Z,1754760007.969 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 186.600006 m,
      deltaT: 16.404094 s,
      deltaX: 24.900009 m,
      approachRate: 1.517914 m/s,
      rangeRepo size: 4

2025-08-09T17:20:07.975Z,1754760007.975 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 186.600006 m,
      bearing: 18.288031 deg,
      lat: 36.906158 deg,
      lon: -122.116022 deg,
      deltaT: 16.404094 s,
      deltaX: 24.900009 m,
      approachRate: 1.517914 m/s,
      posRepo size: 4

2025-08-09T17:20:07.976Z,1754760007.976 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 186.60 m.
2025-08-09T17:20:07.978Z,1754760007.978 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 186.600006 m,
      nav range: 162.811523 m,
      bearing: 18.288031 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.189815 deg/s,
      cmd heading: 16.612272 deg,
      new cmd heading: 16.388854 deg.

2025-08-09T17:20:08.391Z,1754760008.391 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-09T17:20:08.393Z,1754760008.393 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 186.60 m.
2025-08-09T17:20:08.396Z,1754760008.396 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 186.600006 m,
      nav range: 162.786621 m,
      bearing: 18.206131 deg,
      approach rate: -0.058588 m/s,
      LOS rate: -0.192716 deg/s,
      cmd heading: 16.388854 deg,
      new cmd heading: 16.143119 deg.

2025-08-09T17:20:08.488Z,1754760008.488 [DAT](INFO): ****** received valid address query ******
2025-08-09T17:20:08.488Z,1754760008.488 [DAT](INFO): ****** received valid ping request ******
2025-08-09T17:20:08.488Z,1754760008.488 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-09T17:20:08.739Z,1754760008.739 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.995671
2025-08-09T17:20:08.776Z,1754760008.776 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 186.60 m.
2025-08-09T17:20:08.779Z,1754760008.779 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 186.600006 m,
      nav range: 162.758545 m,
      bearing: 18.137836 deg,
      approach rate: -0.073221 m/s,
      LOS rate: -0.178139 deg/s,
      cmd heading: 16.143118 deg,
      new cmd heading: 15.938198 deg.

2025-08-09T17:20:08.992Z,1754760008.992 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.247910
2025-08-09T17:20:09.180Z,1754760009.180 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 186.60 m.
2025-08-09T17:20:09.182Z,1754760009.182 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 186.600006 m,
      nav range: 162.723145 m,
      bearing: 18.061319 deg,
      approach rate: -0.087767 m/s,
      LOS rate: -0.189747 deg/s,
      cmd heading: 15.938199 deg,
      new cmd heading: 15.708600 deg.

2025-08-09T17:20:09.251Z,1754760009.251 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.506493
2025-08-09T17:20:09.499Z,1754760009.499 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.755624
2025-08-09T17:20:09.600Z,1754760009.600 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 186.60 m.
2025-08-09T17:20:09.602Z,1754760009.602 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 186.600006 m,
      nav range: 162.684998 m,
      bearing: 17.986842 deg,
      approach rate: -0.090845 m/s,
      LOS rate: -0.177405 deg/s,
      cmd heading: 15.708600 deg,
      new cmd heading: 15.485116 deg.

2025-08-09T17:20:09.751Z,1754760009.751 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.007871
2025-08-09T17:20:09.986Z,1754760009.986 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 186.60 m.
2025-08-09T17:20:09.989Z,1754760009.989 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 186.600006 m,
      nav range: 162.650375 m,
      bearing: 17.918714 deg,
      approach rate: -0.089646 m/s,
      LOS rate: -0.176437 deg/s,
      cmd heading: 15.485116 deg,
      new cmd heading: 15.280692 deg.

2025-08-09T17:20:10.006Z,1754760010.006 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.262689
2025-08-09T17:20:10.258Z,1754760010.258 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.513802
2025-08-09T17:20:10.407Z,1754760010.407 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 186.60 m.
2025-08-09T17:20:10.410Z,1754760010.410 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 186.600006 m,
      nav range: 162.594025 m,
      bearing: 17.845129 deg,
      approach rate: -0.133773 m/s,
      LOS rate: -0.174749 deg/s,
      cmd heading: 15.280692 deg,
      new cmd heading: 15.059860 deg.

2025-08-09T17:20:10.508Z,1754760010.508 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.763923
2025-08-09T17:20:10.759Z,1754760010.759 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.015816
2025-08-09T17:20:10.782Z,1754760010.782 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-09T17:20:10.784Z,1754760010.784 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 186.60 m.
2025-08-09T17:20:10.787Z,1754760010.787 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 186.600006 m,
      nav range: 162.536850 m,
      bearing: 17.775106 deg,
      approach rate: -0.151663 m/s,
      LOS rate: -0.185809 deg/s,
      cmd heading: 15.059860 deg,
      new cmd heading: 14.849720 deg.

2025-08-09T17:20:11.011Z,1754760011.011 [DAT](INFO): DAT read: Rx Time:17:20:09.8088

2025-08-09T17:20:11.012Z,1754760011.012 [DAT](INFO): Rx dataTimestamp_ set to:1754760011.011519
2025-08-09T17:20:11.012Z,1754760011.012 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.268750
2025-08-09T17:20:11.204Z,1754760011.204 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 186.60 m.
2025-08-09T17:20:11.207Z,1754760011.207 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 186.600006 m,
      nav range: 162.470657 m,
      bearing: 17.698747 deg,
      approach rate: -0.157682 m/s,
      LOS rate: -0.181974 deg/s,
      cmd heading: 14.849719 deg,
      new cmd heading: 14.620550 deg.

2025-08-09T17:20:11.265Z,1754760011.265 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.520947
2025-08-09T17:20:11.521Z,1754760011.521 [DAT](INFO): DAT read: 17:20:09.8088 LVL= 32752, 32753, 28322, 31091, AGC= 63, IDX= 130, 0.33, 0.416, 0.753, 2.567, 1.248, PHS=-0.730,-0.450, 1.275, RAW= 217.4,  -1.0, CAL= 215.8,  -2.3, ROT= 294.2,   2.3

2025-08-09T17:20:11.523Z,1754760011.523 [DAT](INFO): got valid direction response:
 17:20:09.8088 LVL= 32752, 32753, 28322, 31091, AGC= 63, IDX= 130, 0.33, 0.416, 0.753, 2.567, 1.248, PHS=-0.730,-0.450, 1.275, RAW= 217.4,  -1.0, CAL= 215.8,  -2.3, ROT= 294.2,   2.3

2025-08-09T17:20:11.523Z,1754760011.523 [DAT](INFO): DAT read: Bearing 201.6, -62.8 (Local)

2025-08-09T17:20:11.524Z,1754760011.524 [DAT](INFO): Local bearing/azimuth received:
 Bearing 201.6, -62.8 (Local)

2025-08-09T17:20:11.525Z,1754760011.525 [DAT](INFO): DAT read: Range 11 to 50 : 163.2 m  (Round-trip  217.7 ms) speed  0.3 m/s

2025-08-09T17:20:11.526Z,1754760011.526 [DAT](INFO): DAT read: user:460>

2025-08-09T17:20:11.527Z,1754760011.527 [DAT](INFO): DAT read: Tx time:17:20:10.9370

2025-08-09T17:20:11.527Z,1754760011.527 [DAT](INFO): Ping request sent.
2025-08-09T17:20:11.527Z,1754760011.527 [DAT](INFO): transmitted an acoustic signal
2025-08-09T17:20:11.528Z,1754760011.528 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-09T17:20:11.529Z,1754760011.529 [DAT](INFO): direction in FSK: [0.409593,-0.911385,-0.040132]
2025-08-09T17:20:11.529Z,1754760011.529 [DAT](INFO): publishing transmit ping time
2025-08-09T17:20:11.529Z,1754760011.529 [DAT](INFO): publishing direction and range info
2025-08-09T17:20:11.532Z,1754760011.532 [DAT](INFO): publishing transmit ping time
2025-08-09T17:20:11.532Z,1754760011.532 [DAT](INFO): publishing direction and range info
2025-08-09T17:20:11.729Z,1754760011.729 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](ERROR): addTargetRange::Rejecting new target range. Approach rate out of bounds.
 range: 163.199997 m,
 deltaT: 3.783607 s,
 deltaX: -23.400009 m,
 approachRate: -6.184577 m/s,
 rangeRepo size: 4
2025-08-09T17:20:11.729Z,1754760011.729 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 186.60 m.
2025-08-09T17:20:11.736Z,1754760011.736 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 186.600006 m,
      nav range: 162.389832 m,
      bearing: 17.607882 deg,
      approach rate: -0.154205 m/s,
      LOS rate: -0.173446 deg/s,
      cmd heading: 14.620551 deg,
      new cmd heading: 14.347821 deg.

2025-08-09T17:20:12.067Z,1754760012.067 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 186.60 m.
2025-08-09T17:20:12.071Z,1754760012.071 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 186.600006 m,
      nav range: 162.323944 m,
      bearing: 17.542009 deg,
      approach rate: -0.194094 m/s,
      LOS rate: -0.194130 deg/s,
      cmd heading: 14.347822 deg,
      new cmd heading: 14.150123 deg.

2025-08-09T17:20:12.509Z,1754760012.509 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 186.60 m.
2025-08-09T17:20:12.511Z,1754760012.511 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 186.600006 m,
      nav range: 162.237869 m,
      bearing: 17.464457 deg,
      approach rate: -0.195131 m/s,
      LOS rate: -0.175904 deg/s,
      cmd heading: 14.150123 deg,
      new cmd heading: 13.917345 deg.

2025-08-09T17:20:13.133Z,1754760013.133 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-09T17:20:13.141Z,1754760013.141 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 186.60 m.
2025-08-09T17:20:13.158Z,1754760013.158 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 186.600006 m,
      nav range: 162.128647 m,
      bearing: 17.370696 deg,
      approach rate: -0.172621 m/s,
      LOS rate: -0.148285 deg/s,
      cmd heading: 13.917345 deg,
      new cmd heading: 13.635874 deg.

2025-08-09T17:20:13.279Z,1754760013.279 [DAT](INFO): ****** received valid address query ******
2025-08-09T17:20:13.279Z,1754760013.279 [DAT](INFO): ****** received valid ping request ******
2025-08-09T17:20:13.279Z,1754760013.279 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-09T17:20:13.517Z,1754760013.517 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 186.60 m.
2025-08-09T17:20:13.520Z,1754760013.520 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 186.600006 m,
      nav range: 162.026978 m,
      bearing: 17.289574 deg,
      approach rate: -0.270763 m/s,
      LOS rate: -0.216176 deg/s,
      cmd heading: 13.635874 deg,
      new cmd heading: 13.392358 deg.

2025-08-09T17:20:13.536Z,1754760013.536 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.008278
2025-08-09T17:20:13.788Z,1754760013.788 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.260426
2025-08-09T17:20:13.919Z,1754760013.919 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 186.60 m.
2025-08-09T17:20:13.921Z,1754760013.921 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 186.600006 m,
      nav range: 161.940735 m,
      bearing: 17.223809 deg,
      approach rate: -0.214465 m/s,
      LOS rate: -0.163628 deg/s,
      cmd heading: 13.392358 deg,
      new cmd heading: 13.194960 deg.

2025-08-09T17:20:14.040Z,1754760014.040 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.512326
2025-08-09T17:20:14.292Z,1754760014.292 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.764479
2025-08-09T17:20:14.348Z,1754760014.348 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 186.60 m.
2025-08-09T17:20:14.369Z,1754760014.369 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 186.600006 m,
      nav range: 161.846313 m,
      bearing: 17.154969 deg,
      approach rate: -0.229595 m/s,
      LOS rate: -0.167488 deg/s,
      cmd heading: 13.194960 deg,
      new cmd heading: 12.988321 deg.

2025-08-09T17:20:14.543Z,1754760014.543 [DAT](INFO): DAT read: Rx Time:17:20:13.5575

2025-08-09T17:20:14.544Z,1754760014.544 [DAT](INFO): Rx dataTimestamp_ set to:1754760014.543540
2025-08-09T17:20:14.544Z,1754760014.544 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.017089
2025-08-09T17:20:14.732Z,1754760014.732 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 186.60 m.
2025-08-09T17:20:14.735Z,1754760014.735 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 186.600006 m,
      nav range: 161.743042 m,
      bearing: 17.082303 deg,
      approach rate: -0.257007 m/s,
      LOS rate: -0.180957 deg/s,
      cmd heading: 12.988321 deg,
      new cmd heading: 12.770184 deg.

2025-08-09T17:20:14.798Z,1754760014.798 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.270588
2025-08-09T17:20:15.048Z,1754760015.048 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.520268
2025-08-09T17:20:15.164Z,1754760015.164 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-09T17:20:15.166Z,1754760015.166 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 186.60 m.
2025-08-09T17:20:15.169Z,1754760015.169 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 186.600006 m,
      nav range: 161.637299 m,
      bearing: 17.007598 deg,
      approach rate: -0.243682 m/s,
      LOS rate: -0.172269 deg/s,
      cmd heading: 12.770184 deg,
      new cmd heading: 12.545923 deg.

2025-08-09T17:20:15.306Z,1754760015.306 [DAT](INFO): DAT read: 17:20:13.5575 LVL= 29728, 30273, 19186, 32755, AGC= 64, IDX= 420, 0.38,-2.762,-2.787,-1.055,-2.136, PHS=-0.524,-0.606, 1.037, RAW= 207.5,   1.2, CAL= 206.9,  -0.7, ROT= 303.1,   0.7

2025-08-09T17:20:15.307Z,1754760015.307 [DAT](INFO): got valid direction response:
 17:20:13.5575 LVL= 29728, 30273, 19186, 32755, AGC= 64, IDX= 420, 0.38,-2.762,-2.787,-1.055,-2.136, PHS=-0.524,-0.606, 1.037, RAW= 207.5,   1.2, CAL= 206.9,  -0.7, ROT= 303.1,   0.7

2025-08-09T17:20:15.308Z,1754760015.308 [DAT](INFO): DAT read: Bearing 201.6, -55.2 (Local)

2025-08-09T17:20:15.308Z,1754760015.308 [DAT](INFO): Local bearing/azimuth received:
 Bearing 201.6, -55.2 (Local)

2025-08-09T17:20:15.310Z,1754760015.310 [DAT](INFO): DAT read: Range 11 to 50 : 162.3 m  (Round-trip  216.4 ms) speed -0.2 m/s

2025-08-09T17:20:15.311Z,1754760015.311 [DAT](INFO): DAT read: user:461>

2025-08-09T17:20:15.311Z,1754760015.311 [DAT](INFO): DAT read: Tx time:17:20:14.6870

2025-08-09T17:20:15.312Z,1754760015.312 [DAT](INFO): Ping request sent.
2025-08-09T17:20:15.312Z,1754760015.312 [DAT](INFO): transmitted an acoustic signal
2025-08-09T17:20:15.312Z,1754760015.312 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-09T17:20:15.313Z,1754760015.313 [DAT](INFO): direction in FSK: [0.546061,-0.837656,-0.012217]
2025-08-09T17:20:15.313Z,1754760015.313 [DAT](INFO): publishing transmit ping time
2025-08-09T17:20:15.313Z,1754760015.313 [DAT](INFO): publishing direction and range info
2025-08-09T17:20:15.332Z,1754760015.332 [DAT](INFO): publishing transmit ping time
2025-08-09T17:20:15.333Z,1754760015.333 [DAT](INFO): publishing direction and range info
2025-08-09T17:20:15.572Z,1754760015.572 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 162.300003 m,
      deltaT: 7.567539 s,
      deltaX: -24.300003 m,
      approachRate: -3.211084 m/s,
      rangeRepo size: 4

2025-08-09T17:20:15.578Z,1754760015.578 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 162.300003 m,
      bearing: 22.841856 deg,
      lat: 36.906096 deg,
      lon: -122.115852 deg,
      deltaT: 7.567539 s,
      deltaX: -24.300003 m,
      approachRate: -3.211084 m/s,
      posRepo size: 4

2025-08-09T17:20:15.579Z,1754760015.579 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 162.30 m.
2025-08-09T17:20:15.582Z,1754760015.582 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 162.300003 m,
      nav range: 160.140579 m,
      bearing: 22.841856 deg,
      approach rate: 1254781616128.000000 m/s,
      LOS rate: -0.172269 deg/s,
      cmd heading: 12.545923 deg,
      new cmd heading: 12.336267 deg.

2025-08-09T17:20:15.934Z,1754760015.934 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 162.30 m.
2025-08-09T17:20:15.937Z,1754760015.937 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 162.300003 m,
      nav range: 160.022415 m,
      bearing: 22.779478 deg,
      approach rate: -0.325882 m/s,
      LOS rate: -0.172158 deg/s,
      cmd heading: 12.336267 deg,
      new cmd heading: 12.148995 deg.

2025-08-09T17:20:16.347Z,1754760016.347 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 162.30 m.
2025-08-09T17:20:16.369Z,1754760016.369 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 162.300003 m,
      nav range: 159.897369 m,
      bearing: 22.718166 deg,
      approach rate: -0.307350 m/s,
      LOS rate: -0.150817 deg/s,
      cmd heading: 12.148995 deg,
      new cmd heading: 11.964915 deg.

2025-08-09T17:20:16.779Z,1754760016.779 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 162.30 m.
2025-08-09T17:20:16.781Z,1754760016.781 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 162.300003 m,
      nav range: 159.756714 m,
      bearing: 22.649968 deg,
      approach rate: -0.321346 m/s,
      LOS rate: -0.155944 deg/s,
      cmd heading: 11.964915 deg,
      new cmd heading: 11.760142 deg.

2025-08-09T17:20:17.159Z,1754760017.159 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 162.30 m.
2025-08-09T17:20:17.161Z,1754760017.161 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 162.300003 m,
      nav range: 159.626633 m,
      bearing: 22.589032 deg,
      approach rate: -0.342610 m/s,
      LOS rate: -0.160624 deg/s,
      cmd heading: 11.760142 deg,
      new cmd heading: 11.577187 deg.

2025-08-09T17:20:17.578Z,1754760017.578 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-09T17:20:17.580Z,1754760017.580 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 162.30 m.
2025-08-09T17:20:17.583Z,1754760017.583 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 162.300003 m,
      nav range: 159.479843 m,
      bearing: 22.523657 deg,
      approach rate: -0.348002 m/s,
      LOS rate: -0.155131 deg/s,
      cmd heading: 11.577187 deg,
      new cmd heading: 11.380881 deg.

2025-08-09T17:20:17.824Z,1754760017.824 [DAT](INFO): ****** received valid address query ******
2025-08-09T17:20:17.824Z,1754760017.824 [DAT](INFO): ****** received valid ping request ******
2025-08-09T17:20:17.824Z,1754760017.824 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-09T17:20:18.009Z,1754760018.009 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 162.30 m.
2025-08-09T17:20:18.011Z,1754760018.011 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 162.300003 m,
      nav range: 159.327515 m,
      bearing: 22.457918 deg,
      approach rate: -0.355638 m/s,
      LOS rate: -0.153626 deg/s,
      cmd heading: 11.380881 deg,
      new cmd heading: 11.183477 deg.

2025-08-09T17:20:18.071Z,1754760018.071 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.759767
2025-08-09T17:20:18.323Z,1754760018.323 [DAT](INFO): DAT read: Rx Time:17:20:17.3063

2025-08-09T17:20:18.324Z,1754760018.324 [DAT](INFO): Rx dataTimestamp_ set to:1754760018.323474
2025-08-09T17:20:18.324Z,1754760018.324 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.012633
2025-08-09T17:20:18.494Z,1754760018.494 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 162.30 m.
2025-08-09T17:20:18.497Z,1754760018.497 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 162.300003 m,
      nav range: 159.153366 m,
      bearing: 22.384405 deg,
      approach rate: -0.358626 m/s,
      LOS rate: -0.151552 deg/s,
      cmd heading: 11.183478 deg,
      new cmd heading: 10.962698 deg.

2025-08-09T17:20:18.578Z,1754760018.578 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.266125
2025-08-09T17:20:18.835Z,1754760018.835 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.523248
2025-08-09T17:20:18.895Z,1754760018.895 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 162.30 m.
2025-08-09T17:20:18.898Z,1754760018.898 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 162.300003 m,
      nav range: 159.009781 m,
      bearing: 22.323597 deg,
      approach rate: -0.357890 m/s,
      LOS rate: -0.151703 deg/s,
      cmd heading: 10.962699 deg,
      new cmd heading: 10.780111 deg.

2025-08-09T17:20:19.089Z,1754760019.089 [DAT](INFO): DAT read: 17:20:17.3063 LVL= 32752, 31985, 24306, 32755, AGC= 65, IDX= 408, 0.01, 2.404, 1.941,-2.262, 2.908, PHS=-0.402,-0.922, 1.069, RAW= 195.4,   2.9, CAL= 195.6,   0.3, ROT= 314.4,  -0.3

2025-08-09T17:20:19.090Z,1754760019.090 [DAT](INFO): got valid direction response:
 17:20:17.3063 LVL= 32752, 31985, 24306, 32755, AGC= 65, IDX= 408, 0.01, 2.404, 1.941,-2.262, 2.908, PHS=-0.402,-0.922, 1.069, RAW= 195.4,   2.9, CAL= 195.6,   0.3, ROT= 314.4,  -0.3

2025-08-09T17:20:19.091Z,1754760019.091 [DAT](INFO): DAT read: Bearing 198.5, -44.5 (Local)

2025-08-09T17:20:19.091Z,1754760019.091 [DAT](INFO): Local bearing/azimuth received:
 Bearing 198.5, -44.5 (Local)

2025-08-09T17:20:19.093Z,1754760019.093 [DAT](INFO): DAT read: Range 11 to 50 : 161.4 m  (Round-trip  215.2 ms) speed  0.3 m/s

2025-08-09T17:20:19.094Z,1754760019.094 [DAT](INFO): DAT read: user:462>

2025-08-09T17:20:19.094Z,1754760019.094 [DAT](INFO): DAT read: Tx time:17:20:18.4370

2025-08-09T17:20:19.095Z,1754760019.095 [DAT](INFO): Ping request sent.
2025-08-09T17:20:19.095Z,1754760019.095 [DAT](INFO): transmitted an acoustic signal
2025-08-09T17:20:19.095Z,1754760019.095 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-09T17:20:19.096Z,1754760019.096 [DAT](INFO): direction in FSK: [0.699654,-0.714463,0.005236]
2025-08-09T17:20:19.096Z,1754760019.096 [DAT](INFO): publishing transmit ping time
2025-08-09T17:20:19.097Z,1754760019.097 [DAT](INFO): publishing direction and range info
2025-08-09T17:20:19.108Z,1754760019.108 [DAT](INFO): publishing transmit ping time
2025-08-09T17:20:19.108Z,1754760019.108 [DAT](INFO): publishing direction and range info
2025-08-09T17:20:19.299Z,1754760019.299 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 161.399994 m,
      deltaT: 3.783972 s,
      deltaX: -0.900009 m,
      approachRate: -0.237848 m/s,
      rangeRepo size: 4

2025-08-09T17:20:19.301Z,1754760019.301 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 161.399994 m,
      bearing: 23.277678 deg,
      lat: 36.906079 deg,
      lon: -122.115827 deg,
      deltaT: 3.783972 s,
      deltaX: -0.900009 m,
      approachRate: -0.237848 m/s,
      posRepo size: 4

2025-08-09T17:20:19.302Z,1754760019.302 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 161.40 m.
2025-08-09T17:20:19.309Z,1754760019.309 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 161.399994 m,
      nav range: 158.081238 m,
      bearing: 23.277678 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.151703 deg/s,
      cmd heading: 10.780111 deg,
      new cmd heading: 10.598567 deg.

2025-08-09T17:20:19.681Z,1754760019.681 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-09T17:20:19.683Z,1754760019.683 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 161.40 m.
2025-08-09T17:20:19.685Z,1754760019.685 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 161.399994 m,
      nav range: 157.918411 m,
      bearing: 23.221417 deg,
      approach rate: -0.418995 m/s,
      LOS rate: -0.144923 deg/s,
      cmd heading: 10.598567 deg,
      new cmd heading: 10.429610 deg.

2025-08-09T17:20:19.839Z,1754760019.839 [DAT](INFO): ****** received valid address query ******
2025-08-09T17:20:19.840Z,1754760019.840 [DAT](INFO): ****** received valid ping request ******
2025-08-09T17:20:19.840Z,1754760019.840 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-09T17:20:20.062Z,1754760020.062 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 161.40 m.
2025-08-09T17:20:20.065Z,1754760020.065 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 161.399994 m,
      nav range: 157.765427 m,
      bearing: 23.168404 deg,
      approach rate: -0.403876 m/s,
      LOS rate: -0.140090 deg/s,
      cmd heading: 10.429610 deg,
      new cmd heading: 10.270416 deg.

2025-08-09T17:20:20.091Z,1754760020.091 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.996480
2025-08-09T17:20:20.343Z,1754760020.343 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.248422
2025-08-09T17:20:20.508Z,1754760020.508 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 161.40 m.
2025-08-09T17:20:20.511Z,1754760020.511 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 161.399994 m,
      nav range: 157.577530 m,
      bearing: 23.111959 deg,
      approach rate: -0.421233 m/s,
      LOS rate: -0.126691 deg/s,
      cmd heading: 10.270416 deg,
      new cmd heading: 10.100880 deg.

2025-08-09T17:20:20.596Z,1754760020.596 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.501121
2025-08-09T17:20:20.848Z,1754760020.848 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.753048
2025-08-09T17:20:20.892Z,1754760020.892 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 161.40 m.
2025-08-09T17:20:20.898Z,1754760020.898 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 161.399994 m,
      nav range: 157.426071 m,
      bearing: 23.068101 deg,
      approach rate: -0.394518 m/s,
      LOS rate: -0.114350 deg/s,
      cmd heading: 10.100880 deg,
      new cmd heading: 9.969180 deg.

2025-08-09T17:20:21.103Z,1754760021.103 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.007676
2025-08-09T17:20:21.266Z,1754760021.266 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 161.40 m.
2025-08-09T17:20:21.269Z,1754760021.269 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 161.399994 m,
      nav range: 157.252151 m,
      bearing: 23.019572 deg,
      approach rate: -0.464576 m/s,
      LOS rate: -0.129774 deg/s,
      cmd heading: 9.969180 deg,
      new cmd heading: 9.823433 deg.

2025-08-09T17:20:21.351Z,1754760021.351 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.256569
2025-08-09T17:20:21.603Z,1754760021.603 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.508368
2025-08-09T17:20:21.692Z,1754760021.692 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-09T17:20:21.694Z,1754760021.694 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 161.40 m.
2025-08-09T17:20:21.697Z,1754760021.697 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 161.399994 m,
      nav range: 157.068344 m,
      bearing: 22.974509 deg,
      approach rate: -0.429493 m/s,
      LOS rate: -0.105420 deg/s,
      cmd heading: 9.823433 deg,
      new cmd heading: 9.688085 deg.

2025-08-09T17:20:21.856Z,1754760021.856 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.760762
2025-08-09T17:20:22.068Z,1754760022.068 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 161.40 m.
2025-08-09T17:20:22.070Z,1754760022.070 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 161.399994 m,
      nav range: 156.906570 m,
      bearing: 22.936295 deg,
      approach rate: -0.432947 m/s,
      LOS rate: -0.102375 deg/s,
      cmd heading: 9.688085 deg,
      new cmd heading: 9.573326 deg.

2025-08-09T17:20:22.108Z,1754760022.108 [DAT](INFO): DAT read: Rx Time:17:20:21.0853

2025-08-09T17:20:22.110Z,1754760022.110 [DAT](INFO): Rx dataTimestamp_ set to:1754760022.109856
2025-08-09T17:20:22.112Z,1754760022.112 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.016561
2025-08-09T17:20:22.359Z,1754760022.359 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.264366
2025-08-09T17:20:22.525Z,1754760022.525 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 161.40 m.
2025-08-09T17:20:22.528Z,1754760022.528 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 161.399994 m,
      nav range: 156.689056 m,
      bearing: 22.888169 deg,
      approach rate: -0.475749 m/s,
      LOS rate: -0.105409 deg/s,
      cmd heading: 9.573326 deg,
      new cmd heading: 9.428747 deg.

2025-08-09T17:20:22.615Z,1754760022.615 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.519823
2025-08-09T17:20:22.872Z,1754760022.872 [DAT](INFO): DAT read: 17:20:21.0853 LVL= 29040, 32705, 19714, 27683, AGC= 59, IDX= 225,-0.01,-2.756, 2.810,-2.116, 2.843, PHS= 0.787, 0.012, 1.280, RAW= 172.7, -33.6, CAL= 172.8, -34.8, ROT= 337.2,  34.8

2025-08-09T17:20:22.873Z,1754760022.873 [DAT](INFO): got valid direction response:
 17:20:21.0853 LVL= 29040, 32705, 19714, 27683, AGC= 59, IDX= 225,-0.01,-2.756, 2.810,-2.116, 2.843, PHS= 0.787, 0.012, 1.280, RAW= 172.7, -33.6, CAL= 172.8, -34.8, ROT= 337.2,  34.8

2025-08-09T17:20:22.875Z,1754760022.875 [DAT](INFO): DAT read: Bearing 158.6, -11.7 (Local)

2025-08-09T17:20:22.875Z,1754760022.875 [DAT](INFO): Local bearing/azimuth received:
 Bearing 158.6, -11.7 (Local)

2025-08-09T17:20:22.877Z,1754760022.877 [DAT](INFO): DAT read: Range 11 to 50 : 183.1 m  (Round-trip  244.2 ms) speed  0.4 m/s

2025-08-09T17:20:22.877Z,1754760022.877 [DAT](INFO): DAT read: user:463>

2025-08-09T17:20:22.888Z,1754760022.888 [DAT](INFO): DAT read: Tx time:17:20:22.1870

2025-08-09T17:20:22.888Z,1754760022.888 [DAT](INFO): Ping request sent.
2025-08-09T17:20:22.888Z,1754760022.888 [DAT](INFO): transmitted an acoustic signal
2025-08-09T17:20:22.888Z,1754760022.888 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-09T17:20:22.889Z,1754760022.889 [DAT](INFO): direction in FSK: [0.756987,-0.318208,-0.570714]
2025-08-09T17:20:22.890Z,1754760022.890 [DAT](INFO): publishing transmit ping time
2025-08-09T17:20:22.890Z,1754760022.890 [DAT](INFO): publishing direction and range info
2025-08-09T17:20:22.893Z,1754760022.893 [DAT](INFO): publishing transmit ping time
2025-08-09T17:20:22.893Z,1754760022.893 [DAT](INFO): publishing direction and range info
2025-08-09T17:20:22.982Z,1754760022.982 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](ERROR): addTargetRange::Rejecting new target range. Approach rate out of bounds.
 range: 183.100006 m,
 deltaT: 3.780580 s,
 deltaX: 21.700012 m,
 approachRate: 5.739863 m/s,
 rangeRepo size: 4
2025-08-09T17:20:22.987Z,1754760022.987 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 161.40 m.
2025-08-09T17:20:22.989Z,1754760022.989 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 161.399994 m,
      nav range: 156.481003 m,
      bearing: 22.843940 deg,
      approach rate: -0.455749 m/s,
      LOS rate: -0.097013 deg/s,
      cmd heading: 9.428747 deg,
      new cmd heading: 9.295886 deg.

2025-08-09T17:20:23.316Z,1754760023.316 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 161.40 m.
2025-08-09T17:20:23.319Z,1754760023.319 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 161.399994 m,
      nav range: 156.306595 m,
      bearing: 22.808326 deg,
      approach rate: -0.520832 m/s,
      LOS rate: -0.106472 deg/s,
      cmd heading: 9.295887 deg,
      new cmd heading: 9.188925 deg.

2025-08-09T17:20:23.742Z,1754760023.742 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-09T17:20:23.744Z,1754760023.744 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 161.40 m.
2025-08-09T17:20:23.747Z,1754760023.747 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 161.399994 m,
      nav range: 156.096298 m,
      bearing: 22.766550 deg,
      approach rate: -0.491707 m/s,
      LOS rate: -0.097811 deg/s,
      cmd heading: 9.188926 deg,
      new cmd heading: 9.063429 deg.

2025-08-09T17:20:23.876Z,1754760023.876 [DAT](INFO): ****** received valid address query ******
2025-08-09T17:20:23.876Z,1754760023.876 [DAT](INFO): ****** received valid ping request ******
2025-08-09T17:20:23.876Z,1754760023.876 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-09T17:20:24.128Z,1754760024.128 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.239813
2025-08-09T17:20:24.142Z,1754760024.142 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 161.40 m.
2025-08-09T17:20:24.145Z,1754760024.145 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 161.399994 m,
      nav range: 155.899719 m,
      bearing: 22.729088 deg,
      approach rate: -0.493750 m/s,
      LOS rate: -0.094212 deg/s,
      cmd heading: 9.063429 deg,
      new cmd heading: 8.950902 deg.

2025-08-09T17:20:24.381Z,1754760024.381 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.492828
2025-08-09T17:20:24.570Z,1754760024.570 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 161.40 m.
2025-08-09T17:20:24.573Z,1754760024.573 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 161.399994 m,
      nav range: 155.677750 m,
      bearing: 22.689215 deg,
      approach rate: -0.518839 m/s,
      LOS rate: -0.093334 deg/s,
      cmd heading: 8.950901 deg,
      new cmd heading: 8.831111 deg.

2025-08-09T17:20:24.633Z,1754760024.633 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.744583
2025-08-09T17:20:24.883Z,1754760024.883 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.995175
2025-08-09T17:20:24.947Z,1754760024.947 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 161.40 m.
2025-08-09T17:20:24.950Z,1754760024.950 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 161.399994 m,
      nav range: 155.484024 m,
      bearing: 22.655898 deg,
      approach rate: -0.513178 m/s,
      LOS rate: -0.088365 deg/s,
      cmd heading: 8.831111 deg,
      new cmd heading: 8.731037 deg.

2025-08-09T17:20:25.136Z,1754760025.136 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.247982
2025-08-09T17:20:25.348Z,1754760025.348 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 161.40 m.
2025-08-09T17:20:25.351Z,1754760025.351 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 161.399994 m,
      nav range: 155.271774 m,
      bearing: 22.621030 deg,
      approach rate: -0.529798 m/s,
      LOS rate: -0.087155 deg/s,
      cmd heading: 8.731038 deg,
      new cmd heading: 8.626288 deg.

2025-08-09T17:20:25.388Z,1754760025.388 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.499895
2025-08-09T17:20:25.640Z,1754760025.640 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.751494
2025-08-09T17:20:25.762Z,1754760025.762 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-09T17:20:25.764Z,1754760025.764 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 161.40 m.
2025-08-09T17:20:25.767Z,1754760025.767 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 161.399994 m,
      nav range: 155.052780 m,
      bearing: 22.586827 deg,
      approach rate: -0.526502 m/s,
      LOS rate: -0.082346 deg/s,
      cmd heading: 8.626288 deg,
      new cmd heading: 8.523535 deg.

2025-08-09T17:20:25.891Z,1754760025.891 [DAT](INFO): DAT read: Rx Time:17:20:24.8335

2025-08-09T17:20:25.892Z,1754760025.892 [DAT](INFO): Rx dataTimestamp_ set to:1754760025.891604
2025-08-09T17:20:25.892Z,1754760025.892 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.004350
2025-08-09T17:20:26.143Z,1754760026.143 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.255247
2025-08-09T17:20:26.153Z,1754760026.153 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 161.40 m.
2025-08-09T17:20:26.156Z,1754760026.156 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 161.399994 m,
      nav range: 154.845840 m,
      bearing: 22.555911 deg,
      approach rate: -0.531476 m/s,
      LOS rate: -0.079506 deg/s,
      cmd heading: 8.523536 deg,
      new cmd heading: 8.430665 deg.

2025-08-09T17:20:26.402Z,1754760026.402 [DAT](INFO): DAT read: 17:20:24.8335 LVL= 28736, 30193, 18994, 32755, AGC= 64, IDX= 432,-0.42,-2.086,-2.970,-0.592,-1.943, PHS=-0.041,-0.982, 1.307, RAW= 185.9,  -2.9, CAL= 186.1,  -5.3, ROT= 323.9,   5.3

2025-08-09T17:20:26.403Z,1754760026.403 [DAT](INFO): got valid direction response:
 17:20:24.8335 LVL= 28736, 30193, 18994, 32755, AGC= 64, IDX= 432,-0.42,-2.086,-2.970,-0.592,-1.943, PHS=-0.041,-0.982, 1.307, RAW= 185.9,  -2.9, CAL= 186.1,  -5.3, ROT= 323.9,   5.3

2025-08-09T17:20:26.404Z,1754760026.404 [DAT](INFO): DAT read: Bearing 175.0, -33.7 (Local)

2025-08-09T17:20:26.405Z,1754760026.405 [DAT](INFO): Local bearing/azimuth received:
 Bearing 175.0, -33.7 (Local)

2025-08-09T17:20:26.406Z,1754760026.406 [DAT](INFO): DAT read: Range 11 to 50 : 181.8 m  (Round-trip  242.4 ms) speed  0.5 m/s

2025-08-09T17:20:26.407Z,1754760026.407 [DAT](INFO): DAT read: user:464>

2025-08-09T17:20:26.408Z,1754760026.408 [DAT](INFO): DAT read: Tx time:17:20:25.9370

2025-08-09T17:20:26.408Z,1754760026.408 [DAT](INFO): Ping request sent.
2025-08-09T17:20:26.408Z,1754760026.408 [DAT](INFO): transmitted an acoustic signal
2025-08-09T17:20:26.408Z,1754760026.408 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-09T17:20:26.409Z,1754760026.409 [DAT](INFO): direction in FSK: [0.804535,-0.586677,-0.092371]
2025-08-09T17:20:26.409Z,1754760026.409 [DAT](INFO): publishing transmit ping time
2025-08-09T17:20:26.410Z,1754760026.410 [DAT](INFO): publishing direction and range info
2025-08-09T17:20:26.413Z,1754760026.413 [DAT](INFO): publishing transmit ping time
2025-08-09T17:20:26.414Z,1754760026.414 [DAT](INFO): publishing direction and range info
2025-08-09T17:20:26.710Z,1754760026.710 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 181.800003 m,
      deltaT: 7.312685 s,
      deltaX: 20.400009 m,
      approachRate: 2.789674 m/s,
      rangeRepo size: 4

2025-08-09T17:20:26.712Z,1754760026.712 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 181.800003 m,
      bearing: 22.261450 deg,
      lat: 36.906096 deg,
      lon: -122.115827 deg,
      deltaT: 7.312685 s,
      deltaX: 20.400009 m,
      approachRate: 2.789674 m/s,
      posRepo size: 4

2025-08-09T17:20:26.713Z,1754760026.713 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 181.80 m.
2025-08-09T17:20:26.720Z,1754760026.720 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 181.800003 m,
      nav range: 156.229874 m,
      bearing: 22.261450 deg,
      approach rate: -0.000000 m/s,
      LOS rate: -0.079506 deg/s,
      cmd heading: 8.430665 deg,
      new cmd heading: 8.298941 deg.

2025-08-09T17:20:27.056Z,1754760027.056 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 181.80 m.
2025-08-09T17:20:27.058Z,1754760027.058 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 181.800003 m,
      nav range: 156.032959 m,
      bearing: 22.234664 deg,
      approach rate: -0.562414 m/s,
      LOS rate: -0.076603 deg/s,
      cmd heading: 8.298941 deg,
      new cmd heading: 8.218480 deg.

2025-08-09T17:20:27.468Z,1754760027.468 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 181.80 m.
2025-08-09T17:20:27.471Z,1754760027.471 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 181.800003 m,
      nav range: 155.810287 m,
      bearing: 22.205904 deg,
      approach rate: -0.540030 m/s,
      LOS rate: -0.069849 deg/s,
      cmd heading: 8.218480 deg,
      new cmd heading: 8.132077 deg.

2025-08-09T17:20:27.956Z,1754760027.956 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-09T17:20:27.962Z,1754760027.962 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 181.80 m.
2025-08-09T17:20:27.965Z,1754760027.965 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 181.800003 m,
      nav range: 155.558807 m,
      bearing: 22.168472 deg,
      approach rate: -0.513034 m/s,
      LOS rate: -0.076487 deg/s,
      cmd heading: 8.132076 deg,
      new cmd heading: 8.019598 deg.

2025-08-09T17:20:28.160Z,1754760028.160 [DAT](INFO): ****** received valid address query ******
2025-08-09T17:20:28.160Z,1754760028.160 [DAT](INFO): ****** received valid ping request ******
2025-08-09T17:20:28.160Z,1754760028.160 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-09T17:20:28.265Z,1754760028.265 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 181.80 m.
2025-08-09T17:20:28.272Z,1754760028.272 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 181.800003 m,
      nav range: 155.389618 m,
      bearing: 22.144492 deg,
      approach rate: -0.551127 m/s,
      LOS rate: -0.078197 deg/s,
      cmd heading: 8.019598 deg,
      new cmd heading: 7.947581 deg.

2025-08-09T17:20:28.411Z,1754760028.411 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.003420
2025-08-09T17:20:28.663Z,1754760028.663 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.255428
2025-08-09T17:20:28.701Z,1754760028.701 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 181.80 m.
2025-08-09T17:20:28.708Z,1754760028.708 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 181.800003 m,
      nav range: 155.159180 m,
      bearing: 22.113489 deg,
      approach rate: -0.528357 m/s,
      LOS rate: -0.071191 deg/s,
      cmd heading: 7.947582 deg,
      new cmd heading: 7.854433 deg.

2025-08-09T17:20:28.915Z,1754760028.915 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.507438
2025-08-09T17:20:29.067Z,1754760029.067 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 181.80 m.
2025-08-09T17:20:29.069Z,1754760029.069 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 181.800003 m,
      nav range: 154.956146 m,
      bearing: 22.087640 deg,
      approach rate: -0.556087 m/s,
      LOS rate: -0.070889 deg/s,
      cmd heading: 7.854433 deg,
      new cmd heading: 7.776786 deg.

2025-08-09T17:20:29.167Z,1754760029.167 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.759450
2025-08-09T17:20:29.420Z,1754760029.420 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.011622
2025-08-09T17:20:29.468Z,1754760029.468 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 181.80 m.
2025-08-09T17:20:29.471Z,1754760029.471 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 181.800003 m,
      nav range: 154.740097 m,
      bearing: 22.061657 deg,
      approach rate: -0.540282 m/s,
      LOS rate: -0.065068 deg/s,
      cmd heading: 7.776786 deg,
      new cmd heading: 7.698727 deg.

2025-08-09T17:20:29.671Z,1754760029.671 [DAT](INFO): DAT read: Rx Time:17:20:28.5497

2025-08-09T17:20:29.672Z,1754760029.672 [DAT](INFO): Rx dataTimestamp_ set to:1754760029.671621
2025-08-09T17:20:29.672Z,1754760029.672 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.264523
2025-08-09T17:20:29.923Z,1754760029.923 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.515390
2025-08-09T17:20:29.938Z,1754760029.938 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 181.80 m.
2025-08-09T17:20:29.941Z,1754760029.941 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 181.800003 m,
      nav range: 154.509247 m,
      bearing: 22.033366 deg,
      approach rate: -0.493495 m/s,
      LOS rate: -0.060567 deg/s,
      cmd heading: 7.698727 deg,
      new cmd heading: 7.613730 deg.

2025-08-09T17:20:30.181Z,1754760030.181 [DAT](INFO): DAT read: 17:20:28.5497 LVL= 22320, 21441, 17330, 24771, AGC= 66, IDX= 100,-0.12,-2.810, 2.328,-1.876,-2.778, PHS= 0.070,-1.132, 0.858, RAW= 173.2,   2.4, CAL= 172.3,  -0.2, ROT= 337.7,   0.2

2025-08-09T17:20:30.182Z,1754760030.182 [DAT](INFO): got valid direction response:
 17:20:28.5497 LVL= 22320, 21441, 17330, 24771, AGC= 66, IDX= 100,-0.12,-2.810, 2.328,-1.876,-2.778, PHS= 0.070,-1.132, 0.858, RAW= 173.2,   2.4, CAL= 172.3,  -0.2, ROT= 337.7,   0.2

2025-08-09T17:20:30.183Z,1754760030.183 [DAT](INFO): DAT read: Bearing 174.0, -21.9 (Local)

2025-08-09T17:20:30.184Z,1754760030.184 [DAT](INFO): Local bearing/azimuth received:
 Bearing 174.0, -21.9 (Local)

2025-08-09T17:20:30.185Z,1754760030.185 [DAT](INFO): DAT read: Range 11 to 50 : 156.3 m  (Round-trip  208.5 ms) speed  0.4 m/s

2025-08-09T17:20:30.186Z,1754760030.186 [DAT](INFO): DAT read: user:465>

2025-08-09T17:20:30.187Z,1754760030.187 [DAT](INFO): DAT read: Tx time:17:20:29.6870

2025-08-09T17:20:30.187Z,1754760030.187 [DAT](INFO): Ping request sent.
2025-08-09T17:20:30.187Z,1754760030.187 [DAT](INFO): transmitted an acoustic signal
2025-08-09T17:20:30.188Z,1754760030.188 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-09T17:20:30.189Z,1754760030.189 [DAT](INFO): direction in FSK: [0.925204,-0.379454,-0.003491]
2025-08-09T17:20:30.189Z,1754760030.189 [DAT](INFO): publishing transmit ping time
2025-08-09T17:20:30.189Z,1754760030.189 [DAT](INFO): publishing direction and range info
2025-08-09T17:20:30.192Z,1754760030.192 [DAT](INFO): publishing transmit ping time
2025-08-09T17:20:30.193Z,1754760030.193 [DAT](INFO): publishing direction and range info
2025-08-09T17:20:30.381Z,1754760030.381 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](ERROR): addTargetRange::Rejecting new target range. Approach rate out of bounds.
 range: 156.300003 m,
 deltaT: 3.779358 s,
 deltaX: -25.500000 m,
 approachRate: -6.747178 m/s,
 rangeRepo size: 4
2025-08-09T17:20:30.382Z,1754760030.382 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 181.80 m.
2025-08-09T17:20:30.384Z,1754760030.384 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 181.800003 m,
      nav range: 154.281250 m,
      bearing: 22.006979 deg,
      approach rate: -0.511007 m/s,
      LOS rate: -0.059228 deg/s,
      cmd heading: 7.613730 deg,
      new cmd heading: 7.534451 deg.

2025-08-09T17:20:30.744Z,1754760030.744 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-09T17:20:30.747Z,1754760030.747 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 181.80 m.
2025-08-09T17:20:30.749Z,1754760030.749 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 181.800003 m,
      nav range: 154.084686 m,
      bearing: 21.988350 deg,
      approach rate: -0.536787 m/s,
      LOS rate: -0.050940 deg/s,
      cmd heading: 7.534452 deg,
      new cmd heading: 7.478491 deg.

2025-08-09T17:20:30.931Z,1754760030.931 [DAT](INFO): ****** received valid address query ******
2025-08-09T17:20:30.931Z,1754760030.931 [DAT](INFO): ****** received valid ping request ******
2025-08-09T17:20:30.931Z,1754760030.931 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-09T17:20:31.142Z,1754760031.142 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 181.80 m.
2025-08-09T17:20:31.145Z,1754760031.145 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 181.800003 m,
      nav range: 153.889313 m,
      bearing: 21.971214 deg,
      approach rate: -0.494012 m/s,
      LOS rate: -0.043384 deg/s,
      cmd heading: 7.478491 deg,
      new cmd heading: 7.427018 deg.

2025-08-09T17:20:31.184Z,1754760031.184 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.996587
2025-08-09T17:20:31.435Z,1754760031.435 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.247839
2025-08-09T17:20:31.645Z,1754760031.645 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 181.80 m.
2025-08-09T17:20:31.652Z,1754760031.652 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 181.800003 m,
      nav range: 153.671158 m,
      bearing: 21.953557 deg,
      approach rate: -0.433312 m/s,
      LOS rate: -0.035121 deg/s,
      cmd heading: 7.427018 deg,
      new cmd heading: 7.373972 deg.

2025-08-09T17:20:31.688Z,1754760031.688 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.500411
2025-08-09T17:20:31.939Z,1754760031.939 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.751969
2025-08-09T17:20:32.013Z,1754760032.013 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 181.80 m.
2025-08-09T17:20:32.020Z,1754760032.020 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 181.800003 m,
      nav range: 153.468964 m,
      bearing: 21.938671 deg,
      approach rate: -0.550043 m/s,
      LOS rate: -0.040548 deg/s,
      cmd heading: 7.373972 deg,
      new cmd heading: 7.329256 deg.

2025-08-09T17:20:32.191Z,1754760032.191 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.003855
2025-08-09T17:20:32.452Z,1754760032.452 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.264374
2025-08-09T17:20:32.466Z,1754760032.466 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 181.80 m.
2025-08-09T17:20:32.474Z,1754760032.474 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 181.800003 m,
      nav range: 153.258759 m,
      bearing: 21.924669 deg,
      approach rate: -0.464168 m/s,
      LOS rate: -0.030962 deg/s,
      cmd heading: 7.329257 deg,
      new cmd heading: 7.287192 deg.

2025-08-09T17:20:32.703Z,1754760032.703 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.516024
2025-08-09T17:20:32.832Z,1754760032.832 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-09T17:20:32.840Z,1754760032.840 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 181.80 m.
2025-08-09T17:20:32.857Z,1754760032.857 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 181.800003 m,
      nav range: 153.080383 m,
      bearing: 21.914857 deg,
      approach rate: -0.483858 m/s,
      LOS rate: -0.026646 deg/s,
      cmd heading: 7.287192 deg,
      new cmd heading: 7.257723 deg.

2025-08-09T17:20:32.955Z,1754760032.955 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.767953
2025-08-09T17:20:33.208Z,1754760033.208 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.020277
2025-08-09T17:20:33.233Z,1754760033.233 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 181.80 m.
2025-08-09T17:20:33.236Z,1754760033.236 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 181.800003 m,
      nav range: 152.888336 m,
      bearing: 21.904268 deg,
      approach rate: -0.481903 m/s,
      LOS rate: -0.026605 deg/s,
      cmd heading: 7.257722 deg,
      new cmd heading: 7.225915 deg.

2025-08-09T17:20:33.460Z,1754760033.460 [DAT](INFO): DAT read: Rx Time:17:20:32.2973

2025-08-09T17:20:33.460Z,1754760033.460 [DAT](INFO): Rx dataTimestamp_ set to:1754760033.459835
2025-08-09T17:20:33.461Z,1754760033.461 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.273284
2025-08-09T17:20:33.665Z,1754760033.665 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 181.80 m.
2025-08-09T17:20:33.673Z,1754760033.673 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 181.800003 m,
      nav range: 152.697540 m,
      bearing: 21.893721 deg,
      approach rate: -0.442577 m/s,
      LOS rate: -0.024496 deg/s,
      cmd heading: 7.225915 deg,
      new cmd heading: 7.194234 deg.

2025-08-09T17:20:33.711Z,1754760033.711 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.523975
2025-08-09T17:20:33.969Z,1754760033.969 [DAT](INFO): DAT read: 17:20:32.2973 LVL= 26608, 32753, 22594, 27635, AGC= 66, IDX= 412,-0.33,-2.470, 2.348,-2.020,-2.519, PHS= 0.151,-1.372, 0.455, RAW= 158.9,   9.1, CAL= 158.7,   9.6, ROT= 351.3,  -9.6

2025-08-09T17:20:33.970Z,1754760033.970 [DAT](INFO): got valid direction response:
 17:20:32.2973 LVL= 26608, 32753, 22594, 27635, AGC= 66, IDX= 412,-0.33,-2.470, 2.348,-2.020,-2.519, PHS= 0.151,-1.372, 0.455, RAW= 158.9,   9.1, CAL= 158.7,   9.6, ROT= 351.3,  -9.6

2025-08-09T17:20:33.971Z,1754760033.971 [DAT](INFO): DAT read: Bearing 177.0, -10.1 (Local)

2025-08-09T17:20:33.972Z,1754760033.972 [DAT](INFO): Local bearing/azimuth received:
 Bearing 177.0, -10.1 (Local)

2025-08-09T17:20:33.973Z,1754760033.973 [DAT](INFO): DAT read: Range 11 to 50 : 154.6 m  (Round-trip  206.2 ms) speed  0.1 m/s

2025-08-09T17:20:33.974Z,1754760033.974 [DAT](INFO): DAT read: user:466>

2025-08-09T17:20:33.975Z,1754760033.975 [DAT](INFO): DAT read: Tx time:17:20:33.3870

2025-08-09T17:20:33.975Z,1754760033.975 [DAT](INFO): Ping request sent.
2025-08-09T17:20:33.975Z,1754760033.975 [DAT](INFO): transmitted an acoustic signal
2025-08-09T17:20:33.975Z,1754760033.975 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-09T17:20:33.976Z,1754760033.976 [DAT](INFO): direction in FSK: [0.974651,-0.149143,0.166769]
2025-08-09T17:20:33.976Z,1754760033.976 [DAT](INFO): publishing transmit ping time
2025-08-09T17:20:33.977Z,1754760033.977 [DAT](INFO): publishing direction and range info
2025-08-09T17:20:33.980Z,1754760033.980 [DAT](INFO): publishing transmit ping time
2025-08-09T17:20:33.980Z,1754760033.980 [DAT](INFO): publishing direction and range info
2025-08-09T17:20:34.152Z,1754760034.152 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 154.600006 m,
      deltaT: 7.567377 s,
      deltaX: -27.199997 m,
      approachRate: -3.594376 m/s,
      rangeRepo size: 4

2025-08-09T17:20:34.154Z,1754760034.154 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 154.600006 m,
      bearing: 23.880835 deg,
      lat: 36.906079 deg,
      lon: -122.115770 deg,
      deltaT: 7.567377 s,
      deltaX: -27.199997 m,
      approachRate: -3.594376 m/s,
      posRepo size: 4

2025-08-09T17:20:34.159Z,1754760034.159 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 154.60 m.
2025-08-09T17:20:34.161Z,1754760034.161 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 154.600006 m,
      nav range: 152.725967 m,
      bearing: 23.880835 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.024496 deg/s,
      cmd heading: 7.194235 deg,
      new cmd heading: 7.158439 deg.

2025-08-09T17:20:34.447Z,1754760034.447 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 154.60 m.
2025-08-09T17:20:34.450Z,1754760034.450 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 154.600006 m,
      nav range: 152.575531 m,
      bearing: 23.878034 deg,
      approach rate: -0.507780 m/s,
      LOS rate: -0.009463 deg/s,
      cmd heading: 7.158439 deg,
      new cmd heading: 7.150028 deg.

2025-08-09T17:20:34.880Z,1754760034.880 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-09T17:20:34.882Z,1754760034.882 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 154.60 m.
2025-08-09T17:20:34.885Z,1754760034.885 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 154.600006 m,
      nav range: 152.369766 m,
      bearing: 23.874722 deg,
      approach rate: -0.473617 m/s,
      LOS rate: -0.007635 deg/s,
      cmd heading: 7.150028 deg,
      new cmd heading: 7.140077 deg.

2025-08-09T17:20:34.971Z,1754760034.971 [DAT](INFO): ****** received valid address query ******
2025-08-09T17:20:34.971Z,1754760034.971 [DAT](INFO): ****** received valid ping request ******
2025-08-09T17:20:34.972Z,1754760034.972 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-09T17:20:35.223Z,1754760035.223 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.248182
2025-08-09T17:20:35.249Z,1754760035.249 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 154.60 m.
2025-08-09T17:20:35.268Z,1754760035.268 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 154.600006 m,
      nav range: 152.193436 m,
      bearing: 23.873138 deg,
      approach rate: -0.480178 m/s,
      LOS rate: -0.004319 deg/s,
      cmd heading: 7.140077 deg,
      new cmd heading: 7.135319 deg.

2025-08-09T17:20:35.476Z,1754760035.476 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.501414
2025-08-09T17:20:35.711Z,1754760035.711 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 154.60 m.
2025-08-09T17:20:35.713Z,1754760035.713 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 154.600006 m,
      nav range: 151.971115 m,
      bearing: 23.871135 deg,
      approach rate: -0.481944 m/s,
      LOS rate: -0.004347 deg/s,
      cmd heading: 7.135319 deg,
      new cmd heading: 7.129303 deg.

2025-08-09T17:20:35.727Z,1754760035.727 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.752404
2025-08-09T17:20:35.980Z,1754760035.980 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.004648
2025-08-09T17:20:36.102Z,1754760036.102 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 154.60 m.
2025-08-09T17:20:36.123Z,1754760036.123 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 154.600006 m,
      nav range: 151.775436 m,
      bearing: 23.868180 deg,
      approach rate: -0.500087 m/s,
      LOS rate: -0.007563 deg/s,
      cmd heading: 7.129303 deg,
      new cmd heading: 7.120426 deg.

2025-08-09T17:20:36.232Z,1754760036.232 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.256620
2025-08-09T17:20:36.469Z,1754760036.469 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 154.60 m.
2025-08-09T17:20:36.472Z,1754760036.472 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 154.600006 m,
      nav range: 151.580551 m,
      bearing: 23.869151 deg,
      approach rate: -0.530560 m/s,
      LOS rate: 0.002648 deg/s,
      cmd heading: 7.120426 deg,
      new cmd heading: 7.123344 deg.

2025-08-09T17:20:36.483Z,1754760036.483 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.508457
2025-08-09T17:20:36.735Z,1754760036.735 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.760294
2025-08-09T17:20:36.957Z,1754760036.957 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-09T17:20:36.959Z,1754760036.959 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 154.60 m.
2025-08-09T17:20:36.962Z,1754760036.962 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 154.600006 m,
      nav range: 151.309662 m,
      bearing: 23.870315 deg,
      approach rate: -0.552420 m/s,
      LOS rate: 0.002378 deg/s,
      cmd heading: 7.123344 deg,
      new cmd heading: 7.126843 deg.

2025-08-09T17:20:36.988Z,1754760036.988 [DAT](INFO): DAT read: Rx Time:17:20:36.0265

2025-08-09T17:20:36.989Z,1754760036.989 [DAT](INFO): Rx dataTimestamp_ set to:1754760036.988309
2025-08-09T17:20:36.989Z,1754760036.989 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.014208
2025-08-09T17:20:37.239Z,1754760037.239 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.264336
2025-08-09T17:20:37.334Z,1754760037.334 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 154.60 m.
2025-08-09T17:20:37.337Z,1754760037.337 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 154.600006 m,
      nav range: 151.102432 m,
      bearing: 23.872586 deg,
      approach rate: -0.553143 m/s,
      LOS rate: 0.006069 deg/s,
      cmd heading: 7.126843 deg,
      new cmd heading: 7.133664 deg.

2025-08-09T17:20:37.492Z,1754760037.492 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.516929
2025-08-09T17:20:37.749Z,1754760037.749 [DAT](INFO): DAT read: 17:20:36.0265 LVL= 32752, 32753, 32754, 32755, AGC= 70, IDX= 231, 0.45,-2.502, 2.060,-2.299,-2.737, PHS= 0.337,-1.441, 0.394, RAW= 151.6,   7.9, CAL= 151.0,   8.4, ROT= 359.0,  -8.4

2025-08-09T17:20:37.750Z,1754760037.750 [DAT](INFO): got valid direction response:
 17:20:36.0265 LVL= 32752, 32753, 32754, 32755, AGC= 70, IDX= 231, 0.45,-2.502, 2.060,-2.299,-2.737, PHS= 0.337,-1.441, 0.394, RAW= 151.6,   7.9, CAL= 151.0,   8.4, ROT= 359.0,  -8.4

2025-08-09T17:20:37.751Z,1754760037.751 [DAT](INFO): DAT read: Bearing 167.6,  -2.2 (Local)

2025-08-09T17:20:37.752Z,1754760037.752 [DAT](INFO): Local bearing/azimuth received:
 Bearing 167.6,  -2.2 (Local)

2025-08-09T17:20:37.753Z,1754760037.753 [DAT](INFO): DAT read: Range 11 to 50 : 176.5 m  (Round-trip  235.4 ms) speed  0.4 m/s

2025-08-09T17:20:37.754Z,1754760037.754 [DAT](INFO): DAT read: user:467>

2025-08-09T17:20:37.755Z,1754760037.755 [DAT](INFO): DAT read: Tx time:17:20:37.1370

2025-08-09T17:20:37.755Z,1754760037.755 [DAT](INFO): Ping request sent.
2025-08-09T17:20:37.755Z,1754760037.755 [DAT](INFO): transmitted an acoustic signal
2025-08-09T17:20:37.755Z,1754760037.755 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-09T17:20:37.756Z,1754760037.756 [DAT](INFO): direction in FSK: [0.989122,-0.017265,0.146083]
2025-08-09T17:20:37.756Z,1754760037.756 [DAT](INFO): publishing transmit ping time
2025-08-09T17:20:37.757Z,1754760037.757 [DAT](INFO): publishing direction and range info
2025-08-09T17:20:37.764Z,1754760037.764 [DAT](INFO): publishing transmit ping time
2025-08-09T17:20:37.764Z,1754760037.764 [DAT](INFO): publishing direction and range info
2025-08-09T17:20:37.912Z,1754760037.912 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](ERROR): addTargetRange::Rejecting new target range. Approach rate out of bounds.
 range: 176.500000 m,
 deltaT: 3.780024 s,
 deltaX: 21.899994 m,
 approachRate: 5.793612 m/s,
 rangeRepo size: 4
2025-08-09T17:20:37.913Z,1754760037.913 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 154.60 m.
2025-08-09T17:20:37.920Z,1754760037.920 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 154.600006 m,
      nav range: 150.806808 m,
      bearing: 23.879188 deg,
      approach rate: -0.512119 m/s,
      LOS rate: 0.011460 deg/s,
      cmd heading: 7.133664 deg,
      new cmd heading: 7.153510 deg.

2025-08-09T17:20:38.181Z,1754760038.181 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 154.60 m.
2025-08-09T17:20:38.184Z,1754760038.184 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 154.600006 m,
      nav range: 150.619919 m,
      bearing: 23.884617 deg,
      approach rate: -0.692463 m/s,
      LOS rate: 0.020141 deg/s,
      cmd heading: 7.153509 deg,
      new cmd heading: 7.169817 deg.

2025-08-09T17:20:38.570Z,1754760038.570 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 154.60 m.
2025-08-09T17:20:38.573Z,1754760038.573 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 154.600006 m,
      nav range: 150.398575 m,
      bearing: 23.892544 deg,
      approach rate: -0.569350 m/s,
      LOS rate: 0.020418 deg/s,
      cmd heading: 7.169817 deg,
      new cmd heading: 7.193631 deg.

2025-08-09T17:20:39.025Z,1754760039.025 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-09T17:20:39.027Z,1754760039.027 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 154.60 m.
2025-08-09T17:20:39.030Z,1754760039.030 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 154.600006 m,
      nav range: 150.132599 m,
      bearing: 23.903179 deg,
      approach rate: -0.581877 m/s,
      LOS rate: 0.023307 deg/s,
      cmd heading: 7.193630 deg,
      new cmd heading: 7.225592 deg.

2025-08-09T17:20:39.255Z,1754760039.255 [DAT](INFO): ****** received valid address query ******
2025-08-09T17:20:39.255Z,1754760039.255 [DAT](INFO): ****** received valid ping request ******
2025-08-09T17:20:39.256Z,1754760039.256 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-09T17:20:39.391Z,1754760039.391 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 154.60 m.
2025-08-09T17:20:39.394Z,1754760039.394 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 154.600006 m,
      nav range: 149.920715 m,
      bearing: 23.914508 deg,
      approach rate: -0.581676 m/s,
      LOS rate: 0.031145 deg/s,
      cmd heading: 7.225591 deg,
      new cmd heading: 7.259627 deg.

2025-08-09T17:20:39.507Z,1754760039.507 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.752367
2025-08-09T17:20:39.760Z,1754760039.760 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.005305
2025-08-09T17:20:39.913Z,1754760039.913 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 154.60 m.
2025-08-09T17:20:39.915Z,1754760039.915 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 154.600006 m,
      nav range: 149.608490 m,
      bearing: 23.937588 deg,
      approach rate: -0.598891 m/s,
      LOS rate: 0.044364 deg/s,
      cmd heading: 7.259626 deg,
      new cmd heading: 7.329012 deg.

2025-08-09T17:20:40.012Z,1754760040.012 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.256641
2025-08-09T17:20:40.263Z,1754760040.263 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.508304
2025-08-09T17:20:40.277Z,1754760040.277 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 154.60 m.
2025-08-09T17:20:40.280Z,1754760040.280 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 154.600006 m,
      nav range: 149.387741 m,
      bearing: 23.955541 deg,
      approach rate: -0.605663 m/s,
      LOS rate: 0.049328 deg/s,
      cmd heading: 7.329012 deg,
      new cmd heading: 7.382949 deg.

2025-08-09T17:20:40.516Z,1754760040.516 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.761300
2025-08-09T17:20:40.694Z,1754760040.694 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 154.60 m.
2025-08-09T17:20:40.704Z,1754760040.704 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 154.600006 m,
      nav range: 149.138596 m,
      bearing: 23.975868 deg,
      approach rate: -0.599051 m/s,
      LOS rate: 0.048958 deg/s,
      cmd heading: 7.382949 deg,
      new cmd heading: 7.444034 deg.

2025-08-09T17:20:40.767Z,1754760040.767 [DAT](INFO): DAT read: Rx Time:17:20:39.7417

2025-08-09T17:20:40.768Z,1754760040.768 [DAT](INFO): Rx dataTimestamp_ set to:1754760040.767554
2025-08-09T17:20:40.768Z,1754760040.768 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.013460
2025-08-09T17:20:41.019Z,1754760041.019 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.264418
2025-08-09T17:20:41.123Z,1754760041.123 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-09T17:20:41.125Z,1754760041.125 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 154.60 m.
2025-08-09T17:20:41.128Z,1754760041.128 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 154.600006 m,
      nav range: 148.869812 m,
      bearing: 24.003924 deg,
      approach rate: -0.621557 m/s,
      LOS rate: 0.064995 deg/s,
      cmd heading: 7.444034 deg,
      new cmd heading: 7.528352 deg.

2025-08-09T17:20:41.274Z,1754760041.274 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.518376
2025-08-09T17:20:41.515Z,1754760041.514 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 154.60 m.
2025-08-09T17:20:41.517Z,1754760041.517 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 154.600006 m,
      nav range: 148.635345 m,
      bearing: 24.028483 deg,
      approach rate: -0.609324 m/s,
      LOS rate: 0.063925 deg/s,
      cmd heading: 7.528352 deg,
      new cmd heading: 7.602147 deg.

2025-08-09T17:20:41.529Z,1754760041.529 [DAT](INFO): DAT read: 17:20:39.7417 LVL= 27968, 32241, 29074, 32755, AGC= 68, IDX=  83, 0.20, 0.280,-1.684, 0.122,-0.117, PHS= 0.499,-1.522, 0.195, RAW= 142.0,   8.8, CAL= 141.5,   9.6, ROT=   8.5,  -9.6

2025-08-09T17:20:41.531Z,1754760041.531 [DAT](INFO): got valid direction response:
 17:20:39.7417 LVL= 27968, 32241, 29074, 32755, AGC= 68, IDX=  83, 0.20, 0.280,-1.684, 0.122,-0.117, PHS= 0.499,-1.522, 0.195, RAW= 142.0,   8.8, CAL= 141.5,   9.6, ROT=   8.5,  -9.6

2025-08-09T17:20:41.532Z,1754760041.532 [DAT](INFO): DAT read: Bearing 161.0,   6.7 (Local)

2025-08-09T17:20:41.532Z,1754760041.532 [DAT](INFO): Local bearing/azimuth received:
 Bearing 161.0,   6.7 (Local)

2025-08-09T17:20:41.533Z,1754760041.533 [DAT](INFO): DAT read: Range 11 to 50 : 150.4 m  (Round-trip  200.6 ms) speed  0.6 m/s

2025-08-09T17:20:41.534Z,1754760041.534 [DAT](INFO): DAT read: user:468>

2025-08-09T17:20:41.535Z,1754760041.535 [DAT](INFO): DAT read: Tx time:17:20:40.8370

2025-08-09T17:20:41.535Z,1754760041.535 [DAT](INFO): Ping request sent.
2025-08-09T17:20:41.535Z,1754760041.535 [DAT](INFO): transmitted an acoustic signal
2025-08-09T17:20:41.536Z,1754760041.536 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-09T17:20:41.537Z,1754760041.537 [DAT](INFO): direction in FSK: [0.975166,0.145739,0.166769]
2025-08-09T17:20:41.537Z,1754760041.537 [DAT](INFO): publishing transmit ping time
2025-08-09T17:20:41.537Z,1754760041.537 [DAT](INFO): publishing direction and range info
2025-08-09T17:20:41.540Z,1754760041.540 [DAT](INFO): publishing transmit ping time
2025-08-09T17:20:41.541Z,1754760041.541 [DAT](INFO): publishing direction and range info
2025-08-09T17:20:41.973Z,1754760041.973 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 150.399994 m,
      deltaT: 7.560316 s,
      deltaX: -4.200012 m,
      approachRate: -0.555534 m/s,
      rangeRepo size: 4

2025-08-09T17:20:41.979Z,1754760041.979 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 150.399994 m,
      bearing: 20.641658 deg,
      lat: 36.906138 deg,
      lon: -122.115849 deg,
      deltaT: 7.560316 s,
      deltaX: -4.200012 m,
      approachRate: -0.555534 m/s,
      posRepo size: 4

2025-08-09T17:20:41.980Z,1754760041.980 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 150.40 m.
2025-08-09T17:20:41.986Z,1754760041.986 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 150.399994 m,
      nav range: 151.711929 m,
      bearing: 20.641658 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.063925 deg/s,
      cmd heading: 7.602147 deg,
      new cmd heading: 7.690712 deg.

2025-08-09T17:20:42.336Z,1754760042.336 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 150.40 m.
2025-08-09T17:20:42.355Z,1754760042.355 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 150.399994 m,
      nav range: 151.466187 m,
      bearing: 20.667793 deg,
      approach rate: -0.674656 m/s,
      LOS rate: 0.071868 deg/s,
      cmd heading: 7.690712 deg,
      new cmd heading: 7.769245 deg.

2025-08-09T17:20:42.815Z,1754760042.815 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 150.40 m.
2025-08-09T17:20:42.818Z,1754760042.818 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 150.399994 m,
      nav range: 151.183960 m,
      bearing: 20.699602 deg,
      approach rate: -0.590180 m/s,
      LOS rate: 0.066643 deg/s,
      cmd heading: 7.769245 deg,
      new cmd heading: 7.864852 deg.

2025-08-09T17:20:43.166Z,1754760043.166 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-09T17:20:43.168Z,1754760043.168 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 150.40 m.
2025-08-09T17:20:43.171Z,1754760043.171 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 150.399994 m,
      nav range: 150.955200 m,
      bearing: 20.728441 deg,
      approach rate: -0.647460 m/s,
      LOS rate: 0.081746 deg/s,
      cmd heading: 7.864852 deg,
      new cmd heading: 7.951499 deg.

2025-08-09T17:20:43.287Z,1754760043.287 [DAT](INFO): ****** received valid address query ******
2025-08-09T17:20:43.287Z,1754760043.287 [DAT](INFO): ****** received valid ping request ******
2025-08-09T17:20:43.288Z,1754760043.288 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-09T17:20:43.539Z,1754760043.539 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.003667
2025-08-09T17:20:43.560Z,1754760043.560 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 150.40 m.
2025-08-09T17:20:43.563Z,1754760043.563 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 150.399994 m,
      nav range: 150.721298 m,
      bearing: 20.759255 deg,
      approach rate: -0.595872 m/s,
      LOS rate: 0.078620 deg/s,
      cmd heading: 7.951499 deg,
      new cmd heading: 8.044083 deg.

2025-08-09T17:20:43.797Z,1754760043.797 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.260452
2025-08-09T17:20:43.980Z,1754760043.980 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 150.40 m.
2025-08-09T17:20:43.999Z,1754760043.999 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 150.399994 m,
      nav range: 150.481445 m,
      bearing: 20.790928 deg,
      approach rate: -0.571771 m/s,
      LOS rate: 0.075625 deg/s,
      cmd heading: 8.044083 deg,
      new cmd heading: 8.139255 deg.

2025-08-09T17:20:44.045Z,1754760044.045 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.508814
2025-08-09T17:20:44.295Z,1754760044.295 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.759780
2025-08-09T17:20:44.362Z,1754760044.362 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 150.40 m.
2025-08-09T17:20:44.385Z,1754760044.385 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 150.399994 m,
      nav range: 150.259476 m,
      bearing: 20.821266 deg,
      approach rate: -0.581024 m/s,
      LOS rate: 0.079529 deg/s,
      cmd heading: 8.139256 deg,
      new cmd heading: 8.230403 deg.

2025-08-09T17:20:44.547Z,1754760044.547 [DAT](INFO): DAT read: Rx Time:17:20:43.4389

2025-08-09T17:20:44.548Z,1754760044.548 [DAT](INFO): Rx dataTimestamp_ set to:1754760044.547598
2025-08-09T17:20:44.548Z,1754760044.548 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.012967
2025-08-09T17:20:44.802Z,1754760044.802 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.265925
2025-08-09T17:20:44.832Z,1754760044.832 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 150.40 m.
2025-08-09T17:20:44.839Z,1754760044.839 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 150.399994 m,
      nav range: 150.020142 m,
      bearing: 20.854941 deg,
      approach rate: -0.508871 m/s,
      LOS rate: 0.071714 deg/s,
      cmd heading: 8.230404 deg,
      new cmd heading: 8.331590 deg.

2025-08-09T17:20:45.057Z,1754760045.057 [DAT](INFO): DAT read: 17:20:43.4389 LVL= 28368, 32753, 32754, 32755, AGC= 68, IDX= 406, 0.25,-2.990, 1.391, 2.982, 2.933, PHS= 0.461,-1.498, 0.004, RAW= 137.1,  11.6, CAL= 136.6,  12.7, ROT=  13.4, -12.7

2025-08-09T17:20:45.058Z,1754760045.058 [DAT](INFO): got valid direction response:
 17:20:43.4389 LVL= 28368, 32753, 32754, 32755, AGC= 68, IDX= 406, 0.25,-2.990, 1.391, 2.982, 2.933, PHS= 0.461,-1.498, 0.004, RAW= 137.1,  11.6, CAL= 136.6,  12.7, ROT=  13.4, -12.7

2025-08-09T17:20:45.059Z,1754760045.059 [DAT](INFO): DAT read: Bearing 158.0,  10.6 (Local)

2025-08-09T17:20:45.060Z,1754760045.060 [DAT](INFO): Local bearing/azimuth received:
 Bearing 158.0,  10.6 (Local)

2025-08-09T17:20:45.061Z,1754760045.061 [DAT](INFO): DAT read: Range 11 to 50 : 148.3 m  (Round-trip  197.8 ms) speed  0.6 m/s

2025-08-09T17:20:45.062Z,1754760045.062 [DAT](INFO): DAT read: user:469>

2025-08-09T17:20:45.064Z,1754760045.064 [DAT](INFO): DAT read: Tx time:17:20:44.5370

2025-08-09T17:20:45.064Z,1754760045.064 [DAT](INFO): Ping request sent.
2025-08-09T17:20:45.064Z,1754760045.064 [DAT](INFO): transmitted an acoustic signal
2025-08-09T17:20:45.064Z,1754760045.064 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-09T17:20:45.066Z,1754760045.066 [DAT](INFO): direction in FSK: [0.948976,0.226078,0.219846]
2025-08-09T17:20:45.088Z,1754760045.088 [DAT](INFO): publishing transmit ping time
2025-08-09T17:20:45.088Z,1754760045.088 [DAT](INFO): publishing direction and range info
2025-08-09T17:20:45.094Z,1754760045.094 [DAT](INFO): publishing transmit ping time
2025-08-09T17:20:45.122Z,1754760045.122 [DAT](INFO): publishing direction and range info
2025-08-09T17:20:45.248Z,1754760045.248 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 148.300003 m,
      deltaT: 3.527558 s,
      deltaX: -2.099991 m,
      approachRate: -0.595310 m/s,
      rangeRepo size: 4

2025-08-09T17:20:45.250Z,1754760045.250 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 148.300003 m,
      bearing: 21.289318 deg,
      lat: 36.906112 deg,
      lon: -122.115849 deg,
      deltaT: 3.527558 s,
      deltaX: -2.099991 m,
      approachRate: -0.595310 m/s,
      posRepo size: 4

2025-08-09T17:20:45.256Z,1754760045.256 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 148.30 m.
2025-08-09T17:20:45.264Z,1754760045.264 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 148.300003 m,
      nav range: 147.093597 m,
      bearing: 21.289318 deg,
      approach rate: 27007106.000000 m/s,
      LOS rate: 0.071714 deg/s,
      cmd heading: 8.331589 deg,
      new cmd heading: 8.420814 deg.

2025-08-09T17:20:45.598Z,1754760045.598 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-09T17:20:45.600Z,1754760045.600 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 148.30 m.
2025-08-09T17:20:45.603Z,1754760045.603 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 148.300003 m,
      nav range: 146.894897 m,
      bearing: 21.319603 deg,
      approach rate: -0.562467 m/s,
      LOS rate: 0.085845 deg/s,
      cmd heading: 8.420814 deg,
      new cmd heading: 8.511791 deg.

2025-08-09T17:20:45.809Z,1754760045.809 [DAT](INFO): ****** received valid address query ******
2025-08-09T17:20:45.809Z,1754760045.809 [DAT](INFO): ****** received valid ping request ******
2025-08-09T17:20:45.810Z,1754760045.810 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-09T17:20:46.005Z,1754760046.005 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 148.30 m.
2025-08-09T17:20:46.008Z,1754760046.008 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 148.300003 m,
      nav range: 146.676453 m,
      bearing: 21.349798 deg,
      approach rate: -0.540113 m/s,
      LOS rate: 0.074769 deg/s,
      cmd heading: 8.511791 deg,
      new cmd heading: 8.602511 deg.

2025-08-09T17:20:46.060Z,1754760046.060 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.995465
2025-08-09T17:20:46.311Z,1754760046.311 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.247185
2025-08-09T17:20:46.388Z,1754760046.388 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 148.30 m.
2025-08-09T17:20:46.395Z,1754760046.395 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 148.300003 m,
      nav range: 146.478943 m,
      bearing: 21.377801 deg,
      approach rate: -0.515484 m/s,
      LOS rate: 0.073185 deg/s,
      cmd heading: 8.602511 deg,
      new cmd heading: 8.686635 deg.

2025-08-09T17:20:46.568Z,1754760046.568 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.504017
2025-08-09T17:20:46.807Z,1754760046.807 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 148.30 m.
2025-08-09T17:20:46.818Z,1754760046.818 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.753392
2025-08-09T17:20:46.863Z,1754760046.863 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 148.300003 m,
      nav range: 146.261230 m,
      bearing: 21.409017 deg,
      approach rate: -0.521697 m/s,
      LOS rate: 0.074912 deg/s,
      cmd heading: 8.686635 deg,
      new cmd heading: 8.780420 deg.

2025-08-09T17:20:47.070Z,1754760047.070 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.005285
2025-08-09T17:20:47.283Z,1754760047.283 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 148.30 m.
2025-08-09T17:20:47.285Z,1754760047.285 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 148.300003 m,
      nav range: 146.008484 m,
      bearing: 21.444421 deg,
      approach rate: -0.529501 m/s,
      LOS rate: 0.074300 deg/s,
      cmd heading: 8.780420 deg,
      new cmd heading: 8.886816 deg.

2025-08-09T17:20:47.320Z,1754760047.320 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.256060
2025-08-09T17:20:47.572Z,1754760047.572 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.508149
2025-08-09T17:20:47.624Z,1754760047.624 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-09T17:20:47.626Z,1754760047.626 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 148.30 m.
2025-08-09T17:20:47.629Z,1754760047.629 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 148.300003 m,
      nav range: 145.834137 m,
      bearing: 21.468939 deg,
      approach rate: -0.507912 m/s,
      LOS rate: 0.071512 deg/s,
      cmd heading: 8.886816 deg,
      new cmd heading: 8.960459 deg.

2025-08-09T17:20:47.826Z,1754760047.826 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.761891
2025-08-09T17:20:48.060Z,1754760048.060 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 148.30 m.
2025-08-09T17:20:48.070Z,1754760048.070 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 148.300003 m,
      nav range: 145.610138 m,
      bearing: 21.499807 deg,
      approach rate: -0.532364 m/s,
      LOS rate: 0.073475 deg/s,
      cmd heading: 8.960459 deg,
      new cmd heading: 9.053205 deg.

2025-08-09T17:20:48.076Z,1754760048.076 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.012184
2025-08-09T17:20:48.331Z,1754760048.331 [DAT](INFO): DAT read: Rx Time:17:20:47.1697

2025-08-09T17:20:48.332Z,1754760048.332 [DAT](INFO): Rx dataTimestamp_ set to:1754760048.331269
2025-08-09T17:20:48.332Z,1754760048.332 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.268365
2025-08-09T17:20:48.443Z,1754760048.443 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 148.30 m.
2025-08-09T17:20:48.446Z,1754760048.446 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 148.300003 m,
      nav range: 145.399002 m,
      bearing: 21.528878 deg,
      approach rate: -0.532045 m/s,
      LOS rate: 0.073361 deg/s,
      cmd heading: 9.053205 deg,
      new cmd heading: 9.140542 deg.

2025-08-09T17:20:48.581Z,1754760048.581 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.516648
2025-08-09T17:20:48.880Z,1754760048.880 [DAT](INFO): DAT read: 17:20:47.1697 LVL= 32752, 32753, 32754, 32755, AGC= 65, IDX= 242, 0.31, 2.824, 1.053, 2.425, 2.462, PHS= 0.463,-1.364,-0.082, RAW= 133.1,  12.1, CAL= 132.5,  13.2, ROT=  17.5, -13.2

2025-08-09T17:20:48.881Z,1754760048.881 [DAT](INFO): got valid direction response:
 17:20:47.1697 LVL= 32752, 32753, 32754, 32755, AGC= 65, IDX= 242, 0.31, 2.824, 1.053, 2.425, 2.462, PHS= 0.463,-1.364,-0.082, RAW= 133.1,  12.1, CAL= 132.5,  13.2, ROT=  17.5, -13.2

2025-08-09T17:20:48.882Z,1754760048.882 [DAT](INFO): DAT read: Bearing 157.1,  14.3 (Local)

2025-08-09T17:20:48.888Z,1754760048.888 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 148.30 m.
2025-08-09T17:20:48.891Z,1754760048.891 [DAT](INFO): Local bearing/azimuth received:
 Bearing 157.1,  14.3 (Local)

2025-08-09T17:20:48.892Z,1754760048.892 [DAT](INFO): DAT read: Range 11 to 50 : 171.5 m  (Round-trip  228.7 ms) speed  0.4 m/s

2025-08-09T17:20:48.893Z,1754760048.893 [DAT](INFO): DAT read: user:470>

2025-08-09T17:20:48.893Z,1754760048.893 [DAT](INFO): DAT read: Tx time:17:20:48.2869

2025-08-09T17:20:48.894Z,1754760048.894 [DAT](INFO): Ping request sent.
2025-08-09T17:20:48.894Z,1754760048.894 [DAT](INFO): transmitted an acoustic signal
2025-08-09T17:20:48.899Z,1754760048.899 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 148.300003 m,
      nav range: 145.199081 m,
      bearing: 21.556324 deg,
      approach rate: -0.449376 m/s,
      LOS rate: 0.061779 deg/s,
      cmd heading: 9.140542 deg,
      new cmd heading: 9.222996 deg.

2025-08-09T17:20:48.902Z,1754760048.902 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-09T17:20:48.903Z,1754760048.903 [DAT](INFO): direction in FSK: [0.928519,0.292761,0.228351]
2025-08-09T17:20:48.904Z,1754760048.904 [DAT](INFO): publishing transmit ping time
2025-08-09T17:20:48.904Z,1754760048.904 [DAT](INFO): publishing direction and range info
2025-08-09T17:20:48.915Z,1754760048.915 [DAT](INFO): publishing transmit ping time
2025-08-09T17:20:48.915Z,1754760048.915 [DAT](INFO): publishing direction and range info
2025-08-09T17:20:49.299Z,1754760049.299 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](ERROR): addTargetRange::Rejecting new target range. Approach rate out of bounds.
 range: 171.500000 m,
 deltaT: 3.781488 s,
 deltaX: 23.199997 m,
 approachRate: 6.135150 m/s,
 rangeRepo size: 4
2025-08-09T17:20:49.300Z,1754760049.300 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 148.30 m.
2025-08-09T17:20:49.303Z,1754760049.303 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 148.300003 m,
      nav range: 144.953842 m,
      bearing: 21.589533 deg,
      approach rate: -0.597720 m/s,
      LOS rate: 0.081076 deg/s,
      cmd heading: 9.222996 deg,
      new cmd heading: 9.322790 deg.

2025-08-09T17:20:49.652Z,1754760049.652 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-09T17:20:49.655Z,1754760049.655 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 148.30 m.
2025-08-09T17:20:49.662Z,1754760049.662 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 148.300003 m,
      nav range: 144.756302 m,
      bearing: 21.615986 deg,
      approach rate: -0.555445 m/s,
      LOS rate: 0.074482 deg/s,
      cmd heading: 9.322790 deg,
      new cmd heading: 9.402256 deg.

2025-08-09T17:20:49.839Z,1754760049.839 [DAT](INFO): ****** received valid address query ******
2025-08-09T17:20:49.839Z,1754760049.839 [DAT](INFO): ****** received valid ping request ******
2025-08-09T17:20:49.840Z,1754760049.840 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-09T17:20:50.091Z,1754760050.091 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.197643
2025-08-09T17:20:50.106Z,1754760050.106 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 148.30 m.
2025-08-09T17:20:50.116Z,1754760050.116 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 148.300003 m,
      nav range: 144.501923 m,
      bearing: 21.648172 deg,
      approach rate: -0.563643 m/s,
      LOS rate: 0.071443 deg/s,
      cmd heading: 9.402257 deg,
      new cmd heading: 9.498986 deg.

2025-08-09T17:20:50.344Z,1754760050.344 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.450034
2025-08-09T17:20:50.466Z,1754760050.466 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 148.30 m.
2025-08-09T17:20:50.468Z,1754760050.468 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 148.300003 m,
      nav range: 144.298492 m,
      bearing: 21.673783 deg,
      approach rate: -0.564623 m/s,
      LOS rate: 0.071183 deg/s,
      cmd heading: 9.498987 deg,
      new cmd heading: 9.575927 deg.

2025-08-09T17:20:50.596Z,1754760050.596 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.701720
2025-08-09T17:20:50.850Z,1754760050.850 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.955814
2025-08-09T17:20:50.953Z,1754760050.953 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 148.30 m.
2025-08-09T17:20:50.956Z,1754760050.956 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 148.300003 m,
      nav range: 144.014923 m,
      bearing: 21.712637 deg,
      approach rate: -0.582271 m/s,
      LOS rate: 0.079939 deg/s,
      cmd heading: 9.575927 deg,
      new cmd heading: 9.692718 deg.

2025-08-09T17:20:51.099Z,1754760051.099 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.205393
2025-08-09T17:20:51.286Z,1754760051.286 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 148.30 m.
2025-08-09T17:20:51.289Z,1754760051.289 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 148.300003 m,
      nav range: 143.822083 m,
      bearing: 21.738393 deg,
      approach rate: -0.578342 m/s,
      LOS rate: 0.077347 deg/s,
      cmd heading: 9.692718 deg,
      new cmd heading: 9.770089 deg.

2025-08-09T17:20:51.352Z,1754760051.352 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.458120
2025-08-09T17:20:51.603Z,1754760051.603 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.709445
2025-08-09T17:20:51.708Z,1754760051.708 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-09T17:20:51.710Z,1754760051.710 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 148.30 m.
2025-08-09T17:20:51.713Z,1754760051.713 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 148.300003 m,
      nav range: 143.577454 m,
      bearing: 21.771172 deg,
      approach rate: -0.577411 m/s,
      LOS rate: 0.077503 deg/s,
      cmd heading: 9.770089 deg,
      new cmd heading: 9.868594 deg.

2025-08-09T17:20:51.857Z,1754760051.857 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.962812
2025-08-09T17:20:52.108Z,1754760052.108 [DAT](INFO): DAT read: Rx Time:17:20:50.9166

2025-08-09T17:20:52.108Z,1754760052.108 [DAT](INFO): Rx dataTimestamp_ set to:1754760052.107817
2025-08-09T17:20:52.109Z,1754760052.109 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.214798
2025-08-09T17:20:52.161Z,1754760052.161 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 148.30 m.
2025-08-09T17:20:52.168Z,1754760052.168 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 148.300003 m,
      nav range: 143.313690 m,
      bearing: 21.803857 deg,
      approach rate: -0.584875 m/s,
      LOS rate: 0.072609 deg/s,
      cmd heading: 9.868594 deg,
      new cmd heading: 9.966827 deg.

2025-08-09T17:20:52.362Z,1754760052.362 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.468305
2025-08-09T17:20:52.511Z,1754760052.511 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 148.30 m.
2025-08-09T17:20:52.513Z,1754760052.513 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 148.300003 m,
      nav range: 143.103714 m,
      bearing: 21.829730 deg,
      approach rate: -0.600627 m/s,
      LOS rate: 0.074119 deg/s,
      cmd heading: 9.966827 deg,
      new cmd heading: 10.044562 deg.

2025-08-09T17:20:52.617Z,1754760052.617 [DAT](INFO): DAT read: 17:20:50.9166 LVL= 31696, 32753, 32754, 32755, AGC= 68, IDX= 402,-0.38, 0.670,-1.252, 0.295, 0.363, PHS= 0.409,-1.569,-0.112, RAW= 135.3,  14.2, CAL= 134.4,  15.3, ROT=  15.6, -15.3

2025-08-09T17:20:52.618Z,1754760052.618 [DAT](INFO): got valid direction response:
 17:20:50.9166 LVL= 31696, 32753, 32754, 32755, AGC= 68, IDX= 402,-0.38, 0.670,-1.252, 0.295, 0.363, PHS= 0.409,-1.569,-0.112, RAW= 135.3,  14.2, CAL= 134.4,  15.3, ROT=  15.6, -15.3

2025-08-09T17:20:52.619Z,1754760052.619 [DAT](INFO): DAT read: Bearing 160.6,  12.8 (Local)

2025-08-09T17:20:52.620Z,1754760052.620 [DAT](INFO): Local bearing/azimuth received:
 Bearing 160.6,  12.8 (Local)

2025-08-09T17:20:52.621Z,1754760052.621 [DAT](INFO): DAT read: Range 11 to 50 : 169.1 m  (Round-trip  225.5 ms) speed  0.4 m/s

2025-08-09T17:20:52.622Z,1754760052.622 [DAT](INFO): DAT read: user:471>

2025-08-09T17:20:52.623Z,1754760052.623 [DAT](INFO): DAT read: Tx time:17:20:52.0369

2025-08-09T17:20:52.623Z,1754760052.623 [DAT](INFO): Ping request sent.
2025-08-09T17:20:52.623Z,1754760052.623 [DAT](INFO): transmitted an acoustic signal
2025-08-09T17:20:52.623Z,1754760052.623 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-09T17:20:52.624Z,1754760052.624 [DAT](INFO): direction in FSK: [0.929026,0.259389,0.263873]
2025-08-09T17:20:52.625Z,1754760052.625 [DAT](INFO): publishing transmit ping time
2025-08-09T17:20:52.625Z,1754760052.625 [DAT](INFO): publishing direction and range info
2025-08-09T17:20:52.629Z,1754760052.629 [DAT](INFO): publishing transmit ping time
2025-08-09T17:20:52.629Z,1754760052.629 [DAT](INFO): publishing direction and range info
2025-08-09T17:20:52.969Z,1754760052.969 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for altitude. Device response is::BD,     -
2025-08-09T17:20:52.989Z,1754760052.989 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 169.100006 m,
      deltaT: 7.560137 s,
      deltaX: 20.800003 m,
      approachRate: 2.751273 m/s,
      rangeRepo size: 4

2025-08-09T17:20:52.992Z,1754760052.992 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 169.100006 m,
      bearing: 22.601253 deg,
      lat: 36.906277 deg,
      lon: -122.115741 deg,
      deltaT: 7.560137 s,
      deltaX: 20.800003 m,
      approachRate: 2.751273 m/s,
      posRepo size: 4

2025-08-09T17:20:52.992Z,1754760052.992 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 169.10 m.
2025-08-09T17:20:52.995Z,1754760052.995 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 169.100006 m,
      nav range: 163.451355 m,
      bearing: 22.601253 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.074119 deg/s,
      cmd heading: 10.044562 deg,
      new cmd heading: 10.150928 deg.

2025-08-09T17:20:53.340Z,1754760053.340 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 169.10 m.
2025-08-09T17:20:53.343Z,1754760053.343 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 169.100006 m,
      nav range: 163.240204 m,
      bearing: 22.624716 deg,
      approach rate: -0.600656 m/s,
      LOS rate: 0.066833 deg/s,
      cmd heading: 10.150928 deg,
      new cmd heading: 10.221410 deg.

2025-08-09T17:20:53.738Z,1754760053.738 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-09T17:20:53.756Z,1754760053.756 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 169.10 m.
2025-08-09T17:20:53.759Z,1754760053.759 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 169.100006 m,
      nav range: 163.002609 m,
      bearing: 22.650917 deg,
      approach rate: -0.571399 m/s,
      LOS rate: 0.063103 deg/s,
      cmd heading: 10.221410 deg,
      new cmd heading: 10.300126 deg.

2025-08-09T17:20:53.872Z,1754760053.872 [DAT](INFO): ****** received valid address query ******
2025-08-09T17:20:53.872Z,1754760053.872 [DAT](INFO): ****** received valid ping request ******
2025-08-09T17:20:53.873Z,1754760053.873 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-09T17:20:54.124Z,1754760054.124 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.500525
2025-08-09T17:20:54.177Z,1754760054.177 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 169.10 m.
2025-08-09T17:20:54.180Z,1754760054.180 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 169.100006 m,
      nav range: 162.733185 m,
      bearing: 22.684951 deg,
      approach rate: -0.640527 m/s,
      LOS rate: 0.081047 deg/s,
      cmd heading: 10.300126 deg,
      new cmd heading: 10.402398 deg.

2025-08-09T17:20:54.376Z,1754760054.376 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.752464
2025-08-09T17:20:54.566Z,1754760054.566 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 169.10 m.
2025-08-09T17:20:54.571Z,1754760054.571 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 169.100006 m,
      nav range: 162.498550 m,
      bearing: 22.714407 deg,
      approach rate: -0.604032 m/s,
      LOS rate: 0.075939 deg/s,
      cmd heading: 10.402398 deg,
      new cmd heading: 10.490892 deg.

2025-08-09T17:20:54.628Z,1754760054.628 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.005310
2025-08-09T17:20:54.879Z,1754760054.879 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.256136
2025-08-09T17:20:55.126Z,1754760055.126 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 169.10 m.
2025-08-09T17:20:55.129Z,1754760055.129 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 169.100006 m,
      nav range: 162.162262 m,
      bearing: 22.755118 deg,
      approach rate: -0.599634 m/s,
      LOS rate: 0.072742 deg/s,
      cmd heading: 10.490892 deg,
      new cmd heading: 10.613277 deg.

2025-08-09T17:20:55.131Z,1754760055.131 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.508327
2025-08-09T17:20:55.384Z,1754760055.384 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.760477
2025-08-09T17:20:55.492Z,1754760055.492 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 169.10 m.
2025-08-09T17:20:55.495Z,1754760055.495 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 169.100006 m,
      nav range: 161.955429 m,
      bearing: 22.779975 deg,
      approach rate: -0.564967 m/s,
      LOS rate: 0.067986 deg/s,
      cmd heading: 10.613277 deg,
      new cmd heading: 10.687946 deg.

2025-08-09T17:20:55.635Z,1754760055.635 [DAT](INFO): DAT read: Rx Time:17:20:54.6299

2025-08-09T17:20:55.636Z,1754760055.636 [DAT](INFO): Rx dataTimestamp_ set to:1754760055.635483
2025-08-09T17:20:55.636Z,1754760055.636 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.013254
2025-08-09T17:20:55.888Z,1754760055.888 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.264856
2025-08-09T17:20:56.010Z,1754760056.010 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-09T17:20:56.028Z,1754760056.028 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 169.10 m.
2025-08-09T17:20:56.049Z,1754760056.049 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 169.100006 m,
      nav range: 161.638351 m,
      bearing: 22.817819 deg,
      approach rate: -0.591211 m/s,
      LOS rate: 0.070699 deg/s,
      cmd heading: 10.687946 deg,
      new cmd heading: 10.801698 deg.

2025-08-09T17:20:56.144Z,1754760056.144 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.518675
2025-08-09T17:20:56.398Z,1754760056.398 [DAT](INFO): DAT read: 17:20:54.6299 LVL= 24496, 32449, 30082, 32419, AGC= 68, IDX=  59,-0.01, 1.202,-0.790, 0.858, 0.837, PHS= 0.467,-1.582,-0.023, RAW= 136.8,  12.2, CAL= 136.1,  13.3, ROT=  13.9, -13.3

2025-08-09T17:20:56.399Z,1754760056.399 [DAT](INFO): got valid direction response:
 17:20:54.6299 LVL= 24496, 32449, 30082, 32419, AGC= 68, IDX=  59,-0.01, 1.202,-0.790, 0.858, 0.837, PHS= 0.467,-1.582,-0.023, RAW= 136.8,  12.2, CAL= 136.1,  13.3, ROT=  13.9, -13.3

2025-08-09T17:20:56.400Z,1754760056.400 [DAT](INFO): DAT read: Bearing 161.6,  11.5 (Local)

2025-08-09T17:20:56.400Z,1754760056.400 [DAT](INFO): Local bearing/azimuth received:
 Bearing 161.6,  11.5 (Local)

2025-08-09T17:20:56.402Z,1754760056.402 [DAT](INFO): DAT read: Range 11 to 50 : 141.6 m  (Round-trip  188.9 ms) speed  0.5 m/s

2025-08-09T17:20:56.403Z,1754760056.403 [DAT](INFO): DAT read: user:472>

2025-08-09T17:20:56.403Z,1754760056.403 [DAT](INFO): DAT read: Tx time:17:20:55.7369

2025-08-09T17:20:56.404Z,1754760056.404 [DAT](INFO): Ping request sent.
2025-08-09T17:20:56.404Z,1754760056.404 [DAT](INFO): transmitted an acoustic signal
2025-08-09T17:20:56.404Z,1754760056.404 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-09T17:20:56.405Z,1754760056.405 [DAT](INFO): direction in FSK: [0.944681,0.233785,0.230050]
2025-08-09T17:20:56.405Z,1754760056.405 [DAT](INFO): publishing transmit ping time
2025-08-09T17:20:56.405Z,1754760056.405 [DAT](INFO): publishing direction and range info
2025-08-09T17:20:56.409Z,1754760056.409 [DAT](INFO): publishing transmit ping time
2025-08-09T17:20:56.409Z,1754760056.409 [DAT](INFO): publishing direction and range info
2025-08-09T17:20:56.492Z,1754760056.492 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](ERROR): addTargetRange::Rejecting new target range. Approach rate out of bounds.
 range: 141.600006 m,
 deltaT: 3.780096 s,
 deltaX: -27.500000 m,
 approachRate: -7.274948 m/s,
 rangeRepo size: 4
2025-08-09T17:20:56.493Z,1754760056.493 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 169.10 m.
2025-08-09T17:20:56.499Z,1754760056.499 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 169.100006 m,
      nav range: 161.354263 m,
      bearing: 22.851453 deg,
      approach rate: -0.620577 m/s,
      LOS rate: 0.073602 deg/s,
      cmd heading: 10.801698 deg,
      new cmd heading: 10.902779 deg.

2025-08-09T17:20:56.801Z,1754760056.801 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 169.10 m.
2025-08-09T17:20:56.804Z,1754760056.804 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 169.100006 m,
      nav range: 161.141037 m,
      bearing: 22.876475 deg,
      approach rate: -0.676885 m/s,
      LOS rate: 0.079537 deg/s,
      cmd heading: 10.902778 deg,
      new cmd heading: 10.977943 deg.

2025-08-09T17:20:57.234Z,1754760057.234 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 169.10 m.
2025-08-09T17:20:57.237Z,1754760057.237 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 169.100006 m,
      nav range: 160.890442 m,
      bearing: 22.906708 deg,
      approach rate: -0.601229 m/s,
      LOS rate: 0.072649 deg/s,
      cmd heading: 10.977943 deg,
      new cmd heading: 11.068784 deg.

2025-08-09T17:20:57.626Z,1754760057.626 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 169.10 m.
2025-08-09T17:20:57.629Z,1754760057.629 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 169.100006 m,
      nav range: 160.645020 m,
      bearing: 22.936416 deg,
      approach rate: -0.601284 m/s,
      LOS rate: 0.072895 deg/s,
      cmd heading: 11.068784 deg,
      new cmd heading: 11.158044 deg.

2025-08-09T17:20:58.136Z,1754760058.136 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-09T17:20:58.139Z,1754760058.139 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 169.10 m.
2025-08-09T17:20:58.141Z,1754760058.141 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 169.100006 m,
      nav range: 160.318451 m,
      bearing: 22.976918 deg,
      approach rate: -0.637547 m/s,
      LOS rate: 0.079232 deg/s,
      cmd heading: 11.158044 deg,
      new cmd heading: 11.279798 deg.

2025-08-09T17:20:58.155Z,1754760058.155 [DAT](INFO): ****** received valid address query ******
2025-08-09T17:20:58.155Z,1754760058.155 [DAT](INFO): ****** received valid ping request ******
2025-08-09T17:20:58.155Z,1754760058.155 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-09T17:20:58.407Z,1754760058.407 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.003611
2025-08-09T17:20:58.479Z,1754760058.479 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 169.10 m.
2025-08-09T17:20:58.482Z,1754760058.482 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 169.100006 m,
      nav range: 160.100677 m,
      bearing: 23.004023 deg,
      approach rate: -0.639185 m/s,
      LOS rate: 0.079663 deg/s,
      cmd heading: 11.279798 deg,
      new cmd heading: 11.361222 deg.

2025-08-09T17:20:58.659Z,1754760058.659 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.255634
2025-08-09T17:20:58.884Z,1754760058.884 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 169.10 m.
2025-08-09T17:20:58.890Z,1754760058.890 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 169.100006 m,
      nav range: 159.854599 m,
      bearing: 23.034558 deg,
      approach rate: -0.608455 m/s,
      LOS rate: 0.075617 deg/s,
      cmd heading: 11.361222 deg,
      new cmd heading: 11.452968 deg.

2025-08-09T17:20:58.912Z,1754760058.912 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.507859
2025-08-09T17:20:59.164Z,1754760059.164 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.759988
2025-08-09T17:20:59.296Z,1754760059.296 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 169.10 m.
2025-08-09T17:20:59.299Z,1754760059.299 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 169.100006 m,
      nav range: 159.602219 m,
      bearing: 23.066355 deg,
      approach rate: -0.611804 m/s,
      LOS rate: 0.077202 deg/s,
      cmd heading: 11.452968 deg,
      new cmd heading: 11.548509 deg.

2025-08-09T17:20:59.415Z,1754760059.415 [DAT](INFO): DAT read: Rx Time:17:20:58.3270

2025-08-09T17:20:59.416Z,1754760059.416 [DAT](INFO): Rx dataTimestamp_ set to:1754760059.415483
2025-08-09T17:20:59.416Z,1754760059.416 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.012659
2025-08-09T17:20:59.670Z,1754760059.670 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.266261
2025-08-09T17:20:59.674Z,1754760059.674 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 169.10 m.
2025-08-09T17:20:59.676Z,1754760059.676 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 169.100006 m,
      nav range: 159.385010 m,
      bearing: 23.093672 deg,
      approach rate: -0.575507 m/s,
      LOS rate: 0.072477 deg/s,
      cmd heading: 11.548509 deg,
      new cmd heading: 11.630572 deg.

2025-08-09T17:20:59.928Z,1754760059.928 [DAT](INFO): DAT read: 17:20:58.3270 LVL= 32752, 32753, 32754, 32755, AGC= 65, IDX= 413,-0.03,-1.867, 2.479,-2.177,-2.230, PHS= 0.465,-1.529, 0.009, RAW= 137.4,  11.6, CAL= 136.8,  12.7, ROT=  13.2, -12.7

2025-08-09T17:20:59.929Z,1754760059.929 [DAT](INFO): got valid direction response:
 17:20:58.3270 LVL= 32752, 32753, 32754, 32755, AGC= 65, IDX= 413,-0.03,-1.867, 2.479,-2.177,-2.230, PHS= 0.465,-1.529, 0.009, RAW= 137.4,  11.6, CAL= 136.8,  12.7, ROT=  13.2, -12.7

2025-08-09T17:20:59.930Z,1754760059.930 [DAT](INFO): DAT read: Bearing 163.1,  10.5 (Local)

2025-08-09T17:20:59.930Z,1754760059.930 [DAT](INFO): Local bearing/azimuth received:
 Bearing 163.1,  10.5 (Local)

2025-08-09T17:20:59.932Z,1754760059.932 [DAT](INFO): DAT read: Range 11 to 50 : 139.5 m  (Round-trip  186.0 ms) speed  0.4 m/s

2025-08-09T17:20:59.932Z,1754760059.932 [DAT](INFO): DAT read: user:473>

2025-08-09T17:20:59.933Z,1754760059.933 [DAT](INFO): DAT read: Tx time:17:20:59.4369

2025-08-09T17:20:59.933Z,1754760059.933 [DAT](INFO): Ping request sent.
2025-08-09T17:20:59.933Z,1754760059.933 [DAT](INFO): transmitted an acoustic signal
2025-08-09T17:20:59.934Z,1754760059.934 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-09T17:20:59.935Z,1754760059.935 [DAT](INFO): direction in FSK: [0.949760,0.222764,0.219846]
2025-08-09T17:20:59.936Z,1754760059.936 [DAT](INFO): publishing transmit ping time
2025-08-09T17:20:59.936Z,1754760059.936 [DAT](INFO): publishing direction and range info
2025-08-09T17:20:59.939Z,1754760059.939 [DAT](INFO): publishing transmit ping time
2025-08-09T17:20:59.939Z,1754760059.939 [DAT](INFO): publishing direction and range info
2025-08-09T17:21:00.225Z,1754760060.225 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 139.500000 m,
      deltaT: 7.308345 s,
      deltaX: -29.600006 m,
      approachRate: -4.050165 m/s,
      rangeRepo size: 4

2025-08-09T17:21:00.235Z,1754760060.235 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 139.500000 m,
      bearing: 23.453550 deg,
      lat: 36.906107 deg,
      lon: -122.115822 deg,
      deltaT: 7.308345 s,
      deltaX: -29.600006 m,
      approachRate: -4.050165 m/s,
      posRepo size: 4

2025-08-09T17:21:00.236Z,1754760060.236 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 139.50 m.
2025-08-09T17:21:00.246Z,1754760060.246 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 139.500000 m,
      nav range: 138.875732 m,
      bearing: 23.453550 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.072477 deg/s,
      cmd heading: 11.630572 deg,
      new cmd heading: 11.750243 deg.

2025-08-09T17:21:00.607Z,1754760060.607 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-09T17:21:00.609Z,1754760060.609 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 139.50 m.
2025-08-09T17:21:00.611Z,1754760060.611 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 139.500000 m,
      nav range: 138.620544 m,
      bearing: 23.489203 deg,
      approach rate: -0.663317 m/s,
      LOS rate: 0.092845 deg/s,
      cmd heading: 11.750243 deg,
      new cmd heading: 11.857399 deg.

2025-08-09T17:21:00.675Z,1754760060.675 [DAT](INFO): ****** received valid address query ******
2025-08-09T17:21:00.675Z,1754760060.675 [DAT](INFO): ****** received valid ping request ******
2025-08-09T17:21:00.676Z,1754760060.676 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-09T17:21:00.927Z,1754760060.927 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.993709
2025-08-09T17:21:01.059Z,1754760061.059 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 139.50 m.
2025-08-09T17:21:01.069Z,1754760061.069 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 139.500000 m,
      nav range: 138.391373 m,
      bearing: 23.521339 deg,
      approach rate: -0.508844 m/s,
      LOS rate: 0.071471 deg/s,
      cmd heading: 11.857399 deg,
      new cmd heading: 11.953966 deg.

2025-08-09T17:21:01.180Z,1754760061.180 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.246158
2025-08-09T17:21:01.431Z,1754760061.431 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.497766
2025-08-09T17:21:01.490Z,1754760061.490 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 139.50 m.
2025-08-09T17:21:01.492Z,1754760061.492 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 139.500000 m,
      nav range: 138.096680 m,
      bearing: 23.560522 deg,
      approach rate: -0.684400 m/s,
      LOS rate: 0.091193 deg/s,
      cmd heading: 11.953966 deg,
      new cmd heading: 12.071765 deg.

2025-08-09T17:21:01.683Z,1754760061.683 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.749695
2025-08-09T17:21:01.881Z,1754760061.881 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 139.50 m.
2025-08-09T17:21:01.888Z,1754760061.888 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 139.500000 m,
      nav range: 137.874634 m,
      bearing: 23.590027 deg,
      approach rate: -0.567805 m/s,
      LOS rate: 0.075569 deg/s,
      cmd heading: 12.071765 deg,
      new cmd heading: 12.160422 deg.

2025-08-09T17:21:01.937Z,1754760061.937 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.003462
2025-08-09T17:21:02.187Z,1754760062.187 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.253762
2025-08-09T17:21:02.307Z,1754760062.307 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 139.50 m.
2025-08-09T17:21:02.309Z,1754760062.309 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 139.500000 m,
      nav range: 137.604858 m,
      bearing: 23.624656 deg,
      approach rate: -0.633572 m/s,
      LOS rate: 0.081488 deg/s,
      cmd heading: 12.160422 deg,
      new cmd heading: 12.264514 deg.

2025-08-09T17:21:02.439Z,1754760062.439 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.505782
2025-08-09T17:21:02.679Z,1754760062.679 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-09T17:21:02.681Z,1754760062.681 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 139.50 m.
2025-08-09T17:21:02.683Z,1754760062.683 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 139.500000 m,
      nav range: 137.378510 m,
      bearing: 23.653623 deg,
      approach rate: -0.604902 m/s,
      LOS rate: 0.077539 deg/s,
      cmd heading: 12.264515 deg,
      new cmd heading: 12.351558 deg.

2025-08-09T17:21:02.691Z,1754760062.691 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.757834
2025-08-09T17:21:02.943Z,1754760062.943 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.009789
2025-08-09T17:21:03.160Z,1754760063.160 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 139.50 m.
2025-08-09T17:21:03.167Z,1754760063.167 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 139.500000 m,
      nav range: 137.095703 m,
      bearing: 23.688289 deg,
      approach rate: -0.589900 m/s,
      LOS rate: 0.072459 deg/s,
      cmd heading: 12.351558 deg,
      new cmd heading: 12.455772 deg.

2025-08-09T17:21:03.195Z,1754760063.195 [DAT](INFO): DAT read: Rx Time:17:21:02.0591

2025-08-09T17:21:03.196Z,1754760063.196 [DAT](INFO): Rx dataTimestamp_ set to:1754760063.195640
2025-08-09T17:21:03.196Z,1754760063.196 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.262931
2025-08-09T17:21:03.447Z,1754760063.447 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.513668
2025-08-09T17:21:03.546Z,1754760063.546 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 139.50 m.
2025-08-09T17:21:03.555Z,1754760063.555 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 139.500000 m,
      nav range: 136.861298 m,
      bearing: 23.716970 deg,
      approach rate: -0.608512 m/s,
      LOS rate: 0.074581 deg/s,
      cmd heading: 12.455772 deg,
      new cmd heading: 12.541961 deg.

2025-08-09T17:21:03.709Z,1754760063.709 [DAT](INFO): DAT read: 17:21:02.0591 LVL= 32752, 32753, 32754, 32755, AGC= 69, IDX= 262,-0.40,-1.326,-2.629,-1.495,-2.469, PHS= 1.245,-0.116, 0.929, RAW= 137.2, -30.5, CAL= 138.1, -31.1, ROT=  11.9,  31.1

2025-08-09T17:21:03.710Z,1754760063.710 [DAT](INFO): got valid direction response:
 17:21:02.0591 LVL= 32752, 32753, 32754, 32755, AGC= 69, IDX= 262,-0.40,-1.326,-2.629,-1.495,-2.469, PHS= 1.245,-0.116, 0.929, RAW= 137.2, -30.5, CAL= 138.1, -31.1, ROT=  11.9,  31.1

2025-08-09T17:21:03.711Z,1754760063.711 [DAT](INFO): DAT read: Bearing 119.9,  12.0 (Local)

2025-08-09T17:21:03.711Z,1754760063.711 [DAT](INFO): Local bearing/azimuth received:
 Bearing 119.9,  12.0 (Local)

2025-08-09T17:21:03.713Z,1754760063.713 [DAT](INFO): DAT read: Range 11 to 50 : 163.5 m  (Round-trip  218.1 ms) speed  0.3 m/s

2025-08-09T17:21:03.713Z,1754760063.713 [DAT](INFO): DAT read: user:474>

2025-08-09T17:21:03.714Z,1754760063.714 [DAT](INFO): DAT read: Tx time:17:21:03.1869

2025-08-09T17:21:03.718Z,1754760063.718 [DAT](INFO): Ping request sent.
2025-08-09T17:21:03.718Z,1754760063.718 [DAT](INFO): transmitted an acoustic signal
2025-08-09T17:21:03.720Z,1754760063.720 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-09T17:21:03.721Z,1754760063.721 [DAT](INFO): direction in FSK: [0.837865,0.176566,-0.516533]
2025-08-09T17:21:03.721Z,1754760063.721 [DAT](INFO): publishing transmit ping time
2025-08-09T17:21:03.721Z,1754760063.721 [DAT](INFO): publishing direction and range info
2025-08-09T17:21:03.724Z,1754760063.724 [DAT](INFO): publishing transmit ping time
2025-08-09T17:21:03.725Z,1754760063.725 [DAT](INFO): publishing direction and range info
2025-08-09T17:21:03.978Z,1754760063.978 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](ERROR): addTargetRange::Rejecting new target range. Approach rate out of bounds.
 range: 163.500000 m,
 deltaT: 3.781068 s,
 deltaX: 24.000000 m,
 approachRate: 6.347413 m/s,
 rangeRepo size: 4
2025-08-09T17:21:03.979Z,1754760063.979 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 139.50 m.
2025-08-09T17:21:03.981Z,1754760063.981 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 139.500000 m,
      nav range: 136.600067 m,
      bearing: 23.748774 deg,
      approach rate: -0.604958 m/s,
      LOS rate: 0.073793 deg/s,
      cmd heading: 12.541960 deg,
      new cmd heading: 12.637556 deg.

2025-08-09T17:21:04.381Z,1754760064.381 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 139.50 m.
2025-08-09T17:21:04.384Z,1754760064.384 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 139.500000 m,
      nav range: 136.339249 m,
      bearing: 23.779302 deg,
      approach rate: -0.645319 m/s,
      LOS rate: 0.075676 deg/s,
      cmd heading: 12.637556 deg,
      new cmd heading: 12.729314 deg.

2025-08-09T17:21:04.768Z,1754760064.768 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-09T17:21:04.771Z,1754760064.771 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 139.50 m.
2025-08-09T17:21:04.773Z,1754760064.773 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 139.500000 m,
      nav range: 136.100388 m,
      bearing: 23.806989 deg,
      approach rate: -0.613933 m/s,
      LOS rate: 0.071287 deg/s,
      cmd heading: 12.729313 deg,
      new cmd heading: 12.812520 deg.

2025-08-09T17:21:04.959Z,1754760064.959 [DAT](INFO): ****** received valid address query ******
2025-08-09T17:21:04.959Z,1754760064.959 [DAT](INFO): ****** received valid ping request ******
2025-08-09T17:21:04.959Z,1754760064.959 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-09T17:21:05.165Z,1754760065.165 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error. Device response is::TS,00021421081354,35.0,  8,-32768,-32768,V
2025-08-09T17:21:05.180Z,1754760065.180 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 139.50 m.
2025-08-09T17:21:05.183Z,1754760065.183 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 139.500000 m,
      nav range: 135.848221 m,
      bearing: 23.835949 deg,
      approach rate: -0.615359 m/s,
      LOS rate: 0.070802 deg/s,
      cmd heading: 12.812520 deg,
      new cmd heading: 12.899561 deg.

2025-08-09T17:21:05.212Z,1754760065.212 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.494410
2025-08-09T17:21:05.463Z,1754760065.463 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.745818
2025-08-09T17:21:05.582Z,1754760065.582 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 139.50 m.
2025-08-09T17:21:05.584Z,1754760065.584 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 139.500000 m,
      nav range: 135.601593 m,
      bearing: 23.863987 deg,
      approach rate: -0.614390 m/s,
      LOS rate: 0.069975 deg/s,
      cmd heading: 12.899561 deg,
      new cmd heading: 12.983829 deg.

2025-08-09T17:21:05.715Z,1754760065.715 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.997809
2025-08-09T17:21:05.967Z,1754760065.967 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.249774
2025-08-09T17:21:05.993Z,1754760065.993 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 139.50 m.
2025-08-09T17:21:05.996Z,1754760065.996 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 139.500000 m,
      nav range: 135.347763 m,
      bearing: 23.892528 deg,
      approach rate: -0.616803 m/s,
      LOS rate: 0.069484 deg/s,
      cmd heading: 12.983829 deg,
      new cmd heading: 13.069613 deg.

2025-08-09T17:21:06.219Z,1754760066.219 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.501840
2025-08-09T17:21:06.403Z,1754760066.403 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 139.50 m.
2025-08-09T17:21:06.406Z,1754760066.406 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 139.500000 m,
      nav range: 135.079895 m,
      bearing: 23.923587 deg,
      approach rate: -0.653013 m/s,
      LOS rate: 0.075866 deg/s,
      cmd heading: 13.069612 deg,
      new cmd heading: 13.162973 deg.

2025-08-09T17:21:06.476Z,1754760066.476 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.757707
2025-08-09T17:21:06.723Z,1754760066.723 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.005793
2025-08-09T17:21:06.791Z,1754760066.791 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-09T17:21:06.793Z,1754760066.793 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 139.50 m.
2025-08-09T17:21:06.796Z,1754760066.796 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 139.500000 m,
      nav range: 134.828140 m,
      bearing: 23.952538 deg,
      approach rate: -0.645884 m/s,
      LOS rate: 0.074414 deg/s,
      cmd heading: 13.162973 deg,
      new cmd heading: 13.249989 deg.

2025-08-09T17:21:06.975Z,1754760066.975 [DAT](INFO): DAT read: Rx Time:17:21:05.8067

2025-08-09T17:21:06.976Z,1754760066.976 [DAT](INFO): Rx dataTimestamp_ set to:1754760066.975474
2025-08-09T17:21:06.976Z,1754760066.976 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.258848
2025-08-09T17:21:07.218Z,1754760067.218 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 139.50 m.
2025-08-09T17:21:07.221Z,1754760067.221 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 139.500000 m,
      nav range: 134.543259 m,
      bearing: 23.987112 deg,
      approach rate: -0.670136 m/s,
      LOS rate: 0.081503 deg/s,
      cmd heading: 13.249989 deg,
      new cmd heading: 13.353932 deg.

2025-08-09T17:21:07.227Z,1754760067.227 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.509914
2025-08-09T17:21:07.487Z,1754760067.487 [DAT](INFO): DAT read: 17:21:05.8067 LVL= 26304, 32753, 32754, 32755, AGC= 66, IDX= 413, 0.32,-1.535, 2.736,-1.828,-1.916, PHS= 0.483,-1.586, 0.045, RAW= 138.4,  11.2, CAL= 137.9,  12.2, ROT=  12.1, -12.2

2025-08-09T17:21:07.488Z,1754760067.488 [DAT](INFO): got valid direction response:
 17:21:05.8067 LVL= 26304, 32753, 32754, 32755, AGC= 66, IDX= 413, 0.32,-1.535, 2.736,-1.828,-1.916, PHS= 0.483,-1.586, 0.045, RAW= 138.4,  11.2, CAL= 137.9,  12.2, ROT=  12.1, -12.2

2025-08-09T17:21:07.489Z,1754760067.489 [DAT](INFO): DAT read: Bearing 166.6,   8.8 (Local)

2025-08-09T17:21:07.489Z,1754760067.489 [DAT](INFO): Local bearing/azimuth received:
 Bearing 166.6,   8.8 (Local)

2025-08-09T17:21:07.501Z,1754760067.501 [DAT](INFO): DAT read: Range 11 to 50 : 161.7 m  (Round-trip  215.7 ms) speed  0.4 m/s

2025-08-09T17:21:07.502Z,1754760067.502 [DAT](INFO): DAT read: user:475>

2025-08-09T17:21:07.516Z,1754760067.516 [DAT](INFO): DAT read: Tx time:17:21:06.9369

2025-08-09T17:21:07.516Z,1754760067.516 [DAT](INFO): Ping request sent.
2025-08-09T17:21:07.516Z,1754760067.516 [DAT](INFO): transmitted an acoustic signal
2025-08-09T17:21:07.516Z,1754760067.516 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-09T17:21:07.517Z,1754760067.517 [DAT](INFO): direction in FSK: [0.955701,0.204885,0.211325]
2025-08-09T17:21:07.517Z,1754760067.517 [DAT](INFO): publishing transmit ping time
2025-08-09T17:21:07.518Z,1754760067.518 [DAT](INFO): publishing direction and range info
2025-08-09T17:21:07.521Z,1754760067.521 [DAT](INFO): publishing transmit ping time
2025-08-09T17:21:07.521Z,1754760067.521 [DAT](INFO): publishing direction and range info
2025-08-09T17:21:07.652Z,1754760067.652 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 161.699997 m,
      deltaT: 7.560387 s,
      deltaX: 22.199997 m,
      approachRate: 2.936357 m/s,
      rangeRepo size: 4

2025-08-09T17:21:07.656Z,1754760067.656 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 161.699997 m,
      bearing: 23.381312 deg,
      lat: 36.906141 deg,
      lon: -122.115822 deg,
      deltaT: 7.560387 s,
      deltaX: 22.199997 m,
      approachRate: 2.936357 m/s,
      posRepo size: 4

2025-08-09T17:21:07.657Z,1754760067.657 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 161.70 m.
2025-08-09T17:21:07.660Z,1754760067.660 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 161.699997 m,
      nav range: 137.725540 m,
      bearing: 23.381312 deg,
      approach rate: 0.096918 m/s,
      LOS rate: 0.081503 deg/s,
      cmd heading: 13.353932 deg,
      new cmd heading: 13.459824 deg.

2025-08-09T17:21:07.998Z,1754760067.998 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 161.70 m.
2025-08-09T17:21:08.017Z,1754760068.017 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 161.699997 m,
      nav range: 137.476349 m,
      bearing: 23.409216 deg,
      approach rate: -0.719021 m/s,
      LOS rate: 0.080663 deg/s,
      cmd heading: 13.459824 deg,
      new cmd heading: 13.543691 deg.

2025-08-09T17:21:08.435Z,1754760068.435 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 161.70 m.
2025-08-09T17:21:08.437Z,1754760068.437 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 161.699997 m,
      nav range: 137.202713 m,
      bearing: 23.444009 deg,
      approach rate: -0.650728 m/s,
      LOS rate: 0.082904 deg/s,
      cmd heading: 13.543691 deg,
      new cmd heading: 13.648276 deg.

2025-08-09T17:21:08.802Z,1754760068.802 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-09T17:21:08.804Z,1754760068.804 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 161.70 m.
2025-08-09T17:21:08.807Z,1754760068.807 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 161.699997 m,
      nav range: 136.951920 m,
      bearing: 23.475804 deg,
      approach rate: -0.650562 m/s,
      LOS rate: 0.082629 deg/s,
      cmd heading: 13.648276 deg,
      new cmd heading: 13.743838 deg.

2025-08-09T17:21:08.991Z,1754760068.991 [DAT](INFO): ****** received valid address query ******
2025-08-09T17:21:08.991Z,1754760068.991 [DAT](INFO): ****** received valid ping request ******
2025-08-09T17:21:08.992Z,1754760068.992 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-09T17:21:09.234Z,1754760069.234 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 161.70 m.
2025-08-09T17:21:09.237Z,1754760069.237 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 161.699997 m,
      nav range: 136.669632 m,
      bearing: 23.515039 deg,
      approach rate: -0.656083 m/s,
      LOS rate: 0.091377 deg/s,
      cmd heading: 13.743837 deg,
      new cmd heading: 13.861785 deg.

2025-08-09T17:21:09.243Z,1754760069.243 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.727430
2025-08-09T17:21:09.500Z,1754760069.500 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.983813
2025-08-09T17:21:09.613Z,1754760069.613 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 161.70 m.
2025-08-09T17:21:09.615Z,1754760069.615 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 161.699997 m,
      nav range: 136.421387 m,
      bearing: 23.549493 deg,
      approach rate: -0.655942 m/s,
      LOS rate: 0.091204 deg/s,
      cmd heading: 13.861785 deg,
      new cmd heading: 13.965336 deg.

2025-08-09T17:21:09.748Z,1754760069.748 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.231965
2025-08-09T17:21:09.999Z,1754760069.999 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.483296
2025-08-09T17:21:10.029Z,1754760070.029 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 161.70 m.
2025-08-09T17:21:10.035Z,1754760070.035 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 161.699997 m,
      nav range: 136.151855 m,
      bearing: 23.587053 deg,
      approach rate: -0.646901 m/s,
      LOS rate: 0.090324 deg/s,
      cmd heading: 13.965336 deg,
      new cmd heading: 14.078237 deg.

2025-08-09T17:21:10.251Z,1754760070.251 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.735325
2025-08-09T17:21:10.458Z,1754760070.458 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 161.70 m.
2025-08-09T17:21:10.461Z,1754760070.461 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 161.699997 m,
      nav range: 135.866669 m,
      bearing: 23.625599 deg,
      approach rate: -0.664814 m/s,
      LOS rate: 0.090047 deg/s,
      cmd heading: 14.078237 deg,
      new cmd heading: 14.194119 deg.

2025-08-09T17:21:10.504Z,1754760070.504 [DAT](INFO): DAT read: Rx Time:17:21:09.5173

2025-08-09T17:21:10.505Z,1754760070.505 [DAT](INFO): Rx dataTimestamp_ set to:1754760070.504096
2025-08-09T17:21:10.505Z,1754760070.505 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.989274
2025-08-09T17:21:10.755Z,1754760070.755 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.239299
2025-08-09T17:21:10.853Z,1754760070.853 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-09T17:21:10.857Z,1754760070.857 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 161.70 m.
2025-08-09T17:21:10.861Z,1754760070.861 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 161.699997 m,
      nav range: 135.607819 m,
      bearing: 23.660733 deg,
      approach rate: -0.650299 m/s,
      LOS rate: 0.088433 deg/s,
      cmd heading: 14.194119 deg,
      new cmd heading: 14.299721 deg.

2025-08-09T17:21:11.007Z,1754760071.007 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.491290
2025-08-09T17:21:11.273Z,1754760071.273 [DAT](INFO): DAT read: 17:21:09.5173 LVL= 32752, 32753, 32754, 32755, AGC= 71, IDX=  42,-0.42, 1.993,-0.014, 1.722, 1.610, PHS= 0.484,-1.579, 0.067, RAW= 139.0,  10.9, CAL= 138.5,  11.9, ROT=  11.5, -11.9

2025-08-09T17:21:11.274Z,1754760071.274 [DAT](INFO): got valid direction response:
 17:21:09.5173 LVL= 32752, 32753, 32754, 32755, AGC= 71, IDX=  42,-0.42, 1.993,-0.014, 1.722, 1.610, PHS= 0.484,-1.579, 0.067, RAW= 139.0,  10.9, CAL= 138.5,  11.9, ROT=  11.5, -11.9

2025-08-09T17:21:11.277Z,1754760071.277 [DAT](INFO): DAT read: Bearing 167.7,   7.7 (Local)

2025-08-09T17:21:11.278Z,1754760071.278 [DAT](INFO): Local bearing/azimuth received:
 Bearing 167.7,   7.7 (Local)

2025-08-09T17:21:11.281Z,1754760071.281 [DAT](INFO): DAT read: Range 11 to 50 : 132.2 m  (Round-trip  176.3 ms) speed  0.5 m/s

2025-08-09T17:21:11.287Z,1754760071.287 [DAT](INFO): DAT read: user:476>

2025-08-09T17:21:11.287Z,1754760071.287 [DAT](INFO): DAT read: Tx time:17:21:10.6369

2025-08-09T17:21:11.288Z,1754760071.288 [DAT](INFO): Ping request sent.
2025-08-09T17:21:11.288Z,1754760071.288 [DAT](INFO): transmitted an acoustic signal
2025-08-09T17:21:11.288Z,1754760071.288 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-09T17:21:11.289Z,1754760071.289 [DAT](INFO): direction in FSK: [0.958865,0.195083,0.206204]
2025-08-09T17:21:11.289Z,1754760071.289 [DAT](INFO): publishing transmit ping time
2025-08-09T17:21:11.289Z,1754760071.289 [DAT](INFO): publishing direction and range info
2025-08-09T17:21:11.305Z,1754760071.305 [DAT](INFO): publishing transmit ping time
2025-08-09T17:21:11.305Z,1754760071.305 [DAT](INFO): publishing direction and range info
2025-08-09T17:21:11.338Z,1754760071.338 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](ERROR): addTargetRange::Rejecting new target range. Approach rate out of bounds.
 range: 132.199997 m,
 deltaT: 3.787252 s,
 deltaX: -29.500000 m,
 approachRate: -7.789289 m/s,
 rangeRepo size: 4
2025-08-09T17:21:11.343Z,1754760071.343 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 161.70 m.
2025-08-09T17:21:11.345Z,1754760071.345 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 161.699997 m,
      nav range: 135.310638 m,
      bearing: 23.700620 deg,
      approach rate: -0.618158 m/s,
      LOS rate: 0.083151 deg/s,
      cmd heading: 14.299721 deg,
      new cmd heading: 14.419645 deg.

2025-08-09T17:21:11.693Z,1754760071.693 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 161.70 m.
2025-08-09T17:21:11.696Z,1754760071.696 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 161.699997 m,
      nav range: 135.060974 m,
      bearing: 23.734063 deg,
      approach rate: -0.701086 m/s,
      LOS rate: 0.094085 deg/s,
      cmd heading: 14.419644 deg,
      new cmd heading: 14.520159 deg.

2025-08-09T17:21:12.108Z,1754760072.108 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 161.70 m.
2025-08-09T17:21:12.110Z,1754760072.110 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 161.699997 m,
      nav range: 134.807266 m,
      bearing: 23.767927 deg,
      approach rate: -0.611992 m/s,
      LOS rate: 0.081841 deg/s,
      cmd heading: 14.520159 deg,
      new cmd heading: 14.621943 deg.

2025-08-09T17:21:12.525Z,1754760072.525 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 161.70 m.
2025-08-09T17:21:12.547Z,1754760072.547 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 161.699997 m,
      nav range: 134.521606 m,
      bearing: 23.801640 deg,
      approach rate: -0.684609 m/s,
      LOS rate: 0.080967 deg/s,
      cmd heading: 14.621943 deg,
      new cmd heading: 14.723295 deg.

2025-08-09T17:21:13.029Z,1754760073.029 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-09T17:21:13.033Z,1754760073.033 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 161.70 m.
2025-08-09T17:21:13.037Z,1754760073.037 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 161.699997 m,
      nav range: 134.191254 m,
      bearing: 23.840812 deg,
      approach rate: -0.651235 m/s,
      LOS rate: 0.077412 deg/s,
      cmd heading: 14.723294 deg,
      new cmd heading: 14.841100 deg.

2025-08-09T17:21:13.040Z,1754760073.040 [DAT](INFO): ****** received valid address query ******
2025-08-09T17:21:13.040Z,1754760073.040 [DAT](INFO): ****** received valid ping request ******
2025-08-09T17:21:13.040Z,1754760073.040 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-09T17:21:13.291Z,1754760073.291 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.003427
2025-08-09T17:21:13.328Z,1754760073.328 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 161.70 m.
2025-08-09T17:21:13.330Z,1754760073.330 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 161.699997 m,
      nav range: 133.997803 m,
      bearing: 23.861900 deg,
      approach rate: -0.654962 m/s,
      LOS rate: 0.071500 deg/s,
      cmd heading: 14.841101 deg,
      new cmd heading: 14.904456 deg.

2025-08-09T17:21:13.544Z,1754760073.544 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.256111
2025-08-09T17:21:13.714Z,1754760073.714 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 161.70 m.
2025-08-09T17:21:13.717Z,1754760073.717 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 161.699997 m,
      nav range: 133.750717 m,
      bearing: 23.887887 deg,
      approach rate: -0.640014 m/s,
      LOS rate: 0.067437 deg/s,
      cmd heading: 14.904456 deg,
      new cmd heading: 14.982561 deg.

2025-08-09T17:21:13.795Z,1754760073.795 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.507591
2025-08-09T17:21:14.047Z,1754760074.047 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.759769
2025-08-09T17:21:14.130Z,1754760074.130 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 161.70 m.
2025-08-09T17:21:14.133Z,1754760074.133 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 161.699997 m,
      nav range: 133.484207 m,
      bearing: 23.915672 deg,
      approach rate: -0.640681 m/s,
      LOS rate: 0.066928 deg/s,
      cmd heading: 14.982561 deg,
      new cmd heading: 15.066084 deg.

2025-08-09T17:21:14.299Z,1754760074.299 [DAT](INFO): DAT read: Rx Time:17:21:13.2142

2025-08-09T17:21:14.300Z,1754760074.300 [DAT](INFO): Rx dataTimestamp_ set to:1754760074.299526
2025-08-09T17:21:14.300Z,1754760074.300 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.012649
2025-08-09T17:21:14.551Z,1754760074.551 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.263634
2025-08-09T17:21:14.555Z,1754760074.555 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 161.70 m.
2025-08-09T17:21:14.557Z,1754760074.557 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 161.699997 m,
      nav range: 133.211975 m,
      bearing: 23.942473 deg,
      approach rate: -0.640608 m/s,
      LOS rate: 0.063197 deg/s,
      cmd heading: 15.066084 deg,
      new cmd heading: 15.146652 deg.

2025-08-09T17:21:14.810Z,1754760074.810 [DAT](INFO): DAT read: 17:21:13.2142 LVL= 26288, 32753, 29666, 30899, AGC= 63, IDX= 410, 0.08,-3.008, 1.464, 3.010, 2.852, PHS= 0.526,-1.343, 0.114, RAW= 137.9,   8.3, CAL= 137.6,   9.3, ROT=  12.4,  -9.3

2025-08-09T17:21:14.812Z,1754760074.812 [DAT](INFO): got valid direction response:
 17:21:13.2142 LVL= 26288, 32753, 29666, 30899, AGC= 63, IDX= 410, 0.08,-3.008, 1.464, 3.010, 2.852, PHS= 0.526,-1.343, 0.114, RAW= 137.9,   8.3, CAL= 137.6,   9.3, ROT=  12.4,  -9.3

2025-08-09T17:21:14.813Z,1754760074.813 [DAT](INFO): DAT read: $Error in header

2025-08-09T17:21:14.813Z,1754760074.813 [DAT](INFO): Received a bad header
2025-08-09T17:21:14.826Z,1754760074.826 [DAT](INFO): #Rx 1: Read direction message, but no range.
2025-08-09T17:21:14.827Z,1754760074.827 [DAT](INFO): direction in FSK: [0.963835,0.211913,0.161604]
2025-08-09T17:21:14.831Z,1754760074.831 [DAT](INFO): ****** received valid address query ******
2025-08-09T17:21:14.831Z,1754760074.831 [DAT](INFO): ****** received valid ping request ******
2025-08-09T17:21:14.831Z,1754760074.831 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-09T17:21:15.055Z,1754760075.055 [DAT](INFO): ****** received valid address query ******
2025-08-09T17:21:15.055Z,1754760075.055 [DAT](INFO): ****** received valid ping request ******
2025-08-09T17:21:15.055Z,1754760075.055 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-09T17:21:15.065Z,1754760075.065 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-09T17:21:15.068Z,1754760075.068 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 161.70 m.
2025-08-09T17:21:15.071Z,1754760075.071 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 161.699997 m,
      nav range: 132.880585 m,
      bearing: 23.974905 deg,
      approach rate: -0.645390 m/s,
      LOS rate: 0.063318 deg/s,
      cmd heading: 15.146651 deg,
      new cmd heading: 15.244188 deg.

2025-08-09T17:21:15.308Z,1754760075.308 [DAT](INFO): ****** received valid address query ******
2025-08-09T17:21:15.308Z,1754760075.308 [DAT](INFO): ****** received valid ping request ******
2025-08-09T17:21:15.308Z,1754760075.308 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-09T17:21:15.479Z,1754760075.479 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 161.70 m.
2025-08-09T17:21:15.482Z,1754760075.482 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 161.699997 m,
      nav range: 132.636963 m,
      bearing: 23.999190 deg,
      approach rate: -0.592578 m/s,
      LOS rate: 0.059180 deg/s,
      cmd heading: 15.244188 deg,
      new cmd heading: 15.317179 deg.

2025-08-09T17:21:15.559Z,1754760075.559 [DAT](INFO): ****** received valid address query ******
2025-08-09T17:21:15.559Z,1754760075.559 [DAT](INFO): ****** received valid ping request ******
2025-08-09T17:21:15.560Z,1754760075.560 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-09T17:21:15.811Z,1754760075.811 [DAT](INFO): ****** received valid address query ******
2025-08-09T17:21:15.811Z,1754760075.811 [DAT](INFO): ****** received valid ping request ******
2025-08-09T17:21:15.811Z,1754760075.811 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-09T17:21:15.954Z,1754760075.954 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 161.70 m.
2025-08-09T17:21:15.956Z,1754760075.956 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 161.699997 m,
      nav range: 132.333969 m,
      bearing: 24.029314 deg,
      approach rate: -0.638657 m/s,
      LOS rate: 0.063642 deg/s,
      cmd heading: 15.317179 deg,
      new cmd heading: 15.407758 deg.

2025-08-09T17:21:16.063Z,1754760076.063 [DAT](INFO): ****** received valid address query ******
2025-08-09T17:21:16.063Z,1754760076.063 [DAT](INFO): ****** received valid ping request ******
2025-08-09T17:21:16.063Z,1754760076.063 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-09T17:21:16.315Z,1754760076.315 [DAT](INFO): ****** received valid address query ******
2025-08-09T17:21:16.315Z,1754760076.315 [DAT](INFO): ****** received valid ping request ******
2025-08-09T17:21:16.315Z,1754760076.315 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-09T17:21:16.413Z,1754760076.413 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 161.70 m.
2025-08-09T17:21:16.420Z,1754760076.420 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 161.699997 m,
      nav range: 132.052933 m,
      bearing: 24.055880 deg,
      approach rate: -0.612101 m/s,
      LOS rate: 0.057983 deg/s,
      cmd heading: 15.407758 deg,
      new cmd heading: 15.487624 deg.

2025-08-09T17:21:16.567Z,1754760076.567 [DAT](INFO): ****** received valid address query ******
2025-08-09T17:21:16.567Z,1754760076.567 [DAT](INFO): ****** received valid ping request ******
2025-08-09T17:21:16.567Z,1754760076.567 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-09T17:21:16.768Z,1754760076.768 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 161.70 m.
2025-08-09T17:21:16.771Z,1754760076.771 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 161.699997 m,
      nav range: 131.826538 m,
      bearing: 24.077181 deg,
      approach rate: -0.637577 m/s,
      LOS rate: 0.060090 deg/s,
      cmd heading: 15.487623 deg,
      new cmd heading: 15.551634 deg.

2025-08-09T17:21:16.820Z,1754760076.820 [DAT](INFO): ****** received valid address query ******
2025-08-09T17:21:16.820Z,1754760076.820 [DAT](INFO): ****** received valid ping request ******
2025-08-09T17:21:16.820Z,1754760076.820 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-09T17:21:17.071Z,1754760077.071 [DAT](INFO): ****** received valid address query ******
2025-08-09T17:21:17.071Z,1754760077.071 [DAT](INFO): ****** received valid ping request ******
2025-08-09T17:21:17.071Z,1754760077.071 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-09T17:21:17.182Z,1754760077.182 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-09T17:21:17.184Z,1754760077.184 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 161.70 m.
2025-08-09T17:21:17.187Z,1754760077.187 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 161.699997 m,
      nav range: 131.567078 m,
      bearing: 24.101427 deg,
      approach rate: -0.622962 m/s,
      LOS rate: 0.058330 deg/s,
      cmd heading: 15.551634 deg,
      new cmd heading: 15.624516 deg.

2025-08-09T17:21:17.323Z,1754760077.323 [DAT](INFO): ****** received valid address query ******
2025-08-09T17:21:17.323Z,1754760077.323 [DAT](INFO): ****** received valid ping request ******
2025-08-09T17:21:17.324Z,1754760077.324 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-09T17:21:17.575Z,1754760077.575 [DAT](INFO): ****** received valid address query ******
2025-08-09T17:21:17.575Z,1754760077.575 [DAT](INFO): ****** received valid ping request ******
2025-08-09T17:21:17.575Z,1754760077.575 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-09T17:21:17.622Z,1754760077.622 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 161.70 m.
2025-08-09T17:21:17.629Z,1754760077.629 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 161.699997 m,
      nav range: 131.296432 m,
      bearing: 24.128388 deg,
      approach rate: -0.618572 m/s,
      LOS rate: 0.061748 deg/s,
      cmd heading: 15.624515 deg,
      new cmd heading: 15.705566 deg.

2025-08-09T17:21:17.827Z,1754760077.827 [DAT](INFO): ****** received valid address query ******
2025-08-09T17:21:17.827Z,1754760077.827 [DAT](INFO): ****** received valid ping request ******
2025-08-09T17:21:17.827Z,1754760077.827 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-09T17:21:17.951Z,1754760077.951 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 161.70 m.
2025-08-09T17:21:17.954Z,1754760077.954 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 161.699997 m,
      nav range: 131.088303 m,
      bearing: 24.148913 deg,
      approach rate: -0.632243 m/s,
      LOS rate: 0.062449 deg/s,
      cmd heading: 15.705566 deg,
      new cmd heading: 15.767239 deg.

2025-08-09T17:21:18.079Z,1754760078.079 [DAT](INFO): ****** received valid address query ******
2025-08-09T17:21:18.079Z,1754760078.079 [DAT](INFO): ****** received valid ping request ******
2025-08-09T17:21:18.079Z,1754760078.079 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-09T17:21:18.331Z,1754760078.331 [DAT](INFO): ****** received valid address query ******
2025-08-09T17:21:18.331Z,1754760078.331 [DAT](INFO): ****** received valid ping request ******
2025-08-09T17:21:18.331Z,1754760078.331 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-09T17:21:18.413Z,1754760078.413 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 161.70 m.
2025-08-09T17:21:18.415Z,1754760078.415 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 161.699997 m,
      nav range: 130.787674 m,
      bearing: 24.180804 deg,
      approach rate: -0.651327 m/s,
      LOS rate: 0.069251 deg/s,
      cmd heading: 15.767239 deg,
      new cmd heading: 15.863131 deg.

2025-08-09T17:21:18.583Z,1754760078.583 [DAT](INFO): ****** received valid address query ******
2025-08-09T17:21:18.583Z,1754760078.583 [DAT](INFO): ****** received valid ping request ******
2025-08-09T17:21:18.583Z,1754760078.583 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-09T17:21:18.779Z,1754760078.779 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 161.70 m.
2025-08-09T17:21:18.782Z,1754760078.782 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 161.699997 m,
      nav range: 130.559814 m,
      bearing: 24.204972 deg,
      approach rate: -0.621011 m/s,
      LOS rate: 0.065983 deg/s,
      cmd heading: 15.863131 deg,
      new cmd heading: 15.935763 deg.

2025-08-09T17:21:18.836Z,1754760078.836 [DAT](INFO): ****** received valid address query ******
2025-08-09T17:21:18.836Z,1754760078.836 [DAT](INFO): ****** received valid ping request ******
2025-08-09T17:21:18.836Z,1754760078.836 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-09T17:21:19.087Z,1754760079.087 [DAT](INFO): ****** received valid address query ******
2025-08-09T17:21:19.087Z,1754760079.087 [DAT](INFO): ****** received valid ping request ******
2025-08-09T17:21:19.087Z,1754760079.087 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-09T17:21:19.190Z,1754760079.190 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-09T17:21:19.192Z,1754760079.192 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 161.70 m.
2025-08-09T17:21:19.195Z,1754760079.195 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 161.699997 m,
      nav range: 130.280014 m,
      bearing: 24.234699 deg,
      approach rate: -0.678365 m/s,
      LOS rate: 0.072228 deg/s,
      cmd heading: 15.935762 deg,
      new cmd heading: 16.025136 deg.

2025-08-09T17:21:19.339Z,1754760079.339 [DAT](INFO): ****** received valid address query ******
2025-08-09T17:21:19.339Z,1754760079.339 [DAT](INFO): ****** received valid ping request ******
2025-08-09T17:21:19.339Z,1754760079.339 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-09T17:21:19.591Z,1754760079.591 [DAT](INFO): ****** received valid address query ******
2025-08-09T17:21:19.591Z,1754760079.591 [DAT](INFO): ****** received valid ping request ******
2025-08-09T17:21:19.591Z,1754760079.591 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-09T17:21:19.596Z,1754760079.596 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 161.70 m.
2025-08-09T17:21:19.599Z,1754760079.599 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 161.699997 m,
      nav range: 130.021362 m,
      bearing: 24.265140 deg,
      approach rate: -0.639453 m/s,
      LOS rate: 0.075406 deg/s,
      cmd heading: 16.025135 deg,
      new cmd heading: 16.116638 deg.

2025-08-09T17:21:19.844Z,1754760079.844 [DAT](INFO): ****** received valid address query ******
2025-08-09T17:21:19.844Z,1754760079.844 [DAT](INFO): ****** received valid ping request ******
2025-08-09T17:21:19.844Z,1754760079.844 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-09T17:21:19.972Z,1754760079.972 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 161.70 m.
2025-08-09T17:21:19.975Z,1754760079.975 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 161.699997 m,
      nav range: 129.779709 m,
      bearing: 24.293669 deg,
      approach rate: -0.643741 m/s,
      LOS rate: 0.076141 deg/s,
      cmd heading: 16.116637 deg,
      new cmd heading: 16.202385 deg.

2025-08-09T17:21:20.095Z,1754760080.095 [DAT](INFO): ****** received valid address query ******
2025-08-09T17:21:20.095Z,1754760080.095 [DAT](INFO): ****** received valid ping request ******
2025-08-09T17:21:20.095Z,1754760080.095 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-09T17:21:20.349Z,1754760080.349 [DAT](INFO): ****** received valid address query ******
2025-08-09T17:21:20.350Z,1754760080.350 [DAT](INFO): ****** received valid ping request ******
2025-08-09T17:21:20.350Z,1754760080.350 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-09T17:21:20.433Z,1754760080.433 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 161.70 m.
2025-08-09T17:21:20.436Z,1754760080.436 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 161.699997 m,
      nav range: 129.480423 m,
      bearing: 24.328667 deg,
      approach rate: -0.648320 m/s,
      LOS rate: 0.075989 deg/s,
      cmd heading: 16.202385 deg,
      new cmd heading: 16.307622 deg.

2025-08-09T17:21:20.599Z,1754760080.599 [DAT](INFO): ****** received valid address query ******
2025-08-09T17:21:20.599Z,1754760080.599 [DAT](INFO): ****** received valid ping request ******
2025-08-09T17:21:20.599Z,1754760080.599 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-09T17:21:20.782Z,1754760080.782 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 161.70 m.
2025-08-09T17:21:20.785Z,1754760080.785 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 161.699997 m,
      nav range: 129.254166 m,
      bearing: 24.355142 deg,
      approach rate: -0.649554 m/s,
      LOS rate: 0.076139 deg/s,
      cmd heading: 16.307621 deg,
      new cmd heading: 16.387185 deg.

2025-08-09T17:21:20.852Z,1754760080.852 [DAT](INFO): ****** received valid address query ******
2025-08-09T17:21:20.852Z,1754760080.852 [DAT](INFO): ****** received valid ping request ******
2025-08-09T17:21:20.852Z,1754760080.852 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-09T17:21:21.103Z,1754760081.103 [DAT](INFO): ****** received valid address query ******
2025-08-09T17:21:21.103Z,1754760081.103 [DAT](INFO): ****** received valid ping request ******
2025-08-09T17:21:21.103Z,1754760081.103 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-09T17:21:21.193Z,1754760081.193 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-09T17:21:21.197Z,1754760081.197 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 161.70 m.
2025-08-09T17:21:21.200Z,1754760081.200 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 161.699997 m,
      nav range: 128.986237 m,
      bearing: 24.386600 deg,
      approach rate: -0.645307 m/s,
      LOS rate: 0.075923 deg/s,
      cmd heading: 16.387185 deg,
      new cmd heading: 16.481753 deg.

2025-08-09T17:21:21.357Z,1754760081.357 [DAT](INFO): Reached modem response timeout
2025-08-09T17:21:21.358Z,1754760081.358 [DAT](DEBUG): Acoustic response timeout
2025-08-09T17:21:21.358Z,1754760081.358 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-09T17:21:21.607Z,1754760081.607 [DAT](INFO): Reached modem response timeout
2025-08-09T17:21:21.607Z,1754760081.607 [DAT](DEBUG): Acoustic response timeout
2025-08-09T17:21:21.607Z,1754760081.607 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-09T17:21:21.672Z,1754760081.672 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 161.70 m.
2025-08-09T17:21:21.678Z,1754760081.678 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 161.699997 m,
      nav range: 128.684082 m,
      bearing: 24.423596 deg,
      approach rate: -0.636745 m/s,
      LOS rate: 0.078147 deg/s,
      cmd heading: 16.481754 deg,
      new cmd heading: 16.593002 deg.

2025-08-09T17:21:21.859Z,1754760081.859 [DAT](INFO): Reached modem response timeout
2025-08-09T17:21:21.860Z,1754760081.860 [DAT](DEBUG): Acoustic response timeout
2025-08-09T17:21:21.860Z,1754760081.860 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-09T17:21:21.991Z,1754760081.991 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 161.70 m.
2025-08-09T17:21:21.993Z,1754760081.993 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 161.699997 m,
      nav range: 128.473343 m,
      bearing: 24.449358 deg,
      approach rate: -0.660900 m/s,
      LOS rate: 0.080925 deg/s,
      cmd heading: 16.593002 deg,
      new cmd heading: 16.670415 deg.

2025-08-09T17:21:22.111Z,1754760082.111 [DAT](INFO): Reached modem response timeout
2025-08-09T17:21:22.111Z,1754760082.111 [DAT](DEBUG): Acoustic response timeout
2025-08-09T17:21:22.112Z,1754760082.112 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-09T17:21:22.365Z,1754760082.365 [DAT](INFO): Reached modem response timeout
2025-08-09T17:21:22.366Z,1754760082.366 [DAT](DEBUG): Acoustic response timeout
2025-08-09T17:21:22.367Z,1754760082.367 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-09T17:21:22.454Z,1754760082.454 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 161.70 m.
2025-08-09T17:21:22.456Z,1754760082.456 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 161.699997 m,
      nav range: 128.178375 m,
      bearing: 24.482994 deg,
      approach rate: -0.636610 m/s,
      LOS rate: 0.072762 deg/s,
      cmd heading: 16.670415 deg,
      new cmd heading: 16.771557 deg.

2025-08-09T17:21:22.615Z,1754760082.615 [DAT](INFO): Reached modem response timeout
2025-08-09T17:21:22.615Z,1754760082.615 [DAT](DEBUG): Acoustic response timeout
2025-08-09T17:21:22.616Z,1754760082.616 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-09T17:21:22.803Z,1754760082.803 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 161.70 m.
2025-08-09T17:21:22.806Z,1754760082.806 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 161.699997 m,
      nav range: 127.954369 m,
      bearing: 24.508524 deg,
      approach rate: -0.640775 m/s,
      LOS rate: 0.073156 deg/s,
      cmd heading: 16.771557 deg,
      new cmd heading: 16.848280 deg.

2025-08-09T17:21:22.868Z,1754760082.868 [DAT](INFO): Reached modem response timeout
2025-08-09T17:21:22.869Z,1754760082.869 [DAT](DEBUG): Acoustic response timeout
2025-08-09T17:21:22.869Z,1754760082.869 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-09T17:21:23.119Z,1754760083.119 [DAT](INFO): Reached modem response timeout
2025-08-09T17:21:23.119Z,1754760083.119 [DAT](DEBUG): Acoustic response timeout
2025-08-09T17:21:23.120Z,1754760083.120 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-09T17:21:23.287Z,1754760083.287 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-09T17:21:23.293Z,1754760083.293 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 161.70 m.
2025-08-09T17:21:23.296Z,1754760083.296 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 161.699997 m,
      nav range: 127.645287 m,
      bearing: 24.543742 deg,
      approach rate: -0.630831 m/s,
      LOS rate: 0.072054 deg/s,
      cmd heading: 16.848280 deg,
      new cmd heading: 16.954191 deg.

2025-08-09T17:21:23.373Z,1754760083.373 [DAT](INFO): Reached modem response timeout
2025-08-09T17:21:23.374Z,1754760083.374 [DAT](DEBUG): Acoustic response timeout
2025-08-09T17:21:23.375Z,1754760083.375 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-09T17:21:23.623Z,1754760083.623 [DAT](INFO): DAT read: Response Not Received

2025-08-09T17:21:23.624Z,1754760083.624 [DAT](INFO): response not received
2025-08-09T17:21:23.624Z,1754760083.624 [DAT](INFO): DAT read: user:478>

2025-08-09T17:21:23.625Z,1754760083.625 [DAT](INFO): DAT read: Tx time:17:21:23.0869

2025-08-09T17:21:23.625Z,1754760083.625 [DAT](INFO): Ping request sent.
2025-08-09T17:21:23.625Z,1754760083.625 [DAT](INFO): transmitted an acoustic signal
2025-08-09T17:21:23.625Z,1754760083.625 [DAT](INFO): publishing transmit ping time
2025-08-09T17:21:23.626Z,1754760083.626 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000739
2025-08-09T17:21:23.782Z,1754760083.782 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 161.70 m.
2025-08-09T17:21:23.784Z,1754760083.784 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 161.699997 m,
      nav range: 127.332413 m,
      bearing: 24.575807 deg,
      approach rate: -0.640832 m/s,
      LOS rate: 0.065836 deg/s,
      cmd heading: 16.954191 deg,
      new cmd heading: 17.050621 deg.

2025-08-09T17:21:23.876Z,1754760083.876 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250457
2025-08-09T17:21:24.127Z,1754760084.127 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502051
2025-08-09T17:21:24.211Z,1754760084.211 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 161.70 m.
2025-08-09T17:21:24.214Z,1754760084.214 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 161.699997 m,
      nav range: 127.056374 m,
      bearing: 24.603976 deg,
      approach rate: -0.642210 m/s,
      LOS rate: 0.065679 deg/s,
      cmd heading: 17.050621 deg,
      new cmd heading: 17.135314 deg.

2025-08-09T17:21:24.382Z,1754760084.382 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.756010
2025-08-09T17:21:24.624Z,1754760084.624 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 161.70 m.
2025-08-09T17:21:24.627Z,1754760084.627 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 161.699997 m,
      nav range: 126.784386 m,
      bearing: 24.630685 deg,
      approach rate: -0.659636 m/s,
      LOS rate: 0.064915 deg/s,
      cmd heading: 17.135314 deg,
      new cmd heading: 17.215613 deg.

2025-08-09T17:21:24.632Z,1754760084.632 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006272
2025-08-09T17:21:24.883Z,1754760084.883 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258085
2025-08-09T17:21:25.017Z,1754760085.017 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 161.70 m.
2025-08-09T17:21:25.021Z,1754760085.021 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 161.699997 m,
      nav range: 126.529205 m,
      bearing: 24.655528 deg,
      approach rate: -0.650642 m/s,
      LOS rate: 0.063469 deg/s,
      cmd heading: 17.215613 deg,
      new cmd heading: 17.290290 deg.

2025-08-09T17:21:25.136Z,1754760085.136 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510508
2025-08-09T17:21:25.390Z,1754760085.390 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.764282
2025-08-09T17:21:25.483Z,1754760085.483 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-09T17:21:25.485Z,1754760085.485 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 161.70 m.
2025-08-09T17:21:25.502Z,1754760085.502 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 161.699997 m,
      nav range: 126.226601 m,
      bearing: 24.683230 deg,
      approach rate: -0.644557 m/s,
      LOS rate: 0.059149 deg/s,
      cmd heading: 17.290291 deg,
      new cmd heading: 17.373598 deg.

2025-08-09T17:21:25.639Z,1754760085.639 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014067
2025-08-09T17:21:25.887Z,1754760085.887 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 161.70 m.
2025-08-09T17:21:25.890Z,1754760085.890 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 161.699997 m,
      nav range: 125.954010 m,
      bearing: 24.708045 deg,
      approach rate: -0.677958 m/s,
      LOS rate: 0.061850 deg/s,
      cmd heading: 17.373599 deg,
      new cmd heading: 17.448204 deg.

2025-08-09T17:21:25.891Z,1754760085.891 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266152
2025-08-09T17:21:26.144Z,1754760086.144 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518289
2025-08-09T17:21:26.277Z,1754760086.277 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 161.70 m.
2025-08-09T17:21:26.284Z,1754760086.284 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 161.699997 m,
      nav range: 125.695602 m,
      bearing: 24.731398 deg,
      approach rate: -0.663111 m/s,
      LOS rate: 0.060049 deg/s,
      cmd heading: 17.448205 deg,
      new cmd heading: 17.518406 deg.

2025-08-09T17:21:26.399Z,1754760086.399 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.772949
2025-08-09T17:21:26.647Z,1754760086.647 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.022055
2025-08-09T17:21:26.694Z,1754760086.694 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 161.70 m.
2025-08-09T17:21:26.717Z,1754760086.717 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 161.699997 m,
      nav range: 125.416885 m,
      bearing: 24.758426 deg,
      approach rate: -0.668822 m/s,
      LOS rate: 0.065002 deg/s,
      cmd heading: 17.518406 deg,
      new cmd heading: 17.599670 deg.

2025-08-09T17:21:26.899Z,1754760086.899 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274103
2025-08-09T17:21:27.074Z,1754760087.074 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 161.70 m.
2025-08-09T17:21:27.077Z,1754760087.077 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 161.699997 m,
      nav range: 125.171234 m,
      bearing: 24.782057 deg,
      approach rate: -0.646150 m/s,
      LOS rate: 0.062282 deg/s,
      cmd heading: 17.599669 deg,
      new cmd heading: 17.670704 deg.

2025-08-09T17:21:27.152Z,1754760087.152 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.526815
2025-08-09T17:21:27.406Z,1754760087.406 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.780150
2025-08-09T17:21:27.527Z,1754760087.527 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-09T17:21:27.529Z,1754760087.529 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 161.70 m.
2025-08-09T17:21:27.536Z,1754760087.536 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 161.699997 m,
      nav range: 124.889107 m,
      bearing: 24.806326 deg,
      approach rate: -0.619775 m/s,
      LOS rate: 0.053433 deg/s,
      cmd heading: 17.670703 deg,
      new cmd heading: 17.743673 deg.

2025-08-09T17:21:27.655Z,1754760087.655 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.030141
2025-08-09T17:21:27.893Z,1754760087.893 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 161.70 m.
2025-08-09T17:21:27.896Z,1754760087.896 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 161.699997 m,
      nav range: 124.634964 m,
      bearing: 24.828092 deg,
      approach rate: -0.699043 m/s,
      LOS rate: 0.059992 deg/s,
      cmd heading: 17.743674 deg,
      new cmd heading: 17.809105 deg.

2025-08-09T17:21:27.907Z,1754760087.907 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.282167
2025-08-09T17:21:28.159Z,1754760088.159 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.534048
2025-08-09T17:21:28.286Z,1754760088.286 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 161.70 m.
2025-08-09T17:21:28.289Z,1754760088.289 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 161.699997 m,
      nav range: 124.377151 m,
      bearing: 24.849942 deg,
      approach rate: -0.655316 m/s,
      LOS rate: 0.055655 deg/s,
      cmd heading: 17.809105 deg,
      new cmd heading: 17.874792 deg.

2025-08-09T17:21:28.415Z,1754760088.415 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.788965
2025-08-09T17:21:28.663Z,1754760088.663 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.038122
2025-08-09T17:21:28.711Z,1754760088.711 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 161.70 m.
2025-08-09T17:21:28.714Z,1754760088.714 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 161.699997 m,
      nav range: 124.095650 m,
      bearing: 24.876173 deg,
      approach rate: -0.662479 m/s,
      LOS rate: 0.061871 deg/s,
      cmd heading: 17.874793 deg,
      new cmd heading: 17.953663 deg.

2025-08-09T17:21:28.915Z,1754760088.915 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.289968
2025-08-09T17:21:29.087Z,1754760089.087 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 161.70 m.
2025-08-09T17:21:29.089Z,1754760089.089 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 161.699997 m,
      nav range: 123.845238 m,
      bearing: 24.899359 deg,
      approach rate: -0.666418 m/s,
      LOS rate: 0.061830 deg/s,
      cmd heading: 17.953663 deg,
      new cmd heading: 18.023362 deg.

2025-08-09T17:21:29.171Z,1754760089.171 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.546204
2025-08-09T17:21:29.426Z,1754760089.426 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.800178
2025-08-09T17:21:29.543Z,1754760089.543 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-09T17:21:29.546Z,1754760089.546 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 161.70 m.
2025-08-09T17:21:29.564Z,1754760089.564 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 161.699997 m,
      nav range: 123.534607 m,
      bearing: 24.929918 deg,
      approach rate: -0.677242 m/s,
      LOS rate: 0.066792 deg/s,
      cmd heading: 18.023363 deg,
      new cmd heading: 18.115270 deg.

2025-08-09T17:21:29.676Z,1754760089.676 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.050539
2025-08-09T17:21:29.907Z,1754760089.907 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 161.70 m.
2025-08-09T17:21:29.909Z,1754760089.909 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 161.699997 m,
      nav range: 123.288643 m,
      bearing: 24.953986 deg,
      approach rate: -0.681737 m/s,
      LOS rate: 0.066841 deg/s,
      cmd heading: 18.115270 deg,
      new cmd heading: 18.187617 deg.

2025-08-09T17:21:29.927Z,1754760089.927 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.302095
2025-08-09T17:21:30.180Z,1754760090.180 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.554693
2025-08-09T17:21:30.432Z,1754760090.432 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.806320
2025-08-09T17:21:30.438Z,1754760090.438 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 161.70 m.
2025-08-09T17:21:30.443Z,1754760090.443 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 161.699997 m,
      nav range: 122.931206 m,
      bearing: 24.988694 deg,
      approach rate: -0.672218 m/s,
      LOS rate: 0.065465 deg/s,
      cmd heading: 18.187617 deg,
      new cmd heading: 18.292046 deg.

2025-08-09T17:21:30.684Z,1754760090.684 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.058998
2025-08-09T17:21:30.936Z,1754760090.936 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.310661
2025-08-09T17:21:31.060Z,1754760091.060 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 161.70 m.
2025-08-09T17:21:31.066Z,1754760091.066 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 161.699997 m,
      nav range: 122.517227 m,
      bearing: 25.029993 deg,
      approach rate: -0.666005 m/s,
      LOS rate: 0.066666 deg/s,
      cmd heading: 18.292046 deg,
      new cmd heading: 18.416360 deg.

2025-08-09T17:21:31.187Z,1754760091.187 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.561975
2025-08-09T17:21:31.439Z,1754760091.439 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.814052
2025-08-09T17:21:31.650Z,1754760091.650 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-09T17:21:31.652Z,1754760091.652 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 161.70 m.
2025-08-09T17:21:31.655Z,1754760091.655 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 161.699997 m,
      nav range: 122.131477 m,
      bearing: 25.069875 deg,
      approach rate: -0.651053 m/s,
      LOS rate: 0.067523 deg/s,
      cmd heading: 18.416360 deg,
      new cmd heading: 18.536383 deg.

2025-08-09T17:21:31.691Z,1754760091.691 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.066160
2025-08-09T17:21:31.943Z,1754760091.943 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.317934
2025-08-09T17:21:32.123Z,1754760092.123 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 161.70 m.
2025-08-09T17:21:32.126Z,1754760092.126 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 161.699997 m,
      nav range: 121.814026 m,
      bearing: 25.102591 deg,
      approach rate: -0.673577 m/s,
      LOS rate: 0.069599 deg/s,
      cmd heading: 18.536382 deg,
      new cmd heading: 18.634787 deg.

2025-08-09T17:21:32.197Z,1754760092.197 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.572198
2025-08-09T17:21:32.451Z,1754760092.451 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.826042
2025-08-09T17:21:32.577Z,1754760092.577 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 161.70 m.
2025-08-09T17:21:32.595Z,1754760092.595 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 161.699997 m,
      nav range: 121.524284 m,
      bearing: 25.128998 deg,
      approach rate: -0.639267 m/s,
      LOS rate: 0.058403 deg/s,
      cmd heading: 18.634786 deg,
      new cmd heading: 18.714198 deg.

2025-08-09T17:21:32.703Z,1754760092.703 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.078028
2025-08-09T17:21:32.955Z,1754760092.955 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.330053
2025-08-09T17:21:33.015Z,1754760093.015 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 161.70 m.
2025-08-09T17:21:33.017Z,1754760093.017 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 161.699997 m,
      nav range: 121.246223 m,
      bearing: 25.154343 deg,
      approach rate: -0.635010 m/s,
      LOS rate: 0.058012 deg/s,
      cmd heading: 18.714198 deg,
      new cmd heading: 18.790404 deg.

2025-08-09T17:21:33.207Z,1754760093.207 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.582064
2025-08-09T17:21:33.380Z,1754760093.380 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 161.70 m.
2025-08-09T17:21:33.400Z,1754760093.400 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 161.699997 m,
      nav range: 121.010178 m,
      bearing: 25.175839 deg,
      approach rate: -0.645059 m/s,
      LOS rate: 0.058859 deg/s,
      cmd heading: 18.790404 deg,
      new cmd heading: 18.855018 deg.

2025-08-09T17:21:33.462Z,1754760093.462 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.836310
2025-08-09T17:21:33.711Z,1754760093.711 [DAT](INFO): Reached modem response timeout
2025-08-09T17:21:33.711Z,1754760093.711 [DAT](DEBUG): Acoustic response timeout
2025-08-09T17:21:33.712Z,1754760093.712 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-09T17:21:33.809Z,1754760093.809 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-09T17:21:33.812Z,1754760093.812 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 161.70 m.
2025-08-09T17:21:33.815Z,1754760093.815 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 161.699997 m,
      nav range: 120.740425 m,
      bearing: 25.201080 deg,
      approach rate: -0.625786 m/s,
      LOS rate: 0.058686 deg/s,
      cmd heading: 18.855019 deg,
      new cmd heading: 18.930911 deg.

2025-08-09T17:21:33.963Z,1754760093.963 [DAT](INFO): Reached modem response timeout
2025-08-09T17:21:33.963Z,1754760093.963 [DAT](DEBUG): Acoustic response timeout
2025-08-09T17:21:33.964Z,1754760093.964 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-09T17:21:34.197Z,1754760094.197 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 161.70 m.
2025-08-09T17:21:34.200Z,1754760094.200 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 161.699997 m,
      nav range: 120.501259 m,
      bearing: 25.223521 deg,
      approach rate: -0.620779 m/s,
      LOS rate: 0.058363 deg/s,
      cmd heading: 18.930911 deg,
      new cmd heading: 18.998367 deg.

2025-08-09T17:21:34.217Z,1754760094.217 [DAT](INFO): Reached modem response timeout
2025-08-09T17:21:34.217Z,1754760094.217 [DAT](DEBUG): Acoustic response timeout
2025-08-09T17:21:34.218Z,1754760094.218 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-09T17:21:34.467Z,1754760094.467 [DAT](INFO): Reached modem response timeout
2025-08-09T17:21:34.467Z,1754760094.467 [DAT](DEBUG): Acoustic response timeout
2025-08-09T17:21:34.468Z,1754760094.468 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-09T17:21:34.622Z,1754760094.622 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 161.70 m.
2025-08-09T17:21:34.625Z,1754760094.625 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 161.699997 m,
      nav range: 120.227814 m,
      bearing: 25.249238 deg,
      approach rate: -0.642844 m/s,
      LOS rate: 0.060596 deg/s,
      cmd heading: 18.998368 deg,
      new cmd heading: 19.075695 deg.

2025-08-09T17:21:34.719Z,1754760094.719 [DAT](INFO): Reached modem response timeout
2025-08-09T17:21:34.719Z,1754760094.719 [DAT](DEBUG): Acoustic response timeout
2025-08-09T17:21:34.719Z,1754760094.719 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-09T17:21:34.971Z,1754760094.971 [DAT](INFO): Reached modem response timeout
2025-08-09T17:21:34.971Z,1754760094.971 [DAT](DEBUG): Acoustic response timeout
2025-08-09T17:21:34.971Z,1754760094.971 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-09T17:21:35.028Z,1754760095.028 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 161.70 m.
2025-08-09T17:21:35.035Z,1754760095.035 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 161.699997 m,
      nav range: 119.971756 m,
      bearing: 25.273376 deg,
      approach rate: -0.630885 m/s,
      LOS rate: 0.059600 deg/s,
      cmd heading: 19.075696 deg,
      new cmd heading: 19.148265 deg.

2025-08-09T17:21:35.223Z,1754760095.223 [DAT](INFO): Reached modem response timeout
2025-08-09T17:21:35.223Z,1754760095.223 [DAT](DEBUG): Acoustic response timeout
2025-08-09T17:21:35.223Z,1754760095.223 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-09T17:21:35.415Z,1754760095.415 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 161.70 m.
2025-08-09T17:21:35.418Z,1754760095.418 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 161.699997 m,
      nav range: 119.732826 m,
      bearing: 25.295912 deg,
      approach rate: -0.617415 m/s,
      LOS rate: 0.058350 deg/s,
      cmd heading: 19.148265 deg,
      new cmd heading: 19.216006 deg.

2025-08-09T17:21:35.477Z,1754760095.477 [DAT](INFO): Reached modem response timeout
2025-08-09T17:21:35.478Z,1754760095.478 [DAT](DEBUG): Acoustic response timeout
2025-08-09T17:21:35.478Z,1754760095.478 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-09T17:21:35.727Z,1754760095.727 [DAT](INFO): Reached modem response timeout
2025-08-09T17:21:35.727Z,1754760095.727 [DAT](DEBUG): Acoustic response timeout
2025-08-09T17:21:35.727Z,1754760095.727 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-09T17:21:35.827Z,1754760095.827 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-09T17:21:35.829Z,1754760095.829 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 161.70 m.
2025-08-09T17:21:35.832Z,1754760095.832 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 161.699997 m,
      nav range: 119.469971 m,
      bearing: 25.321164 deg,
      approach rate: -0.634546 m/s,
      LOS rate: 0.061094 deg/s,
      cmd heading: 19.216006 deg,
      new cmd heading: 19.291930 deg.

2025-08-09T17:21:35.983Z,1754760095.983 [DAT](INFO): DAT read: Response Not Received

2025-08-09T17:21:35.983Z,1754760095.983 [DAT](INFO): response not received
2025-08-09T17:21:35.984Z,1754760095.984 [DAT](INFO): DAT read: user:479>

2025-08-09T17:21:35.985Z,1754760095.985 [DAT](INFO): DAT read: Tx time:17:21:35.5369

2025-08-09T17:21:35.985Z,1754760095.985 [DAT](INFO): Ping request sent.
2025-08-09T17:21:35.986Z,1754760095.986 [DAT](INFO): transmitted an acoustic signal
2025-08-09T17:21:35.986Z,1754760095.986 [DAT](INFO): publishing transmit ping time
2025-08-09T17:21:35.987Z,1754760095.987 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.001739
2025-08-09T17:21:36.227Z,1754760096.227 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 161.70 m.
2025-08-09T17:21:36.230Z,1754760096.230 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 161.699997 m,
      nav range: 119.240936 m,
      bearing: 25.343148 deg,
      approach rate: -0.575359 m/s,
      LOS rate: 0.055332 deg/s,
      cmd heading: 19.291929 deg,
      new cmd heading: 19.358007 deg.

2025-08-09T17:21:36.231Z,1754760096.231 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.245877
2025-08-09T17:21:36.484Z,1754760096.484 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.498118
2025-08-09T17:21:36.669Z,1754760096.669 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 161.70 m.
2025-08-09T17:21:36.672Z,1754760096.672 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 161.699997 m,
      nav range: 118.962318 m,
      bearing: 25.371291 deg,
      approach rate: -0.630978 m/s,
      LOS rate: 0.063883 deg/s,
      cmd heading: 19.358006 deg,
      new cmd heading: 19.442632 deg.

2025-08-09T17:21:36.736Z,1754760096.736 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.750509
2025-08-09T17:21:36.988Z,1754760096.988 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.002542
2025-08-09T17:21:37.039Z,1754760097.039 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 161.70 m.
2025-08-09T17:21:37.041Z,1754760097.041 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 161.699997 m,
      nav range: 118.741257 m,
      bearing: 25.393579 deg,
      approach rate: -0.598400 m/s,
      LOS rate: 0.060446 deg/s,
      cmd heading: 19.442632 deg,
      new cmd heading: 19.509622 deg.

2025-08-09T17:21:37.244Z,1754760097.244 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.257957
2025-08-09T17:21:37.419Z,1754760097.419 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 161.70 m.
2025-08-09T17:21:37.421Z,1754760097.421 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 161.699997 m,
      nav range: 118.513878 m,
      bearing: 25.416454 deg,
      approach rate: -0.598227 m/s,
      LOS rate: 0.060298 deg/s,
      cmd heading: 19.509623 deg,
      new cmd heading: 19.578378 deg.

2025-08-09T17:21:37.493Z,1754760097.493 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.506939
2025-08-09T17:21:37.743Z,1754760097.743 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.757768
2025-08-09T17:21:37.936Z,1754760097.936 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-09T17:21:37.938Z,1754760097.938 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 161.70 m.
2025-08-09T17:21:37.945Z,1754760097.945 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 161.699997 m,
      nav range: 118.195061 m,
      bearing: 25.447740 deg,
      approach rate: -0.613895 m/s,
      LOS rate: 0.060404 deg/s,
      cmd heading: 19.578379 deg,
      new cmd heading: 19.672489 deg.

2025-08-09T17:21:37.997Z,1754760097.997 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.011201
2025-08-09T17:21:38.248Z,1754760098.248 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.261958
2025-08-09T17:21:38.300Z,1754760098.300 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 161.70 m.
2025-08-09T17:21:38.307Z,1754760098.307 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 161.699997 m,
      nav range: 117.970917 m,
      bearing: 25.469675 deg,
      approach rate: -0.618704 m/s,
      LOS rate: 0.060664 deg/s,
      cmd heading: 19.672488 deg,
      new cmd heading: 19.738421 deg.

2025-08-09T17:21:38.501Z,1754760098.501 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.515089
2025-08-09T17:21:38.751Z,1754760098.751 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.765746
2025-08-09T17:21:38.785Z,1754760098.785 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 161.70 m.
2025-08-09T17:21:38.788Z,1754760098.788 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 161.699997 m,
      nav range: 117.663231 m,
      bearing: 25.500554 deg,
      approach rate: -0.634842 m/s,
      LOS rate: 0.063878 deg/s,
      cmd heading: 19.738420 deg,
      new cmd heading: 19.831299 deg.

2025-08-09T17:21:39.003Z,1754760099.003 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.017741
2025-08-09T17:21:39.160Z,1754760099.160 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 161.70 m.
2025-08-09T17:21:39.163Z,1754760099.163 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 161.699997 m,
      nav range: 117.430511 m,
      bearing: 25.523901 deg,
      approach rate: -0.620099 m/s,
      LOS rate: 0.062333 deg/s,
      cmd heading: 19.831299 deg,
      new cmd heading: 19.901478 deg.

2025-08-09T17:21:39.256Z,1754760099.256 [DAT](INFO): DAT read: Rx Time:17:21:38.1709

2025-08-09T17:21:39.256Z,1754760099.256 [DAT](INFO): Rx dataTimestamp_ set to:1754760099.255693
2025-08-09T17:21:39.257Z,1754760099.257 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.270973
2025-08-09T17:21:39.507Z,1754760099.507 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.521681
2025-08-09T17:21:39.633Z,1754760099.633 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 161.70 m.
2025-08-09T17:21:39.640Z,1754760099.640 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 161.699997 m,
      nav range: 117.160652 m,
      bearing: 25.550866 deg,
      approach rate: -0.569926 m/s,
      LOS rate: 0.057081 deg/s,
      cmd heading: 19.901477 deg,
      new cmd heading: 19.982560 deg.

2025-08-09T17:21:39.767Z,1754760099.767 [DAT](INFO): DAT read: 17:21:38.1709 LVL= 30192, 32753, 29970, 31475, AGC= 68, IDX=  80, 0.25, 2.599, 0.624, 2.308, 2.127, PHS= 0.575,-1.458, 0.137, RAW= 138.2,   8.1, CAL= 137.9,   9.0, ROT=  12.1,  -9.0

2025-08-09T17:21:39.769Z,1754760099.769 [DAT](INFO): got valid direction response:
 17:21:38.1709 LVL= 30192, 32753, 29970, 31475, AGC= 68, IDX=  80, 0.25, 2.599, 0.624, 2.308, 2.127, PHS= 0.575,-1.458, 0.137, RAW= 138.2,   8.1, CAL= 137.9,   9.0, ROT=  12.1,  -9.0

2025-08-09T17:21:39.770Z,1754760099.770 [DAT](INFO): DAT read: $Error in header

2025-08-09T17:21:39.770Z,1754760099.770 [DAT](INFO): Received a bad header
2025-08-09T17:21:39.783Z,1754760099.783 [DAT](INFO): #Rx 1: Read direction message, but no range.
2025-08-09T17:21:39.784Z,1754760099.784 [DAT](INFO): direction in FSK: [0.965745,0.207038,0.156434]
2025-08-09T17:21:39.793Z,1754760099.793 [DAT](INFO): ****** received valid address query ******
2025-08-09T17:21:39.793Z,1754760099.793 [DAT](INFO): ****** received valid ping request ******
2025-08-09T17:21:39.793Z,1754760099.793 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-09T17:21:40.011Z,1754760100.011 [DAT](INFO): ****** received valid address query ******
2025-08-09T17:21:40.011Z,1754760100.011 [DAT](INFO): ****** received valid ping request ******
2025-08-09T17:21:40.011Z,1754760100.011 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-09T17:21:40.016Z,1754760100.016 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-09T17:21:40.018Z,1754760100.018 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 161.70 m.
2025-08-09T17:21:40.021Z,1754760100.021 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 161.699997 m,
      nav range: 116.891174 m,
      bearing: 25.576797 deg,
      approach rate: -0.701307 m/s,
      LOS rate: 0.067638 deg/s,
      cmd heading: 19.982560 deg,
      new cmd heading: 20.060530 deg.

2025-08-09T17:21:40.263Z,1754760100.263 [DAT](INFO): ****** received valid address query ******
2025-08-09T17:21:40.263Z,1754760100.263 [DAT](INFO): ****** received valid ping request ******
2025-08-09T17:21:40.263Z,1754760100.263 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-09T17:21:40.381Z,1754760100.381 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 161.70 m.
2025-08-09T17:21:40.384Z,1754760100.384 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 161.699997 m,
      nav range: 116.664093 m,
      bearing: 25.598591 deg,
      approach rate: -0.625929 m/s,
      LOS rate: 0.060192 deg/s,
      cmd heading: 20.060530 deg,
      new cmd heading: 20.126041 deg.

2025-08-09T17:21:40.515Z,1754760100.515 [DAT](INFO): ****** received valid address query ******
2025-08-09T17:21:40.515Z,1754760100.515 [DAT](INFO): ****** received valid ping request ******
2025-08-09T17:21:40.515Z,1754760100.515 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-09T17:21:40.767Z,1754760100.767 [DAT](INFO): ****** received valid address query ******
2025-08-09T17:21:40.767Z,1754760100.767 [DAT](INFO): ****** received valid ping request ******
2025-08-09T17:21:40.767Z,1754760100.767 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-09T17:21:40.820Z,1754760100.820 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 161.70 m.
2025-08-09T17:21:40.823Z,1754760100.823 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 161.699997 m,
      nav range: 116.373993 m,
      bearing: 25.625909 deg,
      approach rate: -0.659951 m/s,
      LOS rate: 0.062300 deg/s,
      cmd heading: 20.126042 deg,
      new cmd heading: 20.208199 deg.

2025-08-09T17:21:41.019Z,1754760101.019 [DAT](INFO): ****** received valid address query ******
2025-08-09T17:21:41.020Z,1754760101.020 [DAT](INFO): ****** received valid ping request ******
2025-08-09T17:21:41.020Z,1754760101.020 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-09T17:21:41.177Z,1754760101.177 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 161.70 m.
2025-08-09T17:21:41.180Z,1754760101.180 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 161.699997 m,
      nav range: 116.144135 m,
      bearing: 25.647541 deg,
      approach rate: -0.644704 m/s,
      LOS rate: 0.060793 deg/s,
      cmd heading: 20.208199 deg,
      new cmd heading: 20.273223 deg.

2025-08-09T17:21:41.271Z,1754760101.271 [DAT](INFO): ****** received valid address query ******
2025-08-09T17:21:41.271Z,1754760101.271 [DAT](INFO): ****** received valid ping request ******
2025-08-09T17:21:41.271Z,1754760101.271 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-09T17:21:41.523Z,1754760101.523 [DAT](INFO): ****** received valid address query ******
2025-08-09T17:21:41.523Z,1754760101.523 [DAT](INFO): ****** received valid ping request ******
2025-08-09T17:21:41.523Z,1754760101.523 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-09T17:21:41.665Z,1754760101.665 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 161.70 m.
2025-08-09T17:21:41.672Z,1754760101.672 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 161.699997 m,
      nav range: 115.876190 m,
      bearing: 25.672678 deg,
      approach rate: -0.548480 m/s,
      LOS rate: 0.051576 deg/s,
      cmd heading: 20.273222 deg,
      new cmd heading: 20.348810 deg.

2025-08-09T17:21:41.776Z,1754760101.776 [DAT](INFO): ****** received valid address query ******
2025-08-09T17:21:41.776Z,1754760101.776 [DAT](INFO): ****** received valid ping request ******
2025-08-09T17:21:41.776Z,1754760101.776 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-09T17:21:42.015Z,1754760102.015 [RDI_Pathfinder](ERROR): only read 2 of 4 data items for beam range. Device response is::RA,  0.00,  89.55,  76.66,
2025-08-09T17:21:42.027Z,1754760102.027 [DAT](INFO): ****** received valid address query ******
2025-08-09T17:21:42.027Z,1754760102.027 [DAT](INFO): ****** received valid ping request ******
2025-08-09T17:21:42.028Z,1754760102.028 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-09T17:21:42.046Z,1754760102.046 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-09T17:21:42.048Z,1754760102.048 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 161.70 m.
2025-08-09T17:21:42.055Z,1754760102.055 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 161.699997 m,
      nav range: 115.593079 m,
      bearing: 25.699095 deg,
      approach rate: -0.738645 m/s,
      LOS rate: 0.069089 deg/s,
      cmd heading: 20.348810 deg,
      new cmd heading: 20.428253 deg.

2025-08-09T17:21:42.280Z,1754760102.280 [DAT](INFO): ****** received valid address query ******
2025-08-09T17:21:42.280Z,1754760102.280 [DAT](INFO): ****** received valid ping request ******
2025-08-09T17:21:42.280Z,1754760102.280 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-09T17:21:42.426Z,1754760102.426 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 161.70 m.
2025-08-09T17:21:42.432Z,1754760102.432 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 161.699997 m,
      nav range: 115.337540 m,
      bearing: 25.722871 deg,
      approach rate: -0.677140 m/s,
      LOS rate: 0.063143 deg/s,
      cmd heading: 20.428252 deg,
      new cmd heading: 20.499738 deg.

2025-08-09T17:21:42.531Z,1754760102.531 [DAT](INFO): ****** received valid address query ******
2025-08-09T17:21:42.531Z,1754760102.531 [DAT](INFO): ****** received valid ping request ******
2025-08-09T17:21:42.531Z,1754760102.531 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-09T17:21:42.783Z,1754760102.783 [DAT](INFO): ****** received valid address query ******
2025-08-09T17:21:42.783Z,1754760102.783 [DAT](INFO): ****** received valid ping request ******
2025-08-09T17:21:42.783Z,1754760102.783 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-09T17:21:42.880Z,1754760102.880 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 161.70 m.
2025-08-09T17:21:42.882Z,1754760102.882 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 161.699997 m,
      nav range: 115.035179 m,
      bearing: 25.751043 deg,
      approach rate: -0.666289 m/s,
      LOS rate: 0.062244 deg/s,
      cmd heading: 20.499739 deg,
      new cmd heading: 20.584477 deg.

2025-08-09T17:21:43.035Z,1754760103.035 [DAT](INFO): ****** received valid address query ******
2025-08-09T17:21:43.035Z,1754760103.035 [DAT](INFO): ****** received valid ping request ******
2025-08-09T17:21:43.035Z,1754760103.035 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-09T17:21:43.235Z,1754760103.235 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 161.70 m.
2025-08-09T17:21:43.238Z,1754760103.238 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 161.699997 m,
      nav range: 114.796005 m,
      bearing: 25.773151 deg,
      approach rate: -0.672264 m/s,
      LOS rate: 0.062270 deg/s,
      cmd heading: 20.584477 deg,
      new cmd heading: 20.650940 deg.

2025-08-09T17:21:43.287Z,1754760103.287 [DAT](INFO): ****** received valid address query ******
2025-08-09T17:21:43.287Z,1754760103.287 [DAT](INFO): ****** received valid ping request ******
2025-08-09T17:21:43.287Z,1754760103.287 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-09T17:21:43.539Z,1754760103.539 [DAT](INFO): ****** received valid address query ******
2025-08-09T17:21:43.539Z,1754760103.539 [DAT](INFO): ****** received valid ping request ******
2025-08-09T17:21:43.539Z,1754760103.539 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-09T17:21:43.701Z,1754760103.701 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 161.70 m.
2025-08-09T17:21:43.703Z,1754760103.703 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 161.699997 m,
      nav range: 114.488510 m,
      bearing: 25.801412 deg,
      approach rate: -0.660984 m/s,
      LOS rate: 0.060913 deg/s,
      cmd heading: 20.650940 deg,
      new cmd heading: 20.735952 deg.

2025-08-09T17:21:43.792Z,1754760103.792 [DAT](INFO): ****** received valid address query ******
2025-08-09T17:21:43.793Z,1754760103.793 [DAT](INFO): ****** received valid ping request ******
2025-08-09T17:21:43.793Z,1754760103.793 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-09T17:21:44.043Z,1754760104.043 [DAT](INFO): ****** received valid address query ******
2025-08-09T17:21:44.043Z,1754760104.043 [DAT](INFO): ****** received valid ping request ******
2025-08-09T17:21:44.043Z,1754760104.043 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-09T17:21:44.084Z,1754760104.084 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-09T17:21:44.087Z,1754760104.087 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 161.70 m.
2025-08-09T17:21:44.089Z,1754760104.089 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 161.699997 m,
      nav range: 114.218773 m,
      bearing: 25.825584 deg,
      approach rate: -0.699156 m/s,
      LOS rate: 0.062801 deg/s,
      cmd heading: 20.735952 deg,
      new cmd heading: 20.808639 deg.

2025-08-09T17:21:44.298Z,1754760104.298 [DAT](INFO): ****** received valid address query ******
2025-08-09T17:21:44.298Z,1754760104.298 [DAT](INFO): ****** received valid ping request ******
2025-08-09T17:21:44.298Z,1754760104.298 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-09T17:21:44.456Z,1754760104.456 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 161.70 m.
2025-08-09T17:21:44.462Z,1754760104.462 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 161.699997 m,
      nav range: 113.967987 m,
      bearing: 25.847874 deg,
      approach rate: -0.679647 m/s,
      LOS rate: 0.060540 deg/s,
      cmd heading: 20.808639 deg,
      new cmd heading: 20.875656 deg.

2025-08-09T17:21:44.548Z,1754760104.548 [DAT](INFO): ****** received valid address query ******
2025-08-09T17:21:44.548Z,1754760104.548 [DAT](INFO): ****** received valid ping request ******
2025-08-09T17:21:44.548Z,1754760104.548 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-09T17:21:44.799Z,1754760104.799 [DAT](INFO): ****** received valid address query ******
2025-08-09T17:21:44.799Z,1754760104.799 [DAT](INFO): ****** received valid ping request ******
2025-08-09T17:21:44.799Z,1754760104.799 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-09T17:21:44.889Z,1754760104.889 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 161.70 m.
2025-08-09T17:21:44.891Z,1754760104.891 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 161.699997 m,
      nav range: 113.670837 m,
      bearing: 25.874973 deg,
      approach rate: -0.686011 m/s,
      LOS rate: 0.062725 deg/s,
      cmd heading: 20.875657 deg,
      new cmd heading: 20.957166 deg.

2025-08-09T17:21:45.051Z,1754760105.051 [DAT](INFO): ****** received valid address query ******
2025-08-09T17:21:45.051Z,1754760105.051 [DAT](INFO): ****** received valid ping request ******
2025-08-09T17:21:45.051Z,1754760105.051 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-09T17:21:45.303Z,1754760105.303 [DAT](INFO): ****** received valid address query ******
2025-08-09T17:21:45.303Z,1754760105.303 [DAT](INFO): ****** received valid ping request ******
2025-08-09T17:21:45.303Z,1754760105.303 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-09T17:21:45.345Z,1754760105.345 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 161.70 m.
2025-08-09T17:21:45.348Z,1754760105.348 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 161.699997 m,
      nav range: 113.358055 m,
      bearing: 25.903379 deg,
      approach rate: -0.685133 m/s,
      LOS rate: 0.062395 deg/s,
      cmd heading: 20.957165 deg,
      new cmd heading: 21.042620 deg.

2025-08-09T17:21:45.555Z,1754760105.555 [DAT](INFO): ****** received valid address query ******
2025-08-09T17:21:45.555Z,1754760105.555 [DAT](INFO): ****** received valid ping request ******
2025-08-09T17:21:45.555Z,1754760105.555 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-09T17:21:45.807Z,1754760105.807 [DAT](INFO): ****** received valid address query ******
2025-08-09T17:21:45.807Z,1754760105.807 [DAT](INFO): ****** received valid ping request ******
2025-08-09T17:21:45.808Z,1754760105.808 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-09T17:21:45.813Z,1754760105.813 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 161.70 m.
2025-08-09T17:21:45.815Z,1754760105.815 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 161.699997 m,
      nav range: 113.042717 m,
      bearing: 25.931360 deg,
      approach rate: -0.674520 m/s,
      LOS rate: 0.060019 deg/s,
      cmd heading: 21.042621 deg,
      new cmd heading: 21.126797 deg.

2025-08-09T17:21:46.060Z,1754760106.060 [DAT](INFO): Reached modem response timeout
2025-08-09T17:21:46.060Z,1754760106.060 [DAT](DEBUG): Acoustic response timeout
2025-08-09T17:21:46.061Z,1754760106.061 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-09T17:21:46.164Z,1754760106.164 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-09T17:21:46.166Z,1754760106.166 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 161.70 m.
2025-08-09T17:21:46.169Z,1754760106.169 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 161.699997 m,
      nav range: 112.801086 m,
      bearing: 25.952145 deg,
      approach rate: -0.683169 m/s,
      LOS rate: 0.058891 deg/s,
      cmd heading: 21.126796 deg,
      new cmd heading: 21.189284 deg.

2025-08-09T17:21:46.311Z,1754760106.311 [DAT](INFO): Reached modem response timeout
2025-08-09T17:21:46.311Z,1754760106.311 [DAT](DEBUG): Acoustic response timeout
2025-08-09T17:21:46.311Z,1754760106.311 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-09T17:21:46.554Z,1754760106.554 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 161.70 m.
2025-08-09T17:21:46.557Z,1754760106.557 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 161.699997 m,
      nav range: 112.537498 m,
      bearing: 25.974746 deg,
      approach rate: -0.679969 m/s,
      LOS rate: 0.058441 deg/s,
      cmd heading: 21.189284 deg,
      new cmd heading: 21.257248 deg.

2025-08-09T17:21:46.563Z,1754760106.563 [DAT](INFO): Reached modem response timeout
2025-08-09T17:21:46.563Z,1754760106.563 [DAT](DEBUG): Acoustic response timeout
2025-08-09T17:21:46.564Z,1754760106.564 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-09T17:21:46.815Z,1754760106.815 [DAT](INFO): Reached modem response timeout
2025-08-09T17:21:46.815Z,1754760106.815 [DAT](DEBUG): Acoustic response timeout
2025-08-09T17:21:46.815Z,1754760106.815 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-09T17:21:46.996Z,1754760106.996 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 161.70 m.
2025-08-09T17:21:47.003Z,1754760107.003 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 161.699997 m,
      nav range: 112.256310 m,
      bearing: 25.999949 deg,
      approach rate: -0.635784 m/s,
      LOS rate: 0.057128 deg/s,
      cmd heading: 21.257248 deg,
      new cmd heading: 21.333045 deg.

2025-08-09T17:21:47.067Z,1754760107.067 [DAT](INFO): Reached modem response timeout
2025-08-09T17:21:47.068Z,1754760107.068 [DAT](DEBUG): Acoustic response timeout
2025-08-09T17:21:47.068Z,1754760107.068 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-09T17:21:47.319Z,1754760107.319 [DAT](INFO): Reached modem response timeout
2025-08-09T17:21:47.319Z,1754760107.319 [DAT](DEBUG): Acoustic response timeout
2025-08-09T17:21:47.319Z,1754760107.319 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-09T17:21:47.371Z,1754760107.371 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 161.70 m.
2025-08-09T17:21:47.374Z,1754760107.374 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 161.699997 m,
      nav range: 111.984253 m,
      bearing: 26.024297 deg,
      approach rate: -0.725836 m/s,
      LOS rate: 0.065117 deg/s,
      cmd heading: 21.333046 deg,
      new cmd heading: 21.406267 deg.

2025-08-09T17:21:47.571Z,1754760107.571 [DAT](INFO): Reached modem response timeout
2025-08-09T17:21:47.571Z,1754760107.571 [DAT](DEBUG): Acoustic response timeout
2025-08-09T17:21:47.571Z,1754760107.571 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-09T17:21:47.797Z,1754760107.797 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 161.70 m.
2025-08-09T17:21:47.799Z,1754760107.799 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 161.699997 m,
      nav range: 111.703316 m,
      bearing: 26.047893 deg,
      approach rate: -0.660198 m/s,
      LOS rate: 0.055589 deg/s,
      cmd heading: 21.406267 deg,
      new cmd heading: 21.477233 deg.

2025-08-09T17:21:47.823Z,1754760107.823 [DAT](INFO): Reached modem response timeout
2025-08-09T17:21:47.823Z,1754760107.823 [DAT](DEBUG): Acoustic response timeout
2025-08-09T17:21:47.823Z,1754760107.823 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-09T17:21:48.075Z,1754760108.075 [DAT](INFO): Reached modem response timeout
2025-08-09T17:21:48.075Z,1754760108.075 [DAT](DEBUG): Acoustic response timeout
2025-08-09T17:21:48.076Z,1754760108.076 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-09T17:21:48.153Z,1754760108.153 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 161.70 m.
2025-08-09T17:21:48.169Z,1754760108.169 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 161.699997 m,
      nav range: 111.467361 m,
      bearing: 26.067566 deg,
      approach rate: -0.661227 m/s,
      LOS rate: 0.055247 deg/s,
      cmd heading: 21.477233 deg,
      new cmd heading: 21.536377 deg.

2025-08-09T17:21:48.328Z,1754760108.328 [DAT](INFO): Reached modem response timeout
2025-08-09T17:21:48.328Z,1754760108.328 [DAT](DEBUG): Acoustic response timeout
2025-08-09T17:21:48.328Z,1754760108.328 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-09T17:21:48.560Z,1754760108.560 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-09T17:21:48.562Z,1754760108.562 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 161.70 m.
2025-08-09T17:21:48.565Z,1754760108.565 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 161.699997 m,
      nav range: 111.198006 m,
      bearing: 26.089932 deg,
      approach rate: -0.659621 m/s,
      LOS rate: 0.054906 deg/s,
      cmd heading: 21.536377 deg,
      new cmd heading: 21.603639 deg.

2025-08-09T17:21:48.579Z,1754760108.579 [DAT](INFO): DAT read: Response Not Received

2025-08-09T17:21:48.580Z,1754760108.580 [DAT](INFO): response not received
2025-08-09T17:21:48.580Z,1754760108.580 [DAT](INFO): DAT read: user:481>

2025-08-09T17:21:48.581Z,1754760108.581 [DAT](INFO): DAT read: Tx time:17:21:47.9869

2025-08-09T17:21:48.581Z,1754760108.581 [DAT](INFO): Ping request sent.
2025-08-09T17:21:48.581Z,1754760108.581 [DAT](INFO): transmitted an acoustic signal
2025-08-09T17:21:48.581Z,1754760108.581 [DAT](INFO): publishing transmit ping time
2025-08-09T17:21:48.582Z,1754760108.582 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000738
2025-08-09T17:21:48.831Z,1754760108.831 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250089
2025-08-09T17:21:48.998Z,1754760108.998 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 161.70 m.
2025-08-09T17:21:49.001Z,1754760109.001 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 161.699997 m,
      nav range: 110.908531 m,
      bearing: 26.113706 deg,
      approach rate: -0.663929 m/s,
      LOS rate: 0.054669 deg/s,
      cmd heading: 21.603639 deg,
      new cmd heading: 21.675147 deg.

2025-08-09T17:21:49.083Z,1754760109.083 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502215
2025-08-09T17:21:49.335Z,1754760109.335 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.753970
2025-08-09T17:21:49.378Z,1754760109.378 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 161.70 m.
2025-08-09T17:21:49.381Z,1754760109.381 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 161.699997 m,
      nav range: 110.656120 m,
      bearing: 26.134295 deg,
      approach rate: -0.663672 m/s,
      LOS rate: 0.054257 deg/s,
      cmd heading: 21.675146 deg,
      new cmd heading: 21.737052 deg.

2025-08-09T17:21:49.587Z,1754760109.587 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.005994
2025-08-09T17:21:49.830Z,1754760109.830 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 161.70 m.
2025-08-09T17:21:49.832Z,1754760109.832 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 161.699997 m,
      nav range: 110.370651 m,
      bearing: 26.154142 deg,
      approach rate: -0.632202 m/s,
      LOS rate: 0.044068 deg/s,
      cmd heading: 21.737051 deg,
      new cmd heading: 21.796748 deg.

2025-08-09T17:21:49.839Z,1754760109.839 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258241
2025-08-09T17:21:50.091Z,1754760110.091 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510109
2025-08-09T17:21:50.174Z,1754760110.174 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 161.70 m.
2025-08-09T17:21:50.177Z,1754760110.177 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 161.699997 m,
      nav range: 110.153091 m,
      bearing: 26.169200 deg,
      approach rate: -0.632660 m/s,
      LOS rate: 0.043874 deg/s,
      cmd heading: 21.796749 deg,
      new cmd heading: 21.842012 deg.

2025-08-09T17:21:50.344Z,1754760110.344 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762462
2025-08-09T17:21:50.578Z,1754760110.578 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-09T17:21:50.580Z,1754760110.580 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 161.70 m.
2025-08-09T17:21:50.583Z,1754760110.583 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 161.699997 m,
      nav range: 109.896210 m,
      bearing: 26.186817 deg,
      approach rate: -0.631928 m/s,
      LOS rate: 0.043439 deg/s,
      cmd heading: 21.842011 deg,
      new cmd heading: 21.894986 deg.

2025-08-09T17:21:50.595Z,1754760110.595 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014227
2025-08-09T17:21:50.848Z,1754760110.848 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266882
2025-08-09T17:21:51.016Z,1754760111.016 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 161.70 m.
2025-08-09T17:21:51.019Z,1754760111.019 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 161.699997 m,
      nav range: 109.630905 m,
      bearing: 26.204655 deg,
      approach rate: -0.607865 m/s,
      LOS rate: 0.040968 deg/s,
      cmd heading: 21.894986 deg,
      new cmd heading: 21.948628 deg.

2025-08-09T17:21:51.099Z,1754760111.099 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518205
2025-08-09T17:21:51.351Z,1754760111.351 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770179
2025-08-09T17:21:51.392Z,1754760111.392 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 161.70 m.
2025-08-09T17:21:51.399Z,1754760111.399 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 161.699997 m,
      nav range: 109.409851 m,
      bearing: 26.219357 deg,
      approach rate: -0.588152 m/s,
      LOS rate: 0.039196 deg/s,
      cmd heading: 21.948628 deg,
      new cmd heading: 21.992824 deg.

2025-08-09T17:21:51.603Z,1754760111.603 [DAT](INFO): DAT read: Rx Time:17:21:50.5722

2025-08-09T17:21:51.604Z,1754760111.604 [DAT](INFO): Rx dataTimestamp_ set to:1754760111.603396
2025-08-09T17:21:51.604Z,1754760111.604 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.023038
2025-08-09T17:21:51.856Z,1754760111.856 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274821
2025-08-09T17:21:51.857Z,1754760111.857 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 161.70 m.
2025-08-09T17:21:51.862Z,1754760111.862 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 161.699997 m,
      nav range: 109.124420 m,
      bearing: 26.237671 deg,
      approach rate: -0.617889 m/s,
      LOS rate: 0.039749 deg/s,
      cmd heading: 21.992823 deg,
      new cmd heading: 22.047909 deg.

2025-08-09T17:21:52.127Z,1754760112.127 [DAT](INFO): DAT read: 17:21:50.5722 LVL= 24944, 27985, 23346, 28659, AGC= 65, IDX= 460, 0.42,-2.006, 2.395,-2.035,-2.363, PHS= 0.459,-1.480, 0.284, RAW= 145.3,   8.0, CAL= 144.9,   8.7, ROT=   5.1,  -8.7

2025-08-09T17:21:52.139Z,1754760112.139 [DAT](INFO): got valid direction response:
 17:21:50.5722 LVL= 24944, 27985, 23346, 28659, AGC= 65, IDX= 460, 0.42,-2.006, 2.395,-2.035,-2.363, PHS= 0.459,-1.480, 0.284, RAW= 145.3,   8.0, CAL= 144.9,   8.7, ROT=   5.1,  -8.7

2025-08-09T17:21:52.139Z,1754760112.139 [DAT](INFO): DAT read: $Error in header

2025-08-09T17:21:52.140Z,1754760112.140 [DAT](INFO): Received a bad header
2025-08-09T17:21:52.151Z,1754760112.151 [DAT](INFO): #Rx 1: Read direction message, but no range.
2025-08-09T17:21:52.152Z,1754760112.152 [DAT](INFO): direction in FSK: [0.984581,0.087871,0.151261]
2025-08-09T17:21:52.163Z,1754760112.163 [DAT](INFO): ****** received valid address query ******
2025-08-09T17:21:52.164Z,1754760112.164 [DAT](INFO): ****** received valid ping request ******
2025-08-09T17:21:52.164Z,1754760112.164 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-09T17:21:52.235Z,1754760112.235 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 161.70 m.
2025-08-09T17:21:52.238Z,1754760112.238 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 161.699997 m,
      nav range: 108.898064 m,
      bearing: 26.252061 deg,
      approach rate: -0.594339 m/s,
      LOS rate: 0.037862 deg/s,
      cmd heading: 22.047909 deg,
      new cmd heading: 22.091169 deg.

2025-08-09T17:21:52.359Z,1754760112.359 [DAT](INFO): ****** received valid address query ******
2025-08-09T17:21:52.359Z,1754760112.359 [DAT](INFO): ****** received valid ping request ******
2025-08-09T17:21:52.359Z,1754760112.359 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-09T17:21:52.596Z,1754760112.596 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-09T17:21:52.599Z,1754760112.599 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 161.70 m.
2025-08-09T17:21:52.601Z,1754760112.601 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 161.699997 m,
      nav range: 108.669510 m,
      bearing: 26.266426 deg,
      approach rate: -0.629247 m/s,
      LOS rate: 0.039633 deg/s,
      cmd heading: 22.091169 deg,
      new cmd heading: 22.134356 deg.

2025-08-09T17:21:52.611Z,1754760112.611 [DAT](INFO): ****** received valid address query ******
2025-08-09T17:21:52.611Z,1754760112.611 [DAT](INFO): ****** received valid ping request ******
2025-08-09T17:21:52.611Z,1754760112.611 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-09T17:21:52.863Z,1754760112.863 [DAT](INFO): ****** received valid address query ******
2025-08-09T17:21:52.864Z,1754760112.864 [DAT](INFO): ****** received valid ping request ******
2025-08-09T17:21:52.864Z,1754760112.864 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-09T17:21:53.027Z,1754760113.027 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 161.70 m.
2025-08-09T17:21:53.030Z,1754760113.030 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 161.699997 m,
      nav range: 108.403999 m,
      bearing: 26.285195 deg,
      approach rate: -0.618773 m/s,
      LOS rate: 0.043849 deg/s,
      cmd heading: 22.134355 deg,
      new cmd heading: 22.190800 deg.

2025-08-09T17:21:53.116Z,1754760113.116 [DAT](INFO): ****** received valid address query ******
2025-08-09T17:21:53.116Z,1754760113.116 [DAT](INFO): ****** received valid ping request ******
2025-08-09T17:21:53.116Z,1754760113.116 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-09T17:21:53.367Z,1754760113.367 [DAT](INFO): ****** received valid address query ******
2025-08-09T17:21:53.367Z,1754760113.367 [DAT](INFO): ****** received valid ping request ******
2025-08-09T17:21:53.367Z,1754760113.367 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-09T17:21:53.416Z,1754760113.416 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 161.70 m.
2025-08-09T17:21:53.435Z,1754760113.435 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 161.699997 m,
      nav range: 108.163704 m,
      bearing: 26.302112 deg,
      approach rate: -0.618594 m/s,
      LOS rate: 0.043645 deg/s,
      cmd heading: 22.190800 deg,
      new cmd heading: 22.241662 deg.

2025-08-09T17:21:53.619Z,1754760113.619 [DAT](INFO): ****** received valid address query ******
2025-08-09T17:21:53.619Z,1754760113.619 [DAT](INFO): ****** received valid ping request ******
2025-08-09T17:21:53.619Z,1754760113.619 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-09T17:21:53.872Z,1754760113.872 [DAT](INFO): ****** received valid address query ******
2025-08-09T17:21:53.872Z,1754760113.872 [DAT](INFO): ****** received valid ping request ******
2025-08-09T17:21:53.872Z,1754760113.872 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-09T17:21:53.894Z,1754760113.894 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 161.70 m.
2025-08-09T17:21:53.897Z,1754760113.897 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 161.699997 m,
      nav range: 107.868401 m,
      bearing: 26.324914 deg,
      approach rate: -0.617963 m/s,
      LOS rate: 0.047846 deg/s,
      cmd heading: 22.241662 deg,
      new cmd heading: 22.310255 deg.

2025-08-09T17:21:54.124Z,1754760114.124 [DAT](INFO): ****** received valid address query ******
2025-08-09T17:21:54.124Z,1754760114.124 [DAT](INFO): ****** received valid ping request ******
2025-08-09T17:21:54.124Z,1754760114.124 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-09T17:21:54.362Z,1754760114.362 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 161.70 m.
2025-08-09T17:21:54.369Z,1754760114.369 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 161.699997 m,
      nav range: 107.588829 m,
      bearing: 26.346424 deg,
      approach rate: -0.597113 m/s,
      LOS rate: 0.046062 deg/s,
      cmd heading: 22.310255 deg,
      new cmd heading: 22.374954 deg.

2025-08-09T17:21:54.375Z,1754760114.375 [DAT](INFO): ****** received valid address query ******
2025-08-09T17:21:54.375Z,1754760114.375 [DAT](INFO): ****** received valid ping request ******
2025-08-09T17:21:54.375Z,1754760114.375 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-09T17:21:54.627Z,1754760114.627 [DAT](INFO): ****** received valid address query ******
2025-08-09T17:21:54.627Z,1754760114.627 [DAT](INFO): ****** received valid ping request ******
2025-08-09T17:21:54.627Z,1754760114.627 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-09T17:21:54.748Z,1754760114.748 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-09T17:21:54.750Z,1754760114.750 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 161.70 m.
2025-08-09T17:21:54.753Z,1754760114.753 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 161.699997 m,
      nav range: 107.339226 m,
      bearing: 26.365570 deg,
      approach rate: -0.643220 m/s,
      LOS rate: 0.049453 deg/s,
      cmd heading: 22.374954 deg,
      new cmd heading: 22.432525 deg.

2025-08-09T17:21:54.879Z,1754760114.879 [DAT](INFO): ****** received valid address query ******
2025-08-09T17:21:54.879Z,1754760114.879 [DAT](INFO): ****** received valid ping request ******
2025-08-09T17:21:54.879Z,1754760114.879 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-09T17:21:55.131Z,1754760115.131 [DAT](INFO): ****** received valid address query ******
2025-08-09T17:21:55.131Z,1754760115.131 [DAT](INFO): ****** received valid ping request ******
2025-08-09T17:21:55.131Z,1754760115.131 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-09T17:21:55.204Z,1754760115.204 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 161.70 m.
2025-08-09T17:21:55.207Z,1754760115.207 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 161.699997 m,
      nav range: 107.055893 m,
      bearing: 26.388606 deg,
      approach rate: -0.623438 m/s,
      LOS rate: 0.050821 deg/s,
      cmd heading: 22.432525 deg,
      new cmd heading: 22.501815 deg.

2025-08-09T17:21:55.383Z,1754760115.383 [DAT](INFO): ****** received valid address query ******
2025-08-09T17:21:55.383Z,1754760115.383 [DAT](INFO): ****** received valid ping request ******
2025-08-09T17:21:55.383Z,1754760115.383 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-09T17:21:55.571Z,1754760115.571 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 161.70 m.
2025-08-09T17:21:55.573Z,1754760115.573 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 161.699997 m,
      nav range: 106.813988 m,
      bearing: 26.408150 deg,
      approach rate: -0.661079 m/s,
      LOS rate: 0.053532 deg/s,
      cmd heading: 22.501816 deg,
      new cmd heading: 22.560582 deg.

2025-08-09T17:21:55.636Z,1754760115.636 [DAT](INFO): ****** received valid address query ******
2025-08-09T17:21:55.636Z,1754760115.636 [DAT](INFO): ****** received valid ping request ******
2025-08-09T17:21:55.636Z,1754760115.636 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-09T17:21:55.887Z,1754760115.887 [DAT](INFO): ****** received valid address query ******
2025-08-09T17:21:55.887Z,1754760115.887 [DAT](INFO): ****** received valid ping request ******
2025-08-09T17:21:55.887Z,1754760115.887 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-09T17:21:55.999Z,1754760115.999 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 161.70 m.
2025-08-09T17:21:56.001Z,1754760116.001 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 161.699997 m,
      nav range: 106.532005 m,
      bearing: 26.433312 deg,
      approach rate: -0.657983 m/s,
      LOS rate: 0.058868 deg/s,
      cmd heading: 22.560581 deg,
      new cmd heading: 22.636266 deg.

2025-08-09T17:21:56.139Z,1754760116.139 [DAT](INFO): ****** received valid address query ******
2025-08-09T17:21:56.139Z,1754760116.139 [DAT](INFO): ****** received valid ping request ******
2025-08-09T17:21:56.139Z,1754760116.139 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-09T17:21:56.371Z,1754760116.371 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 161.70 m.
2025-08-09T17:21:56.374Z,1754760116.374 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 161.699997 m,
      nav range: 106.286858 m,
      bearing: 26.455125 deg,
      approach rate: -0.658819 m/s,
      LOS rate: 0.058756 deg/s,
      cmd heading: 22.636266 deg,
      new cmd heading: 22.701856 deg.

2025-08-09T17:21:56.391Z,1754760116.391 [DAT](INFO): ****** received valid address query ******
2025-08-09T17:21:56.391Z,1754760116.391 [DAT](INFO): ****** received valid ping request ******
2025-08-09T17:21:56.391Z,1754760116.391 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-09T17:21:56.644Z,1754760116.644 [DAT](INFO): ****** received valid address query ******
2025-08-09T17:21:56.644Z,1754760116.644 [DAT](INFO): ****** received valid ping request ******
2025-08-09T17:21:56.645Z,1754760116.645 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-09T17:21:56.784Z,1754760116.784 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-09T17:21:56.791Z,1754760116.791 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 161.70 m.
2025-08-09T17:21:56.793Z,1754760116.793 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 161.699997 m,
      nav range: 106.021713 m,
      bearing: 26.478618 deg,
      approach rate: -0.638624 m/s,
      LOS rate: 0.056727 deg/s,
      cmd heading: 22.701857 deg,
      new cmd heading: 22.772512 deg.

2025-08-09T17:21:56.897Z,1754760116.897 [DAT](INFO): ****** received valid address query ******
2025-08-09T17:21:56.898Z,1754760116.898 [DAT](INFO): ****** received valid ping request ******
2025-08-09T17:21:56.898Z,1754760116.898 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-09T17:21:57.147Z,1754760117.147 [DAT](INFO): ****** received valid address query ******
2025-08-09T17:21:57.147Z,1754760117.147 [DAT](INFO): ****** received valid ping request ******
2025-08-09T17:21:57.147Z,1754760117.147 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-09T17:21:57.229Z,1754760117.229 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 161.70 m.
2025-08-09T17:21:57.236Z,1754760117.236 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 161.699997 m,
      nav range: 105.734337 m,
      bearing: 26.505168 deg,
      approach rate: -0.648880 m/s,
      LOS rate: 0.060112 deg/s,
      cmd heading: 22.772512 deg,
      new cmd heading: 22.852379 deg.

2025-08-09T17:21:57.399Z,1754760117.399 [DAT](INFO): ****** received valid address query ******
2025-08-09T17:21:57.399Z,1754760117.399 [DAT](INFO): ****** received valid ping request ******
2025-08-09T17:21:57.399Z,1754760117.399 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-09T17:21:57.595Z,1754760117.595 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 161.70 m.
2025-08-09T17:21:57.597Z,1754760117.597 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 161.699997 m,
      nav range: 105.489632 m,
      bearing: 26.527717 deg,
      approach rate: -0.670067 m/s,
      LOS rate: 0.061886 deg/s,
      cmd heading: 22.852379 deg,
      new cmd heading: 22.920180 deg.

2025-08-09T17:21:57.652Z,1754760117.652 [DAT](INFO): ****** received valid address query ******
2025-08-09T17:21:57.652Z,1754760117.652 [DAT](INFO): ****** received valid ping request ******
2025-08-09T17:21:57.652Z,1754760117.652 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-09T17:21:57.904Z,1754760117.904 [DAT](INFO): ****** received valid address query ******
2025-08-09T17:21:57.904Z,1754760117.904 [DAT](INFO): ****** received valid ping request ******
2025-08-09T17:21:57.904Z,1754760117.904 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-09T17:21:58.018Z,1754760118.018 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 161.70 m.
2025-08-09T17:21:58.021Z,1754760118.021 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 161.699997 m,
      nav range: 105.198021 m,
      bearing: 26.554992 deg,
      approach rate: -0.688376 m/s,
      LOS rate: 0.064565 deg/s,
      cmd heading: 22.920180 deg,
      new cmd heading: 23.002233 deg.

2025-08-09T17:21:58.155Z,1754760118.155 [DAT](INFO): ****** received valid address query ******
2025-08-09T17:21:58.155Z,1754760118.155 [DAT](INFO): ****** received valid ping request ******
2025-08-09T17:21:58.155Z,1754760118.155 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-09T17:21:58.390Z,1754760118.390 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 161.70 m.
2025-08-09T17:21:58.393Z,1754760118.393 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 161.699997 m,
      nav range: 104.941307 m,
      bearing: 26.578923 deg,
      approach rate: -0.689478 m/s,
      LOS rate: 0.064431 deg/s,
      cmd heading: 23.002233 deg,
      new cmd heading: 23.074202 deg.

2025-08-09T17:21:58.407Z,1754760118.407 [DAT](INFO): ****** received valid address query ******
2025-08-09T17:21:58.407Z,1754760118.407 [DAT](INFO): ****** received valid ping request ******
2025-08-09T17:21:58.407Z,1754760118.407 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-09T17:21:58.659Z,1754760118.659 [DAT](INFO): Reached modem response timeout
2025-08-09T17:21:58.660Z,1754760118.660 [DAT](DEBUG): Acoustic response timeout
2025-08-09T17:21:58.660Z,1754760118.660 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-09T17:21:58.805Z,1754760118.805 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-09T17:21:58.807Z,1754760118.807 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 161.70 m.
2025-08-09T17:21:58.809Z,1754760118.809 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 161.699997 m,
      nav range: 104.654976 m,
      bearing: 26.605570 deg,
      approach rate: -0.687311 m/s,
      LOS rate: 0.064138 deg/s,
      cmd heading: 23.074203 deg,
      new cmd heading: 23.154362 deg.

2025-08-09T17:21:58.913Z,1754760118.913 [DAT](INFO): Reached modem response timeout
2025-08-09T17:21:58.914Z,1754760118.914 [DAT](DEBUG): Acoustic response timeout
2025-08-09T17:21:58.915Z,1754760118.915 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-09T17:21:59.163Z,1754760119.163 [DAT](INFO): Reached modem response timeout
2025-08-09T17:21:59.163Z,1754760119.163 [DAT](DEBUG): Acoustic response timeout
2025-08-09T17:21:59.163Z,1754760119.163 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-09T17:21:59.252Z,1754760119.252 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 161.70 m.
2025-08-09T17:21:59.259Z,1754760119.259 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 161.699997 m,
      nav range: 104.365662 m,
      bearing: 26.632114 deg,
      approach rate: -0.650215 m/s,
      LOS rate: 0.059821 deg/s,
      cmd heading: 23.154362 deg,
      new cmd heading: 23.234215 deg.

2025-08-09T17:21:59.415Z,1754760119.415 [DAT](INFO): Reached modem response timeout
2025-08-09T17:21:59.415Z,1754760119.415 [DAT](DEBUG): Acoustic response timeout
2025-08-09T17:21:59.415Z,1754760119.415 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-09T17:21:59.667Z,1754760119.667 [DAT](INFO): Reached modem response timeout
2025-08-09T17:21:59.667Z,1754760119.667 [DAT](DEBUG): Acoustic response timeout
2025-08-09T17:21:59.668Z,1754760119.668 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-09T17:21:59.706Z,1754760119.706 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 161.70 m.
2025-08-09T17:21:59.709Z,1754760119.709 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 161.699997 m,
      nav range: 104.057724 m,
      bearing: 26.660532 deg,
      approach rate: -0.677756 m/s,
      LOS rate: 0.062730 deg/s,
      cmd heading: 23.234215 deg,
      new cmd heading: 23.319720 deg.

2025-08-09T17:21:59.922Z,1754760119.922 [DAT](INFO): Reached modem response timeout
2025-08-09T17:21:59.923Z,1754760119.923 [DAT](DEBUG): Acoustic response timeout
2025-08-09T17:21:59.923Z,1754760119.923 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-09T17:22:00.080Z,1754760120.080 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 161.70 m.
2025-08-09T17:22:00.086Z,1754760120.086 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 161.699997 m,
      nav range: 103.799774 m,
      bearing: 26.683344 deg,
      approach rate: -0.690721 m/s,
      LOS rate: 0.061237 deg/s,
      cmd heading: 23.319719 deg,
      new cmd heading: 23.388326 deg.

2025-08-09T17:22:00.171Z,1754760120.171 [DAT](INFO): Reached modem response timeout
2025-08-09T17:22:00.171Z,1754760120.171 [DAT](DEBUG): Acoustic response timeout
2025-08-09T17:22:00.172Z,1754760120.172 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-09T17:22:00.423Z,1754760120.423 [DAT](INFO): Reached modem response timeout
2025-08-09T17:22:00.423Z,1754760120.423 [DAT](DEBUG): Acoustic response timeout
2025-08-09T17:22:00.424Z,1754760120.424 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-09T17:22:00.488Z,1754760120.488 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 161.70 m.
2025-08-09T17:22:00.491Z,1754760120.491 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 161.699997 m,
      nav range: 103.525970 m,
      bearing: 26.707621 deg,
      approach rate: -0.670880 m/s,
      LOS rate: 0.059642 deg/s,
      cmd heading: 23.388326 deg,
      new cmd heading: 23.461350 deg.

2025-08-09T17:22:00.675Z,1754760120.675 [DAT](INFO): Reached modem response timeout
2025-08-09T17:22:00.675Z,1754760120.675 [DAT](DEBUG): Acoustic response timeout
2025-08-09T17:22:00.675Z,1754760120.675 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-09T17:22:00.872Z,1754760120.872 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-09T17:22:00.879Z,1754760120.879 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 161.70 m.
2025-08-09T17:22:00.883Z,1754760120.883 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 161.699997 m,
      nav range: 103.261139 m,
      bearing: 26.731077 deg,
      approach rate: -0.681861 m/s,
      LOS rate: 0.060546 deg/s,
      cmd heading: 23.461350 deg,
      new cmd heading: 23.531897 deg.

2025-08-09T17:22:00.932Z,1754760120.932 [DAT](INFO): DAT read: Response Not Received

2025-08-09T17:22:00.933Z,1754760120.933 [DAT](INFO): response not received
2025-08-09T17:22:00.935Z,1754760120.935 [DAT](INFO): DAT read: user:483>

2025-08-09T17:22:00.938Z,1754760120.938 [DAT](INFO): DAT read: Tx time:17:22:00.4368

2025-08-09T17:22:00.939Z,1754760120.939 [DAT](INFO): Ping request sent.
2025-08-09T17:22:00.940Z,1754760120.940 [DAT](INFO): transmitted an acoustic signal
2025-08-09T17:22:00.941Z,1754760120.941 [DAT](INFO): publishing transmit ping time
2025-08-09T17:22:00.947Z,1754760120.947 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.007271
2025-08-09T17:22:01.179Z,1754760121.179 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.239985
2025-08-09T17:22:01.309Z,1754760121.309 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 161.70 m.
2025-08-09T17:22:01.311Z,1754760121.311 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 161.699997 m,
      nav range: 102.971138 m,
      bearing: 26.755779 deg,
      approach rate: -0.670603 m/s,
      LOS rate: 0.057283 deg/s,
      cmd heading: 23.531897 deg,
      new cmd heading: 23.606213 deg.

2025-08-09T17:22:01.433Z,1754760121.433 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.493640
2025-08-09T17:22:01.684Z,1754760121.684 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.744292
2025-08-09T17:22:01.692Z,1754760121.692 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 161.70 m.
2025-08-09T17:22:01.695Z,1754760121.695 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 161.699997 m,
      nav range: 102.714348 m,
      bearing: 26.777536 deg,
      approach rate: -0.669614 m/s,
      LOS rate: 0.056875 deg/s,
      cmd heading: 23.606213 deg,
      new cmd heading: 23.671645 deg.

2025-08-09T17:22:01.939Z,1754760121.939 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.998390
2025-08-09T17:22:02.116Z,1754760122.116 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 161.70 m.
2025-08-09T17:22:02.118Z,1754760122.118 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 161.699997 m,
      nav range: 102.428658 m,
      bearing: 26.799297 deg,
      approach rate: -0.674393 m/s,
      LOS rate: 0.051514 deg/s,
      cmd heading: 23.671646 deg,
      new cmd heading: 23.737114 deg.

2025-08-09T17:22:02.188Z,1754760122.188 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.248464
2025-08-09T17:22:02.440Z,1754760122.440 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.500462
2025-08-09T17:22:02.487Z,1754760122.487 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 161.70 m.
2025-08-09T17:22:02.489Z,1754760122.489 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 161.699997 m,
      nav range: 102.180130 m,
      bearing: 26.818173 deg,
      approach rate: -0.670911 m/s,
      LOS rate: 0.051080 deg/s,
      cmd heading: 23.737114 deg,
      new cmd heading: 23.793879 deg.

2025-08-09T17:22:02.691Z,1754760122.691 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.751946
2025-08-09T17:22:02.891Z,1754760122.891 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-09T17:22:02.893Z,1754760122.893 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 161.70 m.
2025-08-09T17:22:02.896Z,1754760122.896 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 161.699997 m,
      nav range: 101.907120 m,
      bearing: 26.838711 deg,
      approach rate: -0.670145 m/s,
      LOS rate: 0.050547 deg/s,
      cmd heading: 23.793879 deg,
      new cmd heading: 23.855657 deg.

2025-08-09T17:22:02.947Z,1754760122.947 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.007329
2025-08-09T17:22:03.195Z,1754760123.195 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.255912
2025-08-09T17:22:03.315Z,1754760123.315 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 161.70 m.
2025-08-09T17:22:03.318Z,1754760123.318 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 161.699997 m,
      nav range: 101.636040 m,
      bearing: 26.858658 deg,
      approach rate: -0.642517 m/s,
      LOS rate: 0.047405 deg/s,
      cmd heading: 23.855657 deg,
      new cmd heading: 23.915658 deg.

2025-08-09T17:22:03.449Z,1754760123.449 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.508914
2025-08-09T17:22:03.689Z,1754760123.689 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 161.70 m.
2025-08-09T17:22:03.692Z,1754760123.692 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 161.699997 m,
      nav range: 101.391327 m,
      bearing: 26.876534 deg,
      approach rate: -0.655380 m/s,
      LOS rate: 0.047991 deg/s,
      cmd heading: 23.915658 deg,
      new cmd heading: 23.969417 deg.

2025-08-09T17:22:03.699Z,1754760123.699 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.760021
2025-08-09T17:22:03.955Z,1754760123.955 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.015318
2025-08-09T17:22:04.132Z,1754760124.132 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 161.70 m.
2025-08-09T17:22:04.135Z,1754760124.135 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 161.699997 m,
      nav range: 101.105316 m,
      bearing: 26.892551 deg,
      approach rate: -0.645031 m/s,
      LOS rate: 0.036225 deg/s,
      cmd heading: 23.969417 deg,
      new cmd heading: 24.017603 deg.

2025-08-09T17:22:04.204Z,1754760124.204 [DAT](INFO): DAT read: Rx Time:17:22:03.0134

2025-08-09T17:22:04.205Z,1754760124.205 [DAT](INFO): Rx dataTimestamp_ set to:1754760124.204499
2025-08-09T17:22:04.206Z,1754760124.206 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.266299
2025-08-09T17:22:04.455Z,1754760124.455 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.515944
2025-08-09T17:22:04.502Z,1754760124.502 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 161.70 m.
2025-08-09T17:22:04.505Z,1754760124.505 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 161.699997 m,
      nav range: 100.860725 m,
      bearing: 26.906151 deg,
      approach rate: -0.661324 m/s,
      LOS rate: 0.036862 deg/s,
      cmd heading: 24.017604 deg,
      new cmd heading: 24.058504 deg.

2025-08-09T17:22:04.713Z,1754760124.713 [DAT](INFO): DAT read: 17:22:03.0134 LVL= 32752, 32753, 32754, 32755, AGC= 66, IDX= 351,-0.06, 0.356,-0.644, 0.271,-0.827, PHS= 1.285, 0.228, 1.054, RAW= 138.0, -43.3, CAL= 140.0, -41.5, ROT=  10.0,  41.5

2025-08-09T17:22:04.714Z,1754760124.714 [DAT](INFO): got valid direction response:
 17:22:03.0134 LVL= 32752, 32753, 32754, 32755, AGC= 66, IDX= 351,-0.06, 0.356,-0.644, 0.271,-0.827, PHS= 1.285, 0.228, 1.054, RAW= 138.0, -43.3, CAL= 140.0, -41.5, ROT=  10.0,  41.5

2025-08-09T17:22:04.715Z,1754760124.715 [DAT](INFO): DAT read: Bearing 140.9,  12.7 (Local)

2025-08-09T17:22:04.715Z,1754760124.715 [DAT](INFO): Local bearing/azimuth received:
 Bearing 140.9,  12.7 (Local)

2025-08-09T17:22:04.717Z,1754760124.717 [DAT](INFO): DAT read: Range 11 to 50 : 129.3 m  (Round-trip  172.5 ms) speed -0.1 m/s

2025-08-09T17:22:04.717Z,1754760124.717 [DAT](INFO): DAT read: user:484>

2025-08-09T17:22:04.719Z,1754760124.719 [DAT](INFO): DAT read: Tx time:17:22:04.1368

2025-08-09T17:22:04.719Z,1754760124.719 [DAT](INFO): Ping request sent.
2025-08-09T17:22:04.719Z,1754760124.719 [DAT](INFO): transmitted an acoustic signal
2025-08-09T17:22:04.720Z,1754760124.720 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-09T17:22:04.721Z,1754760124.721 [DAT](INFO): direction in FSK: [0.737577,0.130055,-0.662620]
2025-08-09T17:22:04.721Z,1754760124.721 [DAT](INFO): publishing transmit ping time
2025-08-09T17:22:04.721Z,1754760124.721 [DAT](INFO): publishing direction and range info
2025-08-09T17:22:04.724Z,1754760124.724 [DAT](INFO): publishing transmit ping time
2025-08-09T17:22:04.724Z,1754760124.724 [DAT](INFO): publishing direction and range info
2025-08-09T17:22:05.018Z,1754760125.018 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 129.300003 m,
      deltaT: 57.227161 s,
      deltaX: -32.399994 m,
      approachRate: -0.566165 m/s,
      rangeRepo size: 4

2025-08-09T17:22:05.028Z,1754760125.028 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 129.300003 m,
      bearing: 28.160173 deg,
      lat: 36.906099 deg,
      lon: -122.115822 deg,
      deltaT: 57.227161 s,
      deltaX: -32.399994 m,
      approachRate: -0.566165 m/s,
      posRepo size: 4

2025-08-09T17:22:05.029Z,1754760125.029 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 129.30 m.
2025-08-09T17:22:05.036Z,1754760125.036 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 129.300003 m,
      nav range: 96.496391 m,
      bearing: 28.160173 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.036862 deg/s,
      cmd heading: 24.058503 deg,
      new cmd heading: 24.114242 deg.

2025-08-09T17:22:05.336Z,1754760125.336 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-09T17:22:05.338Z,1754760125.338 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 129.30 m.
2025-08-09T17:22:05.341Z,1754760125.341 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 129.300003 m,
      nav range: 96.237411 m,
      bearing: 28.174560 deg,
      approach rate: -0.780664 m/s,
      LOS rate: 0.043484 deg/s,
      cmd heading: 24.114242 deg,
      new cmd heading: 24.157519 deg.

2025-08-09T17:22:05.463Z,1754760125.463 [DAT](INFO): ****** received valid address query ******
2025-08-09T17:22:05.463Z,1754760125.463 [DAT](INFO): ****** received valid ping request ******
2025-08-09T17:22:05.464Z,1754760125.464 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-09T17:22:05.703Z,1754760125.703 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 129.30 m.
2025-08-09T17:22:05.706Z,1754760125.706 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 129.300003 m,
      nav range: 95.998077 m,
      bearing: 28.187683 deg,
      approach rate: -0.655205 m/s,
      LOS rate: 0.036014 deg/s,
      cmd heading: 24.157518 deg,
      new cmd heading: 24.196984 deg.

2025-08-09T17:22:05.715Z,1754760125.715 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.995946
2025-08-09T17:22:05.970Z,1754760125.970 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.249876
2025-08-09T17:22:06.140Z,1754760126.140 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 129.30 m.
2025-08-09T17:22:06.143Z,1754760126.143 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 129.300003 m,
      nav range: 95.724533 m,
      bearing: 28.203914 deg,
      approach rate: -0.626511 m/s,
      LOS rate: 0.037282 deg/s,
      cmd heading: 24.196985 deg,
      new cmd heading: 24.245818 deg.

2025-08-09T17:22:06.220Z,1754760126.220 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.500972
2025-08-09T17:22:06.471Z,1754760126.471 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.751925
2025-08-09T17:22:06.517Z,1754760126.517 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 129.30 m.
2025-08-09T17:22:06.520Z,1754760126.520 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 129.300003 m,
      nav range: 95.480637 m,
      bearing: 28.218218 deg,
      approach rate: -0.646638 m/s,
      LOS rate: 0.038021 deg/s,
      cmd heading: 24.245817 deg,
      new cmd heading: 24.288840 deg.

2025-08-09T17:22:06.726Z,1754760126.726 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.006694
2025-08-09T17:22:06.975Z,1754760126.975 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.255974
2025-08-09T17:22:07.049Z,1754760127.049 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 129.30 m.
2025-08-09T17:22:07.060Z,1754760127.060 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 129.300003 m,
      nav range: 95.196205 m,
      bearing: 28.234728 deg,
      approach rate: -0.534436 m/s,
      LOS rate: 0.031115 deg/s,
      cmd heading: 24.288839 deg,
      new cmd heading: 24.338518 deg.

2025-08-09T17:22:07.227Z,1754760127.227 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.507918
2025-08-09T17:22:07.409Z,1754760127.409 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-09T17:22:07.432Z,1754760127.432 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 129.30 m.
2025-08-09T17:22:07.436Z,1754760127.436 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 129.300003 m,
      nav range: 94.902977 m,
      bearing: 28.251497 deg,
      approach rate: -0.766868 m/s,
      LOS rate: 0.043990 deg/s,
      cmd heading: 24.338519 deg,
      new cmd heading: 24.388980 deg.

2025-08-09T17:22:07.479Z,1754760127.479 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.760009
2025-08-09T17:22:07.735Z,1754760127.735 [DAT](INFO): DAT read: Rx Time:17:22:06.6669

2025-08-09T17:22:07.735Z,1754760127.735 [DAT](INFO): Rx dataTimestamp_ set to:1754760127.734759
2025-08-09T17:22:07.736Z,1754760127.736 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.016216
2025-08-09T17:22:07.818Z,1754760127.818 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 129.30 m.
2025-08-09T17:22:07.825Z,1754760127.825 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 129.300003 m,
      nav range: 94.636871 m,
      bearing: 28.266713 deg,
      approach rate: -0.688893 m/s,
      LOS rate: 0.039502 deg/s,
      cmd heading: 24.388980 deg,
      new cmd heading: 24.434756 deg.

2025-08-09T17:22:07.987Z,1754760127.987 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.266799
2025-08-09T17:22:08.241Z,1754760128.241 [DAT](INFO): DAT read: 17:22:06.6669 LVL= 29984, 32753, 31890, 32755, AGC= 69, IDX= 455,-0.39,-3.073, 1.366,-2.970, 2.896, PHS= 0.417,-1.485, 0.374, RAW= 148.9,   7.4, CAL= 148.3,   8.0, ROT=   1.7,  -8.0

2025-08-09T17:22:08.242Z,1754760128.242 [DAT](INFO): got valid direction response:
 17:22:06.6669 LVL= 29984, 32753, 31890, 32755, AGC= 69, IDX= 455,-0.39,-3.073, 1.366,-2.970, 2.896, PHS= 0.417,-1.485, 0.374, RAW= 148.9,   7.4, CAL= 148.3,   8.0, ROT=   1.7,  -8.0

2025-08-09T17:22:08.243Z,1754760128.243 [DAT](INFO): DAT read: Bearing 190.9,   2.2 (Local)

2025-08-09T17:22:08.244Z,1754760128.244 [DAT](INFO): Local bearing/azimuth received:
 Bearing 190.9,   2.2 (Local)

2025-08-09T17:22:08.245Z,1754760128.245 [DAT](INFO): DAT read: Range 11 to 50 : 94.5 m  (Round-trip  126.0 ms) speed  0.8 m/s

2025-08-09T17:22:08.246Z,1754760128.246 [DAT](INFO): DAT read: user:485>

2025-08-09T17:22:08.246Z,1754760128.246 [DAT](INFO): DAT read: Tx time:17:22:07.7868

2025-08-09T17:22:08.247Z,1754760128.247 [DAT](INFO): Ping request sent.
2025-08-09T17:22:08.247Z,1754760128.247 [DAT](INFO): transmitted an acoustic signal
2025-08-09T17:22:08.247Z,1754760128.247 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-09T17:22:08.248Z,1754760128.248 [DAT](INFO): direction in FSK: [0.989832,0.029378,0.139173]
2025-08-09T17:22:08.248Z,1754760128.248 [DAT](INFO): publishing transmit ping time
2025-08-09T17:22:08.249Z,1754760128.249 [DAT](INFO): publishing direction and range info
2025-08-09T17:22:08.256Z,1754760128.256 [DAT](INFO): publishing transmit ping time
2025-08-09T17:22:08.256Z,1754760128.256 [DAT](INFO): publishing direction and range info
2025-08-09T17:22:08.349Z,1754760128.349 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](ERROR): addTargetRange::Rejecting new target range. Approach rate out of bounds.
 range: 94.500000 m,
 deltaT: 3.528118 s,
 deltaX: -34.800003 m,
 approachRate: -9.863617 m/s,
 rangeRepo size: 4
2025-08-09T17:22:08.350Z,1754760128.350 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 129.30 m.
2025-08-09T17:22:08.356Z,1754760128.356 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 129.300003 m,
      nav range: 94.301102 m,
      bearing: 28.289390 deg,
      approach rate: -0.632867 m/s,
      LOS rate: 0.042893 deg/s,
      cmd heading: 24.434756 deg,
      new cmd heading: 24.503027 deg.

2025-08-09T17:22:08.633Z,1754760128.633 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 129.30 m.
2025-08-09T17:22:08.640Z,1754760128.640 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 129.300003 m,
      nav range: 94.089096 m,
      bearing: 28.303717 deg,
      approach rate: -0.745800 m/s,
      LOS rate: 0.050516 deg/s,
      cmd heading: 24.503027 deg,
      new cmd heading: 24.546107 deg.

2025-08-09T17:22:09.092Z,1754760129.092 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 129.30 m.
2025-08-09T17:22:09.102Z,1754760129.102 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 129.300003 m,
      nav range: 93.781471 m,
      bearing: 28.324544 deg,
      approach rate: -0.670119 m/s,
      LOS rate: 0.045516 deg/s,
      cmd heading: 24.546107 deg,
      new cmd heading: 24.608790 deg.

2025-08-09T17:22:09.489Z,1754760129.489 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-09T17:22:09.491Z,1754760129.491 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 129.30 m.
2025-08-09T17:22:09.494Z,1754760129.494 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 129.300003 m,
      nav range: 93.516914 m,
      bearing: 28.344957 deg,
      approach rate: -0.662321 m/s,
      LOS rate: 0.051250 deg/s,
      cmd heading: 24.608791 deg,
      new cmd heading: 24.670204 deg.

2025-08-09T17:22:09.495Z,1754760129.495 [DAT](INFO): ****** received valid address query ******
2025-08-09T17:22:09.495Z,1754760129.495 [DAT](INFO): ****** received valid ping request ******
2025-08-09T17:22:09.496Z,1754760129.496 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-09T17:22:09.749Z,1754760129.749 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.502082
2025-08-09T17:22:09.878Z,1754760129.878 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 129.30 m.
2025-08-09T17:22:09.880Z,1754760129.880 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 129.300003 m,
      nav range: 93.262573 m,
      bearing: 28.364645 deg,
      approach rate: -0.658040 m/s,
      LOS rate: 0.051076 deg/s,
      cmd heading: 24.670204 deg,
      new cmd heading: 24.729429 deg.

2025-08-09T17:22:10.001Z,1754760130.001 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.753828
2025-08-09T17:22:10.251Z,1754760130.251 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.004463
2025-08-09T17:22:10.313Z,1754760130.313 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 129.30 m.
2025-08-09T17:22:10.316Z,1754760130.316 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 129.300003 m,
      nav range: 92.973587 m,
      bearing: 28.391475 deg,
      approach rate: -0.664128 m/s,
      LOS rate: 0.061852 deg/s,
      cmd heading: 24.729429 deg,
      new cmd heading: 24.810171 deg.

2025-08-09T17:22:10.503Z,1754760130.503 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.256280
2025-08-09T17:22:10.673Z,1754760130.673 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 129.30 m.
2025-08-09T17:22:10.676Z,1754760130.676 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 129.300003 m,
      nav range: 92.720596 m,
      bearing: 28.415035 deg,
      approach rate: -0.701939 m/s,
      LOS rate: 0.065547 deg/s,
      cmd heading: 24.810170 deg,
      new cmd heading: 24.881043 deg.

2025-08-09T17:22:10.756Z,1754760130.756 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.508615
2025-08-09T17:22:11.007Z,1754760131.007 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.760393
2025-08-09T17:22:11.145Z,1754760131.145 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 129.30 m.
2025-08-09T17:22:11.148Z,1754760131.148 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 129.300003 m,
      nav range: 92.392143 m,
      bearing: 28.449220 deg,
      approach rate: -0.695837 m/s,
      LOS rate: 0.072680 deg/s,
      cmd heading: 24.881044 deg,
      new cmd heading: 24.983964 deg.

2025-08-09T17:22:11.259Z,1754760131.259 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.012370
2025-08-09T17:22:11.480Z,1754760131.480 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 129.30 m.
2025-08-09T17:22:11.482Z,1754760131.482 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 129.300003 m,
      nav range: 92.159355 m,
      bearing: 28.473483 deg,
      approach rate: -0.696193 m/s,
      LOS rate: 0.072743 deg/s,
      cmd heading: 24.983965 deg,
      new cmd heading: 25.056935 deg.

2025-08-09T17:22:11.512Z,1754760131.512 [DAT](INFO): DAT read: Rx Time:17:22:10.3136

2025-08-09T17:22:11.512Z,1754760131.512 [DAT](INFO): Rx dataTimestamp_ set to:1754760131.511773
2025-08-09T17:22:11.513Z,1754760131.513 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.266047
2025-08-09T17:22:11.763Z,1754760131.763 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.516452
2025-08-09T17:22:11.903Z,1754760131.903 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-09T17:22:11.907Z,1754760131.907 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 129.30 m.
2025-08-09T17:22:11.913Z,1754760131.913 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 129.300003 m,
      nav range: 91.863693 m,
      bearing: 28.504325 deg,
      approach rate: -0.693954 m/s,
      LOS rate: 0.072623 deg/s,
      cmd heading: 25.056935 deg,
      new cmd heading: 25.149759 deg.

2025-08-09T17:22:12.024Z,1754760132.024 [DAT](INFO): DAT read: 17:22:10.3136 LVL= 23728, 27569, 24306, 32755, AGC= 66, IDX= 405,-0.02,-0.816,-2.561,-0.700,-1.109, PHS= 0.395,-1.408, 0.365, RAW= 149.2,   7.3, CAL= 148.6,   7.8, ROT=   1.4,  -7.8

2025-08-09T17:22:12.028Z,1754760132.028 [DAT](INFO): got valid direction response:
 17:22:10.3136 LVL= 23728, 27569, 24306, 32755, AGC= 66, IDX= 405,-0.02,-0.816,-2.561,-0.700,-1.109, PHS= 0.395,-1.408, 0.365, RAW= 149.2,   7.3, CAL= 148.6,   7.8, ROT=   1.4,  -7.8

2025-08-09T17:22:12.030Z,1754760132.030 [DAT](INFO): DAT read: Bearing 191.3,   2.6 (Local)

2025-08-09T17:22:12.031Z,1754760132.031 [DAT](INFO): Local bearing/azimuth received:
 Bearing 191.3,   2.6 (Local)

2025-08-09T17:22:12.032Z,1754760132.032 [DAT](INFO): DAT read: Range 11 to 50 : 92.0 m  (Round-trip  122.7 ms) speed  0.8 m/s

2025-08-09T17:22:12.033Z,1754760132.033 [DAT](INFO): DAT read: user:486>

2025-08-09T17:22:12.034Z,1754760132.034 [DAT](INFO): DAT read: Tx time:17:22:11.4368

2025-08-09T17:22:12.034Z,1754760132.034 [DAT](INFO): Ping request sent.
2025-08-09T17:22:12.034Z,1754760132.034 [DAT](INFO): transmitted an acoustic signal
2025-08-09T17:22:12.038Z,1754760132.038 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-09T17:22:12.039Z,1754760132.039 [DAT](INFO): direction in FSK: [0.990452,0.024206,0.135716]
2025-08-09T17:22:12.040Z,1754760132.040 [DAT](INFO): publishing transmit ping time
2025-08-09T17:22:12.041Z,1754760132.041 [DAT](INFO): publishing direction and range info
2025-08-09T17:22:12.065Z,1754760132.065 [DAT](INFO): publishing transmit ping time
2025-08-09T17:22:12.073Z,1754760132.073 [DAT](INFO): publishing direction and range info
2025-08-09T17:22:12.367Z,1754760132.367 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](ERROR): addTargetRange::Rejecting new target range. Approach rate out of bounds.
 range: 92.000000 m,
 deltaT: 7.308147 s,
 deltaX: -37.300003 m,
 approachRate: -5.103893 m/s,
 rangeRepo size: 4
2025-08-09T17:22:12.367Z,1754760132.367 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 129.30 m.
2025-08-09T17:22:12.370Z,1754760132.370 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 129.300003 m,
      nav range: 91.567848 m,
      bearing: 28.534991 deg,
      approach rate: -0.648398 m/s,
      LOS rate: 0.067428 deg/s,
      cmd heading: 25.149759 deg,
      new cmd heading: 25.242055 deg.

2025-08-09T17:22:13.042Z,1754760133.042 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 129.30 m.
2025-08-09T17:22:13.044Z,1754760133.044 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 129.300003 m,
      nav range: 91.094246 m,
      bearing: 28.584324 deg,
      approach rate: -0.696863 m/s,
      LOS rate: 0.072967 deg/s,
      cmd heading: 25.242055 deg,
      new cmd heading: 25.390824 deg.

2025-08-09T17:22:13.516Z,1754760133.516 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 129.30 m.
2025-08-09T17:22:13.519Z,1754760133.519 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 129.300003 m,
      nav range: 90.759811 m,
      bearing: 28.617201 deg,
      approach rate: -0.704302 m/s,
      LOS rate: 0.069491 deg/s,
      cmd heading: 25.390824 deg,
      new cmd heading: 25.489816 deg.

2025-08-09T17:22:14.104Z,1754760134.104 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-09T17:22:14.132Z,1754760134.132 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 129.30 m.
2025-08-09T17:22:14.142Z,1754760134.142 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 129.300003 m,
      nav range: 90.381096 m,
      bearing: 28.654468 deg,
      approach rate: -0.634705 m/s,
      LOS rate: 0.062719 deg/s,
      cmd heading: 25.489815 deg,
      new cmd heading: 25.602085 deg.

2025-08-09T17:22:14.283Z,1754760134.283 [DAT](INFO): ****** received valid address query ******
2025-08-09T17:22:14.283Z,1754760134.283 [DAT](INFO): ****** received valid ping request ******
2025-08-09T17:22:14.283Z,1754760134.283 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-09T17:22:14.539Z,1754760134.539 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.504645
2025-08-09T17:22:14.561Z,1754760134.561 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 129.30 m.
2025-08-09T17:22:14.568Z,1754760134.568 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 129.300003 m,
      nav range: 90.051163 m,
      bearing: 28.685155 deg,
      approach rate: -0.736976 m/s,
      LOS rate: 0.068798 deg/s,
      cmd heading: 25.602085 deg,
      new cmd heading: 25.694484 deg.

2025-08-09T17:22:14.787Z,1754760134.787 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.753322
2025-08-09T17:22:14.952Z,1754760134.952 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 129.30 m.
2025-08-09T17:22:14.956Z,1754760134.956 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 129.300003 m,
      nav range: 89.779861 m,
      bearing: 28.710305 deg,
      approach rate: -0.694082 m/s,
      LOS rate: 0.064536 deg/s,
      cmd heading: 25.694484 deg,
      new cmd heading: 25.770160 deg.

2025-08-09T17:22:15.044Z,1754760135.044 [DAT](INFO): DAT read: Rx Time:17:22:13.9603

2025-08-09T17:22:15.045Z,1754760135.045 [DAT](INFO): Rx dataTimestamp_ set to:1754760135.044495
2025-08-09T17:22:15.045Z,1754760135.045 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.011390
2025-08-09T17:22:15.295Z,1754760135.295 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.261482
2025-08-09T17:22:15.390Z,1754760135.390 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 129.30 m.
2025-08-09T17:22:15.393Z,1754760135.393 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 129.300003 m,
      nav range: 89.500290 m,
      bearing: 28.734074 deg,
      approach rate: -0.643181 m/s,
      LOS rate: 0.054856 deg/s,
      cmd heading: 25.770160 deg,
      new cmd heading: 25.841693 deg.

2025-08-09T17:22:15.553Z,1754760135.553 [DAT](INFO): DAT read: 17:22:13.9603 LVL= 31696, 32049, 29298, 32755, AGC= 69, IDX= 403, 0.41,-2.793, 1.856,-2.688,-3.058, PHS= 0.367,-1.325, 0.325, RAW= 148.8,   7.6, CAL= 148.3,   8.2, ROT=   1.7,  -8.2

2025-08-09T17:22:15.554Z,1754760135.554 [DAT](INFO): got valid direction response:
 17:22:13.9603 LVL= 31696, 32049, 29298, 32755, AGC= 69, IDX= 403, 0.41,-2.793, 1.856,-2.688,-3.058, PHS= 0.367,-1.325, 0.325, RAW= 148.8,   7.6, CAL= 148.3,   8.2, ROT=   1.7,  -8.2

2025-08-09T17:22:15.555Z,1754760135.555 [DAT](INFO): DAT read: $Error in header

2025-08-09T17:22:15.555Z,1754760135.555 [DAT](INFO): Received a bad header
2025-08-09T17:22:15.566Z,1754760135.566 [DAT](INFO): #Rx 1: Read direction message, but no range.
2025-08-09T17:22:15.567Z,1754760135.567 [DAT](INFO): direction in FSK: [0.989341,0.029363,0.142629]
2025-08-09T17:22:15.586Z,1754760135.586 [DAT](INFO): ****** received valid address query ******
2025-08-09T17:22:15.587Z,1754760135.587 [DAT](INFO): ****** received valid ping request ******
2025-08-09T17:22:15.587Z,1754760135.587 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-09T17:22:15.777Z,1754760135.777 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 129.30 m.
2025-08-09T17:22:15.780Z,1754760135.780 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 129.300003 m,
      nav range: 89.238991 m,
      bearing: 28.756080 deg,
      approach rate: -0.668737 m/s,
      LOS rate: 0.056484 deg/s,
      cmd heading: 25.841693 deg,
      new cmd heading: 25.907904 deg.

2025-08-09T17:22:15.799Z,1754760135.799 [DAT](INFO): ****** received valid address query ******
2025-08-09T17:22:15.799Z,1754760135.799 [DAT](INFO): ****** received valid ping request ******
2025-08-09T17:22:15.799Z,1754760135.799 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-09T17:22:16.052Z,1754760136.052 [DAT](INFO): ****** received valid address query ******
2025-08-09T17:22:16.052Z,1754760136.052 [DAT](INFO): ****** received valid ping request ******
2025-08-09T17:22:16.052Z,1754760136.052 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-09T17:22:16.216Z,1754760136.216 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-09T17:22:16.218Z,1754760136.218 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 129.30 m.
2025-08-09T17:22:16.221Z,1754760136.221 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 129.300003 m,
      nav range: 88.959465 m,
      bearing: 28.779169 deg,
      approach rate: -0.633973 m/s,
      LOS rate: 0.052530 deg/s,
      cmd heading: 25.907905 deg,
      new cmd heading: 25.977388 deg.

2025-08-09T17:22:16.304Z,1754760136.304 [DAT](INFO): ****** received valid address query ******
2025-08-09T17:22:16.304Z,1754760136.304 [DAT](INFO): ****** received valid ping request ******
2025-08-09T17:22:16.304Z,1754760136.304 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-09T17:22:16.555Z,1754760136.555 [DAT](INFO): ****** received valid address query ******
2025-08-09T17:22:16.555Z,1754760136.555 [DAT](INFO): ****** received valid ping request ******
2025-08-09T17:22:16.555Z,1754760136.555 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-09T17:22:16.608Z,1754760136.608 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 129.30 m.
2025-08-09T17:22:16.611Z,1754760136.611 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 129.300003 m,
      nav range: 88.734657 m,
      bearing: 28.797626 deg,
      approach rate: -0.576226 m/s,
      LOS rate: 0.047430 deg/s,
      cmd heading: 25.977388 deg,
      new cmd heading: 26.032901 deg.

2025-08-09T17:22:16.808Z,1754760136.808 [DAT](INFO): ****** received valid address query ******
2025-08-09T17:22:16.808Z,1754760136.808 [DAT](INFO): ****** received valid ping request ******
2025-08-09T17:22:16.808Z,1754760136.808 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-09T17:22:16.980Z,1754760136.980 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 129.30 m.
2025-08-09T17:22:16.983Z,1754760136.983 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 129.300003 m,
      nav range: 88.479317 m,
      bearing: 28.818547 deg,
      approach rate: -0.696921 m/s,
      LOS rate: 0.057265 deg/s,
      cmd heading: 26.032901 deg,
      new cmd heading: 26.095844 deg.

2025-08-09T17:22:17.060Z,1754760137.060 [DAT](INFO): ****** received valid address query ******
2025-08-09T17:22:17.060Z,1754760137.060 [DAT](INFO): ****** received valid ping request ******
2025-08-09T17:22:17.060Z,1754760137.060 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-09T17:22:17.311Z,1754760137.311 [DAT](INFO): ****** received valid address query ******
2025-08-09T17:22:17.311Z,1754760137.311 [DAT](INFO): ****** received valid ping request ******
2025-08-09T17:22:17.311Z,1754760137.311 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-09T17:22:17.433Z,1754760137.433 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 129.30 m.
2025-08-09T17:22:17.452Z,1754760137.452 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 129.300003 m,
      nav range: 88.188683 m,
      bearing: 28.841199 deg,
      approach rate: -0.634125 m/s,
      LOS rate: 0.049586 deg/s,
      cmd heading: 26.095844 deg,
      new cmd heading: 26.164023 deg.

2025-08-09T17:22:17.563Z,1754760137.563 [DAT](INFO): ****** received valid address query ******
2025-08-09T17:22:17.563Z,1754760137.563 [DAT](INFO): ****** received valid ping request ******
2025-08-09T17:22:17.563Z,1754760137.563 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-09T17:22:17.788Z,1754760137.788 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 129.30 m.
2025-08-09T17:22:17.792Z,1754760137.792 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 129.300003 m,
      nav range: 87.963165 m,
      bearing: 28.858818 deg,
      approach rate: -0.634026 m/s,
      LOS rate: 0.049663 deg/s,
      cmd heading: 26.164023 deg,
      new cmd heading: 26.217017 deg.

2025-08-09T17:22:17.815Z,1754760137.815 [DAT](INFO): ****** received valid address query ******
2025-08-09T17:22:17.815Z,1754760137.815 [DAT](INFO): ****** received valid ping request ******
2025-08-09T17:22:17.815Z,1754760137.815 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-09T17:22:18.067Z,1754760138.067 [DAT](INFO): ****** received valid address query ******
2025-08-09T17:22:18.067Z,1754760138.067 [DAT](INFO): ****** received valid ping request ******
2025-08-09T17:22:18.067Z,1754760138.067 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-09T17:22:18.268Z,1754760138.268 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-09T17:22:18.275Z,1754760138.275 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 129.30 m.
2025-08-09T17:22:18.277Z,1754760138.277 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 129.300003 m,
      nav range: 87.671890 m,
      bearing: 28.880382 deg,
      approach rate: -0.604249 m/s,
      LOS rate: 0.044882 deg/s,
      cmd heading: 26.217017 deg,
      new cmd heading: 26.281922 deg.

2025-08-09T17:22:18.319Z,1754760138.319 [DAT](INFO): ****** received valid address query ******
2025-08-09T17:22:18.319Z,1754760138.319 [DAT](INFO): ****** received valid ping request ******
2025-08-09T17:22:18.320Z,1754760138.320 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-09T17:22:18.571Z,1754760138.571 [DAT](INFO): ****** received valid address query ******
2025-08-09T17:22:18.571Z,1754760138.571 [DAT](INFO): ****** received valid ping request ******
2025-08-09T17:22:18.571Z,1754760138.571 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-09T17:22:18.585Z,1754760138.585 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 129.30 m.
2025-08-09T17:22:18.588Z,1754760138.588 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 129.300003 m,
      nav range: 87.474731 m,
      bearing: 28.895033 deg,
      approach rate: -0.626301 m/s,
      LOS rate: 0.046648 deg/s,
      cmd heading: 26.281922 deg,
      new cmd heading: 26.325977 deg.

2025-08-09T17:22:18.823Z,1754760138.823 [DAT](INFO): ****** received valid address query ******
2025-08-09T17:22:18.823Z,1754760138.823 [DAT](INFO): ****** received valid ping request ******
2025-08-09T17:22:18.823Z,1754760138.823 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-09T17:22:19.011Z,1754760139.011 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 129.30 m.
2025-08-09T17:22:19.014Z,1754760139.014 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 129.300003 m,
      nav range: 87.225388 m,
      bearing: 28.913642 deg,
      approach rate: -0.585229 m/s,
      LOS rate: 0.043801 deg/s,
      cmd heading: 26.325977 deg,
      new cmd heading: 26.381963 deg.

2025-08-09T17:22:19.075Z,1754760139.075 [DAT](INFO): ****** received valid address query ******
2025-08-09T17:22:19.075Z,1754760139.075 [DAT](INFO): ****** received valid ping request ******
2025-08-09T17:22:19.075Z,1754760139.075 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-09T17:22:19.327Z,1754760139.327 [DAT](INFO): ****** received valid address query ******
2025-08-09T17:22:19.327Z,1754760139.327 [DAT](INFO): ****** received valid ping request ******
2025-08-09T17:22:19.327Z,1754760139.327 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-09T17:22:19.448Z,1754760139.448 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 129.30 m.
2025-08-09T17:22:19.451Z,1754760139.451 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 129.300003 m,
      nav range: 86.948853 m,
      bearing: 28.933545 deg,
      approach rate: -0.633170 m/s,
      LOS rate: 0.045715 deg/s,
      cmd heading: 26.381963 deg,
      new cmd heading: 26.441860 deg.

2025-08-09T17:22:19.579Z,1754760139.579 [DAT](INFO): ****** received valid address query ******
2025-08-09T17:22:19.579Z,1754760139.579 [DAT](INFO): ****** received valid ping request ******
2025-08-09T17:22:19.579Z,1754760139.579 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-09T17:22:19.806Z,1754760139.806 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 129.30 m.
2025-08-09T17:22:19.809Z,1754760139.809 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 129.300003 m,
      nav range: 86.731781 m,
      bearing: 28.949245 deg,
      approach rate: -0.606530 m/s,
      LOS rate: 0.043980 deg/s,
      cmd heading: 26.441860 deg,
      new cmd heading: 26.489080 deg.

2025-08-09T17:22:19.832Z,1754760139.832 [DAT](INFO): ****** received valid address query ******
2025-08-09T17:22:19.832Z,1754760139.832 [DAT](INFO): ****** received valid ping request ******
2025-08-09T17:22:19.832Z,1754760139.832 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-09T17:22:20.083Z,1754760140.083 [DAT](INFO): ****** received valid address query ******
2025-08-09T17:22:20.083Z,1754760140.083 [DAT](INFO): ****** received valid ping request ******
2025-08-09T17:22:20.083Z,1754760140.083 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-09T17:22:20.329Z,1754760140.329 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-09T17:22:20.335Z,1754760140.335 [DAT](INFO): ****** received valid address query ******
2025-08-09T17:22:20.335Z,1754760140.335 [DAT](INFO): ****** received valid ping request ******
2025-08-09T17:22:20.335Z,1754760140.335 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-09T17:22:20.337Z,1754760140.337 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 129.30 m.
2025-08-09T17:22:20.344Z,1754760140.344 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 129.300003 m,
      nav range: 86.414566 m,
      bearing: 28.975562 deg,
      approach rate: -0.597305 m/s,
      LOS rate: 0.049736 deg/s,
      cmd heading: 26.489080 deg,
      new cmd heading: 26.568321 deg.

2025-08-09T17:22:20.587Z,1754760140.587 [DAT](INFO): ****** received valid address query ******
2025-08-09T17:22:20.587Z,1754760140.587 [DAT](INFO): ****** received valid ping request ******
2025-08-09T17:22:20.587Z,1754760140.587 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-09T17:22:20.717Z,1754760140.717 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 129.30 m.
2025-08-09T17:22:20.720Z,1754760140.720 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 129.300003 m,
      nav range: 86.178673 m,
      bearing: 28.995099 deg,
      approach rate: -0.621315 m/s,
      LOS rate: 0.051599 deg/s,
      cmd heading: 26.568321 deg,
      new cmd heading: 26.627093 deg.

2025-08-09T17:22:20.839Z,1754760140.839 [DAT](INFO): ****** received valid address query ******
2025-08-09T17:22:20.839Z,1754760140.839 [DAT](INFO): ****** received valid ping request ******
2025-08-09T17:22:20.840Z,1754760140.840 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-09T17:22:21.091Z,1754760141.091 [DAT](INFO): ****** received valid address query ******
2025-08-09T17:22:21.091Z,1754760141.091 [DAT](INFO): ****** received valid ping request ******
2025-08-09T17:22:21.091Z,1754760141.091 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-09T17:22:21.137Z,1754760141.137 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 129.30 m.
2025-08-09T17:22:21.144Z,1754760141.144 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 129.300003 m,
      nav range: 85.928154 m,
      bearing: 29.015775 deg,
      approach rate: -0.595780 m/s,
      LOS rate: 0.049313 deg/s,
      cmd heading: 26.627093 deg,
      new cmd heading: 26.689299 deg.

2025-08-09T17:22:21.347Z,1754760141.347 [DAT](INFO): ****** received valid address query ******
2025-08-09T17:22:21.347Z,1754760141.347 [DAT](INFO): ****** received valid ping request ******
2025-08-09T17:22:21.347Z,1754760141.347 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-09T17:22:21.548Z,1754760141.548 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 129.30 m.
2025-08-09T17:22:21.550Z,1754760141.550 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 129.300003 m,
      nav range: 85.660744 m,
      bearing: 29.034913 deg,
      approach rate: -0.651623 m/s,
      LOS rate: 0.046782 deg/s,
      cmd heading: 26.689299 deg,
      new cmd heading: 26.746893 deg.

2025-08-09T17:22:21.595Z,1754760141.595 [DAT](INFO): ****** received valid address query ******
2025-08-09T17:22:21.595Z,1754760141.595 [DAT](INFO): ****** received valid ping request ******
2025-08-09T17:22:21.596Z,1754760141.596 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-09T17:22:21.848Z,1754760141.848 [DAT](INFO): ****** received valid address query ******
2025-08-09T17:22:21.848Z,1754760141.848 [DAT](INFO): ****** received valid ping request ******
2025-08-09T17:22:21.848Z,1754760141.848 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-09T17:22:21.948Z,1754760141.948 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 129.30 m.
2025-08-09T17:22:21.951Z,1754760141.951 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 129.300003 m,
      nav range: 85.403801 m,
      bearing: 29.053244 deg,
      approach rate: -0.641211 m/s,
      LOS rate: 0.045884 deg/s,
      cmd heading: 26.746893 deg,
      new cmd heading: 26.802052 deg.

2025-08-09T17:22:22.099Z,1754760142.099 [DAT](INFO): Reached modem response timeout
2025-08-09T17:22:22.099Z,1754760142.099 [DAT](DEBUG): Acoustic response timeout
2025-08-09T17:22:22.099Z,1754760142.099 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-09T17:22:22.349Z,1754760142.349 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-09T17:22:22.351Z,1754760142.351 [DAT](INFO): Reached modem response timeout
2025-08-09T17:22:22.351Z,1754760142.351 [DAT](DEBUG): Acoustic response timeout
2025-08-09T17:22:22.352Z,1754760142.352 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-09T17:22:22.367Z,1754760142.367 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 129.30 m.
2025-08-09T17:22:22.370Z,1754760142.370 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 129.300003 m,
      nav range: 85.142418 m,
      bearing: 29.069745 deg,
      approach rate: -0.623894 m/s,
      LOS rate: 0.039506 deg/s,
      cmd heading: 26.802052 deg,
      new cmd heading: 26.851705 deg.

2025-08-09T17:22:22.603Z,1754760142.603 [DAT](INFO): Reached modem response timeout
2025-08-09T17:22:22.603Z,1754760142.603 [DAT](DEBUG): Acoustic response timeout
2025-08-09T17:22:22.603Z,1754760142.603 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-09T17:22:22.766Z,1754760142.766 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 129.30 m.
2025-08-09T17:22:22.773Z,1754760142.773 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 129.300003 m,
      nav range: 84.888176 m,
      bearing: 29.085687 deg,
      approach rate: -0.637812 m/s,
      LOS rate: 0.040114 deg/s,
      cmd heading: 26.851705 deg,
      new cmd heading: 26.899676 deg.

2025-08-09T17:22:22.855Z,1754760142.855 [DAT](INFO): Reached modem response timeout
2025-08-09T17:22:22.856Z,1754760142.856 [DAT](DEBUG): Acoustic response timeout
2025-08-09T17:22:22.856Z,1754760142.856 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-09T17:22:23.107Z,1754760143.107 [DAT](INFO): Reached modem response timeout
2025-08-09T17:22:23.107Z,1754760143.107 [DAT](DEBUG): Acoustic response timeout
2025-08-09T17:22:23.107Z,1754760143.107 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-09T17:22:23.158Z,1754760143.158 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 129.30 m.
2025-08-09T17:22:23.161Z,1754760143.161 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 129.300003 m,
      nav range: 84.617958 m,
      bearing: 29.102512 deg,
      approach rate: -0.688785 m/s,
      LOS rate: 0.043023 deg/s,
      cmd heading: 26.899676 deg,
      new cmd heading: 26.950311 deg.

2025-08-09T17:22:23.359Z,1754760143.359 [DAT](INFO): Reached modem response timeout
2025-08-09T17:22:23.359Z,1754760143.359 [DAT](DEBUG): Acoustic response timeout
2025-08-09T17:22:23.359Z,1754760143.359 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-09T17:22:23.574Z,1754760143.574 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 129.30 m.
2025-08-09T17:22:23.577Z,1754760143.577 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 129.300003 m,
      nav range: 84.336250 m,
      bearing: 29.117240 deg,
      approach rate: -0.678057 m/s,
      LOS rate: 0.035568 deg/s,
      cmd heading: 26.950311 deg,
      new cmd heading: 26.994642 deg.

2025-08-09T17:22:23.611Z,1754760143.611 [DAT](INFO): Reached modem response timeout
2025-08-09T17:22:23.612Z,1754760143.612 [DAT](DEBUG): Acoustic response timeout
2025-08-09T17:22:23.612Z,1754760143.612 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-09T17:22:23.863Z,1754760143.863 [DAT](INFO): Reached modem response timeout
2025-08-09T17:22:23.863Z,1754760143.863 [DAT](DEBUG): Acoustic response timeout
2025-08-09T17:22:23.863Z,1754760143.863 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-09T17:22:23.950Z,1754760143.950 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 129.30 m.
2025-08-09T17:22:23.952Z,1754760143.952 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 129.300003 m,
      nav range: 84.081146 m,
      bearing: 29.130503 deg,
      approach rate: -0.678452 m/s,
      LOS rate: 0.035380 deg/s,
      cmd heading: 26.994642 deg,
      new cmd heading: 27.034552 deg.

2025-08-09T17:22:24.115Z,1754760144.115 [DAT](INFO): Reached modem response timeout
2025-08-09T17:22:24.115Z,1754760144.115 [DAT](DEBUG): Acoustic response timeout
2025-08-09T17:22:24.115Z,1754760144.115 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-09T17:22:24.367Z,1754760144.367 [DAT](INFO): DAT read: Response Not Received

2025-08-09T17:22:24.368Z,1754760144.368 [DAT](INFO): response not received
2025-08-09T17:22:24.368Z,1754760144.368 [DAT](INFO): DAT read: user:488>

2025-08-09T17:22:24.369Z,1754760144.369 [DAT](INFO): DAT read: Tx time:17:22:23.8868

2025-08-09T17:22:24.369Z,1754760144.369 [DAT](INFO): Ping request sent.
2025-08-09T17:22:24.369Z,1754760144.369 [DAT](INFO): transmitted an acoustic signal
2025-08-09T17:22:24.369Z,1754760144.369 [DAT](INFO): publishing transmit ping time
2025-08-09T17:22:24.370Z,1754760144.370 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000894
2025-08-09T17:22:24.388Z,1754760144.388 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-09T17:22:24.399Z,1754760144.399 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 129.30 m.
2025-08-09T17:22:24.404Z,1754760144.404 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 129.300003 m,
      nav range: 83.779724 m,
      bearing: 29.145997 deg,
      approach rate: -0.672171 m/s,
      LOS rate: 0.034677 deg/s,
      cmd heading: 27.034551 deg,
      new cmd heading: 27.081202 deg.

2025-08-09T17:22:24.619Z,1754760144.619 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250110
2025-08-09T17:22:24.799Z,1754760144.799 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 129.30 m.
2025-08-09T17:22:24.801Z,1754760144.801 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 129.300003 m,
      nav range: 83.493660 m,
      bearing: 29.160806 deg,
      approach rate: -0.713774 m/s,
      LOS rate: 0.037077 deg/s,
      cmd heading: 27.081203 deg,
      new cmd heading: 27.125782 deg.

2025-08-09T17:22:24.873Z,1754760144.873 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.503435
2025-08-09T17:22:25.123Z,1754760145.123 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754225
2025-08-09T17:22:25.182Z,1754760145.182 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 129.30 m.
2025-08-09T17:22:25.184Z,1754760145.184 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 129.300003 m,
      nav range: 83.228210 m,
      bearing: 29.174109 deg,
      approach rate: -0.693715 m/s,
      LOS rate: 0.034877 deg/s,
      cmd heading: 27.125782 deg,
      new cmd heading: 27.165819 deg.

2025-08-09T17:22:25.376Z,1754760145.376 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006571
2025-08-09T17:22:25.604Z,1754760145.604 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 129.30 m.
2025-08-09T17:22:25.607Z,1754760145.607 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 129.300003 m,
      nav range: 82.926453 m,
      bearing: 29.190499 deg,
      approach rate: -0.714321 m/s,
      LOS rate: 0.038940 deg/s,
      cmd heading: 27.165819 deg,
      new cmd heading: 27.215168 deg.

2025-08-09T17:22:25.628Z,1754760145.628 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258320
2025-08-09T17:22:25.881Z,1754760145.881 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.511885
2025-08-09T17:22:25.984Z,1754760145.984 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 129.30 m.
2025-08-09T17:22:25.987Z,1754760145.987 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 129.300003 m,
      nav range: 82.653740 m,
      bearing: 29.205179 deg,
      approach rate: -0.717237 m/s,
      LOS rate: 0.038734 deg/s,
      cmd heading: 27.215169 deg,
      new cmd heading: 27.259352 deg.

2025-08-09T17:22:26.131Z,1754760146.131 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762080
2025-08-09T17:22:26.385Z,1754760146.385 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.015184
2025-08-09T17:22:26.444Z,1754760146.444 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-09T17:22:26.446Z,1754760146.446 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 129.30 m.
2025-08-09T17:22:26.453Z,1754760146.453 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 129.300003 m,
      nav range: 82.328209 m,
      bearing: 29.223232 deg,
      approach rate: -0.705203 m/s,
      LOS rate: 0.039264 deg/s,
      cmd heading: 27.259352 deg,
      new cmd heading: 27.313726 deg.

2025-08-09T17:22:26.635Z,1754760146.635 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266067
2025-08-09T17:22:26.796Z,1754760146.796 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 129.30 m.
2025-08-09T17:22:26.815Z,1754760146.815 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 129.300003 m,
      nav range: 82.083618 m,
      bearing: 29.236663 deg,
      approach rate: -0.698723 m/s,
      LOS rate: 0.038481 deg/s,
      cmd heading: 27.313727 deg,
      new cmd heading: 27.354138 deg.

2025-08-09T17:22:26.889Z,1754760146.889 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.519293
2025-08-09T17:22:27.140Z,1754760147.140 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770543
2025-08-09T17:22:27.212Z,1754760147.212 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 129.30 m.
2025-08-09T17:22:27.222Z,1754760147.222 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 129.300003 m,
      nav range: 81.798576 m,
      bearing: 29.252201 deg,
      approach rate: -0.685119 m/s,
      LOS rate: 0.037478 deg/s,
      cmd heading: 27.354138 deg,
      new cmd heading: 27.400916 deg.

2025-08-09T17:22:27.392Z,1754760147.392 [DAT](INFO): DAT read: Rx Time:17:22:26.3994

2025-08-09T17:22:27.393Z,1754760147.393 [DAT](INFO): Rx dataTimestamp_ set to:1754760147.392167
2025-08-09T17:22:27.394Z,1754760147.394 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.024414
2025-08-09T17:22:27.640Z,1754760147.640 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 129.30 m.
2025-08-09T17:22:27.643Z,1754760147.643 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274254
2025-08-09T17:22:27.646Z,1754760147.646 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 129.300003 m,
      nav range: 81.504120 m,
      bearing: 29.272761 deg,
      approach rate: -0.688579 m/s,
      LOS rate: 0.048251 deg/s,
      cmd heading: 27.400916 deg,
      new cmd heading: 27.462817 deg.

2025-08-09T17:22:27.897Z,1754760147.897 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.527663
2025-08-09T17:22:28.007Z,1754760148.007 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 129.30 m.
2025-08-09T17:22:28.010Z,1754760148.010 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 129.300003 m,
      nav range: 81.235077 m,
      bearing: 29.291487 deg,
      approach rate: -0.733019 m/s,
      LOS rate: 0.051188 deg/s,
      cmd heading: 27.462816 deg,
      new cmd heading: 27.519179 deg.

2025-08-09T17:22:28.158Z,1754760148.158 [DAT](INFO): DAT read: 17:22:26.3994 LVL= 24880, 27249, 22930, 29987, AGC= 65, IDX= 323,-0.07, 1.440,-0.298, 1.598, 1.158, PHS= 0.384,-1.411, 0.396, RAW= 150.3,   7.1, CAL= 149.7,   7.5, ROT=   0.3,  -7.5

2025-08-09T17:22:28.159Z,1754760148.159 [DAT](INFO): got valid direction response:
 17:22:26.3994 LVL= 24880, 27249, 22930, 29987, AGC= 65, IDX= 323,-0.07, 1.440,-0.298, 1.598, 1.158, PHS= 0.384,-1.411, 0.396, RAW= 150.3,   7.1, CAL= 149.7,   7.5, ROT=   0.3,  -7.5

2025-08-09T17:22:28.160Z,1754760148.160 [DAT](INFO): DAT read: Bearing 194.1,   1.7 (Local)

2025-08-09T17:22:28.160Z,1754760148.160 [DAT](INFO): Local bearing/azimuth received:
 Bearing 194.1,   1.7 (Local)

2025-08-09T17:22:28.162Z,1754760148.162 [DAT](INFO): DAT read: Range 11 to 50 : 81.3 m  (Round-trip  108.4 ms) speed  0.7 m/s

2025-08-09T17:22:28.163Z,1754760148.163 [DAT](INFO): DAT read: user:489>

2025-08-09T17:22:28.163Z,1754760148.163 [DAT](INFO): DAT read: Tx time:17:22:27.5368

2025-08-09T17:22:28.164Z,1754760148.164 [DAT](INFO): Ping request sent.
2025-08-09T17:22:28.164Z,1754760148.164 [DAT](INFO): transmitted an acoustic signal
2025-08-09T17:22:28.164Z,1754760148.164 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-09T17:22:28.165Z,1754760148.165 [DAT](INFO): direction in FSK: [0.991431,0.005191,0.130526]
2025-08-09T17:22:28.165Z,1754760148.165 [DAT](INFO): publishing transmit ping time
2025-08-09T17:22:28.165Z,1754760148.165 [DAT](INFO): publishing direction and range info
2025-08-09T17:22:28.169Z,1754760148.169 [DAT](INFO): publishing transmit ping time
2025-08-09T17:22:28.169Z,1754760148.169 [DAT](INFO): publishing direction and range info
2025-08-09T17:22:28.535Z,1754760148.535 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 81.300003 m,
      deltaT: 23.440289 s,
      deltaX: -48.000000 m,
      approachRate: -2.047756 m/s,
      rangeRepo size: 4

2025-08-09T17:22:28.537Z,1754760148.537 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 81.300003 m,
      bearing: 28.371101 deg,
      lat: 36.906099 deg,
      lon: -122.115839 deg,
      deltaT: 23.440289 s,
      deltaX: -48.000000 m,
      approachRate: -2.047756 m/s,
      posRepo size: 4

2025-08-09T17:22:28.538Z,1754760148.538 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 81.30 m.
2025-08-09T17:22:28.541Z,1754760148.541 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 81.300003 m,
      nav range: 80.141670 m,
      bearing: 28.371101 deg,
      approach rate: -25657802415417982726959005696 m/s,
      LOS rate: 0.051188 deg/s,
      cmd heading: 27.519179 deg,
      new cmd heading: 27.600236 deg.

2025-08-09T17:22:28.852Z,1754760148.852 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-09T17:22:28.857Z,1754760148.857 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 81.30 m.
2025-08-09T17:22:28.861Z,1754760148.861 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 81.300003 m,
      nav range: 79.930679 m,
      bearing: 28.384151 deg,
      approach rate: -0.654239 m/s,
      LOS rate: 0.040571 deg/s,
      cmd heading: 27.600236 deg,
      new cmd heading: 27.639488 deg.

2025-08-09T17:22:28.904Z,1754760148.904 [DAT](INFO): ****** received valid address query ******
2025-08-09T17:22:28.904Z,1754760148.904 [DAT](INFO): ****** received valid ping request ******
2025-08-09T17:22:28.904Z,1754760148.904 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-09T17:22:29.155Z,1754760149.155 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.991470
2025-08-09T17:22:29.247Z,1754760149.247 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 81.30 m.
2025-08-09T17:22:29.250Z,1754760149.250 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 81.300003 m,
      nav range: 79.648445 m,
      bearing: 28.401661 deg,
      approach rate: -0.723121 m/s,
      LOS rate: 0.045023 deg/s,
      cmd heading: 27.639487 deg,
      new cmd heading: 27.692205 deg.

2025-08-09T17:22:29.407Z,1754760149.407 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.243550
2025-08-09T17:22:29.660Z,1754760149.660 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.495769
2025-08-09T17:22:29.687Z,1754760149.687 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 81.30 m.
2025-08-09T17:22:29.690Z,1754760149.690 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 81.300003 m,
      nav range: 79.349350 m,
      bearing: 28.424560 deg,
      approach rate: -0.679439 m/s,
      LOS rate: 0.052214 deg/s,
      cmd heading: 27.692205 deg,
      new cmd heading: 27.761160 deg.

2025-08-09T17:22:29.915Z,1754760149.915 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.750908
2025-08-09T17:22:30.035Z,1754760150.035 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 81.30 m.
2025-08-09T17:22:30.038Z,1754760150.038 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 81.300003 m,
      nav range: 79.113609 m,
      bearing: 28.442449 deg,
      approach rate: -0.678347 m/s,
      LOS rate: 0.051630 deg/s,
      cmd heading: 27.761160 deg,
      new cmd heading: 27.814988 deg.

2025-08-09T17:22:30.164Z,1754760150.164 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.000049
2025-08-09T17:22:30.420Z,1754760150.420 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.256108
2025-08-09T17:22:30.481Z,1754760150.481 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 81.30 m.
2025-08-09T17:22:30.495Z,1754760150.495 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 81.300003 m,
      nav range: 78.815620 m,
      bearing: 28.464654 deg,
      approach rate: -0.668778 m/s,
      LOS rate: 0.050023 deg/s,
      cmd heading: 27.814987 deg,
      new cmd heading: 27.881854 deg.

2025-08-09T17:22:30.671Z,1754760150.671 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.507444
2025-08-09T17:22:30.860Z,1754760150.860 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-09T17:22:30.863Z,1754760150.863 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 81.30 m.
2025-08-09T17:22:30.868Z,1754760150.868 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 81.300003 m,
      nav range: 78.563286 m,
      bearing: 28.483507 deg,
      approach rate: -0.660627 m/s,
      LOS rate: 0.049516 deg/s,
      cmd heading: 27.881855 deg,
      new cmd heading: 27.938595 deg.

2025-08-09T17:22:30.926Z,1754760150.926 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.762007
2025-08-09T17:22:31.175Z,1754760151.175 [DAT](INFO): DAT read: Rx Time:17:22:30.0459

2025-08-09T17:22:31.176Z,1754760151.176 [DAT](INFO): Rx dataTimestamp_ set to:1754760151.175471
2025-08-09T17:22:31.176Z,1754760151.176 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.012481
2025-08-09T17:22:31.260Z,1754760151.260 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 81.30 m.
2025-08-09T17:22:31.263Z,1754760151.263 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 81.300003 m,
      nav range: 78.294220 m,
      bearing: 28.503644 deg,
      approach rate: -0.677101 m/s,
      LOS rate: 0.050849 deg/s,
      cmd heading: 27.938595 deg,
      new cmd heading: 27.999214 deg.

2025-08-09T17:22:31.427Z,1754760151.427 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.263553
2025-08-09T17:22:31.685Z,1754760151.685 [DAT](INFO): DAT read: 17:22:30.0459 LVL= 28496, 30449, 22594, 32755, AGC= 67, IDX= 400, 0.39, 0.891,-0.802, 1.041, 0.650, PHS= 0.343,-1.407, 0.347, RAW= 150.1,   8.2, CAL= 149.6,   8.9, ROT=   0.4,  -8.9

2025-08-09T17:22:31.687Z,1754760151.687 [DAT](INFO): got valid direction response:
 17:22:30.0459 LVL= 28496, 30449, 22594, 32755, AGC= 67, IDX= 400, 0.39, 0.891,-0.802, 1.041, 0.650, PHS= 0.343,-1.407, 0.347, RAW= 150.1,   8.2, CAL= 149.6,   8.9, ROT=   0.4,  -8.9

2025-08-09T17:22:31.688Z,1754760151.688 [DAT](INFO): DAT read: Bearing 196.0,   1.5 (Local)

2025-08-09T17:22:31.688Z,1754760151.688 [DAT](INFO): Local bearing/azimuth received:
 Bearing 196.0,   1.5 (Local)

2025-08-09T17:22:31.689Z,1754760151.689 [DAT](INFO): DAT read: Range 11 to 50 : 78.7 m  (Round-trip  105.0 ms) speed  0.5 m/s

2025-08-09T17:22:31.691Z,1754760151.691 [DAT](INFO): DAT read: user:490>

2025-08-09T17:22:31.691Z,1754760151.691 [DAT](INFO): DAT read: Tx time:17:22:31.1368

2025-08-09T17:22:31.692Z,1754760151.692 [DAT](INFO): Ping request sent.
2025-08-09T17:22:31.692Z,1754760151.692 [DAT](INFO): transmitted an acoustic signal
2025-08-09T17:22:31.692Z,1754760151.692 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-09T17:22:31.693Z,1754760151.693 [DAT](INFO): direction in FSK: [0.987936,0.006897,0.154710]
2025-08-09T17:22:31.693Z,1754760151.693 [DAT](INFO): publishing transmit ping time
2025-08-09T17:22:31.693Z,1754760151.693 [DAT](INFO): publishing direction and range info
2025-08-09T17:22:31.701Z,1754760151.701 [DAT](INFO): publishing transmit ping time
2025-08-09T17:22:31.701Z,1754760151.701 [DAT](INFO): publishing direction and range info
2025-08-09T17:22:31.788Z,1754760151.788 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 78.699997 m,
      deltaT: 3.531878 s,
      deltaX: -2.600006 m,
      approachRate: -0.736154 m/s,
      rangeRepo size: 4

2025-08-09T17:22:31.790Z,1754760151.790 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 78.699997 m,
      bearing: 28.526373 deg,
      lat: 36.906099 deg,
      lon: -122.115839 deg,
      deltaT: 3.531878 s,
      deltaX: -2.600006 m,
      approachRate: -0.736154 m/s,
      posRepo size: 4

2025-08-09T17:22:31.795Z,1754760151.795 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 78.70 m.
2025-08-09T17:22:31.797Z,1754760151.797 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 78.699997 m,
      nav range: 77.973679 m,
      bearing: 28.526373 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.050849 deg/s,
      cmd heading: 27.999215 deg,
      new cmd heading: 28.078906 deg.

2025-08-09T17:22:32.132Z,1754760152.132 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 78.70 m.
2025-08-09T17:22:32.134Z,1754760152.134 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 78.699997 m,
      nav range: 77.746712 m,
      bearing: 28.542372 deg,
      approach rate: -0.649707 m/s,
      LOS rate: 0.045932 deg/s,
      cmd heading: 28.078906 deg,
      new cmd heading: 28.127043 deg.

2025-08-09T17:22:32.572Z,1754760152.572 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 78.70 m.
2025-08-09T17:22:32.575Z,1754760152.575 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 78.699997 m,
      nav range: 77.470047 m,
      bearing: 28.561454 deg,
      approach rate: -0.628024 m/s,
      LOS rate: 0.043472 deg/s,
      cmd heading: 28.127043 deg,
      new cmd heading: 28.184495 deg.

2025-08-09T17:22:32.941Z,1754760152.941 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-09T17:22:32.943Z,1754760152.943 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 78.70 m.
2025-08-09T17:22:32.946Z,1754760152.946 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 78.699997 m,
      nav range: 77.237793 m,
      bearing: 28.577539 deg,
      approach rate: -0.625512 m/s,
      LOS rate: 0.043449 deg/s,
      cmd heading: 28.184496 deg,
      new cmd heading: 28.232894 deg.

2025-08-09T17:22:33.192Z,1754760153.192 [DAT](INFO): ****** received valid address query ******
2025-08-09T17:22:33.192Z,1754760153.192 [DAT](INFO): ****** received valid ping request ******
2025-08-09T17:22:33.192Z,1754760153.192 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-09T17:22:33.443Z,1754760153.443 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.751659
2025-08-09T17:22:33.517Z,1754760153.517 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 78.70 m.
2025-08-09T17:22:33.520Z,1754760153.520 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 78.699997 m,
      nav range: 76.874886 m,
      bearing: 28.594887 deg,
      approach rate: -0.632732 m/s,
      LOS rate: 0.030391 deg/s,
      cmd heading: 28.232894 deg,
      new cmd heading: 28.285186 deg.

2025-08-09T17:22:33.696Z,1754760153.696 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.004474
2025-08-09T17:22:33.947Z,1754760153.947 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.255630
2025-08-09T17:22:33.993Z,1754760153.993 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 78.70 m.
2025-08-09T17:22:33.996Z,1754760153.996 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 78.699997 m,
      nav range: 76.574715 m,
      bearing: 28.609125 deg,
      approach rate: -0.630389 m/s,
      LOS rate: 0.030018 deg/s,
      cmd heading: 28.285186 deg,
      new cmd heading: 28.328067 deg.

2025-08-09T17:22:34.200Z,1754760154.200 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.508606
2025-08-09T17:22:34.451Z,1754760154.451 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.759662
2025-08-09T17:22:34.521Z,1754760154.521 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 78.70 m.
2025-08-09T17:22:34.528Z,1754760154.528 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 78.699997 m,
      nav range: 76.261642 m,
      bearing: 28.625287 deg,
      approach rate: -0.593108 m/s,
      LOS rate: 0.030744 deg/s,
      cmd heading: 28.328066 deg,
      new cmd heading: 28.376750 deg.

2025-08-09T17:22:34.703Z,1754760154.703 [DAT](INFO): DAT read: Rx Time:17:22:33.6426

2025-08-09T17:22:34.704Z,1754760154.704 [DAT](INFO): Rx dataTimestamp_ set to:1754760154.703600
2025-08-09T17:22:34.704Z,1754760154.704 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.012727
2025-08-09T17:22:34.916Z,1754760154.916 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 78.70 m.
2025-08-09T17:22:34.923Z,1754760154.923 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 78.699997 m,
      nav range: 76.003532 m,
      bearing: 28.638527 deg,
      approach rate: -0.653395 m/s,
      LOS rate: 0.033632 deg/s,
      cmd heading: 28.376750 deg,
      new cmd heading: 28.416607 deg.

2025-08-09T17:22:34.960Z,1754760154.960 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.268442
2025-08-09T17:22:35.217Z,1754760155.217 [DAT](INFO): DAT read: 17:22:33.6426 LVL= 32176, 28657, 24626, 32755, AGC= 66, IDX= 414, 0.36,-1.721, 2.816,-1.525,-1.985, PHS= 0.365,-1.438, 0.416, RAW= 151.4,   7.2, CAL= 150.8,   7.7, ROT= 359.2,  -7.7

2025-08-09T17:22:35.218Z,1754760155.218 [DAT](INFO): got valid direction response:
 17:22:33.6426 LVL= 32176, 28657, 24626, 32755, AGC= 66, IDX= 414, 0.36,-1.721, 2.816,-1.525,-1.985, PHS= 0.365,-1.438, 0.416, RAW= 151.4,   7.2, CAL= 150.8,   7.7, ROT= 359.2,  -7.7

2025-08-09T17:22:35.219Z,1754760155.219 [DAT](INFO): DAT read: Bearing 195.1,   0.5 (Local)

2025-08-09T17:22:35.220Z,1754760155.220 [DAT](INFO): Local bearing/azimuth received:
 Bearing 195.1,   0.5 (Local)

2025-08-09T17:22:35.221Z,1754760155.221 [DAT](INFO): DAT read: Range 11 to 50 : 76.2 m  (Round-trip  101.7 ms) speed  0.7 m/s

2025-08-09T17:22:35.222Z,1754760155.222 [DAT](INFO): DAT read: user:491>

2025-08-09T17:22:35.223Z,1754760155.223 [DAT](INFO): DAT read: Tx time:17:22:34.7368

2025-08-09T17:22:35.224Z,1754760155.224 [DAT](INFO): Ping request sent.
2025-08-09T17:22:35.224Z,1754760155.224 [DAT](INFO): transmitted an acoustic signal
2025-08-09T17:22:35.224Z,1754760155.224 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-09T17:22:35.225Z,1754760155.225 [DAT](INFO): direction in FSK: [0.990887,-0.013836,0.133986]
2025-08-09T17:22:35.225Z,1754760155.225 [DAT](INFO): publishing transmit ping time
2025-08-09T17:22:35.225Z,1754760155.225 [DAT](INFO): publishing direction and range info
2025-08-09T17:22:35.228Z,1754760155.228 [DAT](INFO): publishing transmit ping time
2025-08-09T17:22:35.229Z,1754760155.229 [DAT](INFO): publishing direction and range info
2025-08-09T17:22:35.343Z,1754760155.343 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 76.199997 m,
      deltaT: 3.532028 s,
      deltaX: -2.500000 m,
      approachRate: -0.707809 m/s,
      rangeRepo size: 4

2025-08-09T17:22:35.345Z,1754760155.345 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 76.199997 m,
      bearing: 28.333968 deg,
      lat: 36.906099 deg,
      lon: -122.115844 deg,
      deltaT: 3.532028 s,
      deltaX: -2.500000 m,
      approachRate: -0.707809 m/s,
      posRepo size: 4

2025-08-09T17:22:35.346Z,1754760155.346 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 76.20 m.
2025-08-09T17:22:35.349Z,1754760155.349 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 76.199997 m,
      nav range: 75.505508 m,
      bearing: 28.333968 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.033632 deg/s,
      cmd heading: 28.416606 deg,
      new cmd heading: 28.457600 deg.

2025-08-09T17:22:35.780Z,1754760155.780 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-09T17:22:35.782Z,1754760155.782 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 76.20 m.
2025-08-09T17:22:35.785Z,1754760155.785 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 76.199997 m,
      nav range: 75.213982 m,
      bearing: 28.347049 deg,
      approach rate: -0.634584 m/s,
      LOS rate: 0.028587 deg/s,
      cmd heading: 28.457599 deg,
      new cmd heading: 28.496997 deg.

2025-08-09T17:22:35.967Z,1754760155.967 [DAT](INFO): ****** received valid address query ******
2025-08-09T17:22:35.967Z,1754760155.967 [DAT](INFO): ****** received valid ping request ******
2025-08-09T17:22:35.967Z,1754760155.967 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-09T17:22:36.154Z,1754760156.154 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 76.20 m.
2025-08-09T17:22:36.161Z,1754760156.161 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 76.199997 m,
      nav range: 74.981102 m,
      bearing: 28.357487 deg,
      approach rate: -0.625958 m/s,
      LOS rate: 0.028141 deg/s,
      cmd heading: 28.496997 deg,
      new cmd heading: 28.528406 deg.

2025-08-09T17:22:36.220Z,1754760156.220 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.996315
2025-08-09T17:22:36.472Z,1754760156.472 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.247906
2025-08-09T17:22:36.588Z,1754760156.588 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 76.20 m.
2025-08-09T17:22:36.591Z,1754760156.591 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 76.199997 m,
      nav range: 74.699799 m,
      bearing: 28.370995 deg,
      approach rate: -0.647337 m/s,
      LOS rate: 0.031203 deg/s,
      cmd heading: 28.528406 deg,
      new cmd heading: 28.569084 deg.

2025-08-09T17:22:36.723Z,1754760156.723 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.499524
2025-08-09T17:22:36.975Z,1754760156.975 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.751634
2025-08-09T17:22:36.980Z,1754760156.980 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 76.20 m.
2025-08-09T17:22:36.983Z,1754760156.983 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 76.199997 m,
      nav range: 74.457130 m,
      bearing: 28.382685 deg,
      approach rate: -0.619935 m/s,
      LOS rate: 0.029959 deg/s,
      cmd heading: 28.569085 deg,
      new cmd heading: 28.604267 deg.

2025-08-09T17:22:37.228Z,1754760157.228 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.004577
2025-08-09T17:22:37.367Z,1754760157.367 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 76.20 m.
2025-08-09T17:22:37.373Z,1754760157.373 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 76.199997 m,
      nav range: 74.199493 m,
      bearing: 28.394947 deg,
      approach rate: -0.665564 m/s,
      LOS rate: 0.031789 deg/s,
      cmd heading: 28.604267 deg,
      new cmd heading: 28.641183 deg.

2025-08-09T17:22:37.482Z,1754760157.482 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.258003
2025-08-09T17:22:37.731Z,1754760157.731 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.507449
2025-08-09T17:22:37.804Z,1754760157.804 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-09T17:22:37.806Z,1754760157.806 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 76.20 m.
2025-08-09T17:22:37.810Z,1754760157.810 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 76.199997 m,
      nav range: 73.916496 m,
      bearing: 28.410571 deg,
      approach rate: -0.645077 m/s,
      LOS rate: 0.035749 deg/s,
      cmd heading: 28.641183 deg,
      new cmd heading: 28.688233 deg.

2025-08-09T17:22:37.983Z,1754760157.983 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.759474
2025-08-09T17:22:38.178Z,1754760158.178 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 76.20 m.
2025-08-09T17:22:38.197Z,1754760158.197 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 76.199997 m,
      nav range: 73.679565 m,
      bearing: 28.423549 deg,
      approach rate: -0.636167 m/s,
      LOS rate: 0.034958 deg/s,
      cmd heading: 28.688232 deg,
      new cmd heading: 28.727292 deg.

2025-08-09T17:22:38.236Z,1754760158.236 [DAT](INFO): DAT read: Rx Time:17:22:37.2395

2025-08-09T17:22:38.236Z,1754760158.236 [DAT](INFO): Rx dataTimestamp_ set to:1754760158.235773
2025-08-09T17:22:38.237Z,1754760158.237 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.012870
2025-08-09T17:22:38.490Z,1754760158.490 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.265953
2025-08-09T17:22:38.601Z,1754760158.601 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 76.20 m.
2025-08-09T17:22:38.604Z,1754760158.604 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 76.199997 m,
      nav range: 73.399307 m,
      bearing: 28.439990 deg,
      approach rate: -0.662222 m/s,
      LOS rate: 0.038997 deg/s,
      cmd heading: 28.727291 deg,
      new cmd heading: 28.776802 deg.

2025-08-09T17:22:38.742Z,1754760158.742 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.518001
2025-08-09T17:22:39.005Z,1754760159.005 [DAT](INFO): DAT read: 17:22:37.2395 LVL= 28736, 31329, 26466, 32755, AGC= 63, IDX= 415,-0.08,-2.021, 2.526,-1.793,-2.259, PHS= 0.340,-1.453, 0.422, RAW= 152.2,   7.6, CAL= 151.7,   8.0, ROT= 358.3,  -8.0

2025-08-09T17:22:39.006Z,1754760159.006 [DAT](INFO): got valid direction response:
 17:22:37.2395 LVL= 28736, 31329, 26466, 32755, AGC= 63, IDX= 415,-0.08,-2.021, 2.526,-1.793,-2.259, PHS= 0.340,-1.453, 0.422, RAW= 152.2,   7.6, CAL= 151.7,   8.0, ROT= 358.3,  -8.0

2025-08-09T17:22:39.007Z,1754760159.007 [DAT](INFO): DAT read: Bearing 195.8,  -1.0 (Local)

2025-08-09T17:22:39.008Z,1754760159.008 [DAT](INFO): Local bearing/azimuth received:
 Bearing 195.8,  -1.0 (Local)

2025-08-09T17:22:39.009Z,1754760159.009 [DAT](INFO): DAT read: Range 11 to 50 : 74.0 m  (Round-trip  98.7 ms) speed  0.5 m/s

2025-08-09T17:22:39.010Z,1754760159.010 [DAT](INFO): DAT read: user:492>

2025-08-09T17:22:39.011Z,1754760159.011 [DAT](INFO): DAT read: Tx time:17:22:38.3367

2025-08-09T17:22:39.011Z,1754760159.011 [DAT](INFO): Ping request sent.
2025-08-09T17:22:39.011Z,1754760159.011 [DAT](INFO): transmitted an acoustic signal
2025-08-09T17:22:39.011Z,1754760159.011 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-09T17:22:39.012Z,1754760159.012 [DAT](INFO): direction in FSK: [0.989832,-0.029378,0.139173]
2025-08-09T17:22:39.013Z,1754760159.013 [DAT](INFO): publishing transmit ping time
2025-08-09T17:22:39.013Z,1754760159.013 [DAT](INFO): publishing direction and range info
2025-08-09T17:22:39.016Z,1754760159.016 [DAT](INFO): publishing transmit ping time
2025-08-09T17:22:39.016Z,1754760159.016 [DAT](INFO): publishing direction and range info
2025-08-09T17:22:39.029Z,1754760159.029 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 74.000000 m,
      deltaT: 3.779961 s,
      deltaX: -2.199997 m,
      approachRate: -0.582016 m/s,
      rangeRepo size: 4

2025-08-09T17:22:39.032Z,1754760159.032 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 74.000000 m,
      bearing: 28.332308 deg,
      lat: 36.906100 deg,
      lon: -122.115846 deg,
      deltaT: 3.779961 s,
      deltaX: -2.199997 m,
      approachRate: -0.582016 m/s,
      posRepo size: 4

2025-08-09T17:22:39.032Z,1754760159.032 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 74.00 m.
2025-08-09T17:22:39.039Z,1754760159.039 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 74.000000 m,
      nav range: 73.104111 m,
      bearing: 28.332308 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.038997 deg/s,
      cmd heading: 28.776803 deg,
      new cmd heading: 28.826806 deg.

2025-08-09T17:22:39.406Z,1754760159.406 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 74.00 m.
2025-08-09T17:22:39.409Z,1754760159.409 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 74.000000 m,
      nav range: 72.832169 m,
      bearing: 28.347303 deg,
      approach rate: -0.720969 m/s,
      LOS rate: 0.039902 deg/s,
      cmd heading: 28.826807 deg,
      new cmd heading: 28.871959 deg.

2025-08-09T17:22:39.812Z,1754760159.812 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-09T17:22:39.814Z,1754760159.814 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 74.00 m.
2025-08-09T17:22:39.837Z,1754760159.837 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 74.000000 m,
      nav range: 72.554657 m,
      bearing: 28.362669 deg,
      approach rate: -0.679869 m/s,
      LOS rate: 0.037789 deg/s,
      cmd heading: 28.871958 deg,
      new cmd heading: 28.918233 deg.

2025-08-09T17:22:39.999Z,1754760159.999 [DAT](INFO): ****** received valid address query ******
2025-08-09T17:22:39.999Z,1754760159.999 [DAT](INFO): ****** received valid ping request ******
2025-08-09T17:22:39.999Z,1754760159.999 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-09T17:22:40.205Z,1754760160.205 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 74.00 m.
2025-08-09T17:22:40.208Z,1754760160.208 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 74.000000 m,
      nav range: 72.288284 m,
      bearing: 28.377211 deg,
      approach rate: -0.680771 m/s,
      LOS rate: 0.037301 deg/s,
      cmd heading: 28.918232 deg,
      new cmd heading: 28.962017 deg.

2025-08-09T17:22:40.252Z,1754760160.252 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.240710
2025-08-09T17:22:40.506Z,1754760160.506 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.494339
2025-08-09T17:22:40.636Z,1754760160.636 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 74.00 m.
2025-08-09T17:22:40.639Z,1754760160.639 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 74.000000 m,
      nav range: 72.009163 m,
      bearing: 28.391569 deg,
      approach rate: -0.648456 m/s,
      LOS rate: 0.033487 deg/s,
      cmd heading: 28.962017 deg,
      new cmd heading: 29.005260 deg.

2025-08-09T17:22:40.755Z,1754760160.755 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.744264
2025-08-09T17:22:41.003Z,1754760161.003 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 74.00 m.
2025-08-09T17:22:41.006Z,1754760161.006 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 74.000000 m,
      nav range: 71.770897 m,
      bearing: 28.403778 deg,
      approach rate: -0.647962 m/s,
      LOS rate: 0.033312 deg/s,
      cmd heading: 29.005259 deg,
      new cmd heading: 29.042007 deg.

2025-08-09T17:22:41.008Z,1754760161.008 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.996562
2025-08-09T17:22:41.260Z,1754760161.260 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.248842
2025-08-09T17:22:41.431Z,1754760161.431 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 74.00 m.
2025-08-09T17:22:41.433Z,1754760161.433 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 74.000000 m,
      nav range: 71.509064 m,
      bearing: 28.417065 deg,
      approach rate: -0.643416 m/s,
      LOS rate: 0.032771 deg/s,
      cmd heading: 29.042005 deg,
      new cmd heading: 29.082013 deg.

2025-08-09T17:22:41.514Z,1754760161.514 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.502560
2025-08-09T17:22:41.767Z,1754760161.767 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.755606
2025-08-09T17:22:41.865Z,1754760161.865 [BPC1](ERROR): BPC1B failed to parse battery data due to unrecognized msg size.
2025-08-09T17:22:41.916Z,1754760161.916 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-09T17:22:41.919Z,1754760161.919 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 74.00 m.
2025-08-09T17:22:41.921Z,1754760161.921 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 74.000000 m,
      nav range: 71.174240 m,
      bearing: 28.425977 deg,
      approach rate: -0.658980 m/s,
      LOS rate: 0.017622 deg/s,
      cmd heading: 29.082013 deg,
      new cmd heading: 29.108874 deg.

2025-08-09T17:22:42.016Z,1754760162.016 [DAT](INFO): DAT read: Rx Time:17:22:40.8364

2025-08-09T17:22:42.016Z,1754760162.016 [DAT](INFO): Rx dataTimestamp_ set to:1754760162.015741
2025-08-09T17:22:42.017Z,1754760162.017 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.005473
2025-08-09T17:22:42.235Z,1754760162.235 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 74.00 m.
2025-08-09T17:22:42.237Z,1754760162.237 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 74.000000 m,
      nav range: 70.962479 m,
      bearing: 28.431685 deg,
      approach rate: -0.670032 m/s,
      LOS rate: 0.018115 deg/s,
      cmd heading: 29.108873 deg,
      new cmd heading: 29.126048 deg.

2025-08-09T17:22:42.268Z,1754760162.268 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.256776
2025-08-09T17:22:42.541Z,1754760162.541 [DAT](INFO): DAT read: 17:22:40.8364 LVL= 31120, 32497, 24930, 32755, AGC= 66, IDX= 415, 0.17, 2.983, 1.270,-3.061, 2.755, PHS= 0.330,-1.440, 0.423, RAW= 152.5,   7.6, CAL= 152.0,   8.0, ROT= 358.0,  -8.0

2025-08-09T17:22:42.545Z,1754760162.545 [DAT](INFO): got valid direction response:
 17:22:40.8364 LVL= 31120, 32497, 24930, 32755, AGC= 66, IDX= 415, 0.17, 2.983, 1.270,-3.061, 2.755, PHS= 0.330,-1.440, 0.423, RAW= 152.5,   7.6, CAL= 152.0,   8.0, ROT= 358.0,  -8.0

2025-08-09T17:22:42.548Z,1754760162.548 [DAT](INFO): DAT read: Bearing 196.3,  -1.5 (Local)

2025-08-09T17:22:42.548Z,1754760162.548 [DAT](INFO): Local bearing/azimuth received:
 Bearing 196.3,  -1.5 (Local)

2025-08-09T17:22:42.553Z,1754760162.553 [DAT](INFO): DAT read: Range 11 to 50 : 71.7 m  (Round-trip  95.6 ms) speed  0.7 m/s

2025-08-09T17:22:42.556Z,1754760162.556 [DAT](INFO): DAT read: user:493>

2025-08-09T17:22:42.558Z,1754760162.558 [DAT](INFO): DAT read: Tx time:17:22:41.9367

2025-08-09T17:22:42.558Z,1754760162.558 [DAT](INFO): Ping request sent.
2025-08-09T17:22:42.558Z,1754760162.558 [DAT](INFO): transmitted an acoustic signal
2025-08-09T17:22:42.559Z,1754760162.559 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-09T17:22:42.559Z,1754760162.559 [DAT](INFO): direction in FSK: [0.989665,-0.034560,0.139173]
2025-08-09T17:22:42.560Z,1754760162.560 [DAT](INFO): publishing transmit ping time
2025-08-09T17:22:42.560Z,1754760162.560 [DAT](INFO): publishing direction and range info
2025-08-09T17:22:42.568Z,1754760162.568 [DAT](INFO): publishing transmit ping time
2025-08-09T17:22:42.568Z,1754760162.568 [DAT](INFO): publishing direction and range info
2025-08-09T17:22:42.747Z,1754760162.747 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 71.699997 m,
      deltaT: 3.529302 s,
      deltaX: -2.300003 m,
      approachRate: -0.651688 m/s,
      rangeRepo size: 4

2025-08-09T17:22:42.749Z,1754760162.749 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 71.699997 m,
      bearing: 28.157706 deg,
      lat: 36.906100 deg,
      lon: -122.115851 deg,
      deltaT: 3.529302 s,
      deltaX: -2.300003 m,
      approachRate: -0.651688 m/s,
      posRepo size: 4

2025-08-09T17:22:42.750Z,1754760162.750 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 71.70 m.
2025-08-09T17:22:42.757Z,1754760162.757 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 71.699997 m,
      nav range: 70.445511 m,
      bearing: 28.157706 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.018115 deg/s,
      cmd heading: 29.126047 deg,
      new cmd heading: 29.152999 deg.

2025-08-09T17:22:43.040Z,1754760163.040 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 71.70 m.
2025-08-09T17:22:43.047Z,1754760163.047 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 71.699997 m,
      nav range: 70.238152 m,
      bearing: 28.164353 deg,
      approach rate: -0.670174 m/s,
      LOS rate: 0.021545 deg/s,
      cmd heading: 29.152999 deg,
      new cmd heading: 29.172998 deg.

2025-08-09T17:22:43.504Z,1754760163.504 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 71.70 m.
2025-08-09T17:22:43.512Z,1754760163.512 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 71.699997 m,
      nav range: 69.926971 m,
      bearing: 28.174187 deg,
      approach rate: -0.671094 m/s,
      LOS rate: 0.021303 deg/s,
      cmd heading: 29.172998 deg,
      new cmd heading: 29.202632 deg.

2025-08-09T17:22:43.948Z,1754760163.948 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-09T17:22:43.954Z,1754760163.954 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 71.70 m.
2025-08-09T17:22:43.957Z,1754760163.957 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 71.699997 m,
      nav range: 69.637428 m,
      bearing: 28.180273 deg,
      approach rate: -0.648444 m/s,
      LOS rate: 0.013686 deg/s,
      cmd heading: 29.202631 deg,
      new cmd heading: 29.220964 deg.

2025-08-09T17:22:44.032Z,1754760164.032 [DAT](INFO): ****** received valid address query ******
2025-08-09T17:22:44.032Z,1754760164.032 [DAT](INFO): ****** received valid ping request ******
2025-08-09T17:22:44.032Z,1754760164.032 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-09T17:22:44.283Z,1754760164.283 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.725360
2025-08-09T17:22:44.316Z,1754760164.316 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 71.70 m.
2025-08-09T17:22:44.318Z,1754760164.318 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 71.699997 m,
      nav range: 69.374138 m,
      bearing: 28.185724 deg,
      approach rate: -0.720205 m/s,
      LOS rate: 0.014967 deg/s,
      cmd heading: 29.220963 deg,
      new cmd heading: 29.237378 deg.

2025-08-09T17:22:44.538Z,1754760164.538 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.979496
2025-08-09T17:22:44.736Z,1754760164.736 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 71.70 m.
2025-08-09T17:22:44.739Z,1754760164.739 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 71.699997 m,
      nav range: 69.083412 m,
      bearing: 28.187567 deg,
      approach rate: -0.691085 m/s,
      LOS rate: 0.004400 deg/s,
      cmd heading: 29.237376 deg,
      new cmd heading: 29.242929 deg.

2025-08-09T17:22:44.788Z,1754760164.788 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.230088
2025-08-09T17:22:45.039Z,1754760165.039 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.481257
2025-08-09T17:22:45.117Z,1754760165.117 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 71.70 m.
2025-08-09T17:22:45.120Z,1754760165.120 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 71.699997 m,
      nav range: 68.820305 m,
      bearing: 28.189041 deg,
      approach rate: -0.691006 m/s,
      LOS rate: 0.003885 deg/s,
      cmd heading: 29.242929 deg,
      new cmd heading: 29.247367 deg.

2025-08-09T17:22:45.291Z,1754760165.291 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.733210
2025-08-09T17:22:45.543Z,1754760165.543 [DAT](INFO): DAT read: Rx Time:17:22:44.4333

2025-08-09T17:22:45.544Z,1754760165.544 [DAT](INFO): Rx dataTimestamp_ set to:1754760165.543626
2025-08-09T17:22:45.544Z,1754760165.544 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.986426
2025-08-09T17:22:45.552Z,1754760165.552 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 71.70 m.
2025-08-09T17:22:45.569Z,1754760165.569 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 71.699997 m,
      nav range: 68.535698 m,
      bearing: 28.190496 deg,
      approach rate: -0.662852 m/s,
      LOS rate: 0.003403 deg/s,
      cmd heading: 29.247365 deg,
      new cmd heading: 29.251748 deg.

2025-08-09T17:22:45.799Z,1754760165.799 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.240879
2025-08-09T17:22:46.010Z,1754760166.010 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-09T17:22:46.016Z,1754760166.016 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 71.70 m.
2025-08-09T17:22:46.023Z,1754760166.023 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 71.699997 m,
      nav range: 68.211990 m,
      bearing: 28.189725 deg,
      approach rate: -0.689254 m/s,
      LOS rate: -0.001649 deg/s,
      cmd heading: 29.251747 deg,
      new cmd heading: 29.249424 deg.

2025-08-09T17:22:46.055Z,1754760166.055 [DAT](INFO): DAT read: 17:22:44.4333 LVL= 27088, 26305, 24722, 32755, AGC= 67, IDX= 415,-0.34,-0.955,-2.617,-0.731,-1.175, PHS= 0.322,-1.397, 0.399, RAW= 152.2,   7.7, CAL= 151.7,   8.2, ROT= 358.3,  -8.2

2025-08-09T17:22:46.056Z,1754760166.056 [DAT](INFO): got valid direction response:
 17:22:44.4333 LVL= 27088, 26305, 24722, 32755, AGC= 67, IDX= 415,-0.34,-0.955,-2.617,-0.731,-1.175, PHS= 0.322,-1.397, 0.399, RAW= 152.2,   7.7, CAL= 151.7,   8.2, ROT= 358.3,  -8.2

2025-08-09T17:22:46.057Z,1754760166.057 [DAT](INFO): DAT read: Bearing 196.9,  -1.6 (Local)

2025-08-09T17:22:46.057Z,1754760166.057 [DAT](INFO): Local bearing/azimuth received:
 Bearing 196.9,  -1.6 (Local)

2025-08-09T17:22:46.059Z,1754760166.059 [DAT](INFO): DAT read: Range 11 to 50 : 69.3 m  (Round-trip  92.4 ms) speed  0.8 m/s

2025-08-09T17:22:46.060Z,1754760166.060 [DAT](INFO): DAT read: user:494>

2025-08-09T17:22:46.061Z,1754760166.061 [DAT](INFO): DAT read: Tx time:17:22:45.5367

2025-08-09T17:22:46.061Z,1754760166.061 [DAT](INFO): Ping request sent.
2025-08-09T17:22:46.062Z,1754760166.062 [DAT](INFO): transmitted an acoustic signal
2025-08-09T17:22:46.079Z,1754760166.079 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-09T17:22:46.080Z,1754760166.080 [DAT](INFO): direction in FSK: [0.989341,-0.029363,0.142629]
2025-08-09T17:22:46.080Z,1754760166.080 [DAT](INFO): publishing transmit ping time
2025-08-09T17:22:46.081Z,1754760166.081 [DAT](INFO): publishing direction and range info
2025-08-09T17:22:46.089Z,1754760166.089 [DAT](INFO): publishing transmit ping time
2025-08-09T17:22:46.090Z,1754760166.090 [DAT](INFO): publishing direction and range info
2025-08-09T17:22:46.338Z,1754760166.338 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 69.300003 m,
      deltaT: 3.528414 s,
      deltaX: -2.399994 m,
      approachRate: -0.680191 m/s,
      rangeRepo size: 4

2025-08-09T17:22:46.355Z,1754760166.355 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 69.300003 m,
      bearing: 28.102776 deg,
      lat: 36.906102 deg,
      lon: -122.115851 deg,
      deltaT: 3.528414 s,
      deltaX: -2.399994 m,
      approachRate: -0.680191 m/s,
      posRepo size: 4

2025-08-09T17:22:46.356Z,1754760166.356 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 69.30 m.
2025-08-09T17:22:46.365Z,1754760166.365 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 69.300003 m,
      nav range: 68.183037 m,
      bearing: 28.102776 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.001649 deg/s,
      cmd heading: 29.249425 deg,
      new cmd heading: 29.247836 deg.

2025-08-09T17:22:46.792Z,1754760166.792 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 69.30 m.
2025-08-09T17:22:46.799Z,1754760166.799 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 69.300003 m,
      nav range: 67.884590 m,
      bearing: 28.106960 deg,
      approach rate: -0.655685 m/s,
      LOS rate: 0.009231 deg/s,
      cmd heading: 29.247836 deg,
      new cmd heading: 29.260441 deg.

2025-08-09T17:22:47.147Z,1754760167.147 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 69.30 m.
2025-08-09T17:22:47.149Z,1754760167.149 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 69.300003 m,
      nav range: 67.634430 m,
      bearing: 28.109858 deg,
      approach rate: -0.705798 m/s,
      LOS rate: 0.008207 deg/s,
      cmd heading: 29.260442 deg,
      new cmd heading: 29.269169 deg.

2025-08-09T17:22:47.577Z,1754760167.577 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 69.30 m.
2025-08-09T17:22:47.579Z,1754760167.579 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 69.300003 m,
      nav range: 67.347534 m,
      bearing: 28.113208 deg,
      approach rate: -0.667723 m/s,
      LOS rate: 0.007831 deg/s,
      cmd heading: 29.269167 deg,
      new cmd heading: 29.279261 deg.

2025-08-09T17:22:48.154Z,1754760168.154 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-09T17:22:48.156Z,1754760168.156 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 69.30 m.
2025-08-09T17:22:48.159Z,1754760168.159 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 69.300003 m,
      nav range: 66.967186 m,
      bearing: 28.121124 deg,
      approach rate: -0.655942 m/s,
      LOS rate: 0.013728 deg/s,
      cmd heading: 29.279262 deg,
      new cmd heading: 29.303143 deg.

2025-08-09T17:22:48.315Z,1754760168.315 [DAT](INFO): ****** received valid address query ******
2025-08-09T17:22:48.315Z,1754760168.315 [DAT](INFO): ****** received valid ping request ******
2025-08-09T17:22:48.315Z,1754760168.315 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-09T17:22:48.506Z,1754760168.506 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 69.30 m.
2025-08-09T17:22:48.513Z,1754760168.513 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 69.300003 m,
      nav range: 66.749863 m,
      bearing: 28.125232 deg,
      approach rate: -0.622287 m/s,
      LOS rate: 0.011801 deg/s,
      cmd heading: 29.303144 deg,
      new cmd heading: 29.315508 deg.

2025-08-09T17:22:48.573Z,1754760168.573 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.510792
2025-08-09T17:22:48.819Z,1754760168.819 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.757663
2025-08-09T17:22:48.919Z,1754760168.919 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 69.30 m.
2025-08-09T17:22:48.921Z,1754760168.921 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 69.300003 m,
      nav range: 66.458252 m,
      bearing: 28.132717 deg,
      approach rate: -0.706526 m/s,
      LOS rate: 0.018214 deg/s,
      cmd heading: 29.315507 deg,
      new cmd heading: 29.338060 deg.

2025-08-09T17:22:49.071Z,1754760169.071 [DAT](INFO): DAT read: Rx Time:17:22:48.0298

2025-08-09T17:22:49.072Z,1754760169.072 [DAT](INFO): Rx dataTimestamp_ set to:1754760169.071592
2025-08-09T17:22:49.072Z,1754760169.072 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.010806
2025-08-09T17:22:49.298Z,1754760169.298 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 69.30 m.
2025-08-09T17:22:49.300Z,1754760169.300 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 69.300003 m,
      nav range: 66.212685 m,
      bearing: 28.139011 deg,
      approach rate: -0.647421 m/s,
      LOS rate: 0.016658 deg/s,
      cmd heading: 29.338060 deg,
      new cmd heading: 29.357015 deg.

2025-08-09T17:22:49.323Z,1754760169.323 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.261646
2025-08-09T17:22:49.595Z,1754760169.595 [DAT](INFO): DAT read: 17:22:48.0298 LVL= 31968, 32753, 28178, 32755, AGC= 66, IDX= 412, 0.39,-0.287,-1.989,-0.011,-0.497, PHS= 0.312,-1.447, 0.442, RAW= 153.5,   7.6, CAL= 153.0,   8.0, ROT= 357.0,  -8.0

2025-08-09T17:22:49.619Z,1754760169.619 [DAT](INFO): got valid direction response:
 17:22:48.0298 LVL= 31968, 32753, 28178, 32755, AGC= 66, IDX= 412, 0.39,-0.287,-1.989,-0.011,-0.497, PHS= 0.312,-1.447, 0.442, RAW= 153.5,   7.6, CAL= 153.0,   8.0, ROT= 357.0,  -8.0

2025-08-09T17:22:49.630Z,1754760169.630 [DAT](INFO): DAT read: Bearing 197.2,  -3.3 (Local)

2025-08-09T17:22:49.632Z,1754760169.632 [DAT](INFO): Local bearing/azimuth received:
 Bearing 197.2,  -3.3 (Local)

2025-08-09T17:22:49.640Z,1754760169.640 [DAT](INFO): DAT read: Range 11 to 50 : 66.7 m  (Round-trip  89.0 ms) speed  0.6 m/s

2025-08-09T17:22:49.655Z,1754760169.655 [DAT](INFO): DAT read: user:495>

2025-08-09T17:22:49.657Z,1754760169.657 [DAT](INFO): DAT read: Tx time:17:22:49.1367

2025-08-09T17:22:49.667Z,1754760169.667 [DAT](INFO): Ping request sent.
2025-08-09T17:22:49.667Z,1754760169.667 [DAT](INFO): transmitted an acoustic signal
2025-08-09T17:22:49.668Z,1754760169.668 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-09T17:22:49.683Z,1754760169.683 [DAT](INFO): direction in FSK: [0.988911,-0.051827,0.139173]
2025-08-09T17:22:49.683Z,1754760169.683 [DAT](INFO): publishing transmit ping time
2025-08-09T17:22:49.687Z,1754760169.687 [DAT](INFO): publishing direction and range info
2025-08-09T17:22:49.690Z,1754760169.690 [DAT](INFO): publishing transmit ping time
2025-08-09T17:22:49.690Z,1754760169.690 [DAT](INFO): publishing direction and range info
2025-08-09T17:22:49.824Z,1754760169.824 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 66.699997 m,
      deltaT: 3.527624 s,
      deltaX: -2.600006 m,
      approachRate: -0.737042 m/s,
      rangeRepo size: 4

2025-08-09T17:22:49.830Z,1754760169.830 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 66.699997 m,
      bearing: 27.876988 deg,
      lat: 36.906103 deg,
      lon: -122.115854 deg,
      deltaT: 3.527624 s,
      deltaX: -2.600006 m,
      approachRate: -0.737042 m/s,
      posRepo size: 4

2025-08-09T17:22:49.831Z,1754760169.831 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 66.70 m.
2025-08-09T17:22:49.839Z,1754760169.839 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 66.699997 m,
      nav range: 65.835258 m,
      bearing: 27.876988 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.016658 deg/s,
      cmd heading: 29.357014 deg,
      new cmd heading: 29.383295 deg.

2025-08-09T17:22:50.213Z,1754760170.213 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-09T17:22:50.215Z,1754760170.215 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 66.70 m.
2025-08-09T17:22:50.217Z,1754760170.217 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 66.699997 m,
      nav range: 65.555855 m,
      bearing: 27.884987 deg,
      approach rate: -0.714043 m/s,
      LOS rate: 0.020531 deg/s,
      cmd heading: 29.383296 deg,
      new cmd heading: 29.407397 deg.

2025-08-09T17:22:50.332Z,1754760170.332 [DAT](INFO): ****** received valid address query ******
2025-08-09T17:22:50.333Z,1754760170.333 [DAT](INFO): ****** received valid ping request ******
2025-08-09T17:22:50.333Z,1754760170.333 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-09T17:22:50.583Z,1754760170.583 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.916739
2025-08-09T17:22:50.602Z,1754760170.602 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 66.70 m.
2025-08-09T17:22:50.644Z,1754760170.644 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 66.699997 m,
      nav range: 65.300156 m,
      bearing: 27.892044 deg,
      approach rate: -0.660590 m/s,
      LOS rate: 0.018302 deg/s,
      cmd heading: 29.407397 deg,
      new cmd heading: 29.428649 deg.

2025-08-09T17:22:50.837Z,1754760170.837 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.170347
2025-08-09T17:22:51.039Z,1754760171.039 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 66.70 m.
2025-08-09T17:22:51.041Z,1754760171.041 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 66.699997 m,
      nav range: 65.003288 m,
      bearing: 27.901691 deg,
      approach rate: -0.680224 m/s,
      LOS rate: 0.022205 deg/s,
      cmd heading: 29.428649 deg,
      new cmd heading: 29.457721 deg.

2025-08-09T17:22:51.088Z,1754760171.088 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.420942
2025-08-09T17:22:51.340Z,1754760171.340 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.673646
2025-08-09T17:22:51.411Z,1754760171.411 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 66.70 m.
2025-08-09T17:22:51.414Z,1754760171.414 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 66.699997 m,
      nav range: 64.751091 m,
      bearing: 27.909704 deg,
      approach rate: -0.676669 m/s,
      LOS rate: 0.021583 deg/s,
      cmd heading: 29.457721 deg,
      new cmd heading: 29.481854 deg.

2025-08-09T17:22:51.591Z,1754760171.591 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.924748
2025-08-09T17:22:51.845Z,1754760171.845 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.178038
2025-08-09T17:22:51.889Z,1754760171.889 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for water mass range. Device response is::WD,        +0.00,        +0.00, 0.00
2025-08-09T17:22:51.924Z,1754760171.924 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 66.70 m.
2025-08-09T17:22:51.927Z,1754760171.927 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 66.699997 m,
      nav range: 64.405342 m,
      bearing: 27.920650 deg,
      approach rate: -0.674321 m/s,
      LOS rate: 0.021463 deg/s,
      cmd heading: 29.481852 deg,
      new cmd heading: 29.514867 deg.

2025-08-09T17:22:52.095Z,1754760172.095 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.428596
2025-08-09T17:22:52.285Z,1754760172.285 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-09T17:22:52.288Z,1754760172.288 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 66.70 m.
2025-08-09T17:22:52.295Z,1754760172.295 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 66.699997 m,
      nav range: 64.170998 m,
      bearing: 27.927967 deg,
      approach rate: -0.644049 m/s,
      LOS rate: 0.020184 deg/s,
      cmd heading: 29.514866 deg,
      new cmd heading: 29.536899 deg.

2025-08-09T17:22:52.349Z,1754760172.349 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.682258
2025-08-09T17:22:52.599Z,1754760172.599 [DAT](INFO): DAT read: Rx Time:17:22:51.6266

2025-08-09T17:22:52.600Z,1754760172.600 [DAT](INFO): Rx dataTimestamp_ set to:1754760172.599507
2025-08-09T17:22:52.600Z,1754760172.600 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.933718
2025-08-09T17:22:52.759Z,1754760172.759 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 66.70 m.
2025-08-09T17:22:52.762Z,1754760172.762 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 66.699997 m,
      nav range: 63.843628 m,
      bearing: 27.935161 deg,
      approach rate: -0.694199 m/s,
      LOS rate: 0.015333 deg/s,
      cmd heading: 29.536900 deg,
      new cmd heading: 29.558593 deg.

2025-08-09T17:22:52.852Z,1754760172.852 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.185638
2025-08-09T17:22:53.103Z,1754760173.103 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.436805
2025-08-09T17:22:53.194Z,1754760173.194 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 66.70 m.
2025-08-09T17:22:53.197Z,1754760173.197 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 66.699997 m,
      nav range: 63.583809 m,
      bearing: 27.940859 deg,
      approach rate: -0.603093 m/s,
      LOS rate: 0.013280 deg/s,
      cmd heading: 29.558593 deg,
      new cmd heading: 29.575756 deg.

2025-08-09T17:22:53.363Z,1754760173.363 [DAT](INFO): DAT read: 17:22:51.6266 LVL= 24512, 30113, 22850, 32755, AGC= 66, IDX= 411, 0.29,-2.987, 1.610,-2.710, 3.091, PHS= 0.307,-1.436, 0.438, RAW= 153.6,   7.7, CAL= 153.1,   8.1, ROT= 356.9,  -8.1

2025-08-09T17:22:53.364Z,1754760173.364 [DAT](INFO): got valid direction response:
 17:22:51.6266 LVL= 24512, 30113, 22850, 32755, AGC= 66, IDX= 411, 0.29,-2.987, 1.610,-2.710, 3.091, PHS= 0.307,-1.436, 0.438, RAW= 153.6,   7.7, CAL= 153.1,   8.1, ROT= 356.9,  -8.1

2025-08-09T17:22:53.365Z,1754760173.365 [DAT](INFO): DAT read: Bearing 197.6,  -3.6 (Local)

2025-08-09T17:22:53.366Z,1754760173.366 [DAT](INFO): Local bearing/azimuth received:
 Bearing 197.6,  -3.6 (Local)

2025-08-09T17:22:53.367Z,1754760173.367 [DAT](INFO): DAT read: Range 11 to 50 : 64.3 m  (Round-trip  85.8 ms) speed  0.5 m/s

2025-08-09T17:22:53.368Z,1754760173.368 [DAT](INFO): DAT read: user:496>

2025-08-09T17:22:53.369Z,1754760173.369 [DAT](INFO): DAT read: Tx time:17:22:52.7367

2025-08-09T17:22:53.369Z,1754760173.369 [DAT](INFO): Ping request sent.
2025-08-09T17:22:53.369Z,1754760173.369 [DAT](INFO): transmitted an acoustic signal
2025-08-09T17:22:53.369Z,1754760173.369 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-09T17:22:53.371Z,1754760173.371 [DAT](INFO): direction in FSK: [0.988575,-0.053539,0.140901]
2025-08-09T17:22:53.371Z,1754760173.371 [DAT](INFO): publishing transmit ping time
2025-08-09T17:22:53.371Z,1754760173.371 [DAT](INFO): publishing direction and range info
2025-08-09T17:22:53.379Z,1754760173.379 [DAT](INFO): publishing transmit ping time
2025-08-09T17:22:53.379Z,1754760173.379 [DAT](INFO): publishing direction and range info
2025-08-09T17:22:53.575Z,1754760173.575 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 64.300003 m,
      deltaT: 3.779272 s,
      deltaX: -2.399994 m,
      approachRate: -0.635041 m/s,
      rangeRepo size: 4

2025-08-09T17:22:53.577Z,1754760173.577 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 64.300003 m,
      bearing: 27.830030 deg,
      lat: 36.906104 deg,
      lon: -122.115855 deg,
      deltaT: 3.779272 s,
      deltaX: -2.399994 m,
      approachRate: -0.635041 m/s,
      posRepo size: 4

2025-08-09T17:22:53.578Z,1754760173.578 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.30 m.
2025-08-09T17:22:53.585Z,1754760173.585 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 64.300003 m,
      nav range: 63.445145 m,
      bearing: 27.830030 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.013280 deg/s,
      cmd heading: 29.575757 deg,
      new cmd heading: 29.590912 deg.

2025-08-09T17:22:53.957Z,1754760173.957 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.30 m.
2025-08-09T17:22:53.980Z,1754760173.980 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 64.300003 m,
      nav range: 63.187016 m,
      bearing: 27.839824 deg,
      approach rate: -0.668119 m/s,
      LOS rate: 0.025454 deg/s,
      cmd heading: 29.590913 deg,
      new cmd heading: 29.620416 deg.

2025-08-09T17:22:54.364Z,1754760174.364 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-09T17:22:54.371Z,1754760174.371 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.30 m.
2025-08-09T17:22:54.374Z,1754760174.374 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 64.300003 m,
      nav range: 62.937233 m,
      bearing: 27.849301 deg,
      approach rate: -0.609608 m/s,
      LOS rate: 0.023221 deg/s,
      cmd heading: 29.620416 deg,
      new cmd heading: 29.648961 deg.

2025-08-09T17:22:54.615Z,1754760174.615 [DAT](INFO): ****** received valid address query ******
2025-08-09T17:22:54.615Z,1754760174.615 [DAT](INFO): ****** received valid ping request ******
2025-08-09T17:22:54.615Z,1754760174.615 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-09T17:22:54.789Z,1754760174.789 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.30 m.
2025-08-09T17:22:54.792Z,1754760174.792 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 64.300003 m,
      nav range: 62.649929 m,
      bearing: 27.859609 deg,
      approach rate: -0.680760 m/s,
      LOS rate: 0.024537 deg/s,
      cmd heading: 29.648960 deg,
      new cmd heading: 29.680026 deg.

2025-08-09T17:22:54.869Z,1754760174.869 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.499468
2025-08-09T17:22:55.119Z,1754760175.119 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.750191
2025-08-09T17:22:55.152Z,1754760175.152 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.30 m.
2025-08-09T17:22:55.170Z,1754760175.170 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 64.300003 m,
      nav range: 62.413353 m,
      bearing: 27.868190 deg,
      approach rate: -0.651391 m/s,
      LOS rate: 0.023717 deg/s,
      cmd heading: 29.680027 deg,
      new cmd heading: 29.705868 deg.

2025-08-09T17:22:55.372Z,1754760175.372 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.002540
2025-08-09T17:22:55.572Z,1754760175.572 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.30 m.
2025-08-09T17:22:55.574Z,1754760175.574 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 64.300003 m,
      nav range: 62.140759 m,
      bearing: 27.878081 deg,
      approach rate: -0.649169 m/s,
      LOS rate: 0.023658 deg/s,
      cmd heading: 29.705869 deg,
      new cmd heading: 29.735672 deg.

2025-08-09T17:22:55.624Z,1754760175.624 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.255268
2025-08-09T17:22:55.876Z,1754760175.876 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.506911
2025-08-09T17:22:55.000Z,1754760176.000 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.30 m.
2025-08-09T17:22:56.009Z,1754760176.009 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 64.300003 m,
      nav range: 61.867065 m,
      bearing: 27.889902 deg,
      approach rate: -0.639144 m/s,
      LOS rate: 0.027727 deg/s,
      cmd heading: 29.735673 deg,
      new cmd heading: 29.771292 deg.

2025-08-09T17:22:56.128Z,1754760176.128 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.758604
2025-08-09T17:22:56.375Z,1754760176.375 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-09T17:22:56.377Z,1754760176.377 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.30 m.
2025-08-09T17:22:56.379Z,1754760176.379 [DAT](INFO): DAT read: Rx Time:17:22:55.2235

2025-08-09T17:22:56.380Z,1754760176.380 [DAT](INFO): Rx dataTimestamp_ set to:1754760176.379671
2025-08-09T17:22:56.380Z,1754760176.380 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.011508
2025-08-09T17:22:56.382Z,1754760176.382 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 64.300003 m,
      nav range: 61.601467 m,
      bearing: 27.901536 deg,
      approach rate: -0.705064 m/s,
      LOS rate: 0.031017 deg/s,
      cmd heading: 29.771292 deg,
      new cmd heading: 29.806344 deg.

2025-08-09T17:22:56.632Z,1754760176.632 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.263212
2025-08-09T17:22:56.868Z,1754760176.868 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.30 m.
2025-08-09T17:22:56.876Z,1754760176.876 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 64.300003 m,
      nav range: 61.317123 m,
      bearing: 27.916658 deg,
      approach rate: -0.585354 m/s,
      LOS rate: 0.031275 deg/s,
      cmd heading: 29.806344 deg,
      new cmd heading: 29.851921 deg.

2025-08-09T17:22:56.889Z,1754760176.889 [DAT](INFO): DAT read: 17:22:55.2235 LVL= 27952, 32753, 24498, 32755, AGC= 66, IDX= 411, 0.04, 2.345, 0.660, 2.644, 2.158, PHS= 0.289,-1.453, 0.442, RAW= 154.2,   8.0, CAL= 153.7,   8.4, ROT= 356.3,  -8.4

2025-08-09T17:22:56.890Z,1754760176.890 [DAT](INFO): got valid direction response:
 17:22:55.2235 LVL= 27952, 32753, 24498, 32755, AGC= 66, IDX= 411, 0.04, 2.345, 0.660, 2.644, 2.158, PHS= 0.289,-1.453, 0.442, RAW= 154.2,   8.0, CAL= 153.7,   8.4, ROT= 356.3,  -8.4

2025-08-09T17:22:56.891Z,1754760176.891 [DAT](INFO): DAT read: Bearing 198.2,  -4.8 (Local)

2025-08-09T17:22:56.891Z,1754760176.891 [DAT](INFO): Local bearing/azimuth received:
 Bearing 198.2,  -4.8 (Local)

2025-08-09T17:22:56.893Z,1754760176.893 [DAT](INFO): DAT read: Range 11 to 50 : 62.0 m  (Round-trip  82.7 ms) speed  0.6 m/s

2025-08-09T17:22:56.894Z,1754760176.894 [DAT](INFO): DAT read: user:497>

2025-08-09T17:22:56.894Z,1754760176.894 [DAT](INFO): DAT read: Tx time:17:22:56.3367

2025-08-09T17:22:56.895Z,1754760176.895 [DAT](INFO): Ping request sent.
2025-08-09T17:22:56.895Z,1754760176.895 [DAT](INFO): transmitted an acoustic signal
2025-08-09T17:22:56.895Z,1754760176.895 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-09T17:22:56.896Z,1754760176.896 [DAT](INFO): direction in FSK: [0.987210,-0.063840,0.146083]
2025-08-09T17:22:56.896Z,1754760176.896 [DAT](INFO): publishing transmit ping time
2025-08-09T17:22:56.897Z,1754760176.897 [DAT](INFO): publishing direction and range info
2025-08-09T17:22:56.904Z,1754760176.904 [DAT](INFO): publishing transmit ping time
2025-08-09T17:22:56.905Z,1754760176.905 [DAT](INFO): publishing direction and range info
2025-08-09T17:22:57.240Z,1754760177.240 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 62.000000 m,
      deltaT: 3.527336 s,
      deltaX: -2.300003 m,
      approachRate: -0.652051 m/s,
      rangeRepo size: 4

2025-08-09T17:22:57.242Z,1754760177.242 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 62.000000 m,
      bearing: 27.887061 deg,
      lat: 36.906105 deg,
      lon: -122.115855 deg,
      deltaT: 3.527336 s,
      deltaX: -2.300003 m,
      approachRate: -0.652051 m/s,
      posRepo size: 4

2025-08-09T17:22:57.243Z,1754760177.243 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 62.00 m.
2025-08-09T17:22:57.245Z,1754760177.245 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 62.000000 m,
      nav range: 61.152458 m,
      bearing: 27.887061 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.031275 deg/s,
      cmd heading: 29.851919 deg,
      new cmd heading: 29.887293 deg.

2025-08-09T17:22:57.632Z,1754760177.632 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 62.00 m.
2025-08-09T17:22:57.635Z,1754760177.635 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 62.000000 m,
      nav range: 60.904957 m,
      bearing: 27.900600 deg,
      approach rate: -0.630175 m/s,
      LOS rate: 0.034612 deg/s,
      cmd heading: 29.887292 deg,
      new cmd heading: 29.928074 deg.

2025-08-09T17:22:58.071Z,1754760178.071 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 62.00 m.
2025-08-09T17:22:58.074Z,1754760178.074 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 62.000000 m,
      nav range: 60.625221 m,
      bearing: 27.914816 deg,
      approach rate: -0.637228 m/s,
      LOS rate: 0.032533 deg/s,
      cmd heading: 29.928072 deg,
      new cmd heading: 29.970916 deg.

2025-08-09T17:22:58.440Z,1754760178.440 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-09T17:22:58.442Z,1754760178.442 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 62.00 m.
2025-08-09T17:22:58.445Z,1754760178.445 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 62.000000 m,
      nav range: 60.388931 m,
      bearing: 27.927009 deg,
      approach rate: -0.637165 m/s,
      LOS rate: 0.033006 deg/s,
      cmd heading: 29.970918 deg,
      new cmd heading: 30.007639 deg.

2025-08-09T17:22:58.647Z,1754760178.647 [DAT](INFO): ****** received valid address query ******
2025-08-09T17:22:58.647Z,1754760178.647 [DAT](INFO): ****** received valid ping request ******
2025-08-09T17:22:58.648Z,1754760178.648 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-09T17:22:58.892Z,1754760178.892 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 62.00 m.
2025-08-09T17:22:58.894Z,1754760178.894 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 62.000000 m,
      nav range: 60.105015 m,
      bearing: 27.935378 deg,
      approach rate: -0.631442 m/s,
      LOS rate: 0.018702 deg/s,
      cmd heading: 30.007640 deg,
      new cmd heading: 30.032867 deg.

2025-08-09T17:22:58.900Z,1754760178.900 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.004714
2025-08-09T17:22:59.151Z,1754760179.151 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.256448
2025-08-09T17:22:59.254Z,1754760179.254 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 62.00 m.
2025-08-09T17:22:59.257Z,1754760179.257 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 62.000000 m,
      nav range: 59.876274 m,
      bearing: 27.942287 deg,
      approach rate: -0.631272 m/s,
      LOS rate: 0.019141 deg/s,
      cmd heading: 30.032868 deg,
      new cmd heading: 30.053675 deg.

2025-08-09T17:22:59.403Z,1754760179.403 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.508520
2025-08-09T17:22:59.655Z,1754760179.655 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.760529
2025-08-09T17:22:59.685Z,1754760179.685 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 62.00 m.
2025-08-09T17:22:59.688Z,1754760179.688 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 62.000000 m,
      nav range: 59.615059 m,
      bearing: 27.950242 deg,
      approach rate: -0.606166 m/s,
      LOS rate: 0.018541 deg/s,
      cmd heading: 30.053676 deg,
      new cmd heading: 30.077645 deg.

2025-08-09T17:22:59.908Z,1754760179.908 [DAT](INFO): DAT read: Rx Time:17:22:58.8204

2025-08-09T17:22:59.908Z,1754760179.908 [DAT](INFO): Rx dataTimestamp_ set to:1754760179.907703
2025-08-09T17:22:59.909Z,1754760179.909 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.013743
2025-08-09T17:23:00.121Z,1754760180.121 [RDI_Pathfinder](ERROR): only read 2 of 4 data items for water velocity. Device response is::WS,-2768,-32768,V
2025-08-09T17:23:00.157Z,1754760180.157 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 62.00 m.
2025-08-09T17:23:00.159Z,1754760180.159 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.264632
2025-08-09T17:23:00.162Z,1754760180.162 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 62.000000 m,
      nav range: 59.319283 m,
      bearing: 27.959334 deg,
      approach rate: -0.626997 m/s,
      LOS rate: 0.019370 deg/s,
      cmd heading: 30.077646 deg,
      new cmd heading: 30.105059 deg.

2025-08-09T17:23:00.420Z,1754760180.420 [DAT](INFO): DAT read: 17:22:58.8204 LVL= 25968, 29633, 25698, 32179, AGC= 65, IDX= 411,-0.09,-1.442,-3.099,-1.129,-1.612, PHS= 0.272,-1.443, 0.439, RAW= 154.6,   8.2, CAL= 154.2,   8.6, ROT= 355.8,  -8.6

2025-08-09T17:23:00.421Z,1754760180.421 [DAT](INFO): got valid direction response:
 17:22:58.8204 LVL= 25968, 29633, 25698, 32179, AGC= 65, IDX= 411,-0.09,-1.442,-3.099,-1.129,-1.612, PHS= 0.272,-1.443, 0.439, RAW= 154.6,   8.2, CAL= 154.2,   8.6, ROT= 355.8,  -8.6

2025-08-09T17:23:00.422Z,1754760180.422 [DAT](INFO): DAT read: Bearing 198.5,  -5.8 (Local)

2025-08-09T17:23:00.422Z,1754760180.422 [DAT](INFO): Local bearing/azimuth received:
 Bearing 198.5,  -5.8 (Local)

2025-08-09T17:23:00.428Z,1754760180.428 [DAT](INFO): DAT read: Range 11 to 50 : 59.6 m  (Round-trip  79.5 ms) speed  0.5 m/s

2025-08-09T17:23:00.429Z,1754760180.429 [DAT](INFO): DAT read: user:498>

2025-08-09T17:23:00.431Z,1754760180.431 [DAT](INFO): DAT read: Tx time:17:22:59.9367

2025-08-09T17:23:00.431Z,1754760180.431 [DAT](INFO): Ping request sent.
2025-08-09T17:23:00.431Z,1754760180.431 [DAT](INFO): transmitted an acoustic signal
2025-08-09T17:23:00.432Z,1754760180.432 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-09T17:23:00.433Z,1754760180.433 [DAT](INFO): direction in FSK: [0.986101,-0.072415,0.149535]
2025-08-09T17:23:00.433Z,1754760180.433 [DAT](INFO): publishing transmit ping time
2025-08-09T17:23:00.434Z,1754760180.434 [DAT](INFO): publishing direction and range info
2025-08-09T17:23:00.439Z,1754760180.439 [DAT](INFO): publishing transmit ping time
2025-08-09T17:23:00.440Z,1754760180.440 [DAT](INFO): publishing direction and range info
2025-08-09T17:23:00.617Z,1754760180.617 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 59.599998 m,
      deltaT: 3.529560 s,
      deltaX: -2.400002 m,
      approachRate: -0.679972 m/s,
      rangeRepo size: 4

2025-08-09T17:23:00.623Z,1754760180.623 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 59.599998 m,
      bearing: 27.729859 deg,
      lat: 36.906106 deg,
      lon: -122.115857 deg,
      deltaT: 3.529560 s,
      deltaX: -2.400002 m,
      approachRate: -0.679972 m/s,
      posRepo size: 4

2025-08-09T17:23:00.624Z,1754760180.624 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.60 m.
2025-08-09T17:23:00.624Z,1754760180.624 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 59.60 m.
2025-08-09T17:23:00.631Z,1754760180.631 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 59.599998 m,
      nav range: 58.979614 m,
      bearing: 27.729859 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.019370 deg/s,
      cmd heading: 30.105059 deg,
      new cmd heading: 30.131759 deg.

2025-08-09T17:23:00.665Z,1754760180.665 [DockingStepper](INFO): Changing to mode: 2
2025-08-09T17:23:01.031Z,1754760181.031 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-09T17:23:01.033Z,1754760181.033 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.60 m.
2025-08-09T17:23:01.033Z,1754760181.033 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 59.60 m.
2025-08-09T17:23:01.036Z,1754760181.036 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 59.599998 m,
      nav range: 58.679955 m,
      bearing: 27.726049 deg,
      approach rate: -0.719475 m/s,
      LOS rate: -0.009192 deg/s,
      cmd heading: 30.131759 deg,
      new cmd heading: 30.120273 deg.

2025-08-09T17:23:01.167Z,1754760181.167 [DAT](INFO): ****** received valid address query ******
2025-08-09T17:23:01.167Z,1754760181.167 [DAT](INFO): ****** received valid ping request ******
2025-08-09T17:23:01.168Z,1754760181.168 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-09T17:23:01.419Z,1754760181.419 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.988101
2025-08-09T17:23:01.423Z,1754760181.423 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.60 m.
2025-08-09T17:23:01.424Z,1754760181.424 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 59.60 m.
2025-08-09T17:23:01.427Z,1754760181.427 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 59.599998 m,
      nav range: 58.421585 m,
      bearing: 27.722275 deg,
      approach rate: -0.661468 m/s,
      LOS rate: -0.009705 deg/s,
      cmd heading: 30.120274 deg,
      new cmd heading: 30.108901 deg.

2025-08-09T17:23:01.673Z,1754760181.673 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.241297
2025-08-09T17:23:01.878Z,1754760181.878 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.60 m.
2025-08-09T17:23:01.879Z,1754760181.879 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 59.60 m.
2025-08-09T17:23:01.882Z,1754760181.882 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 59.599998 m,
      nav range: 58.119804 m,
      bearing: 27.716561 deg,
      approach rate: -0.663527 m/s,
      LOS rate: -0.012630 deg/s,
      cmd heading: 30.108901 deg,
      new cmd heading: 30.091668 deg.

2025-08-09T17:23:01.923Z,1754760181.923 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.492033
2025-08-09T17:23:02.176Z,1754760182.176 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.745008
2025-08-09T17:23:02.284Z,1754760182.284 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.60 m.
2025-08-09T17:23:02.284Z,1754760182.284 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 59.60 m.
2025-08-09T17:23:02.287Z,1754760182.287 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 59.599998 m,
      nav range: 57.844070 m,
      bearing: 27.709080 deg,
      approach rate: -0.679384 m/s,
      LOS rate: -0.018519 deg/s,
      cmd heading: 30.091669 deg,
      new cmd heading: 30.069120 deg.

2025-08-09T17:23:02.427Z,1754760182.427 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.996103
2025-08-09T17:23:02.665Z,1754760182.665 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.60 m.
2025-08-09T17:23:02.666Z,1754760182.666 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 59.60 m.
2025-08-09T17:23:02.669Z,1754760182.669 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 59.599998 m,
      nav range: 57.587746 m,
      bearing: 27.701785 deg,
      approach rate: -0.672227 m/s,
      LOS rate: -0.019217 deg/s,
      cmd heading: 30.069119 deg,
      new cmd heading: 30.047137 deg.

2025-08-09T17:23:02.679Z,1754760182.679 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.248068
2025-08-09T17:23:02.932Z,1754760182.932 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.500799
2025-08-09T17:23:03.092Z,1754760183.092 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-09T17:23:03.095Z,1754760183.095 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.60 m.
2025-08-09T17:23:03.095Z,1754760183.095 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 59.60 m.
2025-08-09T17:23:03.098Z,1754760183.098 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 59.599998 m,
      nav range: 57.305080 m,
      bearing: 27.691502 deg,
      approach rate: -0.658645 m/s,
      LOS rate: -0.024078 deg/s,
      cmd heading: 30.047136 deg,
      new cmd heading: 30.016135 deg.

2025-08-09T17:23:03.184Z,1754760183.184 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.752904
2025-08-09T17:23:03.435Z,1754760183.435 [DAT](INFO): DAT read: Rx Time:17:23:02.4172

2025-08-09T17:23:03.436Z,1754760183.436 [DAT](INFO): Rx dataTimestamp_ set to:1754760183.435524
2025-08-09T17:23:03.436Z,1754760183.436 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.005088
2025-08-09T17:23:03.486Z,1754760183.486 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.60 m.
2025-08-09T17:23:03.487Z,1754760183.487 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 59.60 m.
2025-08-09T17:23:03.489Z,1754760183.489 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 59.599998 m,
      nav range: 57.046638 m,
      bearing: 27.682011 deg,
      approach rate: -0.659951 m/s,
      LOS rate: -0.024345 deg/s,
      cmd heading: 30.016134 deg,
      new cmd heading: 29.987532 deg.

2025-08-09T17:23:03.688Z,1754760183.688 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.256462
2025-08-09T17:23:03.942Z,1754760183.942 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.510017
2025-08-09T17:23:03.995Z,1754760183.995 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.60 m.
2025-08-09T17:23:03.996Z,1754760183.996 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 59.60 m.
2025-08-09T17:23:04.007Z,1754760184.007 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 59.599998 m,
      nav range: 56.721996 m,
      bearing: 27.672548 deg,
      approach rate: -0.637450 m/s,
      LOS rate: -0.018688 deg/s,
      cmd heading: 29.987532 deg,
      new cmd heading: 29.958981 deg.

2025-08-09T17:23:04.200Z,1754760184.200 [DAT](INFO): DAT read: 17:23:02.4172 LVL= 24304, 27697, 22066, 29091, AGC= 62, IDX= 412,-0.43,-2.235, 2.418,-1.807,-2.353, PHS= 0.220,-1.467, 0.502, RAW= 157.6,   8.1, CAL= 157.2,   8.5, ROT= 352.8,  -8.5

2025-08-09T17:23:04.201Z,1754760184.201 [DAT](INFO): got valid direction response:
 17:23:02.4172 LVL= 24304, 27697, 22066, 29091, AGC= 62, IDX= 412,-0.43,-2.235, 2.418,-1.807,-2.353, PHS= 0.220,-1.467, 0.502, RAW= 157.6,   8.1, CAL= 157.2,   8.5, ROT= 352.8,  -8.5

2025-08-09T17:23:04.202Z,1754760184.202 [DAT](INFO): DAT read: Bearing 198.1,  -9.2 (Local)

2025-08-09T17:23:04.203Z,1754760184.203 [DAT](INFO): Local bearing/azimuth received:
 Bearing 198.1,  -9.2 (Local)

2025-08-09T17:23:04.205Z,1754760184.205 [DAT](INFO): DAT read: Range 11 to 50 : 57.3 m  (Round-trip  76.4 ms) speed  0.5 m/s

2025-08-09T17:23:04.205Z,1754760184.205 [DAT](INFO): DAT read: user:499>

2025-08-09T17:23:04.207Z,1754760184.207 [DAT](INFO): DAT read: Tx time:17:23:03.5367

2025-08-09T17:23:04.207Z,1754760184.207 [DAT](INFO): Ping request sent.
2025-08-09T17:23:04.208Z,1754760184.208 [DAT](INFO): transmitted an acoustic signal
2025-08-09T17:23:04.208Z,1754760184.208 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-09T17:23:04.209Z,1754760184.209 [DAT](INFO): direction in FSK: [0.981217,-0.123957,0.147809]
2025-08-09T17:23:04.210Z,1754760184.210 [DAT](INFO): publishing transmit ping time
2025-08-09T17:23:04.210Z,1754760184.210 [DAT](INFO): publishing direction and range info
2025-08-09T17:23:04.213Z,1754760184.213 [DAT](INFO): publishing transmit ping time
2025-08-09T17:23:04.214Z,1754760184.214 [DAT](INFO): publishing direction and range info
2025-08-09T17:23:04.369Z,1754760184.369 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 57.299999 m,
      deltaT: 3.780262 s,
      deltaX: -2.299999 m,
      approachRate: -0.608423 m/s,
      rangeRepo size: 4

2025-08-09T17:23:04.376Z,1754760184.376 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 57.299999 m,
      bearing: 27.217875 deg,
      lat: 36.906110 deg,
      lon: -122.115860 deg,
      deltaT: 3.780262 s,
      deltaX: -2.299999 m,
      approachRate: -0.608423 m/s,
      posRepo size: 4

2025-08-09T17:23:04.376Z,1754760184.376 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 57.30 m.
2025-08-09T17:23:04.377Z,1754760184.377 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 57.30 m.
2025-08-09T17:23:04.384Z,1754760184.384 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 57.299999 m,
      nav range: 56.758472 m,
      bearing: 27.217875 deg,
      approach rate: 3544697444237312.000000 m/s,
      LOS rate: -0.018688 deg/s,
      cmd heading: 29.958982 deg,
      new cmd heading: 29.938041 deg.

2025-08-09T17:23:04.706Z,1754760184.706 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 57.30 m.
2025-08-09T17:23:04.706Z,1754760184.706 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 57.30 m.
2025-08-09T17:23:04.709Z,1754760184.709 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 57.299999 m,
      nav range: 56.511494 m,
      bearing: 27.208159 deg,
      approach rate: -0.733264 m/s,
      LOS rate: -0.028972 deg/s,
      cmd heading: 29.938041 deg,
      new cmd heading: 29.908766 deg.

2025-08-09T17:23:05.140Z,1754760185.140 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-09T17:23:05.143Z,1754760185.143 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 57.30 m.
2025-08-09T17:23:05.143Z,1754760185.143 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 57.30 m.
2025-08-09T17:23:05.146Z,1754760185.146 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 57.299999 m,
      nav range: 56.212406 m,
      bearing: 27.198319 deg,
      approach rate: -0.684525 m/s,
      LOS rate: -0.022640 deg/s,
      cmd heading: 29.908767 deg,
      new cmd heading: 29.879090 deg.

2025-08-09T17:23:05.199Z,1754760185.199 [DAT](INFO): ****** received valid address query ******
2025-08-09T17:23:05.199Z,1754760185.199 [DAT](INFO): ****** received valid ping request ******
2025-08-09T17:23:05.200Z,1754760185.200 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-09T17:23:05.451Z,1754760185.451 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.243897
2025-08-09T17:23:05.523Z,1754760185.523 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 57.30 m.
2025-08-09T17:23:05.523Z,1754760185.523 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 57.30 m.
2025-08-09T17:23:05.526Z,1754760185.526 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 57.299999 m,
      nav range: 55.950768 m,
      bearing: 27.189557 deg,
      approach rate: -0.688318 m/s,
      LOS rate: -0.023159 deg/s,
      cmd heading: 29.879089 deg,
      new cmd heading: 29.852680 deg.

2025-08-09T17:23:05.706Z,1754760185.706 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.498646
2025-08-09T17:23:05.955Z,1754760185.955 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.747934
2025-08-09T17:23:05.968Z,1754760185.968 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 57.30 m.
2025-08-09T17:23:05.968Z,1754760185.968 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 57.30 m.
2025-08-09T17:23:05.971Z,1754760185.971 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 57.299999 m,
      nav range: 55.657032 m,
      bearing: 27.190868 deg,
      approach rate: -0.660210 m/s,
      LOS rate: 0.002962 deg/s,
      cmd heading: 29.852680 deg,
      new cmd heading: 29.856635 deg.

2025-08-09T17:23:06.207Z,1754760186.207 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.999879
2025-08-09T17:23:06.336Z,1754760186.336 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 57.30 m.
2025-08-09T17:23:06.337Z,1754760186.337 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 57.30 m.
2025-08-09T17:23:06.337Z,1754760186.337 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Final approach. Armed for intercept at range: 57.30 m.
2025-08-09T17:23:06.337Z,1754760186.337 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Transitioning guidance mode to: FINAL_APPROACH
2025-08-09T17:23:06.340Z,1754760186.340 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 57.299999 m,
      nav range: 55.418766 m,
      bearing: 27.192026 deg,
      approach rate: -0.649423 m/s,
      LOS rate: 0.003171 deg/s,
      cmd heading: 29.856635 deg,
      new cmd heading: 29.860126 deg.

2025-08-09T17:23:06.459Z,1754760186.459 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.251845
2025-08-09T17:23:06.711Z,1754760186.711 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.503916
2025-08-09T17:23:06.733Z,1754760186.733 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 57.30 m.
2025-08-09T17:23:06.736Z,1754760186.736 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 57.299999 m,
      nav range: 55.150932 m,
      bearing: 27.193855 deg,
      approach rate: -0.671478 m/s,
      LOS rate: 0.004608 deg/s,
      cmd heading: 29.860125 deg,
      new cmd heading: 29.865639 deg.

2025-08-09T17:23:06.737Z,1754760186.737 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.521254 target range: 57.299999 and range: 57.30 m.
2025-08-09T17:23:06.964Z,1754760186.964 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.756206
2025-08-09T17:23:07.148Z,1754760187.148 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-09T17:23:07.150Z,1754760187.150 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 57.30 m.
2025-08-09T17:23:07.153Z,1754760187.153 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 57.299999 m,
      nav range: 54.883327 m,
      bearing: 27.192828 deg,
      approach rate: -0.641747 m/s,
      LOS rate: -0.002475 deg/s,
      cmd heading: 29.865637 deg,
      new cmd heading: 29.862541 deg.

2025-08-09T17:23:07.178Z,1754760187.178 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.521200 target range: 57.299999 and range: 57.30 m.
2025-08-09T17:23:07.215Z,1754760187.215 [DAT](INFO): DAT read: Rx Time:17:23:06.0141

2025-08-09T17:23:07.216Z,1754760187.216 [DAT](INFO): Rx dataTimestamp_ set to:1754760187.215608
2025-08-09T17:23:07.216Z,1754760187.216 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.009039
2025-08-09T17:23:07.467Z,1754760187.467 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.259802
2025-08-09T17:23:07.592Z,1754760187.592 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 57.30 m.
2025-08-09T17:23:07.603Z,1754760187.603 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 57.299999 m,
      nav range: 54.601780 m,
      bearing: 27.191892 deg,
      approach rate: -0.636864 m/s,
      LOS rate: -0.002130 deg/s,
      cmd heading: 29.862540 deg,
      new cmd heading: 29.859715 deg.

2025-08-09T17:23:07.604Z,1754760187.604 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.521150 target range: 57.299999 and range: 57.30 m.
2025-08-09T17:23:07.725Z,1754760187.725 [DAT](INFO): DAT read: 17:23:06.0141 LVL= 28400, 32753, 24626, 32755, AGC= 66, IDX= 411, 0.36,-1.167,-2.802,-0.793,-1.302, PHS= 0.237,-1.455, 0.465, RAW= 156.2,   8.3, CAL= 155.9,   8.8, ROT= 354.1,  -8.8

2025-08-09T17:23:07.729Z,1754760187.729 [DAT](INFO): got valid direction response:
 17:23:06.0141 LVL= 28400, 32753, 24626, 32755, AGC= 66, IDX= 411, 0.36,-1.167,-2.802,-0.793,-1.302, PHS= 0.237,-1.455, 0.465, RAW= 156.2,   8.3, CAL= 155.9,   8.8, ROT= 354.1,  -8.8

2025-08-09T17:23:07.730Z,1754760187.730 [DAT](INFO): DAT read: Bearing 198.8,  -8.4 (Local)

2025-08-09T17:23:07.731Z,1754760187.731 [DAT](INFO): Local bearing/azimuth received:
 Bearing 198.8,  -8.4 (Local)

2025-08-09T17:23:07.732Z,1754760187.732 [DAT](INFO): DAT read: Range 11 to 50 : 54.9 m  (Round-trip  73.3 ms) speed  0.8 m/s

2025-08-09T17:23:07.733Z,1754760187.733 [DAT](INFO): DAT read: user:500>

2025-08-09T17:23:07.733Z,1754760187.733 [DAT](INFO): DAT read: Tx time:17:23:07.1367

2025-08-09T17:23:07.734Z,1754760187.734 [DAT](INFO): Ping request sent.
2025-08-09T17:23:07.734Z,1754760187.734 [DAT](INFO): transmitted an acoustic signal
2025-08-09T17:23:07.750Z,1754760187.750 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-09T17:23:07.751Z,1754760187.751 [DAT](INFO): direction in FSK: [0.982994,-0.101582,0.152986]
2025-08-09T17:23:07.752Z,1754760187.752 [DAT](INFO): publishing transmit ping time
2025-08-09T17:23:07.752Z,1754760187.752 [DAT](INFO): publishing direction and range info
2025-08-09T17:23:07.761Z,1754760187.761 [DAT](INFO): publishing transmit ping time
2025-08-09T17:23:07.761Z,1754760187.761 [DAT](INFO): publishing direction and range info
2025-08-09T17:23:08.039Z,1754760188.039 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 54.900002 m,
      deltaT: 3.526211 s,
      deltaX: -2.399998 m,
      approachRate: -0.680617 m/s,
      rangeRepo size: 4

2025-08-09T17:23:08.041Z,1754760188.041 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 54.900002 m,
      bearing: 26.538770 deg,
      lat: 36.906111 deg,
      lon: -122.115868 deg,
      deltaT: 3.526211 s,
      deltaX: -2.399998 m,
      approachRate: -0.680617 m/s,
      posRepo size: 4

2025-08-09T17:23:08.042Z,1754760188.042 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.90 m.
2025-08-09T17:23:08.048Z,1754760188.048 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 54.900002 m,
      nav range: 54.116943 m,
      bearing: 26.538770 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.002130 deg/s,
      cmd heading: 29.859716 deg,
      new cmd heading: 29.856894 deg.

2025-08-09T17:23:08.049Z,1754760188.049 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.521101 target range: 54.900002 and range: 54.90 m.
2025-08-09T17:23:08.384Z,1754760188.384 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.90 m.
2025-08-09T17:23:08.403Z,1754760188.403 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 54.900002 m,
      nav range: 53.879841 m,
      bearing: 26.534755 deg,
      approach rate: -0.676784 m/s,
      LOS rate: -0.011510 deg/s,
      cmd heading: 29.856895 deg,
      new cmd heading: 29.844797 deg.

2025-08-09T17:23:08.404Z,1754760188.404 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.520890 target range: 54.900002 and range: 54.90 m.
2025-08-09T17:23:08.795Z,1754760188.795 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.90 m.
2025-08-09T17:23:08.798Z,1754760188.798 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 54.900002 m,
      nav range: 53.617786 m,
      bearing: 26.530134 deg,
      approach rate: -0.638366 m/s,
      LOS rate: -0.011312 deg/s,
      cmd heading: 29.844798 deg,
      new cmd heading: 29.830867 deg.

2025-08-09T17:23:08.800Z,1754760188.800 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.520647 target range: 54.900002 and range: 54.90 m.
2025-08-09T17:23:09.222Z,1754760189.222 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-09T17:23:09.225Z,1754760189.225 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.90 m.
2025-08-09T17:23:09.231Z,1754760189.231 [DAT](INFO): ****** received valid address query ******
2025-08-09T17:23:09.231Z,1754760189.231 [DAT](INFO): ****** received valid ping request ******
2025-08-09T17:23:09.232Z,1754760189.232 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-09T17:23:09.239Z,1754760189.239 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 54.900002 m,
      nav range: 53.345440 m,
      bearing: 26.526783 deg,
      approach rate: -0.633899 m/s,
      LOS rate: -0.007839 deg/s,
      cmd heading: 29.830868 deg,
      new cmd heading: 29.820764 deg.

2025-08-09T17:23:09.240Z,1754760189.240 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.520470 target range: 54.900002 and range: 54.90 m.
2025-08-09T17:23:09.483Z,1754760189.483 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.749407
2025-08-09T17:23:09.616Z,1754760189.616 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.90 m.
2025-08-09T17:23:09.623Z,1754760189.623 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 54.900002 m,
      nav range: 53.107292 m,
      bearing: 26.523638 deg,
      approach rate: -0.608425 m/s,
      LOS rate: -0.008070 deg/s,
      cmd heading: 29.820763 deg,
      new cmd heading: 29.811286 deg.

2025-08-09T17:23:09.624Z,1754760189.624 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.520305 target range: 54.900002 and range: 54.90 m.
2025-08-09T17:23:09.736Z,1754760189.736 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.001747
2025-08-09T17:23:09.987Z,1754760189.987 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.253620
2025-08-09T17:23:10.030Z,1754760190.030 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.90 m.
2025-08-09T17:23:10.032Z,1754760190.032 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 54.900002 m,
      nav range: 52.833881 m,
      bearing: 26.513350 deg,
      approach rate: -0.661083 m/s,
      LOS rate: -0.025003 deg/s,
      cmd heading: 29.811286 deg,
      new cmd heading: 29.780264 deg.

2025-08-09T17:23:10.033Z,1754760190.033 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.519764 target range: 54.900002 and range: 54.90 m.
2025-08-09T17:23:10.242Z,1754760190.242 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.508341
2025-08-09T17:23:10.406Z,1754760190.406 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.90 m.
2025-08-09T17:23:10.409Z,1754760190.409 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 54.900002 m,
      nav range: 52.594578 m,
      bearing: 26.503895 deg,
      approach rate: -0.635807 m/s,
      LOS rate: -0.025236 deg/s,
      cmd heading: 29.780263 deg,
      new cmd heading: 29.751769 deg.

2025-08-09T17:23:10.410Z,1754760190.410 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.519266 target range: 54.900002 and range: 54.90 m.
2025-08-09T17:23:10.492Z,1754760190.492 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.758549
2025-08-09T17:23:10.743Z,1754760190.743 [DAT](INFO): DAT read: Rx Time:17:23:09.6110

2025-08-09T17:23:10.744Z,1754760190.744 [DAT](INFO): Rx dataTimestamp_ set to:1754760190.743564
2025-08-09T17:23:10.744Z,1754760190.744 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.010587
2025-08-09T17:23:10.838Z,1754760190.838 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.90 m.
2025-08-09T17:23:10.846Z,1754760190.846 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 54.900002 m,
      nav range: 52.325741 m,
      bearing: 26.492802 deg,
      approach rate: -0.622654 m/s,
      LOS rate: -0.025825 deg/s,
      cmd heading: 29.751768 deg,
      new cmd heading: 29.718317 deg.

2025-08-09T17:23:10.851Z,1754760190.851 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.518682 target range: 54.900002 and range: 54.90 m.
2025-08-09T17:23:10.995Z,1754760190.995 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.261534
2025-08-09T17:23:11.238Z,1754760191.238 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-09T17:23:11.241Z,1754760191.241 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.90 m.
2025-08-09T17:23:11.244Z,1754760191.244 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 54.900002 m,
      nav range: 52.063408 m,
      bearing: 26.479127 deg,
      approach rate: -0.650876 m/s,
      LOS rate: -0.034099 deg/s,
      cmd heading: 29.718317 deg,
      new cmd heading: 29.677087 deg.

2025-08-09T17:23:11.245Z,1754760191.245 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.517963 target range: 54.900002 and range: 54.90 m.
2025-08-09T17:23:11.253Z,1754760191.253 [DAT](INFO): DAT read: 17:23:09.6110 LVL= 32288, 32753, 23714, 32755, AGC= 64, IDX= 411,-0.23, 1.349,-0.279, 1.750, 1.284, PHS= 0.166,-1.518, 0.422, RAW= 157.0,  10.2, CAL= 156.9,  11.1, ROT= 353.1, -11.1

2025-08-09T17:23:11.254Z,1754760191.254 [DAT](INFO): got valid direction response:
 17:23:09.6110 LVL= 32288, 32753, 23714, 32755, AGC= 64, IDX= 411,-0.23, 1.349,-0.279, 1.750, 1.284, PHS= 0.166,-1.518, 0.422, RAW= 157.0,  10.2, CAL= 156.9,  11.1, ROT= 353.1, -11.1

2025-08-09T17:23:11.255Z,1754760191.255 [DAT](INFO): DAT read: Bearing 201.5,  -9.9 (Local)

2025-08-09T17:23:11.256Z,1754760191.256 [DAT](INFO): Local bearing/azimuth received:
 Bearing 201.5,  -9.9 (Local)

2025-08-09T17:23:11.257Z,1754760191.257 [DAT](INFO): DAT read: Range 11 to 50 : 52.6 m  (Round-trip  70.2 ms) speed  0.6 m/s

2025-08-09T17:23:11.258Z,1754760191.258 [DAT](INFO): DAT read: user:501>

2025-08-09T17:23:11.275Z,1754760191.275 [DAT](INFO): DAT read: Tx time:17:23:10.7367

2025-08-09T17:23:11.275Z,1754760191.275 [DAT](INFO): Ping request sent.
2025-08-09T17:23:11.275Z,1754760191.275 [DAT](INFO): transmitted an acoustic signal
2025-08-09T17:23:11.275Z,1754760191.275 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-09T17:23:11.276Z,1754760191.276 [DAT](INFO): direction in FSK: [0.974186,-0.117889,0.192522]
2025-08-09T17:23:11.277Z,1754760191.277 [DAT](INFO): publishing transmit ping time
2025-08-09T17:23:11.277Z,1754760191.277 [DAT](INFO): publishing direction and range info
2025-08-09T17:23:11.284Z,1754760191.284 [DAT](INFO): publishing transmit ping time
2025-08-09T17:23:11.284Z,1754760191.284 [DAT](INFO): publishing direction and range info
2025-08-09T17:23:11.624Z,1754760191.624 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 52.599998 m,
      deltaT: 3.528010 s,
      deltaX: -2.300003 m,
      approachRate: -0.651926 m/s,
      rangeRepo size: 4

2025-08-09T17:23:11.626Z,1754760191.626 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 52.599998 m,
      bearing: 25.739032 deg,
      lat: 36.906114 deg,
      lon: -122.115874 deg,
      deltaT: 3.528010 s,
      deltaX: -2.300003 m,
      approachRate: -0.651926 m/s,
      posRepo size: 4

2025-08-09T17:23:11.643Z,1754760191.643 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 52.60 m.
2025-08-09T17:23:11.645Z,1754760191.645 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 52.599998 m,
      nav range: 51.944141 m,
      bearing: 25.739032 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.034099 deg/s,
      cmd heading: 29.677087 deg,
      new cmd heading: 29.637979 deg.

2025-08-09T17:23:11.650Z,1754760191.650 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.517280 target range: 52.599998 and range: 52.60 m.
2025-08-09T17:23:12.061Z,1754760192.061 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 52.60 m.
2025-08-09T17:23:12.064Z,1754760192.064 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 52.599998 m,
      nav range: 51.660927 m,
      bearing: 25.715473 deg,
      approach rate: -0.646119 m/s,
      LOS rate: -0.054040 deg/s,
      cmd heading: 29.637980 deg,
      new cmd heading: 29.566917 deg.

2025-08-09T17:23:12.065Z,1754760192.065 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.516040 target range: 52.599998 and range: 52.60 m.
2025-08-09T17:23:12.440Z,1754760192.440 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 52.60 m.
2025-08-09T17:23:12.443Z,1754760192.443 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 52.599998 m,
      nav range: 51.429634 m,
      bearing: 25.695777 deg,
      approach rate: -0.611135 m/s,
      LOS rate: -0.052275 deg/s,
      cmd heading: 29.566919 deg,
      new cmd heading: 29.507566 deg.

2025-08-09T17:23:12.444Z,1754760192.444 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.515004 target range: 52.599998 and range: 52.60 m.
2025-08-09T17:23:12.909Z,1754760192.909 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 52.60 m.
2025-08-09T17:23:12.912Z,1754760192.912 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 52.599998 m,
      nav range: 51.161541 m,
      bearing: 25.672393 deg,
      approach rate: -0.571732 m/s,
      LOS rate: -0.050131 deg/s,
      cmd heading: 29.507568 deg,
      new cmd heading: 29.437046 deg.

2025-08-09T17:23:12.913Z,1754760192.913 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.513773 target range: 52.599998 and range: 52.60 m.
2025-08-09T17:23:13.357Z,1754760193.357 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-09T17:23:13.360Z,1754760193.360 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 52.60 m.
2025-08-09T17:23:13.362Z,1754760193.362 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 52.599998 m,
      nav range: 50.837914 m,
      bearing: 25.645133 deg,
      approach rate: -0.717775 m/s,
      LOS rate: -0.060845 deg/s,
      cmd heading: 29.437046 deg,
      new cmd heading: 29.354745 deg.

2025-08-09T17:23:13.363Z,1754760193.363 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.512337 target range: 52.599998 and range: 52.60 m.
2025-08-09T17:23:13.515Z,1754760193.515 [DAT](INFO): ****** received valid address query ******
2025-08-09T17:23:13.515Z,1754760193.515 [DAT](INFO): ****** received valid ping request ******
2025-08-09T17:23:13.515Z,1754760193.515 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-09T17:23:13.705Z,1754760193.705 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 52.60 m.
2025-08-09T17:23:13.708Z,1754760193.708 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 52.599998 m,
      nav range: 50.607010 m,
      bearing: 25.625073 deg,
      approach rate: -0.667817 m/s,
      LOS rate: -0.058279 deg/s,
      cmd heading: 29.354746 deg,
      new cmd heading: 29.294294 deg.

2025-08-09T17:23:13.709Z,1754760193.709 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.511282 target range: 52.599998 and range: 52.60 m.
2025-08-09T17:23:13.769Z,1754760193.769 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.493237
2025-08-09T17:23:14.022Z,1754760194.022 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.746279
2025-08-09T17:23:14.149Z,1754760194.149 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 52.60 m.
2025-08-09T17:23:14.152Z,1754760194.152 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 52.599998 m,
      nav range: 50.328732 m,
      bearing: 25.601946 deg,
      approach rate: -0.627706 m/s,
      LOS rate: -0.052456 deg/s,
      cmd heading: 29.294295 deg,
      new cmd heading: 29.224530 deg.

2025-08-09T17:23:14.153Z,1754760194.153 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.510064 target range: 52.599998 and range: 52.60 m.
2025-08-09T17:23:14.272Z,1754760194.272 [DAT](INFO): DAT read: Rx Time:17:23:13.2080

2025-08-09T17:23:14.272Z,1754760194.272 [DAT](INFO): Rx dataTimestamp_ set to:1754760194.271796
2025-08-09T17:23:14.273Z,1754760194.273 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.997591
2025-08-09T17:23:14.495Z,1754760194.495 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 52.60 m.
2025-08-09T17:23:14.498Z,1754760194.498 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 52.599998 m,
      nav range: 50.093048 m,
      bearing: 25.581832 deg,
      approach rate: -0.679840 m/s,
      LOS rate: -0.058292 deg/s,
      cmd heading: 29.224528 deg,
      new cmd heading: 29.163904 deg.

2025-08-09T17:23:14.499Z,1754760194.499 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.509006 target range: 52.599998 and range: 52.60 m.
2025-08-09T17:23:14.523Z,1754760194.523 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.248219
2025-08-09T17:23:14.784Z,1754760194.784 [DAT](INFO): DAT read: 17:23:13.2080 LVL= 23456, 28961, 20946, 30371, AGC= 64, IDX= 412,-0.24, 3.123, 1.565,-2.751, 3.060, PHS= 0.166,-1.449, 0.428, RAW= 157.4,   9.7, CAL= 157.3,  10.5, ROT= 352.7, -10.5

2025-08-09T17:23:14.785Z,1754760194.785 [DAT](INFO): got valid direction response:
 17:23:13.2080 LVL= 23456, 28961, 20946, 30371, AGC= 64, IDX= 412,-0.24, 3.123, 1.565,-2.751, 3.060, PHS= 0.166,-1.449, 0.428, RAW= 157.4,   9.7, CAL= 157.3,  10.5, ROT= 352.7, -10.5

2025-08-09T17:23:14.786Z,1754760194.786 [DAT](INFO): DAT read: Bearing 201.5, -10.5 (Local)

2025-08-09T17:23:14.788Z,1754760194.788 [DAT](INFO): Local bearing/azimuth received:
 Bearing 201.5, -10.5 (Local)

2025-08-09T17:23:14.792Z,1754760194.792 [DAT](INFO): DAT read: Range 11 to 50 : 50.3 m  (Round-trip  67.1 ms) speed  0.8 m/s

2025-08-09T17:23:14.794Z,1754760194.794 [DAT](INFO): DAT read: user:502>

2025-08-09T17:23:14.812Z,1754760194.812 [DAT](INFO): DAT read: Tx time:17:23:14.3367

2025-08-09T17:23:14.813Z,1754760194.813 [DAT](INFO): Ping request sent.
2025-08-09T17:23:14.813Z,1754760194.813 [DAT](INFO): transmitted an acoustic signal
2025-08-09T17:23:14.813Z,1754760194.813 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-09T17:23:14.815Z,1754760194.815 [DAT](INFO): direction in FSK: [0.975285,-0.124937,0.182236]
2025-08-09T17:23:14.816Z,1754760194.816 [DAT](INFO): publishing transmit ping time
2025-08-09T17:23:14.816Z,1754760194.816 [DAT](INFO): publishing direction and range info
2025-08-09T17:23:14.832Z,1754760194.832 [DAT](INFO): publishing transmit ping time
2025-08-09T17:23:14.832Z,1754760194.832 [DAT](INFO): publishing direction and range info
2025-08-09T17:23:14.952Z,1754760194.952 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 50.299999 m,
      deltaT: 3.527794 s,
      deltaX: -2.299999 m,
      approachRate: -0.651965 m/s,
      rangeRepo size: 4

2025-08-09T17:23:14.954Z,1754760194.954 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 50.299999 m,
      bearing: 25.495236 deg,
      lat: 36.906114 deg,
      lon: -122.115874 deg,
      deltaT: 3.527794 s,
      deltaX: -2.299999 m,
      approachRate: -0.651965 m/s,
      posRepo size: 4

2025-08-09T17:23:14.960Z,1754760194.960 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 50.30 m.
2025-08-09T17:23:14.966Z,1754760194.966 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 50.299999 m,
      nav range: 49.778847 m,
      bearing: 25.495236 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.058292 deg/s,
      cmd heading: 29.163904 deg,
      new cmd heading: 29.084223 deg.

2025-08-09T17:23:14.967Z,1754760194.967 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.507615 target range: 50.299999 and range: 50.30 m.
2025-08-09T17:23:15.343Z,1754760195.343 [RDI_Pathfinder](ERROR): only read 2 of 4 data items for water velocity. Device response is::WS,-32768,-32768,
2025-08-09T17:23:15.358Z,1754760195.358 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 50.30 m.
2025-08-09T17:23:15.361Z,1754760195.361 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 50.299999 m,
      nav range: 49.506592 m,
      bearing: 25.470919 deg,
      approach rate: -0.669406 m/s,
      LOS rate: -0.060119 deg/s,
      cmd heading: 29.084223 deg,
      new cmd heading: 29.010870 deg.

2025-08-09T17:23:15.362Z,1754760195.362 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.506335 target range: 50.299999 and range: 50.30 m.
2025-08-09T17:23:15.753Z,1754760195.753 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-09T17:23:15.760Z,1754760195.760 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 50.30 m.
2025-08-09T17:23:15.766Z,1754760195.766 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 50.299999 m,
      nav range: 49.248135 m,
      bearing: 25.447551 deg,
      approach rate: -0.643101 m/s,
      LOS rate: -0.058451 deg/s,
      cmd heading: 29.010870 deg,
      new cmd heading: 28.940398 deg.

2025-08-09T17:23:15.767Z,1754760195.767 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.505105 target range: 50.299999 and range: 50.30 m.
2025-08-09T17:23:15.783Z,1754760195.783 [DAT](INFO): ****** received valid address query ******
2025-08-09T17:23:15.783Z,1754760195.783 [DAT](INFO): ****** received valid ping request ******
2025-08-09T17:23:15.783Z,1754760195.783 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-09T17:23:16.038Z,1754760196.038 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.225011
2025-08-09T17:23:16.181Z,1754760196.181 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 50.30 m.
2025-08-09T17:23:16.187Z,1754760196.187 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 50.299999 m,
      nav range: 48.987663 m,
      bearing: 25.423292 deg,
      approach rate: -0.617595 m/s,
      LOS rate: -0.057826 deg/s,
      cmd heading: 28.940396 deg,
      new cmd heading: 28.867232 deg.

2025-08-09T17:23:16.188Z,1754760196.188 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.503828 target range: 50.299999 and range: 50.30 m.
2025-08-09T17:23:16.289Z,1754760196.289 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.475714
2025-08-09T17:23:16.540Z,1754760196.540 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.726867
2025-08-09T17:23:16.550Z,1754760196.550 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 50.30 m.
2025-08-09T17:23:16.553Z,1754760196.553 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 50.299999 m,
      nav range: 48.762314 m,
      bearing: 25.402174 deg,
      approach rate: -0.611507 m/s,
      LOS rate: -0.057568 deg/s,
      cmd heading: 28.867231 deg,
      new cmd heading: 28.803587 deg.

2025-08-09T17:23:16.554Z,1754760196.554 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.502717 target range: 50.299999 and range: 50.30 m.
2025-08-09T17:23:16.793Z,1754760196.793 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.980378
2025-08-09T17:23:16.951Z,1754760196.951 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 50.30 m.
2025-08-09T17:23:16.954Z,1754760196.954 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 50.299999 m,
      nav range: 48.517067 m,
      bearing: 25.379090 deg,
      approach rate: -0.611283 m/s,
      LOS rate: -0.057829 deg/s,
      cmd heading: 28.803587 deg,
      new cmd heading: 28.733984 deg.

2025-08-09T17:23:16.955Z,1754760196.955 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.501503 target range: 50.299999 and range: 50.30 m.
2025-08-09T17:23:17.047Z,1754760197.047 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.232978
2025-08-09T17:23:17.296Z,1754760197.296 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.482826
2025-08-09T17:23:17.402Z,1754760197.402 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 50.30 m.
2025-08-09T17:23:17.413Z,1754760197.413 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 50.299999 m,
      nav range: 48.251656 m,
      bearing: 25.359473 deg,
      approach rate: -0.588631 m/s,
      LOS rate: -0.043746 deg/s,
      cmd heading: 28.733984 deg,
      new cmd heading: 28.674810 deg.

2025-08-09T17:23:17.414Z,1754760197.414 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.500470 target range: 50.299999 and range: 50.30 m.
2025-08-09T17:23:17.547Z,1754760197.547 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.734543
2025-08-09T17:23:17.757Z,1754760197.757 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-09T17:23:17.759Z,1754760197.759 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 50.30 m.
2025-08-09T17:23:17.762Z,1754760197.762 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 50.299999 m,
      nav range: 48.016552 m,
      bearing: 25.342072 deg,
      approach rate: -0.657502 m/s,
      LOS rate: -0.048903 deg/s,
      cmd heading: 28.674811 deg,
      new cmd heading: 28.622352 deg.

2025-08-09T17:23:17.763Z,1754760197.763 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.499554 target range: 50.299999 and range: 50.30 m.
2025-08-09T17:23:17.801Z,1754760197.801 [DAT](INFO): DAT read: Rx Time:17:23:16.8050

2025-08-09T17:23:17.802Z,1754760197.802 [DAT](INFO): Rx dataTimestamp_ set to:1754760197.801742
2025-08-09T17:23:17.804Z,1754760197.804 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.990510
2025-08-09T17:23:18.057Z,1754760198.057 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.243193
2025-08-09T17:23:18.185Z,1754760198.185 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 50.30 m.
2025-08-09T17:23:18.212Z,1754760198.212 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 50.299999 m,
      nav range: 47.757458 m,
      bearing: 25.317291 deg,
      approach rate: -0.608581 m/s,
      LOS rate: -0.058524 deg/s,
      cmd heading: 28.622352 deg,
      new cmd heading: 28.547604 deg.

2025-08-09T17:23:18.213Z,1754760198.213 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.498250 target range: 50.299999 and range: 50.30 m.
2025-08-09T17:23:18.309Z,1754760198.309 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.495704
2025-08-09T17:23:18.561Z,1754760198.561 [DAT](INFO): DAT read: 17:23:16.8050 LVL= 27808, 32753, 22002, 32755, AGC= 64, IDX= 414,-0.05,-0.754,-2.297,-0.315,-0.800, PHS= 0.148,-1.452, 0.440, RAW= 158.2,   9.8, CAL= 158.1,  10.6, ROT= 351.9, -10.6

2025-08-09T17:23:18.570Z,1754760198.570 [DAT](INFO): got valid direction response:
 17:23:16.8050 LVL= 27808, 32753, 22002, 32755, AGC= 64, IDX= 414,-0.05,-0.754,-2.297,-0.315,-0.800, PHS= 0.148,-1.452, 0.440, RAW= 158.2,   9.8, CAL= 158.1,  10.6, ROT= 351.9, -10.6

2025-08-09T17:23:18.575Z,1754760198.575 [DAT](INFO): DAT read: Bearing 201.3, -11.8 (Local)

2025-08-09T17:23:18.576Z,1754760198.576 [DAT](INFO): Local bearing/azimuth received:
 Bearing 201.3, -11.8 (Local)

2025-08-09T17:23:18.577Z,1754760198.577 [DAT](INFO): DAT read: Range 11 to 50 : 48.1 m  (Round-trip  64.2 ms) speed  0.5 m/s

2025-08-09T17:23:18.578Z,1754760198.578 [DAT](INFO): DAT read: user:503>

2025-08-09T17:23:18.579Z,1754760198.579 [DAT](INFO): DAT read: Tx time:17:23:17.9367

2025-08-09T17:23:18.579Z,1754760198.579 [DAT](INFO): Ping request sent.
2025-08-09T17:23:18.579Z,1754760198.579 [DAT](INFO): transmitted an acoustic signal
2025-08-09T17:23:18.579Z,1754760198.579 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-09T17:23:18.580Z,1754760198.580 [DAT](INFO): direction in FSK: [0.973129,-0.138497,0.183951]
2025-08-09T17:23:18.581Z,1754760198.581 [DAT](INFO): publishing transmit ping time
2025-08-09T17:23:18.581Z,1754760198.581 [DAT](INFO): publishing direction and range info
2025-08-09T17:23:18.611Z,1754760198.611 [DAT](INFO): publishing transmit ping time
2025-08-09T17:23:18.611Z,1754760198.611 [DAT](INFO): publishing direction and range info
2025-08-09T17:23:18.655Z,1754760198.655 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 48.099998 m,
      deltaT: 3.780178 s,
      deltaX: -2.200001 m,
      approachRate: -0.581983 m/s,
      rangeRepo size: 4

2025-08-09T17:23:18.657Z,1754760198.657 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 48.099998 m,
      bearing: 25.048842 deg,
      lat: 36.906116 deg,
      lon: -122.115876 deg,
      deltaT: 3.780178 s,
      deltaX: -2.200001 m,
      approachRate: -0.581983 m/s,
      posRepo size: 4

2025-08-09T17:23:18.658Z,1754760198.658 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 48.10 m.
2025-08-09T17:23:18.669Z,1754760198.669 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 48.099998 m,
      nav range: 47.638073 m,
      bearing: 25.048842 deg,
      approach rate: -2208938227369231553396736.000 m/s,
      LOS rate: -0.058524 deg/s,
      cmd heading: 28.547604 deg,
      new cmd heading: 28.466020 deg.

2025-08-09T17:23:18.670Z,1754760198.670 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.496826 target range: 48.099998 and range: 48.10 m.
2025-08-09T17:23:19.004Z,1754760199.004 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 48.10 m.
2025-08-09T17:23:19.007Z,1754760199.007 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 48.099998 m,
      nav range: 47.406502 m,
      bearing: 25.025184 deg,
      approach rate: -0.653770 m/s,
      LOS rate: -0.067117 deg/s,
      cmd heading: 28.466021 deg,
      new cmd heading: 28.394701 deg.

2025-08-09T17:23:19.008Z,1754760199.008 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.495581 target range: 48.099998 and range: 48.10 m.
2025-08-09T17:23:19.431Z,1754760199.431 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 48.10 m.
2025-08-09T17:23:19.434Z,1754760199.434 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 48.099998 m,
      nav range: 47.152321 m,
      bearing: 24.999420 deg,
      approach rate: -0.595237 m/s,
      LOS rate: -0.060660 deg/s,
      cmd heading: 28.394701 deg,
      new cmd heading: 28.316991 deg.

2025-08-09T17:23:19.435Z,1754760199.435 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.494225 target range: 48.099998 and range: 48.10 m.
2025-08-09T17:23:19.821Z,1754760199.821 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-09T17:23:19.839Z,1754760199.839 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 48.10 m.
2025-08-09T17:23:19.851Z,1754760199.851 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 48.099998 m,
      nav range: 46.923115 m,
      bearing: 24.976244 deg,
      approach rate: -0.561762 m/s,
      LOS rate: -0.057078 deg/s,
      cmd heading: 28.316991 deg,
      new cmd heading: 28.247125 deg.

2025-08-09T17:23:19.852Z,1754760199.852 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.493005 target range: 48.099998 and range: 48.10 m.
2025-08-09T17:23:20.069Z,1754760200.069 [DAT](INFO): ****** received valid address query ******
2025-08-09T17:23:20.069Z,1754760200.069 [DAT](INFO): ****** received valid ping request ******
2025-08-09T17:23:20.070Z,1754760200.070 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-09T17:23:20.253Z,1754760200.253 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 48.10 m.
2025-08-09T17:23:20.256Z,1754760200.256 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 48.099998 m,
      nav range: 46.665577 m,
      bearing: 24.946688 deg,
      approach rate: -0.622878 m/s,
      LOS rate: -0.071879 deg/s,
      cmd heading: 28.247125 deg,
      new cmd heading: 28.157966 deg.

2025-08-09T17:23:20.257Z,1754760200.257 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.491449 target range: 48.099998 and range: 48.10 m.
2025-08-09T17:23:20.321Z,1754760200.321 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.741362
2025-08-09T17:23:20.571Z,1754760200.571 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.992352
2025-08-09T17:23:20.640Z,1754760200.640 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 48.10 m.
2025-08-09T17:23:20.647Z,1754760200.647 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 48.099998 m,
      nav range: 46.441608 m,
      bearing: 24.921450 deg,
      approach rate: -0.577573 m/s,
      LOS rate: -0.065398 deg/s,
      cmd heading: 28.157967 deg,
      new cmd heading: 28.081888 deg.

2025-08-09T17:23:20.648Z,1754760200.648 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.490121 target range: 48.099998 and range: 48.10 m.
2025-08-09T17:23:20.823Z,1754760200.823 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.244182
2025-08-09T17:23:21.079Z,1754760201.079 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.499992
2025-08-09T17:23:21.194Z,1754760201.194 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 48.10 m.
2025-08-09T17:23:21.197Z,1754760201.197 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 48.099998 m,
      nav range: 46.102058 m,
      bearing: 24.885196 deg,
      approach rate: -0.613655 m/s,
      LOS rate: -0.066002 deg/s,
      cmd heading: 28.081889 deg,
      new cmd heading: 27.972327 deg.

2025-08-09T17:23:21.198Z,1754760201.198 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.488209 target range: 48.099998 and range: 48.10 m.
2025-08-09T17:23:21.330Z,1754760201.330 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.751013
2025-08-09T17:23:21.580Z,1754760201.580 [DAT](INFO): DAT read: Rx Time:17:23:20.4019

2025-08-09T17:23:21.581Z,1754760201.581 [DAT](INFO): Rx dataTimestamp_ set to:1754760201.580522
2025-08-09T17:23:21.582Z,1754760201.582 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.002752
2025-08-09T17:23:21.666Z,1754760201.666 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 48.10 m.
2025-08-09T17:23:21.669Z,1754760201.669 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 48.099998 m,
      nav range: 45.819000 m,
      bearing: 24.854959 deg,
      approach rate: -0.599122 m/s,
      LOS rate: -0.064396 deg/s,
      cmd heading: 27.972328 deg,
      new cmd heading: 27.881055 deg.

2025-08-09T17:23:21.670Z,1754760201.670 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.486616 target range: 48.099998 and range: 48.10 m.
2025-08-09T17:23:21.832Z,1754760201.832 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.252957
2025-08-09T17:23:22.089Z,1754760202.089 [DAT](INFO): DAT read: 17:23:20.4019 LVL= 27264, 32225, 19810, 32499, AGC= 63, IDX= 415, 0.48, 1.009,-0.583, 1.461, 0.961, PHS= 0.150,-1.499, 0.456, RAW= 158.4,   9.8, CAL= 158.2,  10.6, ROT= 351.8, -10.6

2025-08-09T17:23:22.094Z,1754760202.094 [DAT](INFO): got valid direction response:
 17:23:20.4019 LVL= 27264, 32225, 19810, 32499, AGC= 63, IDX= 415, 0.48, 1.009,-0.583, 1.461, 0.961, PHS= 0.150,-1.499, 0.456, RAW= 158.4,   9.8, CAL= 158.2,  10.6, ROT= 351.8, -10.6

2025-08-09T17:23:22.097Z,1754760202.097 [DAT](INFO): DAT read: Bearing 200.9, -12.5 (Local)

2025-08-09T17:23:22.098Z,1754760202.098 [DAT](INFO): Local bearing/azimuth received:
 Bearing 200.9, -12.5 (Local)

2025-08-09T17:23:22.106Z,1754760202.106 [DAT](INFO): DAT read: Range 11 to 50 : 45.9 m  (Round-trip  61.2 ms) speed  0.5 m/s

2025-08-09T17:23:22.135Z,1754760202.135 [DAT](INFO): DAT read: user:504>

2025-08-09T17:23:22.137Z,1754760202.137 [DAT](INFO): DAT read: Tx time:17:23:21.5366

2025-08-09T17:23:22.147Z,1754760202.147 [DAT](INFO): Ping request sent.
2025-08-09T17:23:22.147Z,1754760202.147 [DAT](INFO): transmitted an acoustic signal
2025-08-09T17:23:22.148Z,1754760202.148 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-09T17:23:22.163Z,1754760202.163 [DAT](INFO): direction in FSK: [0.972886,-0.140195,0.183951]
2025-08-09T17:23:22.164Z,1754760202.164 [DAT](INFO): publishing transmit ping time
2025-08-09T17:23:22.164Z,1754760202.164 [DAT](INFO): publishing direction and range info
2025-08-09T17:23:22.171Z,1754760202.171 [DAT](INFO): publishing transmit ping time
2025-08-09T17:23:22.171Z,1754760202.171 [DAT](INFO): publishing direction and range info
2025-08-09T17:23:22.314Z,1754760202.314 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 45.900002 m,
      deltaT: 3.528051 s,
      deltaX: -2.199997 m,
      approachRate: -0.623573 m/s,
      rangeRepo size: 4

2025-08-09T17:23:22.320Z,1754760202.320 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 45.900002 m,
      bearing: 24.815091 deg,
      lat: 36.906116 deg,
      lon: -122.115876 deg,
      deltaT: 3.528051 s,
      deltaX: -2.199997 m,
      approachRate: -0.623573 m/s,
      posRepo size: 4

2025-08-09T17:23:22.321Z,1754760202.321 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 45.90 m.
2025-08-09T17:23:22.327Z,1754760202.327 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 45.900002 m,
      nav range: 45.455170 m,
      bearing: 24.815091 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.064396 deg/s,
      cmd heading: 27.881056 deg,
      new cmd heading: 27.756100 deg.

2025-08-09T17:23:22.328Z,1754760202.328 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.484435 target range: 45.900002 and range: 45.90 m.
2025-08-09T17:23:22.659Z,1754760202.659 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-09T17:23:22.661Z,1754760202.661 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 45.90 m.
2025-08-09T17:23:22.664Z,1754760202.664 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 45.900002 m,
      nav range: 45.227249 m,
      bearing: 24.790711 deg,
      approach rate: -0.655275 m/s,
      LOS rate: -0.070446 deg/s,
      cmd heading: 27.756101 deg,
      new cmd heading: 27.682592 deg.

2025-08-09T17:23:22.665Z,1754760202.665 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.483152 target range: 45.900002 and range: 45.90 m.
2025-08-09T17:23:22.839Z,1754760202.839 [DAT](INFO): ****** received valid address query ******
2025-08-09T17:23:22.839Z,1754760202.839 [DAT](INFO): ****** received valid ping request ******
2025-08-09T17:23:22.839Z,1754760202.839 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-09T17:23:23.060Z,1754760203.060 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 45.90 m.
2025-08-09T17:23:23.063Z,1754760203.063 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 45.900002 m,
      nav range: 44.989300 m,
      bearing: 24.765513 deg,
      approach rate: -0.595545 m/s,
      LOS rate: -0.063399 deg/s,
      cmd heading: 27.682593 deg,
      new cmd heading: 27.606600 deg.

2025-08-09T17:23:23.064Z,1754760203.064 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.481826 target range: 45.900002 and range: 45.90 m.
2025-08-09T17:23:23.094Z,1754760203.094 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.946981
2025-08-09T17:23:23.343Z,1754760203.343 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.196569
2025-08-09T17:23:23.490Z,1754760203.490 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 45.90 m.
2025-08-09T17:23:23.492Z,1754760203.492 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 45.900002 m,
      nav range: 44.722179 m,
      bearing: 24.740851 deg,
      approach rate: -0.622487 m/s,
      LOS rate: -0.057816 deg/s,
      cmd heading: 27.606600 deg,
      new cmd heading: 27.532171 deg.

2025-08-09T17:23:23.493Z,1754760203.493 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.480527 target range: 45.900002 and range: 45.90 m.
2025-08-09T17:23:23.595Z,1754760203.595 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.448720
2025-08-09T17:23:23.848Z,1754760203.848 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.700961
2025-08-09T17:23:23.898Z,1754760203.898 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 45.90 m.
2025-08-09T17:23:23.901Z,1754760203.901 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 45.900002 m,
      nav range: 44.475166 m,
      bearing: 24.717781 deg,
      approach rate: -0.605211 m/s,
      LOS rate: -0.056838 deg/s,
      cmd heading: 27.532170 deg,
      new cmd heading: 27.462575 deg.

2025-08-09T17:23:23.901Z,1754760203.901 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.479312 target range: 45.900002 and range: 45.90 m.
2025-08-09T17:23:24.100Z,1754760204.100 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.953419
2025-08-09T17:23:24.329Z,1754760204.329 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 45.90 m.
2025-08-09T17:23:24.332Z,1754760204.332 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 45.900002 m,
      nav range: 44.202579 m,
      bearing: 24.691201 deg,
      approach rate: -0.632336 m/s,
      LOS rate: -0.062039 deg/s,
      cmd heading: 27.462575 deg,
      new cmd heading: 27.382344 deg.

2025-08-09T17:23:24.333Z,1754760204.333 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.477912 target range: 45.900002 and range: 45.90 m.
2025-08-09T17:23:24.364Z,1754760204.364 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.217637
2025-08-09T17:23:24.615Z,1754760204.615 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.468585
2025-08-09T17:23:24.685Z,1754760204.685 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-09T17:23:24.689Z,1754760204.689 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 45.90 m.
2025-08-09T17:23:24.692Z,1754760204.692 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 45.900002 m,
      nav range: 43.989471 m,
      bearing: 24.670641 deg,
      approach rate: -0.591755 m/s,
      LOS rate: -0.057367 deg/s,
      cmd heading: 27.382344 deg,
      new cmd heading: 27.320366 deg.

2025-08-09T17:23:24.693Z,1754760204.693 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.476830 target range: 45.900002 and range: 45.90 m.
2025-08-09T17:23:24.868Z,1754760204.868 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.720997
2025-08-09T17:23:25.076Z,1754760205.076 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 45.90 m.
2025-08-09T17:23:25.079Z,1754760205.079 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 45.900002 m,
      nav range: 43.741795 m,
      bearing: 24.646969 deg,
      approach rate: -0.639688 m/s,
      LOS rate: -0.061483 deg/s,
      cmd heading: 27.320366 deg,
      new cmd heading: 27.248950 deg.

2025-08-09T17:23:25.080Z,1754760205.080 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.475584 target range: 45.900002 and range: 45.90 m.
2025-08-09T17:23:25.122Z,1754760205.122 [DAT](INFO): DAT read: Rx Time:17:23:23.9991

2025-08-09T17:23:25.124Z,1754760205.124 [DAT](INFO): Rx dataTimestamp_ set to:1754760205.122389
2025-08-09T17:23:25.125Z,1754760205.125 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.978303
2025-08-09T17:23:25.371Z,1754760205.371 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.224528
2025-08-09T17:23:25.557Z,1754760205.557 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 45.90 m.
2025-08-09T17:23:25.564Z,1754760205.564 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 45.900002 m,
      nav range: 43.464958 m,
      bearing: 24.621104 deg,
      approach rate: -0.575859 m/s,
      LOS rate: -0.054147 deg/s,
      cmd heading: 27.248949 deg,
      new cmd heading: 27.170858 deg.

2025-08-09T17:23:25.565Z,1754760205.565 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.474221 target range: 45.900002 and range: 45.90 m.
2025-08-09T17:23:25.632Z,1754760205.632 [DAT](INFO): DAT read: 17:23:23.9991 LVL= 26064, 32753, 21794, 31411, AGC= 64, IDX= 418,-0.17,-2.546, 2.171,-2.081,-2.574, PHS= 0.130,-1.493, 0.449, RAW= 158.8,  10.2, CAL= 158.8,  11.0, ROT= 351.2, -11.0

2025-08-09T17:23:25.633Z,1754760205.633 [DAT](INFO): got valid direction response:
 17:23:23.9991 LVL= 26064, 32753, 21794, 31411, AGC= 64, IDX= 418,-0.17,-2.546, 2.171,-2.081,-2.574, PHS= 0.130,-1.493, 0.449, RAW= 158.8,  10.2, CAL= 158.8,  11.0, ROT= 351.2, -11.0

2025-08-09T17:23:25.635Z,1754760205.635 [DAT](INFO): DAT read: Bearing 200.6, -13.1 (Local)

2025-08-09T17:23:25.635Z,1754760205.635 [DAT](INFO): Local bearing/azimuth received:
 Bearing 200.6, -13.1 (Local)

2025-08-09T17:23:25.637Z,1754760205.637 [DAT](INFO): DAT read: Range 11 to 50 : 43.7 m  (Round-trip  58.3 ms) speed  0.6 m/s

2025-08-09T17:23:25.640Z,1754760205.640 [DAT](INFO): DAT read: user:505>

2025-08-09T17:23:25.641Z,1754760205.641 [DAT](INFO): DAT read: Tx time:17:23:25.1366

2025-08-09T17:23:25.641Z,1754760205.641 [DAT](INFO): Ping request sent.
2025-08-09T17:23:25.641Z,1754760205.641 [DAT](INFO): transmitted an acoustic signal
2025-08-09T17:23:25.642Z,1754760205.642 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-09T17:23:25.643Z,1754760205.643 [DAT](INFO): direction in FSK: [0.970072,-0.150175,0.190809]
2025-08-09T17:23:25.643Z,1754760205.643 [DAT](INFO): publishing transmit ping time
2025-08-09T17:23:25.643Z,1754760205.643 [DAT](INFO): publishing direction and range info
2025-08-09T17:23:25.659Z,1754760205.659 [DAT](INFO): publishing transmit ping time
2025-08-09T17:23:25.659Z,1754760205.659 [DAT](INFO): publishing direction and range info
2025-08-09T17:23:25.947Z,1754760205.947 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 43.700001 m,
      deltaT: 3.540418 s,
      deltaX: -2.200001 m,
      approachRate: -0.621396 m/s,
      rangeRepo size: 4

2025-08-09T17:23:25.949Z,1754760205.949 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 43.700001 m,
      bearing: 24.284762 deg,
      lat: 36.906116 deg,
      lon: -122.115879 deg,
      deltaT: 3.540418 s,
      deltaX: -2.200001 m,
      approachRate: -0.621396 m/s,
      posRepo size: 4

2025-08-09T17:23:25.950Z,1754760205.950 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 43.70 m.
2025-08-09T17:23:25.957Z,1754760205.957 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 43.700001 m,
      nav range: 43.097164 m,
      bearing: 24.284762 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.054147 deg/s,
      cmd heading: 27.170858 deg,
      new cmd heading: 27.108256 deg.

2025-08-09T17:23:25.958Z,1754760205.958 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.473128 target range: 43.700001 and range: 43.70 m.
2025-08-09T17:23:26.411Z,1754760206.411 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 43.70 m.
2025-08-09T17:23:26.413Z,1754760206.413 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 43.700001 m,
      nav range: 42.792725 m,
      bearing: 24.255347 deg,
      approach rate: -0.649972 m/s,
      LOS rate: -0.063245 deg/s,
      cmd heading: 27.108256 deg,
      new cmd heading: 27.019386 deg.

2025-08-09T17:23:26.415Z,1754760206.415 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.471577 target range: 43.700001 and range: 43.70 m.
2025-08-09T17:23:26.746Z,1754760206.746 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-09T17:23:26.748Z,1754760206.748 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 43.70 m.
2025-08-09T17:23:26.751Z,1754760206.751 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 43.700001 m,
      nav range: 42.567078 m,
      bearing: 24.233795 deg,
      approach rate: -0.668037 m/s,
      LOS rate: -0.064145 deg/s,
      cmd heading: 27.019385 deg,
      new cmd heading: 26.954385 deg.

2025-08-09T17:23:26.752Z,1754760206.752 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.470443 target range: 43.700001 and range: 43.70 m.
2025-08-09T17:23:26.883Z,1754760206.883 [DAT](INFO): ****** received valid address query ******
2025-08-09T17:23:26.883Z,1754760206.883 [DAT](INFO): ****** received valid ping request ******
2025-08-09T17:23:26.883Z,1754760206.883 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-09T17:23:27.138Z,1754760207.138 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.496507
2025-08-09T17:23:27.307Z,1754760207.307 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 43.70 m.
2025-08-09T17:23:27.310Z,1754760207.310 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 43.700001 m,
      nav range: 42.207680 m,
      bearing: 24.202307 deg,
      approach rate: -0.644318 m/s,
      LOS rate: -0.056931 deg/s,
      cmd heading: 26.954385 deg,
      new cmd heading: 26.859117 deg.

2025-08-09T17:23:27.311Z,1754760207.311 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.468780 target range: 43.700001 and range: 43.70 m.
2025-08-09T17:23:27.388Z,1754760207.388 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.746270
2025-08-09T17:23:27.639Z,1754760207.639 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.997920
2025-08-09T17:23:27.710Z,1754760207.710 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 43.70 m.
2025-08-09T17:23:27.716Z,1754760207.716 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 43.700001 m,
      nav range: 41.948921 m,
      bearing: 24.179551 deg,
      approach rate: -0.641196 m/s,
      LOS rate: -0.056737 deg/s,
      cmd heading: 26.859118 deg,
      new cmd heading: 26.790428 deg.

2025-08-09T17:23:27.717Z,1754760207.717 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.467581 target range: 43.700001 and range: 43.70 m.
2025-08-09T17:23:27.892Z,1754760207.892 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.250177
2025-08-09T17:23:28.054Z,1754760208.054 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 43.70 m.
2025-08-09T17:23:28.057Z,1754760208.057 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 43.700001 m,
      nav range: 41.720215 m,
      bearing: 24.159501 deg,
      approach rate: -0.664562 m/s,
      LOS rate: -0.058580 deg/s,
      cmd heading: 26.790428 deg,
      new cmd heading: 26.729949 deg.

2025-08-09T17:23:28.058Z,1754760208.058 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.466526 target range: 43.700001 and range: 43.70 m.
2025-08-09T17:23:28.144Z,1754760208.144 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.502456
2025-08-09T17:23:28.395Z,1754760208.395 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.753886
2025-08-09T17:23:28.488Z,1754760208.488 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 43.70 m.
2025-08-09T17:23:28.492Z,1754760208.492 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 43.700001 m,
      nav range: 41.435547 m,
      bearing: 24.135644 deg,
      approach rate: -0.656380 m/s,
      LOS rate: -0.055386 deg/s,
      cmd heading: 26.729949 deg,
      new cmd heading: 26.657888 deg.

2025-08-09T17:23:28.493Z,1754760208.493 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.465268 target range: 43.700001 and range: 43.70 m.
2025-08-09T17:23:28.647Z,1754760208.647 [DAT](INFO): DAT read: Rx Time:17:23:27.5961

2025-08-09T17:23:28.648Z,1754760208.648 [DAT](INFO): Rx dataTimestamp_ set to:1754760208.647486
2025-08-09T17:23:28.648Z,1754760208.648 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.006977
2025-08-09T17:23:28.869Z,1754760208.869 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-09T17:23:28.872Z,1754760208.872 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 43.70 m.
2025-08-09T17:23:28.877Z,1754760208.877 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 43.700001 m,
      nav range: 41.186749 m,
      bearing: 24.114779 deg,
      approach rate: -0.646707 m/s,
      LOS rate: -0.054563 deg/s,
      cmd heading: 26.657887 deg,
      new cmd heading: 26.594913 deg.

2025-08-09T17:23:28.878Z,1754760208.878 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.464169 target range: 43.700001 and range: 43.70 m.
2025-08-09T17:23:28.899Z,1754760208.899 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.258091
2025-08-09T17:23:29.164Z,1754760209.164 [DAT](INFO): DAT read: 17:23:27.5961 LVL= 31552, 32753, 25714, 32755, AGC= 66, IDX= 404,-0.11,-0.385,-1.944, 0.080,-0.427, PHS= 0.145,-1.472, 0.463, RAW= 158.8,   9.6, CAL= 158.7,  10.3, ROT= 351.3, -10.3

2025-08-09T17:23:29.177Z,1754760209.177 [DAT](INFO): got valid direction response:
 17:23:27.5961 LVL= 31552, 32753, 25714, 32755, AGC= 66, IDX= 404,-0.11,-0.385,-1.944, 0.080,-0.427, PHS= 0.145,-1.472, 0.463, RAW= 158.8,   9.6, CAL= 158.7,  10.3, ROT= 351.3, -10.3

2025-08-09T17:23:29.178Z,1754760209.178 [DAT](INFO): DAT read: Bearing 199.1, -12.8 (Local)

2025-08-09T17:23:29.191Z,1754760209.191 [DAT](INFO): Local bearing/azimuth received:
 Bearing 199.1, -12.8 (Local)

2025-08-09T17:23:29.201Z,1754760209.201 [DAT](INFO): DAT read: Range 11 to 50 : 41.5 m  (Round-trip  55.4 ms) speed  0.5 m/s

2025-08-09T17:23:29.204Z,1754760209.204 [DAT](INFO): DAT read: user:506>

2025-08-09T17:23:29.207Z,1754760209.207 [DAT](INFO): DAT read: Tx time:17:23:28.6866

2025-08-09T17:23:29.208Z,1754760209.208 [DAT](INFO): Ping request sent.
2025-08-09T17:23:29.208Z,1754760209.208 [DAT](INFO): transmitted an acoustic signal
2025-08-09T17:23:29.209Z,1754760209.209 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-09T17:23:29.213Z,1754760209.213 [DAT](INFO): direction in FSK: [0.972564,-0.148823,0.178802]
2025-08-09T17:23:29.213Z,1754760209.213 [DAT](INFO): publishing transmit ping time
2025-08-09T17:23:29.215Z,1754760209.215 [DAT](INFO): publishing direction and range info
2025-08-09T17:23:29.262Z,1754760209.262 [DAT](INFO): publishing transmit ping time
2025-08-09T17:23:29.283Z,1754760209.283 [DAT](INFO): publishing direction and range info
2025-08-09T17:23:29.444Z,1754760209.444 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 41.500000 m,
      deltaT: 3.529180 s,
      deltaX: -2.200001 m,
      approachRate: -0.623374 m/s,
      rangeRepo size: 4

2025-08-09T17:23:29.446Z,1754760209.446 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 41.500000 m,
      bearing: 23.716218 deg,
      lat: 36.906118 deg,
      lon: -122.115881 deg,
      deltaT: 3.529180 s,
      deltaX: -2.200001 m,
      approachRate: -0.623374 m/s,
      posRepo size: 4

2025-08-09T17:23:29.451Z,1754760209.451 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 41.50 m.
2025-08-09T17:23:29.453Z,1754760209.453 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 41.500000 m,
      nav range: 40.903545 m,
      bearing: 23.716218 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.054563 deg/s,
      cmd heading: 26.594912 deg,
      new cmd heading: 26.501435 deg.

2025-08-09T17:23:29.459Z,1754760209.459 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.462537 target range: 41.500000 and range: 41.50 m.
2025-08-09T17:23:29.829Z,1754760209.829 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 41.50 m.
2025-08-09T17:23:29.835Z,1754760209.835 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 41.500000 m,
      nav range: 40.665981 m,
      bearing: 23.699995 deg,
      approach rate: -0.616657 m/s,
      LOS rate: -0.042355 deg/s,
      cmd heading: 26.501435 deg,
      new cmd heading: 26.452484 deg.

2025-08-09T17:23:29.839Z,1754760209.839 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.461683 target range: 41.500000 and range: 41.50 m.
2025-08-09T17:23:30.200Z,1754760210.200 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 41.50 m.
2025-08-09T17:23:30.203Z,1754760210.203 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 41.500000 m,
      nav range: 40.414764 m,
      bearing: 23.683064 deg,
      approach rate: -0.678910 m/s,
      LOS rate: -0.046041 deg/s,
      cmd heading: 26.452484 deg,
      new cmd heading: 26.401374 deg.

2025-08-09T17:23:30.204Z,1754760210.204 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.460791 target range: 41.500000 and range: 41.50 m.
2025-08-09T17:23:30.627Z,1754760210.627 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 41.50 m.
2025-08-09T17:23:30.629Z,1754760210.629 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 41.500000 m,
      nav range: 40.145405 m,
      bearing: 23.660089 deg,
      approach rate: -0.629586 m/s,
      LOS rate: -0.054062 deg/s,
      cmd heading: 26.401374 deg,
      new cmd heading: 26.331985 deg.

2025-08-09T17:23:30.630Z,1754760210.630 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.459580 target range: 41.500000 and range: 41.50 m.
2025-08-09T17:23:30.998Z,1754760210.998 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-09T17:23:30.000Z,1754760211.000 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 41.50 m.
2025-08-09T17:23:31.003Z,1754760211.003 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 41.500000 m,
      nav range: 39.912003 m,
      bearing: 23.640202 deg,
      approach rate: -0.624747 m/s,
      LOS rate: -0.053541 deg/s,
      cmd heading: 26.331986 deg,
      new cmd heading: 26.271978 deg.

2025-08-09T17:23:31.004Z,1754760211.004 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.458533 target range: 41.500000 and range: 41.50 m.
2025-08-09T17:23:31.167Z,1754760211.167 [DAT](INFO): ****** received valid address query ******
2025-08-09T17:23:31.167Z,1754760211.167 [DAT](INFO): ****** received valid ping request ******
2025-08-09T17:23:31.167Z,1754760211.167 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-09T17:23:31.419Z,1754760211.419 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.211312
2025-08-09T17:23:31.446Z,1754760211.446 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 41.50 m.
2025-08-09T17:23:31.453Z,1754760211.453 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 41.500000 m,
      nav range: 39.652775 m,
      bearing: 23.618522 deg,
      approach rate: -0.581516 m/s,
      LOS rate: -0.048952 deg/s,
      cmd heading: 26.271978 deg,
      new cmd heading: 26.206513 deg.

2025-08-09T17:23:31.454Z,1754760211.454 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.457390 target range: 41.500000 and range: 41.50 m.
2025-08-09T17:23:31.671Z,1754760211.671 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.463283
2025-08-09T17:23:31.842Z,1754760211.842 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 41.50 m.
2025-08-09T17:23:31.845Z,1754760211.845 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 41.500000 m,
      nav range: 39.425903 m,
      bearing: 23.599567 deg,
      approach rate: -0.602500 m/s,
      LOS rate: -0.050630 deg/s,
      cmd heading: 26.206512 deg,
      new cmd heading: 26.149318 deg.

2025-08-09T17:23:31.850Z,1754760211.850 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.456392 target range: 41.500000 and range: 41.50 m.
2025-08-09T17:23:31.924Z,1754760211.924 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.715824
2025-08-09T17:23:32.179Z,1754760212.179 [DAT](INFO): DAT read: Rx Time:17:23:31.1431

2025-08-09T17:23:32.180Z,1754760212.180 [DAT](INFO): Rx dataTimestamp_ set to:1754760212.179513
2025-08-09T17:23:32.180Z,1754760212.180 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.972419
2025-08-09T17:23:32.215Z,1754760212.215 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 41.50 m.
2025-08-09T17:23:32.218Z,1754760212.218 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 41.500000 m,
      nav range: 39.189030 m,
      bearing: 23.579911 deg,
      approach rate: -0.602917 m/s,
      LOS rate: -0.050333 deg/s,
      cmd heading: 26.149318 deg,
      new cmd heading: 26.089994 deg.

2025-08-09T17:23:32.249Z,1754760212.249 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.455356 target range: 41.500000 and range: 41.50 m.
2025-08-09T17:23:32.432Z,1754760212.432 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.223731
2025-08-09T17:23:32.661Z,1754760212.661 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 41.50 m.
2025-08-09T17:23:32.700Z,1754760212.700 [DAT](INFO): DAT read: 17:23:31.1431 LVL= 26512, 30609, 24914, 30963, AGC= 64, IDX= 405, 0.02, 0.848,-0.734, 1.291, 0.793, PHS= 0.157,-1.483, 0.454, RAW= 158.2,   9.7, CAL= 158.0,  10.4, ROT= 352.0, -10.4

2025-08-09T17:23:32.703Z,1754760212.703 [DAT](INFO): got valid direction response:
 17:23:31.1431 LVL= 26512, 30609, 24914, 30963, AGC= 64, IDX= 405, 0.02, 0.848,-0.734, 1.291, 0.793, PHS= 0.157,-1.483, 0.454, RAW= 158.2,   9.7, CAL= 158.0,  10.4, ROT= 352.0, -10.4

2025-08-09T17:23:32.704Z,1754760212.704 [DAT](INFO): DAT read: Bearing 199.0, -11.9 (Local)

2025-08-09T17:23:32.704Z,1754760212.704 [DAT](INFO): Local bearing/azimuth received:
 Bearing 199.0, -11.9 (Local)

2025-08-09T17:23:32.705Z,1754760212.705 [DAT](INFO): DAT read: Range 11 to 50 : 39.3 m  (Round-trip  52.4 ms) speed  0.5 m/s

2025-08-09T17:23:32.708Z,1754760212.708 [DAT](INFO): DAT read: user:507>

2025-08-09T17:23:32.708Z,1754760212.708 [DAT](INFO): DAT read: Tx time:17:23:32.2366

2025-08-09T17:23:32.709Z,1754760212.709 [DAT](INFO): Ping request sent.
2025-08-09T17:23:32.709Z,1754760212.709 [DAT](INFO): transmitted an acoustic signal
2025-08-09T17:23:32.709Z,1754760212.709 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-09T17:23:32.710Z,1754760212.710 [DAT](INFO): direction in FSK: [0.973999,-0.136887,0.180519]
2025-08-09T17:23:32.710Z,1754760212.710 [DAT](INFO): publishing transmit ping time
2025-08-09T17:23:32.711Z,1754760212.711 [DAT](INFO): publishing direction and range info
2025-08-09T17:23:32.714Z,1754760212.714 [DAT](INFO): publishing transmit ping time
2025-08-09T17:23:32.714Z,1754760212.714 [DAT](INFO): publishing direction and range info
2025-08-09T17:23:32.716Z,1754760212.716 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 41.500000 m,
      nav range: 38.935291 m,
      bearing: 23.558476 deg,
      approach rate: -0.571105 m/s,
      LOS rate: -0.048559 deg/s,
      cmd heading: 26.089994 deg,
      new cmd heading: 26.025270 deg.

2025-08-09T17:23:32.717Z,1754760212.717 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.454227 target range: 41.500000 and range: 41.50 m.
2025-08-09T17:23:33.037Z,1754760213.037 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL] Running Loop=1
2025-08-09T17:23:33.037Z,1754760213.037 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL](DEBUG): Aggregate::initialize lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL
2025-08-09T17:23:33.038Z,1754760213.038 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL:A] Running Loop=1
2025-08-09T17:23:33.039Z,1754760213.039 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL:A](INFO): Entering USBL mode with  120.000000 count pings at  39.299999 m (mode  2.000000 count ).
2025-08-09T17:23:33.040Z,1754760213.040 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL:A] Stopped
2025-08-09T17:23:33.040Z,1754760213.040 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL:B] Running Loop=1
2025-08-09T17:23:33.070Z,1754760213.070 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 39.299999 m,
      deltaT: 3.531542 s,
      deltaX: -2.200001 m,
      approachRate: -0.622958 m/s,
      rangeRepo size: 4

2025-08-09T17:23:33.073Z,1754760213.073 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 39.299999 m,
      bearing: 22.509876 deg,
      lat: 36.906121 deg,
      lon: -122.115888 deg,
      deltaT: 3.531542 s,
      deltaX: -2.200001 m,
      approachRate: -0.622958 m/s,
      posRepo size: 4

2025-08-09T17:23:33.073Z,1754760213.073 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 39.30 m.
2025-08-09T17:23:33.080Z,1754760213.080 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 39.299999 m,
      nav range: 38.794525 m,
      bearing: 22.509876 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.048559 deg/s,
      cmd heading: 26.025271 deg,
      new cmd heading: 25.969025 deg.

2025-08-09T17:23:33.081Z,1754760213.081 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.453245 target range: 39.299999 and range: 39.30 m.
2025-08-09T17:23:33.472Z,1754760213.472 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL:B] Stopped
2025-08-09T17:23:33.472Z,1754760213.472 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL:C] Running Loop=1
2025-08-09T17:23:33.473Z,1754760213.473 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-09T17:23:33.475Z,1754760213.475 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 39.30 m.
2025-08-09T17:23:33.478Z,1754760213.478 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 39.299999 m,
      nav range: 38.551849 m,
      bearing: 22.482155 deg,
      approach rate: -0.565165 m/s,
      LOS rate: -0.064966 deg/s,
      cmd heading: 25.969025 deg,
      new cmd heading: 25.885338 deg.

2025-08-09T17:23:33.479Z,1754760213.479 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.451784 target range: 39.299999 and range: 39.30 m.
2025-08-09T17:23:33.691Z,1754760213.691 [DAT](INFO): ****** received valid address query ******
2025-08-09T17:23:33.691Z,1754760213.691 [DAT](INFO): ****** received valid ping request ******
2025-08-09T17:23:33.692Z,1754760213.692 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode.
2025-08-09T17:23:33.872Z,1754760213.872 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL:C] Stopped
2025-08-09T17:23:33.872Z,1754760213.872 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL:D] Running Loop=1
2025-08-09T17:23:33.876Z,1754760213.876 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 39.30 m.
2025-08-09T17:23:33.883Z,1754760213.883 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 39.299999 m,
      nav range: 38.318668 m,
      bearing: 22.455793 deg,
      approach rate: -0.583736 m/s,
      LOS rate: -0.066396 deg/s,
      cmd heading: 25.885338 deg,
      new cmd heading: 25.805770 deg.

2025-08-09T17:23:33.887Z,1754760213.887 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.450396 target range: 39.299999 and range: 39.30 m.
2025-08-09T17:23:33.944Z,1754760213.944 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.235527
2025-08-09T17:23:34.195Z,1754760214.195 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.486470
2025-08-09T17:23:34.293Z,1754760214.293 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL:D] Stopped
2025-08-09T17:23:34.295Z,1754760214.295 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL](INFO): Completed lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL
2025-08-09T17:23:34.295Z,1754760214.295 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL] Stopped
2025-08-09T17:23:34.295Z,1754760214.295 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL](DEBUG): Aggregate::uninitialize lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL
2025-08-09T17:23:34.320Z,1754760214.320 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 39.30 m.
2025-08-09T17:23:34.339Z,1754760214.339 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 39.299999 m,
      nav range: 38.078754 m,
      bearing: 22.428332 deg,
      approach rate: -0.561264 m/s,
      LOS rate: -0.064648 deg/s,
      cmd heading: 25.805769 deg,
      new cmd heading: 25.722867 deg.

2025-08-09T17:23:34.340Z,1754760214.340 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.448949 target range: 39.299999 and range: 39.30 m.
2025-08-09T17:23:34.448Z,1754760214.448 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.738830
2025-08-09T17:23:34.699Z,1754760214.699 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.990517
2025-08-09T17:23:34.709Z,1754760214.709 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 39.30 m.
2025-08-09T17:23:34.716Z,1754760214.716 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 39.299999 m,
      nav range: 37.829140 m,
      bearing: 22.392977 deg,
      approach rate: -0.612628 m/s,
      LOS rate: -0.087344 deg/s,
      cmd heading: 25.722866 deg,
      new cmd heading: 25.616102 deg.

2025-08-09T17:23:34.717Z,1754760214.717 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.447085 target range: 39.299999 and range: 39.30 m.
2025-08-09T17:23:34.951Z,1754760214.951 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.242449
2025-08-09T17:23:35.078Z,1754760215.078 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 39.30 m.
2025-08-09T17:23:35.081Z,1754760215.081 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 39.299999 m,
      nav range: 37.606331 m,
      bearing: 22.361497 deg,
      approach rate: -0.604083 m/s,
      LOS rate: -0.085856 deg/s,
      cmd heading: 25.616102 deg,
      new cmd heading: 25.521101 deg.

2025-08-09T17:23:35.082Z,1754760215.082 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.445427 target range: 39.299999 and range: 39.30 m.
2025-08-09T17:23:35.203Z,1754760215.203 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.494400
2025-08-09T17:23:35.456Z,1754760215.456 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.746667
2025-08-09T17:23:35.502Z,1754760215.502 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-09T17:23:35.504Z,1754760215.504 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 39.30 m.
2025-08-09T17:23:35.507Z,1754760215.507 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 39.299999 m,
      nav range: 37.364952 m,
      bearing: 22.325565 deg,
      approach rate: -0.566767 m/s,
      LOS rate: -0.084913 deg/s,
      cmd heading: 25.521101 deg,
      new cmd heading: 25.412611 deg.

2025-08-09T17:23:35.508Z,1754760215.508 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.443534 target range: 39.299999 and range: 39.30 m.
2025-08-09T17:23:35.708Z,1754760215.708 [DAT](INFO): DAT read: Rx Time:17:23:34.6901

2025-08-09T17:23:35.709Z,1754760215.709 [DAT](INFO): Rx dataTimestamp_ set to:1754760215.708322
2025-08-09T17:23:35.709Z,1754760215.709 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.000380
2025-08-09T17:23:35.899Z,1754760215.899 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 39.30 m.
2025-08-09T17:23:35.901Z,1754760215.901 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 39.299999 m,
      nav range: 37.140518 m,
      bearing: 22.292069 deg,
      approach rate: -0.568932 m/s,
      LOS rate: -0.085424 deg/s,
      cmd heading: 25.412612 deg,
      new cmd heading: 25.311517 deg.

2025-08-09T17:23:35.903Z,1754760215.903 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.441769 target range: 39.299999 and range: 39.30 m.
2025-08-09T17:23:35.960Z,1754760215.960 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.251283
2025-08-09T17:23:36.215Z,1754760216.215 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.505686
2025-08-09T17:23:36.377Z,1754760216.377 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 39.30 m.
2025-08-09T17:23:36.383Z,1754760216.383 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 39.299999 m,
      nav range: 36.900703 m,
      bearing: 22.256158 deg,
      approach rate: -0.501713 m/s,
      LOS rate: -0.075618 deg/s,
      cmd heading: 25.311517 deg,
      new cmd heading: 25.203082 deg.

2025-08-09T17:23:36.384Z,1754760216.384 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.439877 target range: 39.299999 and range: 39.30 m.
2025-08-09T17:23:36.469Z,1754760216.469 [DAT](INFO): DAT read: 17:23:34.6901 LVL= 32464, 32753, 27378, 32755, AGC= 64, IDX= 406, 0.00,-2.411, 2.274,-1.995,-2.500, PHS= 0.191,-1.464, 0.461, RAW= 157.4,   9.0, CAL= 157.2,   9.6, ROT= 352.8,  -9.6

2025-08-09T17:23:36.476Z,1754760216.476 [DAT](INFO): got valid direction response:
 17:23:34.6901 LVL= 32464, 32753, 27378, 32755, AGC= 64, IDX= 406, 0.00,-2.411, 2.274,-1.995,-2.500, PHS= 0.191,-1.464, 0.461, RAW= 157.4,   9.0, CAL= 157.2,   9.6, ROT= 352.8,  -9.6

2025-08-09T17:23:36.477Z,1754760216.477 [DAT](INFO): DAT read: Bearing 197.6, -10.6 (Local)

2025-08-09T17:23:36.478Z,1754760216.478 [DAT](INFO): Local bearing/azimuth received:
 Bearing 197.6, -10.6 (Local)

2025-08-09T17:23:36.479Z,1754760216.479 [DAT](INFO): DAT read: Range 11 to 50 : 37.0 m  (Round-trip  49.4 ms) speed  0.4 m/s

2025-08-09T17:23:36.480Z,1754760216.480 [DAT](INFO): DAT read: user:508>

2025-08-09T17:23:36.481Z,1754760216.481 [DAT](INFO): DAT read: Tx time:17:23:35.7866

2025-08-09T17:23:36.481Z,1754760216.481 [DAT](INFO): Ping request sent.
2025-08-09T17:23:36.481Z,1754760216.481 [DAT](INFO): transmitted an acoustic signal
2025-08-09T17:23:36.481Z,1754760216.481 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-09T17:23:36.483Z,1754760216.483 [DAT](INFO): direction in FSK: [0.978221,-0.123578,0.166769]
2025-08-09T17:23:36.483Z,1754760216.483 [DAT](INFO): publishing transmit ping time
2025-08-09T17:23:36.483Z,1754760216.483 [DAT](INFO): publishing direction and range info
2025-08-09T17:23:36.488Z,1754760216.488 [DAT](INFO): publishing transmit ping time
2025-08-09T17:23:36.488Z,1754760216.488 [DAT](INFO): publishing direction and range info
2025-08-09T17:23:36.504Z,1754760216.504 [DAT](INFO): checking for new query: numPingsReceived=1, elapsed TxPingTime=0.022765
2025-08-09T17:23:36.715Z,1754760216.715 [DAT](INFO): checking for new query: numPingsReceived=1, elapsed TxPingTime=0.234164
2025-08-09T17:23:36.821Z,1754760216.821 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 37.000000 m,
      deltaT: 3.778815 s,
      deltaX: -2.299999 m,
      approachRate: -0.608656 m/s,
      rangeRepo size: 4

2025-08-09T17:23:36.834Z,1754760216.834 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 37.000000 m,
      bearing: 22.203743 deg,
      lat: 36.906121 deg,
      lon: -122.115888 deg,
      deltaT: 3.778815 s,
      deltaX: -2.299999 m,
      approachRate: -0.608656 m/s,
      posRepo size: 4

2025-08-09T17:23:36.835Z,1754760216.835 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 37.00 m.
2025-08-09T17:23:36.838Z,1754760216.838 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 37.000000 m,
      nav range: 36.648457 m,
      bearing: 22.203743 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.075618 deg/s,
      cmd heading: 25.203082 deg,
      new cmd heading: 25.102508 deg.

2025-08-09T17:23:36.857Z,1754760216.857 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.438121 target range: 37.000000 and range: 37.00 m.
2025-08-09T17:23:36.969Z,1754760216.969 [DAT](INFO): checking for new query: numPingsReceived=1, elapsed TxPingTime=0.487409
2025-08-09T17:23:37.188Z,1754760217.188 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 37.00 m.
2025-08-09T17:23:37.207Z,1754760217.207 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 37.000000 m,
      nav range: 36.423023 m,
      bearing: 22.174658 deg,
      approach rate: -0.612103 m/s,
      LOS rate: -0.079460 deg/s,
      cmd heading: 25.102508 deg,
      new cmd heading: 25.014714 deg.

2025-08-09T17:23:37.208Z,1754760217.208 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.436589 target range: 37.000000 and range: 37.00 m.
2025-08-09T17:23:37.219Z,1754760217.219 [DAT](INFO): checking for new query: numPingsReceived=1, elapsed TxPingTime=0.738366
2025-08-09T17:23:37.474Z,1754760217.474 [DAT](INFO): checking for new query: numPingsReceived=1, elapsed TxPingTime=0.992460
2025-08-09T17:23:37.616Z,1754760217.616 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-09T17:23:37.618Z,1754760217.618 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 37.00 m.
2025-08-09T17:23:37.621Z,1754760217.621 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 37.000000 m,
      nav range: 36.170887 m,
      bearing: 22.137029 deg,
      approach rate: -0.587031 m/s,
      LOS rate: -0.088221 deg/s,
      cmd heading: 25.014714 deg,
      new cmd heading: 24.901039 deg.

2025-08-09T17:23:37.622Z,1754760217.622 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.434605 target range: 37.000000 and range: 37.00 m.
2025-08-09T17:23:37.724Z,1754760217.724 [DAT](INFO): checking for new query: numPingsReceived=1, elapsed TxPingTime=1.242712
2025-08-09T17:23:37.976Z,1754760217.976 [DAT](INFO): checking for new query: numPingsReceived=1, elapsed TxPingTime=1.494457
2025-08-09T17:23:38.011Z,1754760218.011 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 37.00 m.
2025-08-09T17:23:38.014Z,1754760218.014 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 37.000000 m,
      nav range: 35.938393 m,
      bearing: 22.102239 deg,
      approach rate: -0.590606 m/s,
      LOS rate: -0.088947 deg/s,
      cmd heading: 24.901039 deg,
      new cmd heading: 24.795996 deg.

2025-08-09T17:23:38.015Z,1754760218.015 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.432772 target range: 37.000000 and range: 37.00 m.
2025-08-09T17:23:38.228Z,1754760218.228 [DAT](INFO): checking for new query: numPingsReceived=1, elapsed TxPingTime=1.746727
2025-08-09T17:23:38.448Z,1754760218.448 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 37.00 m.
2025-08-09T17:23:38.451Z,1754760218.451 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 37.000000 m,
      nav range: 35.666927 m,
      bearing: 22.072220 deg,
      approach rate: -0.622210 m/s,
      LOS rate: -0.069330 deg/s,
      cmd heading: 24.795996 deg,
      new cmd heading: 24.705252 deg.

2025-08-09T17:23:38.451Z,1754760218.451 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.431188 target range: 37.000000 and range: 37.00 m.
2025-08-09T17:23:38.479Z,1754760218.479 [DAT](INFO): checking for new query: numPingsReceived=1, elapsed TxPingTime=1.998299
2025-08-09T17:23:38.733Z,1754760218.733 [DAT](INFO): checking for new query: numPingsReceived=1, elapsed TxPingTime=2.251160
2025-08-09T17:23:38.813Z,1754760218.813 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 37.00 m.
2025-08-09T17:23:38.816Z,1754760218.816 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 37.000000 m,
      nav range: 35.438770 m,
      bearing: 22.047173 deg,
      approach rate: -0.624316 m/s,
      LOS rate: -0.068978 deg/s,
      cmd heading: 24.705252 deg,
      new cmd heading: 24.629628 deg.

2025-08-09T17:23:38.817Z,1754760218.817 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.429868 target range: 37.000000 and range: 37.00 m.
2025-08-09T17:23:38.983Z,1754760218.983 [DAT](INFO): checking for new query: numPingsReceived=1, elapsed TxPingTime=2.502177
2025-08-09T17:23:39.237Z,1754760219.237 [DAT](INFO): DAT read: Rx Time:17:23:38.2373

2025-08-09T17:23:39.237Z,1754760219.237 [DAT](INFO): Rx dataTimestamp_ set to:1754760219.236718
2025-08-09T17:23:39.238Z,1754760219.238 [DAT](INFO): checking for new query: numPingsReceived=1, elapsed TxPingTime=2.756475
2025-08-09T17:23:39.316Z,1754760219.316 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 37.00 m.
2025-08-09T17:23:39.324Z,1754760219.324 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 37.000000 m,
      nav range: 35.143707 m,
      bearing: 22.015222 deg,
      approach rate: -0.593218 m/s,
      LOS rate: -0.064775 deg/s,
      cmd heading: 24.629628 deg,
      new cmd heading: 24.532972 deg.

2025-08-09T17:23:39.325Z,1754760219.325 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.428181 target range: 37.000000 and range: 37.00 m.
2025-08-09T17:23:39.487Z,1754760219.487 [DAT](INFO): checking for new query: numPingsReceived=1, elapsed TxPingTime=3.006293
2025-08-09T17:23:39.799Z,1754760219.799 [DAT](INFO): DAT read: 17:23:38.2373 LVL= 30160, 30145, 21810, 32755, AGC= 58, IDX= 409,-0.00, 2.571, 0.934, 3.026, 2.471, PHS= 0.202,-1.492, 0.511, RAW= 158.2,   8.4, CAL= 157.9,   8.8, ROT= 352.1,  -8.8

2025-08-09T17:23:39.800Z,1754760219.800 [DAT](INFO): got valid direction response:
 17:23:38.2373 LVL= 30160, 30145, 21810, 32755, AGC= 58, IDX= 409,-0.00, 2.571, 0.934, 3.026, 2.471, PHS= 0.202,-1.492, 0.511, RAW= 158.2,   8.4, CAL= 157.9,   8.8, ROT= 352.1,  -8.8

2025-08-09T17:23:39.801Z,1754760219.801 [DAT](INFO): DAT read: Bearing 195.9, -11.2 (Local)

2025-08-09T17:23:39.801Z,1754760219.801 [DAT](INFO): Local bearing/azimuth received:
 Bearing 195.9, -11.2 (Local)

2025-08-09T17:23:39.815Z,1754760219.815 [DAT](INFO): DAT read: Range 11 to 50 : 34.8 m  (Round-trip  46.5 ms) speed  0.5 m/s

2025-08-09T17:23:39.826Z,1754760219.826 [DAT](INFO): DAT read: user:509>

2025-08-09T17:23:39.827Z,1754760219.827 [DAT](INFO): DAT read: Tx time:17:23:39.3366

2025-08-09T17:23:39.827Z,1754760219.827 [DAT](INFO): Ping request sent.
2025-08-09T17:23:39.827Z,1754760219.827 [DAT](INFO): transmitted an acoustic signal
2025-08-09T17:23:39.828Z,1754760219.828 [DAT](INFO): #Rx 2: Read range and direction messages.
2025-08-09T17:23:39.829Z,1754760219.829 [DAT](INFO): direction in FSK: [0.978850,-0.135827,0.152986]
2025-08-09T17:23:39.829Z,1754760219.829 [DAT](INFO): publishing transmit ping time
2025-08-09T17:23:39.829Z,1754760219.829 [DAT](INFO): publishing direction and range info
2025-08-09T17:23:39.846Z,1754760219.846 [DAT](INFO): publishing transmit ping time
2025-08-09T17:23:39.846Z,1754760219.846 [DAT](INFO): publishing direction and range info
2025-08-09T17:23:39.864Z,1754760219.864 [DAT](INFO): checking for new query: numPingsReceived=2, elapsed TxPingTime=0.036775
2025-08-09T17:23:39.879Z,1754760219.879 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 34.799999 m,
      deltaT: 3.307136 s,
      deltaX: -2.200001 m,
      approachRate: -0.665228 m/s,
      rangeRepo size: 4

2025-08-09T17:23:39.881Z,1754760219.881 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 34.799999 m,
      bearing: 21.636205 deg,
      lat: 36.906121 deg,
      lon: -122.115890 deg,
      deltaT: 3.307136 s,
      deltaX: -2.200001 m,
      approachRate: -0.665228 m/s,
      posRepo size: 4

2025-08-09T17:23:39.886Z,1754760219.886 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 34.80 m.
2025-08-09T17:23:39.889Z,1754760219.889 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 34.799999 m,
      nav range: 34.708485 m,
      bearing: 21.636205 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.064775 deg/s,
      cmd heading: 24.532972 deg,
      new cmd heading: 24.423570 deg.

2025-08-09T17:23:39.890Z,1754760219.890 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.426272 target range: 34.799999 and range: 34.80 m.
2025-08-09T17:23:40.024Z,1754760220.024 [DAT](INFO): checking for new query: numPingsReceived=2, elapsed TxPingTime=0.196066
2025-08-09T17:23:40.283Z,1754760220.283 [DAT](INFO): checking for new query: numPingsReceived=2, elapsed TxPingTime=0.455815
2025-08-09T17:23:40.313Z,1754760220.313 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 34.80 m.
2025-08-09T17:23:40.320Z,1754760220.320 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 34.799999 m,
      nav range: 34.417973 m,
      bearing: 21.601253 deg,
      approach rate: -0.660620 m/s,
      LOS rate: -0.080151 deg/s,
      cmd heading: 24.423570 deg,
      new cmd heading: 24.317828 deg.

2025-08-09T17:23:40.321Z,1754760220.321 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.424426 target range: 34.799999 and range: 34.80 m.
2025-08-09T17:23:40.535Z,1754760220.535 [DAT](INFO): checking for new query: numPingsReceived=2, elapsed TxPingTime=0.707686
2025-08-09T17:23:40.787Z,1754760220.787 [DAT](INFO): checking for new query: numPingsReceived=2, elapsed TxPingTime=0.959880
2025-08-09T17:23:40.794Z,1754760220.794 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-09T17:23:40.797Z,1754760220.797 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 34.80 m.
2025-08-09T17:23:40.800Z,1754760220.800 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 34.799999 m,
      nav range: 34.096756 m,
      bearing: 21.560882 deg,
      approach rate: -0.664606 m/s,
      LOS rate: -0.084315 deg/s,
      cmd heading: 24.317828 deg,
      new cmd heading: 24.195575 deg.

2025-08-09T17:23:40.800Z,1754760220.800 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.422292 target range: 34.799999 and range: 34.80 m.
2025-08-09T17:23:41.040Z,1754760221.040 [DAT](INFO): checking for new query: numPingsReceived=2, elapsed TxPingTime=1.212045
2025-08-09T17:23:41.127Z,1754760221.127 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 34.80 m.
2025-08-09T17:23:41.130Z,1754760221.130 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 34.799999 m,
      nav range: 33.887527 m,
      bearing: 21.534963 deg,
      approach rate: -0.633061 m/s,
      LOS rate: -0.078905 deg/s,
      cmd heading: 24.195575 deg,
      new cmd heading: 24.117340 deg.

2025-08-09T17:23:41.131Z,1754760221.131 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.420927 target range: 34.799999 and range: 34.80 m.
2025-08-09T17:23:41.291Z,1754760221.291 [DAT](INFO): checking for new query: numPingsReceived=2, elapsed TxPingTime=1.463780
2025-08-09T17:23:41.544Z,1754760221.544 [DAT](INFO): checking for new query: numPingsReceived=2, elapsed TxPingTime=1.715989
2025-08-09T17:23:41.617Z,1754760221.617 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 34.80 m.
2025-08-09T17:23:41.620Z,1754760221.620 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 34.799999 m,
      nav range: 33.572712 m,
      bearing: 21.515138 deg,
      approach rate: -0.642013 m/s,
      LOS rate: -0.040809 deg/s,
      cmd heading: 24.117340 deg,
      new cmd heading: 24.057307 deg.

2025-08-09T17:23:41.621Z,1754760221.621 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.419879 target range: 34.799999 and range: 34.80 m.
2025-08-09T17:23:41.795Z,1754760221.795 [DAT](INFO): checking for new query: numPingsReceived=2, elapsed TxPingTime=1.967799
2025-08-09T17:23:42.022Z,1754760222.022 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 34.80 m.
2025-08-09T17:23:42.025Z,1754760222.025 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 34.799999 m,
      nav range: 33.312679 m,
      bearing: 21.500166 deg,
      approach rate: -0.642438 m/s,
      LOS rate: -0.037279 deg/s,
      cmd heading: 24.057306 deg,
      new cmd heading: 24.012038 deg.

2025-08-09T17:23:42.026Z,1754760222.026 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.419089 target range: 34.799999 and range: 34.80 m.
2025-08-09T17:23:42.047Z,1754760222.047 [DAT](INFO): checking for new query: numPingsReceived=2, elapsed TxPingTime=2.219814
2025-08-09T17:23:42.299Z,1754760222.299 [DAT](INFO): checking for new query: numPingsReceived=2, elapsed TxPingTime=2.471759
2025-08-09T17:23:42.495Z,1754760222.495 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 34.80 m.
2025-08-09T17:23:42.498Z,1754760222.498 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 34.799999 m,
      nav range: 33.009811 m,
      bearing: 21.474782 deg,
      approach rate: -0.640016 m/s,
      LOS rate: -0.054133 deg/s,
      cmd heading: 24.012039 deg,
      new cmd heading: 23.935189 deg.

2025-08-09T17:23:42.499Z,1754760222.499 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.417748 target range: 34.799999 and range: 34.80 m.
2025-08-09T17:23:42.552Z,1754760222.552 [DAT](INFO): checking for new query: numPingsReceived=2, elapsed TxPingTime=2.724030
2025-08-09T17:23:42.809Z,1754760222.809 [DAT](INFO): DAT read: Rx Time:17:23:41.7844

2025-08-09T17:23:42.810Z,1754760222.810 [DAT](INFO): Rx dataTimestamp_ set to:1754760222.809278
2025-08-09T17:23:42.810Z,1754760222.810 [DAT](INFO): checking for new query: numPingsReceived=2, elapsed TxPingTime=2.982572
2025-08-09T17:23:42.831Z,1754760222.831 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-09T17:23:42.833Z,1754760222.833 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 34.80 m.
2025-08-09T17:23:42.837Z,1754760222.837 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 34.799999 m,
      nav range: 32.794415 m,
      bearing: 21.457356 deg,
      approach rate: -0.637750 m/s,
      LOS rate: -0.051933 deg/s,
      cmd heading: 23.935189 deg,
      new cmd heading: 23.882568 deg.

2025-08-09T17:23:42.838Z,1754760222.838 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.416829 target range: 34.799999 and range: 34.80 m.
2025-08-09T17:23:43.065Z,1754760223.065 [DAT](INFO): checking for new query: numPingsReceived=2, elapsed TxPingTime=3.237494
2025-08-09T17:23:43.236Z,1754760223.236 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 34.80 m.
2025-08-09T17:23:43.242Z,1754760223.242 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 34.799999 m,
      nav range: 32.546764 m,
      bearing: 21.437955 deg,
      approach rate: -0.642791 m/s,
      LOS rate: -0.050740 deg/s,
      cmd heading: 23.882569 deg,
      new cmd heading: 23.823923 deg.

2025-08-09T17:23:43.245Z,1754760223.245 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.415806 target range: 34.799999 and range: 34.80 m.
2025-08-09T17:23:43.319Z,1754760223.319 [DAT](INFO): checking for new query: numPingsReceived=2, elapsed TxPingTime=3.490354
2025-08-09T17:23:43.573Z,1754760223.573 [DAT](INFO): DAT read: 17:23:41.7844 LVL= 27920, 30657, 25170, 31827, AGC= 63, IDX= 412, 0.09, 0.739,-0.882, 1.181, 0.637, PHS= 0.204,-1.474, 0.500, RAW= 158.0,   8.4, CAL= 157.6,   8.8, ROT= 352.4,  -8.8

2025-08-09T17:23:43.574Z,1754760223.574 [DAT](INFO): got valid direction response:
 17:23:41.7844 LVL= 27920, 30657, 25170, 31827, AGC= 63, IDX= 412, 0.09, 0.739,-0.882, 1.181, 0.637, PHS= 0.204,-1.474, 0.500, RAW= 158.0,   8.4, CAL= 157.6,   8.8, ROT= 352.4,  -8.8

2025-08-09T17:23:43.575Z,1754760223.575 [DAT](INFO): DAT read: Bearing 195.4, -10.6 (Local)

2025-08-09T17:23:43.575Z,1754760223.575 [DAT](INFO): Local bearing/azimuth received:
 Bearing 195.4, -10.6 (Local)

2025-08-09T17:23:43.577Z,1754760223.577 [DAT](INFO): DAT read: Range 11 to 50 : 32.7 m  (Round-trip  43.7 ms) speed  0.6 m/s

2025-08-09T17:23:43.577Z,1754760223.577 [DAT](INFO): DAT read: user:510>

2025-08-09T17:23:43.578Z,1754760223.578 [DAT](INFO): DAT read: Tx time:17:23:42.8866

2025-08-09T17:23:43.578Z,1754760223.578 [DAT](INFO): Ping request sent.
2025-08-09T17:23:43.578Z,1754760223.578 [DAT](INFO): transmitted an acoustic signal
2025-08-09T17:23:43.579Z,1754760223.579 [DAT](INFO): #Rx 3: Read range and direction messages.
2025-08-09T17:23:43.580Z,1754760223.580 [DAT](INFO): direction in FSK: [0.979547,-0.130699,0.152986]
2025-08-09T17:23:43.580Z,1754760223.580 [DAT](INFO): publishing transmit ping time
2025-08-09T17:23:43.580Z,1754760223.580 [DAT](INFO): publishing direction and range info
2025-08-09T17:23:43.583Z,1754760223.583 [DAT](INFO): publishing transmit ping time
2025-08-09T17:23:43.583Z,1754760223.583 [DAT](INFO): publishing direction and range info
2025-08-09T17:23:43.587Z,1754760223.587 [DAT](INFO): checking for new query: numPingsReceived=3, elapsed TxPingTime=0.008209
2025-08-09T17:23:43.736Z,1754760223.736 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 32.700001 m,
      deltaT: 3.796670 s,
      deltaX: -2.099998 m,
      approachRate: -0.553116 m/s,
      rangeRepo size: 4

2025-08-09T17:23:43.745Z,1754760223.745 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 32.700001 m,
      bearing: 20.760865 deg,
      lat: 36.906122 deg,
      lon: -122.115895 deg,
      deltaT: 3.796670 s,
      deltaX: -2.099998 m,
      approachRate: -0.553116 m/s,
      posRepo size: 4

2025-08-09T17:23:43.758Z,1754760223.758 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 32.70 m.
2025-08-09T17:23:43.767Z,1754760223.767 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 32.700001 m,
      nav range: 32.116177 m,
      bearing: 20.760865 deg,
      approach rate: 270555098694170758348800.00000 m/s,
      LOS rate: -0.050740 deg/s,
      cmd heading: 23.823922 deg,
      new cmd heading: 23.745975 deg.

2025-08-09T17:23:43.768Z,1754760223.768 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.414445 target range: 32.700001 and range: 32.70 m.
2025-08-09T17:23:43.823Z,1754760223.823 [DAT](INFO): checking for new query: numPingsReceived=3, elapsed TxPingTime=0.243440
2025-08-09T17:23:44.071Z,1754760224.071 [DAT](INFO): checking for new query: numPingsReceived=3, elapsed TxPingTime=0.492917
2025-08-09T17:23:44.107Z,1754760224.107 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 32.70 m.
2025-08-09T17:23:44.110Z,1754760224.110 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 32.700001 m,
      nav range: 31.849440 m,
      bearing: 20.739116 deg,
      approach rate: -0.708179 m/s,
      LOS rate: -0.058225 deg/s,
      cmd heading: 23.745976 deg,
      new cmd heading: 23.680184 deg.

2025-08-09T17:23:44.111Z,1754760224.111 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.413297 target range: 32.700001 and range: 32.70 m.
2025-08-09T17:23:44.323Z,1754760224.323 [DAT](INFO): checking for new query: numPingsReceived=3, elapsed TxPingTime=0.744960
2025-08-09T17:23:44.535Z,1754760224.535 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 32.70 m.
2025-08-09T17:23:44.538Z,1754760224.538 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 32.700001 m,
      nav range: 31.578871 m,
      bearing: 20.698229 deg,
      approach rate: -0.631913 m/s,
      LOS rate: -0.096310 deg/s,
      cmd heading: 23.680184 deg,
      new cmd heading: 23.556471 deg.

2025-08-09T17:23:44.539Z,1754760224.539 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.411138 target range: 32.700001 and range: 32.70 m.
2025-08-09T17:23:44.577Z,1754760224.577 [DAT](INFO): checking for new query: numPingsReceived=3, elapsed TxPingTime=0.998675
2025-08-09T17:23:44.828Z,1754760224.828 [DAT](INFO): checking for new query: numPingsReceived=3, elapsed TxPingTime=1.249254
2025-08-09T17:23:44.912Z,1754760224.912 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-09T17:23:44.914Z,1754760224.914 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 32.70 m.
2025-08-09T17:23:44.920Z,1754760224.920 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 32.700001 m,
      nav range: 31.340668 m,
      bearing: 20.662631 deg,
      approach rate: -0.629432 m/s,
      LOS rate: -0.094780 deg/s,
      cmd heading: 23.556472 deg,
      new cmd heading: 23.448866 deg.

2025-08-09T17:23:44.921Z,1754760224.921 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.409260 target range: 32.700001 and range: 32.70 m.
2025-08-09T17:23:45.079Z,1754760225.079 [DAT](INFO): checking for new query: numPingsReceived=3, elapsed TxPingTime=1.500819
2025-08-09T17:23:45.311Z,1754760225.311 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 32.70 m.
2025-08-09T17:23:45.314Z,1754760225.314 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 32.700001 m,
      nav range: 31.089167 m,
      bearing: 20.625282 deg,
      approach rate: -0.632949 m/s,
      LOS rate: -0.094756 deg/s,
      cmd heading: 23.448866 deg,
      new cmd heading: 23.335913 deg.

2025-08-09T17:23:45.331Z,1754760225.331 [DAT](INFO): checking for new query: numPingsReceived=3, elapsed TxPingTime=1.752838
2025-08-09T17:23:45.333Z,1754760225.333 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.407289 target range: 32.700001 and range: 32.70 m.
2025-08-09T17:23:45.584Z,1754760225.584 [DAT](INFO): checking for new query: numPingsReceived=3, elapsed TxPingTime=2.005203
2025-08-09T17:23:45.783Z,1754760225.783 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 32.70 m.
2025-08-09T17:23:45.785Z,1754760225.785 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 32.700001 m,
      nav range: 30.796122 m,
      bearing: 20.579856 deg,
      approach rate: -0.621696 m/s,
      LOS rate: -0.097289 deg/s,
      cmd heading: 23.335913 deg,
      new cmd heading: 23.198338 deg.

2025-08-09T17:23:45.787Z,1754760225.787 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.404887 target range: 32.700001 and range: 32.70 m.
2025-08-09T17:23:45.836Z,1754760225.836 [DAT](INFO): checking for new query: numPingsReceived=3, elapsed TxPingTime=2.257572
2025-08-09T17:23:46.087Z,1754760226.087 [DAT](INFO): checking for new query: numPingsReceived=3, elapsed TxPingTime=2.508793
2025-08-09T17:23:46.129Z,1754760226.129 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 32.70 m.
2025-08-09T17:23:46.132Z,1754760226.132 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 32.700001 m,
      nav range: 30.580305 m,
      bearing: 20.547060 deg,
      approach rate: -0.621887 m/s,
      LOS rate: -0.095170 deg/s,
      cmd heading: 23.198338 deg,
      new cmd heading: 23.099256 deg.

2025-08-09T17:23:46.133Z,1754760226.133 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.403158 target range: 32.700001 and range: 32.70 m.
2025-08-09T17:23:46.339Z,1754760226.339 [DAT](INFO): DAT read: Rx Time:17:23:45.3314

2025-08-09T17:23:46.340Z,1754760226.340 [DAT](INFO): Rx dataTimestamp_ set to:1754760226.339655
2025-08-09T17:23:46.340Z,1754760226.340 [DAT](INFO): checking for new query: numPingsReceived=3, elapsed TxPingTime=2.762082
2025-08-09T17:23:46.563Z,1754760226.563 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 32.70 m.
2025-08-09T17:23:46.566Z,1754760226.566 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 32.700001 m,
      nav range: 30.320402 m,
      bearing: 20.501808 deg,
      approach rate: -0.599333 m/s,
      LOS rate: -0.105246 deg/s,
      cmd heading: 23.099256 deg,
      new cmd heading: 22.962336 deg.

2025-08-09T17:23:46.567Z,1754760226.567 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.400768 target range: 32.700001 and range: 32.70 m.
2025-08-09T17:23:46.591Z,1754760226.591 [DAT](INFO): checking for new query: numPingsReceived=3, elapsed TxPingTime=3.012892
2025-08-09T17:23:46.847Z,1754760226.847 [DAT](INFO): checking for new query: numPingsReceived=3, elapsed TxPingTime=3.267367
2025-08-09T17:23:46.929Z,1754760226.929 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-09T17:23:46.931Z,1754760226.931 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 32.70 m.
2025-08-09T17:23:46.934Z,1754760226.934 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 32.700001 m,
      nav range: 30.100536 m,
      bearing: 20.463335 deg,
      approach rate: -0.597621 m/s,
      LOS rate: -0.105338 deg/s,
      cmd heading: 22.962336 deg,
      new cmd heading: 22.846074 deg.

2025-08-09T17:23:46.939Z,1754760226.939 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.398739 target range: 32.700001 and range: 32.70 m.
2025-08-09T17:23:47.101Z,1754760227.101 [DAT](INFO): DAT read: 17:23:45.3314 LVL= 25424, 30353, 24114, 32755, AGC= 62, IDX= 413, 0.31, 0.080,-1.482, 0.457,-0.025, PHS= 0.207,-1.412, 0.438, RAW= 156.6,   8.8, CAL= 156.3,   9.4, ROT= 353.7,  -9.4

2025-08-09T17:23:47.102Z,1754760227.102 [DAT](INFO): got valid direction response:
 17:23:45.3314 LVL= 25424, 30353, 24114, 32755, AGC= 62, IDX= 413, 0.31, 0.080,-1.482, 0.457,-0.025, PHS= 0.207,-1.412, 0.438, RAW= 156.6,   8.8, CAL= 156.3,   9.4, ROT= 353.7,  -9.4

2025-08-09T17:23:47.103Z,1754760227.103 [DAT](INFO): DAT read: Bearing 195.3,  -9.1 (Local)

2025-08-09T17:23:47.103Z,1754760227.103 [DAT](INFO): Local bearing/azimuth received:
 Bearing 195.3,  -9.1 (Local)

2025-08-09T17:23:47.105Z,1754760227.105 [DAT](INFO): DAT read: Range 11 to 50 : 30.5 m  (Round-trip  40.7 ms) speed  0.6 m/s

2025-08-09T17:23:47.105Z,1754760227.105 [DAT](INFO): DAT read: user:511>

2025-08-09T17:23:47.106Z,1754760227.106 [DAT](INFO): DAT read: Tx time:17:23:46.4366

2025-08-09T17:23:47.106Z,1754760227.106 [DAT](INFO): Ping request sent.
2025-08-09T17:23:47.107Z,1754760227.107 [DAT](INFO): transmitted an acoustic signal
2025-08-09T17:23:47.107Z,1754760227.107 [DAT](INFO): #Rx 4: Read range and direction messages.
2025-08-09T17:23:47.108Z,1754760227.108 [DAT](INFO): direction in FSK: [0.980614,-0.108261,0.163326]
2025-08-09T17:23:47.108Z,1754760227.108 [DAT](INFO): publishing transmit ping time
2025-08-09T17:23:47.108Z,1754760227.108 [DAT](INFO): publishing direction and range info
2025-08-09T17:23:47.112Z,1754760227.112 [DAT](INFO): publishing transmit ping time
2025-08-09T17:23:47.112Z,1754760227.112 [DAT](INFO): publishing direction and range info
2025-08-09T17:23:47.116Z,1754760227.116 [DAT](INFO): checking for new query: numPingsReceived=4, elapsed TxPingTime=0.009598
2025-08-09T17:23:47.347Z,1754760227.347 [DAT](INFO): checking for new query: numPingsReceived=4, elapsed TxPingTime=0.240724
2025-08-09T17:23:47.359Z,1754760227.359 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 30.500000 m,
      deltaT: 3.528054 s,
      deltaX: -2.200001 m,
      approachRate: -0.623573 m/s,
      rangeRepo size: 4

2025-08-09T17:23:47.361Z,1754760227.361 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 30.500000 m,
      bearing: 20.266742 deg,
      lat: 36.906124 deg,
      lon: -122.115895 deg,
      deltaT: 3.528054 s,
      deltaX: -2.200001 m,
      approachRate: -0.623573 m/s,
      posRepo size: 4

2025-08-09T17:23:47.362Z,1754760227.362 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.50 m.
2025-08-09T17:23:47.365Z,1754760227.365 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 30.500000 m,
      nav range: 30.074244 m,
      bearing: 20.266742 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.105338 deg/s,
      cmd heading: 22.846074 deg,
      new cmd heading: 22.711099 deg.

2025-08-09T17:23:47.366Z,1754760227.366 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.396383 target range: 30.500000 and range: 30.50 m.
2025-08-09T17:23:47.599Z,1754760227.599 [DAT](INFO): checking for new query: numPingsReceived=4, elapsed TxPingTime=0.492590
2025-08-09T17:23:47.798Z,1754760227.798 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.50 m.
2025-08-09T17:23:47.801Z,1754760227.801 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 30.500000 m,
      nav range: 29.804224 m,
      bearing: 20.217491 deg,
      approach rate: -0.619480 m/s,
      LOS rate: -0.114016 deg/s,
      cmd heading: 22.711100 deg,
      new cmd heading: 22.562008 deg.

2025-08-09T17:23:47.802Z,1754760227.802 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.393781 target range: 30.500000 and range: 30.50 m.
2025-08-09T17:23:47.852Z,1754760227.852 [DAT](INFO): checking for new query: numPingsReceived=4, elapsed TxPingTime=0.745294
2025-08-09T17:23:48.103Z,1754760228.103 [DAT](INFO): checking for new query: numPingsReceived=4, elapsed TxPingTime=0.996585
2025-08-09T17:23:48.149Z,1754760228.149 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.50 m.
2025-08-09T17:23:48.151Z,1754760228.151 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 30.500000 m,
      nav range: 29.585035 m,
      bearing: 20.177493 deg,
      approach rate: -0.618262 m/s,
      LOS rate: -0.113658 deg/s,
      cmd heading: 22.562008 deg,
      new cmd heading: 22.441125 deg.

2025-08-09T17:23:48.152Z,1754760228.152 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.391672 target range: 30.500000 and range: 30.50 m.
2025-08-09T17:23:48.356Z,1754760228.356 [DAT](INFO): checking for new query: numPingsReceived=4, elapsed TxPingTime=1.249305
2025-08-09T17:23:48.605Z,1754760228.605 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.50 m.
2025-08-09T17:23:48.607Z,1754760228.607 [DAT](INFO): checking for new query: numPingsReceived=4, elapsed TxPingTime=1.500856
2025-08-09T17:23:48.635Z,1754760228.635 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 30.500000 m,
      nav range: 29.318911 m,
      bearing: 20.127709 deg,
      approach rate: -0.582573 m/s,
      LOS rate: -0.109970 deg/s,
      cmd heading: 22.441124 deg,
      new cmd heading: 22.290419 deg.

2025-08-09T17:23:48.636Z,1754760228.636 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.389041 target range: 30.500000 and range: 30.50 m.
2025-08-09T17:23:48.859Z,1754760228.859 [DAT](INFO): checking for new query: numPingsReceived=4, elapsed TxPingTime=1.752797
2025-08-09T17:23:48.988Z,1754760228.988 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-09T17:23:49.006Z,1754760229.006 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.50 m.
2025-08-09T17:23:49.009Z,1754760229.009 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 30.500000 m,
      nav range: 29.095194 m,
      bearing: 20.087007 deg,
      approach rate: -0.581255 m/s,
      LOS rate: -0.106563 deg/s,
      cmd heading: 22.290418 deg,
      new cmd heading: 22.167374 deg.

2025-08-09T17:23:49.010Z,1754760229.010 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.386894 target range: 30.500000 and range: 30.50 m.
2025-08-09T17:23:49.112Z,1754760229.112 [DAT](INFO): checking for new query: numPingsReceived=4, elapsed TxPingTime=2.005419
2025-08-09T17:23:49.363Z,1754760229.363 [DAT](INFO): checking for new query: numPingsReceived=4, elapsed TxPingTime=2.256698
2025-08-09T17:23:49.393Z,1754760229.393 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.50 m.
2025-08-09T17:23:49.396Z,1754760229.396 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 30.500000 m,
      nav range: 28.859903 m,
      bearing: 20.044239 deg,
      approach rate: -0.584526 m/s,
      LOS rate: -0.107115 deg/s,
      cmd heading: 22.167374 deg,
      new cmd heading: 22.038022 deg.

2025-08-09T17:23:49.397Z,1754760229.397 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.384636 target range: 30.500000 and range: 30.50 m.
2025-08-09T17:23:49.616Z,1754760229.616 [DAT](INFO): checking for new query: numPingsReceived=4, elapsed TxPingTime=2.509206
2025-08-09T17:23:49.828Z,1754760229.828 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.50 m.
2025-08-09T17:23:49.834Z,1754760229.834 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 30.500000 m,
      nav range: 28.604603 m,
      bearing: 19.995566 deg,
      approach rate: -0.590401 m/s,
      LOS rate: -0.113563 deg/s,
      cmd heading: 22.038022 deg,
      new cmd heading: 21.890702 deg.

2025-08-09T17:23:49.835Z,1754760229.835 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.382065 target range: 30.500000 and range: 30.50 m.
2025-08-09T17:23:49.868Z,1754760229.868 [DAT](INFO): DAT read: Rx Time:17:23:48.8784

2025-08-09T17:23:49.869Z,1754760229.869 [DAT](INFO): Rx dataTimestamp_ set to:1754760229.868368
2025-08-09T17:23:49.870Z,1754760229.870 [DAT](INFO): checking for new query: numPingsReceived=4, elapsed TxPingTime=2.762843
2025-08-09T17:23:50.120Z,1754760230.120 [DAT](INFO): checking for new query: numPingsReceived=4, elapsed TxPingTime=3.013094
2025-08-09T17:23:50.225Z,1754760230.225 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.50 m.
2025-08-09T17:23:50.243Z,1754760230.243 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 30.500000 m,
      nav range: 28.379030 m,
      bearing: 19.952733 deg,
      approach rate: -0.565756 m/s,
      LOS rate: -0.108283 deg/s,
      cmd heading: 21.890702 deg,
      new cmd heading: 21.761182 deg.

2025-08-09T17:23:50.245Z,1754760230.245 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.379804 target range: 30.500000 and range: 30.50 m.
2025-08-09T17:23:50.371Z,1754760230.371 [DAT](INFO): checking for new query: numPingsReceived=4, elapsed TxPingTime=3.264659
2025-08-09T17:23:50.634Z,1754760230.634 [DAT](INFO): DAT read: 17:23:48.8784 LVL= 27120, 29553, 22002, 32755, AGC= 59, IDX= 414,-0.08,-2.294, 2.327,-1.852,-2.417, PHS= 0.225,-1.495, 0.521, RAW= 157.8,   8.0, CAL= 157.4,   8.3, ROT= 352.6,  -8.3

2025-08-09T17:23:50.635Z,1754760230.635 [DAT](INFO): got valid direction response:
 17:23:48.8784 LVL= 27120, 29553, 22002, 32755, AGC= 59, IDX= 414,-0.08,-2.294, 2.327,-1.852,-2.417, PHS= 0.225,-1.495, 0.521, RAW= 157.8,   8.0, CAL= 157.4,   8.3, ROT= 352.6,  -8.3

2025-08-09T17:23:50.636Z,1754760230.636 [DAT](INFO): DAT read: Bearing 193.1, -10.0 (Local)

2025-08-09T17:23:50.636Z,1754760230.636 [DAT](INFO): Local bearing/azimuth received:
 Bearing 193.1, -10.0 (Local)

2025-08-09T17:23:50.637Z,1754760230.637 [DAT](INFO): DAT read: Range 11 to 50 : 28.2 m  (Round-trip  37.6 ms) speed  0.5 m/s

2025-08-09T17:23:50.642Z,1754760230.642 [DAT](INFO): DAT read: user:512>

2025-08-09T17:23:50.643Z,1754760230.643 [DAT](INFO): DAT read: Tx time:17:23:49.9866

2025-08-09T17:23:50.643Z,1754760230.643 [DAT](INFO): Ping request sent.
2025-08-09T17:23:50.644Z,1754760230.644 [DAT](INFO): transmitted an acoustic signal
2025-08-09T17:23:50.644Z,1754760230.644 [DAT](INFO): #Rx 5: Read range and direction messages.
2025-08-09T17:23:50.645Z,1754760230.645 [DAT](INFO): direction in FSK: [0.981284,-0.127446,0.144356]
2025-08-09T17:23:50.645Z,1754760230.645 [DAT](INFO): publishing transmit ping time
2025-08-09T17:23:50.645Z,1754760230.645 [DAT](INFO): publishing direction and range info
2025-08-09T17:23:50.665Z,1754760230.665 [DAT](INFO): publishing transmit ping time
2025-08-09T17:23:50.665Z,1754760230.665 [DAT](INFO): publishing direction and range info
2025-08-09T17:23:50.677Z,1754760230.677 [DAT](INFO): checking for new query: numPingsReceived=5, elapsed TxPingTime=0.033422
2025-08-09T17:23:50.686Z,1754760230.686 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 28.200001 m,
      deltaT: 3.528118 s,
      deltaX: -2.299999 m,
      approachRate: -0.651905 m/s,
      rangeRepo size: 4

2025-08-09T17:23:50.692Z,1754760230.692 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 28.200001 m,
      bearing: 19.695659 deg,
      lat: 36.906124 deg,
      lon: -122.115896 deg,
      deltaT: 3.528118 s,
      deltaX: -2.299999 m,
      approachRate: -0.651905 m/s,
      posRepo size: 4

2025-08-09T17:23:50.693Z,1754760230.693 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 28.20 m.
2025-08-09T17:23:50.704Z,1754760230.704 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 28.200001 m,
      nav range: 28.106541 m,
      bearing: 19.695659 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.108283 deg/s,
      cmd heading: 21.761182 deg,
      new cmd heading: 21.611355 deg.

2025-08-09T17:23:50.705Z,1754760230.705 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.377189 target range: 28.200001 and range: 28.20 m.
2025-08-09T17:23:50.876Z,1754760230.876 [DAT](INFO): checking for new query: numPingsReceived=5, elapsed TxPingTime=0.232522
2025-08-09T17:23:51.072Z,1754760231.072 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-09T17:23:51.074Z,1754760231.074 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 28.20 m.
2025-08-09T17:23:51.077Z,1754760231.077 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 28.200001 m,
      nav range: 27.852819 m,
      bearing: 19.657982 deg,
      approach rate: -0.652620 m/s,
      LOS rate: -0.097796 deg/s,
      cmd heading: 21.611355 deg,
      new cmd heading: 21.497294 deg.

2025-08-09T17:23:51.078Z,1754760231.078 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.375199 target range: 28.200001 and range: 28.20 m.
2025-08-09T17:23:51.128Z,1754760231.128 [DAT](INFO): checking for new query: numPingsReceived=5, elapsed TxPingTime=0.483960
2025-08-09T17:23:51.380Z,1754760231.380 [DAT](INFO): checking for new query: numPingsReceived=5, elapsed TxPingTime=0.735948
2025-08-09T17:23:51.468Z,1754760231.468 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 28.20 m.
2025-08-09T17:23:51.475Z,1754760231.475 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 28.200001 m,
      nav range: 27.616211 m,
      bearing: 19.622865 deg,
      approach rate: -0.599595 m/s,
      LOS rate: -0.089753 deg/s,
      cmd heading: 21.497295 deg,
      new cmd heading: 21.391041 deg.

2025-08-09T17:23:51.476Z,1754760231.476 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.373344 target range: 28.200001 and range: 28.20 m.
2025-08-09T17:23:51.631Z,1754760231.631 [DAT](INFO): checking for new query: numPingsReceived=5, elapsed TxPingTime=0.987805
2025-08-09T17:23:51.883Z,1754760231.883 [DAT](INFO): checking for new query: numPingsReceived=5, elapsed TxPingTime=1.239814
2025-08-09T17:23:51.909Z,1754760231.909 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 28.20 m.
2025-08-09T17:23:51.912Z,1754760231.912 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 28.200001 m,
      nav range: 27.348969 m,
      bearing: 19.588768 deg,
      approach rate: -0.606377 m/s,
      LOS rate: -0.078121 deg/s,
      cmd heading: 21.391041 deg,
      new cmd heading: 21.287752 deg.

2025-08-09T17:23:51.913Z,1754760231.913 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.371541 target range: 28.200001 and range: 28.20 m.
2025-08-09T17:23:52.139Z,1754760232.139 [DAT](INFO): checking for new query: numPingsReceived=5, elapsed TxPingTime=1.494993
2025-08-09T17:23:52.284Z,1754760232.284 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 28.20 m.
2025-08-09T17:23:52.287Z,1754760232.287 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 28.200001 m,
      nav range: 27.121422 m,
      bearing: 19.560289 deg,
      approach rate: -0.606754 m/s,
      LOS rate: -0.076576 deg/s,
      cmd heading: 21.287753 deg,
      new cmd heading: 21.201599 deg.

2025-08-09T17:23:52.288Z,1754760232.288 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.370038 target range: 28.200001 and range: 28.20 m.
2025-08-09T17:23:52.387Z,1754760232.387 [DAT](INFO): checking for new query: numPingsReceived=5, elapsed TxPingTime=1.743915
2025-08-09T17:23:52.639Z,1754760232.639 [DAT](INFO): checking for new query: numPingsReceived=5, elapsed TxPingTime=1.995698
2025-08-09T17:23:52.787Z,1754760232.787 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 28.20 m.
2025-08-09T17:23:52.790Z,1754760232.790 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 28.200001 m,
      nav range: 26.808369 m,
      bearing: 19.520370 deg,
      approach rate: -0.622532 m/s,
      LOS rate: -0.080309 deg/s,
      cmd heading: 21.201599 deg,
      new cmd heading: 21.080444 deg.

2025-08-09T17:23:52.792Z,1754760232.792 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.367923 target range: 28.200001 and range: 28.20 m.
2025-08-09T17:23:52.891Z,1754760232.891 [DAT](INFO): checking for new query: numPingsReceived=5, elapsed TxPingTime=2.247790
2025-08-09T17:23:53.109Z,1754760233.109 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-09T17:23:53.112Z,1754760233.112 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 28.20 m.
2025-08-09T17:23:53.115Z,1754760233.115 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 28.200001 m,
      nav range: 26.606468 m,
      bearing: 19.494650 deg,
      approach rate: -0.621879 m/s,
      LOS rate: -0.079824 deg/s,
      cmd heading: 21.080445 deg,
      new cmd heading: 21.002697 deg.

2025-08-09T17:23:53.116Z,1754760233.116 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.366566 target range: 28.200001 and range: 28.20 m.
2025-08-09T17:23:53.143Z,1754760233.143 [DAT](INFO): checking for new query: numPingsReceived=5, elapsed TxPingTime=2.499725
2025-08-09T17:23:53.395Z,1754760233.395 [DAT](INFO): DAT read: Rx Time:17:23:52.4256

2025-08-09T17:23:53.396Z,1754760233.396 [DAT](INFO): Rx dataTimestamp_ set to:1754760233.395610
2025-08-09T17:23:53.396Z,1754760233.396 [DAT](INFO): checking for new query: numPingsReceived=5, elapsed TxPingTime=2.752897
2025-08-09T17:23:53.508Z,1754760233.508 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 28.20 m.
2025-08-09T17:23:53.511Z,1754760233.511 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 28.200001 m,
      nav range: 26.359652 m,
      bearing: 19.463910 deg,
      approach rate: -0.623396 m/s,
      LOS rate: -0.078367 deg/s,
      cmd heading: 21.002697 deg,
      new cmd heading: 20.909615 deg.

2025-08-09T17:23:53.512Z,1754760233.512 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.364942 target range: 28.200001 and range: 28.20 m.
2025-08-09T17:23:53.647Z,1754760233.647 [DAT](INFO): checking for new query: numPingsReceived=5, elapsed TxPingTime=3.003697
2025-08-09T17:23:53.899Z,1754760233.899 [DAT](INFO): checking for new query: numPingsReceived=5, elapsed TxPingTime=3.255793
2025-08-09T17:23:54.025Z,1754760234.025 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 28.20 m.
2025-08-09T17:23:54.032Z,1754760234.032 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 28.200001 m,
      nav range: 26.042326 m,
      bearing: 19.438597 deg,
      approach rate: -0.613817 m/s,
      LOS rate: -0.049561 deg/s,
      cmd heading: 20.909615 deg,
      new cmd heading: 20.832750 deg.

2025-08-09T17:23:54.033Z,1754760234.033 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.363600 target range: 28.200001 and range: 28.20 m.
2025-08-09T17:23:54.157Z,1754760234.157 [DAT](INFO): DAT read: 17:23:52.4256 LVL= 31216, 32753, 26850, 32755, AGC= 57, IDX= 418,-0.13,-0.747,-2.347,-0.341,-0.883, PHS= 0.238,-1.419, 0.499, RAW= 157.2,   7.6, CAL= 156.7,   7.8, ROT= 353.3,  -7.8

2025-08-09T17:23:54.158Z,1754760234.158 [DAT](INFO): got valid direction response:
 17:23:52.4256 LVL= 31216, 32753, 26850, 32755, AGC= 57, IDX= 418,-0.13,-0.747,-2.347,-0.341,-0.883, PHS= 0.238,-1.419, 0.499, RAW= 157.2,   7.6, CAL= 156.7,   7.8, ROT= 353.3,  -7.8

2025-08-09T17:23:54.159Z,1754760234.159 [DAT](INFO): DAT read: Bearing 192.0,  -9.2 (Local)

2025-08-09T17:23:54.159Z,1754760234.159 [DAT](INFO): Local bearing/azimuth received:
 Bearing 192.0,  -9.2 (Local)

2025-08-09T17:23:54.161Z,1754760234.161 [DAT](INFO): DAT read: Range 11 to 50 : 26.1 m  (Round-trip  34.9 ms) speed  0.5 m/s

2025-08-09T17:23:54.162Z,1754760234.162 [DAT](INFO): DAT read: user:513>

2025-08-09T17:23:54.168Z,1754760234.168 [DAT](INFO): DAT read: Tx time:17:23:53.5366

2025-08-09T17:23:54.168Z,1754760234.168 [DAT](INFO): Ping request sent.
2025-08-09T17:23:54.168Z,1754760234.168 [DAT](INFO): transmitted an acoustic signal
2025-08-09T17:23:54.169Z,1754760234.169 [DAT](INFO): #Rx 6: Read range and direction messages.
2025-08-09T17:23:54.170Z,1754760234.170 [DAT](INFO): direction in FSK: [0.983982,-0.115592,0.135716]
2025-08-09T17:23:54.170Z,1754760234.170 [DAT](INFO): publishing transmit ping time
2025-08-09T17:23:54.170Z,1754760234.170 [DAT](INFO): publishing direction and range info
2025-08-09T17:23:54.173Z,1754760234.173 [DAT](INFO): publishing transmit ping time
2025-08-09T17:23:54.173Z,1754760234.173 [DAT](INFO): publishing direction and range info
2025-08-09T17:23:54.213Z,1754760234.213 [DAT](INFO): checking for new query: numPingsReceived=6, elapsed TxPingTime=0.044526
2025-08-09T17:23:54.341Z,1754760234.341 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 26.100000 m,
      deltaT: 3.527933 s,
      deltaX: -2.100000 m,
      approachRate: -0.595250 m/s,
      rangeRepo size: 4

2025-08-09T17:23:54.349Z,1754760234.349 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 26.100000 m,
      bearing: 19.238788 deg,
      lat: 36.906124 deg,
      lon: -122.115897 deg,
      deltaT: 3.527933 s,
      deltaX: -2.100000 m,
      approachRate: -0.595250 m/s,
      posRepo size: 4

2025-08-09T17:23:54.349Z,1754760234.349 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 26.10 m.
2025-08-09T17:23:54.356Z,1754760234.356 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 26.100000 m,
      nav range: 25.865978 m,
      bearing: 19.238788 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.049561 deg/s,
      cmd heading: 20.832750 deg,
      new cmd heading: 20.785873 deg.

2025-08-09T17:23:54.357Z,1754760234.357 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.362782 target range: 26.100000 and range: 26.10 m.
2025-08-09T17:23:54.405Z,1754760234.405 [DAT](INFO): checking for new query: numPingsReceived=6, elapsed TxPingTime=0.236103
2025-08-09T17:23:54.655Z,1754760234.655 [DAT](INFO): checking for new query: numPingsReceived=6, elapsed TxPingTime=0.487014
2025-08-09T17:23:54.875Z,1754760234.875 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 26.10 m.
2025-08-09T17:23:54.898Z,1754760234.898 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 26.100000 m,
      nav range: 25.517309 m,
      bearing: 19.213026 deg,
      approach rate: -0.652335 m/s,
      LOS rate: -0.048858 deg/s,
      cmd heading: 20.785872 deg,
      new cmd heading: 20.707529 deg.

2025-08-09T17:23:54.899Z,1754760234.899 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.361415 target range: 26.100000 and range: 26.10 m.
2025-08-09T17:23:54.907Z,1754760234.907 [DAT](INFO): checking for new query: numPingsReceived=6, elapsed TxPingTime=0.739170
2025-08-09T17:23:55.160Z,1754760235.160 [DAT](INFO): checking for new query: numPingsReceived=6, elapsed TxPingTime=0.991545
2025-08-09T17:23:55.382Z,1754760235.382 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-09T17:23:55.384Z,1754760235.384 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 26.10 m.
2025-08-09T17:23:55.387Z,1754760235.387 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 26.100000 m,
      nav range: 25.193565 m,
      bearing: 19.189984 deg,
      approach rate: -0.635118 m/s,
      LOS rate: -0.045783 deg/s,
      cmd heading: 20.707528 deg,
      new cmd heading: 20.637516 deg.

2025-08-09T17:23:55.388Z,1754760235.388 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.360193 target range: 26.100000 and range: 26.10 m.
2025-08-09T17:23:55.411Z,1754760235.411 [DAT](INFO): checking for new query: numPingsReceived=6, elapsed TxPingTime=1.243109
2025-08-09T17:23:55.663Z,1754760235.663 [DAT](INFO): checking for new query: numPingsReceived=6, elapsed TxPingTime=1.494954
2025-08-09T17:23:55.915Z,1754760235.915 [DAT](INFO): checking for new query: numPingsReceived=6, elapsed TxPingTime=1.747065
2025-08-09T17:23:55.920Z,1754760235.920 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 26.10 m.
2025-08-09T17:23:55.923Z,1754760235.923 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 26.100000 m,
      nav range: 24.863907 m,
      bearing: 19.169373 deg,
      approach rate: -0.615596 m/s,
      LOS rate: -0.038999 deg/s,
      cmd heading: 20.637516 deg,
      new cmd heading: 20.574863 deg.

2025-08-09T17:23:55.924Z,1754760235.924 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.359099 target range: 26.100000 and range: 26.10 m.
2025-08-09T17:23:56.167Z,1754760236.167 [DAT](INFO): checking for new query: numPingsReceived=6, elapsed TxPingTime=1.999078
2025-08-09T17:23:56.297Z,1754760236.297 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 26.10 m.
2025-08-09T17:23:56.300Z,1754760236.300 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 26.100000 m,
      nav range: 24.634020 m,
      bearing: 19.156813 deg,
      approach rate: -0.608772 m/s,
      LOS rate: -0.033571 deg/s,
      cmd heading: 20.574864 deg,
      new cmd heading: 20.536832 deg.

2025-08-09T17:23:56.301Z,1754760236.301 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.358435 target range: 26.100000 and range: 26.10 m.
2025-08-09T17:23:56.419Z,1754760236.419 [DAT](INFO): checking for new query: numPingsReceived=6, elapsed TxPingTime=2.250967
2025-08-09T17:23:56.671Z,1754760236.671 [DAT](INFO): checking for new query: numPingsReceived=6, elapsed TxPingTime=2.503070
2025-08-09T17:23:56.776Z,1754760236.776 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 26.10 m.
2025-08-09T17:23:56.779Z,1754760236.779 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 26.100000 m,
      nav range: 24.322958 m,
      bearing: 19.132629 deg,
      approach rate: -0.657275 m/s,
      LOS rate: -0.051754 deg/s,
      cmd heading: 20.536832 deg,
      new cmd heading: 20.463352 deg.

2025-08-09T17:23:56.780Z,1754760236.780 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.357153 target range: 26.100000 and range: 26.10 m.
2025-08-09T17:23:56.923Z,1754760236.923 [DAT](INFO): checking for new query: numPingsReceived=6, elapsed TxPingTime=2.754958
2025-08-09T17:23:57.095Z,1754760237.095 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 26.10 m.
2025-08-09T17:23:57.098Z,1754760237.098 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 26.100000 m,
      nav range: 24.113150 m,
      bearing: 19.117395 deg,
      approach rate: -0.645834 m/s,
      LOS rate: -0.047302 deg/s,
      cmd heading: 20.463353 deg,
      new cmd heading: 20.417252 deg.

2025-08-09T17:23:57.099Z,1754760237.099 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.356348 target range: 26.100000 and range: 26.10 m.
2025-08-09T17:23:57.175Z,1754760237.175 [DAT](INFO): DAT read: Rx Time:17:23:55.9727

2025-08-09T17:23:57.176Z,1754760237.176 [DAT](INFO): Rx dataTimestamp_ set to:1754760237.175659
2025-08-09T17:23:57.177Z,1754760237.177 [DAT](INFO): checking for new query: numPingsReceived=6, elapsed TxPingTime=3.008409
2025-08-09T17:23:57.427Z,1754760237.427 [DAT](INFO): checking for new query: numPingsReceived=6, elapsed TxPingTime=3.258969
2025-08-09T17:23:57.485Z,1754760237.485 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-09T17:23:57.494Z,1754760237.494 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 26.10 m.
2025-08-09T17:23:57.535Z,1754760237.535 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 26.100000 m,
      nav range: 23.868755 m,
      bearing: 19.100657 deg,
      approach rate: -0.615508 m/s,
      LOS rate: -0.042586 deg/s,
      cmd heading: 20.417252 deg,
      new cmd heading: 20.366524 deg.

2025-08-09T17:23:57.536Z,1754760237.536 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.355463 target range: 26.100000 and range: 26.10 m.
2025-08-09T17:23:57.685Z,1754760237.685 [DAT](INFO): DAT read: 17:23:55.9727 LVL= 27504, 32753, 23762, 32755, AGC= 60, IDX= 404, 0.14,-1.347,-2.901,-0.986,-1.484, PHS= 0.239,-1.372, 0.453, RAW= 156.2,   7.9, CAL= 155.7,   8.3, ROT= 354.3,  -8.3

2025-08-09T17:23:57.686Z,1754760237.686 [DAT](INFO): got valid direction response:
 17:23:55.9727 LVL= 27504, 32753, 23762, 32755, AGC= 60, IDX= 404, 0.14,-1.347,-2.901,-0.986,-1.484, PHS= 0.239,-1.372, 0.453, RAW= 156.2,   7.9, CAL= 155.7,   8.3, ROT= 354.3,  -8.3

2025-08-09T17:23:57.687Z,1754760237.687 [DAT](INFO): DAT read: Bearing 191.7,  -8.2 (Local)

2025-08-09T17:23:57.688Z,1754760237.688 [DAT](INFO): Local bearing/azimuth received:
 Bearing 191.7,  -8.2 (Local)

2025-08-09T17:23:57.689Z,1754760237.689 [DAT](INFO): DAT read: Range 11 to 50 : 24.0 m  (Round-trip  32.0 ms) speed  0.5 m/s

2025-08-09T17:23:57.690Z,1754760237.690 [DAT](INFO): DAT read: user:514>

2025-08-09T17:23:57.691Z,1754760237.691 [DAT](INFO): DAT read: Tx time:17:23:57.0866

2025-08-09T17:23:57.691Z,1754760237.691 [DAT](INFO): Ping request sent.
2025-08-09T17:23:57.691Z,1754760237.691 [DAT](INFO): transmitted an acoustic signal
2025-08-09T17:23:57.691Z,1754760237.691 [DAT](INFO): #Rx 7: Read range and direction messages.
2025-08-09T17:23:57.692Z,1754760237.692 [DAT](INFO): direction in FSK: [0.984633,-0.098279,0.144356]
2025-08-09T17:23:57.692Z,1754760237.692 [DAT](INFO): publishing transmit ping time
2025-08-09T17:23:57.693Z,1754760237.693 [DAT](INFO): publishing direction and range info
2025-08-09T17:23:57.696Z,1754760237.696 [DAT](INFO): publishing transmit ping time
2025-08-09T17:23:57.697Z,1754760237.697 [DAT](INFO): publishing direction and range info
2025-08-09T17:23:57.700Z,1754760237.700 [DAT](INFO): checking for new query: numPingsReceived=7, elapsed TxPingTime=0.009216
2025-08-09T17:23:57.931Z,1754760237.931 [DAT](INFO): checking for new query: numPingsReceived=7, elapsed TxPingTime=0.240298
2025-08-09T17:23:58.073Z,1754760238.073 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 24.000000 m,
      deltaT: 3.528111 s,
      deltaX: -2.100000 m,
      approachRate: -0.595219 m/s,
      rangeRepo size: 4

2025-08-09T17:23:58.080Z,1754760238.080 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 24.000000 m,
      bearing: 18.534834 deg,
      lat: 36.906125 deg,
      lon: -122.115899 deg,
      deltaT: 3.528111 s,
      deltaX: -2.100000 m,
      approachRate: -0.595219 m/s,
      posRepo size: 4

2025-08-09T17:23:58.080Z,1754760238.080 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.00 m.
2025-08-09T17:23:58.087Z,1754760238.087 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 24.000000 m,
      nav range: 23.512831 m,
      bearing: 18.534834 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.042586 deg/s,
      cmd heading: 20.366524 deg,
      new cmd heading: 20.292380 deg.

2025-08-09T17:23:58.088Z,1754760238.088 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.354169 target range: 24.000000 and range: 24.00 m.
2025-08-09T17:23:58.185Z,1754760238.185 [DAT](INFO): checking for new query: numPingsReceived=7, elapsed TxPingTime=0.493730
2025-08-09T17:23:58.423Z,1754760238.423 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.00 m.
2025-08-09T17:23:58.425Z,1754760238.425 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 24.000000 m,
      nav range: 23.298925 m,
      bearing: 18.516599 deg,
      approach rate: -0.641363 m/s,
      LOS rate: -0.055177 deg/s,
      cmd heading: 20.292381 deg,
      new cmd heading: 20.237173 deg.

2025-08-09T17:23:58.431Z,1754760238.431 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.353205 target range: 24.000000 and range: 24.00 m.
2025-08-09T17:23:58.435Z,1754760238.435 [DAT](INFO): checking for new query: numPingsReceived=7, elapsed TxPingTime=0.744500
2025-08-09T17:23:58.690Z,1754760238.690 [DAT](INFO): checking for new query: numPingsReceived=7, elapsed TxPingTime=0.998434
2025-08-09T17:23:58.837Z,1754760238.837 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.00 m.
2025-08-09T17:23:58.841Z,1754760238.841 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 24.000000 m,
      nav range: 23.040771 m,
      bearing: 18.492837 deg,
      approach rate: -0.598959 m/s,
      LOS rate: -0.055750 deg/s,
      cmd heading: 20.237173 deg,
      new cmd heading: 20.165087 deg.

2025-08-09T17:23:58.843Z,1754760238.843 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.351947 target range: 24.000000 and range: 24.00 m.
2025-08-09T17:23:58.939Z,1754760238.939 [DAT](INFO): checking for new query: numPingsReceived=7, elapsed TxPingTime=1.248408
2025-08-09T17:23:59.191Z,1754760239.191 [DAT](INFO): checking for new query: numPingsReceived=7, elapsed TxPingTime=1.500267
2025-08-09T17:23:59.247Z,1754760239.247 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.00 m.
2025-08-09T17:23:59.249Z,1754760239.249 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 24.000000 m,
      nav range: 22.815304 m,
      bearing: 18.472549 deg,
      approach rate: -0.556519 m/s,
      LOS rate: -0.050571 deg/s,
      cmd heading: 20.165087 deg,
      new cmd heading: 20.103621 deg.

2025-08-09T17:23:59.255Z,1754760239.255 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.350874 target range: 24.000000 and range: 24.00 m.
2025-08-09T17:23:59.448Z,1754760239.448 [DAT](INFO): checking for new query: numPingsReceived=7, elapsed TxPingTime=1.756162
2025-08-09T17:23:59.620Z,1754760239.620 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-09T17:23:59.622Z,1754760239.622 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.00 m.
2025-08-09T17:23:59.625Z,1754760239.625 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 24.000000 m,
      nav range: 22.573334 m,
      bearing: 18.451451 deg,
      approach rate: -0.638078 m/s,
      LOS rate: -0.056233 deg/s,
      cmd heading: 20.103622 deg,
      new cmd heading: 20.039648 deg.

2025-08-09T17:23:59.626Z,1754760239.626 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.349758 target range: 24.000000 and range: 24.00 m.
2025-08-09T17:23:59.697Z,1754760239.697 [DAT](INFO): checking for new query: numPingsReceived=7, elapsed TxPingTime=2.006162
2025-08-09T17:23:59.947Z,1754760239.947 [DAT](INFO): checking for new query: numPingsReceived=7, elapsed TxPingTime=2.256345
2025-08-09T17:24:00.045Z,1754760240.045 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.00 m.
2025-08-09T17:24:00.048Z,1754760240.048 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 24.000000 m,
      nav range: 22.323355 m,
      bearing: 18.430717 deg,
      approach rate: -0.590830 m/s,
      LOS rate: -0.049553 deg/s,
      cmd heading: 20.039649 deg,
      new cmd heading: 19.976752 deg.

2025-08-09T17:24:00.049Z,1754760240.049 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.348660 target range: 24.000000 and range: 24.00 m.
2025-08-09T17:24:00.199Z,1754760240.199 [DAT](INFO): checking for new query: numPingsReceived=7, elapsed TxPingTime=2.508241
2025-08-09T17:24:00.432Z,1754760240.432 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.00 m.
2025-08-09T17:24:00.434Z,1754760240.434 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 24.000000 m,
      nav range: 22.093182 m,
      bearing: 18.412088 deg,
      approach rate: -0.595181 m/s,
      LOS rate: -0.048672 deg/s,
      cmd heading: 19.976751 deg,
      new cmd heading: 19.920283 deg.

2025-08-09T17:24:00.435Z,1754760240.435 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.347675 target range: 24.000000 and range: 24.00 m.
2025-08-09T17:24:00.453Z,1754760240.453 [DAT](INFO): checking for new query: numPingsReceived=7, elapsed TxPingTime=2.762406
2025-08-09T17:24:00.707Z,1754760240.707 [DAT](INFO): DAT read: Rx Time:17:23:59.5197

2025-08-09T17:24:00.709Z,1754760240.709 [DAT](INFO): Rx dataTimestamp_ set to:1754760240.708040
2025-08-09T17:24:00.711Z,1754760240.711 [DAT](INFO): checking for new query: numPingsReceived=7, elapsed TxPingTime=3.020073
2025-08-09T17:24:00.887Z,1754760240.887 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.00 m.
2025-08-09T17:24:00.889Z,1754760240.889 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 24.000000 m,
      nav range: 21.829266 m,
      bearing: 18.390567 deg,
      approach rate: -0.580022 m/s,
      LOS rate: -0.047871 deg/s,
      cmd heading: 19.920283 deg,
      new cmd heading: 19.854937 deg.

2025-08-09T17:24:00.903Z,1754760240.903 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.346534 target range: 24.000000 and range: 24.00 m.
2025-08-09T17:24:00.956Z,1754760240.956 [DAT](INFO): checking for new query: numPingsReceived=7, elapsed TxPingTime=3.265262
2025-08-09T17:24:01.220Z,1754760241.220 [DAT](INFO): DAT read: 17:23:59.5197 LVL= 23824, 30513, 20834, 30419, AGC= 57, IDX= 405, 0.15, 1.611,-0.115, 1.994, 1.431, PHS= 0.282,-1.501, 0.519, RAW= 156.2,   7.4, CAL= 155.6,   7.6, ROT= 354.4,  -7.6

2025-08-09T17:24:01.221Z,1754760241.221 [DAT](INFO): got valid direction response:
 17:23:59.5197 LVL= 23824, 30513, 20834, 30419, AGC= 57, IDX= 405, 0.15, 1.611,-0.115, 1.994, 1.431, PHS= 0.282,-1.501, 0.519, RAW= 156.2,   7.4, CAL= 155.6,   7.6, ROT= 354.4,  -7.6

2025-08-09T17:24:01.223Z,1754760241.223 [DAT](INFO): DAT read: Bearing 190.4,  -7.5 (Local)

2025-08-09T17:24:01.224Z,1754760241.224 [DAT](INFO): Local bearing/azimuth received:
 Bearing 190.4,  -7.5 (Local)

2025-08-09T17:24:01.226Z,1754760241.226 [DAT](INFO): DAT read: Range 11 to 50 : 21.7 m  (Round-trip  29.0 ms) speed  0.5 m/s

2025-08-09T17:24:01.228Z,1754760241.228 [DAT](INFO): DAT read: user:515>

2025-08-09T17:24:01.229Z,1754760241.229 [DAT](INFO): DAT read: Tx time:17:24:00.6366

2025-08-09T17:24:01.244Z,1754760241.244 [DAT](INFO): Ping request sent.
2025-08-09T17:24:01.245Z,1754760241.245 [DAT](INFO): transmitted an acoustic signal
2025-08-09T17:24:01.245Z,1754760241.245 [DAT](INFO): #Rx 8: Read range and direction messages.
2025-08-09T17:24:01.246Z,1754760241.246 [DAT](INFO): direction in FSK: [0.986485,-0.096726,0.132256]
2025-08-09T17:24:01.246Z,1754760241.246 [DAT](INFO): publishing transmit ping time
2025-08-09T17:24:01.247Z,1754760241.247 [DAT](INFO): publishing direction and range info
2025-08-09T17:24:01.249Z,1754760241.249 [DAT](INFO): publishing transmit ping time
2025-08-09T17:24:01.250Z,1754760241.250 [DAT](INFO): publishing direction and range info
2025-08-09T17:24:01.281Z,1754760241.281 [DAT](INFO): checking for new query: numPingsReceived=8, elapsed TxPingTime=0.051131
2025-08-09T17:24:01.359Z,1754760241.359 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 21.700001 m,
      deltaT: 3.528371 s,
      deltaX: -2.299999 m,
      approachRate: -0.651859 m/s,
      rangeRepo size: 4

2025-08-09T17:24:01.361Z,1754760241.361 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 21.700001 m,
      bearing: 17.841259 deg,
      lat: 36.906126 deg,
      lon: -122.115901 deg,
      deltaT: 3.528371 s,
      deltaX: -2.299999 m,
      approachRate: -0.651859 m/s,
      posRepo size: 4

2025-08-09T17:24:01.362Z,1754760241.362 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.70 m.
2025-08-09T17:24:01.365Z,1754760241.365 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 21.700001 m,
      nav range: 21.589046 m,
      bearing: 17.841259 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.047871 deg/s,
      cmd heading: 19.854936 deg,
      new cmd heading: 19.787780 deg.

2025-08-09T17:24:01.375Z,1754760241.375 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.345362 target range: 21.700001 and range: 21.70 m.
2025-08-09T17:24:01.461Z,1754760241.461 [DAT](INFO): checking for new query: numPingsReceived=8, elapsed TxPingTime=0.230800
2025-08-09T17:24:01.716Z,1754760241.716 [DAT](INFO): checking for new query: numPingsReceived=8, elapsed TxPingTime=0.483781
2025-08-09T17:24:01.780Z,1754760241.780 [RDI_Pathfinder](ERROR): only read -1 of 1 data item for altitude. Device response is::BD,     -214.63,     +1922.60,     -124.80,

2025-08-09T17:24:01.798Z,1754760241.798 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-09T17:24:01.800Z,1754760241.800 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.70 m.
2025-08-09T17:24:01.803Z,1754760241.803 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 21.700001 m,
      nav range: 21.316341 m,
      bearing: 17.814260 deg,
      approach rate: -0.611653 m/s,
      LOS rate: -0.061329 deg/s,
      cmd heading: 19.787780 deg,
      new cmd heading: 19.705750 deg.

2025-08-09T17:24:01.804Z,1754760241.804 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.343930 target range: 21.700001 and range: 21.70 m.
2025-08-09T17:24:01.964Z,1754760241.964 [DAT](INFO): checking for new query: numPingsReceived=8, elapsed TxPingTime=0.734477
2025-08-09T17:24:02.140Z,1754760242.140 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.70 m.
2025-08-09T17:24:02.143Z,1754760242.143 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 21.700001 m,
      nav range: 21.116594 m,
      bearing: 17.794671 deg,
      approach rate: -0.587922 m/s,
      LOS rate: -0.058204 deg/s,
      cmd heading: 19.705750 deg,
      new cmd heading: 19.646425 deg.

2025-08-09T17:24:02.144Z,1754760242.144 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.342895 target range: 21.700001 and range: 21.70 m.
2025-08-09T17:24:02.217Z,1754760242.217 [DAT](INFO): checking for new query: numPingsReceived=8, elapsed TxPingTime=0.986554
2025-08-09T17:24:02.467Z,1754760242.467 [DAT](INFO): checking for new query: numPingsReceived=8, elapsed TxPingTime=1.237332
2025-08-09T17:24:02.535Z,1754760242.535 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.70 m.
2025-08-09T17:24:02.538Z,1754760242.538 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 21.700001 m,
      nav range: 20.886614 m,
      bearing: 17.772638 deg,
      approach rate: -0.581667 m/s,
      LOS rate: -0.056338 deg/s,
      cmd heading: 19.646424 deg,
      new cmd heading: 19.579600 deg.

2025-08-09T17:24:02.539Z,1754760242.539 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.341728 target range: 21.700001 and range: 21.70 m.
2025-08-09T17:24:02.725Z,1754760242.725 [DAT](INFO): checking for new query: numPingsReceived=8, elapsed TxPingTime=1.494123
2025-08-09T17:24:02.971Z,1754760242.971 [DAT](INFO): checking for new query: numPingsReceived=8, elapsed TxPingTime=1.741475
2025-08-09T17:24:02.973Z,1754760242.973 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.70 m.
2025-08-09T17:24:02.977Z,1754760242.977 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 21.700001 m,
      nav range: 20.623814 m,
      bearing: 17.732108 deg,
      approach rate: -0.599676 m/s,
      LOS rate: -0.093664 deg/s,
      cmd heading: 19.579600 deg,
      new cmd heading: 19.456458 deg.

2025-08-09T17:24:02.978Z,1754760242.978 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.339579 target range: 21.700001 and range: 21.70 m.
2025-08-09T17:24:03.225Z,1754760243.225 [DAT](INFO): checking for new query: numPingsReceived=8, elapsed TxPingTime=1.994549
2025-08-09T17:24:03.343Z,1754760243.343 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.70 m.
2025-08-09T17:24:03.346Z,1754760243.346 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 21.700001 m,
      nav range: 20.400108 m,
      bearing: 17.697926 deg,
      approach rate: -0.604694 m/s,
      LOS rate: -0.093408 deg/s,
      cmd heading: 19.456458 deg,
      new cmd heading: 19.352789 deg.

2025-08-09T17:24:03.347Z,1754760243.347 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.337770 target range: 21.700001 and range: 21.70 m.
2025-08-09T17:24:03.476Z,1754760243.476 [DAT](INFO): checking for new query: numPingsReceived=8, elapsed TxPingTime=2.245959
2025-08-09T17:24:03.731Z,1754760243.731 [DAT](INFO): checking for new query: numPingsReceived=8, elapsed TxPingTime=2.500629
2025-08-09T17:24:03.813Z,1754760243.813 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-09T17:24:03.816Z,1754760243.816 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.70 m.
2025-08-09T17:24:03.819Z,1754760243.819 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 21.700001 m,
      nav range: 20.112024 m,
      bearing: 17.648545 deg,
      approach rate: -0.609937 m/s,
      LOS rate: -0.106048 deg/s,
      cmd heading: 19.352789 deg,
      new cmd heading: 19.202525 deg.

2025-08-09T17:24:03.820Z,1754760243.820 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.335147 target range: 21.700001 and range: 21.70 m.
2025-08-09T17:24:03.979Z,1754760243.979 [DAT](INFO): checking for new query: numPingsReceived=8, elapsed TxPingTime=2.749259
2025-08-09T17:24:04.168Z,1754760244.168 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.70 m.
2025-08-09T17:24:04.171Z,1754760244.171 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 21.700001 m,
      nav range: 19.896130 m,
      bearing: 17.611058 deg,
      approach rate: -0.613346 m/s,
      LOS rate: -0.107657 deg/s,
      cmd heading: 19.202525 deg,
      new cmd heading: 19.088842 deg.

2025-08-09T17:24:04.172Z,1754760244.172 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.333163 target range: 21.700001 and range: 21.70 m.
2025-08-09T17:24:04.231Z,1754760244.231 [DAT](INFO): DAT read: Rx Time:17:24:03.0668

2025-08-09T17:24:04.232Z,1754760244.232 [DAT](INFO): Rx dataTimestamp_ set to:1754760244.231642
2025-08-09T17:24:04.232Z,1754760244.232 [DAT](INFO): checking for new query: numPingsReceived=8, elapsed TxPingTime=3.002573
2025-08-09T17:24:04.483Z,1754760244.483 [DAT](INFO): checking for new query: numPingsReceived=8, elapsed TxPingTime=3.253410
2025-08-09T17:24:04.626Z,1754760244.626 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.70 m.
2025-08-09T17:24:04.635Z,1754760244.635 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 21.700001 m,
      nav range: 19.651035 m,
      bearing: 17.568168 deg,
      approach rate: -0.539369 m/s,
      LOS rate: -0.095563 deg/s,
      cmd heading: 19.088842 deg,
      new cmd heading: 18.958568 deg.

2025-08-09T17:24:04.636Z,1754760244.636 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.330889 target range: 21.700001 and range: 21.70 m.
2025-08-09T17:24:04.767Z,1754760244.767 [DAT](INFO): DAT read: 17:24:03.0668 LVL= 21680, 29345, 19474, 29875, AGC= 55, IDX= 408, 0.04,-0.666,-2.343,-0.311,-0.847, PHS= 0.283,-1.451, 0.492, RAW= 155.6,   7.4, CAL= 155.1,   7.6, ROT= 354.9,  -7.6

2025-08-09T17:24:04.775Z,1754760244.775 [DAT](INFO): got valid direction response:
 17:24:03.0668 LVL= 21680, 29345, 19474, 29875, AGC= 55, IDX= 408, 0.04,-0.666,-2.343,-0.311,-0.847, PHS= 0.283,-1.451, 0.492, RAW= 155.6,   7.4, CAL= 155.1,   7.6, ROT= 354.9,  -7.6

2025-08-09T17:24:04.778Z,1754760244.778 [DAT](INFO): DAT read: Bearing 189.6,  -6.5 (Local)

2025-08-09T17:24:04.784Z,1754760244.784 [DAT](INFO): Local bearing/azimuth received:
 Bearing 189.6,  -6.5 (Local)

2025-08-09T17:24:04.791Z,1754760244.791 [DAT](INFO): DAT read: Range 11 to 50 : 19.5 m  (Round-trip  26.1 ms) speed  0.5 m/s

2025-08-09T17:24:04.792Z,1754760244.792 [DAT](INFO): DAT read: user:516>

2025-08-09T17:24:04.793Z,1754760244.793 [DAT](INFO): DAT read: Tx time:17:24:04.1866

2025-08-09T17:24:04.793Z,1754760244.793 [DAT](INFO): Ping request sent.
2025-08-09T17:24:04.793Z,1754760244.793 [DAT](INFO): transmitted an acoustic signal
2025-08-09T17:24:04.794Z,1754760244.794 [DAT](INFO): #Rx 9: Read range and direction messages.
2025-08-09T17:24:04.799Z,1754760244.799 [DAT](INFO): direction in FSK: [0.987291,-0.088114,0.132256]
2025-08-09T17:24:04.799Z,1754760244.799 [DAT](INFO): publishing transmit ping time
2025-08-09T17:24:04.799Z,1754760244.799 [DAT](INFO): publishing direction and range info
2025-08-09T17:24:04.810Z,1754760244.810 [DAT](INFO): publishing transmit ping time
2025-08-09T17:24:04.811Z,1754760244.811 [DAT](INFO): publishing direction and range info
2025-08-09T17:24:04.814Z,1754760244.814 [DAT](INFO): checking for new query: numPingsReceived=9, elapsed TxPingTime=0.020488
2025-08-09T17:24:04.987Z,1754760244.987 [DAT](INFO): checking for new query: numPingsReceived=9, elapsed TxPingTime=0.194041
2025-08-09T17:24:05.055Z,1754760245.055 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 19.500000 m,
      deltaT: 3.529242 s,
      deltaX: -2.200001 m,
      approachRate: -0.623364 m/s,
      rangeRepo size: 4

2025-08-09T17:24:05.057Z,1754760245.057 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 19.500000 m,
      bearing: 17.351418 deg,
      lat: 36.906126 deg,
      lon: -122.115901 deg,
      deltaT: 3.529242 s,
      deltaX: -2.200001 m,
      approachRate: -0.623364 m/s,
      posRepo size: 4

2025-08-09T17:24:05.059Z,1754760245.059 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.50 m.
2025-08-09T17:24:05.062Z,1754760245.062 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 19.500000 m,
      nav range: 19.358145 m,
      bearing: 17.351418 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.095563 deg/s,
      cmd heading: 18.958568 deg,
      new cmd heading: 18.835724 deg.

2025-08-09T17:24:05.071Z,1754760245.071 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.328745 target range: 19.500000 and range: 19.50 m.
2025-08-09T17:24:05.239Z,1754760245.239 [DAT](INFO): checking for new query: numPingsReceived=9, elapsed TxPingTime=0.446136
2025-08-09T17:24:05.410Z,1754760245.410 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.50 m.
2025-08-09T17:24:05.413Z,1754760245.413 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 19.500000 m,
      nav range: 19.117466 m,
      bearing: 17.297286 deg,
      approach rate: -0.669706 m/s,
      LOS rate: -0.152521 deg/s,
      cmd heading: 18.835724 deg,
      new cmd heading: 18.671285 deg.

2025-08-09T17:24:05.414Z,1754760245.414 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.325875 target range: 19.500000 and range: 19.50 m.
2025-08-09T17:24:05.492Z,1754760245.492 [DAT](INFO): checking for new query: numPingsReceived=9, elapsed TxPingTime=0.698789
2025-08-09T17:24:05.746Z,1754760245.746 [DAT](INFO): checking for new query: numPingsReceived=9, elapsed TxPingTime=0.951957
2025-08-09T17:24:05.939Z,1754760245.939 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-09T17:24:05.941Z,1754760245.941 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.50 m.
2025-08-09T17:24:05.944Z,1754760245.944 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 19.500000 m,
      nav range: 18.788876 m,
      bearing: 17.225290 deg,
      approach rate: -0.618227 m/s,
      LOS rate: -0.137826 deg/s,
      cmd heading: 18.671285 deg,
      new cmd heading: 18.451521 deg.

2025-08-09T17:24:05.945Z,1754760245.945 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.322040 target range: 19.500000 and range: 19.50 m.
2025-08-09T17:24:05.996Z,1754760245.996 [DAT](INFO): checking for new query: numPingsReceived=9, elapsed TxPingTime=1.203064
2025-08-09T17:24:06.248Z,1754760246.248 [DAT](INFO): checking for new query: numPingsReceived=9, elapsed TxPingTime=1.454351
2025-08-09T17:24:06.269Z,1754760246.269 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.50 m.
2025-08-09T17:24:06.272Z,1754760246.272 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 19.500000 m,
      nav range: 18.565874 m,
      bearing: 17.174983 deg,
      approach rate: -0.681035 m/s,
      LOS rate: -0.155480 deg/s,
      cmd heading: 18.451520 deg,
      new cmd heading: 18.298787 deg.

2025-08-09T17:24:06.273Z,1754760246.273 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.319374 target range: 19.500000 and range: 19.50 m.
2025-08-09T17:24:06.501Z,1754760246.501 [DAT](INFO): checking for new query: numPingsReceived=9, elapsed TxPingTime=1.707364
2025-08-09T17:24:06.678Z,1754760246.678 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.50 m.
2025-08-09T17:24:06.681Z,1754760246.681 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 19.500000 m,
      nav range: 18.303164 m,
      bearing: 17.115277 deg,
      approach rate: -0.642360 m/s,
      LOS rate: -0.148083 deg/s,
      cmd heading: 18.298787 deg,
      new cmd heading: 18.117101 deg.

2025-08-09T17:24:06.682Z,1754760246.682 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.316203 target range: 19.500000 and range: 19.50 m.
2025-08-09T17:24:06.756Z,1754760246.756 [DAT](INFO): checking for new query: numPingsReceived=9, elapsed TxPingTime=1.962422
2025-08-09T17:24:07.003Z,1754760247.003 [DAT](INFO): checking for new query: numPingsReceived=9, elapsed TxPingTime=2.209940
2025-08-09T17:24:07.101Z,1754760247.101 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.50 m.
2025-08-09T17:24:07.120Z,1754760247.120 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 19.500000 m,
      nav range: 18.021425 m,
      bearing: 17.061447 deg,
      approach rate: -0.665529 m/s,
      LOS rate: -0.129148 deg/s,
      cmd heading: 18.117101 deg,
      new cmd heading: 17.953084 deg.

2025-08-09T17:24:07.121Z,1754760247.121 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.313340 target range: 19.500000 and range: 19.50 m.
2025-08-09T17:24:07.256Z,1754760247.256 [DAT](INFO): checking for new query: numPingsReceived=9, elapsed TxPingTime=2.462194
2025-08-09T17:24:07.470Z,1754760247.470 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.50 m.
2025-08-09T17:24:07.473Z,1754760247.473 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 19.500000 m,
      nav range: 17.771196 m,
      bearing: 17.013113 deg,
      approach rate: -0.678570 m/s,
      LOS rate: -0.132917 deg/s,
      cmd heading: 17.953084 deg,
      new cmd heading: 17.806041 deg.

2025-08-09T17:24:07.474Z,1754760247.474 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.310774 target range: 19.500000 and range: 19.50 m.
2025-08-09T17:24:07.508Z,1754760247.508 [DAT](INFO): checking for new query: numPingsReceived=9, elapsed TxPingTime=2.714518
2025-08-09T17:24:07.761Z,1754760247.761 [DAT](INFO): DAT read: Rx Time:17:24:06.6140

2025-08-09T17:24:07.763Z,1754760247.763 [DAT](INFO): Rx dataTimestamp_ set to:1754760247.761926
2025-08-09T17:24:07.765Z,1754760247.765 [DAT](INFO): checking for new query: numPingsReceived=9, elapsed TxPingTime=2.971098
2025-08-09T17:24:07.905Z,1754760247.905 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.50 m.
2025-08-09T17:24:07.908Z,1754760247.908 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 19.500000 m,
      nav range: 17.488590 m,
      bearing: 16.954918 deg,
      approach rate: -0.649423 m/s,
      LOS rate: -0.135891 deg/s,
      cmd heading: 17.806042 deg,
      new cmd heading: 17.628637 deg.

2025-08-09T17:24:07.909Z,1754760247.909 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.307678 target range: 19.500000 and range: 19.50 m.
2025-08-09T17:24:08.011Z,1754760248.011 [DAT](INFO): checking for new query: numPingsReceived=9, elapsed TxPingTime=3.217976
2025-08-09T17:24:08.269Z,1754760248.269 [DAT](INFO): DAT read: 17:24:06.6140 LVL= 22240, 30129, 20754, 32755, AGC= 55, IDX= 411, 0.36, 2.368, 0.666, 2.713, 2.187, PHS= 0.282,-1.477, 0.482, RAW= 155.3,   7.7, CAL= 154.8,   8.0, ROT= 355.2,  -8.0

2025-08-09T17:24:08.270Z,1754760248.270 [DAT](INFO): got valid direction response:
 17:24:06.6140 LVL= 22240, 30129, 20754, 32755, AGC= 55, IDX= 411, 0.36, 2.368, 0.666, 2.713, 2.187, PHS= 0.282,-1.477, 0.482, RAW= 155.3,   7.7, CAL= 154.8,   8.0, ROT= 355.2,  -8.0

2025-08-09T17:24:08.271Z,1754760248.271 [DAT](INFO): DAT read: Bearing 189.4,  -5.9 (Local)

2025-08-09T17:24:08.271Z,1754760248.271 [DAT](INFO): Local bearing/azimuth received:
 Bearing 189.4,  -5.9 (Local)

2025-08-09T17:24:08.273Z,1754760248.273 [DAT](INFO): DAT read: Range 11 to 50 : 17.4 m  (Round-trip  23.3 ms) speed  0.5 m/s

2025-08-09T17:24:08.273Z,1754760248.273 [DAT](INFO): DAT read: user:517>

2025-08-09T17:24:08.274Z,1754760248.274 [DAT](INFO): DAT read: Tx time:17:24:07.7366

2025-08-09T17:24:08.274Z,1754760248.274 [DAT](INFO): Ping request sent.
2025-08-09T17:24:08.275Z,1754760248.275 [DAT](INFO): transmitted an acoustic signal
2025-08-09T17:24:08.275Z,1754760248.275 [DAT](INFO): #Rx 10: Read range and direction messages.
2025-08-09T17:24:08.276Z,1754760248.276 [DAT](INFO): direction in FSK: [0.986795,-0.082864,0.139173]
2025-08-09T17:24:08.276Z,1754760248.276 [DAT](INFO): publishing transmit ping time
2025-08-09T17:24:08.276Z,1754760248.276 [DAT](INFO): publishing direction and range info
2025-08-09T17:24:08.279Z,1754760248.279 [DAT](INFO): publishing transmit ping time
2025-08-09T17:24:08.280Z,1754760248.280 [DAT](INFO): publishing direction and range info
2025-08-09T17:24:08.283Z,1754760248.283 [DAT](INFO): checking for new query: numPingsReceived=10, elapsed TxPingTime=0.008161
2025-08-09T17:24:08.368Z,1754760248.368 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 17.400000 m,
      deltaT: 3.526170 s,
      deltaX: -2.100000 m,
      approachRate: -0.595547 m/s,
      rangeRepo size: 4

2025-08-09T17:24:08.370Z,1754760248.370 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 17.400000 m,
      bearing: 16.981343 deg,
      lat: 36.906126 deg,
      lon: -122.115901 deg,
      deltaT: 3.526170 s,
      deltaX: -2.100000 m,
      approachRate: -0.595547 m/s,
      posRepo size: 4

2025-08-09T17:24:08.375Z,1754760248.375 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.40 m.
2025-08-09T17:24:08.377Z,1754760248.377 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 17.400000 m,
      nav range: 17.222345 m,
      bearing: 16.981343 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.135891 deg/s,
      cmd heading: 17.628638 deg,
      new cmd heading: 17.440355 deg.

2025-08-09T17:24:08.381Z,1754760248.381 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.304392 target range: 17.400000 and range: 17.40 m.
2025-08-09T17:24:08.515Z,1754760248.515 [DAT](INFO): checking for new query: numPingsReceived=10, elapsed TxPingTime=0.240843
2025-08-09T17:24:08.674Z,1754760248.674 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-09T17:24:08.676Z,1754760248.676 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.40 m.
2025-08-09T17:24:08.696Z,1754760248.696 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 17.400000 m,
      nav range: 16.995424 m,
      bearing: 16.935132 deg,
      approach rate: -0.733924 m/s,
      LOS rate: -0.151456 deg/s,
      cmd heading: 17.440355 deg,
      new cmd heading: 17.299870 deg.

2025-08-09T17:24:08.698Z,1754760248.698 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.301940 target range: 17.400000 and range: 17.40 m.
2025-08-09T17:24:08.770Z,1754760248.770 [DAT](INFO): checking for new query: numPingsReceived=10, elapsed TxPingTime=0.495500
2025-08-09T17:24:09.019Z,1754760249.019 [DAT](INFO): checking for new query: numPingsReceived=10, elapsed TxPingTime=0.744753
2025-08-09T17:24:09.124Z,1754760249.124 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.40 m.
2025-08-09T17:24:09.127Z,1754760249.127 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 17.400000 m,
      nav range: 16.690216 m,
      bearing: 16.890854 deg,
      approach rate: -0.681969 m/s,
      LOS rate: -0.100745 deg/s,
      cmd heading: 17.299870 deg,
      new cmd heading: 17.164608 deg.

2025-08-09T17:24:09.128Z,1754760249.128 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.299579 target range: 17.400000 and range: 17.40 m.
2025-08-09T17:24:09.271Z,1754760249.271 [DAT](INFO): checking for new query: numPingsReceived=10, elapsed TxPingTime=0.996674
2025-08-09T17:24:09.498Z,1754760249.498 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.40 m.
2025-08-09T17:24:09.501Z,1754760249.501 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 17.400000 m,
      nav range: 16.428492 m,
      bearing: 16.851573 deg,
      approach rate: -0.699095 m/s,
      LOS rate: -0.106596 deg/s,
      cmd heading: 17.164607 deg,
      new cmd heading: 17.044886 deg.

2025-08-09T17:24:09.502Z,1754760249.502 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.297489 target range: 17.400000 and range: 17.40 m.
2025-08-09T17:24:09.541Z,1754760249.541 [DAT](INFO): checking for new query: numPingsReceived=10, elapsed TxPingTime=1.266002
2025-08-09T17:24:09.796Z,1754760249.796 [DAT](INFO): checking for new query: numPingsReceived=10, elapsed TxPingTime=1.521224
2025-08-09T17:24:09.936Z,1754760249.936 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.40 m.
2025-08-09T17:24:09.943Z,1754760249.943 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 17.400000 m,
      nav range: 16.132597 m,
      bearing: 16.818459 deg,
      approach rate: -0.675102 m/s,
      LOS rate: -0.076936 deg/s,
      cmd heading: 17.044887 deg,
      new cmd heading: 16.943725 deg.

2025-08-09T17:24:09.944Z,1754760249.944 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.295724 target range: 17.400000 and range: 17.40 m.
2025-08-09T17:24:10.043Z,1754760250.043 [DAT](INFO): checking for new query: numPingsReceived=10, elapsed TxPingTime=1.768841
2025-08-09T17:24:10.295Z,1754760250.295 [DAT](INFO): checking for new query: numPingsReceived=10, elapsed TxPingTime=2.020680
2025-08-09T17:24:10.365Z,1754760250.365 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.40 m.
2025-08-09T17:24:10.368Z,1754760250.368 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 17.400000 m,
      nav range: 15.837012 m,
      bearing: 16.785944 deg,
      approach rate: -0.689647 m/s,
      LOS rate: -0.077280 deg/s,
      cmd heading: 16.943725 deg,
      new cmd heading: 16.844358 deg.

2025-08-09T17:24:10.369Z,1754760250.369 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.293990 target range: 17.400000 and range: 17.40 m.
2025-08-09T17:24:10.547Z,1754760250.547 [DAT](INFO): checking for new query: numPingsReceived=10, elapsed TxPingTime=2.272706
2025-08-09T17:24:10.743Z,1754760250.743 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-09T17:24:10.745Z,1754760250.745 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.40 m.
2025-08-09T17:24:10.752Z,1754760250.752 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 17.400000 m,
      nav range: 15.573835 m,
      bearing: 16.757442 deg,
      approach rate: -0.692828 m/s,
      LOS rate: -0.076300 deg/s,
      cmd heading: 16.844358 deg,
      new cmd heading: 16.757409 deg.

2025-08-09T17:24:10.753Z,1754760250.753 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.292472 target range: 17.400000 and range: 17.40 m.
2025-08-09T17:24:10.800Z,1754760250.800 [DAT](INFO): checking for new query: numPingsReceived=10, elapsed TxPingTime=2.525654
2025-08-09T17:24:11.052Z,1754760251.052 [DAT](INFO): checking for new query: numPingsReceived=10, elapsed TxPingTime=2.777157
2025-08-09T17:24:11.153Z,1754760251.153 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.40 m.
2025-08-09T17:24:11.156Z,1754760251.156 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 17.400000 m,
      nav range: 15.321988 m,
      bearing: 16.754011 deg,
      approach rate: -0.616843 m/s,
      LOS rate: -0.008541 deg/s,
      cmd heading: 16.757408 deg,
      new cmd heading: 16.746947 deg.

2025-08-09T17:24:11.157Z,1754760251.157 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.292289 target range: 17.400000 and range: 17.40 m.
2025-08-09T17:24:11.303Z,1754760251.303 [DAT](INFO): DAT read: Rx Time:17:24:10.1609

2025-08-09T17:24:11.304Z,1754760251.304 [DAT](INFO): Rx dataTimestamp_ set to:1754760251.303551
2025-08-09T17:24:11.304Z,1754760251.304 [DAT](INFO): checking for new query: numPingsReceived=10, elapsed TxPingTime=3.029811
2025-08-09T17:24:11.535Z,1754760251.535 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.40 m.
2025-08-09T17:24:11.537Z,1754760251.537 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 17.400000 m,
      nav range: 15.060530 m,
      bearing: 16.752527 deg,
      approach rate: -0.685726 m/s,
      LOS rate: -0.003961 deg/s,
      cmd heading: 16.746948 deg,
      new cmd heading: 16.742417 deg.

2025-08-09T17:24:11.538Z,1754760251.538 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.292210 target range: 17.400000 and range: 17.40 m.
2025-08-09T17:24:11.555Z,1754760251.555 [DAT](INFO): checking for new query: numPingsReceived=10, elapsed TxPingTime=3.280872
2025-08-09T17:24:11.829Z,1754760251.829 [DAT](INFO): DAT read: 17:24:10.1609 LVL= 23328, 32305, 21570, 32755, AGC= 57, IDX= 411,-0.36,-1.103,-2.753,-0.771,-1.277, PHS= 0.276,-1.431, 0.462, RAW= 155.1,   7.7, CAL= 154.6,   8.1, ROT= 355.4,  -8.1

2025-08-09T17:24:11.866Z,1754760251.866 [DAT](INFO): got valid direction response:
 17:24:10.1609 LVL= 23328, 32305, 21570, 32755, AGC= 57, IDX= 411,-0.36,-1.103,-2.753,-0.771,-1.277, PHS= 0.276,-1.431, 0.462, RAW= 155.1,   7.7, CAL= 154.6,   8.1, ROT= 355.4,  -8.1

2025-08-09T17:24:11.883Z,1754760251.883 [DAT](INFO): DAT read: Bearing 188.7,  -5.3 (Local)

2025-08-09T17:24:11.883Z,1754760251.883 [DAT](INFO): Local bearing/azimuth received:
 Bearing 188.7,  -5.3 (Local)

2025-08-09T17:24:11.885Z,1754760251.885 [DAT](INFO): DAT read: Range 11 to 50 : 15.1 m  (Round-trip  20.2 ms) speed  0.7 m/s

2025-08-09T17:24:11.886Z,1754760251.886 [DAT](INFO): DAT read: user:518>

2025-08-09T17:24:11.895Z,1754760251.895 [DAT](INFO): DAT read: Tx time:17:24:11.2866

2025-08-09T17:24:11.895Z,1754760251.895 [DAT](INFO): Ping request sent.
2025-08-09T17:24:11.895Z,1754760251.895 [DAT](INFO): transmitted an acoustic signal
2025-08-09T17:24:11.895Z,1754760251.895 [DAT](INFO): #Rx 11: Read range and direction messages.
2025-08-09T17:24:11.896Z,1754760251.896 [DAT](INFO): direction in FSK: [0.986835,-0.079399,0.140901]
2025-08-09T17:24:11.897Z,1754760251.897 [DAT](INFO): publishing transmit ping time
2025-08-09T17:24:11.897Z,1754760251.897 [DAT](INFO): publishing direction and range info
2025-08-09T17:24:11.908Z,1754760251.908 [DAT](INFO): publishing transmit ping time
2025-08-09T17:24:11.908Z,1754760251.908 [DAT](INFO): publishing direction and range info
2025-08-09T17:24:11.939Z,1754760251.939 [DAT](INFO): checking for new query: numPingsReceived=11, elapsed TxPingTime=0.043543
2025-08-09T17:24:12.049Z,1754760252.049 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 15.100000 m,
      deltaT: 3.544685 s,
      deltaX: -2.299999 m,
      approachRate: -0.648859 m/s,
      rangeRepo size: 4

2025-08-09T17:24:12.059Z,1754760252.059 [DAT](INFO): checking for new query: numPingsReceived=11, elapsed TxPingTime=0.164291
2025-08-09T17:24:12.061Z,1754760252.061 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 15.100000 m,
      bearing: 16.699315 deg,
      lat: 36.906126 deg,
      lon: -122.115901 deg,
      deltaT: 3.544685 s,
      deltaX: -2.299999 m,
      approachRate: -0.648859 m/s,
      posRepo size: 4

2025-08-09T17:24:12.066Z,1754760252.066 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.10 m.
2025-08-09T17:24:12.069Z,1754760252.069 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 15.100000 m,
      nav range: 14.734910 m,
      bearing: 16.699315 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.003961 deg/s,
      cmd heading: 16.742418 deg,
      new cmd heading: 16.736308 deg.

2025-08-09T17:24:12.070Z,1754760252.070 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.292104 target range: 15.100000 and range: 15.10 m.
2025-08-09T17:24:12.315Z,1754760252.315 [DAT](INFO): checking for new query: numPingsReceived=11, elapsed TxPingTime=0.419956
2025-08-09T17:24:12.393Z,1754760252.393 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.10 m.
2025-08-09T17:24:12.396Z,1754760252.396 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 15.100000 m,
      nav range: 14.517200 m,
      bearing: 16.707156 deg,
      approach rate: -0.632779 m/s,
      LOS rate: 0.023130 deg/s,
      cmd heading: 16.736308 deg,
      new cmd heading: 16.760182 deg.

2025-08-09T17:24:12.396Z,1754760252.396 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.292520 target range: 15.100000 and range: 15.10 m.
2025-08-09T17:24:12.563Z,1754760252.563 [DAT](INFO): checking for new query: numPingsReceived=11, elapsed TxPingTime=0.668191
2025-08-09T17:24:12.779Z,1754760252.779 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-09T17:24:12.781Z,1754760252.781 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.10 m.
2025-08-09T17:24:12.784Z,1754760252.784 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 15.100000 m,
      nav range: 14.259473 m,
      bearing: 16.718997 deg,
      approach rate: -0.663774 m/s,
      LOS rate: 0.031048 deg/s,
      cmd heading: 16.760181 deg,
      new cmd heading: 16.796347 deg.

2025-08-09T17:24:12.785Z,1754760252.785 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.293152 target range: 15.100000 and range: 15.10 m.
2025-08-09T17:24:12.816Z,1754760252.816 [DAT](INFO): checking for new query: numPingsReceived=11, elapsed TxPingTime=0.920790
2025-08-09T17:24:13.067Z,1754760253.067 [DAT](INFO): checking for new query: numPingsReceived=11, elapsed TxPingTime=1.172127
2025-08-09T17:24:13.243Z,1754760253.243 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.10 m.
2025-08-09T17:24:13.246Z,1754760253.246 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 15.100000 m,
      nav range: 13.988559 m,
      bearing: 16.744738 deg,
      approach rate: -0.585732 m/s,
      LOS rate: 0.056731 deg/s,
      cmd heading: 16.796347 deg,
      new cmd heading: 16.875066 deg.

2025-08-09T17:24:13.247Z,1754760253.247 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.294525 target range: 15.100000 and range: 15.10 m.
2025-08-09T17:24:13.319Z,1754760253.319 [DAT](INFO): checking for new query: numPingsReceived=11, elapsed TxPingTime=1.424296
2025-08-09T17:24:13.572Z,1754760253.572 [DAT](INFO): checking for new query: numPingsReceived=11, elapsed TxPingTime=1.676445
2025-08-09T17:24:13.588Z,1754760253.588 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.10 m.
2025-08-09T17:24:13.591Z,1754760253.591 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 15.100000 m,
      nav range: 13.773284 m,
      bearing: 16.769686 deg,
      approach rate: -0.624269 m/s,
      LOS rate: 0.073477 deg/s,
      cmd heading: 16.875065 deg,
      new cmd heading: 16.951079 deg.

2025-08-09T17:24:13.592Z,1754760253.592 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.295852 target range: 15.100000 and range: 15.10 m.
2025-08-09T17:24:13.826Z,1754760253.826 [DAT](INFO): checking for new query: numPingsReceived=11, elapsed TxPingTime=1.930594
2025-08-09T17:24:14.017Z,1754760254.017 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.10 m.
2025-08-09T17:24:14.020Z,1754760254.020 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 15.100000 m,
      nav range: 13.527677 m,
      bearing: 16.809543 deg,
      approach rate: -0.573190 m/s,
      LOS rate: 0.094706 deg/s,
      cmd heading: 16.951078 deg,
      new cmd heading: 17.072820 deg.

2025-08-09T17:24:14.021Z,1754760254.021 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.297977 target range: 15.100000 and range: 15.10 m.
2025-08-09T17:24:14.075Z,1754760254.075 [DAT](INFO): checking for new query: numPingsReceived=11, elapsed TxPingTime=2.180322
2025-08-09T17:24:14.328Z,1754760254.328 [DAT](INFO): checking for new query: numPingsReceived=11, elapsed TxPingTime=2.432660
2025-08-09T17:24:14.395Z,1754760254.395 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.10 m.
2025-08-09T17:24:14.398Z,1754760254.398 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 15.100000 m,
      nav range: 13.310740 m,
      bearing: 16.848170 deg,
      approach rate: -0.573492 m/s,
      LOS rate: 0.103779 deg/s,
      cmd heading: 17.072819 deg,
      new cmd heading: 17.190589 deg.

2025-08-09T17:24:14.399Z,1754760254.399 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.300032 target range: 15.100000 and range: 15.10 m.
2025-08-09T17:24:14.583Z,1754760254.583 [DAT](INFO): checking for new query: numPingsReceived=11, elapsed TxPingTime=2.687477
2025-08-09T17:24:14.805Z,1754760254.805 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-09T17:24:14.807Z,1754760254.807 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.10 m.
2025-08-09T17:24:14.810Z,1754760254.810 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 15.100000 m,
      nav range: 13.074636 m,
      bearing: 16.894387 deg,
      approach rate: -0.572701 m/s,
      LOS rate: 0.114130 deg/s,
      cmd heading: 17.190589 deg,
      new cmd heading: 17.331744 deg.

2025-08-09T17:24:14.811Z,1754760254.811 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.302496 target range: 15.100000 and range: 15.10 m.
2025-08-09T17:24:14.832Z,1754760254.832 [DAT](INFO): DAT read: Rx Time:17:24:13.7076

2025-08-09T17:24:14.832Z,1754760254.832 [DAT](INFO): Rx dataTimestamp_ set to:1754760254.831798
2025-08-09T17:24:14.833Z,1754760254.833 [DAT](INFO): checking for new query: numPingsReceived=11, elapsed TxPingTime=2.937550
2025-08-09T17:24:15.083Z,1754760255.083 [DAT](INFO): checking for new query: numPingsReceived=11, elapsed TxPingTime=3.188212
2025-08-09T17:24:15.293Z,1754760255.293 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.10 m.
2025-08-09T17:24:15.296Z,1754760255.296 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 15.100000 m,
      nav range: 12.809605 m,
      bearing: 16.953137 deg,
      approach rate: -0.545615 m/s,
      LOS rate: 0.123448 deg/s,
      cmd heading: 17.331743 deg,
      new cmd heading: 17.511638 deg.

2025-08-09T17:24:15.297Z,1754760255.297 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.305636 target range: 15.100000 and range: 15.10 m.
2025-08-09T17:24:15.344Z,1754760255.344 [DAT](INFO): DAT read: 17:24:13.7076 LVL= 25200, 29345, 24434, 32755, AGC= 54, IDX= 410,-0.45,-3.129, 1.399,-2.820, 2.945, PHS= 0.312,-1.501, 0.475, RAW= 154.3,   7.6, CAL= 153.7,   7.9, ROT= 356.3,  -7.9

2025-08-09T17:24:15.345Z,1754760255.345 [DAT](INFO): got valid direction response:
 17:24:13.7076 LVL= 25200, 29345, 24434, 32755, AGC= 54, IDX= 410,-0.45,-3.129, 1.399,-2.820, 2.945, PHS= 0.312,-1.501, 0.475, RAW= 154.3,   7.6, CAL= 153.7,   7.9, ROT= 356.3,  -7.9

2025-08-09T17:24:15.347Z,1754760255.347 [DAT](INFO): DAT read: Bearing 187.8,  -4.2 (Local)

2025-08-09T17:24:15.348Z,1754760255.348 [DAT](INFO): Local bearing/azimuth received:
 Bearing 187.8,  -4.2 (Local)

2025-08-09T17:24:15.349Z,1754760255.349 [DAT](INFO): DAT read: Range 11 to 50 : 12.6 m  (Round-trip  16.9 ms) speed  0.5 m/s

2025-08-09T17:24:15.351Z,1754760255.351 [DAT](INFO): DAT read: user:519>

2025-08-09T17:24:15.352Z,1754760255.352 [DAT](INFO): DAT read: Tx time:17:24:14.8365

2025-08-09T17:24:15.352Z,1754760255.352 [DAT](INFO): Ping request sent.
2025-08-09T17:24:15.352Z,1754760255.352 [DAT](INFO): transmitted an acoustic signal
2025-08-09T17:24:15.353Z,1754760255.353 [DAT](INFO): #Rx 12: Read range and direction messages.
2025-08-09T17:24:15.354Z,1754760255.354 [DAT](INFO): direction in FSK: [0.988445,-0.063920,0.137445]
2025-08-09T17:24:15.366Z,1754760255.366 [DAT](INFO): publishing transmit ping time
2025-08-09T17:24:15.367Z,1754760255.367 [DAT](INFO): publishing direction and range info
2025-08-09T17:24:15.370Z,1754760255.370 [DAT](INFO): publishing transmit ping time
2025-08-09T17:24:15.370Z,1754760255.370 [DAT](INFO): publishing direction and range info
2025-08-09T17:24:15.384Z,1754760255.384 [DAT](INFO): checking for new query: numPingsReceived=12, elapsed TxPingTime=0.031642
2025-08-09T17:24:15.587Z,1754760255.587 [DAT](INFO): checking for new query: numPingsReceived=12, elapsed TxPingTime=0.235394
2025-08-09T17:24:15.619Z,1754760255.619 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 12.600000 m,
      deltaT: 3.527905 s,
      deltaX: -2.500000 m,
      approachRate: -0.708636 m/s,
      rangeRepo size: 4

2025-08-09T17:24:15.621Z,1754760255.621 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 12.600000 m,
      bearing: 16.743109 deg,
      lat: 36.906126 deg,
      lon: -122.115902 deg,
      deltaT: 3.527905 s,
      deltaX: -2.500000 m,
      approachRate: -0.708636 m/s,
      posRepo size: 4

2025-08-09T17:24:15.622Z,1754760255.622 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.60 m.
2025-08-09T17:24:15.624Z,1754760255.624 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 12.600000 m,
      nav range: 12.612791 m,
      bearing: 16.743109 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.123448 deg/s,
      cmd heading: 17.511637 deg,
      new cmd heading: 17.632034 deg.

2025-08-09T17:24:15.625Z,1754760255.625 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.307737 target range: 12.600000 and range: 12.60 m.
2025-08-09T17:24:15.840Z,1754760255.840 [DAT](INFO): checking for new query: numPingsReceived=12, elapsed TxPingTime=0.487884
2025-08-09T17:24:16.050Z,1754760256.050 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.60 m.
2025-08-09T17:24:16.053Z,1754760256.053 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 12.600000 m,
      nav range: 12.370608 m,
      bearing: 16.800748 deg,
      approach rate: -0.561004 m/s,
      LOS rate: 0.136130 deg/s,
      cmd heading: 17.632034 deg,
      new cmd heading: 17.808334 deg.

2025-08-09T17:24:16.054Z,1754760256.054 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.310814 target range: 12.600000 and range: 12.60 m.
2025-08-09T17:24:16.092Z,1754760256.092 [DAT](INFO): checking for new query: numPingsReceived=12, elapsed TxPingTime=0.739856
2025-08-09T17:24:16.343Z,1754760256.343 [DAT](INFO): checking for new query: numPingsReceived=12, elapsed TxPingTime=0.991220
2025-08-09T17:24:16.415Z,1754760256.415 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.60 m.
2025-08-09T17:24:16.417Z,1754760256.417 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 12.600000 m,
      nav range: 12.167908 m,
      bearing: 16.854056 deg,
      approach rate: -0.556124 m/s,
      LOS rate: 0.148691 deg/s,
      cmd heading: 17.808333 deg,
      new cmd heading: 17.970922 deg.

2025-08-09T17:24:16.434Z,1754760256.434 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.313652 target range: 12.600000 and range: 12.60 m.
2025-08-09T17:24:16.595Z,1754760256.595 [DAT](INFO): checking for new query: numPingsReceived=12, elapsed TxPingTime=1.243474
2025-08-09T17:24:16.821Z,1754760256.821 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-09T17:24:16.823Z,1754760256.823 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.60 m.
2025-08-09T17:24:16.825Z,1754760256.825 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 12.600000 m,
      nav range: 11.941175 m,
      bearing: 16.917410 deg,
      approach rate: -0.555338 m/s,
      LOS rate: 0.158120 deg/s,
      cmd heading: 17.970921 deg,
      new cmd heading: 18.164591 deg.

2025-08-09T17:24:16.827Z,1754760256.827 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.317032 target range: 12.600000 and range: 12.60 m.
2025-08-09T17:24:16.848Z,1754760256.848 [DAT](INFO): checking for new query: numPingsReceived=12, elapsed TxPingTime=1.495538
2025-08-09T17:24:17.100Z,1754760257.100 [DAT](INFO): checking for new query: numPingsReceived=12, elapsed TxPingTime=1.747536
2025-08-09T17:24:17.279Z,1754760257.279 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.60 m.
2025-08-09T17:24:17.283Z,1754760257.283 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 12.600000 m,
      nav range: 11.703691 m,
      bearing: 16.946781 deg,
      approach rate: -0.519854 m/s,
      LOS rate: 0.065598 deg/s,
      cmd heading: 18.164591 deg,
      new cmd heading: 18.254492 deg.

2025-08-09T17:24:17.284Z,1754760257.284 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.318601 target range: 12.600000 and range: 12.60 m.
2025-08-09T17:24:17.356Z,1754760257.356 [DAT](INFO): checking for new query: numPingsReceived=12, elapsed TxPingTime=2.004051
2025-08-09T17:24:17.607Z,1754760257.607 [DAT](INFO): checking for new query: numPingsReceived=12, elapsed TxPingTime=2.255489
2025-08-09T17:24:17.635Z,1754760257.635 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.60 m.
2025-08-09T17:24:17.638Z,1754760257.638 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 12.600000 m,
      nav range: 11.490563 m,
      bearing: 16.975657 deg,
      approach rate: -0.599403 m/s,
      LOS rate: 0.082718 deg/s,
      cmd heading: 18.254492 deg,
      new cmd heading: 18.342727 deg.

2025-08-09T17:24:17.639Z,1754760257.639 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.320141 target range: 12.600000 and range: 12.60 m.
2025-08-09T17:24:17.860Z,1754760257.860 [DAT](INFO): checking for new query: numPingsReceived=12, elapsed TxPingTime=2.507987
2025-08-09T17:24:18.057Z,1754760258.057 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.60 m.
2025-08-09T17:24:18.060Z,1754760258.060 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 12.600000 m,
      nav range: 11.259231 m,
      bearing: 16.986158 deg,
      approach rate: -0.547918 m/s,
      LOS rate: 0.025383 deg/s,
      cmd heading: 18.342727 deg,
      new cmd heading: 18.374878 deg.

2025-08-09T17:24:18.061Z,1754760258.061 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.320702 target range: 12.600000 and range: 12.60 m.
2025-08-09T17:24:18.111Z,1754760258.111 [DAT](INFO): checking for new query: numPingsReceived=12, elapsed TxPingTime=2.759502
2025-08-09T17:24:18.364Z,1754760258.364 [DAT](INFO): DAT read: Rx Time:17:24:17.2547

2025-08-09T17:24:18.364Z,1754760258.364 [DAT](INFO): Rx dataTimestamp_ set to:1754760258.364091
2025-08-09T17:24:18.365Z,1754760258.365 [DAT](INFO): checking for new query: numPingsReceived=12, elapsed TxPingTime=3.012948
2025-08-09T17:24:18.455Z,1754760258.455 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.60 m.
2025-08-09T17:24:18.457Z,1754760258.457 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 12.600000 m,
      nav range: 11.050365 m,
      bearing: 16.996458 deg,
      approach rate: -0.548339 m/s,
      LOS rate: 0.027553 deg/s,
      cmd heading: 18.374879 deg,
      new cmd heading: 18.406364 deg.

2025-08-09T17:24:18.459Z,1754760258.459 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.321252 target range: 12.600000 and range: 12.60 m.
2025-08-09T17:24:18.616Z,1754760258.616 [DAT](INFO): checking for new query: numPingsReceived=12, elapsed TxPingTime=3.263545
2025-08-09T17:24:18.876Z,1754760258.876 [DAT](INFO): DAT read: 17:24:17.2547 LVL= 22400, 29537, 23778, 30531, AGC= 53, IDX= 413, 0.50,-3.130, 1.330,-2.921, 2.895, PHS= 0.361,-1.520, 0.423, RAW= 151.6,   7.8, CAL= 151.1,   8.3, ROT= 358.9,  -8.3

2025-08-09T17:24:18.877Z,1754760258.877 [DAT](INFO): got valid direction response:
 17:24:17.2547 LVL= 22400, 29537, 23778, 30531, AGC= 53, IDX= 413, 0.50,-3.130, 1.330,-2.921, 2.895, PHS= 0.361,-1.520, 0.423, RAW= 151.6,   7.8, CAL= 151.1,   8.3, ROT= 358.9,  -8.3

2025-08-09T17:24:18.882Z,1754760258.882 [DAT](INFO): DAT read: Bearing 188.0,  -1.3 (Local)

2025-08-09T17:24:18.882Z,1754760258.882 [DAT](INFO): Local bearing/azimuth received:
 Bearing 188.0,  -1.3 (Local)

2025-08-09T17:24:18.884Z,1754760258.884 [DAT](INFO): DAT read: Range 11 to 50 : 10.5 m  (Round-trip  14.1 ms) speed  0.4 m/s

2025-08-09T17:24:18.884Z,1754760258.884 [DAT](INFO): DAT read: user:520>

2025-08-09T17:24:18.885Z,1754760258.885 [DAT](INFO): DAT read: Tx time:17:24:18.3865

2025-08-09T17:24:18.885Z,1754760258.885 [DAT](INFO): Ping request sent.
2025-08-09T17:24:18.885Z,1754760258.885 [DAT](INFO): transmitted an acoustic signal
2025-08-09T17:24:18.886Z,1754760258.886 [DAT](INFO): #Rx 13: Read range and direction messages.
2025-08-09T17:24:18.891Z,1754760258.891 [DAT](INFO): direction in FSK: [0.989343,-0.018996,0.144356]
2025-08-09T17:24:18.891Z,1754760258.891 [DAT](INFO): publishing transmit ping time
2025-08-09T17:24:18.891Z,1754760258.891 [DAT](INFO): publishing direction and range info
2025-08-09T17:24:18.898Z,1754760258.898 [DAT](INFO): publishing transmit ping time
2025-08-09T17:24:18.899Z,1754760258.899 [DAT](INFO): publishing direction and range info
2025-08-09T17:24:18.902Z,1754760258.902 [DAT](INFO): checking for new query: numPingsReceived=13, elapsed TxPingTime=0.016340
2025-08-09T17:24:19.112Z,1754760259.112 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 10.500000 m,
      deltaT: 3.532163 s,
      deltaX: -2.100000 m,
      approachRate: -0.594537 m/s,
      rangeRepo size: 4

2025-08-09T17:24:19.114Z,1754760259.114 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 10.500000 m,
      bearing: 17.274830 deg,
      lat: 36.906126 deg,
      lon: -122.115901 deg,
      deltaT: 3.532163 s,
      deltaX: -2.100000 m,
      approachRate: -0.594537 m/s,
      posRepo size: 4

2025-08-09T17:24:19.119Z,1754760259.119 [DAT](INFO): checking for new query: numPingsReceived=13, elapsed TxPingTime=0.233889
2025-08-09T17:24:19.120Z,1754760259.120 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 10.50 m.
2025-08-09T17:24:19.128Z,1754760259.128 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 10.500000 m,
      nav range: 10.696965 m,
      bearing: 17.274830 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.027553 deg/s,
      cmd heading: 18.406364 deg,
      new cmd heading: 18.461996 deg.

2025-08-09T17:24:19.129Z,1754760259.129 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.322223 target range: 10.500000 and range: 10.50 m.
2025-08-09T17:24:19.371Z,1754760259.371 [DAT](INFO): checking for new query: numPingsReceived=13, elapsed TxPingTime=0.485875
2025-08-09T17:24:19.423Z,1754760259.423 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-09T17:24:19.425Z,1754760259.425 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 10.50 m.
2025-08-09T17:24:19.432Z,1754760259.432 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 10.500000 m,
      nav range: 10.527795 m,
      bearing: 17.267892 deg,
      approach rate: -0.538519 m/s,
      LOS rate: -0.022440 deg/s,
      cmd heading: 18.461996 deg,
      new cmd heading: 18.440848 deg.

2025-08-09T17:24:19.433Z,1754760259.433 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.321854 target range: 10.500000 and range: 10.50 m.
2025-08-09T17:24:19.623Z,1754760259.623 [DAT](INFO): checking for new query: numPingsReceived=13, elapsed TxPingTime=0.737938
2025-08-09T17:24:19.816Z,1754760259.816 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 10.50 m.
2025-08-09T17:24:19.819Z,1754760259.819 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 10.500000 m,
      nav range: 10.295061 m,
      bearing: 17.256839 deg,
      approach rate: -0.595417 m/s,
      LOS rate: -0.028917 deg/s,
      cmd heading: 18.440848 deg,
      new cmd heading: 18.406940 deg.

2025-08-09T17:24:19.820Z,1754760259.820 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.321262 target range: 10.500000 and range: 10.50 m.
2025-08-09T17:24:19.876Z,1754760259.876 [DAT](INFO): checking for new query: numPingsReceived=13, elapsed TxPingTime=0.990497
2025-08-09T17:24:20.127Z,1754760260.127 [DAT](INFO): checking for new query: numPingsReceived=13, elapsed TxPingTime=1.241790
2025-08-09T17:24:20.348Z,1754760260.348 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 10.50 m.
2025-08-09T17:24:20.351Z,1754760260.351 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 10.500000 m,
      nav range: 9.986078 m,
      bearing: 17.217207 deg,
      approach rate: -0.581315 m/s,
      LOS rate: -0.076871 deg/s,
      cmd heading: 18.406940 deg,
      new cmd heading: 18.284363 deg.

2025-08-09T17:24:20.352Z,1754760260.352 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.319122 target range: 10.500000 and range: 10.50 m.
2025-08-09T17:24:20.380Z,1754760260.380 [DAT](INFO): checking for new query: numPingsReceived=13, elapsed TxPingTime=1.494735
2025-08-09T17:24:20.631Z,1754760260.631 [DAT](INFO): checking for new query: numPingsReceived=13, elapsed TxPingTime=1.745733
2025-08-09T17:24:20.814Z,1754760260.814 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 10.50 m.
2025-08-09T17:24:20.817Z,1754760260.817 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 10.500000 m,
      nav range: 9.703286 m,
      bearing: 17.174993 deg,
      approach rate: -0.606413 m/s,
      LOS rate: -0.093159 deg/s,
      cmd heading: 18.284363 deg,
      new cmd heading: 18.154033 deg.

2025-08-09T17:24:20.818Z,1754760260.818 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.316848 target range: 10.500000 and range: 10.50 m.
2025-08-09T17:24:20.884Z,1754760260.884 [DAT](INFO): checking for new query: numPingsReceived=13, elapsed TxPingTime=1.998017
2025-08-09T17:24:21.135Z,1754760261.135 [DAT](INFO): checking for new query: numPingsReceived=13, elapsed TxPingTime=2.249955
2025-08-09T17:24:21.243Z,1754760261.243 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 10.50 m.
2025-08-09T17:24:21.245Z,1754760261.245 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 10.500000 m,
      nav range: 9.415857 m,
      bearing: 17.118528 deg,
      approach rate: -0.671487 m/s,
      LOS rate: -0.135941 deg/s,
      cmd heading: 18.154033 deg,
      new cmd heading: 17.979466 deg.

2025-08-09T17:24:21.247Z,1754760261.247 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.313801 target range: 10.500000 and range: 10.50 m.
2025-08-09T17:24:21.387Z,1754760261.387 [DAT](INFO): checking for new query: numPingsReceived=13, elapsed TxPingTime=2.501750
2025-08-09T17:24:21.640Z,1754760261.640 [DAT](INFO): checking for new query: numPingsReceived=13, elapsed TxPingTime=2.754587
2025-08-09T17:24:21.725Z,1754760261.725 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-09T17:24:21.727Z,1754760261.727 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 10.50 m.
2025-08-09T17:24:21.730Z,1754760261.730 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 10.500000 m,
      nav range: 9.101653 m,
      bearing: 17.051464 deg,
      approach rate: -0.647944 m/s,
      LOS rate: -0.143072 deg/s,
      cmd heading: 17.979466 deg,
      new cmd heading: 17.771329 deg.

2025-08-09T17:24:21.742Z,1754760261.742 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.310168 target range: 10.500000 and range: 10.50 m.
2025-08-09T17:24:21.892Z,1754760261.892 [DAT](INFO): DAT read: Rx Time:17:24:20.8023

2025-08-09T17:24:21.892Z,1754760261.892 [DAT](INFO): Rx dataTimestamp_ set to:1754760261.891692
2025-08-09T17:24:21.893Z,1754760261.893 [DAT](INFO): checking for new query: numPingsReceived=13, elapsed TxPingTime=3.007064
2025-08-09T17:24:22.131Z,1754760262.131 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 10.50 m.
2025-08-09T17:24:22.133Z,1754760262.133 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 10.500000 m,
      nav range: 8.839448 m,
      bearing: 17.015816 deg,
      approach rate: -0.649211 m/s,
      LOS rate: -0.090880 deg/s,
      cmd heading: 17.771329 deg,
      new cmd heading: 17.661214 deg.

2025-08-09T17:24:22.135Z,1754760262.135 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.308246 target range: 10.500000 and range: 10.50 m.
2025-08-09T17:24:22.143Z,1754760262.143 [DAT](INFO): checking for new query: numPingsReceived=13, elapsed TxPingTime=3.257842
2025-08-09T17:24:22.401Z,1754760262.401 [DAT](INFO): DAT read: 17:24:20.8023 LVL= 22512, 27889, 24658, 32755, AGC= 49, IDX= 420, 0.15, 1.223,-0.535, 1.513, 1.012, PHS= 0.313,-1.502, 0.457, RAW= 153.8,   7.8, CAL= 153.3,   8.2, ROT= 356.7,  -8.2

2025-08-09T17:24:22.402Z,1754760262.402 [DAT](INFO): got valid direction response:
 17:24:20.8023 LVL= 22512, 27889, 24658, 32755, AGC= 49, IDX= 420, 0.15, 1.223,-0.535, 1.513, 1.012, PHS= 0.313,-1.502, 0.457, RAW= 153.8,   7.8, CAL= 153.3,   8.2, ROT= 356.7,  -8.2

2025-08-09T17:24:22.403Z,1754760262.403 [DAT](INFO): DAT read: Bearing 188.0,  -3.2 (Local)

2025-08-09T17:24:22.403Z,1754760262.403 [DAT](INFO): Local bearing/azimuth received:
 Bearing 188.0,  -3.2 (Local)

2025-08-09T17:24:22.405Z,1754760262.405 [DAT](INFO): DAT read: Range 11 to 50 : 8.7 m  (Round-trip  11.7 ms) speed  0.5 m/s

2025-08-09T17:24:22.406Z,1754760262.406 [DAT](INFO): DAT read: user:521>

2025-08-09T17:24:22.406Z,1754760262.406 [DAT](INFO): DAT read: Tx time:17:24:21.9365

2025-08-09T17:24:22.407Z,1754760262.407 [DAT](INFO): Ping request sent.
2025-08-09T17:24:22.407Z,1754760262.407 [DAT](INFO): transmitted an acoustic signal
2025-08-09T17:24:22.407Z,1754760262.407 [DAT](INFO): #Rx 14: Read range and direction messages.
2025-08-09T17:24:22.408Z,1754760262.408 [DAT](INFO): direction in FSK: [0.988135,-0.056975,0.142629]
2025-08-09T17:24:22.408Z,1754760262.408 [DAT](INFO): publishing transmit ping time
2025-08-09T17:24:22.408Z,1754760262.408 [DAT](INFO): publishing direction and range info
2025-08-09T17:24:22.412Z,1754760262.412 [DAT](INFO): publishing transmit ping time
2025-08-09T17:24:22.412Z,1754760262.412 [DAT](INFO): publishing direction and range info
2025-08-09T17:24:22.415Z,1754760262.415 [DAT](INFO): checking for new query: numPingsReceived=14, elapsed TxPingTime=0.008487
2025-08-09T17:24:22.550Z,1754760262.550 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 8.700000 m,
      deltaT: 3.527357 s,
      deltaX: -1.800000 m,
      approachRate: -0.510297 m/s,
      rangeRepo size: 4

2025-08-09T17:24:22.552Z,1754760262.552 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 8.700000 m,
      bearing: 16.978154 deg,
      lat: 36.906126 deg,
      lon: -122.115901 deg,
      deltaT: 3.527357 s,
      deltaX: -1.800000 m,
      approachRate: -0.510297 m/s,
      posRepo size: 4

2025-08-09T17:24:22.553Z,1754760262.553 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 8.70 m.
2025-08-09T17:24:22.554Z,1754760262.554 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Short final. Range: 8.70 m.
2025-08-09T17:24:22.554Z,1754760262.554 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Transitioning guidance mode to: SHORT_FINAL
2025-08-09T17:24:22.560Z,1754760262.560 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 8.700000 m,
      nav range: 8.580822 m,
      bearing: 16.978154 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.090880 deg/s,
      cmd heading: 17.661215 deg,
      new cmd heading: 17.549255 deg.

2025-08-09T17:24:22.561Z,1754760262.561 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.306292 target range: 8.700000 and range: 8.70 m.
2025-08-09T17:24:22.648Z,1754760262.648 [DAT](INFO): checking for new query: numPingsReceived=14, elapsed TxPingTime=0.240797
2025-08-09T17:24:22.900Z,1754760262.900 [DAT](INFO): checking for new query: numPingsReceived=14, elapsed TxPingTime=0.492935
2025-08-09T17:24:22.939Z,1754760262.939 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 8.70 m. 8.70 m.
2025-08-09T17:24:22.941Z,1754760262.941 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 8.700000 m,
      nav range: 8.315621 m,
      bearing: 16.935847 deg,
      approach rate: -0.668722 m/s,
      LOS rate: -0.110081 deg/s,
      cmd heading: 17.549254 deg,
      new cmd heading: 17.418287 deg.

2025-08-09T17:24:22.942Z,1754760262.942 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.304006 target range: 8.700000 and range: 8.70 m.
2025-08-09T17:24:23.152Z,1754760263.152 [DAT](INFO): checking for new query: numPingsReceived=14, elapsed TxPingTime=0.745556
2025-08-09T17:24:23.356Z,1754760263.356 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 8.70 m. 8.70 m.
2025-08-09T17:24:23.363Z,1754760263.363 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 8.700000 m,
      nav range: 8.037895 m,
      bearing: 16.896245 deg,
      approach rate: -0.664738 m/s,
      LOS rate: -0.098063 deg/s,
      cmd heading: 17.418287 deg,
      new cmd heading: 17.295375 deg.

2025-08-09T17:24:23.364Z,1754760263.364 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.301861 target range: 8.700000 and range: 8.70 m.
2025-08-09T17:24:23.404Z,1754760263.404 [DAT](INFO): checking for new query: numPingsReceived=14, elapsed TxPingTime=0.996735
2025-08-09T17:24:23.655Z,1754760263.655 [DAT](INFO): checking for new query: numPingsReceived=14, elapsed TxPingTime=1.248550
2025-08-09T17:24:23.727Z,1754760263.727 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-09T17:24:23.730Z,1754760263.730 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 8.70 m. 8.70 m.
2025-08-09T17:24:23.736Z,1754760263.736 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 8.700000 m,
      nav range: 7.779448 m,
      bearing: 16.857223 deg,
      approach rate: -0.692049 m/s,
      LOS rate: -0.107960 deg/s,
      cmd heading: 17.295374 deg,
      new cmd heading: 17.174420 deg.

2025-08-09T17:24:23.737Z,1754760263.737 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.299750 target range: 8.700000 and range: 8.70 m.
2025-08-09T17:24:23.907Z,1754760263.907 [DAT](INFO): checking for new query: numPingsReceived=14, elapsed TxPingTime=1.500594
2025-08-09T17:24:24.156Z,1754760264.156 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 8.70 m. 8.70 m.
2025-08-09T17:24:24.160Z,1754760264.160 [DAT](INFO): checking for new query: numPingsReceived=14, elapsed TxPingTime=1.752793
2025-08-09T17:24:24.163Z,1754760264.163 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 8.700000 m,
      nav range: 7.479244 m,
      bearing: 16.837736 deg,
      approach rate: -0.703293 m/s,
      LOS rate: -0.047486 deg/s,
      cmd heading: 17.174420 deg,
      new cmd heading: 17.113611 deg.

2025-08-09T17:24:24.165Z,1754760264.165 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.298689 target range: 8.700000 and range: 8.70 m.
2025-08-09T17:24:24.412Z,1754760264.412 [DAT](INFO): checking for new query: numPingsReceived=14, elapsed TxPingTime=2.004849
2025-08-09T17:24:24.594Z,1754760264.594 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 8.70 m. 8.70 m.
2025-08-09T17:24:24.597Z,1754760264.597 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 8.700000 m,
      nav range: 7.171547 m,
      bearing: 16.817520 deg,
      approach rate: -0.703695 m/s,
      LOS rate: -0.048218 deg/s,
      cmd heading: 17.113611 deg,
      new cmd heading: 17.050360 deg.

2025-08-09T17:24:24.597Z,1754760264.597 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.297585 target range: 8.700000 and range: 8.70 m.
2025-08-09T17:24:24.669Z,1754760264.669 [DAT](INFO): checking for new query: numPingsReceived=14, elapsed TxPingTime=2.262020
2025-08-09T17:24:24.919Z,1754760264.919 [DAT](INFO): checking for new query: numPingsReceived=14, elapsed TxPingTime=2.512685
2025-08-09T17:24:24.945Z,1754760264.945 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 8.70 m. 8.70 m.
2025-08-09T17:24:24.948Z,1754760264.948 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 8.700000 m,
      nav range: 6.924275 m,
      bearing: 16.801116 deg,
      approach rate: -0.703140 m/s,
      LOS rate: -0.048311 deg/s,
      cmd heading: 17.050360 deg,
      new cmd heading: 16.999392 deg.

2025-08-09T17:24:24.949Z,1754760264.949 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.296695 target range: 8.700000 and range: 8.70 m.
2025-08-09T17:24:25.172Z,1754760265.172 [DAT](INFO): checking for new query: numPingsReceived=14, elapsed TxPingTime=2.764909
2025-08-09T17:24:25.387Z,1754760265.387 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 8.70 m. 8.70 m.
2025-08-09T17:24:25.390Z,1754760265.390 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 8.700000 m,
      nav range: 6.627041 m,
      bearing: 16.806555 deg,
      approach rate: -0.672733 m/s,
      LOS rate: 0.012862 deg/s,
      cmd heading: 16.999391 deg,
      new cmd heading: 17.016440 deg.

2025-08-09T17:24:25.391Z,1754760265.391 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.296993 target range: 8.700000 and range: 8.70 m.
2025-08-09T17:24:25.424Z,1754760265.424 [DAT](INFO): DAT read: Rx Time:17:24:24.3493

2025-08-09T17:24:25.425Z,1754760265.425 [DAT](INFO): Rx dataTimestamp_ set to:1754760265.424270
2025-08-09T17:24:25.426Z,1754760265.426 [DAT](INFO): checking for new query: numPingsReceived=14, elapsed TxPingTime=3.018690
2025-08-09T17:24:25.676Z,1754760265.676 [DAT](INFO): checking for new query: numPingsReceived=14, elapsed TxPingTime=3.269492
2025-08-09T17:24:25.767Z,1754760265.767 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-09T17:24:25.769Z,1754760265.769 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 8.70 m. 8.70 m.
2025-08-09T17:24:25.772Z,1754760265.772 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 8.700000 m,
      nav range: 6.369947 m,
      bearing: 16.812909 deg,
      approach rate: -0.672653 m/s,
      LOS rate: 0.017294 deg/s,
      cmd heading: 17.016440 deg,
      new cmd heading: 17.036269 deg.

2025-08-09T17:24:25.773Z,1754760265.773 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.297339 target range: 8.700000 and range: 8.70 m.
2025-08-09T17:24:25.933Z,1754760265.933 [DAT](INFO): DAT read: 17:24:24.3493 LVL= 22976, 32753, 19298, 32339, AGC= 51, IDX= 405, 0.04, 0.446,-1.197, 0.869, 0.357, PHS= 0.192,-1.509, 0.468, RAW= 157.4,   9.2, CAL= 157.2,   9.8, ROT= 352.8,  -9.8

2025-08-09T17:24:25.934Z,1754760265.934 [DAT](INFO): got valid direction response:
 17:24:24.3493 LVL= 22976, 32753, 19298, 32339, AGC= 51, IDX= 405, 0.04, 0.446,-1.197, 0.869, 0.357, PHS= 0.192,-1.509, 0.468, RAW= 157.4,   9.2, CAL= 157.2,   9.8, ROT= 352.8,  -9.8

2025-08-09T17:24:25.935Z,1754760265.935 [DAT](INFO): DAT read: Bearing 189.0,  -7.5 (Local)

2025-08-09T17:24:25.936Z,1754760265.936 [DAT](INFO): Local bearing/azimuth received:
 Bearing 189.0,  -7.5 (Local)

2025-08-09T17:24:25.937Z,1754760265.937 [DAT](INFO): DAT read: Range 11 to 50 : 6.4 m  (Round-trip  8.6 ms) speed  0.6 m/s

2025-08-09T17:24:25.938Z,1754760265.938 [DAT](INFO): DAT read: user:522>

2025-08-09T17:24:25.943Z,1754760265.943 [DAT](INFO): DAT read: Tx time:17:24:25.4365

2025-08-09T17:24:25.944Z,1754760265.944 [DAT](INFO): Ping request sent.
2025-08-09T17:24:25.945Z,1754760265.945 [DAT](INFO): transmitted an acoustic signal
2025-08-09T17:24:25.946Z,1754760265.946 [DAT](INFO): #Rx 15: Read range and direction messages.
2025-08-09T17:24:25.951Z,1754760265.951 [DAT](INFO): direction in FSK: [0.977638,-0.123505,0.170209]
2025-08-09T17:24:25.952Z,1754760265.952 [DAT](INFO): publishing transmit ping time
2025-08-09T17:24:25.952Z,1754760265.952 [DAT](INFO): publishing direction and range info
2025-08-09T17:24:25.959Z,1754760265.959 [DAT](INFO): publishing transmit ping time
2025-08-09T17:24:25.960Z,1754760265.960 [DAT](INFO): publishing direction and range info
2025-08-09T17:24:25.969Z,1754760265.969 [DAT](INFO): checking for new query: numPingsReceived=15, elapsed TxPingTime=0.024930
2025-08-09T17:24:26.180Z,1754760266.180 [DAT](INFO): checking for new query: numPingsReceived=15, elapsed TxPingTime=0.235697
2025-08-09T17:24:26.246Z,1754760266.246 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 6.400000 m,
      deltaT: 3.532217 s,
      deltaX: -2.300000 m,
      approachRate: -0.651149 m/s,
      rangeRepo size: 4

2025-08-09T17:24:26.261Z,1754760266.261 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 6.400000 m,
      bearing: 15.804032 deg,
      lat: 36.906126 deg,
      lon: -122.115902 deg,
      deltaT: 3.532217 s,
      deltaX: -2.300000 m,
      approachRate: -0.651149 m/s,
      posRepo size: 4

2025-08-09T17:24:26.269Z,1754760266.269 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 6.40 m. 8.70 m.
2025-08-09T17:24:26.273Z,1754760266.273 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 8.700000 m,
      nav range: 6.064325 m,
      bearing: 16.795932 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.090880 deg/s,
      cmd heading: 17.036269 deg,
      new cmd heading: 16.906541 deg.

2025-08-09T17:24:26.274Z,1754760266.274 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.295075 target range: 8.700000 and range: 8.70 m.
2025-08-09T17:24:26.431Z,1754760266.431 [DAT](INFO): checking for new query: numPingsReceived=15, elapsed TxPingTime=0.487288
2025-08-09T17:24:26.610Z,1754760266.610 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 8.70 m. 8.70 m.
2025-08-09T17:24:26.612Z,1754760266.612 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 8.700000 m,
      nav range: 5.806442 m,
      bearing: 16.782765 deg,
      approach rate: -0.707828 m/s,
      LOS rate: -0.037745 deg/s,
      cmd heading: 16.906542 deg,
      new cmd heading: 16.865287 deg.

2025-08-09T17:24:26.613Z,1754760266.613 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.294355 target range: 8.700000 and range: 8.70 m.
2025-08-09T17:24:26.685Z,1754760266.685 [DAT](INFO): checking for new query: numPingsReceived=15, elapsed TxPingTime=0.741012
2025-08-09T17:24:26.935Z,1754760266.935 [DAT](INFO): checking for new query: numPingsReceived=15, elapsed TxPingTime=0.991232
2025-08-09T17:24:27.011Z,1754760267.011 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 8.70 m. 8.70 m.
2025-08-09T17:24:27.014Z,1754760267.014 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 8.700000 m,
      nav range: 5.537161 m,
      bearing: 16.768507 deg,
      approach rate: -0.670352 m/s,
      LOS rate: -0.037219 deg/s,
      cmd heading: 16.865288 deg,
      new cmd heading: 16.820435 deg.

2025-08-09T17:24:27.015Z,1754760267.015 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.293572 target range: 8.700000 and range: 8.70 m.
2025-08-09T17:24:27.188Z,1754760267.188 [DAT](INFO): checking for new query: numPingsReceived=15, elapsed TxPingTime=1.244048
2025-08-09T17:24:27.439Z,1754760267.439 [DAT](INFO): checking for new query: numPingsReceived=15, elapsed TxPingTime=1.495330
2025-08-09T17:24:27.468Z,1754760267.468 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 8.70 m. 8.70 m.
2025-08-09T17:24:27.476Z,1754760267.476 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 8.700000 m,
      nav range: 5.253148 m,
      bearing: 16.783385 deg,
      approach rate: -0.621598 m/s,
      LOS rate: 0.034323 deg/s,
      cmd heading: 16.820435 deg,
      new cmd heading: 16.867482 deg.

2025-08-09T17:24:27.477Z,1754760267.477 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.294393 target range: 8.700000 and range: 8.70 m.
2025-08-09T17:24:27.692Z,1754760267.692 [DAT](INFO): checking for new query: numPingsReceived=15, elapsed TxPingTime=1.747770
2025-08-09T17:24:27.836Z,1754760267.836 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-09T17:24:27.851Z,1754760267.851 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 8.70 m. 8.70 m.
2025-08-09T17:24:27.879Z,1754760267.879 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 8.700000 m,
      nav range: 4.995791 m,
      bearing: 16.800335 deg,
      approach rate: -0.695331 m/s,
      LOS rate: 0.048153 deg/s,
      cmd heading: 16.867482 deg,
      new cmd heading: 16.920949 deg.

2025-08-09T17:24:27.880Z,1754760267.880 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.295326 target range: 8.700000 and range: 8.70 m.
2025-08-09T17:24:27.944Z,1754760267.944 [DAT](INFO): checking for new query: numPingsReceived=15, elapsed TxPingTime=2.000164
2025-08-09T17:24:28.195Z,1754760268.195 [DAT](INFO): checking for new query: numPingsReceived=15, elapsed TxPingTime=2.251231
2025-08-09T17:24:28.261Z,1754760268.261 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 8.70 m. 8.70 m.
2025-08-09T17:24:28.272Z,1754760268.272 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 8.700000 m,
      nav range: 4.724115 m,
      bearing: 16.751436 deg,
      approach rate: -0.643423 m/s,
      LOS rate: -0.122468 deg/s,
      cmd heading: 16.920948 deg,
      new cmd heading: 16.765818 deg.

2025-08-09T17:24:28.273Z,1754760268.273 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.292619 target range: 8.700000 and range: 8.70 m.
2025-08-09T17:24:28.447Z,1754760268.447 [DAT](INFO): checking for new query: numPingsReceived=15, elapsed TxPingTime=2.503324
2025-08-09T17:24:28.637Z,1754760268.637 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 8.70 m. 8.70 m.
2025-08-09T17:24:28.640Z,1754760268.640 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 8.700000 m,
      nav range: 4.482482 m,
      bearing: 16.706259 deg,
      approach rate: -0.642151 m/s,
      LOS rate: -0.126533 deg/s,
      cmd heading: 16.765818 deg,
      new cmd heading: 16.622981 deg.

2025-08-09T17:24:28.640Z,1754760268.640 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.290126 target range: 8.700000 and range: 8.70 m.
2025-08-09T17:24:28.701Z,1754760268.701 [DAT](INFO): checking for new query: numPingsReceived=15, elapsed TxPingTime=2.756566
2025-08-09T17:24:28.951Z,1754760268.951 [DAT](INFO): DAT read: Rx Time:17:24:27.8459

2025-08-09T17:24:28.952Z,1754760268.952 [DAT](INFO): Rx dataTimestamp_ set to:1754760268.951405
2025-08-09T17:24:28.952Z,1754760268.952 [DAT](INFO): checking for new query: numPingsReceived=15, elapsed TxPingTime=3.008217
2025-08-09T17:24:29.040Z,1754760269.040 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 8.70 m. 8.70 m.
2025-08-09T17:24:29.043Z,1754760269.043 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 8.700000 m,
      nav range: 4.224059 m,
      bearing: 16.652525 deg,
      approach rate: -0.641079 m/s,
      LOS rate: -0.141456 deg/s,
      cmd heading: 16.622981 deg,
      new cmd heading: 16.451916 deg.

2025-08-09T17:24:29.044Z,1754760269.044 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.287140 target range: 8.700000 and range: 8.70 m.
2025-08-09T17:24:29.203Z,1754760269.203 [DAT](INFO): checking for new query: numPingsReceived=15, elapsed TxPingTime=3.259324
2025-08-09T17:24:29.461Z,1754760269.461 [DAT](INFO): DAT read: 17:24:27.8459 LVL= 24560, 30657, 26962, 32755, AGC= 46, IDX= 403, 0.48, 2.379, 1.093,-2.950, 2.691, PHS=-0.210,-1.553, 0.599, RAW= 171.9,  12.3, CAL= 172.0,  14.8, ROT= 338.0, -14.8

2025-08-09T17:24:29.463Z,1754760269.463 [DAT](INFO): got valid direction response:
 17:24:27.8459 LVL= 24560, 30657, 26962, 32755, AGC= 46, IDX= 403, 0.48, 2.379, 1.093,-2.950, 2.691, PHS=-0.210,-1.553, 0.599, RAW= 171.9,  12.3, CAL= 172.0,  14.8, ROT= 338.0, -14.8

2025-08-09T17:24:29.467Z,1754760269.467 [DAT](INFO): DAT read: Bearing 192.9, -22.7 (Local)

2025-08-09T17:24:29.468Z,1754760269.468 [DAT](INFO): Local bearing/azimuth received:
 Bearing 192.9, -22.7 (Local)

2025-08-09T17:24:29.470Z,1754760269.470 [DAT](INFO): DAT read: Range 11 to 50 : 3.9 m  (Round-trip  5.3 ms) speed  0.5 m/s

2025-08-09T17:24:29.471Z,1754760269.471 [DAT](INFO): DAT read: user:523>

2025-08-09T17:24:29.472Z,1754760269.472 [DAT](INFO): DAT read: Tx time:17:24:28.9365

2025-08-09T17:24:29.472Z,1754760269.472 [DAT](INFO): Ping request sent.
2025-08-09T17:24:29.472Z,1754760269.472 [DAT](INFO): transmitted an acoustic signal
2025-08-09T17:24:29.473Z,1754760269.473 [DAT](INFO): #Rx 16: Read range and direction messages.
2025-08-09T17:24:29.474Z,1754760269.474 [DAT](INFO): direction in FSK: [0.896423,-0.362178,0.255446]
2025-08-09T17:24:29.474Z,1754760269.474 [DAT](INFO): publishing transmit ping time
2025-08-09T17:24:29.474Z,1754760269.474 [DAT](INFO): publishing direction and range info
2025-08-09T17:24:29.477Z,1754760269.477 [DAT](INFO): publishing transmit ping time
2025-08-09T17:24:29.477Z,1754760269.477 [DAT](INFO): publishing direction and range info
2025-08-09T17:24:29.489Z,1754760269.489 [DAT](INFO): checking for new query: numPingsReceived=16, elapsed TxPingTime=0.016301
2025-08-09T17:24:29.525Z,1754760269.525 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 3.900000 m,
      deltaT: 3.527791 s,
      deltaX: -2.500000 m,
      approachRate: -0.708659 m/s,
      rangeRepo size: 4

2025-08-09T17:24:29.535Z,1754760269.535 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 3.900000 m,
      bearing: 13.378967 deg,
      lat: 36.906125 deg,
      lon: -122.115904 deg,
      deltaT: 7.060008 s,
      deltaX: -4.800000 m,
      approachRate: -0.679886 m/s,
      posRepo size: 4

2025-08-09T17:24:29.536Z,1754760269.536 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 3.90 m. 8.70 m.
2025-08-09T17:24:29.543Z,1754760269.543 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 8.700000 m,
      nav range: 3.941333 m,
      bearing: 16.525327 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.090880 deg/s,
      cmd heading: 16.451916 deg,
      new cmd heading: 16.319871 deg.

2025-08-09T17:24:29.544Z,1754760269.544 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.284835 target range: 8.700000 and range: 8.70 m.
2025-08-09T17:24:29.708Z,1754760269.708 [DAT](INFO): checking for new query: numPingsReceived=16, elapsed TxPingTime=0.235263
2025-08-09T17:24:29.900Z,1754760269.900 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-09T17:24:29.902Z,1754760269.902 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 8.70 m. 8.70 m.
2025-08-09T17:24:29.937Z,1754760269.937 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 8.700000 m,
      nav range: 3.697474 m,
      bearing: 16.401575 deg,
      approach rate: -0.645537 m/s,
      LOS rate: -0.349201 deg/s,
      cmd heading: 16.319871 deg,
      new cmd heading: 15.924134 deg.

2025-08-09T17:24:29.938Z,1754760269.938 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.277929 target range: 8.700000 and range: 8.70 m.
2025-08-09T17:24:29.972Z,1754760269.972 [DAT](INFO): checking for new query: numPingsReceived=16, elapsed TxPingTime=0.499422
2025-08-09T17:24:30.215Z,1754760270.215 [DAT](INFO): checking for new query: numPingsReceived=16, elapsed TxPingTime=0.742177
2025-08-09T17:24:30.346Z,1754760270.346 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 8.70 m. 8.70 m.
2025-08-09T17:24:30.349Z,1754760270.349 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 8.700000 m,
      nav range: 3.428083 m,
      bearing: 16.303149 deg,
      approach rate: -0.606495 m/s,
      LOS rate: -0.239004 deg/s,
      cmd heading: 15.924134 deg,
      new cmd heading: 15.605656 deg.

2025-08-09T17:24:30.350Z,1754760270.350 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.272370 target range: 8.700000 and range: 8.70 m.
2025-08-09T17:24:30.463Z,1754760270.463 [DAT](INFO): checking for new query: numPingsReceived=16, elapsed TxPingTime=0.990789
2025-08-09T17:24:30.705Z,1754760270.705 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 8.70 m. 8.70 m.
2025-08-09T17:24:30.708Z,1754760270.708 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 8.700000 m,
      nav range: 3.211031 m,
      bearing: 16.212379 deg,
      approach rate: -0.604954 m/s,
      LOS rate: -0.270089 deg/s,
      cmd heading: 15.605655 deg,
      new cmd heading: 15.314942 deg.

2025-08-09T17:24:30.709Z,1754760270.709 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.267296 target range: 8.700000 and range: 8.70 m.
2025-08-09T17:24:30.715Z,1754760270.715 [DAT](INFO): checking for new query: numPingsReceived=16, elapsed TxPingTime=1.242846
2025-08-09T17:24:30.968Z,1754760270.968 [DAT](INFO): checking for new query: numPingsReceived=16, elapsed TxPingTime=1.495788
2025-08-09T17:24:31.179Z,1754760271.179 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 8.70 m. 8.70 m.
2025-08-09T17:24:31.182Z,1754760271.182 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 8.700000 m,
      nav range: 2.971526 m,
      bearing: 16.102164 deg,
      approach rate: -0.512921 m/s,
      LOS rate: -0.255059 deg/s,
      cmd heading: 15.314942 deg,
      new cmd heading: 14.957652 deg.

2025-08-09T17:24:31.191Z,1754760271.191 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.261060 target range: 8.700000 and range: 8.70 m.
2025-08-09T17:24:31.219Z,1754760271.219 [DAT](INFO): checking for new query: numPingsReceived=16, elapsed TxPingTime=1.746890
2025-08-09T17:24:31.471Z,1754760271.471 [DAT](INFO): checking for new query: numPingsReceived=16, elapsed TxPingTime=1.998911
2025-08-09T17:24:31.559Z,1754760271.559 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 8.70 m. 8.70 m.
2025-08-09T17:24:31.562Z,1754760271.562 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 8.700000 m,
      nav range: 2.714976 m,
      bearing: 15.958464 deg,
      approach rate: -0.662514 m/s,
      LOS rate: -0.406155 deg/s,
      cmd heading: 14.957652 deg,
      new cmd heading: 14.485827 deg.

2025-08-09T17:24:31.563Z,1754760271.563 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.252825 target range: 8.700000 and range: 8.70 m.
2025-08-09T17:24:31.723Z,1754760271.723 [DAT](INFO): checking for new query: numPingsReceived=16, elapsed TxPingTime=2.250759
2025-08-09T17:24:31.973Z,1754760271.973 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-09T17:24:31.975Z,1754760271.975 [DAT](INFO): checking for new query: numPingsReceived=16, elapsed TxPingTime=2.502846
2025-08-09T17:24:31.977Z,1754760271.977 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 8.70 m. 8.70 m.
2025-08-09T17:24:31.980Z,1754760271.980 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 8.700000 m,
      nav range: 2.455813 m,
      bearing: 15.789432 deg,
      approach rate: -0.619480 m/s,
      LOS rate: -0.446678 deg/s,
      cmd heading: 14.485827 deg,
      new cmd heading: 13.925233 deg.

2025-08-09T17:24:31.981Z,1754760271.981 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.243041 target range: 8.700000 and range: 8.70 m.
2025-08-09T17:24:32.228Z,1754760272.228 [DAT](INFO): checking for new query: numPingsReceived=16, elapsed TxPingTime=2.755112
2025-08-09T17:24:32.367Z,1754760272.367 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 8.70 m. 8.70 m.
2025-08-09T17:24:32.370Z,1754760272.370 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 8.700000 m,
      nav range: 2.217342 m,
      bearing: 15.717283 deg,
      approach rate: -0.611584 m/s,
      LOS rate: -0.204934 deg/s,
      cmd heading: 13.925233 deg,
      new cmd heading: 13.685509 deg.

2025-08-09T17:24:32.376Z,1754760272.376 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.238857 target range: 8.700000 and range: 8.70 m.
2025-08-09T17:24:32.479Z,1754760272.479 [DAT](INFO): DAT read: Rx Time:17:24:31.3433

2025-08-09T17:24:32.480Z,1754760272.480 [DAT](INFO): Rx dataTimestamp_ set to:1754760272.479676
2025-08-09T17:24:32.481Z,1754760272.481 [DAT](INFO): checking for new query: numPingsReceived=16, elapsed TxPingTime=3.008003
2025-08-09T17:24:32.731Z,1754760272.731 [DAT](INFO): checking for new query: numPingsReceived=16, elapsed TxPingTime=3.258860
2025-08-09T17:24:32.744Z,1754760272.744 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 8.70 m. 8.70 m.
2025-08-09T17:24:32.747Z,1754760272.747 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 8.700000 m,
      nav range: 1.986935 m,
      bearing: 15.640374 deg,
      approach rate: -0.612047 m/s,
      LOS rate: -0.227989 deg/s,
      cmd heading: 13.685509 deg,
      new cmd heading: 13.428029 deg.

2025-08-09T17:24:32.748Z,1754760272.748 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.234363 target range: 8.700000 and range: 8.70 m.
2025-08-09T17:24:32.989Z,1754760272.989 [DAT](INFO): DAT read: 17:24:31.3433 LVL= 26752, 28593, 32754, 32755, AGC= 39, IDX= 406,-0.17,-0.331,-1.555, 0.553, 0.474, PHS=-0.703,-1.984, 0.035, RAW= 171.2,  27.9, CAL= 172.2,  41.3, ROT= 337.8, -41.3

2025-08-09T17:24:32.990Z,1754760272.990 [DAT](INFO): got valid direction response:
 17:24:31.3433 LVL= 26752, 28593, 32754, 32755, AGC= 39, IDX= 406,-0.17,-0.331,-1.555, 0.553, 0.474, PHS=-0.703,-1.984, 0.035, RAW= 171.2,  27.9, CAL= 172.2,  41.3, ROT= 337.8, -41.3

2025-08-09T17:24:32.991Z,1754760272.991 [DAT](INFO): DAT read: Bearing 221.1, -21.7 (Local)

2025-08-09T17:24:32.991Z,1754760272.991 [DAT](INFO): Local bearing/azimuth received:
 Bearing 221.1, -21.7 (Local)

2025-08-09T17:24:32.993Z,1754760272.993 [DAT](INFO): DAT read: Range 11 to 50 : 2.0 m  (Round-trip  2.7 ms) speed  0.4 m/s

2025-08-09T17:24:32.993Z,1754760272.993 [DAT](INFO): DAT read: user:524>

2025-08-09T17:24:32.994Z,1754760272.994 [DAT](INFO): DAT read: Tx time:17:24:32.4365

2025-08-09T17:24:32.994Z,1754760272.994 [DAT](INFO): Ping request sent.
2025-08-09T17:24:32.995Z,1754760272.995 [DAT](INFO): transmitted an acoustic signal
2025-08-09T17:24:32.995Z,1754760272.995 [DAT](INFO): #Rx 17: Read range and direction messages.
2025-08-09T17:24:32.996Z,1754760272.996 [DAT](INFO): direction in FSK: [0.695573,-0.283858,0.660002]
2025-08-09T17:24:32.996Z,1754760272.996 [DAT](INFO): publishing transmit ping time
2025-08-09T17:24:32.996Z,1754760272.996 [DAT](INFO): publishing direction and range info
2025-08-09T17:24:33.000Z,1754760273.000 [DAT](INFO): publishing transmit ping time
2025-08-09T17:24:33.000Z,1754760273.000 [DAT](INFO): publishing direction and range info
2025-08-09T17:24:33.004Z,1754760273.004 [DAT](INFO): checking for new query: numPingsReceived=17, elapsed TxPingTime=0.009091
2025-08-09T17:24:33.213Z,1754760273.213 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 2.000000 m,
      deltaT: 3.527953 s,
      deltaX: -1.900000 m,
      approachRate: -0.538556 m/s,
      rangeRepo size: 4

2025-08-09T17:24:33.217Z,1754760273.217 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 2.000000 m,
      bearing: 2.676254 deg,
      lat: 36.906125 deg,
      lon: -122.115906 deg,
      deltaT: 10.587961 s,
      deltaX: -6.700000 m,
      approachRate: -0.632794 m/s,
      posRepo size: 4

2025-08-09T17:24:33.226Z,1754760273.226 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Intercept lockout. Range: 2.00 m.
2025-08-09T17:24:33.227Z,1754760273.227 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Transitioning guidance mode to: INTERCEPT_LOCKOUT
2025-08-09T17:24:33.235Z,1754760273.235 [DAT](INFO): checking for new query: numPingsReceived=17, elapsed TxPingTime=0.240893
2025-08-09T17:24:33.491Z,1754760273.491 [DAT](INFO): checking for new query: numPingsReceived=17, elapsed TxPingTime=0.496077
2025-08-09T17:24:33.740Z,1754760273.740 [DAT](INFO): checking for new query: numPingsReceived=17, elapsed TxPingTime=0.745889
2025-08-09T17:24:33.991Z,1754760273.991 [DAT](INFO): checking for new query: numPingsReceived=17, elapsed TxPingTime=0.996858
2025-08-09T17:24:33.992Z,1754760273.992 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-09T17:24:34.244Z,1754760274.244 [DAT](INFO): checking for new query: numPingsReceived=17, elapsed TxPingTime=1.249688
2025-08-09T17:24:34.496Z,1754760274.496 [DAT](INFO): checking for new query: numPingsReceived=17, elapsed TxPingTime=1.501311
2025-08-09T17:24:34.747Z,1754760274.747 [DAT](INFO): checking for new query: numPingsReceived=17, elapsed TxPingTime=1.752698
2025-08-09T17:24:35.000Z,1754760275.000 [DAT](INFO): checking for new query: numPingsReceived=17, elapsed TxPingTime=2.005796
2025-08-09T17:24:35.252Z,1754760275.252 [DAT](INFO): checking for new query: numPingsReceived=17, elapsed TxPingTime=2.257033
2025-08-09T17:24:35.504Z,1754760275.504 [DAT](INFO): checking for new query: numPingsReceived=17, elapsed TxPingTime=2.509320
2025-08-09T17:24:35.755Z,1754760275.755 [DAT](INFO): checking for new query: numPingsReceived=17, elapsed TxPingTime=2.760660
2025-08-09T17:24:36.007Z,1754760276.007 [DAT](INFO): DAT read: Rx Time:17:24:34.8422

2025-08-09T17:24:36.008Z,1754760276.008 [DAT](INFO): Rx dataTimestamp_ set to:1754760276.007441
2025-08-09T17:24:36.008Z,1754760276.008 [DAT](INFO): checking for new query: numPingsReceived=17, elapsed TxPingTime=3.013719
2025-08-09T17:24:36.030Z,1754760276.030 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-09T17:24:36.259Z,1754760276.259 [DAT](INFO): checking for new query: numPingsReceived=17, elapsed TxPingTime=3.264805
2025-08-09T17:24:36.520Z,1754760276.520 [DAT](INFO): DAT read: 17:24:34.8422 LVL= 31856, 22081, 18402, 22739, AGC= 38, IDX= 429,-0.34,-2.312,-0.350,-0.382,-0.461, PHS=-1.749, 0.156, 0.035, RAW= 273.3,  16.6, CAL= 273.5,  23.5, ROT= 236.5, -23.5

2025-08-09T17:24:36.522Z,1754760276.522 [DAT](INFO): got valid direction response:
 17:24:34.8422 LVL= 31856, 22081, 18402, 22739, AGC= 38, IDX= 429,-0.34,-2.312,-0.350,-0.382,-0.461, PHS=-1.749, 0.156, 0.035, RAW= 273.3,  16.6, CAL= 273.5,  23.5, ROT= 236.5, -23.5

2025-08-09T17:24:36.523Z,1754760276.523 [DAT](INFO): DAT read: Bearing 329.8, -54.8 (Local)

2025-08-09T17:24:36.524Z,1754760276.524 [DAT](INFO): Local bearing/azimuth received:
 Bearing 329.8, -54.8 (Local)

2025-08-09T17:24:36.525Z,1754760276.525 [DAT](INFO): DAT read: Range 11 to 50 : 1.2 m  (Round-trip  1.6 ms) speed -0.5 m/s

2025-08-09T17:24:36.531Z,1754760276.531 [DAT](INFO): DAT read: user:525>

2025-08-09T17:24:36.532Z,1754760276.532 [DAT](INFO): DAT read: Tx time:17:24:35.9365

2025-08-09T17:24:36.533Z,1754760276.533 [DAT](INFO): Ping request sent.
2025-08-09T17:24:36.533Z,1754760276.533 [DAT](INFO): transmitted an acoustic signal
2025-08-09T17:24:36.533Z,1754760276.533 [DAT](INFO): #Rx 18: Read range and direction messages.
2025-08-09T17:24:36.551Z,1754760276.551 [DAT](INFO): direction in FSK: [-0.506159,-0.764723,0.398749]
2025-08-09T17:24:36.551Z,1754760276.551 [DAT](INFO): publishing transmit ping time
2025-08-09T17:24:36.551Z,1754760276.551 [DAT](INFO): publishing direction and range info
2025-08-09T17:24:36.554Z,1754760276.554 [DAT](INFO): publishing transmit ping time
2025-08-09T17:24:36.567Z,1754760276.567 [DAT](INFO): publishing direction and range info
2025-08-09T17:24:36.575Z,1754760276.575 [DAT](INFO): checking for new query: numPingsReceived=18, elapsed TxPingTime=0.042543
2025-08-09T17:24:36.764Z,1754760276.764 [DAT](INFO): checking for new query: numPingsReceived=18, elapsed TxPingTime=0.230819
2025-08-09T17:24:36.834Z,1754760276.834 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 1.200000 m,
      deltaT: 3.528465 s,
      deltaX: -0.800000 m,
      approachRate: -0.226727 m/s,
      rangeRepo size: 4

2025-08-09T17:24:36.839Z,1754760276.839 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 1.200000 m,
      bearing: 229.138289 deg,
      lat: 36.906126 deg,
      lon: -122.115906 deg,
      deltaT: 3.528465 s,
      deltaX: -0.800000 m,
      approachRate: -0.226727 m/s,
      posRepo size: 4

2025-08-09T17:24:37.016Z,1754760277.016 [DAT](INFO): checking for new query: numPingsReceived=18, elapsed TxPingTime=0.483017
2025-08-09T17:24:37.268Z,1754760277.268 [DAT](INFO): checking for new query: numPingsReceived=18, elapsed TxPingTime=0.734770
2025-08-09T17:24:37.520Z,1754760277.520 [DAT](INFO): checking for new query: numPingsReceived=18, elapsed TxPingTime=0.987097
2025-08-09T17:24:37.772Z,1754760277.772 [DAT](INFO): checking for new query: numPingsReceived=18, elapsed TxPingTime=1.239075
2025-08-09T17:24:38.023Z,1754760278.023 [DAT](INFO): checking for new query: numPingsReceived=18, elapsed TxPingTime=1.490267
2025-08-09T17:24:38.050Z,1754760278.050 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-09T17:24:38.278Z,1754760278.278 [DAT](INFO): checking for new query: numPingsReceived=18, elapsed TxPingTime=1.745562
2025-08-09T17:24:38.527Z,1754760278.527 [DAT](INFO): checking for new query: numPingsReceived=18, elapsed TxPingTime=1.994554
2025-08-09T17:24:38.779Z,1754760278.779 [DAT](INFO): checking for new query: numPingsReceived=18, elapsed TxPingTime=2.246385
2025-08-09T17:24:39.031Z,1754760279.031 [DAT](INFO): checking for new query: numPingsReceived=18, elapsed TxPingTime=2.498417
2025-08-09T17:24:39.287Z,1754760279.287 [DAT](INFO): checking for new query: numPingsReceived=18, elapsed TxPingTime=2.753185
2025-08-09T17:24:39.536Z,1754760279.536 [DAT](INFO): DAT read: Rx Time:17:24:38.3442

2025-08-09T17:24:39.537Z,1754760279.537 [DAT](INFO): Rx dataTimestamp_ set to:1754760279.536307
2025-08-09T17:24:39.537Z,1754760279.537 [DAT](INFO): checking for new query: numPingsReceived=18, elapsed TxPingTime=3.004330
2025-08-09T17:24:39.790Z,1754760279.790 [DAT](INFO): checking for new query: numPingsReceived=18, elapsed TxPingTime=3.256617
2025-08-09T17:24:40.045Z,1754760280.045 [DAT](INFO): DAT read: 17:24:38.3442 LVL= 32752, 28337, 32754, 32755, AGC= 55, IDX= 449,-0.30,-0.697, 1.376, 0.081, 0.670, PHS=-1.265, 0.751,-0.633, RAW= 312.1,  12.8, CAL= 310.6,  16.6, ROT= 199.4, -16.6

2025-08-09T17:24:40.046Z,1754760280.046 [DAT](INFO): got valid direction response:
 17:24:38.3442 LVL= 32752, 28337, 32754, 32755, AGC= 55, IDX= 449,-0.30,-0.697, 1.376, 0.081, 0.670, PHS=-1.265, 0.751,-0.633, RAW= 312.1,  12.8, CAL= 310.6,  16.6, ROT= 199.4, -16.6

2025-08-09T17:24:40.051Z,1754760280.051 [DAT](INFO): DAT read: Bearing 342.4, -21.2 (Local)

2025-08-09T17:24:40.051Z,1754760280.051 [DAT](INFO): Local bearing/azimuth received:
 Bearing 342.4, -21.2 (Local)

2025-08-09T17:24:40.053Z,1754760280.053 [DAT](INFO): DAT read: Range 11 to 50 : 2.7 m  (Round-trip  3.6 ms) speed -0.7 m/s

2025-08-09T17:24:40.053Z,1754760280.053 [DAT](INFO): DAT read: user:526>

2025-08-09T17:24:40.061Z,1754760280.061 [DAT](INFO): DAT read: Tx time:17:24:39.4365

2025-08-09T17:24:40.062Z,1754760280.062 [DAT](INFO): Ping request sent.
2025-08-09T17:24:40.062Z,1754760280.062 [DAT](INFO): transmitted an acoustic signal
2025-08-09T17:24:40.062Z,1754760280.062 [DAT](INFO): #Rx 19: Read range and direction messages.
2025-08-09T17:24:40.063Z,1754760280.063 [DAT](INFO): direction in FSK: [-0.903912,-0.318317,0.285688]
2025-08-09T17:24:40.063Z,1754760280.063 [DAT](INFO): publishing transmit ping time
2025-08-09T17:24:40.064Z,1754760280.064 [DAT](INFO): publishing direction and range info
2025-08-09T17:24:40.112Z,1754760280.112 [DAT](INFO): publishing transmit ping time
2025-08-09T17:24:40.112Z,1754760280.112 [DAT](INFO): publishing direction and range info
2025-08-09T17:24:40.117Z,1754760280.117 [DAT](INFO): checking for new query: numPingsReceived=19, elapsed TxPingTime=0.055709
2025-08-09T17:24:40.189Z,1754760280.189 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 2.700000 m,
      deltaT: 3.527558 s,
      deltaX: 1.500000 m,
      approachRate: 0.425223 m/s,
      rangeRepo size: 4

2025-08-09T17:24:40.196Z,1754760280.196 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 2.700000 m,
      bearing: 209.479701 deg,
      lat: 36.906127 deg,
      lon: -122.115910 deg,
      deltaT: 3.527558 s,
      deltaX: 1.500000 m,
      approachRate: 0.425223 m/s,
      posRepo size: 4

2025-08-09T17:24:40.295Z,1754760280.295 [DAT](INFO): checking for new query: numPingsReceived=19, elapsed TxPingTime=0.232143
2025-08-09T17:24:40.543Z,1754760280.543 [DAT](INFO): checking for new query: numPingsReceived=19, elapsed TxPingTime=0.481454
2025-08-09T17:24:40.737Z,1754760280.737 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-09T17:24:40.796Z,1754760280.796 [DAT](INFO): checking for new query: numPingsReceived=19, elapsed TxPingTime=0.733745
2025-08-09T17:24:41.047Z,1754760281.047 [DAT](INFO): checking for new query: numPingsReceived=19, elapsed TxPingTime=0.985462
2025-08-09T17:24:41.303Z,1754760281.303 [DAT](INFO): checking for new query: numPingsReceived=19, elapsed TxPingTime=1.239953
2025-08-09T17:24:41.551Z,1754760281.551 [DAT](INFO): checking for new query: numPingsReceived=19, elapsed TxPingTime=1.489570
2025-08-09T17:24:41.803Z,1754760281.803 [DAT](INFO): checking for new query: numPingsReceived=19, elapsed TxPingTime=1.741579
2025-08-09T17:24:42.055Z,1754760282.055 [DAT](INFO): checking for new query: numPingsReceived=19, elapsed TxPingTime=1.993393
2025-08-09T17:24:42.310Z,1754760282.310 [DAT](INFO): checking for new query: numPingsReceived=19, elapsed TxPingTime=2.247488
2025-08-09T17:24:42.560Z,1754760282.560 [DAT](INFO): checking for new query: numPingsReceived=19, elapsed TxPingTime=2.497850
2025-08-09T17:24:42.789Z,1754760282.789 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-09T17:24:42.811Z,1754760282.811 [DAT](INFO): checking for new query: numPingsReceived=19, elapsed TxPingTime=2.749503
2025-08-09T17:24:43.063Z,1754760283.063 [DAT](INFO): DAT read: Rx Time:17:24:41.8467

2025-08-09T17:24:43.064Z,1754760283.064 [DAT](INFO): Rx dataTimestamp_ set to:1754760283.063499
2025-08-09T17:24:43.064Z,1754760283.064 [DAT](INFO): checking for new query: numPingsReceived=19, elapsed TxPingTime=3.002599
2025-08-09T17:24:43.318Z,1754760283.318 [DAT](INFO): checking for new query: numPingsReceived=19, elapsed TxPingTime=3.255612
2025-08-09T17:24:43.573Z,1754760283.573 [DAT](INFO): DAT read: 17:24:41.8467 LVL= 31408, 18161, 25778, 28899, AGC= 60, IDX= 459, 0.32, 3.040,-0.895,-2.457,-2.138, PHS=-1.004, 1.288,-0.363, RAW= 314.3,   0.8, CAL= 312.3,  -2.3, ROT= 197.7,   2.3

2025-08-09T17:24:43.574Z,1754760283.574 [DAT](INFO): got valid direction response:
 17:24:41.8467 LVL= 31408, 18161, 25778, 28899, AGC= 60, IDX= 459, 0.32, 3.040,-0.895,-2.457,-2.138, PHS=-1.004, 1.288,-0.363, RAW= 314.3,   0.8, CAL= 312.3,  -2.3, ROT= 197.7,   2.3

2025-08-09T17:24:43.575Z,1754760283.575 [DAT](INFO): DAT read: Bearing 359.6, -16.7 (Local)

2025-08-09T17:24:43.575Z,1754760283.575 [DAT](INFO): Local bearing/azimuth received:
 Bearing 359.6, -16.7 (Local)

2025-08-09T17:24:43.577Z,1754760283.577 [DAT](INFO): DAT read: Range 11 to 50 : 4.5 m  (Round-trip  6.1 ms) speed -0.4 m/s

2025-08-09T17:24:43.577Z,1754760283.577 [DAT](INFO): DAT read: user:527>

2025-08-09T17:24:43.578Z,1754760283.578 [DAT](INFO): DAT read: Tx time:17:24:42.9365

2025-08-09T17:24:43.578Z,1754760283.578 [DAT](INFO): Ping request sent.
2025-08-09T17:24:43.578Z,1754760283.578 [DAT](INFO): transmitted an acoustic signal
2025-08-09T17:24:43.579Z,1754760283.579 [DAT](INFO): #Rx 20: Read range and direction messages.
2025-08-09T17:24:43.580Z,1754760283.580 [DAT](INFO): direction in FSK: [-0.951894,-0.303788,-0.040132]
2025-08-09T17:24:43.580Z,1754760283.580 [DAT](INFO): publishing transmit ping time
2025-08-09T17:24:43.580Z,1754760283.580 [DAT](INFO): publishing direction and range info
2025-08-09T17:24:43.602Z,1754760283.602 [DAT](INFO): publishing transmit ping time
2025-08-09T17:24:43.602Z,1754760283.602 [DAT](INFO): publishing direction and range info
2025-08-09T17:24:43.605Z,1754760283.605 [DAT](INFO): checking for new query: numPingsReceived=20, elapsed TxPingTime=0.026538
2025-08-09T17:24:43.776Z,1754760283.776 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 4.500000 m,
      deltaT: 3.527958 s,
      deltaX: 1.800000 m,
      approachRate: 0.510210 m/s,
      rangeRepo size: 4

2025-08-09T17:24:43.782Z,1754760283.782 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 4.500000 m,
      bearing: 202.825257 deg,
      lat: 36.906127 deg,
      lon: -122.115911 deg,
      deltaT: 3.527958 s,
      deltaX: 1.800000 m,
      approachRate: 0.510210 m/s,
      posRepo size: 4

2025-08-09T17:24:43.819Z,1754760283.819 [DAT](INFO): checking for new query: numPingsReceived=20, elapsed TxPingTime=0.240869
2025-08-09T17:24:44.071Z,1754760284.071 [DAT](INFO): checking for new query: numPingsReceived=20, elapsed TxPingTime=0.492696
2025-08-09T17:24:44.123Z,1754760284.123 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Starting intercept timer at range: 4.50 m.
2025-08-09T17:24:44.327Z,1754760284.327 [DAT](INFO): checking for new query: numPingsReceived=20, elapsed TxPingTime=0.747569
2025-08-09T17:24:44.543Z,1754760284.543 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Stopped intercept timer at range: 4.50 m.
2025-08-09T17:24:44.576Z,1754760284.576 [DAT](INFO): checking for new query: numPingsReceived=20, elapsed TxPingTime=0.997289
2025-08-09T17:24:44.827Z,1754760284.827 [DAT](INFO): checking for new query: numPingsReceived=20, elapsed TxPingTime=1.248765
2025-08-09T17:24:44.997Z,1754760284.997 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-09T17:24:44.999Z,1754760284.999 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Starting intercept timer at range: 4.50 m.
2025-08-09T17:24:45.083Z,1754760285.083 [DAT](INFO): checking for new query: numPingsReceived=20, elapsed TxPingTime=1.504395
2025-08-09T17:24:45.334Z,1754760285.334 [DAT](INFO): checking for new query: numPingsReceived=20, elapsed TxPingTime=1.755378
2025-08-09T17:24:45.583Z,1754760285.583 [DAT](INFO): checking for new query: numPingsReceived=20, elapsed TxPingTime=2.004719
2025-08-09T17:24:45.762Z,1754760285.762 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Stopped intercept timer at range: 4.50 m.
2025-08-09T17:24:45.837Z,1754760285.837 [DAT](INFO): checking for new query: numPingsReceived=20, elapsed TxPingTime=2.257722
2025-08-09T17:24:46.087Z,1754760286.087 [DAT](INFO): checking for new query: numPingsReceived=20, elapsed TxPingTime=2.508796
2025-08-09T17:24:46.165Z,1754760286.165 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Starting intercept timer at range: 4.50 m.
2025-08-09T17:24:46.342Z,1754760286.342 [DAT](INFO): DAT read: Rx Time:17:24:45.3498

2025-08-09T17:24:46.343Z,1754760286.343 [DAT](INFO): Rx dataTimestamp_ set to:1754760286.342549
2025-08-09T17:24:46.345Z,1754760286.345 [DAT](INFO): checking for new query: numPingsReceived=20, elapsed TxPingTime=2.766241
2025-08-09T17:24:46.569Z,1754760286.569 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Stopped intercept timer at range: 4.50 m.
2025-08-09T17:24:46.592Z,1754760286.592 [DAT](INFO): checking for new query: numPingsReceived=20, elapsed TxPingTime=3.013068
2025-08-09T17:24:46.844Z,1754760286.844 [DAT](INFO): checking for new query: numPingsReceived=20, elapsed TxPingTime=3.265176
2025-08-09T17:24:46.983Z,1754760286.983 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Starting intercept timer at range: 4.50 m.
2025-08-09T17:24:47.101Z,1754760287.101 [DAT](INFO): DAT read: 17:24:45.3498 LVL= 28960, 24737, 25794, 32483, AGC= 62, IDX= 458,-0.35,-1.477, 0.824,-0.812,-0.561, PHS=-0.814, 1.430,-0.295, RAW= 317.2,  -3.2, CAL= 316.1,  -6.4, ROT= 193.9,   6.4

2025-08-09T17:24:47.103Z,1754760287.103 [DAT](INFO): got valid direction response:
 17:24:45.3498 LVL= 28960, 24737, 25794, 32483, AGC= 62, IDX= 458,-0.35,-1.477, 0.824,-0.812,-0.561, PHS=-0.814, 1.430,-0.295, RAW= 317.2,  -3.2, CAL= 316.1,  -6.4, ROT= 193.9,   6.4

2025-08-09T17:24:47.107Z,1754760287.107 [DAT](INFO): DAT read: Bearing   3.0, -11.9 (Local)

2025-08-09T17:24:47.107Z,1754760287.107 [DAT](INFO): Local bearing/azimuth received:
 Bearing   3.0, -11.9 (Local)

2025-08-09T17:24:47.109Z,1754760287.109 [DAT](INFO): DAT read: Range 11 to 50 : 6.8 m  (Round-trip  9.1 ms) speed -0.4 m/s

2025-08-09T17:24:47.110Z,1754760287.110 [DAT](INFO): DAT read: user:528>

2025-08-09T17:24:47.112Z,1754760287.112 [DAT](INFO): DAT read: Tx time:17:24:46.4865

2025-08-09T17:24:47.112Z,1754760287.112 [DAT](INFO): Ping request sent.
2025-08-09T17:24:47.112Z,1754760287.112 [DAT](INFO): transmitted an acoustic signal
2025-08-09T17:24:47.113Z,1754760287.113 [DAT](INFO): #Rx 21: Read range and direction messages.
2025-08-09T17:24:47.114Z,1754760287.114 [DAT](INFO): direction in FSK: [-0.964667,-0.238731,-0.111469]
2025-08-09T17:24:47.115Z,1754760287.115 [DAT](INFO): publishing transmit ping time
2025-08-09T17:24:47.116Z,1754760287.116 [DAT](INFO): publishing direction and range info
2025-08-09T17:24:47.121Z,1754760287.121 [DAT](INFO): publishing transmit ping time
2025-08-09T17:24:47.122Z,1754760287.122 [DAT](INFO): publishing direction and range info
2025-08-09T17:24:47.156Z,1754760287.156 [DAT](INFO): checking for new query: numPingsReceived=21, elapsed TxPingTime=0.043639
2025-08-09T17:24:47.348Z,1754760287.348 [DAT](INFO): checking for new query: numPingsReceived=21, elapsed TxPingTime=0.235684
2025-08-09T17:24:47.425Z,1754760287.425 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 6.800000 m,
      deltaT: 3.528059 s,
      deltaX: 2.300000 m,
      approachRate: 0.651917 m/s,
      rangeRepo size: 4

2025-08-09T17:24:47.431Z,1754760287.431 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 6.800000 m,
      bearing: 199.314113 deg,
      lat: 36.906128 deg,
      lon: -122.115911 deg,
      deltaT: 3.528059 s,
      deltaX: 2.300000 m,
      approachRate: 0.651917 m/s,
      posRepo size: 4

2025-08-09T17:24:47.432Z,1754760287.432 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Stopped intercept timer at range: 6.80 m.
2025-08-09T17:24:47.601Z,1754760287.601 [DAT](INFO): checking for new query: numPingsReceived=21, elapsed TxPingTime=0.489446
2025-08-09T17:24:47.781Z,1754760287.781 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-09T17:24:47.852Z,1754760287.852 [DAT](INFO): checking for new query: numPingsReceived=21, elapsed TxPingTime=0.739793
2025-08-09T17:24:48.103Z,1754760288.103 [DAT](INFO): checking for new query: numPingsReceived=21, elapsed TxPingTime=0.991458
2025-08-09T17:24:48.358Z,1754760288.358 [DAT](INFO): checking for new query: numPingsReceived=21, elapsed TxPingTime=1.245426
2025-08-09T17:24:48.607Z,1754760288.607 [DAT](INFO): checking for new query: numPingsReceived=21, elapsed TxPingTime=1.495207
2025-08-09T17:24:48.860Z,1754760288.860 [DAT](INFO): checking for new query: numPingsReceived=21, elapsed TxPingTime=1.748173
2025-08-09T17:24:49.111Z,1754760289.111 [DAT](INFO): checking for new query: numPingsReceived=21, elapsed TxPingTime=1.999392
2025-08-09T17:24:49.365Z,1754760289.365 [DAT](INFO): checking for new query: numPingsReceived=21, elapsed TxPingTime=2.252882
2025-08-09T17:24:49.617Z,1754760289.617 [DAT](INFO): checking for new query: numPingsReceived=21, elapsed TxPingTime=2.505008
2025-08-09T17:24:49.793Z,1754760289.793 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-09T17:24:49.868Z,1754760289.868 [DAT](INFO): checking for new query: numPingsReceived=21, elapsed TxPingTime=2.755971
2025-08-09T17:24:50.121Z,1754760290.121 [DAT](INFO): DAT read: Rx Time:17:24:48.9027

2025-08-09T17:24:50.121Z,1754760290.121 [DAT](INFO): Rx dataTimestamp_ set to:1754760290.120804
2025-08-09T17:24:50.122Z,1754760290.122 [DAT](INFO): checking for new query: numPingsReceived=21, elapsed TxPingTime=3.009686
2025-08-09T17:24:50.371Z,1754760290.371 [DAT](INFO): checking for new query: numPingsReceived=21, elapsed TxPingTime=3.259361
2025-08-09T17:24:50.634Z,1754760290.634 [DAT](INFO): DAT read: 17:24:48.9027 LVL= 27424, 32753, 27554, 31731, AGC= 63, IDX= 458,-0.49,-0.734, 1.603,-0.237, 0.118, PHS=-0.749, 1.531,-0.399, RAW= 321.8,  -3.6, CAL= 320.8,  -6.8, ROT= 189.2,   6.8

2025-08-09T17:24:50.636Z,1754760290.636 [DAT](INFO): got valid direction response:
 17:24:48.9027 LVL= 27424, 32753, 27554, 31731, AGC= 63, IDX= 458,-0.49,-0.734, 1.603,-0.237, 0.118, PHS=-0.749, 1.531,-0.399, RAW= 321.8,  -3.6, CAL= 320.8,  -6.8, ROT= 189.2,   6.8

2025-08-09T17:24:50.638Z,1754760290.638 [DAT](INFO): DAT read: Bearing   2.8,  -6.7 (Local)

2025-08-09T17:24:50.639Z,1754760290.639 [DAT](INFO): Local bearing/azimuth received:
 Bearing   2.8,  -6.7 (Local)

2025-08-09T17:24:50.641Z,1754760290.641 [DAT](INFO): DAT read: Range 11 to 50 : 9.1 m  (Round-trip  12.2 ms) speed -0.4 m/s

2025-08-09T17:24:50.643Z,1754760290.643 [DAT](INFO): DAT read: user:529>

2025-08-09T17:24:50.644Z,1754760290.644 [DAT](INFO): DAT read: Tx time:17:24:50.0364

2025-08-09T17:24:50.644Z,1754760290.644 [DAT](INFO): Ping request sent.
2025-08-09T17:24:50.644Z,1754760290.644 [DAT](INFO): transmitted an acoustic signal
2025-08-09T17:24:50.645Z,1754760290.645 [DAT](INFO): #Rx 22: Read range and direction messages.
2025-08-09T17:24:50.651Z,1754760290.651 [DAT](INFO): direction in FSK: [-0.980192,-0.158756,-0.118404]
2025-08-09T17:24:50.651Z,1754760290.651 [DAT](INFO): publishing transmit ping time
2025-08-09T17:24:50.654Z,1754760290.654 [DAT](INFO): publishing direction and range info
2025-08-09T17:24:50.657Z,1754760290.657 [DAT](INFO): publishing transmit ping time
2025-08-09T17:24:50.657Z,1754760290.657 [DAT](INFO): publishing direction and range info
2025-08-09T17:24:50.669Z,1754760290.669 [DAT](INFO): checking for new query: numPingsReceived=22, elapsed TxPingTime=0.024479
2025-08-09T17:24:50.876Z,1754760290.876 [DAT](INFO): checking for new query: numPingsReceived=22, elapsed TxPingTime=0.231241
2025-08-09T17:24:51.027Z,1754760291.027 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 9.100000 m,
      deltaT: 3.528616 s,
      deltaX: 2.300000 m,
      approachRate: 0.651814 m/s,
      rangeRepo size: 4

2025-08-09T17:24:51.029Z,1754760291.029 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 9.100000 m,
      bearing: 201.622067 deg,
      lat: 36.906131 deg,
      lon: -122.115917 deg,
      deltaT: 3.528616 s,
      deltaX: 2.300000 m,
      approachRate: 0.651814 m/s,
      posRepo size: 4

2025-08-09T17:24:51.030Z,1754760291.030 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](ERROR): Target missed at range: 9.10 m. Rolling out.
2025-08-09T17:24:51.034Z,1754760291.034 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Transitioning guidance mode to: ROLLOUT
2025-08-09T17:24:51.080Z,1754760291.080 [DockingStepper](INFO): Changing to mode: 1
2025-08-09T17:24:51.129Z,1754760291.129 [DAT](INFO): checking for new query: numPingsReceived=22, elapsed TxPingTime=0.484167
2025-08-09T17:24:51.379Z,1754760291.379 [DAT](INFO): checking for new query: numPingsReceived=22, elapsed TxPingTime=0.734860
2025-08-09T17:24:51.501Z,1754760291.501 [lineCaptureHoming:UpdatePingUpdateRate_Midcourse] Running Loop=1
2025-08-09T17:24:51.502Z,1754760291.502 [lineCaptureHoming:UpdatePingUpdateRate_Midcourse](DEBUG): Aggregate::initialize lineCaptureHoming:UpdatePingUpdateRate_Midcourse
2025-08-09T17:24:51.502Z,1754760291.502 [lineCaptureHoming:UpdatePingUpdateRate_Midcourse:A] Running Loop=1
2025-08-09T17:24:51.507Z,1754760291.507 [lineCaptureHoming:UpdatePingUpdateRate_Midcourse:A](INFO): Entering Midcourse tracking update period  60.000000 s sec at 9.100000 m (mode  5.000000 count ).
2025-08-09T17:24:51.507Z,1754760291.507 [lineCaptureHoming:UpdatePingUpdateRate_Midcourse:A] Stopped
2025-08-09T17:24:51.508Z,1754760291.508 [lineCaptureHoming:UpdatePingUpdateRate_Midcourse:B] Running Loop=1
2025-08-09T17:24:51.508Z,1754760291.508 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsATR] Running Loop=1
2025-08-09T17:24:51.508Z,1754760291.508 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsATR](DEBUG): Aggregate::initialize lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsATR
2025-08-09T17:24:51.508Z,1754760291.508 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsATR:A] Running Loop=1
2025-08-09T17:24:51.509Z,1754760291.509 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsATR:A](INFO): Resuming normal ranging with  1.000000 count pings  9.100000 m (mode  5.000000 count ).
2025-08-09T17:24:51.510Z,1754760291.510 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsATR:A] Stopped
2025-08-09T17:24:51.510Z,1754760291.510 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsATR:B] Running Loop=1
2025-08-09T17:24:51.516Z,1754760291.516 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 9.10 m.
2025-08-09T17:24:51.518Z,1754760291.518 [lineCaptureHoming:LineCapture:HoldBuoyancy] Stopped
2025-08-09T17:24:51.518Z,1754760291.518 [lineCaptureHoming:LineCapture:HoldBuoyancy](DEBUG): Aggregate::uninitialize lineCaptureHoming:LineCapture:HoldBuoyancy
2025-08-09T17:24:51.522Z,1754760291.522 [lineCaptureHoming:LineCapture:HoldBuoyancy:A.Buoyancy] Stopped
2025-08-09T17:24:51.522Z,1754760291.522 [lineCaptureHoming:LineCapture:HoldBuoyancy:A.Buoyancy](DEBUG): Uninitialize Buoyancy Component.
2025-08-09T17:24:51.632Z,1754760291.632 [DAT](INFO): checking for new query: numPingsReceived=22, elapsed TxPingTime=0.987622
2025-08-09T17:24:51.883Z,1754760291.883 [DAT](INFO): checking for new query: numPingsReceived=22, elapsed TxPingTime=1.238886
2025-08-09T17:24:51.941Z,1754760291.941 [lineCaptureHoming:UpdatePingUpdateRate_Midcourse:B] Stopped
2025-08-09T17:24:51.942Z,1754760291.942 [lineCaptureHoming:UpdatePingUpdateRate_Midcourse:C] Running Loop=1
2025-08-09T17:24:51.942Z,1754760291.942 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsATR:B] Stopped
2025-08-09T17:24:51.942Z,1754760291.942 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsATR:C] Running Loop=1
2025-08-09T17:24:51.944Z,1754760291.944 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 9.10 m.
2025-08-09T17:24:52.137Z,1754760292.137 [DAT](INFO): checking for new query: numPingsReceived=22, elapsed TxPingTime=1.492021
2025-08-09T17:24:52.299Z,1754760292.299 [lineCaptureHoming:UpdatePingUpdateRate_Midcourse:C] Stopped
2025-08-09T17:24:52.299Z,1754760292.299 [lineCaptureHoming:UpdatePingUpdateRate_Midcourse:D] Running Loop=1
2025-08-09T17:24:52.300Z,1754760292.300 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsATR:C] Stopped
2025-08-09T17:24:52.300Z,1754760292.300 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsATR:D] Running Loop=1
2025-08-09T17:24:52.302Z,1754760292.302 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 9.10 m.
2025-08-09T17:24:52.387Z,1754760292.387 [DAT](INFO): checking for new query: numPingsReceived=22, elapsed TxPingTime=1.742797
2025-08-09T17:24:52.640Z,1754760292.640 [DAT](INFO): checking for new query: numPingsReceived=22, elapsed TxPingTime=1.995812
2025-08-09T17:24:52.735Z,1754760292.735 [lineCaptureHoming:UpdatePingUpdateRate_Midcourse:D] Stopped
2025-08-09T17:24:52.735Z,1754760292.735 [lineCaptureHoming:UpdatePingUpdateRate_Midcourse](INFO): Completed lineCaptureHoming:UpdatePingUpdateRate_Midcourse
2025-08-09T17:24:52.735Z,1754760292.735 [lineCaptureHoming:UpdatePingUpdateRate_Midcourse] Stopped
2025-08-09T17:24:52.736Z,1754760292.736 [lineCaptureHoming:UpdatePingUpdateRate_Midcourse](DEBUG): Aggregate::uninitialize lineCaptureHoming:UpdatePingUpdateRate_Midcourse
2025-08-09T17:24:52.736Z,1754760292.736 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsATR:D] Stopped
2025-08-09T17:24:52.736Z,1754760292.736 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsATR](INFO): Completed lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsATR
2025-08-09T17:24:52.736Z,1754760292.736 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsATR] Stopped
2025-08-09T17:24:52.737Z,1754760292.737 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsATR](DEBUG): Aggregate::uninitialize lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsATR
2025-08-09T17:24:52.755Z,1754760292.755 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 9.10 m.
2025-08-09T17:24:52.891Z,1754760292.891 [DAT](INFO): checking for new query: numPingsReceived=22, elapsed TxPingTime=2.246994
2025-08-09T17:24:53.143Z,1754760293.143 [DAT](INFO): checking for new query: numPingsReceived=22, elapsed TxPingTime=2.498867
2025-08-09T17:24:53.194Z,1754760293.194 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 9.10 m.
2025-08-09T17:24:53.396Z,1754760293.396 [DAT](INFO): checking for new query: numPingsReceived=22, elapsed TxPingTime=2.751259
2025-08-09T17:24:53.647Z,1754760293.647 [DAT](INFO): DAT read: Rx Time:17:24:52.4558

2025-08-09T17:24:53.648Z,1754760293.648 [DAT](INFO): Rx dataTimestamp_ set to:1754760293.647620
2025-08-09T17:24:53.648Z,1754760293.648 [DAT](INFO): checking for new query: numPingsReceived=22, elapsed TxPingTime=3.004025
2025-08-09T17:24:53.655Z,1754760293.655 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 9.10 m.
2025-08-09T17:24:53.899Z,1754760293.899 [DAT](INFO): checking for new query: numPingsReceived=22, elapsed TxPingTime=3.254808
2025-08-09T17:24:54.059Z,1754760294.059 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 9.10 m.
2025-08-09T17:24:54.157Z,1754760294.157 [DAT](INFO): DAT read: 17:24:52.4558 LVL= 27760, 25953, 29378, 29859, AGC= 64, IDX= 457, 0.39, 0.590, 2.802, 1.012, 1.348, PHS=-0.656, 1.498,-0.380, RAW= 323.2,  -4.6, CAL= 322.4,  -7.8, ROT= 187.6,   7.8

2025-08-09T17:24:54.159Z,1754760294.159 [DAT](INFO): got valid direction response:
 17:24:52.4558 LVL= 27760, 25953, 29378, 29859, AGC= 64, IDX= 457, 0.39, 0.590, 2.802, 1.012, 1.348, PHS=-0.656, 1.498,-0.380, RAW= 323.2,  -4.6, CAL= 322.4,  -7.8, ROT= 187.6,   7.8

2025-08-09T17:24:54.159Z,1754760294.159 [DAT](INFO): DAT read: $Error in header

2025-08-09T17:24:54.159Z,1754760294.159 [DAT](INFO): Received a bad header
2025-08-09T17:24:54.170Z,1754760294.170 [DAT](INFO): #Rx 23: Read direction message, but no range.
2025-08-09T17:24:54.171Z,1754760294.171 [DAT](INFO): direction in FSK: [-0.982045,-0.131033,-0.135716]
2025-08-09T17:24:54.175Z,1754760294.175 [DAT](INFO): checking for new query: numPingsReceived=23, elapsed TxPingTime=3.530297
2025-08-09T17:24:54.403Z,1754760294.403 [DAT](INFO): checking for new query: numPingsReceived=23, elapsed TxPingTime=3.758920
2025-08-09T17:24:54.431Z,1754760294.431 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 9.10 m.
2025-08-09T17:24:54.655Z,1754760294.655 [DAT](INFO): checking for new query: numPingsReceived=23, elapsed TxPingTime=4.010810
2025-08-09T17:24:54.816Z,1754760294.816 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 9.10 m.
2025-08-09T17:24:54.909Z,1754760294.909 [DAT](INFO): checking for new query: numPingsReceived=23, elapsed TxPingTime=4.264123
2025-08-09T17:24:55.159Z,1754760295.159 [DAT](INFO): checking for new query: numPingsReceived=23, elapsed TxPingTime=4.514889
2025-08-09T17:24:55.215Z,1754760295.215 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 9.10 m.
2025-08-09T17:24:55.412Z,1754760295.412 [DAT](INFO): checking for new query: numPingsReceived=23, elapsed TxPingTime=4.767396
2025-08-09T17:24:55.645Z,1754760295.645 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 9.10 m.
2025-08-09T17:24:55.663Z,1754760295.663 [DAT](INFO): checking for new query: numPingsReceived=23, elapsed TxPingTime=5.018799
2025-08-09T17:24:55.915Z,1754760295.915 [DAT](INFO): checking for new query: numPingsReceived=23, elapsed TxPingTime=5.270846
2025-08-09T17:24:56.010Z,1754760296.010 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 9.10 m.
2025-08-09T17:24:56.167Z,1754760296.167 [DAT](INFO): checking for new query: numPingsReceived=23, elapsed TxPingTime=5.522766
2025-08-09T17:24:56.413Z,1754760296.413 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 9.10 m.
2025-08-09T17:24:56.419Z,1754760296.419 [DAT](INFO): checking for new query: numPingsReceived=23, elapsed TxPingTime=5.774977
2025-08-09T17:24:56.671Z,1754760296.671 [DAT](INFO): checking for new query: numPingsReceived=23, elapsed TxPingTime=6.026878
2025-08-09T17:24:56.848Z,1754760296.848 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 9.10 m.
2025-08-09T17:24:56.924Z,1754760296.924 [DAT](INFO): checking for new query: numPingsReceived=23, elapsed TxPingTime=6.279223
2025-08-09T17:24:57.175Z,1754760297.175 [DAT](INFO): checking for new query: numPingsReceived=23, elapsed TxPingTime=6.530758
2025-08-09T17:24:57.242Z,1754760297.242 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 9.10 m.
2025-08-09T17:24:57.427Z,1754760297.427 [DAT](INFO): checking for new query: numPingsReceived=23, elapsed TxPingTime=6.782831
2025-08-09T17:24:57.665Z,1754760297.665 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 9.10 m.
2025-08-09T17:24:57.679Z,1754760297.679 [DAT](INFO): checking for new query: numPingsReceived=23, elapsed TxPingTime=7.034921
2025-08-09T17:24:57.931Z,1754760297.931 [DAT](INFO): checking for new query: numPingsReceived=23, elapsed TxPingTime=7.286767
2025-08-09T17:24:58.101Z,1754760298.101 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 9.10 m.
2025-08-09T17:24:58.184Z,1754760298.184 [DAT](INFO): checking for new query: numPingsReceived=23, elapsed TxPingTime=7.539517
2025-08-09T17:24:58.435Z,1754760298.435 [DAT](INFO): checking for new query: numPingsReceived=23, elapsed TxPingTime=7.790770
2025-08-09T17:24:58.471Z,1754760298.471 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 9.10 m.
2025-08-09T17:24:58.688Z,1754760298.688 [DAT](INFO): checking for new query: numPingsReceived=23, elapsed TxPingTime=8.043405
2025-08-09T17:24:58.890Z,1754760298.890 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 9.10 m.
2025-08-09T17:24:58.939Z,1754760298.939 [DAT](INFO): checking for new query: numPingsReceived=23, elapsed TxPingTime=8.294930
2025-08-09T17:24:59.191Z,1754760299.191 [DAT](INFO): checking for new query: numPingsReceived=23, elapsed TxPingTime=8.546833
2025-08-09T17:24:59.251Z,1754760299.251 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 9.10 m.
2025-08-09T17:24:59.446Z,1754760299.446 [DAT](INFO): checking for new query: numPingsReceived=23, elapsed TxPingTime=8.801696
2025-08-09T17:24:59.695Z,1754760299.695 [DAT](INFO): checking for new query: numPingsReceived=23, elapsed TxPingTime=9.050794
2025-08-09T17:24:59.705Z,1754760299.705 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 9.10 m.
2025-08-09T17:24:59.950Z,1754760299.950 [DAT](INFO): checking for new query: numPingsReceived=23, elapsed TxPingTime=9.305116
2025-08-09T17:25:00.071Z,1754760300.071 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 9.10 m.
2025-08-09T17:25:00.203Z,1754760300.203 [DAT](INFO): checking for new query: numPingsReceived=23, elapsed TxPingTime=9.558837
2025-08-09T17:25:00.454Z,1754760300.454 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 9.10 m.
2025-08-09T17:25:00.455Z,1754760300.455 [DAT](INFO): checking for new query: numPingsReceived=23, elapsed TxPingTime=9.811001
2025-08-09T17:25:00.707Z,1754760300.707 [DAT](INFO): checking for new query: numPingsReceived=23, elapsed TxPingTime=10.062810
2025-08-09T17:25:00.894Z,1754760300.894 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 9.10 m.
2025-08-09T17:25:00.960Z,1754760300.960 [DAT](INFO): checking for new query: numPingsReceived=23, elapsed TxPingTime=10.315089
2025-08-09T17:25:01.211Z,1754760301.211 [DAT](INFO): checking for new query: numPingsReceived=23, elapsed TxPingTime=10.566866
2025-08-09T17:25:01.266Z,1754760301.266 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 9.10 m.
2025-08-09T17:25:01.466Z,1754760301.466 [DAT](INFO): checking for new query: numPingsReceived=23, elapsed TxPingTime=10.821900
2025-08-09T17:25:01.713Z,1754760301.713 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 9.10 m.
2025-08-09T17:25:01.715Z,1754760301.715 [DAT](INFO): checking for new query: numPingsReceived=23, elapsed TxPingTime=11.070948
2025-08-09T17:25:01.967Z,1754760301.967 [DAT](INFO): checking for new query: numPingsReceived=23, elapsed TxPingTime=11.322870
2025-08-09T17:25:02.084Z,1754760302.084 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 9.10 m.
2025-08-09T17:25:02.219Z,1754760302.219 [DAT](INFO): checking for new query: numPingsReceived=23, elapsed TxPingTime=11.574752
2025-08-09T17:25:02.472Z,1754760302.472 [DAT](INFO): checking for new query: numPingsReceived=23, elapsed TxPingTime=11.827079
2025-08-09T17:25:02.489Z,1754760302.489 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 9.10 m.
2025-08-09T17:25:02.723Z,1754760302.723 [DAT](INFO): checking for new query: numPingsReceived=23, elapsed TxPingTime=12.078862
2025-08-09T17:25:02.962Z,1754760302.962 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 9.10 m.
2025-08-09T17:25:02.975Z,1754760302.975 [DAT](INFO): DAT read: Response Not Received

2025-08-09T17:25:02.976Z,1754760302.976 [DAT](INFO): response not received
2025-08-09T17:25:02.976Z,1754760302.976 [DAT](INFO): DAT read: user:531>

2025-08-09T17:25:02.977Z,1754760302.977 [DAT](INFO): DAT read: Tx time:17:25:02.4864

2025-08-09T17:25:02.977Z,1754760302.977 [DAT](INFO): Ping request sent.
2025-08-09T17:25:02.977Z,1754760302.977 [DAT](INFO): transmitted an acoustic signal
2025-08-09T17:25:02.977Z,1754760302.977 [DAT](INFO): publishing transmit ping time
2025-08-09T17:25:02.978Z,1754760302.978 [DAT](INFO): checking for new query: numPingsReceived=23, elapsed TxPingTime=0.000745
2025-08-09T17:25:03.227Z,1754760303.227 [DAT](INFO): checking for new query: numPingsReceived=23, elapsed TxPingTime=0.250096
2025-08-09T17:25:03.285Z,1754760303.285 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 9.10 m.
2025-08-09T17:25:03.482Z,1754760303.482 [DAT](INFO): checking for new query: numPingsReceived=23, elapsed TxPingTime=0.504946
2025-08-09T17:25:03.708Z,1754760303.708 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 9.10 m.
2025-08-09T17:25:03.731Z,1754760303.731 [DAT](INFO): checking for new query: numPingsReceived=23, elapsed TxPingTime=0.753966
2025-08-09T17:25:03.983Z,1754760303.983 [DAT](INFO): checking for new query: numPingsReceived=23, elapsed TxPingTime=1.006141
2025-08-09T17:25:04.125Z,1754760304.125 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 9.10 m.
2025-08-09T17:25:04.236Z,1754760304.236 [DAT](INFO): checking for new query: numPingsReceived=23, elapsed TxPingTime=1.258434
2025-08-09T17:25:04.487Z,1754760304.487 [DAT](INFO): checking for new query: numPingsReceived=23, elapsed TxPingTime=1.510203
2025-08-09T17:25:04.492Z,1754760304.492 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 9.10 m.
2025-08-09T17:25:04.740Z,1754760304.740 [DAT](INFO): checking for new query: numPingsReceived=23, elapsed TxPingTime=1.762347
2025-08-09T17:25:04.943Z,1754760304.943 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 9.10 m.
2025-08-09T17:25:04.992Z,1754760304.992 [DAT](INFO): checking for new query: numPingsReceived=23, elapsed TxPingTime=2.014681
2025-08-09T17:25:05.243Z,1754760305.243 [DAT](INFO): checking for new query: numPingsReceived=23, elapsed TxPingTime=2.266084
2025-08-09T17:25:05.305Z,1754760305.305 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 9.10 m.
2025-08-09T17:25:05.496Z,1754760305.496 [DAT](INFO): checking for new query: numPingsReceived=23, elapsed TxPingTime=2.518910
2025-08-09T17:25:05.735Z,1754760305.735 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 9.10 m.
2025-08-09T17:25:05.747Z,1754760305.747 [DAT](INFO): checking for new query: numPingsReceived=23, elapsed TxPingTime=2.770238
2025-08-09T17:25:05.999Z,1754760305.999 [DAT](INFO): DAT read: Rx Time:17:25:04.9134

2025-08-09T17:25:05.000Z,1754760306.000 [DAT](INFO): Rx dataTimestamp_ set to:1754760305.999404
2025-08-09T17:25:06.000Z,1754760306.000 [DAT](INFO): checking for new query: numPingsReceived=23, elapsed TxPingTime=3.023084
2025-08-09T17:25:06.141Z,1754760306.141 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 9.10 m.
2025-08-09T17:25:06.251Z,1754760306.251 [DAT](INFO): checking for new query: numPingsReceived=23, elapsed TxPingTime=3.274128
2025-08-09T17:25:06.509Z,1754760306.509 [DAT](INFO): DAT read: 17:25:04.9134 LVL= 31728, 27761, 32754, 32755, AGC= 65, IDX= 503, 0.36,-1.992,-0.136,-1.636,-1.411, PHS=-0.479, 1.319,-0.270, RAW= 323.9,  -6.8, CAL= 323.4, -10.0, ROT= 186.6,  10.0

2025-08-09T17:25:06.511Z,1754760306.511 [DAT](INFO): got valid direction response:
 17:25:04.9134 LVL= 31728, 27761, 32754, 32755, AGC= 65, IDX= 503, 0.36,-1.992,-0.136,-1.636,-1.411, PHS=-0.479, 1.319,-0.270, RAW= 323.9,  -6.8, CAL= 323.4, -10.0, ROT= 186.6,  10.0

2025-08-09T17:25:06.511Z,1754760306.511 [DAT](INFO): DAT read: Bearing   4.5,  -3.9 (Local)

2025-08-09T17:25:06.512Z,1754760306.512 [DAT](INFO): Local bearing/azimuth received:
 Bearing   4.5,  -3.9 (Local)

2025-08-09T17:25:06.513Z,1754760306.513 [DAT](INFO): DAT read: Range 11 to 50 : 17.1 m  (Round-trip  22.9 ms) speed -0.4 m/s

2025-08-09T17:25:06.514Z,1754760306.514 [DAT](INFO): DAT read: user:532>

2025-08-09T17:25:06.515Z,1754760306.515 [DAT](INFO): DAT read: Tx time:17:25:06.0364

2025-08-09T17:25:06.515Z,1754760306.515 [DAT](INFO): Ping request sent.
2025-08-09T17:25:06.515Z,1754760306.515 [DAT](INFO): transmitted an acoustic signal
2025-08-09T17:25:06.516Z,1754760306.516 [DAT](INFO): #Rx 24: Read range and direction messages.
2025-08-09T17:25:06.517Z,1754760306.517 [DAT](INFO): direction in FSK: [-0.978281,-0.113191,-0.173648]
2025-08-09T17:25:06.517Z,1754760306.517 [DAT](INFO): publishing transmit ping time
2025-08-09T17:25:06.517Z,1754760306.517 [DAT](INFO): publishing direction and range info
2025-08-09T17:25:06.520Z,1754760306.520 [DAT](INFO): publishing transmit ping time
2025-08-09T17:25:06.520Z,1754760306.520 [DAT](INFO): publishing direction and range info
2025-08-09T17:25:06.544Z,1754760306.544 [DAT](INFO): checking for new query: numPingsReceived=24, elapsed TxPingTime=0.028447
2025-08-09T17:25:06.560Z,1754760306.560 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 17.100000 m,
      deltaT: 15.879556 s,
      deltaX: 8.000000 m,
      approachRate: 0.503792 m/s,
      rangeRepo size: 4

2025-08-09T17:25:06.562Z,1754760306.562 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 17.100000 m,
      bearing: 197.901990 deg,
      lat: 36.906131 deg,
      lon: -122.115919 deg,
      deltaT: 15.879556 s,
      deltaX: 8.000000 m,
      approachRate: 0.503792 m/s,
      posRepo size: 4

2025-08-09T17:25:06.566Z,1754760306.566 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.10 m.
2025-08-09T17:25:06.755Z,1754760306.755 [DAT](INFO): checking for new query: numPingsReceived=24, elapsed TxPingTime=0.240023
2025-08-09T17:25:06.966Z,1754760306.966 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.10 m.
2025-08-09T17:25:07.008Z,1754760307.008 [DAT](INFO): checking for new query: numPingsReceived=24, elapsed TxPingTime=0.492426
2025-08-09T17:25:07.259Z,1754760307.259 [DAT](INFO): checking for new query: numPingsReceived=24, elapsed TxPingTime=0.743838
2025-08-09T17:25:07.404Z,1754760307.404 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.10 m.
2025-08-09T17:25:07.511Z,1754760307.511 [DAT](INFO): checking for new query: numPingsReceived=24, elapsed TxPingTime=0.995789
2025-08-09T17:25:07.764Z,1754760307.764 [DAT](INFO): checking for new query: numPingsReceived=24, elapsed TxPingTime=1.248138
2025-08-09T17:25:07.793Z,1754760307.793 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.10 m.
2025-08-09T17:25:08.015Z,1754760308.015 [DAT](INFO): checking for new query: numPingsReceived=24, elapsed TxPingTime=1.499843
2025-08-09T17:25:08.157Z,1754760308.157 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.10 m.
2025-08-09T17:25:08.267Z,1754760308.267 [DAT](INFO): checking for new query: numPingsReceived=24, elapsed TxPingTime=1.751823
2025-08-09T17:25:08.519Z,1754760308.519 [DAT](INFO): checking for new query: numPingsReceived=24, elapsed TxPingTime=2.003797
2025-08-09T17:25:08.566Z,1754760308.566 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.10 m.
2025-08-09T17:25:08.771Z,1754760308.771 [DAT](INFO): checking for new query: numPingsReceived=24, elapsed TxPingTime=2.255787
2025-08-09T17:25:08.955Z,1754760308.955 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.10 m.
2025-08-09T17:25:09.024Z,1754760309.024 [DAT](INFO): checking for new query: numPingsReceived=24, elapsed TxPingTime=2.508411
2025-08-09T17:25:09.275Z,1754760309.275 [DAT](INFO): checking for new query: numPingsReceived=24, elapsed TxPingTime=2.759761
2025-08-09T17:25:09.351Z,1754760309.351 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.10 m.
2025-08-09T17:25:09.527Z,1754760309.527 [DAT](INFO): DAT read: Rx Time:17:25:08.4656

2025-08-09T17:25:09.528Z,1754760309.528 [DAT](INFO): Rx dataTimestamp_ set to:1754760309.527541
2025-08-09T17:25:09.528Z,1754760309.528 [DAT](INFO): checking for new query: numPingsReceived=24, elapsed TxPingTime=3.012927
2025-08-09T17:25:09.779Z,1754760309.779 [DAT](INFO): checking for new query: numPingsReceived=24, elapsed TxPingTime=3.263885
2025-08-09T17:25:09.789Z,1754760309.789 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.10 m.
2025-08-09T17:25:10.033Z,1754760310.033 [DAT](INFO): DAT read: Range 11 to 50 : 18.7 m  (Round-trip  25.0 ms) speed -0.1 m/s

2025-08-09T17:25:10.033Z,1754760310.033 [DAT](INFO): DAT read: user:533>

2025-08-09T17:25:10.034Z,1754760310.034 [DAT](INFO): DAT read: Tx time:17:25:09.5864

2025-08-09T17:25:10.034Z,1754760310.034 [DAT](INFO): Ping request sent.
2025-08-09T17:25:10.035Z,1754760310.035 [DAT](INFO): transmitted an acoustic signal
2025-08-09T17:25:10.035Z,1754760310.035 [DAT](ERROR): #Rx 25: Read range message, but no direction.
2025-08-09T17:25:10.035Z,1754760310.035 [DAT](INFO): publishing transmit ping time
2025-08-09T17:25:10.036Z,1754760310.036 [DAT](INFO): publishing transmit ping time
2025-08-09T17:25:10.036Z,1754760310.036 [DAT](INFO): checking for new query: numPingsReceived=25, elapsed TxPingTime=0.001857
2025-08-09T17:25:10.181Z,1754760310.181 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 18.700001 m,
      deltaT: 3.528210 s,
      deltaX: 1.600000 m,
      approachRate: 0.453488 m/s,
      rangeRepo size: 4

2025-08-09T17:25:10.181Z,1754760310.181 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.10 m.
2025-08-09T17:25:10.283Z,1754760310.283 [DAT](INFO): checking for new query: numPingsReceived=25, elapsed TxPingTime=0.248762
2025-08-09T17:25:10.535Z,1754760310.535 [DAT](INFO): checking for new query: numPingsReceived=25, elapsed TxPingTime=0.500737
2025-08-09T17:25:10.569Z,1754760310.569 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.10 m.
2025-08-09T17:25:10.788Z,1754760310.788 [DAT](INFO): checking for new query: numPingsReceived=25, elapsed TxPingTime=0.753067
2025-08-09T17:25:10.994Z,1754760310.994 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.10 m.
2025-08-09T17:25:11.040Z,1754760311.040 [DAT](INFO): checking for new query: numPingsReceived=25, elapsed TxPingTime=1.005376
2025-08-09T17:25:11.291Z,1754760311.291 [DAT](INFO): checking for new query: numPingsReceived=25, elapsed TxPingTime=1.256666
2025-08-09T17:25:11.365Z,1754760311.365 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.10 m.
2025-08-09T17:25:11.544Z,1754760311.544 [DAT](INFO): checking for new query: numPingsReceived=25, elapsed TxPingTime=1.509091
2025-08-09T17:25:11.795Z,1754760311.795 [DAT](INFO): checking for new query: numPingsReceived=25, elapsed TxPingTime=1.760860
2025-08-09T17:25:11.872Z,1754760311.872 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.10 m.
2025-08-09T17:25:12.047Z,1754760312.047 [DAT](INFO): checking for new query: numPingsReceived=25, elapsed TxPingTime=2.012675
2025-08-09T17:25:12.174Z,1754760312.174 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.10 m.
2025-08-09T17:25:12.299Z,1754760312.299 [DAT](INFO): checking for new query: numPingsReceived=25, elapsed TxPingTime=2.264782
2025-08-09T17:25:12.551Z,1754760312.551 [DAT](INFO): checking for new query: numPingsReceived=25, elapsed TxPingTime=2.516723
2025-08-09T17:25:12.575Z,1754760312.575 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.10 m.
2025-08-09T17:25:12.804Z,1754760312.804 [DAT](INFO): checking for new query: numPingsReceived=25, elapsed TxPingTime=2.769369
2025-08-09T17:25:13.021Z,1754760313.021 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.10 m.
2025-08-09T17:25:13.057Z,1754760313.057 [DAT](INFO): DAT read: Rx Time:17:25:12.0174

2025-08-09T17:25:13.057Z,1754760313.057 [DAT](INFO): Rx dataTimestamp_ set to:1754760313.057093
2025-08-09T17:25:13.058Z,1754760313.058 [DAT](INFO): checking for new query: numPingsReceived=25, elapsed TxPingTime=3.023376
2025-08-09T17:25:13.307Z,1754760313.307 [DAT](INFO): checking for new query: numPingsReceived=25, elapsed TxPingTime=3.272738
2025-08-09T17:25:13.388Z,1754760313.388 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.10 m.
2025-08-09T17:25:13.578Z,1754760313.578 [DAT](INFO): DAT read: 17:25:12.0174 LVL= 30704, 32753, 32754, 29123, AGC= 68, IDX= 448,-0.22,-0.443, 1.755,-0.057, 0.394, PHS=-0.735, 1.406,-0.494, RAW= 324.1,  -1.8, CAL= 323.0,  -4.8, ROT= 187.0,   4.8

2025-08-09T17:25:13.590Z,1754760313.590 [DAT](INFO): got valid direction response:
 17:25:12.0174 LVL= 30704, 32753, 32754, 29123, AGC= 68, IDX= 448,-0.22,-0.443, 1.755,-0.057, 0.394, PHS=-0.735, 1.406,-0.494, RAW= 324.1,  -1.8, CAL= 323.0,  -4.8, ROT= 187.0,   4.8

2025-08-09T17:25:13.593Z,1754760313.593 [DAT](INFO): DAT read: $Error in header

2025-08-09T17:25:13.606Z,1754760313.606 [DAT](INFO): Received a bad header
2025-08-09T17:25:13.619Z,1754760313.619 [DAT](INFO): #Rx 26: Read direction message, but no range.
2025-08-09T17:25:13.620Z,1754760313.620 [DAT](INFO): direction in FSK: [-0.989065,-0.121442,-0.083678]
2025-08-09T17:25:13.635Z,1754760313.635 [DAT](INFO): checking for new query: numPingsReceived=26, elapsed TxPingTime=3.600312
2025-08-09T17:25:13.811Z,1754760313.811 [DAT](INFO): checking for new query: numPingsReceived=26, elapsed TxPingTime=3.776825
2025-08-09T17:25:13.846Z,1754760313.846 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.10 m.
2025-08-09T17:25:14.064Z,1754760314.064 [DAT](INFO): checking for new query: numPingsReceived=26, elapsed TxPingTime=4.029214
2025-08-09T17:25:14.201Z,1754760314.201 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.10 m.
2025-08-09T17:25:14.315Z,1754760314.315 [DAT](INFO): checking for new query: numPingsReceived=26, elapsed TxPingTime=4.280644
2025-08-09T17:25:14.569Z,1754760314.569 [DAT](INFO): checking for new query: numPingsReceived=26, elapsed TxPingTime=4.534125
2025-08-09T17:25:14.617Z,1754760314.617 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.10 m.
2025-08-09T17:25:14.819Z,1754760314.819 [DAT](INFO): checking for new query: numPingsReceived=26, elapsed TxPingTime=4.784801
2025-08-09T17:25:15.026Z,1754760315.026 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.10 m.
2025-08-09T17:25:15.072Z,1754760315.072 [DAT](INFO): checking for new query: numPingsReceived=26, elapsed TxPingTime=5.037686
2025-08-09T17:25:15.323Z,1754760315.323 [DAT](INFO): checking for new query: numPingsReceived=26, elapsed TxPingTime=5.288691
2025-08-09T17:25:15.405Z,1754760315.405 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.10 m.
2025-08-09T17:25:15.578Z,1754760315.578 [DAT](INFO): checking for new query: numPingsReceived=26, elapsed TxPingTime=5.542973
2025-08-09T17:25:15.830Z,1754760315.830 [DAT](INFO): checking for new query: numPingsReceived=26, elapsed TxPingTime=5.794786
2025-08-09T17:25:15.911Z,1754760315.911 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.10 m.
2025-08-09T17:25:16.080Z,1754760316.080 [DAT](INFO): checking for new query: numPingsReceived=26, elapsed TxPingTime=6.045763
2025-08-09T17:25:16.241Z,1754760316.241 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.10 m.
2025-08-09T17:25:16.331Z,1754760316.331 [DAT](INFO): checking for new query: numPingsReceived=26, elapsed TxPingTime=6.296757
2025-08-09T17:25:16.584Z,1754760316.584 [DAT](INFO): checking for new query: numPingsReceived=26, elapsed TxPingTime=6.548926
2025-08-09T17:25:16.629Z,1754760316.629 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.10 m.
2025-08-09T17:25:16.837Z,1754760316.837 [DAT](INFO): checking for new query: numPingsReceived=26, elapsed TxPingTime=6.802366
2025-08-09T17:25:17.048Z,1754760317.048 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.10 m.
2025-08-09T17:25:17.088Z,1754760317.088 [DAT](INFO): checking for new query: numPingsReceived=26, elapsed TxPingTime=7.053441
2025-08-09T17:25:17.339Z,1754760317.339 [DAT](INFO): checking for new query: numPingsReceived=26, elapsed TxPingTime=7.304719
2025-08-09T17:25:17.427Z,1754760317.427 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.10 m.
2025-08-09T17:25:17.592Z,1754760317.592 [DAT](INFO): checking for new query: numPingsReceived=26, elapsed TxPingTime=7.556937
2025-08-09T17:25:17.847Z,1754760317.847 [DAT](INFO): checking for new query: numPingsReceived=26, elapsed TxPingTime=7.811385
2025-08-09T17:25:17.930Z,1754760317.930 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.10 m.
2025-08-09T17:25:18.095Z,1754760318.095 [DAT](INFO): checking for new query: numPingsReceived=26, elapsed TxPingTime=8.060636
2025-08-09T17:25:18.256Z,1754760318.256 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.10 m.
2025-08-09T17:25:18.347Z,1754760318.347 [DAT](INFO): checking for new query: numPingsReceived=26, elapsed TxPingTime=8.312715
2025-08-09T17:25:18.599Z,1754760318.599 [DAT](INFO): checking for new query: numPingsReceived=26, elapsed TxPingTime=8.564777
2025-08-09T17:25:18.639Z,1754760318.639 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.10 m.
2025-08-09T17:25:18.858Z,1754760318.858 [DAT](INFO): checking for new query: numPingsReceived=26, elapsed TxPingTime=8.822986
2025-08-09T17:25:19.099Z,1754760319.099 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.10 m.
2025-08-09T17:25:19.103Z,1754760319.103 [DAT](INFO): checking for new query: numPingsReceived=26, elapsed TxPingTime=9.068838
2025-08-09T17:25:19.355Z,1754760319.355 [DAT](INFO): checking for new query: numPingsReceived=26, elapsed TxPingTime=9.320749
2025-08-09T17:25:19.450Z,1754760319.450 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.10 m.
2025-08-09T17:25:19.607Z,1754760319.607 [DAT](INFO): checking for new query: numPingsReceived=26, elapsed TxPingTime=9.572684
2025-08-09T17:25:19.863Z,1754760319.863 [DAT](INFO): checking for new query: numPingsReceived=26, elapsed TxPingTime=9.828444
2025-08-09T17:25:19.922Z,1754760319.922 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.10 m.
2025-08-09T17:25:20.112Z,1754760320.112 [DAT](INFO): checking for new query: numPingsReceived=26, elapsed TxPingTime=10.077178
2025-08-09T17:25:20.288Z,1754760320.288 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.10 m.
2025-08-09T17:25:20.364Z,1754760320.364 [DAT](INFO): checking for new query: numPingsReceived=26, elapsed TxPingTime=10.329092
2025-08-09T17:25:20.615Z,1754760320.615 [DAT](INFO): checking for new query: numPingsReceived=26, elapsed TxPingTime=10.580688
2025-08-09T17:25:20.667Z,1754760320.667 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.10 m.
2025-08-09T17:25:20.871Z,1754760320.871 [DAT](INFO): checking for new query: numPingsReceived=26, elapsed TxPingTime=10.835622
2025-08-09T17:25:21.119Z,1754760321.119 [DAT](INFO): checking for new query: numPingsReceived=26, elapsed TxPingTime=11.084759
2025-08-09T17:25:21.128Z,1754760321.128 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.10 m.
2025-08-09T17:25:21.371Z,1754760321.371 [DAT](INFO): checking for new query: numPingsReceived=26, elapsed TxPingTime=11.336717
2025-08-09T17:25:21.482Z,1754760321.482 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.10 m.
2025-08-09T17:25:21.623Z,1754760321.623 [DAT](INFO): checking for new query: numPingsReceived=26, elapsed TxPingTime=11.588742
2025-08-09T17:25:21.878Z,1754760321.878 [DAT](INFO): checking for new query: numPingsReceived=26, elapsed TxPingTime=11.843022
2025-08-09T17:25:22.022Z,1754760322.022 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.10 m.
2025-08-09T17:25:22.129Z,1754760322.129 [DAT](INFO): checking for new query: numPingsReceived=26, elapsed TxPingTime=12.093949
2025-08-09T17:25:22.331Z,1754760322.331 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.10 m.
2025-08-09T17:25:22.380Z,1754760322.380 [DAT](INFO): checking for new query: numPingsReceived=26, elapsed TxPingTime=12.345472
2025-08-09T17:25:22.631Z,1754760322.631 [DAT](INFO): DAT read: Response Not Received

2025-08-09T17:25:22.632Z,1754760322.632 [DAT](INFO): response not received
2025-08-09T17:25:22.632Z,1754760322.632 [DAT](INFO): DAT read: user:535>

2025-08-09T17:25:22.633Z,1754760322.633 [DAT](INFO): DAT read: Tx time:17:25:22.0363

2025-08-09T17:25:22.633Z,1754760322.633 [DAT](INFO): Ping request sent.
2025-08-09T17:25:22.633Z,1754760322.633 [DAT](INFO): transmitted an acoustic signal
2025-08-09T17:25:22.633Z,1754760322.633 [DAT](INFO): publishing transmit ping time
2025-08-09T17:25:22.634Z,1754760322.634 [DAT](INFO): checking for new query: numPingsReceived=26, elapsed TxPingTime=0.000745
2025-08-09T17:25:22.752Z,1754760322.752 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.10 m.
2025-08-09T17:25:22.886Z,1754760322.886 [DAT](INFO): checking for new query: numPingsReceived=26, elapsed TxPingTime=0.252551
2025-08-09T17:25:23.135Z,1754760323.135 [DAT](INFO): checking for new query: numPingsReceived=26, elapsed TxPingTime=0.502325
2025-08-09T17:25:23.172Z,1754760323.172 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.10 m.
2025-08-09T17:25:23.387Z,1754760323.387 [DAT](INFO): checking for new query: numPingsReceived=26, elapsed TxPingTime=0.754137
2025-08-09T17:25:23.524Z,1754760323.524 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.10 m.
2025-08-09T17:25:23.639Z,1754760323.639 [DAT](INFO): checking for new query: numPingsReceived=26, elapsed TxPingTime=1.006186
2025-08-09T17:25:23.894Z,1754760323.894 [DAT](INFO): checking for new query: numPingsReceived=26, elapsed TxPingTime=1.260244
2025-08-09T17:25:23.997Z,1754760323.997 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.10 m.
2025-08-09T17:25:24.143Z,1754760324.143 [DAT](INFO): checking for new query: numPingsReceived=26, elapsed TxPingTime=1.510317
2025-08-09T17:25:24.348Z,1754760324.348 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.10 m.
2025-08-09T17:25:24.398Z,1754760324.398 [DAT](INFO): checking for new query: numPingsReceived=26, elapsed TxPingTime=1.764782
2025-08-09T17:25:24.647Z,1754760324.647 [DAT](INFO): checking for new query: numPingsReceived=26, elapsed TxPingTime=2.014270
2025-08-09T17:25:24.747Z,1754760324.747 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.10 m.
2025-08-09T17:25:24.902Z,1754760324.902 [DAT](INFO): checking for new query: numPingsReceived=26, elapsed TxPingTime=2.268642
2025-08-09T17:25:25.151Z,1754760325.151 [DAT](INFO): checking for new query: numPingsReceived=26, elapsed TxPingTime=2.518297
2025-08-09T17:25:25.162Z,1754760325.162 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.10 m.
2025-08-09T17:25:25.403Z,1754760325.403 [DAT](INFO): checking for new query: numPingsReceived=26, elapsed TxPingTime=2.770234
2025-08-09T17:25:25.560Z,1754760325.560 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.10 m.
2025-08-09T17:25:25.655Z,1754760325.655 [DAT](INFO): DAT read: Rx Time:17:25:24.4719

2025-08-09T17:25:25.656Z,1754760325.656 [DAT](INFO): Rx dataTimestamp_ set to:1754760325.655527
2025-08-09T17:25:25.656Z,1754760325.656 [DAT](INFO): checking for new query: numPingsReceived=26, elapsed TxPingTime=3.023297
2025-08-09T17:25:25.909Z,1754760325.909 [DAT](INFO): checking for new query: numPingsReceived=26, elapsed TxPingTime=3.275625
2025-08-09T17:25:26.089Z,1754760326.089 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.10 m.
2025-08-09T17:25:26.166Z,1754760326.166 [DAT](INFO): DAT read: 17:25:24.4719 LVL= 27344, 24481, 27506, 27587, AGC= 68, IDX= 479,-0.48,-3.132,-1.145,-2.743,-2.453, PHS=-0.577, 1.353,-0.334, RAW= 323.4,  -4.9, CAL= 322.6,  -8.1, ROT= 187.4,   8.1

2025-08-09T17:25:26.167Z,1754760326.167 [DAT](INFO): got valid direction response:
 17:25:24.4719 LVL= 27344, 24481, 27506, 27587, AGC= 68, IDX= 479,-0.48,-3.132,-1.145,-2.743,-2.453, PHS=-0.577, 1.353,-0.334, RAW= 323.4,  -4.9, CAL= 322.6,  -8.1, ROT= 187.4,   8.1

2025-08-09T17:25:26.168Z,1754760326.168 [DAT](INFO): DAT read: $Error in header

2025-08-09T17:25:26.169Z,1754760326.169 [DAT](INFO): Received a bad header
2025-08-09T17:25:26.183Z,1754760326.183 [DAT](INFO): #Rx 27: Read direction message, but no range.
2025-08-09T17:25:26.184Z,1754760326.184 [DAT](INFO): direction in FSK: [-0.981778,-0.127511,-0.140901]
2025-08-09T17:25:26.187Z,1754760326.187 [DAT](INFO): checking for new query: numPingsReceived=27, elapsed TxPingTime=3.554390
2025-08-09T17:25:26.346Z,1754760326.346 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.10 m.
2025-08-09T17:25:26.411Z,1754760326.411 [DAT](INFO): checking for new query: numPingsReceived=27, elapsed TxPingTime=3.778239
2025-08-09T17:25:26.663Z,1754760326.663 [DAT](INFO): checking for new query: numPingsReceived=27, elapsed TxPingTime=4.030182
2025-08-09T17:25:26.771Z,1754760326.771 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.10 m.
2025-08-09T17:25:26.915Z,1754760326.915 [DAT](INFO): checking for new query: numPingsReceived=27, elapsed TxPingTime=4.282319
2025-08-09T17:25:27.167Z,1754760327.167 [DAT](INFO): checking for new query: numPingsReceived=27, elapsed TxPingTime=4.534258
2025-08-09T17:25:27.186Z,1754760327.186 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.10 m.
2025-08-09T17:25:27.420Z,1754760327.420 [DAT](INFO): checking for new query: numPingsReceived=27, elapsed TxPingTime=4.786480
2025-08-09T17:25:27.568Z,1754760327.568 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.10 m.
2025-08-09T17:25:27.671Z,1754760327.671 [DAT](INFO): checking for new query: numPingsReceived=27, elapsed TxPingTime=5.038188
2025-08-09T17:25:27.924Z,1754760327.924 [DAT](INFO): checking for new query: numPingsReceived=27, elapsed TxPingTime=5.291336
2025-08-09T17:25:28.079Z,1754760328.079 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.10 m.
2025-08-09T17:25:28.176Z,1754760328.176 [DAT](INFO): checking for new query: numPingsReceived=27, elapsed TxPingTime=5.542548
2025-08-09T17:25:28.423Z,1754760328.423 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.10 m.
2025-08-09T17:25:28.427Z,1754760328.427 [DAT](INFO): checking for new query: numPingsReceived=27, elapsed TxPingTime=5.794366
2025-08-09T17:25:28.679Z,1754760328.679 [DAT](INFO): checking for new query: numPingsReceived=27, elapsed TxPingTime=6.046210
2025-08-09T17:25:28.811Z,1754760328.811 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.10 m.
2025-08-09T17:25:28.931Z,1754760328.931 [DAT](INFO): checking for new query: numPingsReceived=27, elapsed TxPingTime=6.298229
2025-08-09T17:25:29.183Z,1754760329.183 [DAT](INFO): checking for new query: numPingsReceived=27, elapsed TxPingTime=6.550190
2025-08-09T17:25:29.274Z,1754760329.274 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.10 m.
2025-08-09T17:25:29.437Z,1754760329.437 [DAT](INFO): checking for new query: numPingsReceived=27, elapsed TxPingTime=6.803487
2025-08-09T17:25:29.656Z,1754760329.656 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.10 m.
2025-08-09T17:25:29.687Z,1754760329.687 [DAT](INFO): checking for new query: numPingsReceived=27, elapsed TxPingTime=7.054409
2025-08-09T17:25:29.939Z,1754760329.939 [DAT](INFO): checking for new query: numPingsReceived=27, elapsed TxPingTime=7.306191
2025-08-09T17:25:30.114Z,1754760330.114 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.10 m.
2025-08-09T17:25:30.191Z,1754760330.191 [DAT](INFO): checking for new query: numPingsReceived=27, elapsed TxPingTime=7.558163
2025-08-09T17:25:30.444Z,1754760330.444 [DAT](INFO): checking for new query: numPingsReceived=27, elapsed TxPingTime=7.810424
2025-08-09T17:25:30.513Z,1754760330.513 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.10 m.
2025-08-09T17:25:30.696Z,1754760330.696 [DAT](INFO): checking for new query: numPingsReceived=27, elapsed TxPingTime=8.062498
2025-08-09T17:25:30.905Z,1754760330.905 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.10 m.
2025-08-09T17:25:30.948Z,1754760330.948 [DAT](INFO): checking for new query: numPingsReceived=27, elapsed TxPingTime=8.314918
2025-08-09T17:25:31.199Z,1754760331.199 [DAT](INFO): checking for new query: numPingsReceived=27, elapsed TxPingTime=8.566129
2025-08-09T17:25:31.346Z,1754760331.346 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.10 m.
2025-08-09T17:25:31.451Z,1754760331.451 [DAT](INFO): checking for new query: numPingsReceived=27, elapsed TxPingTime=8.818336
2025-08-09T17:25:31.703Z,1754760331.703 [DAT](INFO): checking for new query: numPingsReceived=27, elapsed TxPingTime=9.070117
2025-08-09T17:25:31.732Z,1754760331.732 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.10 m.
2025-08-09T17:25:31.956Z,1754760331.956 [DAT](INFO): checking for new query: numPingsReceived=27, elapsed TxPingTime=9.323056
2025-08-09T17:25:32.163Z,1754760332.163 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.10 m.
2025-08-09T17:25:32.207Z,1754760332.207 [DAT](INFO): checking for new query: numPingsReceived=27, elapsed TxPingTime=9.574380
2025-08-09T17:25:32.459Z,1754760332.459 [DAT](INFO): checking for new query: numPingsReceived=27, elapsed TxPingTime=9.826164
2025-08-09T17:25:32.568Z,1754760332.568 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.10 m.
2025-08-09T17:25:32.711Z,1754760332.711 [DAT](INFO): checking for new query: numPingsReceived=27, elapsed TxPingTime=10.078187
2025-08-09T17:25:32.943Z,1754760332.943 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.10 m.
2025-08-09T17:25:32.964Z,1754760332.964 [DAT](INFO): checking for new query: numPingsReceived=27, elapsed TxPingTime=10.330459
2025-08-09T17:25:33.215Z,1754760333.215 [DAT](INFO): checking for new query: numPingsReceived=27, elapsed TxPingTime=10.582080
2025-08-09T17:25:33.394Z,1754760333.394 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.10 m.
2025-08-09T17:25:33.467Z,1754760333.467 [DAT](INFO): checking for new query: numPingsReceived=27, elapsed TxPingTime=10.834220
2025-08-09T17:25:33.719Z,1754760333.719 [DAT](INFO): checking for new query: numPingsReceived=27, elapsed TxPingTime=11.086229
2025-08-09T17:25:33.815Z,1754760333.815 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.10 m.
2025-08-09T17:25:33.971Z,1754760333.971 [DAT](INFO): checking for new query: numPingsReceived=27, elapsed TxPingTime=11.338202
2025-08-09T17:25:34.223Z,1754760334.223 [DAT](INFO): checking for new query: numPingsReceived=27, elapsed TxPingTime=11.590306
2025-08-09T17:25:34.233Z,1754760334.233 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.10 m.
2025-08-09T17:25:34.475Z,1754760334.475 [DAT](INFO): checking for new query: numPingsReceived=27, elapsed TxPingTime=11.842340
2025-08-09T17:25:34.615Z,1754760334.615 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.10 m.
2025-08-09T17:25:34.730Z,1754760334.730 [DAT](INFO): checking for new query: numPingsReceived=27, elapsed TxPingTime=12.097015
2025-08-09T17:25:34.980Z,1754760334.980 [DAT](INFO): DAT read: Response Not Received

2025-08-09T17:25:34.980Z,1754760334.980 [DAT](INFO): response not received
2025-08-09T17:25:34.980Z,1754760334.980 [DAT](INFO): DAT read: user:537>

2025-08-09T17:25:34.981Z,1754760334.981 [DAT](INFO): DAT read: Tx time:17:25:34.4863

2025-08-09T17:25:34.981Z,1754760334.981 [DAT](INFO): Ping request sent.
2025-08-09T17:25:34.981Z,1754760334.981 [DAT](INFO): transmitted an acoustic signal
2025-08-09T17:25:34.981Z,1754760334.981 [DAT](INFO): publishing transmit ping time
2025-08-09T17:25:34.982Z,1754760334.982 [DAT](INFO): checking for new query: numPingsReceived=27, elapsed TxPingTime=0.000746
2025-08-09T17:25:35.137Z,1754760335.137 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.10 m.
2025-08-09T17:25:35.231Z,1754760335.231 [DAT](INFO): checking for new query: numPingsReceived=27, elapsed TxPingTime=0.249925
2025-08-09T17:25:35.483Z,1754760335.483 [DAT](INFO): checking for new query: numPingsReceived=27, elapsed TxPingTime=0.502080
2025-08-09T17:25:35.595Z,1754760335.595 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.10 m.
2025-08-09T17:25:35.735Z,1754760335.735 [DAT](INFO): checking for new query: numPingsReceived=27, elapsed TxPingTime=0.753884
2025-08-09T17:25:35.988Z,1754760335.988 [DAT](INFO): checking for new query: numPingsReceived=27, elapsed TxPingTime=1.006173
2025-08-09T17:25:36.013Z,1754760336.013 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.10 m.
2025-08-09T17:25:36.239Z,1754760336.239 [DAT](INFO): checking for new query: numPingsReceived=27, elapsed TxPingTime=1.257883
2025-08-09T17:25:36.408Z,1754760336.408 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.10 m.
2025-08-09T17:25:36.491Z,1754760336.491 [DAT](INFO): checking for new query: numPingsReceived=27, elapsed TxPingTime=1.509989
2025-08-09T17:25:36.743Z,1754760336.743 [DAT](INFO): checking for new query: numPingsReceived=27, elapsed TxPingTime=1.761985
2025-08-09T17:25:36.791Z,1754760336.791 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.10 m.
2025-08-09T17:25:36.995Z,1754760336.995 [DAT](INFO): checking for new query: numPingsReceived=27, elapsed TxPingTime=2.013849
2025-08-09T17:25:37.217Z,1754760337.217 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.10 m.
2025-08-09T17:25:37.247Z,1754760337.247 [DAT](INFO): checking for new query: numPingsReceived=27, elapsed TxPingTime=2.266021
2025-08-09T17:25:37.499Z,1754760337.499 [DAT](INFO): checking for new query: numPingsReceived=27, elapsed TxPingTime=2.518112
2025-08-09T17:25:37.597Z,1754760337.597 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.10 m.
2025-08-09T17:25:37.751Z,1754760337.751 [DAT](INFO): checking for new query: numPingsReceived=27, elapsed TxPingTime=2.769864
2025-08-09T17:25:38.000Z,1754760338.000 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.10 m.
2025-08-09T17:25:38.003Z,1754760338.003 [DAT](INFO): checking for new query: numPingsReceived=27, elapsed TxPingTime=3.022049
2025-08-09T17:25:38.255Z,1754760338.255 [DAT](INFO): checking for new query: numPingsReceived=27, elapsed TxPingTime=3.273965
2025-08-09T17:25:38.428Z,1754760338.428 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.10 m.
2025-08-09T17:25:38.507Z,1754760338.507 [DAT](INFO): checking for new query: numPingsReceived=27, elapsed TxPingTime=3.525897
2025-08-09T17:25:38.759Z,1754760338.759 [DAT](INFO): checking for new query: numPingsReceived=27, elapsed TxPingTime=3.777868
2025-08-09T17:25:38.830Z,1754760338.830 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.10 m.
2025-08-09T17:25:39.011Z,1754760339.011 [DAT](INFO): checking for new query: numPingsReceived=27, elapsed TxPingTime=4.029968
2025-08-09T17:25:39.258Z,1754760339.258 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.10 m.
2025-08-09T17:25:39.263Z,1754760339.263 [DAT](INFO): checking for new query: numPingsReceived=27, elapsed TxPingTime=4.282029
2025-08-09T17:25:39.515Z,1754760339.515 [DAT](INFO): checking for new query: numPingsReceived=27, elapsed TxPingTime=4.533915
2025-08-09T17:25:39.635Z,1754760339.635 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.10 m.
2025-08-09T17:25:39.767Z,1754760339.767 [DAT](INFO): checking for new query: numPingsReceived=27, elapsed TxPingTime=4.785971
2025-08-09T17:25:40.019Z,1754760340.019 [DAT](INFO): checking for new query: numPingsReceived=27, elapsed TxPingTime=5.038015
2025-08-09T17:25:40.031Z,1754760340.031 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.10 m.
2025-08-09T17:25:40.271Z,1754760340.271 [DAT](INFO): checking for new query: numPingsReceived=27, elapsed TxPingTime=5.289990
2025-08-09T17:25:40.447Z,1754760340.447 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.10 m.
2025-08-09T17:25:40.525Z,1754760340.525 [DAT](INFO): checking for new query: numPingsReceived=27, elapsed TxPingTime=5.543217
2025-08-09T17:25:40.775Z,1754760340.775 [DAT](INFO): checking for new query: numPingsReceived=27, elapsed TxPingTime=5.793943
2025-08-09T17:25:40.834Z,1754760340.834 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.10 m.
2025-08-09T17:25:41.029Z,1754760341.029 [DAT](INFO): checking for new query: numPingsReceived=27, elapsed TxPingTime=6.046982
2025-08-09T17:25:41.278Z,1754760341.278 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.10 m.
2025-08-09T17:25:41.279Z,1754760341.279 [DAT](INFO): checking for new query: numPingsReceived=27, elapsed TxPingTime=6.298070
2025-08-09T17:25:41.535Z,1754760341.535 [DAT](INFO): checking for new query: numPingsReceived=27, elapsed TxPingTime=6.553150
2025-08-09T17:25:41.642Z,1754760341.642 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.10 m.
2025-08-09T17:25:41.783Z,1754760341.783 [DAT](INFO): checking for new query: numPingsReceived=27, elapsed TxPingTime=6.801932
2025-08-09T17:25:42.036Z,1754760342.036 [DAT](INFO): checking for new query: numPingsReceived=27, elapsed TxPingTime=7.054672
2025-08-09T17:25:42.066Z,1754760342.066 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.10 m.
2025-08-09T17:25:42.287Z,1754760342.287 [DAT](INFO): checking for new query: numPingsReceived=27, elapsed TxPingTime=7.305898
2025-08-09T17:25:42.478Z,1754760342.478 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.10 m.
2025-08-09T17:25:42.540Z,1754760342.540 [DAT](INFO): checking for new query: numPingsReceived=27, elapsed TxPingTime=7.558916
2025-08-09T17:25:42.792Z,1754760342.792 [DAT](INFO): checking for new query: numPingsReceived=27, elapsed TxPingTime=7.810413
2025-08-09T17:25:42.864Z,1754760342.864 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.10 m.
2025-08-09T17:25:43.044Z,1754760343.044 [DAT](INFO): checking for new query: numPingsReceived=27, elapsed TxPingTime=8.062649
2025-08-09T17:25:43.281Z,1754760343.281 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.10 m.
2025-08-09T17:25:43.295Z,1754760343.295 [DAT](INFO): checking for new query: numPingsReceived=27, elapsed TxPingTime=8.314026
2025-08-09T17:25:43.549Z,1754760343.549 [DAT](INFO): checking for new query: numPingsReceived=27, elapsed TxPingTime=8.567166
2025-08-09T17:25:43.698Z,1754760343.698 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.10 m.
2025-08-09T17:25:43.799Z,1754760343.799 [DAT](INFO): checking for new query: numPingsReceived=27, elapsed TxPingTime=8.817970
2025-08-09T17:25:44.052Z,1754760344.052 [DAT](INFO): checking for new query: numPingsReceived=27, elapsed TxPingTime=9.070151
2025-08-09T17:25:44.095Z,1754760344.095 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.10 m.
2025-08-09T17:25:44.303Z,1754760344.303 [DAT](INFO): checking for new query: numPingsReceived=27, elapsed TxPingTime=9.322020
2025-08-09T17:25:44.526Z,1754760344.526 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.10 m.
2025-08-09T17:25:44.555Z,1754760344.555 [DAT](INFO): checking for new query: numPingsReceived=27, elapsed TxPingTime=9.573977
2025-08-09T17:25:44.807Z,1754760344.807 [DAT](INFO): checking for new query: numPingsReceived=27, elapsed TxPingTime=9.825957
2025-08-09T17:25:44.897Z,1754760344.897 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.10 m.
2025-08-09T17:25:45.059Z,1754760345.059 [DAT](INFO): checking for new query: numPingsReceived=27, elapsed TxPingTime=10.077921
2025-08-09T17:25:45.311Z,1754760345.311 [DAT](INFO): checking for new query: numPingsReceived=27, elapsed TxPingTime=10.330037
2025-08-09T17:25:45.320Z,1754760345.320 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.10 m.
2025-08-09T17:25:45.564Z,1754760345.564 [DAT](INFO): checking for new query: numPingsReceived=27, elapsed TxPingTime=10.582297
2025-08-09T17:25:45.715Z,1754760345.715 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.10 m.
2025-08-09T17:25:45.815Z,1754760345.815 [DAT](INFO): checking for new query: numPingsReceived=27, elapsed TxPingTime=10.834008
2025-08-09T17:25:46.067Z,1754760346.067 [DAT](INFO): checking for new query: numPingsReceived=27, elapsed TxPingTime=11.085916
2025-08-09T17:25:46.129Z,1754760346.129 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.10 m.
2025-08-09T17:25:46.320Z,1754760346.320 [DAT](INFO): checking for new query: numPingsReceived=27, elapsed TxPingTime=11.338457
2025-08-09T17:25:46.566Z,1754760346.566 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.10 m.
2025-08-09T17:25:46.571Z,1754760346.571 [DAT](INFO): checking for new query: numPingsReceived=27, elapsed TxPingTime=11.590103
2025-08-09T17:25:46.824Z,1754760346.824 [DAT](INFO): checking for new query: numPingsReceived=27, elapsed TxPingTime=11.842353
2025-08-09T17:25:46.930Z,1754760346.930 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.10 m.
2025-08-09T17:25:47.076Z,1754760347.076 [DAT](INFO): checking for new query: numPingsReceived=27, elapsed TxPingTime=12.094182
2025-08-09T17:25:47.331Z,1754760347.331 [DAT](INFO): checking for new query: numPingsReceived=27, elapsed TxPingTime=12.348843
2025-08-09T17:25:47.383Z,1754760347.383 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.10 m.
2025-08-09T17:25:47.579Z,1754760347.579 [DAT](INFO): DAT read: Response Not Received

2025-08-09T17:25:47.580Z,1754760347.580 [DAT](INFO): response not received
2025-08-09T17:25:47.580Z,1754760347.580 [DAT](INFO): DAT read: user:538>

2025-08-09T17:25:47.581Z,1754760347.581 [DAT](INFO): DAT read: Tx time:17:25:46.9362

2025-08-09T17:25:47.581Z,1754760347.581 [DAT](INFO): Ping request sent.
2025-08-09T17:25:47.581Z,1754760347.581 [DAT](INFO): transmitted an acoustic signal
2025-08-09T17:25:47.581Z,1754760347.581 [DAT](INFO): publishing transmit ping time
2025-08-09T17:25:47.582Z,1754760347.582 [DAT](INFO): checking for new query: numPingsReceived=27, elapsed TxPingTime=0.000747
2025-08-09T17:25:47.749Z,1754760347.749 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.10 m.
2025-08-09T17:25:47.832Z,1754760347.832 [DAT](INFO): checking for new query: numPingsReceived=27, elapsed TxPingTime=0.250665
2025-08-09T17:25:48.083Z,1754760348.083 [DAT](INFO): checking for new query: numPingsReceived=27, elapsed TxPingTime=0.502061
2025-08-09T17:25:48.151Z,1754760348.151 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.10 m.
2025-08-09T17:25:48.335Z,1754760348.335 [DAT](INFO): checking for new query: numPingsReceived=27, elapsed TxPingTime=0.754152
2025-08-09T17:25:48.576Z,1754760348.576 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.10 m.
2025-08-09T17:25:48.587Z,1754760348.587 [DAT](INFO): checking for new query: numPingsReceived=27, elapsed TxPingTime=1.006164
2025-08-09T17:25:48.839Z,1754760348.839 [DAT](INFO): checking for new query: numPingsReceived=27, elapsed TxPingTime=1.258235
2025-08-09T17:25:48.949Z,1754760348.949 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.10 m.
2025-08-09T17:25:49.091Z,1754760349.091 [DAT](INFO): checking for new query: numPingsReceived=27, elapsed TxPingTime=1.510047
2025-08-09T17:25:49.344Z,1754760349.344 [DAT](INFO): checking for new query: numPingsReceived=27, elapsed TxPingTime=1.762328
2025-08-09T17:25:49.457Z,1754760349.457 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.10 m.
2025-08-09T17:25:49.595Z,1754760349.595 [DAT](INFO): checking for new query: numPingsReceived=27, elapsed TxPingTime=2.014162
2025-08-09T17:25:49.769Z,1754760349.769 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.10 m.
2025-08-09T17:25:49.848Z,1754760349.848 [DAT](INFO): checking for new query: numPingsReceived=27, elapsed TxPingTime=2.266330
2025-08-09T17:25:50.100Z,1754760350.100 [DAT](INFO): checking for new query: numPingsReceived=27, elapsed TxPingTime=2.518290
2025-08-09T17:25:50.178Z,1754760350.178 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-09T17:25:50.180Z,1754760350.180 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.10 m.
2025-08-09T17:25:50.352Z,1754760350.352 [DAT](INFO): checking for new query: numPingsReceived=27, elapsed TxPingTime=2.770358
2025-08-09T17:25:50.603Z,1754760350.603 [DAT](INFO): checking for new query: numPingsReceived=27, elapsed TxPingTime=3.022117
2025-08-09T17:25:50.611Z,1754760350.611 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.10 m.
2025-08-09T17:25:50.856Z,1754760350.856 [DAT](INFO): checking for new query: numPingsReceived=27, elapsed TxPingTime=3.274868
2025-08-09T17:25:50.976Z,1754760350.976 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.10 m.
2025-08-09T17:25:51.107Z,1754760351.107 [DAT](INFO): checking for new query: numPingsReceived=27, elapsed TxPingTime=3.526041
2025-08-09T17:25:51.359Z,1754760351.359 [DAT](INFO): checking for new query: numPingsReceived=27, elapsed TxPingTime=3.778089
2025-08-09T17:25:51.406Z,1754760351.406 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.10 m.
2025-08-09T17:25:51.611Z,1754760351.611 [DAT](INFO): checking for new query: numPingsReceived=27, elapsed TxPingTime=4.030106
2025-08-09T17:25:51.771Z,1754760351.771 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.10 m.
2025-08-09T17:25:51.864Z,1754760351.864 [DAT](INFO): checking for new query: numPingsReceived=27, elapsed TxPingTime=4.282754
2025-08-09T17:25:52.115Z,1754760352.115 [DAT](INFO): checking for new query: numPingsReceived=27, elapsed TxPingTime=4.533955
2025-08-09T17:25:52.187Z,1754760352.187 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.10 m.
2025-08-09T17:25:52.371Z,1754760352.371 [DAT](INFO): checking for new query: numPingsReceived=27, elapsed TxPingTime=4.789552
2025-08-09T17:25:52.606Z,1754760352.606 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.10 m.
2025-08-09T17:25:52.619Z,1754760352.619 [DAT](INFO): checking for new query: numPingsReceived=27, elapsed TxPingTime=5.038183
2025-08-09T17:25:52.872Z,1754760352.872 [DAT](INFO): checking for new query: numPingsReceived=27, elapsed TxPingTime=5.290371
2025-08-09T17:25:52.987Z,1754760352.987 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.10 m.
2025-08-09T17:25:53.124Z,1754760353.124 [DAT](INFO): checking for new query: numPingsReceived=27, elapsed TxPingTime=5.542389
2025-08-09T17:25:53.376Z,1754760353.376 [DAT](INFO): checking for new query: numPingsReceived=27, elapsed TxPingTime=5.795210
2025-08-09T17:25:53.444Z,1754760353.444 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.10 m.
2025-08-09T17:25:53.627Z,1754760353.627 [DAT](INFO): checking for new query: numPingsReceived=27, elapsed TxPingTime=6.046034
2025-08-09T17:25:53.810Z,1754760353.810 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.10 m.
2025-08-09T17:25:53.881Z,1754760353.881 [DAT](INFO): checking for new query: numPingsReceived=27, elapsed TxPingTime=6.300000
2025-08-09T17:25:54.131Z,1754760354.131 [DAT](INFO): checking for new query: numPingsReceived=27, elapsed TxPingTime=6.550069
2025-08-09T17:25:54.195Z,1754760354.195 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.10 m.
2025-08-09T17:25:54.386Z,1754760354.386 [DAT](INFO): checking for new query: numPingsReceived=27, elapsed TxPingTime=6.803962
2025-08-09T17:25:54.618Z,1754760354.618 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.10 m.
2025-08-09T17:25:54.636Z,1754760354.636 [DAT](INFO): checking for new query: numPingsReceived=27, elapsed TxPingTime=7.054382
2025-08-09T17:25:54.887Z,1754760354.887 [DAT](INFO): checking for new query: numPingsReceived=27, elapsed TxPingTime=7.306127
2025-08-09T17:25:55.030Z,1754760355.030 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.10 m.
2025-08-09T17:25:55.140Z,1754760355.140 [DAT](INFO): checking for new query: numPingsReceived=27, elapsed TxPingTime=7.558682
2025-08-09T17:25:55.395Z,1754760355.395 [DAT](INFO): checking for new query: numPingsReceived=27, elapsed TxPingTime=7.812752
2025-08-09T17:25:55.472Z,1754760355.472 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.10 m.
2025-08-09T17:25:55.643Z,1754760355.643 [DAT](INFO): checking for new query: numPingsReceived=27, elapsed TxPingTime=8.062235
2025-08-09T17:25:55.895Z,1754760355.895 [DAT](INFO): checking for new query: numPingsReceived=27, elapsed TxPingTime=8.314133
2025-08-09T17:25:55.897Z,1754760355.897 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.10 m.
2025-08-09T17:25:56.148Z,1754760356.148 [DAT](INFO): checking for new query: numPingsReceived=27, elapsed TxPingTime=8.566436
2025-08-09T17:25:56.314Z,1754760356.314 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.10 m.
2025-08-09T17:25:56.402Z,1754760356.402 [DAT](INFO): checking for new query: numPingsReceived=27, elapsed TxPingTime=8.819944
2025-08-09T17:25:56.651Z,1754760356.651 [DAT](INFO): checking for new query: numPingsReceived=27, elapsed TxPingTime=9.069988
2025-08-09T17:25:56.727Z,1754760356.727 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.10 m.
2025-08-09T17:25:56.907Z,1754760356.907 [DAT](INFO): checking for new query: numPingsReceived=27, elapsed TxPingTime=9.325277
2025-08-09T17:25:57.101Z,1754760357.101 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.10 m.
2025-08-09T17:25:57.156Z,1754760357.156 [DAT](INFO): checking for new query: numPingsReceived=27, elapsed TxPingTime=9.574769
2025-08-09T17:25:57.410Z,1754760357.410 [DAT](INFO): checking for new query: numPingsReceived=27, elapsed TxPingTime=9.828182
2025-08-09T17:25:57.564Z,1754760357.564 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.10 m.
2025-08-09T17:25:57.660Z,1754760357.660 [DAT](INFO): checking for new query: numPingsReceived=27, elapsed TxPingTime=10.078309
2025-08-09T17:25:57.912Z,1754760357.912 [DAT](INFO): checking for new query: numPingsReceived=27, elapsed TxPingTime=10.330840
2025-08-09T17:25:57.971Z,1754760357.971 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.10 m.
2025-08-09T17:25:58.163Z,1754760358.163 [DAT](INFO): checking for new query: numPingsReceived=27, elapsed TxPingTime=10.582014
2025-08-09T17:25:58.361Z,1754760358.361 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.10 m.
2025-08-09T17:25:58.419Z,1754760358.419 [DAT](INFO): checking for new query: numPingsReceived=27, elapsed TxPingTime=10.836878
2025-08-09T17:25:58.667Z,1754760358.667 [DAT](INFO): checking for new query: numPingsReceived=27, elapsed TxPingTime=11.086081
2025-08-09T17:25:58.793Z,1754760358.793 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.10 m.
2025-08-09T17:25:58.920Z,1754760358.920 [DAT](INFO): checking for new query: numPingsReceived=27, elapsed TxPingTime=11.338944
2025-08-09T17:25:59.168Z,1754760359.168 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.10 m.
2025-08-09T17:25:59.171Z,1754760359.171 [DAT](INFO): checking for new query: numPingsReceived=27, elapsed TxPingTime=11.590185
2025-08-09T17:25:59.426Z,1754760359.426 [DAT](INFO): checking for new query: numPingsReceived=27, elapsed TxPingTime=11.844581
2025-08-09T17:25:59.596Z,1754760359.596 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.10 m.
2025-08-09T17:25:59.675Z,1754760359.675 [DAT](INFO): checking for new query: numPingsReceived=27, elapsed TxPingTime=12.094203
2025-08-09T17:25:59.927Z,1754760359.927 [DAT](INFO): DAT read: Response Not Received

2025-08-09T17:25:59.928Z,1754760359.928 [DAT](INFO): response not received
2025-08-09T17:25:59.928Z,1754760359.928 [DAT](INFO): DAT read: user:539>

2025-08-09T17:25:59.929Z,1754760359.929 [DAT](INFO): DAT read: Tx time:17:25:59.3862

2025-08-09T17:25:59.929Z,1754760359.929 [DAT](INFO): Ping request sent.
2025-08-09T17:25:59.929Z,1754760359.929 [DAT](INFO): transmitted an acoustic signal
2025-08-09T17:25:59.929Z,1754760359.929 [DAT](INFO): publishing transmit ping time
2025-08-09T17:25:59.930Z,1754760359.930 [DAT](INFO): checking for new query: numPingsReceived=27, elapsed TxPingTime=0.000752
2025-08-09T17:26:00.012Z,1754760360.012 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.10 m.
2025-08-09T17:26:00.185Z,1754760360.185 [DAT](INFO): checking for new query: numPingsReceived=27, elapsed TxPingTime=0.255595
2025-08-09T17:26:00.408Z,1754760360.408 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.10 m.
2025-08-09T17:26:00.434Z,1754760360.434 [DAT](INFO): checking for new query: numPingsReceived=27, elapsed TxPingTime=0.504228
2025-08-09T17:26:00.683Z,1754760360.683 [DAT](INFO): checking for new query: numPingsReceived=27, elapsed TxPingTime=0.754045
2025-08-09T17:26:00.834Z,1754760360.834 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.10 m.
2025-08-09T17:26:00.936Z,1754760360.936 [DAT](INFO): checking for new query: numPingsReceived=27, elapsed TxPingTime=1.006858
2025-08-09T17:26:01.187Z,1754760361.187 [DAT](INFO): checking for new query: numPingsReceived=27, elapsed TxPingTime=1.258275
2025-08-09T17:26:01.213Z,1754760361.213 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.10 m.
2025-08-09T17:26:01.442Z,1754760361.442 [DAT](INFO): checking for new query: numPingsReceived=27, elapsed TxPingTime=1.512157
2025-08-09T17:26:01.638Z,1754760361.638 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.10 m.
2025-08-09T17:26:01.692Z,1754760361.692 [DAT](INFO): checking for new query: numPingsReceived=27, elapsed TxPingTime=1.763162
2025-08-09T17:26:01.943Z,1754760361.943 [DAT](INFO): checking for new query: numPingsReceived=27, elapsed TxPingTime=2.014194
2025-08-09T17:26:02.048Z,1754760362.048 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.10 m.
2025-08-09T17:26:02.195Z,1754760362.195 [DAT](INFO): checking for new query: numPingsReceived=27, elapsed TxPingTime=2.266087
2025-08-09T17:26:02.449Z,1754760362.449 [DAT](INFO): checking for new query: numPingsReceived=27, elapsed TxPingTime=2.519439
2025-08-09T17:26:02.586Z,1754760362.586 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.10 m.
2025-08-09T17:26:02.699Z,1754760362.699 [DAT](INFO): checking for new query: numPingsReceived=27, elapsed TxPingTime=2.770162
2025-08-09T17:26:02.951Z,1754760362.951 [DAT](INFO): checking for new query: numPingsReceived=27, elapsed TxPingTime=3.022119
2025-08-09T17:26:03.025Z,1754760363.025 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.10 m.
2025-08-09T17:26:03.204Z,1754760363.204 [DAT](INFO): checking for new query: numPingsReceived=27, elapsed TxPingTime=3.274363
2025-08-09T17:26:03.404Z,1754760363.404 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.10 m.
2025-08-09T17:26:03.456Z,1754760363.456 [DAT](INFO): checking for new query: numPingsReceived=27, elapsed TxPingTime=3.526915
2025-08-09T17:26:03.707Z,1754760363.707 [DAT](INFO): checking for new query: numPingsReceived=27, elapsed TxPingTime=3.778087
2025-08-09T17:26:03.828Z,1754760363.828 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.10 m.
2025-08-09T17:26:03.959Z,1754760363.959 [DAT](INFO): checking for new query: numPingsReceived=27, elapsed TxPingTime=4.030202
2025-08-09T17:26:04.188Z,1754760364.188 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.10 m.
2025-08-09T17:26:04.211Z,1754760364.211 [DAT](INFO): checking for new query: numPingsReceived=27, elapsed TxPingTime=4.282182
2025-08-09T17:26:04.463Z,1754760364.463 [DAT](INFO): checking for new query: numPingsReceived=27, elapsed TxPingTime=4.534095
2025-08-09T17:26:04.625Z,1754760364.625 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.10 m.
2025-08-09T17:26:04.715Z,1754760364.715 [DAT](INFO): checking for new query: numPingsReceived=27, elapsed TxPingTime=4.786149
2025-08-09T17:26:04.968Z,1754760364.968 [DAT](INFO): checking for new query: numPingsReceived=27, elapsed TxPingTime=5.038778
2025-08-09T17:26:05.030Z,1754760365.030 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.10 m.
2025-08-09T17:26:05.220Z,1754760365.220 [DAT](INFO): checking for new query: numPingsReceived=27, elapsed TxPingTime=5.290416
2025-08-09T17:26:05.429Z,1754760365.429 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.10 m.
2025-08-09T17:26:05.472Z,1754760365.472 [DAT](INFO): checking for new query: numPingsReceived=27, elapsed TxPingTime=5.542424
2025-08-09T17:26:05.723Z,1754760365.723 [DAT](INFO): checking for new query: numPingsReceived=27, elapsed TxPingTime=5.794111
2025-08-09T17:26:05.856Z,1754760365.856 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.10 m.
2025-08-09T17:26:05.977Z,1754760365.977 [DAT](INFO): checking for new query: numPingsReceived=27, elapsed TxPingTime=6.047659
2025-08-09T17:26:06.220Z,1754760366.220 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.10 m.
2025-08-09T17:26:06.227Z,1754760366.227 [DAT](INFO): checking for new query: numPingsReceived=27, elapsed TxPingTime=6.298243
2025-08-09T17:26:06.481Z,1754760366.481 [DAT](INFO): checking for new query: numPingsReceived=27, elapsed TxPingTime=6.551370
2025-08-09T17:26:06.657Z,1754760366.657 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.10 m.
2025-08-09T17:26:06.732Z,1754760366.732 [DAT](INFO): checking for new query: numPingsReceived=27, elapsed TxPingTime=6.802666
2025-08-09T17:26:06.984Z,1754760366.984 [DAT](INFO): checking for new query: numPingsReceived=27, elapsed TxPingTime=7.054825
2025-08-09T17:26:07.054Z,1754760367.054 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.10 m.
2025-08-09T17:26:07.236Z,1754760367.236 [DAT](INFO): checking for new query: numPingsReceived=27, elapsed TxPingTime=7.306740
2025-08-09T17:26:07.433Z,1754760367.433 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.10 m.
2025-08-09T17:26:07.488Z,1754760367.488 [DAT](INFO): checking for new query: numPingsReceived=27, elapsed TxPingTime=7.559195
2025-08-09T17:26:07.739Z,1754760367.739 [DAT](INFO): checking for new query: numPingsReceived=27, elapsed TxPingTime=7.810121
2025-08-09T17:26:07.934Z,1754760367.934 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.10 m.
2025-08-09T17:26:07.993Z,1754760367.993 [DAT](INFO): checking for new query: numPingsReceived=27, elapsed TxPingTime=8.063289
2025-08-09T17:26:08.243Z,1754760368.243 [DAT](INFO): checking for new query: numPingsReceived=27, elapsed TxPingTime=8.314219
2025-08-09T17:26:08.247Z,1754760368.247 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.10 m.
2025-08-09T17:26:08.496Z,1754760368.496 [DAT](INFO): checking for new query: numPingsReceived=27, elapsed TxPingTime=8.566956
2025-08-09T17:26:08.679Z,1754760368.679 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.10 m.
2025-08-09T17:26:08.752Z,1754760368.752 [DAT](INFO): checking for new query: numPingsReceived=27, elapsed TxPingTime=8.823180
2025-08-09T17:26:09.003Z,1754760369.003 [DAT](INFO): checking for new query: numPingsReceived=27, elapsed TxPingTime=9.074164
2025-08-09T17:26:09.048Z,1754760369.048 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.10 m.
2025-08-09T17:26:09.255Z,1754760369.255 [DAT](INFO): checking for new query: numPingsReceived=27, elapsed TxPingTime=9.326178
2025-08-09T17:26:09.452Z,1754760369.452 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.10 m.
2025-08-09T17:26:09.508Z,1754760369.508 [DAT](INFO): checking for new query: numPingsReceived=27, elapsed TxPingTime=9.578897
2025-08-09T17:26:09.759Z,1754760369.759 [DAT](INFO): checking for new query: numPingsReceived=27, elapsed TxPingTime=9.830100
2025-08-09T17:26:09.920Z,1754760369.920 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.10 m.
2025-08-09T17:26:10.011Z,1754760370.011 [DAT](INFO): checking for new query: numPingsReceived=27, elapsed TxPingTime=10.082277
2025-08-09T17:26:10.263Z,1754760370.263 [DAT](INFO): checking for new query: numPingsReceived=27, elapsed TxPingTime=10.334266
2025-08-09T17:26:10.294Z,1754760370.294 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.10 m.
2025-08-09T17:26:10.515Z,1754760370.515 [DAT](INFO): checking for new query: numPingsReceived=27, elapsed TxPingTime=10.586080
2025-08-09T17:26:10.716Z,1754760370.716 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.10 m.
2025-08-09T17:26:10.768Z,1754760370.768 [DAT](INFO): checking for new query: numPingsReceived=27, elapsed TxPingTime=10.838829
2025-08-09T17:26:11.019Z,1754760371.019 [DAT](INFO): checking for new query: numPingsReceived=27, elapsed TxPingTime=11.090167
2025-08-09T17:26:11.091Z,1754760371.091 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.10 m.
2025-08-09T17:26:11.271Z,1754760371.271 [DAT](INFO): checking for new query: numPingsReceived=27, elapsed TxPingTime=11.342088
2025-08-09T17:26:11.510Z,1754760371.510 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.10 m.
2025-08-09T17:26:11.524Z,1754760371.524 [DAT](INFO): checking for new query: numPingsReceived=27, elapsed TxPingTime=11.594464
2025-08-09T17:26:11.775Z,1754760371.775 [DAT](INFO): checking for new query: numPingsReceived=27, elapsed TxPingTime=11.846200
2025-08-09T17:26:11.953Z,1754760371.953 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.10 m.
2025-08-09T17:26:12.027Z,1754760372.027 [DAT](INFO): checking for new query: numPingsReceived=27, elapsed TxPingTime=12.098144
2025-08-09T17:26:12.280Z,1754760372.280 [DAT](INFO): DAT read: Response Not Received

2025-08-09T17:26:12.280Z,1754760372.280 [DAT](INFO): response not received
2025-08-09T17:26:12.280Z,1754760372.280 [DAT](INFO): DAT read: user:540>

2025-08-09T17:26:12.281Z,1754760372.281 [DAT](ERROR): No response from remote modem.
2025-08-09T17:26:12.281Z,1754760372.281 [DAT](INFO): checking for new query: numPingsReceived=27, elapsed TxPingTime=12.351869
2025-08-09T17:26:12.380Z,1754760372.380 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.10 m.
2025-08-09T17:26:12.531Z,1754760372.531 [DAT](INFO): DAT read: Tx time:17:26:11.8362

2025-08-09T17:26:12.532Z,1754760372.532 [DAT](INFO): Ping request sent.
2025-08-09T17:26:12.532Z,1754760372.532 [DAT](INFO): transmitted an acoustic signal
2025-08-09T17:26:12.532Z,1754760372.532 [DAT](INFO): publishing transmit ping time
2025-08-09T17:26:12.533Z,1754760372.533 [DAT](INFO): checking for new query: numPingsReceived=27, elapsed TxPingTime=0.000765
2025-08-09T17:26:12.783Z,1754760372.783 [DAT](INFO): checking for new query: numPingsReceived=27, elapsed TxPingTime=0.251526
2025-08-09T17:26:12.795Z,1754760372.795 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.10 m.
2025-08-09T17:26:13.035Z,1754760373.035 [DAT](INFO): checking for new query: numPingsReceived=27, elapsed TxPingTime=0.503449
2025-08-09T17:26:13.189Z,1754760373.189 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.10 m.
2025-08-09T17:26:13.287Z,1754760373.287 [DAT](INFO): checking for new query: numPingsReceived=27, elapsed TxPingTime=0.755636
2025-08-09T17:26:13.540Z,1754760373.540 [DAT](INFO): checking for new query: numPingsReceived=27, elapsed TxPingTime=1.007986
2025-08-09T17:26:13.603Z,1754760373.603 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.10 m.
2025-08-09T17:26:13.792Z,1754760373.792 [DAT](INFO): checking for new query: numPingsReceived=27, elapsed TxPingTime=1.259965
2025-08-09T17:26:14.043Z,1754760374.043 [DAT](INFO): checking for new query: numPingsReceived=27, elapsed TxPingTime=1.511621
2025-08-09T17:26:14.078Z,1754760374.078 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.10 m.
2025-08-09T17:26:14.296Z,1754760374.296 [DAT](INFO): checking for new query: numPingsReceived=27, elapsed TxPingTime=1.764063
2025-08-09T17:26:14.499Z,1754760374.499 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.10 m.
2025-08-09T17:26:14.548Z,1754760374.548 [DAT](INFO): checking for new query: numPingsReceived=27, elapsed TxPingTime=2.015987
2025-08-09T17:26:14.799Z,1754760374.799 [DAT](INFO): checking for new query: numPingsReceived=27, elapsed TxPingTime=2.267588
2025-08-09T17:26:14.913Z,1754760374.913 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.10 m.
2025-08-09T17:26:15.052Z,1754760375.052 [DAT](INFO): checking for new query: numPingsReceived=27, elapsed TxPingTime=2.519828
2025-08-09T17:26:15.303Z,1754760375.303 [DAT](INFO): checking for new query: numPingsReceived=27, elapsed TxPingTime=2.771562
2025-08-09T17:26:15.307Z,1754760375.307 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.10 m.
2025-08-09T17:26:15.555Z,1754760375.555 [DAT](INFO): checking for new query: numPingsReceived=27, elapsed TxPingTime=3.023503
2025-08-09T17:26:15.807Z,1754760375.807 [DAT](INFO): checking for new query: numPingsReceived=27, elapsed TxPingTime=3.275518
2025-08-09T17:26:15.839Z,1754760375.839 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.10 m.
2025-08-09T17:26:16.060Z,1754760376.060 [DAT](INFO): checking for new query: numPingsReceived=27, elapsed TxPingTime=3.527740
2025-08-09T17:26:16.225Z,1754760376.225 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.10 m.
2025-08-09T17:26:16.311Z,1754760376.311 [DAT](INFO): checking for new query: numPingsReceived=27, elapsed TxPingTime=3.779486
2025-08-09T17:26:16.563Z,1754760376.563 [DAT](INFO): checking for new query: numPingsReceived=27, elapsed TxPingTime=4.031407
2025-08-09T17:26:16.638Z,1754760376.638 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.10 m.
2025-08-09T17:26:16.815Z,1754760376.815 [DAT](INFO): checking for new query: numPingsReceived=27, elapsed TxPingTime=4.283453
2025-08-09T17:26:17.065Z,1754760377.065 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.10 m.
2025-08-09T17:26:17.067Z,1754760377.067 [DAT](INFO): checking for new query: numPingsReceived=27, elapsed TxPingTime=4.535612
2025-08-09T17:26:17.319Z,1754760377.319 [DAT](INFO): checking for new query: numPingsReceived=27, elapsed TxPingTime=4.787418
2025-08-09T17:26:17.447Z,1754760377.447 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.10 m.
2025-08-09T17:26:17.573Z,1754760377.573 [DAT](INFO): checking for new query: numPingsReceived=27, elapsed TxPingTime=5.040887
2025-08-09T17:26:17.823Z,1754760377.823 [DAT](INFO): checking for new query: numPingsReceived=27, elapsed TxPingTime=5.291570
2025-08-09T17:26:17.888Z,1754760377.888 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.10 m.
2025-08-09T17:26:18.077Z,1754760378.077 [DAT](INFO): checking for new query: numPingsReceived=27, elapsed TxPingTime=5.545218
2025-08-09T17:26:18.284Z,1754760378.284 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.10 m.
2025-08-09T17:26:18.327Z,1754760378.327 [DAT](INFO): checking for new query: numPingsReceived=27, elapsed TxPingTime=5.795544
2025-08-09T17:26:18.579Z,1754760378.579 [DAT](INFO): checking for new query: numPingsReceived=27, elapsed TxPingTime=6.047431
2025-08-09T17:26:18.697Z,1754760378.697 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.10 m.
2025-08-09T17:26:18.832Z,1754760378.832 [DAT](INFO): checking for new query: numPingsReceived=27, elapsed TxPingTime=6.300217
2025-08-09T17:26:19.083Z,1754760379.083 [DAT](INFO): checking for new query: numPingsReceived=27, elapsed TxPingTime=6.551566
2025-08-09T17:26:19.116Z,1754760379.116 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.10 m.
2025-08-09T17:26:19.335Z,1754760379.335 [DAT](INFO): checking for new query: numPingsReceived=27, elapsed TxPingTime=6.803476
2025-08-09T17:26:19.522Z,1754760379.522 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.10 m.
2025-08-09T17:26:19.587Z,1754760379.587 [DAT](INFO): checking for new query: numPingsReceived=27, elapsed TxPingTime=7.055543
2025-08-09T17:26:19.839Z,1754760379.839 [DAT](INFO): checking for new query: numPingsReceived=27, elapsed TxPingTime=7.307441
2025-08-09T17:26:19.947Z,1754760379.947 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.10 m.
2025-08-09T17:26:20.091Z,1754760380.091 [DAT](INFO): checking for new query: numPingsReceived=27, elapsed TxPingTime=7.559573
2025-08-09T17:26:20.343Z,1754760380.343 [DAT](INFO): checking for new query: numPingsReceived=27, elapsed TxPingTime=7.811456
2025-08-09T17:26:20.349Z,1754760380.349 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.10 m.
2025-08-09T17:26:20.595Z,1754760380.595 [DAT](INFO): checking for new query: numPingsReceived=27, elapsed TxPingTime=8.063386
2025-08-09T17:26:20.799Z,1754760380.799 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.10 m.
2025-08-09T17:26:20.849Z,1754760380.849 [DAT](INFO): checking for new query: numPingsReceived=27, elapsed TxPingTime=8.316622
2025-08-09T17:26:21.099Z,1754760381.099 [DAT](INFO): checking for new query: numPingsReceived=27, elapsed TxPingTime=8.567364
2025-08-09T17:26:21.185Z,1754760381.185 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.10 m.
2025-08-09T17:26:21.352Z,1754760381.352 [DAT](INFO): checking for new query: numPingsReceived=27, elapsed TxPingTime=8.820343
2025-08-09T17:26:21.552Z,1754760381.552 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.10 m.
2025-08-09T17:26:21.604Z,1754760381.604 [DAT](INFO): checking for new query: numPingsReceived=27, elapsed TxPingTime=9.071975
2025-08-09T17:26:21.859Z,1754760381.859 [DAT](INFO): checking for new query: numPingsReceived=27, elapsed TxPingTime=9.327217
2025-08-09T17:26:22.013Z,1754760382.013 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.10 m.
2025-08-09T17:26:22.108Z,1754760382.108 [DAT](INFO): checking for new query: numPingsReceived=27, elapsed TxPingTime=9.575661
2025-08-09T17:26:22.354Z,1754760382.354 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.10 m.
2025-08-09T17:26:22.359Z,1754760382.359 [DAT](INFO): checking for new query: numPingsReceived=27, elapsed TxPingTime=9.827626
2025-08-09T17:26:22.611Z,1754760382.611 [DAT](INFO): checking for new query: numPingsReceived=27, elapsed TxPingTime=10.079568
2025-08-09T17:26:22.847Z,1754760382.847 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.10 m.
2025-08-09T17:26:22.863Z,1754760382.863 [DAT](INFO): checking for new query: numPingsReceived=27, elapsed TxPingTime=10.331447
2025-08-09T17:26:23.116Z,1754760383.116 [DAT](INFO): checking for new query: numPingsReceived=27, elapsed TxPingTime=10.584125
2025-08-09T17:26:23.199Z,1754760383.199 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.10 m.
2025-08-09T17:26:23.367Z,1754760383.367 [DAT](INFO): checking for new query: numPingsReceived=27, elapsed TxPingTime=10.835374
2025-08-09T17:26:23.566Z,1754760383.566 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.10 m.
2025-08-09T17:26:23.619Z,1754760383.619 [DAT](INFO): checking for new query: numPingsReceived=27, elapsed TxPingTime=11.087595
2025-08-09T17:26:23.872Z,1754760383.872 [DAT](INFO): checking for new query: numPingsReceived=27, elapsed TxPingTime=11.340135
2025-08-09T17:26:24.013Z,1754760384.013 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.10 m.
2025-08-09T17:26:24.123Z,1754760384.123 [DAT](INFO): checking for new query: numPingsReceived=27, elapsed TxPingTime=11.591427
2025-08-09T17:26:24.378Z,1754760384.378 [DAT](INFO): checking for new query: numPingsReceived=27, elapsed TxPingTime=11.845764
2025-08-09T17:26:24.387Z,1754760384.387 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.10 m.
2025-08-09T17:26:24.627Z,1754760384.627 [DAT](INFO): checking for new query: numPingsReceived=27, elapsed TxPingTime=12.095465
2025-08-09T17:26:24.860Z,1754760384.860 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.10 m.
2025-08-09T17:26:24.880Z,1754760384.880 [DAT](INFO): DAT read: Response Not Received

2025-08-09T17:26:24.880Z,1754760384.880 [DAT](INFO): response not received
2025-08-09T17:26:24.880Z,1754760384.880 [DAT](INFO): DAT read: user:541>

2025-08-09T17:26:24.881Z,1754760384.881 [DAT](INFO): DAT read: Tx time:17:26:24.2861

2025-08-09T17:26:24.881Z,1754760384.881 [DAT](INFO): Ping request sent.
2025-08-09T17:26:24.881Z,1754760384.881 [DAT](INFO): transmitted an acoustic signal
2025-08-09T17:26:24.882Z,1754760384.882 [DAT](INFO): publishing transmit ping time
2025-08-09T17:26:24.883Z,1754760384.883 [DAT](INFO): checking for new query: numPingsReceived=27, elapsed TxPingTime=0.001021
2025-08-09T17:26:25.131Z,1754760385.131 [DAT](INFO): checking for new query: numPingsReceived=27, elapsed TxPingTime=0.249794
2025-08-09T17:26:25.221Z,1754760385.221 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.10 m.
2025-08-09T17:26:25.383Z,1754760385.383 [DAT](INFO): checking for new query: numPingsReceived=27, elapsed TxPingTime=0.501798
2025-08-09T17:26:25.592Z,1754760385.592 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.10 m.
2025-08-09T17:26:25.635Z,1754760385.635 [DAT](INFO): checking for new query: numPingsReceived=27, elapsed TxPingTime=0.753879
2025-08-09T17:26:25.887Z,1754760385.887 [DAT](INFO): checking for new query: numPingsReceived=27, elapsed TxPingTime=1.005805
2025-08-09T17:26:26.043Z,1754760386.043 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.10 m.
2025-08-09T17:26:26.140Z,1754760386.140 [DAT](INFO): checking for new query: numPingsReceived=27, elapsed TxPingTime=1.258335
2025-08-09T17:26:26.391Z,1754760386.391 [DAT](INFO): checking for new query: numPingsReceived=27, elapsed TxPingTime=1.509847
2025-08-09T17:26:26.432Z,1754760386.432 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.10 m.
2025-08-09T17:26:26.644Z,1754760386.644 [DAT](INFO): checking for new query: numPingsReceived=27, elapsed TxPingTime=1.762700
2025-08-09T17:26:26.895Z,1754760386.895 [DAT](INFO): checking for new query: numPingsReceived=27, elapsed TxPingTime=2.013930
2025-08-09T17:26:26.909Z,1754760386.909 [RDI_Pathfinder](ERROR): only read 2 of 4 data items for water velocity. Device response is::WS,-32768,-3278,V
2025-08-09T17:26:26.957Z,1754760386.957 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.10 m.
2025-08-09T17:26:27.147Z,1754760387.147 [DAT](INFO): checking for new query: numPingsReceived=27, elapsed TxPingTime=2.265849
2025-08-09T17:26:27.258Z,1754760387.258 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.10 m.
2025-08-09T17:26:27.399Z,1754760387.399 [DAT](INFO): checking for new query: numPingsReceived=27, elapsed TxPingTime=2.517868
2025-08-09T17:26:27.651Z,1754760387.651 [DAT](INFO): checking for new query: numPingsReceived=27, elapsed TxPingTime=2.769864
2025-08-09T17:26:27.671Z,1754760387.671 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.10 m.
2025-08-09T17:26:27.903Z,1754760387.903 [DAT](INFO): DAT read: Rx Time:17:26:26.8026

2025-08-09T17:26:27.904Z,1754760387.904 [DAT](INFO): Rx dataTimestamp_ set to:1754760387.903504
2025-08-09T17:26:27.904Z,1754760387.904 [DAT](INFO): checking for new query: numPingsReceived=27, elapsed TxPingTime=3.022875
2025-08-09T17:26:28.091Z,1754760388.091 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.10 m.
2025-08-09T17:26:28.156Z,1754760388.156 [DAT](INFO): checking for new query: numPingsReceived=27, elapsed TxPingTime=3.274110
2025-08-09T17:26:28.413Z,1754760388.413 [DAT](INFO): DAT read: 17:26:26.8026 LVL= 32752, 24177, 30146, 26979, AGC= 67, IDX= 107, 0.18, 2.279,-1.775, 2.466, 2.965, PHS=-0.583, 1.588,-0.543, RAW= 329.1,  -4.3, CAL= 328.4,  -7.4, ROT= 181.6,   7.4

2025-08-09T17:26:28.414Z,1754760388.414 [DAT](INFO): got valid direction response:
 17:26:26.8026 LVL= 32752, 24177, 30146, 26979, AGC= 67, IDX= 107, 0.18, 2.279,-1.775, 2.466, 2.965, PHS=-0.583, 1.588,-0.543, RAW= 329.1,  -4.3, CAL= 328.4,  -7.4, ROT= 181.6,   7.4

2025-08-09T17:26:28.415Z,1754760388.415 [DAT](INFO): DAT read: $Error in header

2025-08-09T17:26:28.415Z,1754760388.415 [DAT](INFO): Received a bad header
2025-08-09T17:26:28.426Z,1754760388.426 [DAT](INFO): #Rx 28: Read direction message, but no range.
2025-08-09T17:26:28.427Z,1754760388.427 [DAT](INFO): direction in FSK: [-0.991285,-0.027689,-0.128796]
2025-08-09T17:26:28.431Z,1754760388.431 [DAT](INFO): checking for new query: numPingsReceived=28, elapsed TxPingTime=3.549254
2025-08-09T17:26:28.528Z,1754760388.528 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.10 m.
2025-08-09T17:26:28.659Z,1754760388.659 [DAT](INFO): checking for new query: numPingsReceived=28, elapsed TxPingTime=3.777779
2025-08-09T17:26:28.914Z,1754760388.914 [DAT](INFO): checking for new query: numPingsReceived=28, elapsed TxPingTime=4.031699
2025-08-09T17:26:29.015Z,1754760389.015 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.10 m.
2025-08-09T17:26:29.163Z,1754760389.163 [DAT](INFO): checking for new query: numPingsReceived=28, elapsed TxPingTime=4.281808
2025-08-09T17:26:29.415Z,1754760389.415 [DAT](INFO): checking for new query: numPingsReceived=28, elapsed TxPingTime=4.533837
2025-08-09T17:26:29.453Z,1754760389.453 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.10 m.
2025-08-09T17:26:29.667Z,1754760389.667 [DAT](INFO): checking for new query: numPingsReceived=28, elapsed TxPingTime=4.785895
2025-08-09T17:26:29.919Z,1754760389.919 [DAT](INFO): checking for new query: numPingsReceived=28, elapsed TxPingTime=5.037974
2025-08-09T17:26:29.927Z,1754760389.927 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.10 m.
2025-08-09T17:26:30.171Z,1754760390.171 [DAT](INFO): checking for new query: numPingsReceived=28, elapsed TxPingTime=5.289861
2025-08-09T17:26:30.265Z,1754760390.265 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.10 m.
2025-08-09T17:26:30.423Z,1754760390.423 [DAT](INFO): checking for new query: numPingsReceived=28, elapsed TxPingTime=5.541775
2025-08-09T17:26:30.631Z,1754760390.631 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.10 m.
2025-08-09T17:26:30.675Z,1754760390.675 [DAT](INFO): checking for new query: numPingsReceived=28, elapsed TxPingTime=5.793887
2025-08-09T17:26:30.930Z,1754760390.930 [DAT](INFO): checking for new query: numPingsReceived=28, elapsed TxPingTime=6.048056
2025-08-09T17:26:31.081Z,1754760391.081 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.10 m.
2025-08-09T17:26:31.183Z,1754760391.183 [DAT](INFO): checking for new query: numPingsReceived=28, elapsed TxPingTime=6.301561
2025-08-09T17:26:31.433Z,1754760391.433 [DAT](INFO): checking for new query: numPingsReceived=28, elapsed TxPingTime=6.551268
2025-08-09T17:26:31.496Z,1754760391.496 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.10 m.
2025-08-09T17:26:31.683Z,1754760391.683 [DAT](INFO): checking for new query: numPingsReceived=28, elapsed TxPingTime=6.801726
2025-08-09T17:26:31.940Z,1754760391.940 [DAT](INFO): checking for new query: numPingsReceived=28, elapsed TxPingTime=7.058154
2025-08-09T17:26:32.023Z,1754760392.023 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.10 m.
2025-08-09T17:26:32.187Z,1754760392.187 [DAT](INFO): checking for new query: numPingsReceived=28, elapsed TxPingTime=7.305772
2025-08-09T17:26:32.282Z,1754760392.282 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.10 m.
2025-08-09T17:26:32.440Z,1754760392.440 [DAT](INFO): checking for new query: numPingsReceived=28, elapsed TxPingTime=7.558257
2025-08-09T17:26:32.691Z,1754760392.691 [DAT](INFO): checking for new query: numPingsReceived=28, elapsed TxPingTime=7.809901
2025-08-09T17:26:32.694Z,1754760392.694 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.10 m.
2025-08-09T17:26:32.947Z,1754760392.947 [DAT](INFO): checking for new query: numPingsReceived=28, elapsed TxPingTime=8.064303
2025-08-09T17:26:33.116Z,1754760393.116 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.10 m.
2025-08-09T17:26:33.195Z,1754760393.195 [DAT](INFO): checking for new query: numPingsReceived=28, elapsed TxPingTime=8.313827
2025-08-09T17:26:33.448Z,1754760393.448 [DAT](INFO): checking for new query: numPingsReceived=28, elapsed TxPingTime=8.566576
2025-08-09T17:26:33.497Z,1754760393.497 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.10 m.
2025-08-09T17:26:33.700Z,1754760393.700 [DAT](INFO): checking for new query: numPingsReceived=28, elapsed TxPingTime=8.818417
2025-08-09T17:26:33.906Z,1754760393.906 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.10 m.
2025-08-09T17:26:33.955Z,1754760393.955 [DAT](INFO): checking for new query: numPingsReceived=28, elapsed TxPingTime=9.073089
2025-08-09T17:26:34.204Z,1754760394.204 [DAT](INFO): checking for new query: numPingsReceived=28, elapsed TxPingTime=9.322169
2025-08-09T17:26:34.405Z,1754760394.405 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.10 m.
2025-08-09T17:26:34.456Z,1754760394.456 [DAT](INFO): checking for new query: numPingsReceived=28, elapsed TxPingTime=9.574833
2025-08-09T17:26:34.707Z,1754760394.707 [DAT](INFO): checking for new query: numPingsReceived=28, elapsed TxPingTime=9.825736
2025-08-09T17:26:34.830Z,1754760394.830 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.10 m.
2025-08-09T17:26:34.963Z,1754760394.963 [DAT](INFO): checking for new query: numPingsReceived=28, elapsed TxPingTime=10.081380
2025-08-09T17:26:35.211Z,1754760395.211 [DAT](INFO): checking for new query: numPingsReceived=28, elapsed TxPingTime=10.329900
2025-08-09T17:26:35.259Z,1754760395.259 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.10 m.
2025-08-09T17:26:35.464Z,1754760395.464 [DAT](INFO): checking for new query: numPingsReceived=28, elapsed TxPingTime=10.582773
2025-08-09T17:26:35.639Z,1754760395.639 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.10 m.
2025-08-09T17:26:35.716Z,1754760395.716 [DAT](INFO): checking for new query: numPingsReceived=28, elapsed TxPingTime=10.834421
2025-08-09T17:26:35.970Z,1754760395.970 [DAT](INFO): checking for new query: numPingsReceived=28, elapsed TxPingTime=11.088087
2025-08-09T17:26:36.083Z,1754760396.083 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.10 m.
2025-08-09T17:26:36.219Z,1754760396.219 [DAT](INFO): checking for new query: numPingsReceived=28, elapsed TxPingTime=11.337712
2025-08-09T17:26:36.471Z,1754760396.471 [DAT](INFO): checking for new query: numPingsReceived=28, elapsed TxPingTime=11.589907
2025-08-09T17:26:36.505Z,1754760396.505 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.10 m.
2025-08-09T17:26:36.723Z,1754760396.723 [DAT](INFO): checking for new query: numPingsReceived=28, elapsed TxPingTime=11.841874
2025-08-09T17:26:36.945Z,1754760396.945 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.10 m.
2025-08-09T17:26:36.978Z,1754760396.978 [DAT](INFO): checking for new query: numPingsReceived=28, elapsed TxPingTime=12.096056
2025-08-09T17:26:37.228Z,1754760397.228 [DAT](INFO): DAT read: Response Not Received

2025-08-09T17:26:37.229Z,1754760397.229 [DAT](INFO): response not received
2025-08-09T17:26:37.229Z,1754760397.229 [DAT](INFO): DAT read: user:543>

2025-08-09T17:26:37.230Z,1754760397.230 [DAT](INFO): DAT read: Tx time:17:26:36.7361

2025-08-09T17:26:37.230Z,1754760397.230 [DAT](INFO): Ping request sent.
2025-08-09T17:26:37.231Z,1754760397.231 [DAT](INFO): transmitted an acoustic signal
2025-08-09T17:26:37.231Z,1754760397.231 [DAT](INFO): publishing transmit ping time
2025-08-09T17:26:37.231Z,1754760397.231 [DAT](INFO): checking for new query: numPingsReceived=28, elapsed TxPingTime=0.000751
2025-08-09T17:26:37.462Z,1754760397.462 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.10 m.
2025-08-09T17:26:37.479Z,1754760397.479 [DAT](INFO): checking for new query: numPingsReceived=28, elapsed TxPingTime=0.248764
2025-08-09T17:26:37.731Z,1754760397.731 [DAT](INFO): checking for new query: numPingsReceived=28, elapsed TxPingTime=0.500613
2025-08-09T17:26:37.868Z,1754760397.868 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.10 m.
2025-08-09T17:26:37.987Z,1754760397.987 [DAT](INFO): checking for new query: numPingsReceived=28, elapsed TxPingTime=0.755556
2025-08-09T17:26:38.236Z,1754760398.236 [DAT](INFO): checking for new query: numPingsReceived=28, elapsed TxPingTime=1.004947
2025-08-09T17:26:38.283Z,1754760398.283 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.10 m.
2025-08-09T17:26:38.487Z,1754760398.487 [DAT](INFO): checking for new query: numPingsReceived=28, elapsed TxPingTime=1.256620
2025-08-09T17:26:38.653Z,1754760398.653 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.10 m.
2025-08-09T17:26:38.739Z,1754760398.739 [DAT](INFO): checking for new query: numPingsReceived=28, elapsed TxPingTime=1.508896
2025-08-09T17:26:38.991Z,1754760398.991 [DAT](INFO): checking for new query: numPingsReceived=28, elapsed TxPingTime=1.760816
2025-08-09T17:26:39.111Z,1754760399.111 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.10 m.
2025-08-09T17:26:39.243Z,1754760399.243 [DAT](INFO): checking for new query: numPingsReceived=28, elapsed TxPingTime=2.012826
2025-08-09T17:26:39.495Z,1754760399.495 [DAT](INFO): checking for new query: numPingsReceived=28, elapsed TxPingTime=2.264646
2025-08-09T17:26:39.517Z,1754760399.517 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.10 m.
2025-08-09T17:26:39.748Z,1754760399.748 [DAT](INFO): checking for new query: numPingsReceived=28, elapsed TxPingTime=2.517173
2025-08-09T17:26:39.946Z,1754760399.946 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.10 m.
2025-08-09T17:26:40.002Z,1754760400.002 [DAT](INFO): checking for new query: numPingsReceived=28, elapsed TxPingTime=2.770801
2025-08-09T17:26:40.251Z,1754760400.251 [DAT](INFO): DAT read: Rx Time:17:26:39.2537

2025-08-09T17:26:40.252Z,1754760400.252 [DAT](INFO): Rx dataTimestamp_ set to:1754760400.251509
2025-08-09T17:26:40.252Z,1754760400.252 [DAT](INFO): checking for new query: numPingsReceived=28, elapsed TxPingTime=3.021789
2025-08-09T17:26:40.457Z,1754760400.457 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.10 m.
2025-08-09T17:26:40.504Z,1754760400.504 [DAT](INFO): checking for new query: numPingsReceived=28, elapsed TxPingTime=3.273223
2025-08-09T17:26:40.753Z,1754760400.753 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.10 m.
2025-08-09T17:26:40.758Z,1754760400.758 [DAT](INFO): checking for new query: numPingsReceived=28, elapsed TxPingTime=3.526972
2025-08-09T17:26:41.018Z,1754760401.018 [DAT](INFO): DAT read: 17:26:39.2537 LVL= 32752, 31473, 32754, 28259, AGC= 70, IDX= 454, 0.35,-1.910,-0.085,-1.787,-1.426, PHS=-0.381, 1.387,-0.405, RAW= 330.7,  -6.8, CAL= 330.2,  -9.9, ROT= 179.8,   9.9

2025-08-09T17:26:41.019Z,1754760401.019 [DAT](INFO): got valid direction response:
 17:26:39.2537 LVL= 32752, 31473, 32754, 28259, AGC= 70, IDX= 454, 0.35,-1.910,-0.085,-1.787,-1.426, PHS=-0.381, 1.387,-0.405, RAW= 330.7,  -6.8, CAL= 330.2,  -9.9, ROT= 179.8,   9.9

2025-08-09T17:26:41.020Z,1754760401.020 [DAT](INFO): DAT read: $Error in header

2025-08-09T17:26:41.020Z,1754760401.020 [DAT](INFO): Received a bad header
2025-08-09T17:26:41.035Z,1754760401.035 [DAT](INFO): #Rx 29: Read direction message, but no range.
2025-08-09T17:26:41.039Z,1754760401.039 [DAT](INFO): direction in FSK: [-0.985103,0.003439,-0.171929]
2025-08-09T17:26:41.085Z,1754760401.085 [DAT](INFO): checking for new query: numPingsReceived=29, elapsed TxPingTime=3.854263
2025-08-09T17:26:41.200Z,1754760401.200 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.10 m.
2025-08-09T17:26:41.260Z,1754760401.260 [DAT](INFO): checking for new query: numPingsReceived=29, elapsed TxPingTime=4.029291
2025-08-09T17:26:41.511Z,1754760401.511 [DAT](INFO): checking for new query: numPingsReceived=29, elapsed TxPingTime=4.280667
2025-08-09T17:26:41.563Z,1754760401.563 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.10 m.
2025-08-09T17:26:41.764Z,1754760401.764 [DAT](INFO): checking for new query: numPingsReceived=29, elapsed TxPingTime=4.533312
2025-08-09T17:26:42.010Z,1754760402.010 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.10 m.
2025-08-09T17:26:42.018Z,1754760402.018 [DAT](INFO): checking for new query: numPingsReceived=29, elapsed TxPingTime=4.787089
2025-08-09T17:26:42.267Z,1754760402.267 [DAT](INFO): checking for new query: numPingsReceived=29, elapsed TxPingTime=5.036727
2025-08-09T17:26:42.519Z,1754760402.519 [DAT](INFO): checking for new query: numPingsReceived=29, elapsed TxPingTime=5.288753
2025-08-09T17:26:42.538Z,1754760402.538 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.10 m.
2025-08-09T17:26:42.771Z,1754760402.771 [DAT](INFO): checking for new query: numPingsReceived=29, elapsed TxPingTime=5.540776
2025-08-09T17:26:42.968Z,1754760402.968 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.10 m.
2025-08-09T17:26:43.024Z,1754760403.024 [DAT](INFO): checking for new query: numPingsReceived=29, elapsed TxPingTime=5.793626
2025-08-09T17:26:43.275Z,1754760403.275 [DAT](INFO): checking for new query: numPingsReceived=29, elapsed TxPingTime=6.044698
2025-08-09T17:26:43.382Z,1754760403.382 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.10 m.
2025-08-09T17:26:43.527Z,1754760403.527 [DAT](INFO): checking for new query: numPingsReceived=29, elapsed TxPingTime=6.296738
2025-08-09T17:26:43.779Z,1754760403.779 [DAT](INFO): checking for new query: numPingsReceived=29, elapsed TxPingTime=6.548808
2025-08-09T17:26:43.780Z,1754760403.780 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.10 m.
2025-08-09T17:26:44.031Z,1754760404.031 [DAT](INFO): checking for new query: numPingsReceived=29, elapsed TxPingTime=6.800644
2025-08-09T17:26:44.191Z,1754760404.191 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.10 m.
2025-08-09T17:26:44.284Z,1754760404.284 [DAT](INFO): checking for new query: numPingsReceived=29, elapsed TxPingTime=7.053177
2025-08-09T17:26:44.535Z,1754760404.535 [DAT](INFO): checking for new query: numPingsReceived=29, elapsed TxPingTime=7.304733
2025-08-09T17:26:44.563Z,1754760404.563 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.10 m.
2025-08-09T17:26:44.788Z,1754760404.788 [DAT](INFO): checking for new query: numPingsReceived=29, elapsed TxPingTime=7.556994
2025-08-09T17:26:44.972Z,1754760404.972 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.10 m.
2025-08-09T17:26:45.041Z,1754760405.041 [DAT](INFO): checking for new query: numPingsReceived=29, elapsed TxPingTime=7.809702
2025-08-09T17:26:45.291Z,1754760405.291 [DAT](INFO): checking for new query: numPingsReceived=29, elapsed TxPingTime=8.060673
2025-08-09T17:26:45.401Z,1754760405.401 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.10 m.
2025-08-09T17:26:45.543Z,1754760405.543 [DAT](INFO): checking for new query: numPingsReceived=29, elapsed TxPingTime=8.312794
2025-08-09T17:26:45.767Z,1754760405.767 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.10 m.
2025-08-09T17:26:45.795Z,1754760405.795 [DAT](INFO): checking for new query: numPingsReceived=29, elapsed TxPingTime=8.564871
2025-08-09T17:26:46.047Z,1754760406.047 [DAT](INFO): checking for new query: numPingsReceived=29, elapsed TxPingTime=8.816659
2025-08-09T17:26:46.205Z,1754760406.205 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.10 m.
2025-08-09T17:26:46.299Z,1754760406.299 [DAT](INFO): checking for new query: numPingsReceived=29, elapsed TxPingTime=9.068684
2025-08-09T17:26:46.551Z,1754760406.551 [DAT](INFO): checking for new query: numPingsReceived=29, elapsed TxPingTime=9.320735
2025-08-09T17:26:46.578Z,1754760406.578 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.10 m.
2025-08-09T17:26:46.803Z,1754760406.803 [DAT](INFO): checking for new query: numPingsReceived=29, elapsed TxPingTime=9.572701
2025-08-09T17:26:46.999Z,1754760406.999 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.10 m.
2025-08-09T17:26:47.055Z,1754760407.055 [DAT](INFO): checking for new query: numPingsReceived=29, elapsed TxPingTime=9.824779
2025-08-09T17:26:47.307Z,1754760407.307 [DAT](INFO): checking for new query: numPingsReceived=29, elapsed TxPingTime=10.076746
2025-08-09T17:26:47.409Z,1754760407.409 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.10 m.
2025-08-09T17:26:47.559Z,1754760407.559 [DAT](INFO): checking for new query: numPingsReceived=29, elapsed TxPingTime=10.328867
2025-08-09T17:26:47.783Z,1754760407.783 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.10 m.
2025-08-09T17:26:47.811Z,1754760407.811 [DAT](INFO): checking for new query: numPingsReceived=29, elapsed TxPingTime=10.580790
2025-08-09T17:26:48.063Z,1754760408.063 [DAT](INFO): checking for new query: numPingsReceived=29, elapsed TxPingTime=10.832725
2025-08-09T17:26:48.235Z,1754760408.235 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.10 m.
2025-08-09T17:26:48.316Z,1754760408.316 [DAT](INFO): checking for new query: numPingsReceived=29, elapsed TxPingTime=11.085029
2025-08-09T17:26:48.568Z,1754760408.568 [DAT](INFO): checking for new query: numPingsReceived=29, elapsed TxPingTime=11.336956
2025-08-09T17:26:48.599Z,1754760408.599 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.10 m.
2025-08-09T17:26:48.819Z,1754760408.819 [DAT](INFO): checking for new query: numPingsReceived=29, elapsed TxPingTime=11.588731
2025-08-09T17:26:49.005Z,1754760409.005 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.10 m.
2025-08-09T17:26:49.071Z,1754760409.071 [DAT](INFO): checking for new query: numPingsReceived=29, elapsed TxPingTime=11.840773
2025-08-09T17:26:49.324Z,1754760409.324 [DAT](INFO): checking for new query: numPingsReceived=29, elapsed TxPingTime=12.092962
2025-08-09T17:26:49.451Z,1754760409.451 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.10 m.
2025-08-09T17:26:49.575Z,1754760409.575 [DAT](INFO): checking for new query: numPingsReceived=29, elapsed TxPingTime=12.344707
2025-08-09T17:26:49.804Z,1754760409.804 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.10 m.
2025-08-09T17:26:49.827Z,1754760409.827 [DAT](INFO): DAT read: Response Not Received

2025-08-09T17:26:49.828Z,1754760409.828 [DAT](INFO): response not received
2025-08-09T17:26:49.828Z,1754760409.828 [DAT](INFO): DAT read: user:545>

2025-08-09T17:26:49.829Z,1754760409.829 [DAT](INFO): DAT read: Tx time:17:26:49.1860

2025-08-09T17:26:49.829Z,1754760409.829 [DAT](INFO): Ping request sent.
2025-08-09T17:26:49.829Z,1754760409.829 [DAT](INFO): transmitted an acoustic signal
2025-08-09T17:26:49.829Z,1754760409.829 [DAT](INFO): publishing transmit ping time
2025-08-09T17:26:49.830Z,1754760409.830 [DAT](INFO): checking for new query: numPingsReceived=29, elapsed TxPingTime=0.000747
2025-08-09T17:26:50.079Z,1754760410.079 [DAT](INFO): checking for new query: numPingsReceived=29, elapsed TxPingTime=0.250267
2025-08-09T17:26:50.261Z,1754760410.261 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-09T17:26:50.263Z,1754760410.263 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.10 m.
2025-08-09T17:26:50.336Z,1754760410.336 [DAT](INFO): checking for new query: numPingsReceived=29, elapsed TxPingTime=0.507012
2025-08-09T17:26:50.587Z,1754760410.587 [DAT](INFO): checking for new query: numPingsReceived=29, elapsed TxPingTime=0.758072
2025-08-09T17:26:50.633Z,1754760410.633 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.10 m.
2025-08-09T17:26:50.840Z,1754760410.840 [DAT](INFO): checking for new query: numPingsReceived=29, elapsed TxPingTime=1.010675
2025-08-09T17:26:51.015Z,1754760411.015 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.10 m.
2025-08-09T17:26:51.091Z,1754760411.091 [DAT](INFO): checking for new query: numPingsReceived=29, elapsed TxPingTime=1.262285
2025-08-09T17:26:51.343Z,1754760411.343 [DAT](INFO): checking for new query: numPingsReceived=29, elapsed TxPingTime=1.514167
2025-08-09T17:26:51.462Z,1754760411.462 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.10 m.
2025-08-09T17:26:51.596Z,1754760411.596 [DAT](INFO): checking for new query: numPingsReceived=29, elapsed TxPingTime=1.766455
2025-08-09T17:26:51.831Z,1754760411.831 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.10 m.
2025-08-09T17:26:51.848Z,1754760411.848 [DAT](INFO): checking for new query: numPingsReceived=29, elapsed TxPingTime=2.018977
2025-08-09T17:26:52.099Z,1754760412.099 [DAT](INFO): checking for new query: numPingsReceived=29, elapsed TxPingTime=2.270152
2025-08-09T17:26:52.290Z,1754760412.290 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.10 m.
2025-08-09T17:26:52.351Z,1754760412.351 [DAT](INFO): checking for new query: numPingsReceived=29, elapsed TxPingTime=2.522361
2025-08-09T17:26:52.603Z,1754760412.603 [DAT](INFO): checking for new query: numPingsReceived=29, elapsed TxPingTime=2.774317
2025-08-09T17:26:52.633Z,1754760412.633 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.10 m.
2025-08-09T17:26:52.856Z,1754760412.856 [DAT](INFO): DAT read: Rx Time:17:26:51.7708

2025-08-09T17:26:52.857Z,1754760412.857 [DAT](INFO): Rx dataTimestamp_ set to:1754760412.856267
2025-08-09T17:26:52.858Z,1754760412.858 [DAT](INFO): checking for new query: numPingsReceived=29, elapsed TxPingTime=3.028158
2025-08-09T17:26:53.048Z,1754760413.048 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.10 m.
2025-08-09T17:26:53.108Z,1754760413.108 [DAT](INFO): checking for new query: numPingsReceived=29, elapsed TxPingTime=3.279065
2025-08-09T17:26:53.365Z,1754760413.365 [DAT](INFO): DAT read: 17:26:51.7708 LVL= 26928, 20081, 25666, 15827, AGC= 69, IDX=  85,-0.24,-0.921,-0.342,-0.787,-1.743, PHS= 0.924, 1.446, 0.912, RAW= 331.1, -65.5, CAL= 330.6, -67.2, ROT= 179.4,  67.2

2025-08-09T17:26:53.366Z,1754760413.366 [DAT](INFO): got valid direction response:
 17:26:51.7708 LVL= 26928, 20081, 25666, 15827, AGC= 69, IDX=  85,-0.24,-0.921,-0.342,-0.787,-1.743, PHS= 0.924, 1.446, 0.912, RAW= 331.1, -65.5, CAL= 330.6, -67.2, ROT= 179.4,  67.2

2025-08-09T17:26:53.367Z,1754760413.367 [DAT](INFO): DAT read: Bearing  62.1,   0.6 (Local)

2025-08-09T17:26:53.367Z,1754760413.367 [DAT](INFO): Local bearing/azimuth received:
 Bearing  62.1,   0.6 (Local)

2025-08-09T17:26:53.369Z,1754760413.369 [DAT](INFO): DAT read: Range 11 to 50 : 135.4 m  (Round-trip  180.6 ms) speed  0.0 m/s

2025-08-09T17:26:53.370Z,1754760413.370 [DAT](INFO): DAT read: user:546>

2025-08-09T17:26:53.370Z,1754760413.370 [DAT](INFO): DAT read: Tx time:17:26:52.8860

2025-08-09T17:26:53.371Z,1754760413.371 [DAT](INFO): Ping request sent.
2025-08-09T17:26:53.371Z,1754760413.371 [DAT](INFO): transmitted an acoustic signal
2025-08-09T17:26:53.371Z,1754760413.371 [DAT](INFO): #Rx 30: Read range and direction messages.
2025-08-09T17:26:53.372Z,1754760413.372 [DAT](INFO): direction in FSK: [-0.387494,0.004058,-0.921863]
2025-08-09T17:26:53.372Z,1754760413.372 [DAT](INFO): publishing transmit ping time
2025-08-09T17:26:53.373Z,1754760413.373 [DAT](INFO): publishing direction and range info
2025-08-09T17:26:53.417Z,1754760413.417 [DAT](INFO): publishing transmit ping time
2025-08-09T17:26:53.417Z,1754760413.417 [DAT](INFO): publishing direction and range info
2025-08-09T17:26:53.429Z,1754760413.429 [DAT](INFO): checking for new query: numPingsReceived=30, elapsed TxPingTime=0.058003
2025-08-09T17:26:53.549Z,1754760413.549 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 135.399994 m,
      deltaT: 103.327609 s,
      deltaX: 116.699997 m,
      approachRate: 1.129417 m/s,
      rangeRepo size: 4

2025-08-09T17:26:53.560Z,1754760413.560 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 135.399994 m,
      bearing: 194.788927 deg,
      lat: 36.906131 deg,
      lon: -122.115921 deg,
      deltaT: 106.855819 s,
      deltaX: 118.299995 m,
      approachRate: 1.107099 m/s,
      posRepo size: 4

2025-08-09T17:26:53.560Z,1754760413.560 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 135.40 m.
2025-08-09T17:26:53.560Z,1754760413.560 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Completed rollout at range: 135.40 m. Resuming terminal guidance.
2025-08-09T17:26:53.561Z,1754760413.561 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Transitioning guidance mode to: TERMINAL_GUIDANCE
2025-08-09T17:26:53.612Z,1754760413.612 [DAT](INFO): checking for new query: numPingsReceived=30, elapsed TxPingTime=0.241111
2025-08-09T17:26:53.864Z,1754760413.864 [DAT](INFO): checking for new query: numPingsReceived=30, elapsed TxPingTime=0.493201
2025-08-09T17:26:53.884Z,1754760413.884 [lineCaptureHoming:UpdatePingUpdateRate_Terminal] Running Loop=1
2025-08-09T17:26:53.885Z,1754760413.885 [lineCaptureHoming:UpdatePingUpdateRate_Terminal](DEBUG): Aggregate::initialize lineCaptureHoming:UpdatePingUpdateRate_Terminal
2025-08-09T17:26:53.885Z,1754760413.885 [lineCaptureHoming:UpdatePingUpdateRate_Terminal:A] Running Loop=1
2025-08-09T17:26:53.896Z,1754760413.896 [lineCaptureHoming:UpdatePingUpdateRate_Terminal:A](INFO): Entering Terminal tracking update period  2.000000 s sec at 135.399994 m (mode  1.000000 count ).
2025-08-09T17:26:53.896Z,1754760413.896 [lineCaptureHoming:UpdatePingUpdateRate_Terminal:A] Stopped
2025-08-09T17:26:53.896Z,1754760413.896 [lineCaptureHoming:UpdatePingUpdateRate_Terminal:B] Running Loop=1
2025-08-09T17:26:53.912Z,1754760413.912 [lineCaptureHoming:LineCapture:HoldBuoyancy] Running Loop=1
2025-08-09T17:26:53.913Z,1754760413.913 [lineCaptureHoming:LineCapture:HoldBuoyancy](DEBUG): Aggregate::initialize lineCaptureHoming:LineCapture:HoldBuoyancy
2025-08-09T17:26:53.913Z,1754760413.913 [lineCaptureHoming:LineCapture:HoldBuoyancy:A.Buoyancy] Running Loop=1
2025-08-09T17:26:53.913Z,1754760413.913 [lineCaptureHoming:LineCapture:HoldBuoyancy:A.Buoyancy](DEBUG): Initialize Buoyancy Component.
2025-08-09T17:26:54.115Z,1754760414.115 [DAT](INFO): checking for new query: numPingsReceived=30, elapsed TxPingTime=0.744533
2025-08-09T17:26:54.316Z,1754760414.316 [lineCaptureHoming:UpdatePingUpdateRate_Terminal:B] Stopped
2025-08-09T17:26:54.316Z,1754760414.316 [lineCaptureHoming:UpdatePingUpdateRate_Terminal:C] Running Loop=1
2025-08-09T17:26:54.317Z,1754760414.317 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-09T17:26:54.368Z,1754760414.368 [DAT](INFO): checking for new query: numPingsReceived=30, elapsed TxPingTime=0.997329
2025-08-09T17:26:54.619Z,1754760414.619 [DAT](INFO): checking for new query: numPingsReceived=30, elapsed TxPingTime=1.248691
2025-08-09T17:26:54.668Z,1754760414.668 [lineCaptureHoming:UpdatePingUpdateRate_Terminal:C] Stopped
2025-08-09T17:26:54.668Z,1754760414.668 [lineCaptureHoming:UpdatePingUpdateRate_Terminal:D] Running Loop=1
2025-08-09T17:26:54.874Z,1754760414.874 [DAT](INFO): checking for new query: numPingsReceived=30, elapsed TxPingTime=1.502740
2025-08-09T17:26:55.056Z,1754760415.056 [lineCaptureHoming:UpdatePingUpdateRate_Terminal:D] Stopped
2025-08-09T17:26:55.056Z,1754760415.056 [lineCaptureHoming:UpdatePingUpdateRate_Terminal](INFO): Completed lineCaptureHoming:UpdatePingUpdateRate_Terminal
2025-08-09T17:26:55.056Z,1754760415.056 [lineCaptureHoming:UpdatePingUpdateRate_Terminal] Stopped
2025-08-09T17:26:55.056Z,1754760415.056 [lineCaptureHoming:UpdatePingUpdateRate_Terminal](DEBUG): Aggregate::uninitialize lineCaptureHoming:UpdatePingUpdateRate_Terminal
2025-08-09T17:26:55.128Z,1754760415.128 [DAT](INFO): checking for new query: numPingsReceived=30, elapsed TxPingTime=1.757116
2025-08-09T17:26:55.376Z,1754760415.376 [DAT](INFO): checking for new query: numPingsReceived=30, elapsed TxPingTime=2.004863
2025-08-09T17:26:55.627Z,1754760415.627 [DAT](INFO): checking for new query: numPingsReceived=30, elapsed TxPingTime=2.256527
2025-08-09T17:26:55.879Z,1754760415.879 [DAT](INFO): checking for new query: numPingsReceived=30, elapsed TxPingTime=2.508563
2025-08-09T17:26:56.132Z,1754760416.132 [DAT](INFO): checking for new query: numPingsReceived=30, elapsed TxPingTime=2.761070
2025-08-09T17:26:56.349Z,1754760416.349 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-09T17:26:56.385Z,1754760416.385 [DAT](INFO): checking for new query: numPingsReceived=30, elapsed TxPingTime=3.013828
2025-08-09T17:26:56.635Z,1754760416.635 [DAT](INFO): checking for new query: numPingsReceived=30, elapsed TxPingTime=3.264449
2025-08-09T17:26:56.889Z,1754760416.889 [DAT](INFO): checking for new query: numPingsReceived=30, elapsed TxPingTime=3.518347
2025-08-09T17:26:57.146Z,1754760417.146 [DAT](INFO): checking for new query: numPingsReceived=30, elapsed TxPingTime=3.774344
2025-08-09T17:26:57.392Z,1754760417.392 [DAT](INFO): checking for new query: numPingsReceived=30, elapsed TxPingTime=4.021312
2025-08-09T17:26:57.643Z,1754760417.643 [DAT](INFO): checking for new query: numPingsReceived=30, elapsed TxPingTime=4.272544
2025-08-09T17:26:57.896Z,1754760417.896 [DAT](INFO): checking for new query: numPingsReceived=30, elapsed TxPingTime=4.525575
2025-08-09T17:26:58.152Z,1754760418.152 [DAT](INFO): checking for new query: numPingsReceived=30, elapsed TxPingTime=4.780123
2025-08-09T17:26:58.362Z,1754760418.362 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-09T17:26:58.400Z,1754760418.400 [DAT](INFO): checking for new query: numPingsReceived=30, elapsed TxPingTime=5.029154
2025-08-09T17:26:58.651Z,1754760418.651 [DAT](INFO): checking for new query: numPingsReceived=30, elapsed TxPingTime=5.280527
2025-08-09T17:26:58.904Z,1754760418.904 [DAT](INFO): checking for new query: numPingsReceived=30, elapsed TxPingTime=5.533423
2025-08-09T17:26:59.157Z,1754760419.157 [DAT](INFO): checking for new query: numPingsReceived=30, elapsed TxPingTime=5.785512
2025-08-09T17:26:59.408Z,1754760419.408 [DAT](INFO): checking for new query: numPingsReceived=30, elapsed TxPingTime=6.036981
2025-08-09T17:26:59.659Z,1754760419.659 [DAT](INFO): checking for new query: numPingsReceived=30, elapsed TxPingTime=6.288418
2025-08-09T17:26:59.911Z,1754760419.911 [DAT](INFO): checking for new query: numPingsReceived=30, elapsed TxPingTime=6.540463
2025-08-09T17:27:00.164Z,1754760420.164 [DAT](INFO): checking for new query: numPingsReceived=30, elapsed TxPingTime=6.793297
2025-08-09T17:27:00.415Z,1754760420.415 [DAT](INFO): checking for new query: numPingsReceived=30, elapsed TxPingTime=7.044583
2025-08-09T17:27:00.460Z,1754760420.460 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-09T17:27:00.667Z,1754760420.667 [DAT](INFO): checking for new query: numPingsReceived=30, elapsed TxPingTime=7.296487
2025-08-09T17:27:00.921Z,1754760420.921 [DAT](INFO): checking for new query: numPingsReceived=30, elapsed TxPingTime=7.549721
2025-08-09T17:27:01.171Z,1754760421.171 [DAT](INFO): checking for new query: numPingsReceived=30, elapsed TxPingTime=7.800396
2025-08-09T17:27:01.423Z,1754760421.423 [DAT](INFO): checking for new query: numPingsReceived=30, elapsed TxPingTime=8.052559
2025-08-09T17:27:01.675Z,1754760421.675 [DAT](INFO): checking for new query: numPingsReceived=30, elapsed TxPingTime=8.304652
2025-08-09T17:27:01.927Z,1754760421.927 [DAT](INFO): checking for new query: numPingsReceived=30, elapsed TxPingTime=8.556419
2025-08-09T17:27:02.180Z,1754760422.180 [DAT](INFO): checking for new query: numPingsReceived=30, elapsed TxPingTime=8.808742
2025-08-09T17:27:02.431Z,1754760422.431 [DAT](INFO): checking for new query: numPingsReceived=30, elapsed TxPingTime=9.060663
2025-08-09T17:27:02.468Z,1754760422.468 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-09T17:27:02.684Z,1754760422.684 [DAT](INFO): checking for new query: numPingsReceived=30, elapsed TxPingTime=9.313135
2025-08-09T17:27:02.935Z,1754760422.935 [DAT](INFO): checking for new query: numPingsReceived=30, elapsed TxPingTime=9.564503
2025-08-09T17:27:03.187Z,1754760423.187 [DAT](INFO): checking for new query: numPingsReceived=30, elapsed TxPingTime=9.816459
2025-08-09T17:27:03.439Z,1754760423.439 [DAT](INFO): checking for new query: numPingsReceived=30, elapsed TxPingTime=10.068555
2025-08-09T17:27:03.691Z,1754760423.691 [DAT](INFO): checking for new query: numPingsReceived=30, elapsed TxPingTime=10.320450
2025-08-09T17:27:03.951Z,1754760423.951 [DAT](INFO): checking for new query: numPingsReceived=30, elapsed TxPingTime=10.580581
2025-08-09T17:27:04.203Z,1754760424.203 [DAT](INFO): checking for new query: numPingsReceived=30, elapsed TxPingTime=10.832535
2025-08-09T17:27:04.455Z,1754760424.455 [DAT](INFO): checking for new query: numPingsReceived=30, elapsed TxPingTime=11.084491
2025-08-09T17:27:04.707Z,1754760424.707 [DAT](INFO): checking for new query: numPingsReceived=30, elapsed TxPingTime=11.336592
2025-08-09T17:27:04.765Z,1754760424.765 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-09T17:27:04.959Z,1754760424.959 [DAT](INFO): checking for new query: numPingsReceived=30, elapsed TxPingTime=11.588460
2025-08-09T17:27:05.216Z,1754760425.216 [DAT](INFO): checking for new query: numPingsReceived=30, elapsed TxPingTime=11.845407
2025-08-09T17:27:05.463Z,1754760425.463 [DAT](INFO): checking for new query: numPingsReceived=30, elapsed TxPingTime=12.092556
2025-08-09T17:27:05.715Z,1754760425.715 [DAT](INFO): checking for new query: numPingsReceived=30, elapsed TxPingTime=12.344420
2025-08-09T17:27:05.967Z,1754760425.967 [DAT](INFO): DAT read: Response Not Received

2025-08-09T17:27:05.968Z,1754760425.968 [DAT](INFO): response not received
2025-08-09T17:27:05.968Z,1754760425.968 [DAT](INFO): DAT read: user:547>

2025-08-09T17:27:05.969Z,1754760425.969 [DAT](INFO): DAT read: Tx time:17:27:05.3360

2025-08-09T17:27:05.969Z,1754760425.969 [DAT](INFO): Ping request sent.
2025-08-09T17:27:05.969Z,1754760425.969 [DAT](INFO): transmitted an acoustic signal
2025-08-09T17:27:05.969Z,1754760425.969 [DAT](INFO): publishing transmit ping time
2025-08-09T17:27:05.970Z,1754760425.970 [DAT](INFO): checking for new query: numPingsReceived=30, elapsed TxPingTime=0.000754
2025-08-09T17:27:06.220Z,1754760426.220 [DAT](INFO): checking for new query: numPingsReceived=30, elapsed TxPingTime=0.251260
2025-08-09T17:27:06.471Z,1754760426.471 [DAT](INFO): checking for new query: numPingsReceived=30, elapsed TxPingTime=0.502131
2025-08-09T17:27:06.723Z,1754760426.723 [DAT](INFO): checking for new query: numPingsReceived=30, elapsed TxPingTime=0.754168
2025-08-09T17:27:06.975Z,1754760426.975 [DAT](INFO): checking for new query: numPingsReceived=30, elapsed TxPingTime=1.006291
2025-08-09T17:27:06.998Z,1754760426.998 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-09T17:27:07.227Z,1754760427.227 [DAT](INFO): checking for new query: numPingsReceived=30, elapsed TxPingTime=1.258169
2025-08-09T17:27:07.483Z,1754760427.483 [DAT](INFO): checking for new query: numPingsReceived=30, elapsed TxPingTime=1.513501
2025-08-09T17:27:07.731Z,1754760427.731 [DAT](INFO): checking for new query: numPingsReceived=30, elapsed TxPingTime=1.762186
2025-08-09T17:27:07.983Z,1754760427.983 [DAT](INFO): checking for new query: numPingsReceived=30, elapsed TxPingTime=2.014135
2025-08-09T17:27:08.236Z,1754760428.236 [DAT](INFO): checking for new query: numPingsReceived=30, elapsed TxPingTime=2.266496
2025-08-09T17:27:08.489Z,1754760428.489 [DAT](INFO): checking for new query: numPingsReceived=30, elapsed TxPingTime=2.519551
2025-08-09T17:27:08.740Z,1754760428.740 [DAT](INFO): checking for new query: numPingsReceived=30, elapsed TxPingTime=2.770568
2025-08-09T17:27:08.991Z,1754760428.991 [DAT](INFO): checking for new query: numPingsReceived=30, elapsed TxPingTime=3.022199
2025-08-09T17:27:09.051Z,1754760429.051 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-09T17:27:09.243Z,1754760429.243 [DAT](INFO): checking for new query: numPingsReceived=30, elapsed TxPingTime=3.274196
2025-08-09T17:27:09.498Z,1754760429.498 [DAT](INFO): checking for new query: numPingsReceived=30, elapsed TxPingTime=3.528495
2025-08-09T17:27:09.747Z,1754760429.747 [DAT](INFO): checking for new query: numPingsReceived=30, elapsed TxPingTime=3.778369
2025-08-09T17:27:09.000Z,1754760430.000 [DAT](INFO): checking for new query: numPingsReceived=30, elapsed TxPingTime=4.030756
2025-08-09T17:27:10.251Z,1754760430.251 [DAT](INFO): checking for new query: numPingsReceived=30, elapsed TxPingTime=4.282200
2025-08-09T17:27:10.506Z,1754760430.506 [DAT](INFO): checking for new query: numPingsReceived=30, elapsed TxPingTime=4.536034
2025-08-09T17:27:10.755Z,1754760430.755 [DAT](INFO): checking for new query: numPingsReceived=30, elapsed TxPingTime=4.786252
2025-08-09T17:27:11.007Z,1754760431.007 [DAT](INFO): checking for new query: numPingsReceived=30, elapsed TxPingTime=5.038133
2025-08-09T17:27:11.259Z,1754760431.259 [DAT](INFO): checking for new query: numPingsReceived=30, elapsed TxPingTime=5.290106
2025-08-09T17:27:11.457Z,1754760431.457 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-09T17:27:11.515Z,1754760431.515 [DAT](INFO): checking for new query: numPingsReceived=30, elapsed TxPingTime=5.544646
2025-08-09T17:27:11.764Z,1754760431.764 [DAT](INFO): checking for new query: numPingsReceived=30, elapsed TxPingTime=5.794536
2025-08-09T17:27:12.015Z,1754760432.015 [DAT](INFO): checking for new query: numPingsReceived=30, elapsed TxPingTime=6.046203
2025-08-09T17:27:12.267Z,1754760432.267 [DAT](INFO): checking for new query: numPingsReceived=30, elapsed TxPingTime=6.298327
2025-08-09T17:27:12.524Z,1754760432.524 [DAT](INFO): checking for new query: numPingsReceived=30, elapsed TxPingTime=6.554332
2025-08-09T17:27:12.772Z,1754760432.772 [DAT](INFO): checking for new query: numPingsReceived=30, elapsed TxPingTime=6.802966
2025-08-09T17:27:13.023Z,1754760433.023 [DAT](INFO): checking for new query: numPingsReceived=30, elapsed TxPingTime=7.054217
2025-08-09T17:27:13.276Z,1754760433.276 [DAT](INFO): checking for new query: numPingsReceived=30, elapsed TxPingTime=7.306791
2025-08-09T17:27:13.475Z,1754760433.475 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-09T17:27:13.530Z,1754760433.530 [DAT](INFO): checking for new query: numPingsReceived=30, elapsed TxPingTime=7.560096
2025-08-09T17:27:13.779Z,1754760433.779 [DAT](INFO): checking for new query: numPingsReceived=30, elapsed TxPingTime=7.810145
2025-08-09T17:27:14.032Z,1754760434.032 [DAT](INFO): checking for new query: numPingsReceived=30, elapsed TxPingTime=8.062703
2025-08-09T17:27:14.283Z,1754760434.283 [DAT](INFO): checking for new query: numPingsReceived=30, elapsed TxPingTime=8.314266
2025-08-09T17:27:14.539Z,1754760434.539 [DAT](INFO): checking for new query: numPingsReceived=30, elapsed TxPingTime=8.568951
2025-08-09T17:27:14.788Z,1754760434.788 [DAT](INFO): checking for new query: numPingsReceived=30, elapsed TxPingTime=8.818984
2025-08-09T17:27:15.039Z,1754760435.039 [DAT](INFO): checking for new query: numPingsReceived=30, elapsed TxPingTime=9.070159
2025-08-09T17:27:15.291Z,1754760435.291 [DAT](INFO): checking for new query: numPingsReceived=30, elapsed TxPingTime=9.322156
2025-08-09T17:27:15.517Z,1754760435.517 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-09T17:27:15.546Z,1754760435.546 [DAT](INFO): checking for new query: numPingsReceived=30, elapsed TxPingTime=9.576422
2025-08-09T17:27:15.796Z,1754760435.796 [DAT](INFO): checking for new query: numPingsReceived=30, elapsed TxPingTime=9.826496
2025-08-09T17:27:16.047Z,1754760436.047 [DAT](INFO): checking for new query: numPingsReceived=30, elapsed TxPingTime=10.078267
2025-08-09T17:27:16.299Z,1754760436.299 [DAT](INFO): checking for new query: numPingsReceived=30, elapsed TxPingTime=10.330218
2025-08-09T17:27:16.558Z,1754760436.558 [DAT](INFO): checking for new query: numPingsReceived=30, elapsed TxPingTime=10.588323
2025-08-09T17:27:16.807Z,1754760436.807 [DAT](INFO): checking for new query: numPingsReceived=30, elapsed TxPingTime=10.838235
2025-08-09T17:27:17.059Z,1754760437.059 [DAT](INFO): checking for new query: numPingsReceived=30, elapsed TxPingTime=11.090121
2025-08-09T17:27:17.316Z,1754760437.316 [DAT](INFO): checking for new query: numPingsReceived=30, elapsed TxPingTime=11.346689
2025-08-09T17:27:17.564Z,1754760437.564 [DAT](INFO): checking for new query: numPingsReceived=30, elapsed TxPingTime=11.594972
2025-08-09T17:27:17.815Z,1754760437.815 [DAT](INFO): checking for new query: numPingsReceived=30, elapsed TxPingTime=11.846140
2025-08-09T17:27:17.950Z,1754760437.950 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-09T17:27:18.070Z,1754760438.070 [DAT](INFO): checking for new query: numPingsReceived=30, elapsed TxPingTime=12.101060
2025-08-09T17:27:18.320Z,1754760438.320 [DAT](INFO): DAT read: Response Not Received

2025-08-09T17:27:18.320Z,1754760438.320 [DAT](INFO): response not received
2025-08-09T17:27:18.320Z,1754760438.320 [DAT](INFO): DAT read: user:548>

2025-08-09T17:27:18.321Z,1754760438.321 [DAT](INFO): DAT read: Tx time:17:27:17.7860

2025-08-09T17:27:18.321Z,1754760438.321 [DAT](INFO): Ping request sent.
2025-08-09T17:27:18.321Z,1754760438.321 [DAT](INFO): transmitted an acoustic signal
2025-08-09T17:27:18.321Z,1754760438.321 [DAT](INFO): publishing transmit ping time
2025-08-09T17:27:18.322Z,1754760438.322 [DAT](INFO): checking for new query: numPingsReceived=30, elapsed TxPingTime=0.000734
2025-08-09T17:27:18.574Z,1754760438.574 [DAT](INFO): checking for new query: numPingsReceived=30, elapsed TxPingTime=0.252294
2025-08-09T17:27:18.827Z,1754760438.827 [DAT](INFO): checking for new query: numPingsReceived=30, elapsed TxPingTime=0.504758
2025-08-09T17:27:19.075Z,1754760439.075 [DAT](INFO): checking for new query: numPingsReceived=30, elapsed TxPingTime=0.754008
2025-08-09T17:27:19.328Z,1754760439.328 [DAT](INFO): checking for new query: numPingsReceived=30, elapsed TxPingTime=1.006586
2025-08-09T17:27:19.580Z,1754760439.580 [DAT](INFO): checking for new query: numPingsReceived=30, elapsed TxPingTime=1.259164
2025-08-09T17:27:19.831Z,1754760439.831 [DAT](INFO): checking for new query: numPingsReceived=30, elapsed TxPingTime=1.510182
2025-08-09T17:27:19.974Z,1754760439.974 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-09T17:27:20.083Z,1754760440.083 [DAT](INFO): checking for new query: numPingsReceived=30, elapsed TxPingTime=1.762068
2025-08-09T17:27:20.336Z,1754760440.336 [DAT](INFO): checking for new query: numPingsReceived=30, elapsed TxPingTime=2.014350
2025-08-09T17:27:20.589Z,1754760440.589 [DAT](INFO): checking for new query: numPingsReceived=30, elapsed TxPingTime=2.267443
2025-08-09T17:27:20.841Z,1754760440.841 [DAT](INFO): checking for new query: numPingsReceived=30, elapsed TxPingTime=2.519325
2025-08-09T17:27:21.091Z,1754760441.091 [DAT](INFO): checking for new query: numPingsReceived=30, elapsed TxPingTime=2.769963
2025-08-09T17:27:21.347Z,1754760441.347 [DAT](INFO): DAT read: Rx Time:17:27:20.2512

2025-08-09T17:27:21.348Z,1754760441.348 [DAT](INFO): Rx dataTimestamp_ set to:1754760441.347561
2025-08-09T17:27:21.349Z,1754760441.349 [DAT](INFO): checking for new query: numPingsReceived=30, elapsed TxPingTime=3.027772
2025-08-09T17:27:21.595Z,1754760441.595 [DAT](INFO): checking for new query: numPingsReceived=30, elapsed TxPingTime=3.274076
2025-08-09T17:27:21.858Z,1754760441.858 [DAT](INFO): DAT read: 17:27:20.2512 LVL= 30560, 21841, 24402, 27347, AGC= 68, IDX= 158,-0.10,-1.031, 1.184,-0.119,-0.041, PHS=-0.887, 1.270,-0.121, RAW= 309.5,  -2.8, CAL= 308.3,  -6.3, ROT= 201.7,   6.3

2025-08-09T17:27:21.861Z,1754760441.861 [DAT](INFO): got valid direction response:
 17:27:20.2512 LVL= 30560, 21841, 24402, 27347, AGC= 68, IDX= 158,-0.10,-1.031, 1.184,-0.119,-0.041, PHS=-0.887, 1.270,-0.121, RAW= 309.5,  -2.8, CAL= 308.3,  -6.3, ROT= 201.7,   6.3

2025-08-09T17:27:21.863Z,1754760441.863 [DAT](INFO): DAT read: Bearing 340.5, -18.1 (Local)

2025-08-09T17:27:21.864Z,1754760441.864 [DAT](INFO): Local bearing/azimuth received:
 Bearing 340.5, -18.1 (Local)

2025-08-09T17:27:21.866Z,1754760441.866 [DAT](INFO): DAT read: Range 11 to 50 : 45.8 m  (Round-trip  61.1 ms) speed -0.6 m/s

2025-08-09T17:27:21.872Z,1754760441.872 [DAT](INFO): DAT read: user:549>

2025-08-09T17:27:21.903Z,1754760441.903 [DAT](INFO): DAT read: Tx time:17:27:21.3360

2025-08-09T17:27:21.915Z,1754760441.915 [DAT](INFO): Ping request sent.
2025-08-09T17:27:21.915Z,1754760441.915 [DAT](INFO): transmitted an acoustic signal
2025-08-09T17:27:21.917Z,1754760441.917 [DAT](INFO): #Rx 31: Read range and direction messages.
2025-08-09T17:27:21.955Z,1754760441.955 [DAT](INFO): direction in FSK: [-0.923522,-0.367514,-0.109734]
2025-08-09T17:27:21.956Z,1754760441.956 [DAT](INFO): publishing transmit ping time
2025-08-09T17:27:21.956Z,1754760441.956 [DAT](INFO): publishing direction and range info
2025-08-09T17:27:21.965Z,1754760441.965 [DAT](INFO): publishing transmit ping time
2025-08-09T17:27:21.965Z,1754760441.965 [DAT](INFO): publishing direction and range info
2025-08-09T17:27:21.985Z,1754760441.985 [DAT](INFO): checking for new query: numPingsReceived=31, elapsed TxPingTime=0.071322
2025-08-09T17:27:22.099Z,1754760442.099 [DAT](INFO): checking for new query: numPingsReceived=31, elapsed TxPingTime=0.186097
2025-08-09T17:27:22.176Z,1754760442.176 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 45.799999 m,
      deltaT: nan s,
      deltaX: nan m,
      approachRate: -1.000000 m/s,
      rangeRepo size: 1

2025-08-09T17:27:22.183Z,1754760442.183 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 45.799999 m,
      bearing: 192.168739 deg,
      lat: 36.906130 deg,
      lon: -122.115921 deg,
      deltaT: nan s,
      deltaX: nan m,
      approachRate: -1.000000 m/s,
      posRepo size: 1

2025-08-09T17:27:22.184Z,1754760442.184 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 45.80 m.
2025-08-09T17:27:22.184Z,1754760442.184 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 45.80 m.
2025-08-09T17:27:22.191Z,1754760442.191 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 45.799999 m,
      nav range: 45.047607 m,
      bearing: 192.168739 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.000000 deg/s,
      cmd heading: 193.428029 deg,
      new cmd heading: 192.168739 deg.

2025-08-09T17:27:22.244Z,1754760442.244 [DockingStepper](INFO): Changing to mode: 2
2025-08-09T17:27:22.353Z,1754760442.353 [DAT](INFO): checking for new query: numPingsReceived=31, elapsed TxPingTime=0.439466
2025-08-09T17:27:22.548Z,1754760442.548 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-09T17:27:22.551Z,1754760442.551 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 45.80 m.
2025-08-09T17:27:22.551Z,1754760442.551 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 45.80 m.
2025-08-09T17:27:22.554Z,1754760442.554 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 45.799999 m,
      nav range: 45.251663 m,
      bearing: 192.048063 deg,
      approach rate: 0.544734 m/s,
      LOS rate: -0.320696 deg/s,
      cmd heading: 192.168738 deg,
      new cmd heading: 192.048063 deg.

2025-08-09T17:27:22.604Z,1754760442.604 [DAT](INFO): checking for new query: numPingsReceived=31, elapsed TxPingTime=0.690330
2025-08-09T17:27:22.857Z,1754760442.857 [DAT](INFO): checking for new query: numPingsReceived=31, elapsed TxPingTime=0.943331
2025-08-09T17:27:22.971Z,1754760442.971 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 45.80 m.
2025-08-09T17:27:22.971Z,1754760442.971 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 45.80 m.
2025-08-09T17:27:22.974Z,1754760442.974 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 45.799999 m,
      nav range: 45.457230 m,
      bearing: 191.918719 deg,
      approach rate: 0.489689 m/s,
      LOS rate: -0.306723 deg/s,
      cmd heading: 192.048063 deg,
      new cmd heading: 191.918719 deg.

2025-08-09T17:27:23.107Z,1754760443.107 [DAT](INFO): checking for new query: numPingsReceived=31, elapsed TxPingTime=1.194005
2025-08-09T17:27:23.344Z,1754760443.344 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 45.80 m.
2025-08-09T17:27:23.345Z,1754760443.345 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 45.80 m.
2025-08-09T17:27:23.351Z,1754760443.351 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 45.799999 m,
      nav range: 45.636074 m,
      bearing: 191.803625 deg,
      approach rate: 0.478986 m/s,
      LOS rate: -0.307040 deg/s,
      cmd heading: 191.918712 deg,
      new cmd heading: 191.803625 deg.

2025-08-09T17:27:23.361Z,1754760443.361 [DAT](INFO): checking for new query: numPingsReceived=31, elapsed TxPingTime=1.447491
2025-08-09T17:27:23.611Z,1754760443.611 [DAT](INFO): checking for new query: numPingsReceived=31, elapsed TxPingTime=1.698141
2025-08-09T17:27:23.789Z,1754760443.789 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 45.80 m.
2025-08-09T17:27:23.790Z,1754760443.790 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 45.80 m.
2025-08-09T17:27:23.793Z,1754760443.793 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 45.799999 m,
      nav range: 45.851681 m,
      bearing: 191.666980 deg,
      approach rate: 0.483874 m/s,
      LOS rate: -0.305223 deg/s,
      cmd heading: 191.803624 deg,
      new cmd heading: 191.666980 deg.

2025-08-09T17:27:23.865Z,1754760443.865 [DAT](INFO): checking for new query: numPingsReceived=31, elapsed TxPingTime=1.951557
2025-08-09T17:27:24.115Z,1754760444.115 [DAT](INFO): checking for new query: numPingsReceived=31, elapsed TxPingTime=2.202137
2025-08-09T17:27:24.143Z,1754760444.143 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 45.80 m.
2025-08-09T17:27:24.144Z,1754760444.144 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 45.80 m.
2025-08-09T17:27:24.146Z,1754760444.146 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 45.799999 m,
      nav range: 46.019791 m,
      bearing: 191.557909 deg,
      approach rate: 0.475123 m/s,
      LOS rate: -0.307137 deg/s,
      cmd heading: 191.666979 deg,
      new cmd heading: 191.557909 deg.

2025-08-09T17:27:24.367Z,1754760444.367 [DAT](INFO): checking for new query: numPingsReceived=31, elapsed TxPingTime=2.454276
2025-08-09T17:27:24.558Z,1754760444.558 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-09T17:27:24.560Z,1754760444.560 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 45.80 m.
2025-08-09T17:27:24.560Z,1754760444.560 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 45.80 m.
2025-08-09T17:27:24.563Z,1754760444.563 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 45.799999 m,
      nav range: 46.208698 m,
      bearing: 191.432192 deg,
      approach rate: 0.453101 m/s,
      LOS rate: -0.300302 deg/s,
      cmd heading: 191.557915 deg,
      new cmd heading: 191.432192 deg.

2025-08-09T17:27:24.620Z,1754760444.620 [DAT](INFO): checking for new query: numPingsReceived=31, elapsed TxPingTime=2.706817
2025-08-09T17:27:24.872Z,1754760444.872 [DAT](INFO): DAT read: Rx Time:17:27:23.8035

2025-08-09T17:27:24.873Z,1754760444.873 [DAT](INFO): Rx dataTimestamp_ set to:1754760444.872284
2025-08-09T17:27:24.873Z,1754760444.873 [DAT](INFO): checking for new query: numPingsReceived=31, elapsed TxPingTime=2.960258
2025-08-09T17:27:24.974Z,1754760444.974 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 45.80 m.
2025-08-09T17:27:24.975Z,1754760444.975 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 45.80 m.
2025-08-09T17:27:24.977Z,1754760444.977 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 45.799999 m,
      nav range: 46.410946 m,
      bearing: 191.301798 deg,
      approach rate: 0.488270 m/s,
      LOS rate: -0.313428 deg/s,
      cmd heading: 191.432198 deg,
      new cmd heading: 191.301798 deg.

2025-08-09T17:27:25.123Z,1754760445.123 [DAT](INFO): checking for new query: numPingsReceived=31, elapsed TxPingTime=3.210114
2025-08-09T17:27:25.381Z,1754760445.381 [DAT](INFO): DAT read: 17:27:23.8035 LVL= 30448, 20593, 26354, 32755, AGC= 59, IDX= 454, 0.24,-2.779,-0.707,-1.754,-1.743, PHS=-0.934, 1.081,-0.055, RAW= 304.2,  -1.1, CAL= 302.8,  -4.9, ROT= 207.2,   4.9

2025-08-09T17:27:25.384Z,1754760445.384 [DAT](INFO): got valid direction response:
 17:27:23.8035 LVL= 30448, 20593, 26354, 32755, AGC= 59, IDX= 454, 0.24,-2.779,-0.707,-1.754,-1.743, PHS=-0.934, 1.081,-0.055, RAW= 304.2,  -1.1, CAL= 302.8,  -4.9, ROT= 207.2,   4.9

2025-08-09T17:27:25.401Z,1754760445.401 [DAT](INFO): DAT read: Bearing 333.3, -22.5 (Local)

2025-08-09T17:27:25.401Z,1754760445.401 [DAT](INFO): Local bearing/azimuth received:
 Bearing 333.3, -22.5 (Local)

2025-08-09T17:27:25.407Z,1754760445.407 [DAT](INFO): DAT read: Range 11 to 50 : 47.5 m  (Round-trip  63.4 ms) speed -0.4 m/s

2025-08-09T17:27:25.408Z,1754760445.408 [DAT](INFO): DAT read: user:550>

2025-08-09T17:27:25.408Z,1754760445.408 [DAT](INFO): DAT read: Tx time:17:27:24.9359

2025-08-09T17:27:25.408Z,1754760445.408 [DAT](INFO): Ping request sent.
2025-08-09T17:27:25.409Z,1754760445.409 [DAT](INFO): transmitted an acoustic signal
2025-08-09T17:27:25.409Z,1754760445.409 [DAT](INFO): #Rx 32: Read range and direction messages.
2025-08-09T17:27:25.410Z,1754760445.410 [DAT](INFO): direction in FSK: [-0.886166,-0.455427,-0.085417]
2025-08-09T17:27:25.442Z,1754760445.442 [DAT](INFO): publishing transmit ping time
2025-08-09T17:27:25.443Z,1754760445.443 [DAT](INFO): publishing direction and range info
2025-08-09T17:27:25.446Z,1754760445.446 [DAT](INFO): publishing transmit ping time
2025-08-09T17:27:25.446Z,1754760445.446 [DAT](INFO): publishing direction and range info
2025-08-09T17:27:25.459Z,1754760445.459 [DAT](INFO): checking for new query: numPingsReceived=32, elapsed TxPingTime=0.050756
2025-08-09T17:27:25.470Z,1754760445.470 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 47.500000 m,
      deltaT: 3.526781 s,
      deltaX: 1.700001 m,
      approachRate: 0.482026 m/s,
      rangeRepo size: 2

2025-08-09T17:27:25.496Z,1754760445.496 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 47.500000 m,
      bearing: 190.780825 deg,
      lat: 36.906122 deg,
      lon: -122.115919 deg,
      deltaT: 3.526781 s,
      deltaX: 1.700001 m,
      approachRate: 0.482026 m/s,
      posRepo size: 2

2025-08-09T17:27:25.497Z,1754760445.497 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 47.50 m.
2025-08-09T17:27:25.497Z,1754760445.497 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 47.50 m.
2025-08-09T17:27:25.504Z,1754760445.504 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 47.500000 m,
      nav range: 47.515675 m,
      bearing: 190.780825 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.313428 deg/s,
      cmd heading: 191.301796 deg,
      new cmd heading: 190.839513 deg.

2025-08-09T17:27:25.628Z,1754760445.628 [DAT](INFO): checking for new query: numPingsReceived=32, elapsed TxPingTime=0.219166
2025-08-09T17:27:25.879Z,1754760445.879 [DAT](INFO): checking for new query: numPingsReceived=32, elapsed TxPingTime=0.470808
2025-08-09T17:27:25.892Z,1754760445.892 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 47.50 m.
2025-08-09T17:27:25.892Z,1754760445.892 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 47.50 m.
2025-08-09T17:27:25.899Z,1754760445.899 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 47.500000 m,
      nav range: 47.716682 m,
      bearing: 190.650282 deg,
      approach rate: 0.471770 m/s,
      LOS rate: -0.305096 deg/s,
      cmd heading: 190.839515 deg,
      new cmd heading: 190.449543 deg.

2025-08-09T17:27:26.131Z,1754760446.131 [DAT](INFO): checking for new query: numPingsReceived=32, elapsed TxPingTime=0.722654
2025-08-09T17:27:26.251Z,1754760446.251 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 47.50 m.
2025-08-09T17:27:26.251Z,1754760446.251 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 47.50 m.
2025-08-09T17:27:26.254Z,1754760446.254 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 47.500000 m,
      nav range: 47.883572 m,
      bearing: 190.539023 deg,
      approach rate: 0.470771 m/s,
      LOS rate: -0.312753 deg/s,
      cmd heading: 190.449539 deg,
      new cmd heading: 190.116928 deg.

2025-08-09T17:27:26.383Z,1754760446.383 [DAT](INFO): checking for new query: numPingsReceived=32, elapsed TxPingTime=0.974770
2025-08-09T17:27:26.632Z,1754760446.632 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-09T17:27:26.635Z,1754760446.635 [DAT](INFO): checking for new query: numPingsReceived=32, elapsed TxPingTime=1.226798
2025-08-09T17:27:26.636Z,1754760446.636 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 47.50 m.
2025-08-09T17:27:26.636Z,1754760446.636 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 47.50 m.
2025-08-09T17:27:26.639Z,1754760446.639 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 47.500000 m,
      nav range: 48.066254 m,
      bearing: 190.413788 deg,
      approach rate: 0.471074 m/s,
      LOS rate: -0.321710 deg/s,
      cmd heading: 190.116922 deg,
      new cmd heading: 189.742651 deg.

2025-08-09T17:27:26.888Z,1754760446.888 [DAT](INFO): checking for new query: numPingsReceived=32, elapsed TxPingTime=1.479787
2025-08-09T17:27:27.076Z,1754760447.076 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 47.50 m.
2025-08-09T17:27:27.077Z,1754760447.077 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 47.50 m.
2025-08-09T17:27:27.100Z,1754760447.100 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 47.500000 m,
      nav range: 48.269508 m,
      bearing: 190.277524 deg,
      approach rate: 0.459834 m/s,
      LOS rate: -0.306978 deg/s,
      cmd heading: 189.742655 deg,
      new cmd heading: 189.335592 deg.

2025-08-09T17:27:27.140Z,1754760447.140 [DAT](INFO): checking for new query: numPingsReceived=32, elapsed TxPingTime=1.731094
2025-08-09T17:27:27.391Z,1754760447.391 [DAT](INFO): checking for new query: numPingsReceived=32, elapsed TxPingTime=1.982654
2025-08-09T17:27:27.451Z,1754760447.451 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 47.50 m.
2025-08-09T17:27:27.451Z,1754760447.451 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 47.50 m.
2025-08-09T17:27:27.455Z,1754760447.455 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 47.500000 m,
      nav range: 48.440437 m,
      bearing: 190.159845 deg,
      approach rate: 0.456012 m/s,
      LOS rate: -0.312841 deg/s,
      cmd heading: 189.335590 deg,
      new cmd heading: 188.983804 deg.

2025-08-09T17:27:27.645Z,1754760447.645 [DAT](INFO): checking for new query: numPingsReceived=32, elapsed TxPingTime=2.236456
2025-08-09T17:27:27.893Z,1754760447.893 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 47.50 m.
2025-08-09T17:27:27.893Z,1754760447.893 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 47.50 m.
2025-08-09T17:27:27.895Z,1754760447.895 [DAT](INFO): checking for new query: numPingsReceived=32, elapsed TxPingTime=2.486794
2025-08-09T17:27:27.899Z,1754760447.899 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 47.500000 m,
      nav range: 48.647793 m,
      bearing: 190.016128 deg,
      approach rate: 0.469168 m/s,
      LOS rate: -0.323793 deg/s,
      cmd heading: 188.983807 deg,
      new cmd heading: 188.554501 deg.

2025-08-09T17:27:28.147Z,1754760448.147 [DAT](INFO): checking for new query: numPingsReceived=32, elapsed TxPingTime=2.738684
2025-08-09T17:27:28.271Z,1754760448.271 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 47.50 m.
2025-08-09T17:27:28.271Z,1754760448.271 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 47.50 m.
2025-08-09T17:27:28.271Z,1754760448.271 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Final approach. Armed for intercept at range: 47.50 m.
2025-08-09T17:27:28.272Z,1754760448.272 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Transitioning guidance mode to: FINAL_APPROACH
2025-08-09T17:27:28.279Z,1754760448.279 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 47.500000 m,
      nav range: 48.814137 m,
      bearing: 189.897098 deg,
      approach rate: 0.445526 m/s,
      LOS rate: -0.317717 deg/s,
      cmd heading: 188.554503 deg,
      new cmd heading: 188.198634 deg.

2025-08-09T17:27:28.402Z,1754760448.402 [DAT](INFO): DAT read: Rx Time:17:27:27.4056

2025-08-09T17:27:28.403Z,1754760448.403 [DAT](INFO): Rx dataTimestamp_ set to:1754760448.402262
2025-08-09T17:27:28.403Z,1754760448.403 [DAT](INFO): checking for new query: numPingsReceived=32, elapsed TxPingTime=2.994479
2025-08-09T17:27:28.653Z,1754760448.653 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-09T17:27:28.655Z,1754760448.655 [DAT](INFO): checking for new query: numPingsReceived=32, elapsed TxPingTime=3.246744
2025-08-09T17:27:28.657Z,1754760448.657 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 47.50 m.
2025-08-09T17:27:28.680Z,1754760448.680 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 47.500000 m,
      nav range: 49.000137 m,
      bearing: 189.759844 deg,
      approach rate: 0.476695 m/s,
      LOS rate: -0.350428 deg/s,
      cmd heading: 188.198636 deg,
      new cmd heading: 187.788444 deg.

2025-08-09T17:27:28.681Z,1754760448.681 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.277527 target range: 47.500000 and range: 47.50 m.
2025-08-09T17:27:28.909Z,1754760448.909 [DAT](INFO): checking for new query: numPingsReceived=32, elapsed TxPingTime=3.499661
2025-08-09T17:27:29.094Z,1754760449.094 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 47.50 m.
2025-08-09T17:27:29.096Z,1754760449.096 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 47.500000 m,
      nav range: 49.192635 m,
      bearing: 189.616732 deg,
      approach rate: 0.440539 m/s,
      LOS rate: -0.326236 deg/s,
      cmd heading: 187.788442 deg,
      new cmd heading: 187.360796 deg.

2025-08-09T17:27:29.097Z,1754760449.097 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.270063 target range: 47.500000 and range: 47.50 m.
2025-08-09T17:27:29.165Z,1754760449.165 [DAT](INFO): DAT read: 17:27:27.4056 LVL= 28656, 20801, 24386, 28755, AGC= 64, IDX= 445,-0.48, 0.084, 2.103, 1.207, 1.129, PHS=-0.943, 1.019, 0.034, RAW= 300.1,  -1.3, CAL= 298.9,  -5.5, ROT= 211.1,   5.5

2025-08-09T17:27:29.166Z,1754760449.166 [DAT](INFO): got valid direction response:
 17:27:27.4056 LVL= 28656, 20801, 24386, 28755, AGC= 64, IDX= 445,-0.48, 0.084, 2.103, 1.207, 1.129, PHS=-0.943, 1.019, 0.034, RAW= 300.1,  -1.3, CAL= 298.9,  -5.5, ROT= 211.1,   5.5

2025-08-09T17:27:29.167Z,1754760449.167 [DAT](INFO): DAT read: Bearing 326.7, -24.7 (Local)

2025-08-09T17:27:29.168Z,1754760449.168 [DAT](INFO): Local bearing/azimuth received:
 Bearing 326.7, -24.7 (Local)

2025-08-09T17:27:29.169Z,1754760449.169 [DAT](INFO): DAT read: Range 11 to 50 : 49.2 m  (Round-trip  65.6 ms) speed -0.4 m/s

2025-08-09T17:27:29.170Z,1754760449.170 [DAT](INFO): DAT read: user:551>

2025-08-09T17:27:29.171Z,1754760449.171 [DAT](INFO): DAT read: Tx time:17:27:28.5359

2025-08-09T17:27:29.171Z,1754760449.171 [DAT](INFO): Ping request sent.
2025-08-09T17:27:29.171Z,1754760449.171 [DAT](INFO): transmitted an acoustic signal
2025-08-09T17:27:29.171Z,1754760449.171 [DAT](INFO): #Rx 33: Read range and direction messages.
2025-08-09T17:27:29.172Z,1754760449.172 [DAT](INFO): direction in FSK: [-0.852325,-0.514155,-0.095846]
2025-08-09T17:27:29.173Z,1754760449.173 [DAT](INFO): publishing transmit ping time
2025-08-09T17:27:29.173Z,1754760449.173 [DAT](INFO): publishing direction and range info
2025-08-09T17:27:29.182Z,1754760449.182 [DAT](INFO): publishing transmit ping time
2025-08-09T17:27:29.183Z,1754760449.183 [DAT](INFO): publishing direction and range info
2025-08-09T17:27:29.193Z,1754760449.193 [DAT](INFO): checking for new query: numPingsReceived=33, elapsed TxPingTime=0.015044
2025-08-09T17:27:29.412Z,1754760449.412 [DAT](INFO): checking for new query: numPingsReceived=33, elapsed TxPingTime=0.240527
2025-08-09T17:27:29.492Z,1754760449.492 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 49.200001 m,
      deltaT: 3.784193 s,
      deltaX: 1.700001 m,
      approachRate: 0.449237 m/s,
      rangeRepo size: 3

2025-08-09T17:27:29.494Z,1754760449.494 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 49.200001 m,
      bearing: 188.749632 deg,
      lat: 36.906121 deg,
      lon: -122.115912 deg,
      deltaT: 3.784193 s,
      deltaX: 1.700001 m,
      approachRate: 0.449237 m/s,
      posRepo size: 3

2025-08-09T17:27:29.499Z,1754760449.499 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Starting intercept timer at range: 49.20 m.
2025-08-09T17:27:29.499Z,1754760449.499 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 49.20 m.
2025-08-09T17:27:29.502Z,1754760449.502 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 49.200001 m,
      nav range: 49.323139 m,
      bearing: 188.749632 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.326236 deg/s,
      cmd heading: 187.360791 deg,
      new cmd heading: 186.971601 deg.

2025-08-09T17:27:29.528Z,1754760449.528 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.263270 target range: 49.200001 and range: 49.20 m.
2025-08-09T17:27:29.663Z,1754760449.663 [DAT](INFO): checking for new query: numPingsReceived=33, elapsed TxPingTime=0.492296
2025-08-09T17:27:29.915Z,1754760449.915 [DAT](INFO): checking for new query: numPingsReceived=33, elapsed TxPingTime=0.744381
2025-08-09T17:27:29.922Z,1754760449.922 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Stopped intercept timer at range: 49.20 m.
2025-08-09T17:27:29.923Z,1754760449.923 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 49.20 m.
2025-08-09T17:27:29.925Z,1754760449.925 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 49.200001 m,
      nav range: 49.538528 m,
      bearing: 188.587742 deg,
      approach rate: 0.499663 m/s,
      LOS rate: -0.373921 deg/s,
      cmd heading: 186.971606 deg,
      new cmd heading: 186.488061 deg.

2025-08-09T17:27:29.927Z,1754760449.927 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.254831 target range: 49.200001 and range: 49.20 m.
2025-08-09T17:27:30.168Z,1754760450.168 [DAT](INFO): checking for new query: numPingsReceived=33, elapsed TxPingTime=0.996566
2025-08-09T17:27:30.303Z,1754760450.303 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Starting intercept timer at range: 49.20 m.
2025-08-09T17:27:30.303Z,1754760450.303 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 49.20 m.
2025-08-09T17:27:30.306Z,1754760450.306 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 49.200001 m,
      nav range: 49.719090 m,
      bearing: 188.448799 deg,
      approach rate: 0.474318 m/s,
      LOS rate: -0.363665 deg/s,
      cmd heading: 186.488056 deg,
      new cmd heading: 186.072749 deg.

2025-08-09T17:27:30.307Z,1754760450.307 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.247582 target range: 49.200001 and range: 49.20 m.
2025-08-09T17:27:30.419Z,1754760450.419 [DAT](INFO): checking for new query: numPingsReceived=33, elapsed TxPingTime=1.248343
2025-08-09T17:27:30.675Z,1754760450.675 [DAT](INFO): checking for new query: numPingsReceived=33, elapsed TxPingTime=1.503949
2025-08-09T17:27:30.739Z,1754760450.739 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-09T17:27:30.741Z,1754760450.741 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 49.20 m.
2025-08-09T17:27:30.744Z,1754760450.744 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 49.200001 m,
      nav range: 49.915359 m,
      bearing: 188.299162 deg,
      approach rate: 0.448445 m/s,
      LOS rate: -0.340552 deg/s,
      cmd heading: 186.072754 deg,
      new cmd heading: 185.625617 deg.

2025-08-09T17:27:30.745Z,1754760450.745 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.239778 target range: 49.200001 and range: 49.20 m.
2025-08-09T17:27:30.927Z,1754760450.927 [DAT](INFO): checking for new query: numPingsReceived=33, elapsed TxPingTime=1.756288
2025-08-09T17:27:31.150Z,1754760451.150 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Stopped intercept timer at range: 49.20 m.
2025-08-09T17:27:31.150Z,1754760451.150 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 49.20 m.
2025-08-09T17:27:31.153Z,1754760451.153 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 49.200001 m,
      nav range: 50.116543 m,
      bearing: 188.154764 deg,
      approach rate: 0.491752 m/s,
      LOS rate: -0.351536 deg/s,
      cmd heading: 185.625622 deg,
      new cmd heading: 185.194175 deg.

2025-08-09T17:27:31.154Z,1754760451.154 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.232248 target range: 49.200001 and range: 49.20 m.
2025-08-09T17:27:31.179Z,1754760451.179 [DAT](INFO): checking for new query: numPingsReceived=33, elapsed TxPingTime=2.008425
2025-08-09T17:27:31.431Z,1754760451.431 [DAT](INFO): checking for new query: numPingsReceived=33, elapsed TxPingTime=2.260315
2025-08-09T17:27:31.517Z,1754760451.517 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Starting intercept timer at range: 49.20 m.
2025-08-09T17:27:31.517Z,1754760451.517 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 49.20 m.
2025-08-09T17:27:31.520Z,1754760451.520 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 49.200001 m,
      nav range: 50.282589 m,
      bearing: 188.024058 deg,
      approach rate: 0.452582 m/s,
      LOS rate: -0.355081 deg/s,
      cmd heading: 185.194173 deg,
      new cmd heading: 184.803356 deg.

2025-08-09T17:27:31.521Z,1754760451.521 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.225427 target range: 49.200001 and range: 49.20 m.
2025-08-09T17:27:31.683Z,1754760451.683 [DAT](INFO): checking for new query: numPingsReceived=33, elapsed TxPingTime=2.512316
2025-08-09T17:27:31.935Z,1754760451.935 [DAT](INFO): checking for new query: numPingsReceived=33, elapsed TxPingTime=2.764372
2025-08-09T17:27:32.007Z,1754760452.007 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Stopped intercept timer at range: 49.20 m.
2025-08-09T17:27:32.007Z,1754760452.007 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 49.20 m.
2025-08-09T17:27:32.017Z,1754760452.017 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 49.200001 m,
      nav range: 50.499317 m,
      bearing: 187.843234 deg,
      approach rate: 0.441944 m/s,
      LOS rate: -0.367146 deg/s,
      cmd heading: 184.803349 deg,
      new cmd heading: 184.263223 deg.

2025-08-09T17:27:32.018Z,1754760452.018 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.216000 target range: 49.200001 and range: 49.20 m.
2025-08-09T17:27:32.187Z,1754760452.187 [DAT](INFO): DAT read: Rx Time:17:27:31.0082

2025-08-09T17:27:32.188Z,1754760452.188 [DAT](INFO): Rx dataTimestamp_ set to:1754760452.187400
2025-08-09T17:27:32.188Z,1754760452.188 [DAT](INFO): checking for new query: numPingsReceived=33, elapsed TxPingTime=3.017225
2025-08-09T17:27:32.391Z,1754760452.391 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Starting intercept timer at range: 49.20 m.
2025-08-09T17:27:32.391Z,1754760452.391 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 49.20 m.
2025-08-09T17:27:32.398Z,1754760452.398 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 49.200001 m,
      nav range: 50.681652 m,
      bearing: 187.687598 deg,
      approach rate: 0.474774 m/s,
      LOS rate: -0.403795 deg/s,
      cmd heading: 184.263218 deg,
      new cmd heading: 183.798000 deg.

2025-08-09T17:27:32.399Z,1754760452.399 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.207880 target range: 49.200001 and range: 49.20 m.
2025-08-09T17:27:32.442Z,1754760452.442 [DAT](INFO): checking for new query: numPingsReceived=33, elapsed TxPingTime=3.271133
2025-08-09T17:27:32.697Z,1754760452.697 [DAT](INFO): DAT read: 17:27:31.0082 LVL= 26048, 19873, 23682, 26259, AGC= 63, IDX= 454,-0.38,-2.065,-0.214,-0.828,-1.010, PHS=-0.953, 0.841, 0.138, RAW= 292.9,  -0.3, CAL= 291.8,  -5.1, ROT= 218.2,   5.1

2025-08-09T17:27:32.698Z,1754760452.698 [DAT](INFO): got valid direction response:
 17:27:31.0082 LVL= 26048, 19873, 23682, 26259, AGC= 63, IDX= 454,-0.38,-2.065,-0.214,-0.828,-1.010, PHS=-0.953, 0.841, 0.138, RAW= 292.9,  -0.3, CAL= 291.8,  -5.1, ROT= 218.2,   5.1

2025-08-09T17:27:32.699Z,1754760452.699 [DAT](INFO): DAT read: Bearing 320.4, -30.5 (Local)

2025-08-09T17:27:32.699Z,1754760452.699 [DAT](INFO): Local bearing/azimuth received:
 Bearing 320.4, -30.5 (Local)

2025-08-09T17:27:32.701Z,1754760452.701 [DAT](INFO): DAT read: Range 11 to 50 : 51.0 m  (Round-trip  68.1 ms) speed -0.6 m/s

2025-08-09T17:27:32.702Z,1754760452.702 [DAT](INFO): DAT read: user:552>

2025-08-09T17:27:32.703Z,1754760452.703 [DAT](INFO): DAT read: Tx time:17:27:32.1359

2025-08-09T17:27:32.703Z,1754760452.703 [DAT](INFO): Ping request sent.
2025-08-09T17:27:32.703Z,1754760452.703 [DAT](INFO): transmitted an acoustic signal
2025-08-09T17:27:32.703Z,1754760452.703 [DAT](INFO): #Rx 34: Read range and direction messages.
2025-08-09T17:27:32.704Z,1754760452.704 [DAT](INFO): direction in FSK: [-0.782746,-0.615960,-0.088894]
2025-08-09T17:27:32.704Z,1754760452.704 [DAT](INFO): publishing transmit ping time
2025-08-09T17:27:32.705Z,1754760452.705 [DAT](INFO): publishing direction and range info
2025-08-09T17:27:32.708Z,1754760452.708 [DAT](INFO): publishing transmit ping time
2025-08-09T17:27:32.708Z,1754760452.708 [DAT](INFO): publishing direction and range info
2025-08-09T17:27:32.711Z,1754760452.711 [DAT](INFO): checking for new query: numPingsReceived=34, elapsed TxPingTime=0.008292
2025-08-09T17:27:32.943Z,1754760452.943 [DAT](INFO): checking for new query: numPingsReceived=34, elapsed TxPingTime=0.240340
2025-08-09T17:27:32.991Z,1754760452.991 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 51.000000 m,
      deltaT: 3.531752 s,
      deltaX: 1.799999 m,
      approachRate: 0.509662 m/s,
      rangeRepo size: 4

2025-08-09T17:27:32.993Z,1754760452.993 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 51.000000 m,
      bearing: 187.391000 deg,
      lat: 36.906121 deg,
      lon: -122.115911 deg,
      deltaT: 3.531752 s,
      deltaX: 1.799999 m,
      approachRate: 0.509662 m/s,
      posRepo size: 4

2025-08-09T17:27:32.993Z,1754760452.993 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 51.00 m.
2025-08-09T17:27:33.000Z,1754760453.000 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 51.000000 m,
      nav range: 50.971230 m,
      bearing: 187.391000 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.403795 deg/s,
      cmd heading: 183.798000 deg,
      new cmd heading: 183.072742 deg.

2025-08-09T17:27:33.001Z,1754760453.001 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.195222 target range: 51.000000 and range: 51.00 m.
2025-08-09T17:27:33.195Z,1754760453.195 [DAT](INFO): checking for new query: numPingsReceived=34, elapsed TxPingTime=0.492293
2025-08-09T17:27:33.300Z,1754760453.300 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-09T17:27:33.303Z,1754760453.303 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Stopped intercept timer at range: 51.00 m.
2025-08-09T17:27:33.303Z,1754760453.303 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 51.00 m.
2025-08-09T17:27:33.306Z,1754760453.306 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 51.000000 m,
      nav range: 51.131721 m,
      bearing: 187.237725 deg,
      approach rate: 0.513267 m/s,
      LOS rate: -0.488648 deg/s,
      cmd heading: 183.072743 deg,
      new cmd heading: 182.614372 deg.

2025-08-09T17:27:33.328Z,1754760453.328 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.187222 target range: 51.000000 and range: 51.00 m.
2025-08-09T17:27:33.447Z,1754760453.447 [DAT](INFO): checking for new query: numPingsReceived=34, elapsed TxPingTime=0.744356
2025-08-09T17:27:33.680Z,1754760453.680 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Starting intercept timer at range: 51.00 m.
2025-08-09T17:27:33.680Z,1754760453.680 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 51.00 m.
2025-08-09T17:27:33.699Z,1754760453.699 [DAT](INFO): checking for new query: numPingsReceived=34, elapsed TxPingTime=0.996379
2025-08-09T17:27:33.707Z,1754760453.707 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 51.000000 m,
      nav range: 51.294273 m,
      bearing: 187.079291 deg,
      approach rate: 0.431052 m/s,
      LOS rate: -0.418800 deg/s,
      cmd heading: 182.614369 deg,
      new cmd heading: 182.140585 deg.

2025-08-09T17:27:33.708Z,1754760453.708 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.178953 target range: 51.000000 and range: 51.00 m.
2025-08-09T17:27:33.952Z,1754760453.952 [DAT](INFO): checking for new query: numPingsReceived=34, elapsed TxPingTime=1.248596
2025-08-09T17:27:34.104Z,1754760454.104 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Stopped intercept timer at range: 51.00 m.
2025-08-09T17:27:34.104Z,1754760454.104 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 51.00 m.
2025-08-09T17:27:34.108Z,1754760454.108 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 51.000000 m,
      nav range: 51.470303 m,
      bearing: 186.897017 deg,
      approach rate: 0.414835 m/s,
      LOS rate: -0.428081 deg/s,
      cmd heading: 182.140586 deg,
      new cmd heading: 181.595653 deg.

2025-08-09T17:27:34.109Z,1754760454.109 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.169442 target range: 51.000000 and range: 51.00 m.
2025-08-09T17:27:34.203Z,1754760454.203 [DAT](INFO): checking for new query: numPingsReceived=34, elapsed TxPingTime=1.500434
2025-08-09T17:27:34.455Z,1754760454.455 [DAT](INFO): checking for new query: numPingsReceived=34, elapsed TxPingTime=1.752220
2025-08-09T17:27:34.489Z,1754760454.489 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Starting intercept timer at range: 51.00 m.
2025-08-09T17:27:34.489Z,1754760454.489 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 51.00 m.
2025-08-09T17:27:34.492Z,1754760454.492 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 51.000000 m,
      nav range: 51.627914 m,
      bearing: 186.730495 deg,
      approach rate: 0.409631 m/s,
      LOS rate: -0.431469 deg/s,
      cmd heading: 181.595646 deg,
      new cmd heading: 181.097616 deg.

2025-08-09T17:27:34.493Z,1754760454.493 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.160750 target range: 51.000000 and range: 51.00 m.
2025-08-09T17:27:34.708Z,1754760454.708 [DAT](INFO): checking for new query: numPingsReceived=34, elapsed TxPingTime=2.004867
2025-08-09T17:27:34.959Z,1754760454.959 [DAT](INFO): checking for new query: numPingsReceived=34, elapsed TxPingTime=2.256379
2025-08-09T17:27:35.003Z,1754760455.003 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Stopped intercept timer at range: 51.00 m.
2025-08-09T17:27:35.004Z,1754760455.004 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 51.00 m.
2025-08-09T17:27:35.006Z,1754760455.006 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 51.000000 m,
      nav range: 51.839634 m,
      bearing: 186.500959 deg,
      approach rate: 0.411455 m/s,
      LOS rate: -0.444255 deg/s,
      cmd heading: 181.097616 deg,
      new cmd heading: 180.411858 deg.

2025-08-09T17:27:35.007Z,1754760455.007 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.148781 target range: 51.000000 and range: 51.00 m.
2025-08-09T17:27:35.213Z,1754760455.213 [DAT](INFO): DAT read: Rx Time:17:27:34.3354 

2025-08-09T17:27:35.214Z,1754760455.214 [DAT](INFO): Rx dataTimestamp_ set to:1754760455.213800
2025-08-09T17:27:35.216Z,1754760455.216 [DAT](INFO): DAT read: Bearing 315.6, -35.2 (Local)

2025-08-09T17:27:35.216Z,1754760455.216 [DAT](INFO): Local bearing/azimuth received:
 Bearing 315.6, -35.2 (Local)

2025-08-09T17:27:35.219Z,1754760455.219 [DAT](INFO): DAT read: Range 11 to 50 :    52.8 m (trip time 35.2 ms) speed -0.4

2025-08-09T17:27:35.226Z,1754760455.226 [DAT](INFO): DAT read: 17:27:34.3354 LVL= 28432, 26337, 27538, 26339, AGC= 66, IDX= 189,-0.13,-1.153, 0.724, 0.277,-0.031, PHS=-1.020, 0.800, 0.264, RAW= 286.7,  -0.6, CAL= 285.7,  -5.7, ROT= 224.3,   5.7

2025-08-09T17:27:35.227Z,1754760455.227 [DAT](INFO): got valid direction response:
 17:27:34.3354 LVL= 28432, 26337, 27538, 26339, AGC= 66, IDX= 189,-0.13,-1.153, 0.724, 0.277,-0.031, PHS=-1.020, 0.800, 0.264, RAW= 286.7,  -0.6, CAL= 285.7,  -5.7, ROT= 224.3,   5.7

2025-08-09T17:27:35.227Z,1754760455.227 [DAT](INFO): #Rx 35: Read range and direction messages.
2025-08-09T17:27:35.228Z,1754760455.228 [DAT](INFO): direction in FSK: [-0.712154,-0.694962,-0.099320]
2025-08-09T17:27:35.228Z,1754760455.228 [DAT](INFO): publishing direction and range info
2025-08-09T17:27:35.232Z,1754760455.232 [DAT](INFO): checking for new query: numPingsReceived=35, elapsed TxPingTime=2.529041
2025-08-09T17:27:35.417Z,1754760455.417 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 52.799999 m,
      deltaT: 2.523046 s,
      deltaX: 1.799999 m,
      approachRate: 0.713423 m/s,
      rangeRepo size: 4

2025-08-09T17:27:35.423Z,1754760455.423 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 52.799999 m,
      bearing: 185.092057 deg,
      lat: 36.906121 deg,
      lon: -122.115899 deg,
      deltaT: 2.523046 s,
      deltaX: 1.799999 m,
      approachRate: 0.713423 m/s,
      posRepo size: 4

2025-08-09T17:27:35.424Z,1754760455.424 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 52.80 m.
2025-08-09T17:27:35.424Z,1754760455.424 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](ERROR): Target missed at range: 52.80 m. Rolling out.
2025-08-09T17:27:35.424Z,1754760455.424 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Transitioning guidance mode to: ROLLOUT
2025-08-09T17:27:35.454Z,1754760455.454 [DockingStepper](INFO): Changing to mode: 1
2025-08-09T17:27:35.464Z,1754760455.464 [DAT](INFO): checking for new query: numPingsReceived=35, elapsed TxPingTime=2.760648
2025-08-09T17:27:35.716Z,1754760455.716 [DAT](INFO): DAT read: Rx Time:17:27:34.8354 

2025-08-09T17:27:35.716Z,1754760455.716 [DAT](INFO): Rx dataTimestamp_ set to:1754760455.716191
2025-08-09T17:27:35.718Z,1754760455.718 [DAT](INFO): DAT read: Bearing 315.6, -35.7 (Local)

2025-08-09T17:27:35.718Z,1754760455.718 [DAT](INFO): Local bearing/azimuth received:
 Bearing 315.6, -35.7 (Local)

2025-08-09T17:27:35.720Z,1754760455.720 [DAT](INFO): DAT read: Range 11 to 50 :    52.8 m (trip time 35.2 ms) speed -0.4

2025-08-09T17:27:35.725Z,1754760455.725 [DAT](INFO): DAT read: 17:27:34.8354 LVL= 26496, 18353, 22658, 27459, AGC= 58, IDX= 509, 0.30,-0.375, 1.462, 1.054, 0.719, PHS=-0.992, 0.787, 0.291, RAW= 285.7,  -1.1, CAL= 284.8,  -6.3, ROT= 225.2,   6.3

2025-08-09T17:27:35.726Z,1754760455.726 [DAT](INFO): got valid direction response:
 17:27:34.8354 LVL= 26496, 18353, 22658, 27459, AGC= 58, IDX= 509, 0.30,-0.375, 1.462, 1.054, 0.719, PHS=-0.992, 0.787, 0.291, RAW= 285.7,  -1.1, CAL= 284.8,  -6.3, ROT= 225.2,   6.3

2025-08-09T17:27:35.726Z,1754760455.726 [DAT](INFO): #Rx 36: Read range and direction messages.
2025-08-09T17:27:35.727Z,1754760455.727 [DAT](INFO): direction in FSK: [-0.700379,-0.705286,-0.109734]
2025-08-09T17:27:35.728Z,1754760455.728 [DAT](INFO): publishing direction and range info
2025-08-09T17:27:35.743Z,1754760455.743 [DAT](INFO): checking for new query: numPingsReceived=36, elapsed TxPingTime=3.039827
2025-08-09T17:27:35.907Z,1754760455.907 [lineCaptureHoming:UpdatePingUpdateRate_Midcourse] Running Loop=1
2025-08-09T17:27:35.907Z,1754760455.907 [lineCaptureHoming:UpdatePingUpdateRate_Midcourse](DEBUG): Aggregate::initialize lineCaptureHoming:UpdatePingUpdateRate_Midcourse
2025-08-09T17:27:35.908Z,1754760455.908 [lineCaptureHoming:UpdatePingUpdateRate_Midcourse:A] Running Loop=1
2025-08-09T17:27:35.909Z,1754760455.909 [lineCaptureHoming:UpdatePingUpdateRate_Midcourse:A](INFO): Entering Midcourse tracking update period  60.000000 s sec at 52.799999 m (mode  5.000000 count ).
2025-08-09T17:27:35.909Z,1754760455.909 [lineCaptureHoming:UpdatePingUpdateRate_Midcourse:A] Stopped
2025-08-09T17:27:35.909Z,1754760455.909 [lineCaptureHoming:UpdatePingUpdateRate_Midcourse:B] Running Loop=1
2025-08-09T17:27:35.921Z,1754760455.921 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 52.799999 m,
      deltaT: 0.502391 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-08-09T17:27:35.932Z,1754760455.932 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 52.799999 m,
      bearing: 184.879639 deg,
      lat: 36.906120 deg,
      lon: -122.115899 deg,
      deltaT: 0.502391 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      posRepo size: 4

2025-08-09T17:27:35.932Z,1754760455.932 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 52.80 m.
2025-08-09T17:27:35.938Z,1754760455.938 [lineCaptureHoming:LineCapture:HoldBuoyancy] Stopped
2025-08-09T17:27:35.939Z,1754760455.939 [lineCaptureHoming:LineCapture:HoldBuoyancy](DEBUG): Aggregate::uninitialize lineCaptureHoming:LineCapture:HoldBuoyancy
2025-08-09T17:27:35.939Z,1754760455.939 [lineCaptureHoming:LineCapture:HoldBuoyancy:A.Buoyancy] Stopped
2025-08-09T17:27:35.939Z,1754760455.939 [lineCaptureHoming:LineCapture:HoldBuoyancy:A.Buoyancy](DEBUG): Uninitialize Buoyancy Component.
2025-08-09T17:27:35.969Z,1754760455.969 [DAT](INFO): checking for new query: numPingsReceived=36, elapsed TxPingTime=3.265958
2025-08-09T17:27:36.219Z,1754760456.219 [DAT](INFO): DAT read: Rx Time:17:27:35.3357 

2025-08-09T17:27:36.220Z,1754760456.220 [DAT](INFO): Rx dataTimestamp_ set to:1754760456.219622
2025-08-09T17:27:36.221Z,1754760456.221 [DAT](INFO): DAT read: Range 11 to 50 :    53.3 m (trip time 35.5 ms) speed -0.4

2025-08-09T17:27:36.222Z,1754760456.222 [DAT](ERROR): #Rx 37: Read range message, but no direction.
2025-08-09T17:27:36.223Z,1754760456.223 [DAT](INFO): checking for new query: numPingsReceived=37, elapsed TxPingTime=3.519732
2025-08-09T17:27:36.368Z,1754760456.368 [lineCaptureHoming:UpdatePingUpdateRate_Midcourse:B] Stopped
2025-08-09T17:27:36.368Z,1754760456.368 [lineCaptureHoming:UpdatePingUpdateRate_Midcourse:C] Running Loop=1
2025-08-09T17:27:36.371Z,1754760456.371 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 53.299999 m,
      deltaT: 0.503431 s,
      deltaX: 0.500000 m,
      approachRate: 0.993185 m/s,
      rangeRepo size: 4

2025-08-09T17:27:36.372Z,1754760456.372 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 52.80 m.
2025-08-09T17:27:36.471Z,1754760456.471 [DAT](INFO): checking for new query: numPingsReceived=37, elapsed TxPingTime=3.768391
2025-08-09T17:27:36.723Z,1754760456.723 [DAT](INFO): DAT read: Rx Time:17:27:35.8357 

2025-08-09T17:27:36.724Z,1754760456.724 [DAT](INFO): Rx dataTimestamp_ set to:1754760456.723669
2025-08-09T17:27:36.725Z,1754760456.725 [DAT](INFO): DAT read: Range 11 to 50 :    53.3 m (trip time 35.5 ms) speed -0.4

2025-08-09T17:27:36.726Z,1754760456.726 [DAT](ERROR): #Rx 38: Read range message, but no direction.
2025-08-09T17:27:36.727Z,1754760456.727 [DAT](INFO): checking for new query: numPingsReceived=38, elapsed TxPingTime=4.023766
2025-08-09T17:27:36.735Z,1754760456.735 [lineCaptureHoming:UpdatePingUpdateRate_Midcourse:C] Stopped
2025-08-09T17:27:36.735Z,1754760456.735 [lineCaptureHoming:UpdatePingUpdateRate_Midcourse:D] Running Loop=1
2025-08-09T17:27:36.738Z,1754760456.738 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 53.299999 m,
      deltaT: 0.504047 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-08-09T17:27:36.743Z,1754760456.743 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 52.80 m.
2025-08-09T17:27:36.976Z,1754760456.976 [DAT](INFO): checking for new query: numPingsReceived=38, elapsed TxPingTime=4.272948
2025-08-09T17:27:37.214Z,1754760457.214 [lineCaptureHoming:UpdatePingUpdateRate_Midcourse:D] Stopped
2025-08-09T17:27:37.214Z,1754760457.214 [lineCaptureHoming:UpdatePingUpdateRate_Midcourse](INFO): Completed lineCaptureHoming:UpdatePingUpdateRate_Midcourse
2025-08-09T17:27:37.214Z,1754760457.214 [lineCaptureHoming:UpdatePingUpdateRate_Midcourse] Stopped
2025-08-09T17:27:37.214Z,1754760457.214 [lineCaptureHoming:UpdatePingUpdateRate_Midcourse](DEBUG): Aggregate::uninitialize lineCaptureHoming:UpdatePingUpdateRate_Midcourse
2025-08-09T17:27:37.221Z,1754760457.221 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 52.80 m.
2025-08-09T17:27:37.228Z,1754760457.228 [DAT](INFO): DAT read: Rx Time:17:27:36.3359 

2025-08-09T17:27:37.228Z,1754760457.228 [DAT](INFO): Rx dataTimestamp_ set to:1754760457.228169
2025-08-09T17:27:37.230Z,1754760457.230 [DAT](INFO): DAT read: Bearing 315.9, -40.0 (Local)

2025-08-09T17:27:37.230Z,1754760457.230 [DAT](INFO): Local bearing/azimuth received:
 Bearing 315.9, -40.0 (Local)

2025-08-09T17:27:37.232Z,1754760457.232 [DAT](INFO): DAT read: Range 11 to 50 :    53.6 m (trip time 35.7 ms) speed -0.3

2025-08-09T17:27:37.237Z,1754760457.237 [DAT](INFO): DAT read: 17:27:36.3359 LVL= 17344, 22449, 18994, 19907, AGC= 62, IDX=   2, 0.24, 2.563,-1.846,-2.101,-2.595, PHS=-1.023, 0.794, 0.450, RAW= 280.3,  -2.7, CAL= 279.4,  -8.1, ROT= 230.6,   8.1

2025-08-09T17:27:37.239Z,1754760457.239 [DAT](INFO): got valid direction response:
 17:27:36.3359 LVL= 17344, 22449, 18994, 19907, AGC= 62, IDX=   2, 0.24, 2.563,-1.846,-2.101,-2.595, PHS=-1.023, 0.794, 0.450, RAW= 280.3,  -2.7, CAL= 279.4,  -8.1, ROT= 230.6,   8.1

2025-08-09T17:27:37.239Z,1754760457.239 [DAT](INFO): #Rx 39: Read range and direction messages.
2025-08-09T17:27:37.241Z,1754760457.241 [DAT](INFO): direction in FSK: [-0.628398,-0.765025,-0.140901]
2025-08-09T17:27:37.246Z,1754760457.246 [DAT](INFO): publishing direction and range info
2025-08-09T17:27:37.250Z,1754760457.250 [DAT](INFO): checking for new query: numPingsReceived=39, elapsed TxPingTime=4.546624
2025-08-09T17:27:37.480Z,1754760457.480 [DAT](INFO): checking for new query: numPingsReceived=39, elapsed TxPingTime=4.776845
2025-08-09T17:27:37.544Z,1754760457.544 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 53.599998 m,
      deltaT: 0.504500 s,
      deltaX: 0.299999 m,
      approachRate: 0.594647 m/s,
      rangeRepo size: 4

2025-08-09T17:27:37.547Z,1754760457.547 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 53.599998 m,
      bearing: 184.054253 deg,
      lat: 36.906117 deg,
      lon: -122.115899 deg,
      deltaT: 1.511978 s,
      deltaX: 0.799999 m,
      approachRate: 0.529108 m/s,
      posRepo size: 4

2025-08-09T17:27:37.548Z,1754760457.548 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 53.60 m.
2025-08-09T17:27:37.732Z,1754760457.732 [DAT](INFO): DAT read: Rx Time:17:27:36.8360 

2025-08-09T17:27:37.733Z,1754760457.733 [DAT](INFO): Rx dataTimestamp_ set to:1754760457.732296
2025-08-09T17:27:37.734Z,1754760457.734 [DAT](INFO): DAT read: Bearing 314.6, -41.8 (Local)

2025-08-09T17:27:37.734Z,1754760457.734 [DAT](INFO): Local bearing/azimuth received:
 Bearing 314.6, -41.8 (Local)

2025-08-09T17:27:37.736Z,1754760457.736 [DAT](INFO): DAT read: Range 11 to 50 :    53.7 m (trip time 35.8 ms) speed -0.2

2025-08-09T17:27:37.741Z,1754760457.741 [DAT](INFO): DAT read: 17:27:36.8360 LVL= 19696, 17313, 20338, 20707, AGC= 59, IDX= 498, 0.48, 0.088, 1.893, 1.700, 1.194, PHS=-1.004, 0.744, 0.462, RAW= 278.6,  -2.5, CAL= 277.7,  -8.0, ROT= 232.3,   8.0

2025-08-09T17:27:37.742Z,1754760457.742 [DAT](INFO): got valid direction response:
 17:27:36.8360 LVL= 19696, 17313, 20338, 20707, AGC= 59, IDX= 498, 0.48, 0.088, 1.893, 1.700, 1.194, PHS=-1.004, 0.744, 0.462, RAW= 278.6,  -2.5, CAL= 277.7,  -8.0, ROT= 232.3,   8.0

2025-08-09T17:27:37.743Z,1754760457.743 [DAT](INFO): #Rx 40: Read range and direction messages.
2025-08-09T17:27:37.744Z,1754760457.744 [DAT](INFO): direction in FSK: [-0.605576,-0.783523,-0.139173]
2025-08-09T17:27:37.744Z,1754760457.744 [DAT](INFO): publishing direction and range info
2025-08-09T17:27:37.747Z,1754760457.747 [DAT](INFO): checking for new query: numPingsReceived=40, elapsed TxPingTime=5.044262
2025-08-09T17:27:37.983Z,1754760457.983 [DAT](INFO): checking for new query: numPingsReceived=40, elapsed TxPingTime=5.280476
2025-08-09T17:27:38.053Z,1754760458.053 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 53.700001 m,
      deltaT: 0.504127 s,
      deltaX: 0.100002 m,
      approachRate: 0.198367 m/s,
      rangeRepo size: 4

2025-08-09T17:27:38.059Z,1754760458.059 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 53.700001 m,
      bearing: 184.085898 deg,
      lat: 36.906117 deg,
      lon: -122.115901 deg,
      deltaT: 0.504127 s,
      deltaX: 0.100002 m,
      approachRate: 0.198367 m/s,
      posRepo size: 4

2025-08-09T17:27:38.060Z,1754760458.060 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 53.70 m.
2025-08-09T17:27:38.236Z,1754760458.236 [DAT](INFO): DAT read: Rx Time:17:27:37.3361 

2025-08-09T17:27:38.236Z,1754760458.236 [DAT](INFO): Rx dataTimestamp_ set to:1754760458.235987
2025-08-09T17:27:38.238Z,1754760458.238 [DAT](INFO): DAT read: Bearing 313.0, -44.5 (Local)

2025-08-09T17:27:38.238Z,1754760458.238 [DAT](INFO): Local bearing/azimuth received:
 Bearing 313.0, -44.5 (Local)

2025-08-09T17:27:38.240Z,1754760458.240 [DAT](INFO): DAT read: Range 11 to 50 :    53.9 m (trip time 35.9 ms) speed -0.2

2025-08-09T17:27:38.245Z,1754760458.245 [DAT](INFO): DAT read: 17:27:37.3361 LVL= 19440, 19521, 18546, 23171, AGC= 57, IDX= 499, 0.48, 0.121, 1.955, 1.829, 1.291, PHS=-1.067, 0.709, 0.494, RAW= 276.4,  -1.6, CAL= 275.2,  -7.2, ROT= 234.8,   7.2

2025-08-09T17:27:38.246Z,1754760458.246 [DAT](INFO): got valid direction response:
 17:27:37.3361 LVL= 19440, 19521, 18546, 23171, AGC= 57, IDX= 499, 0.48, 0.121, 1.955, 1.829, 1.291, PHS=-1.067, 0.709, 0.494, RAW= 276.4,  -1.6, CAL= 275.2,  -7.2, ROT= 234.8,   7.2

2025-08-09T17:27:38.246Z,1754760458.246 [DAT](INFO): #Rx 41: Read range and direction messages.
2025-08-09T17:27:38.250Z,1754760458.250 [DAT](INFO): direction in FSK: [-0.571887,-0.810701,-0.125333]
2025-08-09T17:27:38.250Z,1754760458.250 [DAT](INFO): publishing direction and range info
2025-08-09T17:27:38.253Z,1754760458.253 [DAT](INFO): checking for new query: numPingsReceived=41, elapsed TxPingTime=5.550510
2025-08-09T17:27:38.487Z,1754760458.487 [DAT](INFO): checking for new query: numPingsReceived=41, elapsed TxPingTime=5.784392
2025-08-09T17:27:38.503Z,1754760458.503 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 53.900002 m,
      deltaT: 0.503691 s,
      deltaX: 0.200001 m,
      approachRate: 0.397070 m/s,
      rangeRepo size: 4

2025-08-09T17:27:38.505Z,1754760458.505 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 53.900002 m,
      bearing: 186.453397 deg,
      lat: 36.906117 deg,
      lon: -122.115929 deg,
      deltaT: 0.503691 s,
      deltaX: 0.200001 m,
      approachRate: 0.397070 m/s,
      posRepo size: 4

2025-08-09T17:27:38.506Z,1754760458.506 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 53.90 m.
2025-08-09T17:27:38.741Z,1754760458.741 [DAT](INFO): DAT read: Rx Time:17:27:37.8361 

2025-08-09T17:27:38.742Z,1754760458.742 [DAT](INFO): Rx dataTimestamp_ set to:1754760458.741352
2025-08-09T17:27:38.743Z,1754760458.743 [DAT](INFO): DAT read: Bearing 310.8, -44.8 (Local)

2025-08-09T17:27:38.743Z,1754760458.743 [DAT](INFO): Local bearing/azimuth received:
 Bearing 310.8, -44.8 (Local)

2025-08-09T17:27:38.745Z,1754760458.745 [DAT](INFO): DAT read: Range 11 to 50 :    53.9 m (trip time 35.9 ms) speed -0.1

2025-08-09T17:27:38.750Z,1754760458.750 [DAT](INFO): DAT read: 17:27:37.8361 LVL= 20448, 18737, 20722, 25203, AGC= 58, IDX= 499, 0.38,-1.622, 0.201, 0.077,-0.444, PHS=-1.076, 0.690, 0.477, RAW= 276.3,  -1.1, CAL= 275.1,  -6.6, ROT= 234.9,   6.6

2025-08-09T17:27:38.751Z,1754760458.751 [DAT](INFO): got valid direction response:
 17:27:37.8361 LVL= 20448, 18737, 20722, 25203, AGC= 58, IDX= 499, 0.38,-1.622, 0.201, 0.077,-0.444, PHS=-1.076, 0.690, 0.477, RAW= 276.3,  -1.1, CAL= 275.1,  -6.6, ROT= 234.9,   6.6

2025-08-09T17:27:38.752Z,1754760458.752 [DAT](INFO): #Rx 42: Read range and direction messages.
2025-08-09T17:27:38.753Z,1754760458.753 [DAT](INFO): direction in FSK: [-0.571195,-0.812728,-0.114937]
2025-08-09T17:27:38.753Z,1754760458.753 [DAT](INFO): publishing direction and range info
2025-08-09T17:27:38.767Z,1754760458.767 [DAT](INFO): checking for new query: numPingsReceived=42, elapsed TxPingTime=6.064492
2025-08-09T17:27:38.991Z,1754760458.991 [DAT](INFO): checking for new query: numPingsReceived=42, elapsed TxPingTime=6.288322
2025-08-09T17:27:39.099Z,1754760459.099 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 53.900002 m,
      deltaT: 0.505365 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-08-09T17:27:39.101Z,1754760459.101 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 53.900002 m,
      bearing: 187.223658 deg,
      lat: 36.906117 deg,
      lon: -122.115939 deg,
      deltaT: 0.505365 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      posRepo size: 4

2025-08-09T17:27:39.102Z,1754760459.102 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 53.90 m.
2025-08-09T17:27:39.248Z,1754760459.248 [DAT](INFO): DAT read: Rx Time:17:27:38.3362 

2025-08-09T17:27:39.249Z,1754760459.249 [DAT](INFO): Rx dataTimestamp_ set to:1754760459.248680
2025-08-09T17:27:39.251Z,1754760459.251 [DAT](INFO): DAT read: Bearing 310.9, -44.6 (Local)

2025-08-09T17:27:39.251Z,1754760459.251 [DAT](INFO): Local bearing/azimuth received:
 Bearing 310.9, -44.6 (Local)

2025-08-09T17:27:39.253Z,1754760459.253 [DAT](INFO): DAT read: Range 11 to 50 :    54.0 m (trip time 36.0 ms) speed -0.1

2025-08-09T17:27:39.258Z,1754760459.258 [DAT](INFO): DAT read: 17:27:38.3362 LVL= 18000, 18881, 18930, 22371, AGC= 58, IDX= 501, 0.16,-0.082, 1.762, 1.642, 1.082, PHS=-1.063, 0.724, 0.516, RAW= 276.1,  -2.1, CAL= 275.0,  -7.7, ROT= 235.0,   7.7

2025-08-09T17:27:39.267Z,1754760459.267 [DAT](INFO): got valid direction response:
 17:27:38.3362 LVL= 18000, 18881, 18930, 22371, AGC= 58, IDX= 501, 0.16,-0.082, 1.762, 1.642, 1.082, PHS=-1.063, 0.724, 0.516, RAW= 276.1,  -2.1, CAL= 275.0,  -7.7, ROT= 235.0,   7.7

2025-08-09T17:27:39.267Z,1754760459.267 [DAT](INFO): #Rx 43: Read range and direction messages.
2025-08-09T17:27:39.268Z,1754760459.268 [DAT](INFO): direction in FSK: [-0.568405,-0.811766,-0.133986]
2025-08-09T17:27:39.268Z,1754760459.268 [DAT](INFO): publishing direction and range info
2025-08-09T17:27:39.276Z,1754760459.276 [DAT](INFO): checking for new query: numPingsReceived=43, elapsed TxPingTime=6.573204
2025-08-09T17:27:39.433Z,1754760459.433 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 54.000000 m,
      deltaT: 0.507328 s,
      deltaX: 0.099998 m,
      approachRate: 0.197108 m/s,
      rangeRepo size: 4

2025-08-09T17:27:39.439Z,1754760459.439 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 54.000000 m,
      bearing: 187.094436 deg,
      lat: 36.906117 deg,
      lon: -122.115939 deg,
      deltaT: 0.507328 s,
      deltaX: 0.099998 m,
      approachRate: 0.197108 m/s,
      posRepo size: 4

2025-08-09T17:27:39.440Z,1754760459.440 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.00 m.
2025-08-09T17:27:39.496Z,1754760459.496 [DAT](INFO): checking for new query: numPingsReceived=43, elapsed TxPingTime=6.793030
2025-08-09T17:27:39.748Z,1754760459.748 [DAT](INFO): DAT read: Rx Time:17:27:38.8362 

2025-08-09T17:27:39.748Z,1754760459.748 [DAT](INFO): Rx dataTimestamp_ set to:1754760459.747955
2025-08-09T17:27:39.749Z,1754760459.749 [DAT](INFO): DAT read: Bearing 309.9, -45.2 (Local)

2025-08-09T17:27:39.750Z,1754760459.750 [DAT](INFO): Local bearing/azimuth received:
 Bearing 309.9, -45.2 (Local)

2025-08-09T17:27:39.752Z,1754760459.752 [DAT](INFO): DAT read: Range 11 to 50 :    54.0 m (trip time 36.0 ms) speed -0.1

2025-08-09T17:27:39.757Z,1754760459.757 [DAT](INFO): DAT read: 17:27:38.8362 LVL= 17696, 14961, 19874, 22323, AGC= 57, IDX= 501,-0.11,-2.527,-0.696,-0.795,-1.366, PHS=-1.059, 0.715, 0.527, RAW= 275.5,  -2.2, CAL= 274.4,  -7.7, ROT= 235.6,   7.7

2025-08-09T17:27:39.758Z,1754760459.758 [DAT](INFO): got valid direction response:
 17:27:38.8362 LVL= 17696, 14961, 19874, 22323, AGC= 57, IDX= 501,-0.11,-2.527,-0.696,-0.795,-1.366, PHS=-1.059, 0.715, 0.527, RAW= 275.5,  -2.2, CAL= 274.4,  -7.7, ROT= 235.6,   7.7

2025-08-09T17:27:39.758Z,1754760459.758 [DAT](INFO): #Rx 44: Read range and direction messages.
2025-08-09T17:27:39.759Z,1754760459.759 [DAT](INFO): direction in FSK: [-0.559873,-0.817674,-0.133986]
2025-08-09T17:27:39.759Z,1754760459.759 [DAT](INFO): publishing direction and range info
2025-08-09T17:27:39.767Z,1754760459.767 [DAT](INFO): checking for new query: numPingsReceived=44, elapsed TxPingTime=7.063545
2025-08-09T17:27:39.974Z,1754760459.974 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 54.000000 m,
      deltaT: 0.499275 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-08-09T17:27:39.980Z,1754760459.980 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 54.000000 m,
      bearing: 186.900555 deg,
      lat: 36.906118 deg,
      lon: -122.115939 deg,
      deltaT: 0.499275 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      posRepo size: 4

2025-08-09T17:27:39.980Z,1754760459.980 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.00 m.
2025-08-09T17:27:39.999Z,1754760459.999 [DAT](INFO): checking for new query: numPingsReceived=44, elapsed TxPingTime=7.296417
2025-08-09T17:27:40.252Z,1754760460.252 [DAT](INFO): DAT read: Rx Time:17:27:39.3364 

2025-08-09T17:27:40.252Z,1754760460.252 [DAT](INFO): Rx dataTimestamp_ set to:1754760460.251924
2025-08-09T17:27:40.253Z,1754760460.253 [DAT](INFO): DAT read: Bearing 308.7, -48.1 (Local)

2025-08-09T17:27:40.254Z,1754760460.254 [DAT](INFO): Local bearing/azimuth received:
 Bearing 308.7, -48.1 (Local)

2025-08-09T17:27:40.256Z,1754760460.256 [DAT](INFO): DAT read: Range 11 to 50 :    54.3 m (trip time 36.2 ms) speed -0.1

2025-08-09T17:27:40.261Z,1754760460.261 [DAT](INFO): DAT read: 17:27:39.3364 LVL= 22896, 22705, 23986, 28355, AGC= 58, IDX= 502, 0.36, 1.347,-3.104,-3.123, 2.558, PHS=-1.110, 0.665, 0.557, RAW= 273.1,  -1.3, CAL= 271.7,  -6.9, ROT= 238.3,   6.9

2025-08-09T17:27:40.262Z,1754760460.262 [DAT](INFO): got valid direction response:
 17:27:39.3364 LVL= 22896, 22705, 23986, 28355, AGC= 58, IDX= 502, 0.36, 1.347,-3.104,-3.123, 2.558, PHS=-1.110, 0.665, 0.557, RAW= 273.1,  -1.3, CAL= 271.7,  -6.9, ROT= 238.3,   6.9

2025-08-09T17:27:40.262Z,1754760460.262 [DAT](INFO): #Rx 45: Read range and direction messages.
2025-08-09T17:27:40.263Z,1754760460.263 [DAT](INFO): direction in FSK: [-0.521666,-0.844649,-0.120137]
2025-08-09T17:27:40.263Z,1754760460.263 [DAT](INFO): publishing direction and range info
2025-08-09T17:27:40.271Z,1754760460.271 [DAT](INFO): checking for new query: numPingsReceived=45, elapsed TxPingTime=7.567795
2025-08-09T17:27:40.457Z,1754760460.457 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 54.299999 m,
      deltaT: 0.503969 s,
      deltaX: 0.299999 m,
      approachRate: 0.595273 m/s,
      rangeRepo size: 4

2025-08-09T17:27:40.463Z,1754760460.463 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 54.299999 m,
      bearing: 187.264460 deg,
      lat: 36.906118 deg,
      lon: -122.115945 deg,
      deltaT: 0.503969 s,
      deltaX: 0.299999 m,
      approachRate: 0.595273 m/s,
      posRepo size: 4

2025-08-09T17:27:40.463Z,1754760460.463 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.30 m.
2025-08-09T17:27:40.504Z,1754760460.504 [DAT](INFO): checking for new query: numPingsReceived=45, elapsed TxPingTime=7.800960
2025-08-09T17:27:40.752Z,1754760460.752 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.30 m.
2025-08-09T17:27:40.756Z,1754760460.756 [DAT](INFO): DAT read: Rx Time:17:27:39.8363 

2025-08-09T17:27:40.756Z,1754760460.756 [DAT](INFO): Rx dataTimestamp_ set to:1754760460.756159
2025-08-09T17:27:40.758Z,1754760460.758 [DAT](INFO): DAT read: Bearing 307.4, -49.5 (Local)

2025-08-09T17:27:40.758Z,1754760460.758 [DAT](INFO): Local bearing/azimuth received:
 Bearing 307.4, -49.5 (Local)

2025-08-09T17:27:40.760Z,1754760460.760 [DAT](INFO): DAT read: Range 11 to 50 :    54.2 m (trip time 36.1 ms) speed 0.0

2025-08-09T17:27:40.765Z,1754760460.765 [DAT](INFO): DAT read: 17:27:39.8363 LVL= 23392, 17585, 21170, 27235, AGC= 59, IDX= 502,-0.03,-1.133, 0.633, 0.656, 0.057, PHS=-1.089, 0.621, 0.554, RAW= 272.0,  -1.0, CAL= 270.5,  -6.6, ROT= 239.6,   6.6

2025-08-09T17:27:40.766Z,1754760460.766 [DAT](INFO): got valid direction response:
 17:27:39.8363 LVL= 23392, 17585, 21170, 27235, AGC= 59, IDX= 502,-0.03,-1.133, 0.633, 0.656, 0.057, PHS=-1.089, 0.621, 0.554, RAW= 272.0,  -1.0, CAL= 270.5,  -6.6, ROT= 239.6,   6.6

2025-08-09T17:27:40.766Z,1754760460.766 [DAT](INFO): #Rx 46: Read range and direction messages.
2025-08-09T17:27:40.767Z,1754760460.767 [DAT](INFO): direction in FSK: [-0.502680,-0.856798,-0.114937]
2025-08-09T17:27:40.767Z,1754760460.767 [DAT](INFO): publishing direction and range info
2025-08-09T17:27:40.795Z,1754760460.795 [DAT](INFO): checking for new query: numPingsReceived=46, elapsed TxPingTime=8.092088
2025-08-09T17:27:41.013Z,1754760461.013 [DAT](INFO): checking for new query: numPingsReceived=46, elapsed TxPingTime=8.310333
2025-08-09T17:27:41.246Z,1754760461.246 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 54.200001 m,
      deltaT: 0.504235 s,
      deltaX: -0.099998 m,
      approachRate: -0.198317 m/s,
      rangeRepo size: 4

2025-08-09T17:27:41.255Z,1754760461.255 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 54.200001 m,
      bearing: 186.958744 deg,
      lat: 36.906119 deg,
      lon: -122.115945 deg,
      deltaT: 0.504235 s,
      deltaX: -0.099998 m,
      approachRate: -0.198317 m/s,
      posRepo size: 4

2025-08-09T17:27:41.256Z,1754760461.256 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.20 m.
2025-08-09T17:27:41.268Z,1754760461.268 [DAT](INFO): DAT read: Rx Time:17:27:40.3365 

2025-08-09T17:27:41.268Z,1754760461.268 [DAT](INFO): Rx dataTimestamp_ set to:1754760461.268137
2025-08-09T17:27:41.270Z,1754760461.270 [DAT](INFO): DAT read: Bearing 308.1, -50.5 (Local)

2025-08-09T17:27:41.270Z,1754760461.270 [DAT](INFO): Local bearing/azimuth received:
 Bearing 308.1, -50.5 (Local)

2025-08-09T17:27:41.272Z,1754760461.272 [DAT](INFO): DAT read: Range 11 to 50 :    54.5 m (trip time 36.3 ms) speed -0.1

2025-08-09T17:27:41.277Z,1754760461.277 [DAT](INFO): DAT read: 17:27:40.3365 LVL= 23392, 17585, 20210, 26643, AGC= 60, IDX= 503, 0.39, 1.871,-2.611,-2.546, 3.071, PHS=-1.098, 0.647, 0.623, RAW= 270.7,  -2.0, CAL= 269.2,  -7.5, ROT= 240.8,   7.5

2025-08-09T17:27:41.278Z,1754760461.278 [DAT](INFO): got valid direction response:
 17:27:40.3365 LVL= 23392, 17585, 20210, 26643, AGC= 60, IDX= 503, 0.39, 1.871,-2.611,-2.546, 3.071, PHS=-1.098, 0.647, 0.623, RAW= 270.7,  -2.0, CAL= 269.2,  -7.5, ROT= 240.8,   7.5

2025-08-09T17:27:41.278Z,1754760461.278 [DAT](INFO): #Rx 47: Read range and direction messages.
2025-08-09T17:27:41.279Z,1754760461.279 [DAT](INFO): direction in FSK: [-0.483686,-0.865454,-0.130526]
2025-08-09T17:27:41.280Z,1754760461.280 [DAT](INFO): publishing direction and range info
2025-08-09T17:27:41.287Z,1754760461.287 [DAT](INFO): checking for new query: numPingsReceived=47, elapsed TxPingTime=8.584278
2025-08-09T17:27:41.520Z,1754760461.520 [DAT](INFO): checking for new query: numPingsReceived=47, elapsed TxPingTime=8.816671
2025-08-09T17:27:41.743Z,1754760461.743 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 54.500000 m,
      deltaT: 0.511978 s,
      deltaX: 0.299999 m,
      approachRate: 0.585961 m/s,
      rangeRepo size: 4

2025-08-09T17:27:41.745Z,1754760461.745 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 54.500000 m,
      bearing: 187.948712 deg,
      lat: 36.906118 deg,
      lon: -122.115958 deg,
      deltaT: 0.511978 s,
      deltaX: 0.299999 m,
      approachRate: 0.585961 m/s,
      posRepo size: 4

2025-08-09T17:27:41.746Z,1754760461.746 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.50 m.
2025-08-09T17:27:41.772Z,1754760461.772 [DAT](INFO): DAT read: Rx Time:17:27:40.8364 

2025-08-09T17:27:41.773Z,1754760461.773 [DAT](INFO): Rx dataTimestamp_ set to:1754760461.772234
2025-08-09T17:27:41.774Z,1754760461.774 [DAT](INFO): DAT read: Bearing 308.6, -52.4 (Local)

2025-08-09T17:27:41.774Z,1754760461.774 [DAT](INFO): Local bearing/azimuth received:
 Bearing 308.6, -52.4 (Local)

2025-08-09T17:27:41.776Z,1754760461.776 [DAT](INFO): DAT read: Range 11 to 50 :    54.3 m (trip time 36.2 ms) speed -0.1

2025-08-09T17:27:41.781Z,1754760461.781 [DAT](INFO): DAT read: 17:27:40.8364 LVL= 21344, 14273, 18658, 22883, AGC= 60, IDX= 503,-0.09, 0.333, 2.084, 2.215, 1.507, PHS=-1.072, 0.622, 0.664, RAW= 268.8,  -2.5, CAL= 267.2,  -7.9, ROT= 242.8,   7.9

2025-08-09T17:27:41.782Z,1754760461.782 [DAT](INFO): got valid direction response:
 17:27:40.8364 LVL= 21344, 14273, 18658, 22883, AGC= 60, IDX= 503,-0.09, 0.333, 2.084, 2.215, 1.507, PHS=-1.072, 0.622, 0.664, RAW= 268.8,  -2.5, CAL= 267.2,  -7.9, ROT= 242.8,   7.9

2025-08-09T17:27:41.782Z,1754760461.782 [DAT](INFO): #Rx 48: Read range and direction messages.
2025-08-09T17:27:41.783Z,1754760461.783 [DAT](INFO): direction in FSK: [-0.452760,-0.880975,-0.137445]
2025-08-09T17:27:41.784Z,1754760461.784 [DAT](INFO): publishing direction and range info
2025-08-09T17:27:41.792Z,1754760461.792 [DAT](INFO): checking for new query: numPingsReceived=48, elapsed TxPingTime=9.088671
2025-08-09T17:27:42.028Z,1754760462.028 [DAT](INFO): checking for new query: numPingsReceived=48, elapsed TxPingTime=9.324113
2025-08-09T17:27:42.145Z,1754760462.145 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 54.299999 m,
      deltaT: 0.504097 s,
      deltaX: -0.200001 m,
      approachRate: -0.396751 m/s,
      rangeRepo size: 4

2025-08-09T17:27:42.153Z,1754760462.153 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 54.299999 m,
      bearing: 188.070784 deg,
      lat: 36.906119 deg,
      lon: -122.115961 deg,
      deltaT: 0.504097 s,
      deltaX: -0.200001 m,
      approachRate: -0.396751 m/s,
      posRepo size: 4

2025-08-09T17:27:42.156Z,1754760462.156 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.30 m.
2025-08-09T17:27:42.276Z,1754760462.276 [DAT](INFO): DAT read: Rx Time:17:27:41.3365 

2025-08-09T17:27:42.276Z,1754760462.276 [DAT](INFO): Rx dataTimestamp_ set to:1754760462.276171
2025-08-09T17:27:42.278Z,1754760462.278 [DAT](INFO): DAT read: Bearing 309.1, -53.6 (Local)

2025-08-09T17:27:42.278Z,1754760462.278 [DAT](INFO): Local bearing/azimuth received:
 Bearing 309.1, -53.6 (Local)

2025-08-09T17:27:42.280Z,1754760462.280 [DAT](INFO): DAT read: Range 11 to 50 :    54.5 m (trip time 36.3 ms) speed -0.2

2025-08-09T17:27:42.285Z,1754760462.285 [DAT](INFO): DAT read: 17:27:41.3365 LVL= 17616, 13745, 16210, 19107, AGC= 60, IDX= 503, 0.35, 2.176,-2.307,-2.126,-2.904, PHS=-1.101, 0.642, 0.733, RAW= 267.5,  -3.1, CAL= 265.8,  -8.5, ROT= 244.2,   8.5

2025-08-09T17:27:42.286Z,1754760462.286 [DAT](INFO): got valid direction response:
 17:27:41.3365 LVL= 17616, 13745, 16210, 19107, AGC= 60, IDX= 503, 0.35, 2.176,-2.307,-2.126,-2.904, PHS=-1.101, 0.642, 0.733, RAW= 267.5,  -3.1, CAL= 265.8,  -8.5, ROT= 244.2,   8.5

2025-08-09T17:27:42.286Z,1754760462.286 [DAT](INFO): #Rx 49: Read range and direction messages.
2025-08-09T17:27:42.287Z,1754760462.287 [DAT](INFO): direction in FSK: [-0.430450,-0.890430,-0.147809]
2025-08-09T17:27:42.288Z,1754760462.288 [DAT](INFO): publishing direction and range info
2025-08-09T17:27:42.303Z,1754760462.303 [DAT](INFO): checking for new query: numPingsReceived=49, elapsed TxPingTime=9.599139
2025-08-09T17:27:42.528Z,1754760462.528 [DAT](INFO): checking for new query: numPingsReceived=49, elapsed TxPingTime=9.824548
2025-08-09T17:27:42.617Z,1754760462.617 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 54.500000 m,
      deltaT: 0.503937 s,
      deltaX: 0.200001 m,
      approachRate: 0.396877 m/s,
      rangeRepo size: 4

2025-08-09T17:27:42.619Z,1754760462.619 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 54.500000 m,
      bearing: 187.986841 deg,
      lat: 36.906121 deg,
      lon: -122.115962 deg,
      deltaT: 0.503937 s,
      deltaX: 0.200001 m,
      approachRate: 0.396877 m/s,
      posRepo size: 4

2025-08-09T17:27:42.620Z,1754760462.620 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.50 m.
2025-08-09T17:27:42.780Z,1754760462.780 [DAT](INFO): DAT read: Rx Time:17:27:41.8364 

2025-08-09T17:27:42.780Z,1754760462.780 [DAT](INFO): Rx dataTimestamp_ set to:1754760462.780134
2025-08-09T17:27:42.782Z,1754760462.782 [DAT](INFO): DAT read: Bearing 308.5, -56.1 (Local)

2025-08-09T17:27:42.782Z,1754760462.782 [DAT](INFO): Local bearing/azimuth received:
 Bearing 308.5, -56.1 (Local)

2025-08-09T17:27:42.785Z,1754760462.785 [DAT](INFO): DAT read: Range 11 to 50 :    54.3 m (trip time 36.2 ms) speed 0.0

2025-08-09T17:27:42.796Z,1754760462.796 [DAT](INFO): DAT read: 17:27:41.8364 LVL= 18864, 13729, 15826, 18979, AGC= 61, IDX= 503,-0.03,-0.236, 1.529, 1.783, 0.978, PHS=-1.112, 0.596, 0.761, RAW= 265.4,  -2.8, CAL= 263.5,  -8.0, ROT= 246.5,   8.0

2025-08-09T17:27:42.798Z,1754760462.798 [DAT](INFO): got valid direction response:
 17:27:41.8364 LVL= 18864, 13729, 15826, 18979, AGC= 61, IDX= 503,-0.03,-0.236, 1.529, 1.783, 0.978, PHS=-1.112, 0.596, 0.761, RAW= 265.4,  -2.8, CAL= 263.5,  -8.0, ROT= 246.5,   8.0

2025-08-09T17:27:42.799Z,1754760462.799 [DAT](INFO): #Rx 50: Read range and direction messages.
2025-08-09T17:27:42.801Z,1754760462.801 [DAT](INFO): direction in FSK: [-0.394869,-0.908135,-0.139173]
2025-08-09T17:27:42.802Z,1754760462.802 [DAT](INFO): publishing direction and range info
2025-08-09T17:27:42.809Z,1754760462.809 [DAT](INFO): checking for new query: numPingsReceived=50, elapsed TxPingTime=10.105919
2025-08-09T17:27:43.031Z,1754760463.031 [DAT](INFO): checking for new query: numPingsReceived=50, elapsed TxPingTime=10.328396
2025-08-09T17:27:43.080Z,1754760463.080 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 54.299999 m,
      deltaT: 0.503963 s,
      deltaX: -0.200001 m,
      approachRate: -0.396856 m/s,
      rangeRepo size: 4

2025-08-09T17:27:43.082Z,1754760463.082 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 54.299999 m,
      bearing: 189.425396 deg,
      lat: 36.906122 deg,
      lon: -122.115979 deg,
      deltaT: 0.503963 s,
      deltaX: -0.200001 m,
      approachRate: -0.396856 m/s,
      posRepo size: 4

2025-08-09T17:27:43.083Z,1754760463.083 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.30 m.
2025-08-09T17:27:43.285Z,1754760463.285 [DAT](INFO): DAT read: Rx Time:17:27:42.3366 

2025-08-09T17:27:43.285Z,1754760463.285 [DAT](INFO): Rx dataTimestamp_ set to:1754760463.285027
2025-08-09T17:27:43.288Z,1754760463.288 [DAT](INFO): DAT read: Bearing 308.7, -56.6 (Local)

2025-08-09T17:27:43.289Z,1754760463.289 [DAT](INFO): Local bearing/azimuth received:
 Bearing 308.7, -56.6 (Local)

2025-08-09T17:27:43.292Z,1754760463.292 [DAT](INFO): DAT read: Range 11 to 50 :    54.6 m (trip time 36.4 ms) speed -0.2

2025-08-09T17:27:43.300Z,1754760463.300 [DAT](INFO): DAT read: 17:27:42.3366 LVL= 21488, 16273, 19618, 23667, AGC= 59, IDX= 505,-0.41, 1.063, 2.772, 3.044, 2.230, PHS=-1.066, 0.587, 0.770, RAW= 264.8,  -3.4, CAL= 263.0,  -8.6, ROT= 247.0,   8.6

2025-08-09T17:27:43.302Z,1754760463.302 [DAT](INFO): got valid direction response:
 17:27:42.3366 LVL= 21488, 16273, 19618, 23667, AGC= 59, IDX= 505,-0.41, 1.063, 2.772, 3.044, 2.230, PHS=-1.066, 0.587, 0.770, RAW= 264.8,  -3.4, CAL= 263.0,  -8.6, ROT= 247.0,   8.6

2025-08-09T17:27:43.303Z,1754760463.303 [DAT](INFO): #Rx 51: Read range and direction messages.
2025-08-09T17:27:43.305Z,1754760463.305 [DAT](INFO): direction in FSK: [-0.386338,-0.910155,-0.149535]
2025-08-09T17:27:43.305Z,1754760463.305 [DAT](INFO): publishing direction and range info
2025-08-09T17:27:43.353Z,1754760463.353 [DAT](INFO): checking for new query: numPingsReceived=51, elapsed TxPingTime=10.649484
2025-08-09T17:27:43.505Z,1754760463.505 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 54.599998 m,
      deltaT: 0.504893 s,
      deltaX: 0.299999 m,
      approachRate: 0.594184 m/s,
      rangeRepo size: 4

2025-08-09T17:27:43.511Z,1754760463.511 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 54.599998 m,
      bearing: 189.408517 deg,
      lat: 36.906123 deg,
      lon: -122.115980 deg,
      deltaT: 0.504893 s,
      deltaX: 0.299999 m,
      approachRate: 0.594184 m/s,
      posRepo size: 4

2025-08-09T17:27:43.512Z,1754760463.512 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.60 m.
2025-08-09T17:27:43.535Z,1754760463.535 [DAT](INFO): checking for new query: numPingsReceived=51, elapsed TxPingTime=10.832398
2025-08-09T17:27:43.788Z,1754760463.788 [DAT](INFO): DAT read: Rx Time:17:27:42.8366 

2025-08-09T17:27:43.789Z,1754760463.789 [DAT](INFO): Rx dataTimestamp_ set to:1754760463.788302
2025-08-09T17:27:43.790Z,1754760463.790 [DAT](INFO): DAT read: Bearing 306.1, -59.2 (Local)

2025-08-09T17:27:43.791Z,1754760463.791 [DAT](INFO): Local bearing/azimuth received:
 Bearing 306.1, -59.2 (Local)

2025-08-09T17:27:43.793Z,1754760463.793 [DAT](INFO): DAT read: Range 11 to 50 :    54.6 m (trip time 36.4 ms) speed -0.2

2025-08-09T17:27:43.800Z,1754760463.800 [DAT](INFO): DAT read: 17:27:42.8366 LVL= 20304, 15169, 17250, 21859, AGC= 59, IDX= 504, 0.27, 0.485, 2.175, 2.501, 1.693, PHS=-1.106, 0.527, 0.764, RAW= 263.3,  -2.1, CAL= 261.0,  -7.1, ROT= 249.0,   7.1

2025-08-09T17:27:43.802Z,1754760463.802 [DAT](INFO): got valid direction response:
 17:27:42.8366 LVL= 20304, 15169, 17250, 21859, AGC= 59, IDX= 504, 0.27, 0.485, 2.175, 2.501, 1.693, PHS=-1.106, 0.527, 0.764, RAW= 263.3,  -2.1, CAL= 261.0,  -7.1, ROT= 249.0,   7.1

2025-08-09T17:27:43.803Z,1754760463.803 [DAT](INFO): #Rx 52: Read range and direction messages.
2025-08-09T17:27:43.805Z,1754760463.805 [DAT](INFO): direction in FSK: [-0.355620,-0.926422,-0.123601]
2025-08-09T17:27:43.805Z,1754760463.805 [DAT](INFO): publishing direction and range info
2025-08-09T17:27:43.829Z,1754760463.829 [DAT](INFO): checking for new query: numPingsReceived=52, elapsed TxPingTime=11.126354
2025-08-09T17:27:44.008Z,1754760464.008 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 54.599998 m,
      deltaT: 0.503275 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-08-09T17:27:44.026Z,1754760464.026 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 54.599998 m,
      bearing: 190.591586 deg,
      lat: 36.906124 deg,
      lon: -122.115994 deg,
      deltaT: 0.503275 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      posRepo size: 4

2025-08-09T17:27:44.030Z,1754760464.030 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.60 m.
2025-08-09T17:27:44.039Z,1754760464.039 [DAT](INFO): checking for new query: numPingsReceived=52, elapsed TxPingTime=11.336409
2025-08-09T17:27:44.292Z,1754760464.292 [DAT](INFO): DAT read: Rx Time:17:27:43.3367 

2025-08-09T17:27:44.292Z,1754760464.292 [DAT](INFO): Rx dataTimestamp_ set to:1754760464.292145
2025-08-09T17:27:44.294Z,1754760464.294 [DAT](INFO): DAT read: Bearing 304.9, -61.5 (Local)

2025-08-09T17:27:44.294Z,1754760464.294 [DAT](INFO): Local bearing/azimuth received:
 Bearing 304.9, -61.5 (Local)

2025-08-09T17:27:44.298Z,1754760464.298 [DAT](INFO): DAT read: Range 11 to 50 :    54.8 m (trip time 36.5 ms) speed -0.2

2025-08-09T17:27:44.307Z,1754760464.307 [DAT](INFO): DAT read: 17:27:43.3367 LVL= 17712, 12433, 15218, 18387, AGC= 61, IDX= 506, 0.08, 0.918, 2.634, 3.030, 2.183, PHS=-1.163, 0.495, 0.803, RAW= 261.7,  -1.5, CAL= 259.1,  -6.2, ROT= 250.9,   6.2

2025-08-09T17:27:44.308Z,1754760464.308 [DAT](INFO): got valid direction response:
 17:27:43.3367 LVL= 17712, 12433, 15218, 18387, AGC= 61, IDX= 506, 0.08, 0.918, 2.634, 3.030, 2.183, PHS=-1.163, 0.495, 0.803, RAW= 261.7,  -1.5, CAL= 259.1,  -6.2, ROT= 250.9,   6.2

2025-08-09T17:27:44.309Z,1754760464.309 [DAT](INFO): #Rx 53: Read range and direction messages.
2025-08-09T17:27:44.311Z,1754760464.311 [DAT](INFO): direction in FSK: [-0.325304,-0.939422,-0.107999]
2025-08-09T17:27:44.312Z,1754760464.312 [DAT](INFO): publishing direction and range info
2025-08-09T17:27:44.335Z,1754760464.335 [DAT](INFO): checking for new query: numPingsReceived=53, elapsed TxPingTime=11.615051
2025-08-09T17:27:44.499Z,1754760464.499 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 54.799999 m,
      deltaT: 0.503843 s,
      deltaX: 0.200001 m,
      approachRate: 0.396951 m/s,
      rangeRepo size: 4

2025-08-09T17:27:44.501Z,1754760464.501 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 54.799999 m,
      bearing: 190.604834 deg,
      lat: 36.906127 deg,
      lon: -122.115996 deg,
      deltaT: 0.503843 s,
      deltaX: 0.200001 m,
      approachRate: 0.396951 m/s,
      posRepo size: 4

2025-08-09T17:27:44.501Z,1754760464.501 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.80 m.
2025-08-09T17:27:44.544Z,1754760464.544 [DAT](INFO): checking for new query: numPingsReceived=53, elapsed TxPingTime=11.840738
2025-08-09T17:27:44.798Z,1754760464.798 [DAT](INFO): DAT read: Rx Time:17:27:43.8367 

2025-08-09T17:27:44.800Z,1754760464.800 [DAT](INFO): Rx dataTimestamp_ set to:1754760464.798951
2025-08-09T17:27:44.802Z,1754760464.802 [DAT](INFO): DAT read: Bearing 304.4, -63.0 (Local)

2025-08-09T17:27:44.803Z,1754760464.803 [DAT](INFO): Local bearing/azimuth received:
 Bearing 304.4, -63.0 (Local)

2025-08-09T17:27:44.806Z,1754760464.806 [DAT](INFO): DAT read: Range 11 to 50 :    54.8 m (trip time 36.5 ms) speed -0.2

2025-08-09T17:27:44.814Z,1754760464.814 [DAT](INFO): DAT read: 17:27:43.8367 LVL= 22544, 18241, 19746, 25299, AGC= 62, IDX= 506, 0.04,-1.496, 0.183, 0.619,-0.240, PHS=-1.154, 0.469, 0.815, RAW= 260.5,  -1.4, CAL= 257.8,  -5.9, ROT= 252.2,   5.9

2025-08-09T17:27:44.828Z,1754760464.828 [DAT](INFO): got valid direction response:
 17:27:43.8367 LVL= 22544, 18241, 19746, 25299, AGC= 62, IDX= 506, 0.04,-1.496, 0.183, 0.619,-0.240, PHS=-1.154, 0.469, 0.815, RAW= 260.5,  -1.4, CAL= 257.8,  -5.9, ROT= 252.2,   5.9

2025-08-09T17:27:44.828Z,1754760464.828 [DAT](INFO): #Rx 54: Read range and direction messages.
2025-08-09T17:27:44.829Z,1754760464.829 [DAT](INFO): direction in FSK: [-0.304076,-0.947086,-0.102793]
2025-08-09T17:27:44.830Z,1754760464.830 [DAT](INFO): publishing direction and range info
2025-08-09T17:27:44.833Z,1754760464.833 [DAT](INFO): checking for new query: numPingsReceived=54, elapsed TxPingTime=12.130157
2025-08-09T17:27:44.992Z,1754760464.992 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 54.799999 m,
      deltaT: 0.506806 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-08-09T17:27:45.008Z,1754760465.008 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 54.799999 m,
      bearing: 191.726713 deg,
      lat: 36.906127 deg,
      lon: -122.116010 deg,
      deltaT: 0.506806 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      posRepo size: 4

2025-08-09T17:27:45.010Z,1754760465.010 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.80 m.
2025-08-09T17:27:45.047Z,1754760465.047 [DAT](INFO): checking for new query: numPingsReceived=54, elapsed TxPingTime=12.344356
2025-08-09T17:27:45.302Z,1754760465.302 [DAT](INFO): DAT read: Rx Time:17:27:44.3369 

2025-08-09T17:27:45.303Z,1754760465.303 [DAT](INFO): Rx dataTimestamp_ set to:1754760465.302584
2025-08-09T17:27:45.305Z,1754760465.305 [DAT](INFO): DAT read: Bearing 304.1, -64.6 (Local)

2025-08-09T17:27:45.306Z,1754760465.306 [DAT](INFO): Local bearing/azimuth received:
 Bearing 304.1, -64.6 (Local)

2025-08-09T17:27:45.309Z,1754760465.309 [DAT](INFO): DAT read: Range 11 to 50 :    55.1 m (trip time 36.7 ms) speed -0.3

2025-08-09T17:27:45.316Z,1754760465.316 [DAT](INFO): DAT read: 17:27:44.3369 LVL= 24496, 19441, 19218, 24307, AGC= 63, IDX= 508, 0.03,-1.470, 0.184, 0.666,-0.215, PHS=-1.153, 0.444, 0.837, RAW= 259.3,  -1.4, CAL= 256.4,  -5.7, ROT= 253.6,   5.7

2025-08-09T17:27:45.318Z,1754760465.318 [DAT](INFO): got valid direction response:
 17:27:44.3369 LVL= 24496, 19441, 19218, 24307, AGC= 63, IDX= 508, 0.03,-1.470, 0.184, 0.666,-0.215, PHS=-1.153, 0.444, 0.837, RAW= 259.3,  -1.4, CAL= 256.4,  -5.7, ROT= 253.6,   5.7

2025-08-09T17:27:45.320Z,1754760465.320 [DAT](INFO): #Rx 55: Read range and direction messages.
2025-08-09T17:27:45.321Z,1754760465.321 [DAT](INFO): direction in FSK: [-0.280945,-0.954571,-0.099320]
2025-08-09T17:27:45.322Z,1754760465.322 [DAT](INFO): publishing direction and range info
2025-08-09T17:27:45.341Z,1754760465.341 [DAT](INFO): checking for new query: numPingsReceived=55, elapsed TxPingTime=12.637788
2025-08-09T17:27:45.501Z,1754760465.501 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 55.099998 m,
      deltaT: 0.503633 s,
      deltaX: 0.299999 m,
      approachRate: 0.595670 m/s,
      rangeRepo size: 4

2025-08-09T17:27:45.507Z,1754760465.507 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 55.099998 m,
      bearing: 192.919481 deg,
      lat: 36.906129 deg,
      lon: -122.116025 deg,
      deltaT: 0.503633 s,
      deltaX: 0.299999 m,
      approachRate: 0.595670 m/s,
      posRepo size: 4

2025-08-09T17:27:45.508Z,1754760465.508 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 55.10 m.
2025-08-09T17:27:45.552Z,1754760465.552 [DAT](INFO): checking for new query: numPingsReceived=55, elapsed TxPingTime=12.849184
2025-08-09T17:27:45.805Z,1754760465.805 [DAT](INFO): DAT read: Rx Time:17:27:44.8369 

2025-08-09T17:27:45.805Z,1754760465.805 [DAT](INFO): Rx dataTimestamp_ set to:1754760465.805178
2025-08-09T17:27:45.808Z,1754760465.808 [DAT](INFO): DAT read: Bearing 302.9, -66.7 (Local)

2025-08-09T17:27:45.808Z,1754760465.808 [DAT](INFO): Local bearing/azimuth received:
 Bearing 302.9, -66.7 (Local)

2025-08-09T17:27:45.812Z,1754760465.812 [DAT](INFO): DAT read: Range 11 to 50 :    55.1 m (trip time 36.7 ms) speed -0.3

2025-08-09T17:27:45.819Z,1754760465.819 [DAT](INFO): DAT read: 17:27:44.8369 LVL= 22704, 16913, 17874, 25587, AGC= 61, IDX= 508, 0.04,-3.081,-1.455,-0.920,-1.815, PHS=-1.164, 0.405, 0.851, RAW= 257.8,  -1.0, CAL= 254.7,  -4.9, ROT= 255.3,   4.9

2025-08-09T17:27:45.822Z,1754760465.822 [DAT](INFO): got valid direction response:
 17:27:44.8369 LVL= 22704, 16913, 17874, 25587, AGC= 61, IDX= 508, 0.04,-3.081,-1.455,-0.920,-1.815, PHS=-1.164, 0.405, 0.851, RAW= 257.8,  -1.0, CAL= 254.7,  -4.9, ROT= 255.3,   4.9

2025-08-09T17:27:45.822Z,1754760465.822 [DAT](INFO): #Rx 56: Read range and direction messages.
2025-08-09T17:27:45.824Z,1754760465.824 [DAT](INFO): direction in FSK: [-0.252830,-0.963733,-0.085417]
2025-08-09T17:27:45.825Z,1754760465.825 [DAT](INFO): publishing direction and range info
2025-08-09T17:27:45.837Z,1754760465.837 [DAT](INFO): checking for new query: numPingsReceived=56, elapsed TxPingTime=13.134254
2025-08-09T17:27:45.962Z,1754760465.962 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 55.099998 m,
      deltaT: 0.502594 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-08-09T17:27:45.969Z,1754760465.969 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 55.099998 m,
      bearing: 192.756315 deg,
      lat: 36.906129 deg,
      lon: -122.116025 deg,
      deltaT: 0.502594 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      posRepo size: 4

2025-08-09T17:27:45.969Z,1754760465.969 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 55.10 m.
2025-08-09T17:27:46.057Z,1754760466.057 [DAT](INFO): checking for new query: numPingsReceived=56, elapsed TxPingTime=13.353531
2025-08-09T17:27:46.309Z,1754760466.309 [DAT](INFO): DAT read: Rx Time:17:27:45.3370 

2025-08-09T17:27:46.310Z,1754760466.310 [DAT](INFO): Rx dataTimestamp_ set to:1754760466.309413
2025-08-09T17:27:46.313Z,1754760466.313 [DAT](INFO): DAT read: Bearing 300.3, -68.6 (Local)

2025-08-09T17:27:46.314Z,1754760466.314 [DAT](INFO): Local bearing/azimuth received:
 Bearing 300.3, -68.6 (Local)

2025-08-09T17:27:46.317Z,1754760466.317 [DAT](INFO): DAT read: Range 11 to 50 :    55.2 m (trip time 36.8 ms) speed -0.2

2025-08-09T17:27:46.328Z,1754760466.328 [DAT](INFO): DAT read: 17:27:45.3370 LVL= 27472, 18353, 22002, 29555, AGC= 62, IDX= 509, 0.07, 2.574,-2.116,-1.548,-2.429, PHS=-1.179, 0.358, 0.837, RAW= 256.8,  -0.2, CAL= 253.3,  -3.6, ROT= 256.7,   3.6

2025-08-09T17:27:46.329Z,1754760466.329 [DAT](INFO): got valid direction response:
 17:27:45.3370 LVL= 27472, 18353, 22002, 29555, AGC= 62, IDX= 509, 0.07, 2.574,-2.116,-1.548,-2.429, PHS=-1.179, 0.358, 0.837, RAW= 256.8,  -0.2, CAL= 253.3,  -3.6, ROT= 256.7,   3.6

2025-08-09T17:27:46.329Z,1754760466.329 [DAT](INFO): #Rx 57: Read range and direction messages.
2025-08-09T17:27:46.331Z,1754760466.331 [DAT](INFO): direction in FSK: [-0.229596,-0.971259,-0.062791]
2025-08-09T17:27:46.331Z,1754760466.331 [DAT](INFO): publishing direction and range info
2025-08-09T17:27:46.358Z,1754760466.358 [DAT](INFO): checking for new query: numPingsReceived=57, elapsed TxPingTime=13.631209
2025-08-09T17:27:46.457Z,1754760466.457 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 55.200001 m,
      deltaT: 0.504235 s,
      deltaX: 0.100002 m,
      approachRate: 0.198325 m/s,
      rangeRepo size: 4

2025-08-09T17:27:46.463Z,1754760466.463 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 55.200001 m,
      bearing: 193.444219 deg,
      lat: 36.906129 deg,
      lon: -122.116035 deg,
      deltaT: 0.504235 s,
      deltaX: 0.100002 m,
      approachRate: 0.198325 m/s,
      posRepo size: 4

2025-08-09T17:27:46.464Z,1754760466.464 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 55.20 m.
2025-08-09T17:27:46.559Z,1754760466.559 [DAT](INFO): checking for new query: numPingsReceived=57, elapsed TxPingTime=13.856404
2025-08-09T17:27:46.813Z,1754760466.813 [DAT](INFO): DAT read: Rx Time:17:27:45.8370 

2025-08-09T17:27:46.814Z,1754760466.814 [DAT](INFO): Rx dataTimestamp_ set to:1754760466.813544
2025-08-09T17:27:46.816Z,1754760466.816 [DAT](INFO): DAT read: Bearing 300.8, -69.7 (Local)

2025-08-09T17:27:46.817Z,1754760466.817 [DAT](INFO): Local bearing/azimuth received:
 Bearing 300.8, -69.7 (Local)

2025-08-09T17:27:46.820Z,1754760466.820 [DAT](INFO): DAT read: Range 11 to 50 :    55.2 m (trip time 36.8 ms) speed -0.3

2025-08-09T17:27:46.827Z,1754760466.827 [DAT](INFO): DAT read: 17:27:45.8370 LVL= 25184, 19121, 15858, 19251, AGC= 61, IDX= 509, 0.09, 1.980,-2.694,-2.081,-3.004, PHS=-1.196, 0.355, 0.879, RAW= 256.0,  -0.4, CAL= 252.3,  -3.7, ROT= 257.7,   3.7

2025-08-09T17:27:46.828Z,1754760466.828 [DAT](INFO): got valid direction response:
 17:27:45.8370 LVL= 25184, 19121, 15858, 19251, AGC= 61, IDX= 509, 0.09, 1.980,-2.694,-2.081,-3.004, PHS=-1.196, 0.355, 0.879, RAW= 256.0,  -0.4, CAL= 252.3,  -3.7, ROT= 257.7,   3.7

2025-08-09T17:27:46.828Z,1754760466.828 [DAT](INFO): #Rx 58: Read range and direction messages.
2025-08-09T17:27:46.829Z,1754760466.829 [DAT](INFO): direction in FSK: [-0.212586,-0.975009,-0.064532]
2025-08-09T17:27:46.829Z,1754760466.829 [DAT](INFO): publishing direction and range info
2025-08-09T17:27:46.865Z,1754760466.865 [DAT](INFO): checking for new query: numPingsReceived=58, elapsed TxPingTime=14.162168
2025-08-09T17:27:46.986Z,1754760466.986 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 55.200001 m,
      deltaT: 0.504131 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-08-09T17:27:47.001Z,1754760467.001 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 55.200001 m,
      bearing: 194.438060 deg,
      lat: 36.906132 deg,
      lon: -122.116047 deg,
      deltaT: 0.504131 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      posRepo size: 4

2025-08-09T17:27:47.012Z,1754760467.012 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 55.20 m.
2025-08-09T17:27:47.063Z,1754760467.063 [DAT](INFO): checking for new query: numPingsReceived=58, elapsed TxPingTime=14.360437
2025-08-09T17:27:47.317Z,1754760467.317 [DAT](INFO): DAT read: Rx Time:17:27:46.3374 

2025-08-09T17:27:47.318Z,1754760467.318 [DAT](INFO): Rx dataTimestamp_ set to:1754760467.317600
2025-08-09T17:27:47.320Z,1754760467.320 [DAT](INFO): DAT read: Bearing 249.0, -56.0 (Local)

2025-08-09T17:27:47.321Z,1754760467.321 [DAT](INFO): Local bearing/azimuth received:
 Bearing 249.0, -56.0 (Local)

2025-08-09T17:27:47.324Z,1754760467.324 [DAT](INFO): DAT read: Range 11 to 50 :    55.8 m (trip time 37.2 ms) speed -0.2

2025-08-09T17:27:47.333Z,1754760467.333 [DAT](INFO): DAT read: 17:27:46.3374 LVL= 23200, 17393, 18002, 24099, AGC= 60, IDX= 512, 0.17, 2.598,-2.108,-1.828,-2.128, PHS=-1.455, 0.065, 0.256, RAW= 264.2,  13.9, CAL= 265.2,  18.8, ROT= 244.8, -18.8

2025-08-09T17:27:47.343Z,1754760467.343 [DAT](INFO): got valid direction response:
 17:27:46.3374 LVL= 23200, 17393, 18002, 24099, AGC= 60, IDX= 512, 0.17, 2.598,-2.108,-1.828,-2.128, PHS=-1.455, 0.065, 0.256, RAW= 264.2,  13.9, CAL= 265.2,  18.8, ROT= 244.8, -18.8

2025-08-09T17:27:47.344Z,1754760467.344 [DAT](INFO): #Rx 59: Read range and direction messages.
2025-08-09T17:27:47.344Z,1754760467.344 [DAT](INFO): direction in FSK: [-0.403064,-0.856554,0.322266]
2025-08-09T17:27:47.345Z,1754760467.345 [DAT](INFO): publishing direction and range info
2025-08-09T17:27:47.348Z,1754760467.348 [DAT](INFO): checking for new query: numPingsReceived=59, elapsed TxPingTime=14.645309
2025-08-09T17:27:47.505Z,1754760467.505 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 55.799999 m,
      deltaT: 0.504056 s,
      deltaX: 0.599998 m,
      approachRate: 1.190341 m/s,
      rangeRepo size: 4

2025-08-09T17:27:47.511Z,1754760467.511 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 55.799999 m,
      bearing: 194.364898 deg,
      lat: 36.906136 deg,
      lon: -122.116047 deg,
      deltaT: 0.504056 s,
      deltaX: 0.599998 m,
      approachRate: 1.190341 m/s,
      posRepo size: 4

2025-08-09T17:27:47.512Z,1754760467.512 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 55.80 m.
2025-08-09T17:27:47.568Z,1754760467.568 [DAT](INFO): checking for new query: numPingsReceived=59, elapsed TxPingTime=14.864551
2025-08-09T17:27:47.823Z,1754760467.823 [DAT](INFO): DAT read: Rx Time:17:27:46.8374 

2025-08-09T17:27:47.824Z,1754760467.824 [DAT](INFO): Rx dataTimestamp_ set to:1754760467.823342
2025-08-09T17:27:47.825Z,1754760467.825 [DAT](INFO): DAT read: Range 11 to 50 :    55.8 m (trip time 37.2 ms) speed -0.3

2025-08-09T17:27:47.825Z,1754760467.825 [DAT](ERROR): #Rx 60: Read range message, but no direction.
2025-08-09T17:27:47.827Z,1754760467.827 [DAT](INFO): checking for new query: numPingsReceived=60, elapsed TxPingTime=15.123591
2025-08-09T17:27:47.921Z,1754760467.921 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 55.799999 m,
      deltaT: 0.505742 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-08-09T17:27:47.921Z,1754760467.921 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 55.80 m.
2025-08-09T17:27:48.078Z,1754760468.078 [DAT](INFO): checking for new query: numPingsReceived=60, elapsed TxPingTime=15.374508
2025-08-09T17:27:48.328Z,1754760468.328 [DAT](INFO): DAT read: Rx Time:17:27:47.3375 

2025-08-09T17:27:48.328Z,1754760468.328 [DAT](INFO): Rx dataTimestamp_ set to:1754760468.328138
2025-08-09T17:27:48.330Z,1754760468.330 [DAT](INFO): DAT read: Bearing 297.1, -74.6 (Local)

2025-08-09T17:27:48.330Z,1754760468.330 [DAT](INFO): Local bearing/azimuth received:
 Bearing 297.1, -74.6 (Local)

2025-08-09T17:27:48.332Z,1754760468.332 [DAT](INFO): DAT read: Range 11 to 50 :    56.1 m (trip time 37.4 ms) speed -0.3

2025-08-09T17:27:48.337Z,1754760468.337 [DAT](INFO): DAT read: 17:27:47.3375 LVL= 20160, 16881, 15314, 19763, AGC= 65, IDX=   3,-0.46, 2.428,-2.352,-1.622,-2.562, PHS=-1.191, 0.255, 0.895, RAW= 252.6,   0.5, CAL= 248.4,  -1.7, ROT= 261.6,   1.7

2025-08-09T17:27:48.338Z,1754760468.338 [DAT](INFO): got valid direction response:
 17:27:47.3375 LVL= 20160, 16881, 15314, 19763, AGC= 65, IDX=   3,-0.46, 2.428,-2.352,-1.622,-2.562, PHS=-1.191, 0.255, 0.895, RAW= 252.6,   0.5, CAL= 248.4,  -1.7, ROT= 261.6,   1.7

2025-08-09T17:27:48.338Z,1754760468.338 [DAT](INFO): #Rx 61: Read range and direction messages.
2025-08-09T17:27:48.339Z,1754760468.339 [DAT](INFO): direction in FSK: [-0.146018,-0.988837,-0.029666]
2025-08-09T17:27:48.339Z,1754760468.339 [DAT](INFO): publishing direction and range info
2025-08-09T17:27:48.343Z,1754760468.343 [DAT](INFO): checking for new query: numPingsReceived=61, elapsed TxPingTime=15.640039
2025-08-09T17:27:48.360Z,1754760468.360 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 56.099998 m,
      deltaT: 0.504796 s,
      deltaX: 0.299999 m,
      approachRate: 0.594298 m/s,
      rangeRepo size: 4

2025-08-09T17:27:48.392Z,1754760468.392 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 56.099998 m,
      bearing: 195.671588 deg,
      lat: 36.906136 deg,
      lon: -122.116065 deg,
      deltaT: 1.010538 s,
      deltaX: 0.299999 m,
      approachRate: 0.296871 m/s,
      posRepo size: 4

2025-08-09T17:27:48.392Z,1754760468.392 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 56.10 m.
2025-08-09T17:27:48.580Z,1754760468.580 [DAT](INFO): checking for new query: numPingsReceived=61, elapsed TxPingTime=15.876598
2025-08-09T17:27:48.832Z,1754760468.832 [DAT](INFO): DAT read: Rx Time:17:27:47.8375 

2025-08-09T17:27:48.832Z,1754760468.832 [DAT](INFO): Rx dataTimestamp_ set to:1754760468.832138
2025-08-09T17:27:48.834Z,1754760468.834 [DAT](INFO): DAT read: Bearing 296.1, -75.6 (Local)

2025-08-09T17:27:48.834Z,1754760468.834 [DAT](INFO): Local bearing/azimuth received:
 Bearing 296.1, -75.6 (Local)

2025-08-09T17:27:48.836Z,1754760468.836 [DAT](INFO): DAT read: Range 11 to 50 :    56.1 m (trip time 37.4 ms) speed -0.3

2025-08-09T17:27:48.841Z,1754760468.841 [DAT](INFO): DAT read: 17:27:47.8375 LVL= 27584, 19377, 17394, 24051, AGC= 62, IDX= 499,-0.34, 0.932, 2.442,-3.074, 2.247, PHS=-1.213, 0.240, 0.918, RAW= 251.9,   0.6, CAL= 247.6,  -1.4, ROT= 262.4,   1.4

2025-08-09T17:27:48.842Z,1754760468.842 [DAT](INFO): got valid direction response:
 17:27:47.8375 LVL= 27584, 19377, 17394, 24051, AGC= 62, IDX= 499,-0.34, 0.932, 2.442,-3.074, 2.247, PHS=-1.213, 0.240, 0.918, RAW= 251.9,   0.6, CAL= 247.6,  -1.4, ROT= 262.4,   1.4

2025-08-09T17:27:48.843Z,1754760468.843 [DAT](INFO): #Rx 62: Read range and direction messages.
2025-08-09T17:27:48.844Z,1754760468.844 [DAT](INFO): direction in FSK: [-0.132217,-0.990920,-0.024432]
2025-08-09T17:27:48.845Z,1754760468.845 [DAT](INFO): publishing direction and range info
2025-08-09T17:27:48.855Z,1754760468.855 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 56.10 m.
2025-08-09T17:27:48.871Z,1754760468.871 [DAT](INFO): checking for new query: numPingsReceived=62, elapsed TxPingTime=16.167906
2025-08-09T17:27:49.085Z,1754760469.085 [DAT](INFO): checking for new query: numPingsReceived=62, elapsed TxPingTime=16.382471
2025-08-09T17:27:49.336Z,1754760469.336 [DAT](INFO): DAT read: Rx Time:17:27:48.3376 

2025-08-09T17:27:49.336Z,1754760469.336 [DAT](INFO): Rx dataTimestamp_ set to:1754760469.336009
2025-08-09T17:27:49.338Z,1754760469.338 [DAT](INFO): DAT read: Bearing 295.1, -76.8 (Local)

2025-08-09T17:27:49.338Z,1754760469.338 [DAT](INFO): Local bearing/azimuth received:
 Bearing 295.1, -76.8 (Local)

2025-08-09T17:27:49.340Z,1754760469.340 [DAT](INFO): DAT read: Range 11 to 50 :    56.3 m (trip time 37.5 ms) speed -0.2

2025-08-09T17:27:49.345Z,1754760469.345 [DAT](INFO): DAT read: 17:27:48.3376 LVL= 23520, 18913, 17250, 25779, AGC= 62, IDX= 500,-0.40, 2.114,-2.716,-1.933,-2.885, PHS=-1.182, 0.214, 0.908, RAW= 251.0,   0.7, CAL= 246.7,  -1.1, ROT= 263.3,   1.1

2025-08-09T17:27:49.346Z,1754760469.346 [DAT](INFO): got valid direction response:
 17:27:48.3376 LVL= 23520, 18913, 17250, 25779, AGC= 62, IDX= 500,-0.40, 2.114,-2.716,-1.933,-2.885, PHS=-1.182, 0.214, 0.908, RAW= 251.0,   0.7, CAL= 246.7,  -1.1, ROT= 263.3,   1.1

2025-08-09T17:27:49.346Z,1754760469.346 [DAT](INFO): #Rx 63: Read range and direction messages.
2025-08-09T17:27:49.347Z,1754760469.347 [DAT](INFO): direction in FSK: [-0.116649,-0.992988,-0.019197]
2025-08-09T17:27:49.347Z,1754760469.347 [DAT](INFO): publishing direction and range info
2025-08-09T17:27:49.351Z,1754760469.351 [DAT](INFO): checking for new query: numPingsReceived=63, elapsed TxPingTime=16.647552
2025-08-09T17:27:49.360Z,1754760469.360 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 56.299999 m,
      deltaT: 1.007871 s,
      deltaX: 0.200001 m,
      approachRate: 0.198439 m/s,
      rangeRepo size: 4

2025-08-09T17:27:49.370Z,1754760469.370 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 56.099998 m,
      bearing: 196.425059 deg,
      lat: 36.906136 deg,
      lon: -122.116077 deg,
      deltaT: 0.504000 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      posRepo size: 4

2025-08-09T17:27:49.371Z,1754760469.371 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 56.10 m.
2025-08-09T17:27:49.588Z,1754760469.588 [DAT](INFO): checking for new query: numPingsReceived=63, elapsed TxPingTime=16.885201
2025-08-09T17:27:49.840Z,1754760469.840 [DAT](INFO): DAT read: Rx Time:17:27:48.8376 

2025-08-09T17:27:49.841Z,1754760469.841 [DAT](INFO): Rx dataTimestamp_ set to:1754760469.840621
2025-08-09T17:27:49.843Z,1754760469.843 [DAT](INFO): DAT read: Bearing 294.0, -76.7 (Local)

2025-08-09T17:27:49.843Z,1754760469.843 [DAT](INFO): Local bearing/azimuth received:
 Bearing 294.0, -76.7 (Local)

2025-08-09T17:27:49.847Z,1754760469.847 [DAT](INFO): DAT read: Range 11 to 50 :    56.3 m (trip time 37.5 ms) speed -0.3

2025-08-09T17:27:49.854Z,1754760469.854 [DAT](INFO): DAT read: 17:27:48.8376 LVL= 20800, 17953, 15186, 22291, AGC= 60, IDX= 499, 0.35,-2.201,-0.761, 0.004,-0.933, PHS=-1.166, 0.216, 0.893, RAW= 251.2,   0.6, CAL= 246.9,  -1.1, ROT= 263.1,   1.1

2025-08-09T17:27:49.860Z,1754760469.860 [DAT](INFO): got valid direction response:
 17:27:48.8376 LVL= 20800, 17953, 15186, 22291, AGC= 60, IDX= 499, 0.35,-2.201,-0.761, 0.004,-0.933, PHS=-1.166, 0.216, 0.893, RAW= 251.2,   0.6, CAL= 246.9,  -1.1, ROT= 263.1,   1.1

2025-08-09T17:27:49.860Z,1754760469.860 [DAT](INFO): #Rx 64: Read range and direction messages.
2025-08-09T17:27:49.862Z,1754760469.862 [DAT](INFO): direction in FSK: [-0.120115,-0.992574,-0.019197]
2025-08-09T17:27:49.862Z,1754760469.862 [DAT](INFO): publishing direction and range info
2025-08-09T17:27:49.865Z,1754760469.865 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 56.10 m.
2025-08-09T17:27:49.883Z,1754760469.883 [DAT](INFO): checking for new query: numPingsReceived=64, elapsed TxPingTime=17.179956
2025-08-09T17:27:50.096Z,1754760470.096 [DAT](INFO): checking for new query: numPingsReceived=64, elapsed TxPingTime=17.391848
2025-08-09T17:27:50.319Z,1754760470.319 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 56.299999 m,
      deltaT: 0.504612 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-08-09T17:27:50.321Z,1754760470.321 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 56.299999 m,
      bearing: 196.692584 deg,
      lat: 36.906135 deg,
      lon: -122.116084 deg,
      deltaT: 1.008483 s,
      deltaX: 0.200001 m,
      approachRate: 0.198318 m/s,
      posRepo size: 4

2025-08-09T17:27:50.322Z,1754760470.322 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 56.30 m.
2025-08-09T17:27:50.344Z,1754760470.344 [DAT](INFO): DAT read: Rx Time:17:27:49.3377 

2025-08-09T17:27:50.344Z,1754760470.344 [DAT](INFO): Rx dataTimestamp_ set to:1754760470.344114
2025-08-09T17:27:50.346Z,1754760470.346 [DAT](INFO): DAT read: Bearing 287.6, -79.2 (Local)

2025-08-09T17:27:50.346Z,1754760470.346 [DAT](INFO): Local bearing/azimuth received:
 Bearing 287.6, -79.2 (Local)

2025-08-09T17:27:50.348Z,1754760470.348 [DAT](INFO): DAT read: Range 11 to 50 :    56.3 m (trip time 37.5 ms) speed -0.3

2025-08-09T17:27:50.353Z,1754760470.353 [DAT](INFO): DAT read: 17:27:49.3377 LVL= 24672, 17985, 19506, 26595, AGC= 60, IDX= 501, 0.28,-1.617,-0.236, 0.591,-0.338, PHS=-1.177, 0.146, 0.885, RAW= 249.3,   1.6, CAL= 245.1,   0.6, ROT= 264.9,  -0.6

2025-08-09T17:27:50.354Z,1754760470.354 [DAT](INFO): got valid direction response:
 17:27:49.3377 LVL= 24672, 17985, 19506, 26595, AGC= 60, IDX= 501, 0.28,-1.617,-0.236, 0.591,-0.338, PHS=-1.177, 0.146, 0.885, RAW= 249.3,   1.6, CAL= 245.1,   0.6, ROT= 264.9,  -0.6

2025-08-09T17:27:50.354Z,1754760470.354 [DAT](INFO): #Rx 65: Read range and direction messages.
2025-08-09T17:27:50.355Z,1754760470.355 [DAT](INFO): direction in FSK: [-0.088890,-0.995986,0.010472]
2025-08-09T17:27:50.356Z,1754760470.356 [DAT](INFO): publishing direction and range info
2025-08-09T17:27:50.359Z,1754760470.359 [DAT](INFO): checking for new query: numPingsReceived=65, elapsed TxPingTime=17.656179
2025-08-09T17:27:50.596Z,1754760470.596 [DAT](INFO): checking for new query: numPingsReceived=65, elapsed TxPingTime=17.892639
2025-08-09T17:27:50.720Z,1754760470.720 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 56.299999 m,
      deltaT: 0.503493 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-08-09T17:27:50.722Z,1754760470.722 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 56.299999 m,
      bearing: 196.595770 deg,
      lat: 36.906135 deg,
      lon: -122.116085 deg,
      deltaT: 0.503493 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      posRepo size: 4

2025-08-09T17:27:50.723Z,1754760470.723 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 56.30 m.
2025-08-09T17:27:50.849Z,1754760470.849 [DAT](INFO): DAT read: Rx Time:17:27:49.8376 

2025-08-09T17:27:50.850Z,1754760470.850 [DAT](INFO): Rx dataTimestamp_ set to:1754760470.849036
2025-08-09T17:27:50.852Z,1754760470.852 [DAT](INFO): DAT read: Bearing 286.7, -79.6 (Local)

2025-08-09T17:27:50.854Z,1754760470.854 [DAT](INFO): Local bearing/azimuth received:
 Bearing 286.7, -79.6 (Local)

2025-08-09T17:27:50.860Z,1754760470.860 [DAT](INFO): DAT read: Range 11 to 50 :    56.3 m (trip time 37.5 ms) speed -0.1

2025-08-09T17:27:50.876Z,1754760470.876 [DAT](INFO): DAT read: 17:27:49.8376 LVL= 23472, 18145, 18098, 25315, AGC= 61, IDX= 501, 0.07, 3.082,-1.824,-0.989,-1.918, PHS=-1.180, 0.139, 0.885, RAW= 249.1,   1.7, CAL= 245.0,   0.8, ROT= 265.0,  -0.8

2025-08-09T17:27:50.877Z,1754760470.877 [DAT](INFO): got valid direction response:
 17:27:49.8376 LVL= 23472, 18145, 18098, 25315, AGC= 61, IDX= 501, 0.07, 3.082,-1.824,-0.989,-1.918, PHS=-1.180, 0.139, 0.885, RAW= 249.1,   1.7, CAL= 245.0,   0.8, ROT= 265.0,  -0.8

2025-08-09T17:27:50.878Z,1754760470.878 [DAT](INFO): #Rx 66: Read range and direction messages.
2025-08-09T17:27:50.883Z,1754760470.883 [DAT](INFO): direction in FSK: [-0.087147,-0.996098,0.013962]
2025-08-09T17:27:50.883Z,1754760470.883 [DAT](INFO): publishing direction and range info
2025-08-09T17:27:50.891Z,1754760470.891 [DAT](INFO): checking for new query: numPingsReceived=66, elapsed TxPingTime=18.187986
2025-08-09T17:27:51.105Z,1754760471.105 [DAT](INFO): checking for new query: numPingsReceived=66, elapsed TxPingTime=18.398750
2025-08-09T17:27:51.140Z,1754760471.140 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 56.299999 m,
      deltaT: 0.504922 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-08-09T17:27:51.146Z,1754760471.146 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 56.299999 m,
      bearing: 196.469873 deg,
      lat: 36.906135 deg,
      lon: -122.116085 deg,
      deltaT: 0.504922 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      posRepo size: 4

2025-08-09T17:27:51.149Z,1754760471.149 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 56.30 m.
2025-08-09T17:27:51.353Z,1754760471.353 [DAT](INFO): DAT read: Rx Time:17:27:50.3378 

2025-08-09T17:27:51.353Z,1754760471.353 [DAT](INFO): Rx dataTimestamp_ set to:1754760471.352870
2025-08-09T17:27:51.355Z,1754760471.355 [DAT](INFO): DAT read: Bearing 282.2, -80.0 (Local)

2025-08-09T17:27:51.355Z,1754760471.355 [DAT](INFO): Local bearing/azimuth received:
 Bearing 282.2, -80.0 (Local)

2025-08-09T17:27:51.357Z,1754760471.357 [DAT](INFO): DAT read: Range 11 to 50 :    56.4 m (trip time 37.6 ms) speed -0.2

2025-08-09T17:27:51.362Z,1754760471.362 [DAT](INFO): DAT read: 17:27:50.3378 LVL= 27360, 22369, 21458, 29459, AGC= 60, IDX= 503,-0.18, 2.821,-2.074,-1.213,-2.145, PHS=-1.215, 0.116, 0.889, RAW= 248.7,   2.3, CAL= 244.9,   1.6, ROT= 265.1,  -1.6

2025-08-09T17:27:51.363Z,1754760471.363 [DAT](INFO): got valid direction response:
 17:27:50.3378 LVL= 27360, 22369, 21458, 29459, AGC= 60, IDX= 503,-0.18, 2.821,-2.074,-1.213,-2.145, PHS=-1.215, 0.116, 0.889, RAW= 248.7,   2.3, CAL= 244.9,   1.6, ROT= 265.1,  -1.6

2025-08-09T17:27:51.363Z,1754760471.363 [DAT](INFO): #Rx 67: Read range and direction messages.
2025-08-09T17:27:51.364Z,1754760471.364 [DAT](INFO): direction in FSK: [-0.085384,-0.995957,0.027922]
2025-08-09T17:27:51.364Z,1754760471.364 [DAT](INFO): publishing direction and range info
2025-08-09T17:27:51.368Z,1754760471.368 [DAT](INFO): checking for new query: numPingsReceived=67, elapsed TxPingTime=18.665318
2025-08-09T17:27:51.603Z,1754760471.603 [DAT](INFO): checking for new query: numPingsReceived=67, elapsed TxPingTime=18.900431
2025-08-09T17:27:51.632Z,1754760471.632 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 56.400002 m,
      deltaT: 0.503834 s,
      deltaX: 0.100002 m,
      approachRate: 0.198483 m/s,
      rangeRepo size: 4

2025-08-09T17:27:51.634Z,1754760471.634 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 56.400002 m,
      bearing: 196.603338 deg,
      lat: 36.906137 deg,
      lon: -122.116087 deg,
      deltaT: 0.503834 s,
      deltaX: 0.100002 m,
      approachRate: 0.198483 m/s,
      posRepo size: 4

2025-08-09T17:27:51.634Z,1754760471.634 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 56.40 m.
2025-08-09T17:27:51.856Z,1754760471.856 [DAT](INFO): DAT read: Rx Time:17:27:50.8377 

2025-08-09T17:27:51.857Z,1754760471.857 [DAT](INFO): Rx dataTimestamp_ set to:1754760471.856646
2025-08-09T17:27:51.859Z,1754760471.859 [DAT](INFO): DAT read: Bearing 278.8, -79.3 (Local)

2025-08-09T17:27:51.860Z,1754760471.860 [DAT](INFO): Local bearing/azimuth received:
 Bearing 278.8, -79.3 (Local)

2025-08-09T17:27:51.863Z,1754760471.863 [DAT](INFO): DAT read: Range 11 to 50 :    56.3 m (trip time 37.5 ms) speed 0.0

2025-08-09T17:27:51.869Z,1754760471.869 [DAT](INFO): DAT read: 17:27:50.8377 LVL= 28784, 20721, 19154, 30899, AGC= 62, IDX= 502, 0.21,-1.598,-0.211, 0.605,-0.289, PHS=-1.207, 0.123, 0.850, RAW= 249.6,   2.6, CAL= 245.9,   1.8, ROT= 264.1,  -1.8

2025-08-09T17:27:51.871Z,1754760471.871 [DAT](INFO): got valid direction response:
 17:27:50.8377 LVL= 28784, 20721, 19154, 30899, AGC= 62, IDX= 502, 0.21,-1.598,-0.211, 0.605,-0.289, PHS=-1.207, 0.123, 0.850, RAW= 249.6,   2.6, CAL= 245.9,   1.8, ROT= 264.1,  -1.8

2025-08-09T17:27:51.872Z,1754760471.872 [DAT](INFO): #Rx 68: Read range and direction messages.
2025-08-09T17:27:51.873Z,1754760471.873 [DAT](INFO): direction in FSK: [-0.102742,-0.994212,0.031411]
2025-08-09T17:27:51.873Z,1754760471.873 [DAT](INFO): publishing direction and range info
2025-08-09T17:27:51.895Z,1754760471.895 [DAT](INFO): checking for new query: numPingsReceived=68, elapsed TxPingTime=19.175226
2025-08-09T17:27:52.041Z,1754760472.041 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 56.299999 m,
      deltaT: 0.503776 s,
      deltaX: -0.100002 m,
      approachRate: -0.198505 m/s,
      rangeRepo size: 4

2025-08-09T17:27:52.057Z,1754760472.057 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 56.299999 m,
      bearing: 196.488081 deg,
      lat: 36.906137 deg,
      lon: -122.116087 deg,
      deltaT: 0.503776 s,
      deltaX: -0.100002 m,
      approachRate: -0.198505 m/s,
      posRepo size: 4

2025-08-09T17:27:52.064Z,1754760472.064 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 56.30 m.
2025-08-09T17:27:52.111Z,1754760472.111 [DAT](INFO): checking for new query: numPingsReceived=68, elapsed TxPingTime=19.407570
2025-08-09T17:27:52.360Z,1754760472.360 [DAT](INFO): DAT read: Rx Time:17:27:51.3379 

2025-08-09T17:27:52.360Z,1754760472.360 [DAT](INFO): Rx dataTimestamp_ set to:1754760472.360105
2025-08-09T17:27:52.362Z,1754760472.362 [DAT](INFO): DAT read: Bearing 277.2, -80.8 (Local)

2025-08-09T17:27:52.362Z,1754760472.362 [DAT](INFO): Local bearing/azimuth received:
 Bearing 277.2, -80.8 (Local)

2025-08-09T17:27:52.364Z,1754760472.364 [DAT](INFO): DAT read: Range 11 to 50 :    56.6 m (trip time 37.7 ms) speed -0.1

2025-08-09T17:27:52.373Z,1754760472.373 [DAT](INFO): DAT read: 17:27:51.3379 LVL= 26944, 18929, 17490, 28371, AGC= 62, IDX= 504,-0.43, 0.156, 1.516, 2.391, 1.464, PHS=-1.206, 0.098, 0.883, RAW= 248.2,   2.5, CAL= 244.5,   1.9, ROT= 265.5,  -1.9

2025-08-09T17:27:52.374Z,1754760472.374 [DAT](INFO): got valid direction response:
 17:27:51.3379 LVL= 26944, 18929, 17490, 28371, AGC= 62, IDX= 504,-0.43, 0.156, 1.516, 2.391, 1.464, PHS=-1.206, 0.098, 0.883, RAW= 248.2,   2.5, CAL= 244.5,   1.9, ROT= 265.5,  -1.9

2025-08-09T17:27:52.378Z,1754760472.378 [DAT](INFO): #Rx 69: Read range and direction messages.
2025-08-09T17:27:52.379Z,1754760472.379 [DAT](INFO): direction in FSK: [-0.078416,-0.996369,0.033155]
2025-08-09T17:27:52.380Z,1754760472.380 [DAT](INFO): publishing direction and range info
2025-08-09T17:27:52.391Z,1754760472.391 [DAT](INFO): checking for new query: numPingsReceived=69, elapsed TxPingTime=19.688190
2025-08-09T17:27:52.548Z,1754760472.548 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 56.599998 m,
      deltaT: 0.503459 s,
      deltaX: 0.299999 m,
      approachRate: 0.595876 m/s,
      rangeRepo size: 4

2025-08-09T17:27:52.555Z,1754760472.555 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 56.599998 m,
      bearing: 196.337215 deg,
      lat: 36.906137 deg,
      lon: -122.116087 deg,
      deltaT: 0.503459 s,
      deltaX: 0.299999 m,
      approachRate: 0.595876 m/s,
      posRepo size: 4

2025-08-09T17:27:52.555Z,1754760472.555 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 56.60 m.
2025-08-09T17:27:52.613Z,1754760472.613 [DAT](INFO): checking for new query: numPingsReceived=69, elapsed TxPingTime=19.909487
2025-08-09T17:27:52.836Z,1754760472.836 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 56.60 m.
2025-08-09T17:27:52.864Z,1754760472.864 [DAT](INFO): DAT read: Rx Time:17:27:51.8378 

2025-08-09T17:27:52.865Z,1754760472.865 [DAT](INFO): Rx dataTimestamp_ set to:1754760472.864798
2025-08-09T17:27:52.867Z,1754760472.867 [DAT](INFO): DAT read: Bearing 273.1, -80.8 (Local)

2025-08-09T17:27:52.867Z,1754760472.867 [DAT](INFO): Local bearing/azimuth received:
 Bearing 273.1, -80.8 (Local)

2025-08-09T17:27:52.870Z,1754760472.870 [DAT](INFO): DAT read: Range 11 to 50 :    56.4 m (trip time 37.6 ms) speed 0.0

2025-08-09T17:27:52.877Z,1754760472.877 [DAT](INFO): DAT read: 17:27:51.8378 LVL= 26736, 18241, 19810, 28819, AGC= 62, IDX= 503,-0.13, 0.428, 1.804, 2.683, 1.761, PHS=-1.232, 0.087, 0.878, RAW= 248.2,   2.9, CAL= 244.8,   2.4, ROT= 265.2,  -2.4

2025-08-09T17:27:52.879Z,1754760472.879 [DAT](INFO): got valid direction response:
 17:27:51.8378 LVL= 26736, 18241, 19810, 28819, AGC= 62, IDX= 503,-0.13, 0.428, 1.804, 2.683, 1.761, PHS=-1.232, 0.087, 0.878, RAW= 248.2,   2.9, CAL= 244.8,   2.4, ROT= 265.2,  -2.4

2025-08-09T17:27:52.879Z,1754760472.879 [DAT](INFO): #Rx 70: Read range and direction messages.
2025-08-09T17:27:52.880Z,1754760472.880 [DAT](INFO): direction in FSK: [-0.083604,-0.995619,0.041876]
2025-08-09T17:27:52.880Z,1754760472.880 [DAT](INFO): publishing direction and range info
2025-08-09T17:27:52.884Z,1754760472.884 [DAT](INFO): checking for new query: numPingsReceived=70, elapsed TxPingTime=20.180712
2025-08-09T17:27:53.118Z,1754760473.118 [DAT](INFO): checking for new query: numPingsReceived=70, elapsed TxPingTime=20.414370
2025-08-09T17:27:53.343Z,1754760473.343 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 56.400002 m,
      deltaT: 0.504693 s,
      deltaX: -0.199997 m,
      approachRate: -0.396274 m/s,
      rangeRepo size: 4

2025-08-09T17:27:53.345Z,1754760473.345 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 56.400002 m,
      bearing: 195.699837 deg,
      lat: 36.906134 deg,
      lon: -122.116084 deg,
      deltaT: 0.504693 s,
      deltaX: -0.199997 m,
      approachRate: -0.396274 m/s,
      posRepo size: 4

2025-08-09T17:27:53.346Z,1754760473.346 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 56.40 m.
2025-08-09T17:27:53.368Z,1754760473.368 [DAT](INFO): DAT read: Rx Time:17:27:52.3378 

2025-08-09T17:27:53.368Z,1754760473.368 [DAT](INFO): Rx dataTimestamp_ set to:1754760473.368077
2025-08-09T17:27:53.370Z,1754760473.370 [DAT](INFO): DAT read: Bearing 273.2, -80.4 (Local)

2025-08-09T17:27:53.370Z,1754760473.370 [DAT](INFO): Local bearing/azimuth received:
 Bearing 273.2, -80.4 (Local)

2025-08-09T17:27:53.388Z,1754760473.388 [DAT](INFO): DAT read: Range 11 to 50 :    56.4 m (trip time 37.6 ms) speed -0.1

2025-08-09T17:27:53.393Z,1754760473.393 [DAT](INFO): DAT read: 17:27:52.3378 LVL= 27184, 19601, 17522, 27027, AGC= 60, IDX= 503, 0.18, 1.072, 2.453,-2.979, 2.399, PHS=-1.225, 0.099, 0.861, RAW= 248.8,   2.9, CAL= 245.3,   2.3, ROT= 264.7,  -2.3

2025-08-09T17:27:53.394Z,1754760473.394 [DAT](INFO): got valid direction response:
 17:27:52.3378 LVL= 27184, 19601, 17522, 27027, AGC= 60, IDX= 503, 0.18, 1.072, 2.453,-2.979, 2.399, PHS=-1.225, 0.099, 0.861, RAW= 248.8,   2.9, CAL= 245.3,   2.3, ROT= 264.7,  -2.3

2025-08-09T17:27:53.402Z,1754760473.402 [DAT](INFO): #Rx 71: Read range and direction messages.
2025-08-09T17:27:53.403Z,1754760473.403 [DAT](INFO): direction in FSK: [-0.092296,-0.994923,0.040132]
2025-08-09T17:27:53.404Z,1754760473.404 [DAT](INFO): publishing direction and range info
2025-08-09T17:27:53.411Z,1754760473.411 [DAT](INFO): checking for new query: numPingsReceived=71, elapsed TxPingTime=20.708242
2025-08-09T17:27:53.619Z,1754760473.619 [DAT](INFO): checking for new query: numPingsReceived=71, elapsed TxPingTime=20.916277
2025-08-09T17:27:53.830Z,1754760473.830 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 56.400002 m,
      deltaT: 0.503279 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-08-09T17:27:53.836Z,1754760473.836 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 56.400002 m,
      bearing: 194.548096 deg,
      lat: 36.906134 deg,
      lon: -122.116072 deg,
      deltaT: 0.503279 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      posRepo size: 4

2025-08-09T17:27:53.836Z,1754760473.836 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 56.40 m.
2025-08-09T17:27:53.873Z,1754760473.873 [DAT](INFO): DAT read: Rx Time:17:27:52.8378 

2025-08-09T17:27:53.873Z,1754760473.873 [DAT](INFO): Rx dataTimestamp_ set to:1754760473.872705
2025-08-09T17:27:53.875Z,1754760473.875 [DAT](INFO): DAT read: Bearing 269.0, -82.0 (Local)

2025-08-09T17:27:53.875Z,1754760473.875 [DAT](INFO): Local bearing/azimuth received:
 Bearing 269.0, -82.0 (Local)

2025-08-09T17:27:53.878Z,1754760473.878 [DAT](INFO): DAT read: Range 11 to 50 :    56.4 m (trip time 37.6 ms) speed 0.0

2025-08-09T17:27:53.883Z,1754760473.883 [DAT](INFO): DAT read: 17:27:52.8378 LVL= 27376, 20625, 21458, 29939, AGC= 58, IDX= 503,-0.36, 2.585,-2.348,-1.430,-2.360, PHS=-1.236, 0.056, 0.886, RAW= 247.2,   3.2, CAL= 244.0,   3.0, ROT= 266.0,  -3.0

2025-08-09T17:27:53.884Z,1754760473.884 [DAT](INFO): got valid direction response:
 17:27:52.8378 LVL= 27376, 20625, 21458, 29939, AGC= 58, IDX= 503,-0.36, 2.585,-2.348,-1.430,-2.360, PHS=-1.236, 0.056, 0.886, RAW= 247.2,   3.2, CAL= 244.0,   3.0, ROT= 266.0,  -3.0

2025-08-09T17:27:53.884Z,1754760473.884 [DAT](INFO): #Rx 72: Read range and direction messages.
2025-08-09T17:27:53.885Z,1754760473.885 [DAT](INFO): direction in FSK: [-0.069661,-0.996197,0.052336]
2025-08-09T17:27:53.886Z,1754760473.886 [DAT](INFO): publishing direction and range info
2025-08-09T17:27:53.889Z,1754760473.889 [DAT](INFO): checking for new query: numPingsReceived=72, elapsed TxPingTime=21.186058
2025-08-09T17:27:54.127Z,1754760474.127 [DAT](INFO): checking for new query: numPingsReceived=72, elapsed TxPingTime=21.422766
2025-08-09T17:27:54.266Z,1754760474.266 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 56.400002 m,
      deltaT: 0.504628 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-08-09T17:27:54.268Z,1754760474.268 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 56.400002 m,
      bearing: 194.334844 deg,
      lat: 36.906134 deg,
      lon: -122.116071 deg,
      deltaT: 0.504628 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      posRepo size: 4

2025-08-09T17:27:54.268Z,1754760474.268 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 56.40 m.
2025-08-09T17:27:54.376Z,1754760474.376 [DAT](INFO): DAT read: Rx Time:17:27:53.3379 

2025-08-09T17:27:54.376Z,1754760474.376 [DAT](INFO): Rx dataTimestamp_ set to:1754760474.376168
2025-08-09T17:27:54.378Z,1754760474.378 [DAT](INFO): DAT read: Bearing 268.7, -82.1 (Local)

2025-08-09T17:27:54.378Z,1754760474.378 [DAT](INFO): Local bearing/azimuth received:
 Bearing 268.7, -82.1 (Local)

2025-08-09T17:27:54.380Z,1754760474.380 [DAT](INFO): DAT read: Range 11 to 50 :    56.6 m (trip time 37.7 ms) speed -0.1

2025-08-09T17:27:54.385Z,1754760474.385 [DAT](INFO): DAT read: 17:27:53.3379 LVL= 28832, 21153, 18994, 29363, AGC= 58, IDX= 504,-0.13,-2.433,-1.099,-0.192,-1.111, PHS=-1.220, 0.057, 0.875, RAW= 247.2,   3.2, CAL= 244.0,   2.9, ROT= 266.0,  -2.9

2025-08-09T17:27:54.386Z,1754760474.386 [DAT](INFO): got valid direction response:
 17:27:53.3379 LVL= 28832, 21153, 18994, 29363, AGC= 58, IDX= 504,-0.13,-2.433,-1.099,-0.192,-1.111, PHS=-1.220, 0.057, 0.875, RAW= 247.2,   3.2, CAL= 244.0,   2.9, ROT= 266.0,  -2.9

2025-08-09T17:27:54.386Z,1754760474.386 [DAT](INFO): #Rx 73: Read range and direction messages.
2025-08-09T17:27:54.387Z,1754760474.387 [DAT](INFO): direction in FSK: [-0.069667,-0.996287,0.050593]
2025-08-09T17:27:54.388Z,1754760474.388 [DAT](INFO): publishing direction and range info
2025-08-09T17:27:54.395Z,1754760474.395 [DAT](INFO): checking for new query: numPingsReceived=73, elapsed TxPingTime=21.692472
2025-08-09T17:27:54.568Z,1754760474.568 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 56.599998 m,
      deltaT: 0.503463 s,
      deltaX: 0.199997 m,
      approachRate: 0.397243 m/s,
      rangeRepo size: 4

2025-08-09T17:27:54.570Z,1754760474.570 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 56.599998 m,
      bearing: 193.748757 deg,
      lat: 36.906133 deg,
      lon: -122.116065 deg,
      deltaT: 0.503463 s,
      deltaX: 0.199997 m,
      approachRate: 0.397243 m/s,
      posRepo size: 4

2025-08-09T17:27:54.571Z,1754760474.571 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 56.60 m.
2025-08-09T17:27:54.627Z,1754760474.627 [DAT](INFO): checking for new query: numPingsReceived=73, elapsed TxPingTime=21.924459
2025-08-09T17:27:54.880Z,1754760474.880 [DAT](INFO): DAT read: Rx Time:17:27:53.8378 

2025-08-09T17:27:54.881Z,1754760474.881 [DAT](INFO): Rx dataTimestamp_ set to:1754760474.880612
2025-08-09T17:27:54.882Z,1754760474.882 [DAT](INFO): DAT read: Bearing 262.5, -82.1 (Local)

2025-08-09T17:27:54.883Z,1754760474.883 [DAT](INFO): Local bearing/azimuth received:
 Bearing 262.5, -82.1 (Local)

2025-08-09T17:27:54.885Z,1754760474.885 [DAT](INFO): DAT read: Range 11 to 50 :    56.4 m (trip time 37.6 ms) speed 0.0

2025-08-09T17:27:54.889Z,1754760474.889 [DAT](INFO): DAT read: 17:27:53.8378 LVL= 29936, 25665, 17362, 32755, AGC= 59, IDX= 503,-0.03, 3.013,-1.933,-1.022,-1.927, PHS=-1.241, 0.039, 0.861, RAW= 247.2,   3.8, CAL= 244.2,   3.6, ROT= 265.8,  -3.6

2025-08-09T17:27:54.890Z,1754760474.890 [DAT](INFO): got valid direction response:
 17:27:53.8378 LVL= 29936, 25665, 17362, 32755, AGC= 59, IDX= 503,-0.03, 3.013,-1.933,-1.022,-1.927, PHS=-1.241, 0.039, 0.861, RAW= 247.2,   3.8, CAL= 244.2,   3.6, ROT= 265.8,  -3.6

2025-08-09T17:27:54.891Z,1754760474.891 [DAT](INFO): #Rx 74: Read range and direction messages.
2025-08-09T17:27:54.892Z,1754760474.892 [DAT](INFO): direction in FSK: [-0.073094,-0.995346,0.062791]
2025-08-09T17:27:54.892Z,1754760474.892 [DAT](INFO): publishing direction and range info
2025-08-09T17:27:54.896Z,1754760474.896 [DAT](INFO): checking for new query: numPingsReceived=74, elapsed TxPingTime=22.192570
2025-08-09T17:27:54.997Z,1754760474.997 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 56.400002 m,
      deltaT: 0.504444 s,
      deltaX: -0.199997 m,
      approachRate: -0.396470 m/s,
      rangeRepo size: 4

2025-08-09T17:27:55.004Z,1754760475.004 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 56.400002 m,
      bearing: 193.202007 deg,
      lat: 36.906131 deg,
      lon: -122.116061 deg,
      deltaT: 0.504444 s,
      deltaX: -0.199997 m,
      approachRate: -0.396470 m/s,
      posRepo size: 4

2025-08-09T17:27:55.004Z,1754760475.004 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 56.40 m.
2025-08-09T17:27:55.136Z,1754760475.136 [DAT](INFO): checking for new query: numPingsReceived=74, elapsed TxPingTime=22.430502
2025-08-09T17:27:55.375Z,1754760475.375 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 56.40 m.
2025-08-09T17:27:55.384Z,1754760475.384 [DAT](INFO): DAT read: Rx Time:17:27:54.3379 

2025-08-09T17:27:55.384Z,1754760475.384 [DAT](INFO): Rx dataTimestamp_ set to:1754760475.384207
2025-08-09T17:27:55.386Z,1754760475.386 [DAT](INFO): DAT read: Bearing 258.0, -82.7 (Local)

2025-08-09T17:27:55.394Z,1754760475.394 [DAT](INFO): Local bearing/azimuth received:
 Bearing 258.0, -82.7 (Local)

2025-08-09T17:27:55.396Z,1754760475.396 [DAT](INFO): DAT read: Range 11 to 50 :    56.6 m (trip time 37.7 ms) speed 0.0

2025-08-09T17:27:55.401Z,1754760475.401 [DAT](INFO): DAT read: 17:27:54.3379 LVL= 28128, 21425, 15570, 28915, AGC= 61, IDX= 504,-0.00,-0.711, 0.615, 1.552, 0.640, PHS=-1.249, 0.020, 0.868, RAW= 246.5,   4.0, CAL= 243.7,   3.9, ROT= 266.3,  -3.9

2025-08-09T17:27:55.402Z,1754760475.402 [DAT](INFO): got valid direction response:
 17:27:54.3379 LVL= 28128, 21425, 15570, 28915, AGC= 61, IDX= 504,-0.00,-0.711, 0.615, 1.552, 0.640, PHS=-1.249, 0.020, 0.868, RAW= 246.5,   4.0, CAL= 243.7,   3.9, ROT= 266.3,  -3.9

2025-08-09T17:27:55.411Z,1754760475.411 [DAT](INFO): #Rx 75: Read range and direction messages.
2025-08-09T17:27:55.412Z,1754760475.412 [DAT](INFO): direction in FSK: [-0.064383,-0.995605,0.068015]
2025-08-09T17:27:55.412Z,1754760475.412 [DAT](INFO): publishing direction and range info
2025-08-09T17:27:55.419Z,1754760475.419 [DAT](INFO): checking for new query: numPingsReceived=75, elapsed TxPingTime=22.716391
2025-08-09T17:27:55.635Z,1754760475.635 [DAT](INFO): checking for new query: numPingsReceived=75, elapsed TxPingTime=22.932243
2025-08-09T17:27:55.778Z,1754760475.778 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 56.599998 m,
      deltaT: 0.503595 s,
      deltaX: 0.199997 m,
      approachRate: 0.397138 m/s,
      rangeRepo size: 4

2025-08-09T17:27:55.800Z,1754760475.800 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 56.599998 m,
      bearing: 192.488431 deg,
      lat: 36.906131 deg,
      lon: -122.116056 deg,
      deltaT: 0.503595 s,
      deltaX: 0.199997 m,
      approachRate: 0.397138 m/s,
      posRepo size: 4

2025-08-09T17:27:55.800Z,1754760475.800 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 56.60 m.
2025-08-09T17:27:55.888Z,1754760475.888 [DAT](INFO): DAT read: Rx Time:17:27:54.8378 

2025-08-09T17:27:55.888Z,1754760475.888 [DAT](INFO): Rx dataTimestamp_ set to:1754760475.888200
2025-08-09T17:27:55.890Z,1754760475.890 [DAT](INFO): DAT read: Bearing 253.4, -82.7 (Local)

2025-08-09T17:27:55.890Z,1754760475.890 [DAT](INFO): Local bearing/azimuth received:
 Bearing 253.4, -82.7 (Local)

2025-08-09T17:27:55.892Z,1754760475.892 [DAT](INFO): DAT read: Range 11 to 50 :    56.4 m (trip time 37.6 ms) speed 0.0

2025-08-09T17:27:55.897Z,1754760475.897 [DAT](INFO): DAT read: 17:27:54.8378 LVL= 24480, 19697, 17442, 23875, AGC= 63, IDX= 503,-0.05,-0.816, 0.508, 1.447, 0.544, PHS=-1.258, 0.009, 0.859, RAW= 246.5,   4.3, CAL= 243.8,   4.3, ROT= 266.2,  -4.3

2025-08-09T17:27:55.899Z,1754760475.899 [DAT](INFO): got valid direction response:
 17:27:54.8378 LVL= 24480, 19697, 17442, 23875, AGC= 63, IDX= 503,-0.05,-0.816, 0.508, 1.447, 0.544, PHS=-1.258, 0.009, 0.859, RAW= 246.5,   4.3, CAL= 243.8,   4.3, ROT= 266.2,  -4.3

2025-08-09T17:27:55.899Z,1754760475.899 [DAT](INFO): #Rx 76: Read range and direction messages.
2025-08-09T17:27:55.900Z,1754760475.900 [DAT](INFO): direction in FSK: [-0.066087,-0.994993,0.074979]
2025-08-09T17:27:55.900Z,1754760475.900 [DAT](INFO): publishing direction and range info
2025-08-09T17:27:55.904Z,1754760475.904 [DAT](INFO): checking for new query: numPingsReceived=76, elapsed TxPingTime=23.200592
2025-08-09T17:27:56.142Z,1754760476.142 [DAT](INFO): checking for new query: numPingsReceived=76, elapsed TxPingTime=23.438652
2025-08-09T17:27:56.304Z,1754760476.304 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 56.400002 m,
      deltaT: 0.503993 s,
      deltaX: -0.199997 m,
      approachRate: -0.396825 m/s,
      rangeRepo size: 4

2025-08-09T17:27:56.312Z,1754760476.312 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 56.400002 m,
      bearing: 192.228966 deg,
      lat: 36.906130 deg,
      lon: -122.116054 deg,
      deltaT: 0.503993 s,
      deltaX: -0.199997 m,
      approachRate: -0.396825 m/s,
      posRepo size: 4

2025-08-09T17:27:56.313Z,1754760476.313 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 56.40 m.
2025-08-09T17:27:56.392Z,1754760476.392 [DAT](INFO): DAT read: Rx Time:17:27:55.3379 

2025-08-09T17:27:56.392Z,1754760476.392 [DAT](INFO): Rx dataTimestamp_ set to:1754760476.392191
2025-08-09T17:27:56.394Z,1754760476.394 [DAT](INFO): DAT read: Bearing 256.2, -83.7 (Local)

2025-08-09T17:27:56.394Z,1754760476.394 [DAT](INFO): Local bearing/azimuth received:
 Bearing 256.2, -83.7 (Local)

2025-08-09T17:27:56.396Z,1754760476.396 [DAT](INFO): DAT read: Range 11 to 50 :    56.6 m (trip time 37.7 ms) speed 0.0

2025-08-09T17:27:56.401Z,1754760476.401 [DAT](INFO): DAT read: 17:27:55.3379 LVL= 32032, 22913, 14562, 32755, AGC= 63, IDX= 504, 0.17,-0.174, 1.152, 2.123, 1.180, PHS=-1.253, 0.017, 0.898, RAW= 245.9,   3.6, CAL= 243.1,   3.7, ROT= 266.9,  -3.7

2025-08-09T17:27:56.402Z,1754760476.402 [DAT](INFO): got valid direction response:
 17:27:55.3379 LVL= 32032, 22913, 14562, 32755, AGC= 63, IDX= 504, 0.17,-0.174, 1.152, 2.123, 1.180, PHS=-1.253, 0.017, 0.898, RAW= 245.9,   3.6, CAL= 243.1,   3.7, ROT= 266.9,  -3.7

2025-08-09T17:27:56.402Z,1754760476.402 [DAT](INFO): #Rx 77: Read range and direction messages.
2025-08-09T17:27:56.403Z,1754760476.403 [DAT](INFO): direction in FSK: [-0.053966,-0.996455,0.064532]
2025-08-09T17:27:56.404Z,1754760476.404 [DAT](INFO): publishing direction and range info
2025-08-09T17:27:56.413Z,1754760476.413 [DAT](INFO): checking for new query: numPingsReceived=77, elapsed TxPingTime=23.710291
2025-08-09T17:27:56.644Z,1754760476.644 [DAT](INFO): checking for new query: numPingsReceived=77, elapsed TxPingTime=23.940678
2025-08-09T17:27:56.709Z,1754760476.709 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 56.599998 m,
      deltaT: 0.503991 s,
      deltaX: 0.199997 m,
      approachRate: 0.396826 m/s,
      rangeRepo size: 4

2025-08-09T17:27:56.719Z,1754760476.719 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 56.599998 m,
      bearing: 191.870680 deg,
      lat: 36.906130 deg,
      lon: -122.116051 deg,
      deltaT: 0.503991 s,
      deltaX: 0.199997 m,
      approachRate: 0.396826 m/s,
      posRepo size: 4

2025-08-09T17:27:56.720Z,1754760476.720 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 56.60 m.
2025-08-09T17:27:56.896Z,1754760476.896 [DAT](INFO): DAT read: Rx Time:17:27:55.8378 

2025-08-09T17:27:56.896Z,1754760476.896 [DAT](INFO): Rx dataTimestamp_ set to:1754760476.896044
2025-08-09T17:27:56.898Z,1754760476.898 [DAT](INFO): DAT read: Bearing 253.5, -83.3 (Local)

2025-08-09T17:27:56.898Z,1754760476.898 [DAT](INFO): Local bearing/azimuth received:
 Bearing 253.5, -83.3 (Local)

2025-08-09T17:27:56.900Z,1754760476.900 [DAT](INFO): DAT read: Range 11 to 50 :    56.4 m (trip time 37.6 ms) speed 0.0

2025-08-09T17:27:56.905Z,1754760476.905 [DAT](INFO): DAT read: 17:27:55.8378 LVL= 24384, 18737, 15858, 26339, AGC= 62, IDX= 503, 0.39, 2.977,-1.986,-1.048,-1.961, PHS=-1.243, 0.020, 0.869, RAW= 246.5,   3.9, CAL= 243.6,   3.9, ROT= 266.4,  -3.9

2025-08-09T17:27:56.906Z,1754760476.906 [DAT](INFO): got valid direction response:
 17:27:55.8378 LVL= 24384, 18737, 15858, 26339, AGC= 62, IDX= 503, 0.39, 2.977,-1.986,-1.048,-1.961, PHS=-1.243, 0.020, 0.869, RAW= 246.5,   3.9, CAL= 243.6,   3.9, ROT= 266.4,  -3.9

2025-08-09T17:27:56.906Z,1754760476.906 [DAT](INFO): #Rx 78: Read range and direction messages.
2025-08-09T17:27:56.907Z,1754760476.907 [DAT](INFO): direction in FSK: [-0.062645,-0.995716,0.068015]
2025-08-09T17:27:56.907Z,1754760476.907 [DAT](INFO): publishing direction and range info
2025-08-09T17:27:56.911Z,1754760476.911 [DAT](INFO): checking for new query: numPingsReceived=78, elapsed TxPingTime=24.207678
2025-08-09T17:27:57.076Z,1754760477.076 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 56.400002 m,
      deltaT: 0.503853 s,
      deltaX: -0.199997 m,
      approachRate: -0.396935 m/s,
      rangeRepo size: 4

2025-08-09T17:27:57.082Z,1754760477.082 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 56.400002 m,
      bearing: 191.581872 deg,
      lat: 36.906129 deg,
      lon: -122.116050 deg,
      deltaT: 0.503853 s,
      deltaX: -0.199997 m,
      approachRate: -0.396935 m/s,
      posRepo size: 4

2025-08-09T17:27:57.083Z,1754760477.083 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 56.40 m.
2025-08-09T17:27:57.152Z,1754760477.152 [DAT](INFO): checking for new query: numPingsReceived=78, elapsed TxPingTime=24.448172
2025-08-09T17:27:57.400Z,1754760477.400 [DAT](INFO): DAT read: Rx Time:17:27:56.3378 

2025-08-09T17:27:57.400Z,1754760477.400 [DAT](INFO): Rx dataTimestamp_ set to:1754760477.400006
2025-08-09T17:27:57.402Z,1754760477.402 [DAT](INFO): DAT read: Bearing 259.4, -84.0 (Local)

2025-08-09T17:27:57.402Z,1754760477.402 [DAT](INFO): Local bearing/azimuth received:
 Bearing 259.4, -84.0 (Local)

2025-08-09T17:27:57.404Z,1754760477.404 [DAT](INFO): DAT read: Range 11 to 50 :    56.4 m (trip time 37.6 ms) speed 0.0

2025-08-09T17:27:57.409Z,1754760477.409 [DAT](INFO): DAT read: 17:27:56.3378 LVL= 28400, 20657, 17122, 32531, AGC= 60, IDX= 504,-0.46, 1.823,-3.141,-2.191,-3.134, PHS=-1.224, 0.039, 0.899, RAW= 246.2,   3.1, CAL= 243.1,   3.0, ROT= 266.9,  -3.0

2025-08-09T17:27:57.410Z,1754760477.410 [DAT](INFO): got valid direction response:
 17:27:56.3378 LVL= 28400, 20657, 17122, 32531, AGC= 60, IDX= 504,-0.46, 1.823,-3.141,-2.191,-3.134, PHS=-1.224, 0.039, 0.899, RAW= 246.2,   3.1, CAL= 243.1,   3.0, ROT= 266.9,  -3.0

2025-08-09T17:27:57.410Z,1754760477.410 [DAT](INFO): #Rx 79: Read range and direction messages.
2025-08-09T17:27:57.411Z,1754760477.411 [DAT](INFO): direction in FSK: [-0.054005,-0.997168,0.052336]
2025-08-09T17:27:57.411Z,1754760477.411 [DAT](INFO): publishing direction and range info
2025-08-09T17:27:57.415Z,1754760477.415 [DAT](INFO): checking for new query: numPingsReceived=79, elapsed TxPingTime=24.711876
2025-08-09T17:27:57.561Z,1754760477.561 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 56.400002 m,
      deltaT: 0.503962 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-08-09T17:27:57.567Z,1754760477.567 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 56.400002 m,
      bearing: 191.140270 deg,
      lat: 36.906128 deg,
      lon: -122.116046 deg,
      deltaT: 0.503962 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      posRepo size: 4

2025-08-09T17:27:57.568Z,1754760477.568 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 56.40 m.
2025-08-09T17:27:57.655Z,1754760477.655 [DAT](INFO): DAT read: Rx Time:17:27:56.8378 

2025-08-09T17:27:57.656Z,1754760477.656 [DAT](INFO): Rx dataTimestamp_ set to:1754760477.655327
2025-08-09T17:27:57.659Z,1754760477.659 [DAT](INFO): checking for new query: numPingsReceived=79, elapsed TxPingTime=24.954849
2025-08-09T17:27:57.884Z,1754760477.884 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 56.40 m.
2025-08-09T17:27:57.904Z,1754760477.904 [DAT](INFO): DAT read: Bearing 257.0, -84.6 (Local)

2025-08-09T17:27:57.904Z,1754760477.904 [DAT](INFO): Local bearing/azimuth received:
 Bearing 257.0, -84.6 (Local)

2025-08-09T17:27:57.907Z,1754760477.907 [DAT](INFO): DAT read: Range 11 to 50 :    56.4 m (trip time 37.6 ms) speed 4.0

2025-08-09T17:27:57.911Z,1754760477.911 [DAT](INFO): DAT read: 17:27:56.8378 LVL= 28816, 20705, 14466, 31379, AGC= 63, IDX= 503,-0.30,-0.301, 1.001, 1.968, 1.019, PHS=-1.218, 0.028, 0.905, RAW= 245.7,   3.1, CAL= 242.6,   3.1, ROT= 267.4,  -3.1

2025-08-09T17:27:57.912Z,1754760477.912 [DAT](INFO): got valid direction response:
 17:27:56.8378 LVL= 28816, 20705, 14466, 31379, AGC= 63, IDX= 503,-0.30,-0.301, 1.001, 1.968, 1.019, PHS=-1.218, 0.028, 0.905, RAW= 245.7,   3.1, CAL= 242.6,   3.1, ROT= 267.4,  -3.1

2025-08-09T17:27:57.912Z,1754760477.912 [DAT](INFO): #Rx 80: Read range and direction messages.
2025-08-09T17:27:57.913Z,1754760477.913 [DAT](INFO): direction in FSK: [-0.045297,-0.997509,0.054079]
2025-08-09T17:27:57.914Z,1754760477.914 [DAT](INFO): publishing direction and range info
2025-08-09T17:27:57.933Z,1754760477.933 [DAT](INFO): checking for new query: numPingsReceived=80, elapsed TxPingTime=25.230436
2025-08-09T17:27:58.159Z,1754760478.159 [DAT](INFO): DAT read: Rx Time:17:27:57.3379 

2025-08-09T17:27:58.160Z,1754760478.160 [DAT](INFO): Rx dataTimestamp_ set to:1754760478.159196
2025-08-09T17:27:58.162Z,1754760478.162 [DAT](INFO): DAT read: Bearing 241.2, -83.1 (Local)

2025-08-09T17:27:58.163Z,1754760478.163 [DAT](INFO): Local bearing/azimuth received:
 Bearing 241.2, -83.1 (Local)

2025-08-09T17:27:58.165Z,1754760478.165 [DAT](INFO): checking for new query: numPingsReceived=80, elapsed TxPingTime=25.461491
2025-08-09T17:27:58.327Z,1754760478.327 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 56.400002 m,
      deltaT: 0.502743 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-08-09T17:27:58.330Z,1754760478.330 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 56.400002 m,
      bearing: 190.500326 deg,
      lat: 36.906128 deg,
      lon: -122.116041 deg,
      deltaT: 0.502743 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      posRepo size: 4

2025-08-09T17:27:58.346Z,1754760478.346 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 56.40 m.
2025-08-09T17:27:58.411Z,1754760478.411 [DAT](INFO): DAT read: Range 11 to 50 :    56.6 m (trip time 37.7 ms) speed 0.0

2025-08-09T17:27:58.417Z,1754760478.417 [DAT](INFO): DAT read: 17:27:57.3379 LVL= 30416, 22241, 14322, 32755, AGC= 63, IDX= 504,-0.22, 1.306, 2.605,-2.746, 2.660, PHS=-1.252,-0.010, 0.834, RAW= 246.3,   4.8, CAL= 243.9,   4.9, ROT= 266.1,  -4.9

2025-08-09T17:27:58.418Z,1754760478.418 [DAT](INFO): got valid direction response:
 17:27:57.3379 LVL= 30416, 22241, 14322, 32755, AGC= 63, IDX= 504,-0.22, 1.306, 2.605,-2.746, 2.660, PHS=-1.252,-0.010, 0.834, RAW= 246.3,   4.8, CAL= 243.9,   4.9, ROT= 266.1,  -4.9

2025-08-09T17:27:58.418Z,1754760478.418 [DAT](INFO): #Rx 81: Read range and direction messages.
2025-08-09T17:27:58.419Z,1754760478.419 [DAT](INFO): direction in FSK: [-0.067766,-0.994038,0.085417]
2025-08-09T17:27:58.419Z,1754760478.419 [DAT](INFO): publishing direction and range info
2025-08-09T17:27:58.423Z,1754760478.423 [DAT](INFO): checking for new query: numPingsReceived=81, elapsed TxPingTime=25.719917
2025-08-09T17:27:58.662Z,1754760478.662 [DAT](INFO): DAT read: Rx Time:17:27:57.8378 

2025-08-09T17:27:58.663Z,1754760478.663 [DAT](INFO): Rx dataTimestamp_ set to:1754760478.662499
2025-08-09T17:27:58.665Z,1754760478.665 [DAT](INFO): DAT read: Bearing 238.1, -80.8 (Local)

2025-08-09T17:27:58.671Z,1754760478.671 [DAT](INFO): Local bearing/azimuth received:
 Bearing 238.1, -80.8 (Local)

2025-08-09T17:27:58.674Z,1754760478.674 [DAT](INFO): DAT read: Range 11 to 50 :    56.4 m (trip time 37.6 ms) speed 0.0

2025-08-09T17:27:58.676Z,1754760478.676 [DAT](ERROR): #Rx 82: Read range message, but no direction.
2025-08-09T17:27:58.700Z,1754760478.700 [DAT](INFO): checking for new query: numPingsReceived=82, elapsed TxPingTime=25.996138
2025-08-09T17:27:58.803Z,1754760478.803 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 56.400002 m,
      deltaT: 0.759750 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-08-09T17:27:58.805Z,1754760478.805 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 56.400002 m,
      bearing: 190.262197 deg,
      lat: 36.906127 deg,
      lon: -122.116040 deg,
      deltaT: 0.759750 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      posRepo size: 4

2025-08-09T17:27:58.806Z,1754760478.806 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 56.40 m.
2025-08-09T17:27:58.917Z,1754760478.917 [DAT](INFO): DAT read: 17:27:57.8378 LVL= 26320, 18481, 15922, 27875, AGC= 60, IDX= 503,-0.10, 0.137, 1.448, 2.299, 1.500, PHS=-1.261,-0.007, 0.755, RAW= 248.0,   5.9, CAL= 245.9,   6.0, ROT= 264.1,  -6.0

2025-08-09T17:27:58.918Z,1754760478.918 [DAT](INFO): got valid direction response:
 17:27:57.8378 LVL= 26320, 18481, 15922, 27875, AGC= 60, IDX= 503,-0.10, 0.137, 1.448, 2.299, 1.500, PHS=-1.261,-0.007, 0.755, RAW= 248.0,   5.9, CAL= 245.9,   6.0, ROT= 264.1,  -6.0

2025-08-09T17:27:58.918Z,1754760478.918 [DAT](INFO): #Rx 83: Read direction message, but no range.
2025-08-09T17:27:58.919Z,1754760478.919 [DAT](INFO): direction in FSK: [-0.102229,-0.989254,0.104528]
2025-08-09T17:27:58.923Z,1754760478.923 [DAT](INFO): checking for new query: numPingsReceived=83, elapsed TxPingTime=26.219555
2025-08-09T17:27:59.081Z,1754760479.081 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 56.40 m.
2025-08-09T17:27:59.167Z,1754760479.167 [DAT](INFO): DAT read: Rx Time:17:27:58.3379 

2025-08-09T17:27:59.170Z,1754760479.170 [DAT](INFO): Rx dataTimestamp_ set to:1754760479.168277
2025-08-09T17:27:59.174Z,1754760479.174 [DAT](INFO): DAT read: Bearing 236.4, -80.7 (Local)

2025-08-09T17:27:59.176Z,1754760479.176 [DAT](INFO): Local bearing/azimuth received:
 Bearing 236.4, -80.7 (Local)

2025-08-09T17:27:59.191Z,1754760479.191 [DAT](INFO): DAT read: Range 11 to 50 :    56.6 m (trip time 37.7 ms) speed 0.0

2025-08-09T17:27:59.194Z,1754760479.194 [DAT](ERROR): #Rx 84: Read range message, but no direction.
2025-08-09T17:27:59.208Z,1754760479.208 [DAT](INFO): checking for new query: numPingsReceived=84, elapsed TxPingTime=26.503798
2025-08-09T17:27:59.420Z,1754760479.420 [DAT](INFO): DAT read: 17:27:58.3379 LVL= 28224, 19441, 16178, 29843, AGC= 62, IDX= 504, 0.10, 1.790, 3.092,-2.350,-3.137, PHS=-1.254,-0.010, 0.743, RAW= 248.1,   6.0, CAL= 246.1,   6.1, ROT= 263.9,  -6.1

2025-08-09T17:27:59.421Z,1754760479.421 [DAT](INFO): got valid direction response:
 17:27:58.3379 LVL= 28224, 19441, 16178, 29843, AGC= 62, IDX= 504, 0.10, 1.790, 3.092,-2.350,-3.137, PHS=-1.254,-0.010, 0.743, RAW= 248.1,   6.0, CAL= 246.1,   6.1, ROT= 263.9,  -6.1

2025-08-09T17:27:59.421Z,1754760479.421 [DAT](INFO): #Rx 85: Read direction message, but no range.
2025-08-09T17:27:59.422Z,1754760479.422 [DAT](INFO): direction in FSK: [-0.105663,-0.988708,0.106264]
2025-08-09T17:27:59.425Z,1754760479.425 [DAT](INFO): checking for new query: numPingsReceived=85, elapsed TxPingTime=26.722107
2025-08-09T17:27:59.558Z,1754760479.558 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 56.599998 m,
      deltaT: 0.505778 s,
      deltaX: 0.199997 m,
      approachRate: 0.395424 m/s,
      rangeRepo size: 4

2025-08-09T17:27:59.560Z,1754760479.560 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 56.599998 m,
      bearing: 189.928641 deg,
      lat: 36.906127 deg,
      lon: -122.116039 deg,
      deltaT: 0.505778 s,
      deltaX: 0.199997 m,
      approachRate: 0.395424 m/s,
      posRepo size: 4

2025-08-09T17:27:59.561Z,1754760479.561 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 56.60 m.
2025-08-09T17:27:59.673Z,1754760479.673 [DAT](INFO): DAT read: Rx Time:17:27:58.8378 

2025-08-09T17:27:59.675Z,1754760479.675 [DAT](INFO): Rx dataTimestamp_ set to:1754760479.673462
2025-08-09T17:27:59.678Z,1754760479.678 [DAT](INFO): DAT read: Bearing 230.2, -80.9 (Local)

2025-08-09T17:27:59.680Z,1754760479.680 [DAT](INFO): Local bearing/azimuth received:
 Bearing 230.2, -80.9 (Local)

2025-08-09T17:27:59.685Z,1754760479.685 [DAT](INFO): DAT read: Range 11 to 50 :    56.4 m (trip time 37.6 ms) speed 0.0

2025-08-09T17:27:59.692Z,1754760479.692 [DAT](ERROR): #Rx 86: Read range message, but no direction.
2025-08-09T17:27:59.711Z,1754760479.711 [DAT](INFO): checking for new query: numPingsReceived=86, elapsed TxPingTime=27.007565
2025-08-09T17:27:59.903Z,1754760479.903 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 56.400002 m,
      deltaT: 0.505185 s,
      deltaX: -0.199997 m,
      approachRate: -0.395889 m/s,
      rangeRepo size: 4

2025-08-09T17:27:59.903Z,1754760479.903 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 56.60 m.
2025-08-09T17:27:59.927Z,1754760479.927 [DAT](INFO): DAT read: 17:27:58.8378 LVL= 29152, 26545, 15778, 29043, AGC= 64, IDX= 503, 0.36, 0.163, 1.452, 2.323, 1.537, PHS=-1.271,-0.039, 0.742, RAW= 247.4,   6.5, CAL= 245.6,   6.8, ROT= 264.4,  -6.8

2025-08-09T17:27:59.928Z,1754760479.928 [DAT](INFO): got valid direction response:
 17:27:58.8378 LVL= 29152, 26545, 15778, 29043, AGC= 64, IDX= 503, 0.36, 0.163, 1.452, 2.323, 1.537, PHS=-1.271,-0.039, 0.742, RAW= 247.4,   6.5, CAL= 245.6,   6.8, ROT= 264.4,  -6.8

2025-08-09T17:27:59.929Z,1754760479.929 [DAT](INFO): #Rx 87: Read direction message, but no range.
2025-08-09T17:27:59.930Z,1754760479.930 [DAT](INFO): direction in FSK: [-0.096897,-0.988226,0.118404]
2025-08-09T17:27:59.934Z,1754760479.934 [DAT](INFO): checking for new query: numPingsReceived=87, elapsed TxPingTime=27.230492
2025-08-09T17:28:00.179Z,1754760480.179 [DAT](INFO): DAT read: Rx Time:17:27:59.3380 

2025-08-09T17:28:00.180Z,1754760480.180 [DAT](INFO): Rx dataTimestamp_ set to:1754760480.179465
2025-08-09T17:28:00.185Z,1754760480.185 [DAT](INFO): DAT read: Bearing 222.4, -79.6 (Local)

2025-08-09T17:28:00.199Z,1754760480.199 [DAT](INFO): Local bearing/azimuth received:
 Bearing 222.4, -79.6 (Local)

2025-08-09T17:28:00.220Z,1754760480.220 [DAT](INFO): DAT read: Range 11 to 50 :    56.7 m (trip time 37.8 ms) speed 0.0

2025-08-09T17:28:00.269Z,1754760480.269 [DAT](INFO): DAT read: 17:27:59.3380 LVL= 30176, 27633, 19682, 29027, AGC= 64, IDX= 505,-0.22,-1.257,-0.001, 0.855, 0.128, PHS=-1.283,-0.084, 0.683, RAW= 247.2,   8.0, CAL= 246.2,   8.6, ROT= 263.8,  -8.6

2025-08-09T17:28:00.283Z,1754760480.283 [DAT](INFO): got valid direction response:
 17:27:59.3380 LVL= 30176, 27633, 19682, 29027, AGC= 64, IDX= 505,-0.22,-1.257,-0.001, 0.855, 0.128, PHS=-1.283,-0.084, 0.683, RAW= 247.2,   8.0, CAL= 246.2,   8.6, ROT= 263.8,  -8.6

2025-08-09T17:28:00.284Z,1754760480.284 [DAT](INFO): #Rx 88: Read range and direction messages.
2025-08-09T17:28:00.285Z,1754760480.285 [DAT](INFO): direction in FSK: [-0.106785,-0.982973,0.149535]
2025-08-09T17:28:00.286Z,1754760480.286 [DAT](INFO): publishing direction and range info
2025-08-09T17:28:00.302Z,1754760480.302 [DAT](INFO): checking for new query: numPingsReceived=88, elapsed TxPingTime=27.598593
2025-08-09T17:28:00.428Z,1754760480.428 [DAT](INFO): checking for new query: numPingsReceived=88, elapsed TxPingTime=27.724651
2025-08-09T17:28:00.429Z,1754760480.429 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 56.700001 m,
      deltaT: 0.506003 s,
      deltaX: 0.299999 m,
      approachRate: 0.592880 m/s,
      rangeRepo size: 4

2025-08-09T17:28:00.435Z,1754760480.435 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 56.700001 m,
      bearing: 188.152602 deg,
      lat: 36.906126 deg,
      lon: -122.116022 deg,
      deltaT: 1.011188 s,
      deltaX: 0.100002 m,
      approachRate: 0.098896 m/s,
      posRepo size: 4

2025-08-09T17:28:00.436Z,1754760480.436 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 56.70 m.
2025-08-09T17:28:00.683Z,1754760480.683 [DAT](INFO): DAT read: Rx Time:17:27:59.8379 

2025-08-09T17:28:00.685Z,1754760480.685 [DAT](INFO): Rx dataTimestamp_ set to:1754760480.683673
2025-08-09T17:28:00.688Z,1754760480.688 [DAT](INFO): DAT read: Bearing 223.1, -80.4 (Local)

2025-08-09T17:28:00.689Z,1754760480.689 [DAT](INFO): Local bearing/azimuth received:
 Bearing 223.1, -80.4 (Local)

2025-08-09T17:28:00.695Z,1754760480.695 [DAT](INFO): DAT read: Range 11 to 50 :    56.6 m (trip time 37.7 ms) speed 0.0

2025-08-09T17:28:00.697Z,1754760480.697 [DAT](ERROR): #Rx 89: Read range message, but no direction.
2025-08-09T17:28:00.701Z,1754760480.701 [DAT](INFO): checking for new query: numPingsReceived=89, elapsed TxPingTime=27.997290
2025-08-09T17:28:00.841Z,1754760480.841 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 56.599998 m,
      deltaT: 0.504208 s,
      deltaX: -0.100002 m,
      approachRate: -0.198335 m/s,
      rangeRepo size: 4

2025-08-09T17:28:00.842Z,1754760480.842 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 56.70 m.
2025-08-09T17:28:00.936Z,1754760480.936 [DAT](INFO): DAT read: 17:27:59.8379 LVL= 31936, 27377, 14290, 27635, AGC= 64, IDX= 504, 0.05,-0.971, 0.321, 1.208, 0.436, PHS=-1.305,-0.070, 0.728, RAW= 247.1,   7.3, CAL= 245.7,   7.8, ROT= 264.3,  -7.8

2025-08-09T17:28:00.937Z,1754760480.937 [DAT](INFO): got valid direction response:
 17:27:59.8379 LVL= 31936, 27377, 14290, 27635, AGC= 64, IDX= 504, 0.05,-0.971, 0.321, 1.208, 0.436, PHS=-1.305,-0.070, 0.728, RAW= 247.1,   7.3, CAL= 245.7,   7.8, ROT= 264.3,  -7.8

2025-08-09T17:28:00.938Z,1754760480.938 [DAT](INFO): #Rx 90: Read direction message, but no range.
2025-08-09T17:28:00.940Z,1754760480.940 [DAT](INFO): direction in FSK: [-0.098401,-0.985849,0.135716]
2025-08-09T17:28:00.945Z,1754760480.945 [DAT](INFO): checking for new query: numPingsReceived=90, elapsed TxPingTime=28.241310
2025-08-09T17:28:01.189Z,1754760481.189 [DAT](INFO): DAT read: Rx Time:17:28:00.3379 

2025-08-09T17:28:01.192Z,1754760481.192 [DAT](INFO): Rx dataTimestamp_ set to:1754760481.189136
2025-08-09T17:28:01.205Z,1754760481.205 [DAT](INFO): DAT read: Bearing 221.1, -81.0 (Local)

2025-08-09T17:28:01.215Z,1754760481.215 [DAT](INFO): Local bearing/azimuth received:
 Bearing 221.1, -81.0 (Local)

2025-08-09T17:28:01.221Z,1754760481.221 [DAT](INFO): DAT read: Range 11 to 50 :    56.6 m (trip time 37.7 ms) speed 0.0

2025-08-09T17:28:01.285Z,1754760481.285 [DAT](INFO): DAT read: 17:28:00.3379 LVL= 25840, 20289, 14898, 29491, AGC= 63, IDX= 504, 0.44,-1.690,-0.431, 0.459,-0.313, PHS=-1.275,-0.073, 0.728, RAW= 246.6,   7.2, CAL= 245.2,   7.6, ROT= 264.8,  -7.6

2025-08-09T17:28:01.303Z,1754760481.303 [DAT](INFO): got valid direction response:
 17:28:00.3379 LVL= 25840, 20289, 14898, 29491, AGC= 63, IDX= 504, 0.44,-1.690,-0.431, 0.459,-0.313, PHS=-1.275,-0.073, 0.728, RAW= 246.6,   7.2, CAL= 245.2,   7.6, ROT= 264.8,  -7.6

2025-08-09T17:28:01.303Z,1754760481.303 [DAT](INFO): #Rx 91: Read range and direction messages.
2025-08-09T17:28:01.304Z,1754760481.304 [DAT](INFO): direction in FSK: [-0.089837,-0.987136,0.132256]
2025-08-09T17:28:01.304Z,1754760481.304 [DAT](INFO): publishing direction and range info
2025-08-09T17:28:01.328Z,1754760481.328 [DAT](INFO): checking for new query: numPingsReceived=91, elapsed TxPingTime=28.625381
2025-08-09T17:28:01.435Z,1754760481.435 [DAT](INFO): checking for new query: numPingsReceived=91, elapsed TxPingTime=28.732353
2025-08-09T17:28:01.437Z,1754760481.437 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 56.599998 m,
      deltaT: 0.505463 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-08-09T17:28:01.443Z,1754760481.443 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 56.599998 m,
      bearing: 185.271166 deg,
      lat: 36.906126 deg,
      lon: -122.115992 deg,
      deltaT: 1.009671 s,
      deltaX: -0.100002 m,
      approachRate: -0.099044 m/s,
      posRepo size: 4

2025-08-09T17:28:01.444Z,1754760481.444 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 56.60 m.
2025-08-09T17:28:01.694Z,1754760481.694 [DAT](INFO): DAT read: Rx Time:17:28:00.8379 

2025-08-09T17:28:01.695Z,1754760481.695 [DAT](INFO): Rx dataTimestamp_ set to:1754760481.694201
2025-08-09T17:28:01.699Z,1754760481.699 [DAT](INFO): DAT read: Bearing 218.9, -81.2 (Local)

2025-08-09T17:28:01.700Z,1754760481.700 [DAT](INFO): Local bearing/azimuth received:
 Bearing 218.9, -81.2 (Local)

2025-08-09T17:28:01.705Z,1754760481.705 [DAT](INFO): DAT read: Range 11 to 50 :    56.6 m (trip time 37.7 ms) speed 0.0

2025-08-09T17:28:01.727Z,1754760481.727 [DAT](INFO): DAT read: 17:28:00.8379 LVL= 27440, 24033, 15842, 26355, AGC= 63, IDX= 504,-0.09, 2.356,-2.673,-1.772,-2.548, PHS=-1.277,-0.080, 0.733, RAW= 246.3,   7.2, CAL= 245.0,   7.7, ROT= 265.0,  -7.7

2025-08-09T17:28:01.728Z,1754760481.728 [DAT](INFO): got valid direction response:
 17:28:00.8379 LVL= 27440, 24033, 15842, 26355, AGC= 63, IDX= 504,-0.09, 2.356,-2.673,-1.772,-2.548, PHS=-1.277,-0.080, 0.733, RAW= 246.3,   7.2, CAL= 245.0,   7.7, ROT= 265.0,  -7.7

2025-08-09T17:28:01.728Z,1754760481.728 [DAT](INFO): #Rx 92: Read range and direction messages.
2025-08-09T17:28:01.729Z,1754760481.729 [DAT](INFO): direction in FSK: [-0.086370,-0.987212,0.133986]
2025-08-09T17:28:01.730Z,1754760481.730 [DAT](INFO): publishing direction and range info
2025-08-09T17:28:01.742Z,1754760481.742 [DAT](INFO): checking for new query: numPingsReceived=92, elapsed TxPingTime=29.038704
2025-08-09T17:28:01.940Z,1754760481.940 [DAT](INFO): checking for new query: numPingsReceived=92, elapsed TxPingTime=29.237286
2025-08-09T17:28:01.969Z,1754760481.969 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 56.599998 m,
      deltaT: 0.505065 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-08-09T17:28:01.971Z,1754760481.971 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 56.599998 m,
      bearing: 184.938760 deg,
      lat: 36.906125 deg,
      lon: -122.115990 deg,
      deltaT: 0.505065 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      posRepo size: 4

2025-08-09T17:28:01.972Z,1754760481.972 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 56.60 m.
2025-08-09T17:28:02.198Z,1754760482.198 [DAT](INFO): DAT read: Rx Time:17:28:01.3380 

2025-08-09T17:28:02.200Z,1754760482.200 [DAT](INFO): Rx dataTimestamp_ set to:1754760482.198745
2025-08-09T17:28:02.208Z,1754760482.208 [DAT](INFO): DAT read: Bearing 221.0, -81.8 (Local)

2025-08-09T17:28:02.209Z,1754760482.209 [DAT](INFO): Local bearing/azimuth received:
 Bearing 221.0, -81.8 (Local)

2025-08-09T17:28:02.212Z,1754760482.212 [DAT](INFO): DAT read: Range 11 to 50 :    56.7 m (trip time 37.8 ms) speed -0.1

2025-08-09T17:28:02.304Z,1754760482.304 [DAT](INFO): DAT read: 17:28:01.3380 LVL= 27664, 23137, 16306, 27091, AGC= 64, IDX= 505, 0.27,-1.330,-0.075, 0.825, 0.028, PHS=-1.256,-0.059, 0.753, RAW= 246.3,   6.5, CAL= 244.7,   6.9, ROT= 265.3,  -6.9

2025-08-09T17:28:02.305Z,1754760482.305 [DAT](INFO): got valid direction response:
 17:28:01.3380 LVL= 27664, 23137, 16306, 27091, AGC= 64, IDX= 505, 0.27,-1.330,-0.075, 0.825, 0.028, PHS=-1.256,-0.059, 0.753, RAW= 246.3,   6.5, CAL= 244.7,   6.9, ROT= 265.3,  -6.9

2025-08-09T17:28:02.305Z,1754760482.305 [DAT](INFO): #Rx 93: Read range and direction messages.
2025-08-09T17:28:02.306Z,1754760482.306 [DAT](INFO): direction in FSK: [-0.081345,-0.989419,0.120137]
2025-08-09T17:28:02.318Z,1754760482.318 [DAT](INFO): publishing direction and range info
2025-08-09T17:28:02.322Z,1754760482.322 [DAT](INFO): checking for new query: numPingsReceived=93, elapsed TxPingTime=29.618759
2025-08-09T17:28:02.432Z,1754760482.432 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 56.700001 m,
      deltaT: 0.504544 s,
      deltaX: 0.100002 m,
      approachRate: 0.198203 m/s,
      rangeRepo size: 4

2025-08-09T17:28:02.434Z,1754760482.434 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 56.700001 m,
      bearing: 184.396759 deg,
      lat: 36.906124 deg,
      lon: -122.115986 deg,
      deltaT: 0.504544 s,
      deltaX: 0.100002 m,
      approachRate: 0.198203 m/s,
      posRepo size: 4

2025-08-09T17:28:02.438Z,1754760482.438 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 56.70 m.
2025-08-09T17:28:02.443Z,1754760482.443 [DAT](INFO): checking for new query: numPingsReceived=93, elapsed TxPingTime=29.740393
2025-08-09T17:28:02.701Z,1754760482.701 [DAT](INFO): DAT read: Rx Time:17:28:01.8380 

2025-08-09T17:28:02.703Z,1754760482.703 [DAT](INFO): Rx dataTimestamp_ set to:1754760482.702203
2025-08-09T17:28:02.719Z,1754760482.719 [DAT](INFO): DAT read: Bearing 213.8, -82.8 (Local)

2025-08-09T17:28:02.719Z,1754760482.719 [DAT](INFO): Local bearing/azimuth received:
 Bearing 213.8, -82.8 (Local)

2025-08-09T17:28:02.721Z,1754760482.721 [DAT](INFO): DAT read: Range 11 to 50 :    56.7 m (trip time 37.8 ms) speed 0.0

2025-08-09T17:28:02.734Z,1754760482.734 [DAT](INFO): DAT read: 17:28:01.8380 LVL= 27792, 26241, 17714, 28147, AGC= 64, IDX= 505,-0.19, 1.987,-3.048,-2.082,-2.918, PHS=-1.276,-0.085, 0.792, RAW= 245.0,   6.4, CAL= 243.4,   6.9, ROT= 266.6,  -6.9

2025-08-09T17:28:02.743Z,1754760482.743 [DAT](INFO): got valid direction response:
 17:28:01.8380 LVL= 27792, 26241, 17714, 28147, AGC= 64, IDX= 505,-0.19, 1.987,-3.048,-2.082,-2.918, PHS=-1.276,-0.085, 0.792, RAW= 245.0,   6.4, CAL= 243.4,   6.9, ROT= 266.6,  -6.9

2025-08-09T17:28:02.743Z,1754760482.743 [DAT](INFO): #Rx 94: Read range and direction messages.
2025-08-09T17:28:02.744Z,1754760482.744 [DAT](INFO): direction in FSK: [-0.058877,-0.991010,0.120137]
2025-08-09T17:28:02.745Z,1754760482.745 [DAT](INFO): publishing direction and range info
2025-08-09T17:28:02.771Z,1754760482.771 [DAT](INFO): checking for new query: numPingsReceived=94, elapsed TxPingTime=30.051220
2025-08-09T17:28:02.873Z,1754760482.873 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 56.700001 m,
      deltaT: 0.503458 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-08-09T17:28:02.880Z,1754760482.880 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 56.700001 m,
      bearing: 184.303119 deg,
      lat: 36.906124 deg,
      lon: -122.115986 deg,
      deltaT: 0.503458 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      posRepo size: 4

2025-08-09T17:28:02.880Z,1754760482.880 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 56.70 m.
2025-08-09T17:28:02.948Z,1754760482.948 [DAT](INFO): checking for new query: numPingsReceived=94, elapsed TxPingTime=30.245314
2025-08-09T17:28:03.204Z,1754760483.204 [DAT](INFO): DAT read: Rx Time:17:28:02.3381 

2025-08-09T17:28:03.205Z,1754760483.205 [DAT](INFO): Rx dataTimestamp_ set to:1754760483.204162
2025-08-09T17:28:03.209Z,1754760483.209 [DAT](INFO): DAT read: Bearing 217.8, -83.2 (Local)

2025-08-09T17:28:03.210Z,1754760483.210 [DAT](INFO): Local bearing/azimuth received:
 Bearing 217.8, -83.2 (Local)

2025-08-09T17:28:03.216Z,1754760483.216 [DAT](INFO): DAT read: Range 11 to 50 :    56.9 m (trip time 37.9 ms) speed 0.0

2025-08-09T17:28:03.222Z,1754760483.222 [DAT](INFO): DAT read: 17:28:02.3381 LVL= 24960, 21457, 13234, 25763, AGC= 62, IDX= 506, 0.15,-0.617, 0.633, 1.584, 0.742, PHS=-1.256,-0.063, 0.799, RAW= 245.3,   5.9, CAL= 243.5,   6.3, ROT= 266.5,  -6.3

2025-08-09T17:28:03.223Z,1754760483.223 [DAT](INFO): got valid direction response:
 17:28:02.3381 LVL= 24960, 21457, 13234, 25763, AGC= 62, IDX= 506, 0.15,-0.617, 0.633, 1.584, 0.742, PHS=-1.256,-0.063, 0.799, RAW= 245.3,   5.9, CAL= 243.5,   6.3, ROT= 266.5,  -6.3

2025-08-09T17:28:03.223Z,1754760483.223 [DAT](INFO): #Rx 95: Read range and direction messages.
2025-08-09T17:28:03.224Z,1754760483.224 [DAT](INFO): direction in FSK: [-0.060680,-0.992107,0.109734]
2025-08-09T17:28:03.224Z,1754760483.224 [DAT](INFO): publishing direction and range info
2025-08-09T17:28:03.236Z,1754760483.236 [DAT](INFO): checking for new query: numPingsReceived=95, elapsed TxPingTime=30.532352
2025-08-09T17:28:03.309Z,1754760483.309 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 56.900002 m,
      deltaT: 0.501959 s,
      deltaX: 0.200001 m,
      approachRate: 0.398440 m/s,
      rangeRepo size: 4

2025-08-09T17:28:03.329Z,1754760483.329 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 56.900002 m,
      bearing: 184.209315 deg,
      lat: 36.906123 deg,
      lon: -122.115986 deg,
      deltaT: 0.501959 s,
      deltaX: 0.200001 m,
      approachRate: 0.398440 m/s,
      posRepo size: 4

2025-08-09T17:28:03.329Z,1754760483.329 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 56.90 m.
2025-08-09T17:28:03.451Z,1754760483.451 [DAT](INFO): checking for new query: numPingsReceived=95, elapsed TxPingTime=30.748423
2025-08-09T17:28:03.640Z,1754760483.640 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 56.90 m.
2025-08-09T17:28:03.708Z,1754760483.708 [DAT](INFO): DAT read: Rx Time:17:28:02.8381 

2025-08-09T17:28:03.709Z,1754760483.709 [DAT](INFO): Rx dataTimestamp_ set to:1754760483.708683
2025-08-09T17:28:03.711Z,1754760483.711 [DAT](INFO): DAT read: Bearing 215.7, -83.6 (Local)

2025-08-09T17:28:03.711Z,1754760483.711 [DAT](INFO): Local bearing/azimuth received:
 Bearing 215.7, -83.6 (Local)

2025-08-09T17:28:03.713Z,1754760483.713 [DAT](INFO): DAT read: Range 11 to 50 :    56.9 m (trip time 37.9 ms) speed 0.0

2025-08-09T17:28:03.718Z,1754760483.718 [DAT](INFO): DAT read: 17:28:02.8381 LVL= 25760, 20609, 14834, 29635, AGC= 62, IDX= 506,-0.32,-2.846,-1.623,-0.669,-1.506, PHS=-1.238,-0.072, 0.793, RAW= 244.9,   5.9, CAL= 243.1,   6.4, ROT= 266.9,  -6.4

2025-08-09T17:28:03.720Z,1754760483.720 [DAT](INFO): got valid direction response:
 17:28:02.8381 LVL= 25760, 20609, 14834, 29635, AGC= 62, IDX= 506,-0.32,-2.846,-1.623,-0.669,-1.506, PHS=-1.238,-0.072, 0.793, RAW= 244.9,   5.9, CAL= 243.1,   6.4, ROT= 266.9,  -6.4

2025-08-09T17:28:03.720Z,1754760483.720 [DAT](INFO): #Rx 96: Read range and direction messages.
2025-08-09T17:28:03.721Z,1754760483.721 [DAT](INFO): direction in FSK: [-0.053742,-0.992314,0.111469]
2025-08-09T17:28:03.721Z,1754760483.721 [DAT](INFO): publishing direction and range info
2025-08-09T17:28:03.729Z,1754760483.729 [DAT](INFO): checking for new query: numPingsReceived=96, elapsed TxPingTime=31.025867
2025-08-09T17:28:03.955Z,1754760483.955 [DAT](INFO): checking for new query: numPingsReceived=96, elapsed TxPingTime=31.252293
2025-08-09T17:28:04.086Z,1754760484.086 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 56.900002 m,
      deltaT: 0.504521 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-08-09T17:28:04.092Z,1754760484.092 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 56.900002 m,
      bearing: 184.016517 deg,
      lat: 36.906122 deg,
      lon: -122.115986 deg,
      deltaT: 0.504521 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      posRepo size: 4

2025-08-09T17:28:04.092Z,1754760484.092 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 56.90 m.
2025-08-09T17:28:04.211Z,1754760484.211 [DAT](INFO): DAT read: Rx Time:17:28:03.3382 

2025-08-09T17:28:04.211Z,1754760484.211 [DAT](INFO): Rx dataTimestamp_ set to:1754760484.211081
2025-08-09T17:28:04.213Z,1754760484.213 [DAT](INFO): DAT read: Bearing 219.9, -84.7 (Local)

2025-08-09T17:28:04.213Z,1754760484.213 [DAT](INFO): Local bearing/azimuth received:
 Bearing 219.9, -84.7 (Local)

2025-08-09T17:28:04.216Z,1754760484.216 [DAT](INFO): DAT read: Range 11 to 50 :    57.0 m (trip time 38.0 ms) speed 0.0

2025-08-09T17:28:04.226Z,1754760484.226 [DAT](INFO): DAT read: 17:28:03.3382 LVL= 24304, 17969, 13874, 27123, AGC= 61, IDX= 507, 0.04,-0.011, 1.226, 2.197, 1.320, PHS=-1.229,-0.048, 0.834, RAW= 244.8,   5.0, CAL= 242.6,   5.4, ROT= 267.4,  -5.4

2025-08-09T17:28:04.231Z,1754760484.231 [DAT](INFO): got valid direction response:
 17:28:03.3382 LVL= 24304, 17969, 13874, 27123, AGC= 61, IDX= 507, 0.04,-0.011, 1.226, 2.197, 1.320, PHS=-1.229,-0.048, 0.834, RAW= 244.8,   5.0, CAL= 242.6,   5.4, ROT= 267.4,  -5.4

2025-08-09T17:28:04.232Z,1754760484.232 [DAT](INFO): #Rx 97: Read range and direction messages.
2025-08-09T17:28:04.233Z,1754760484.233 [DAT](INFO): direction in FSK: [-0.045162,-0.994537,0.094108]
2025-08-09T17:28:04.233Z,1754760484.233 [DAT](INFO): publishing direction and range info
2025-08-09T17:28:04.248Z,1754760484.248 [DAT](INFO): checking for new query: numPingsReceived=97, elapsed TxPingTime=31.544720
2025-08-09T17:28:04.459Z,1754760484.459 [DAT](INFO): checking for new query: numPingsReceived=97, elapsed TxPingTime=31.756388
2025-08-09T17:28:04.511Z,1754760484.511 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 57.000000 m,
      deltaT: 0.502398 s,
      deltaX: 0.099998 m,
      approachRate: 0.199042 m/s,
      rangeRepo size: 4

2025-08-09T17:28:04.513Z,1754760484.513 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 57.000000 m,
      bearing: 183.899615 deg,
      lat: 36.906121 deg,
      lon: -122.115985 deg,
      deltaT: 0.502398 s,
      deltaX: 0.099998 m,
      approachRate: 0.199042 m/s,
      posRepo size: 4

2025-08-09T17:28:04.514Z,1754760484.514 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 57.00 m.
2025-08-09T17:28:04.712Z,1754760484.712 [DAT](INFO): DAT read: Rx Time:17:28:03.8381 

2025-08-09T17:28:04.712Z,1754760484.712 [DAT](INFO): Rx dataTimestamp_ set to:1754760484.712109
2025-08-09T17:28:04.714Z,1754760484.714 [DAT](INFO): DAT read: Bearing 213.8, -85.4 (Local)

2025-08-09T17:28:04.714Z,1754760484.714 [DAT](INFO): Local bearing/azimuth received:
 Bearing 213.8, -85.4 (Local)

2025-08-09T17:28:04.716Z,1754760484.716 [DAT](INFO): DAT read: Range 11 to 50 :    56.9 m (trip time 37.9 ms) speed 0.0

2025-08-09T17:28:04.721Z,1754760484.721 [DAT](INFO): DAT read: 17:28:03.8381 LVL= 31552, 22817, 16194, 32755, AGC= 63, IDX= 506, 0.39,-0.459, 0.772, 1.782, 0.876, PHS=-1.233,-0.059, 0.862, RAW= 244.0,   4.8, CAL= 241.8,   5.3, ROT= 268.2,  -5.3

2025-08-09T17:28:04.722Z,1754760484.722 [DAT](INFO): got valid direction response:
 17:28:03.8381 LVL= 31552, 22817, 16194, 32755, AGC= 63, IDX= 506, 0.39,-0.459, 0.772, 1.782, 0.876, PHS=-1.233,-0.059, 0.862, RAW= 244.0,   4.8, CAL= 241.8,   5.3, ROT= 268.2,  -5.3

2025-08-09T17:28:04.723Z,1754760484.723 [DAT](INFO): #Rx 98: Read range and direction messages.
2025-08-09T17:28:04.740Z,1754760484.740 [DAT](INFO): direction in FSK: [-0.031276,-0.995233,0.092371]
2025-08-09T17:28:04.740Z,1754760484.740 [DAT](INFO): publishing direction and range info
2025-08-09T17:28:04.745Z,1754760484.745 [DAT](INFO): checking for new query: numPingsReceived=98, elapsed TxPingTime=32.041805
2025-08-09T17:28:04.888Z,1754760484.888 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 56.900002 m,
      deltaT: 0.501028 s,
      deltaX: -0.099998 m,
      approachRate: -0.199587 m/s,
      rangeRepo size: 4

2025-08-09T17:28:04.896Z,1754760484.896 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 56.900002 m,
      bearing: 183.885685 deg,
      lat: 36.906120 deg,
      lon: -122.115986 deg,
      deltaT: 0.501028 s,
      deltaX: -0.099998 m,
      approachRate: -0.199587 m/s,
      posRepo size: 4

2025-08-09T17:28:04.897Z,1754760484.897 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 56.90 m.
2025-08-09T17:28:04.964Z,1754760484.964 [DAT](INFO): checking for new query: numPingsReceived=98, elapsed TxPingTime=32.260979
2025-08-09T17:28:05.216Z,1754760485.216 [DAT](INFO): DAT read: Rx Time:17:28:04.3382 

2025-08-09T17:28:05.216Z,1754760485.216 [DAT](INFO): Rx dataTimestamp_ set to:1754760485.216104
2025-08-09T17:28:05.218Z,1754760485.218 [DAT](INFO): DAT read: Bearing 211.5, -85.3 (Local)

2025-08-09T17:28:05.218Z,1754760485.218 [DAT](INFO): Local bearing/azimuth received:
 Bearing 211.5, -85.3 (Local)

2025-08-09T17:28:05.220Z,1754760485.220 [DAT](INFO): DAT read: Range 11 to 50 :    57.0 m (trip time 38.0 ms) speed -0.1

2025-08-09T17:28:05.225Z,1754760485.225 [DAT](INFO): DAT read: 17:28:04.3382 LVL= 28544, 19825, 13362, 29891, AGC= 63, IDX= 507,-0.13,-1.484,-0.263, 0.739,-0.155, PHS=-1.227,-0.062, 0.850, RAW= 244.0,   4.9, CAL= 241.9,   5.4, ROT= 268.1,  -5.4

2025-08-09T17:28:05.226Z,1754760485.226 [DAT](INFO): got valid direction response:
 17:28:04.3382 LVL= 28544, 19825, 13362, 29891, AGC= 63, IDX= 507,-0.13,-1.484,-0.263, 0.739,-0.155, PHS=-1.227,-0.062, 0.850, RAW= 244.0,   4.9, CAL= 241.9,   5.4, ROT= 268.1,  -5.4

2025-08-09T17:28:05.234Z,1754760485.234 [DAT](INFO): #Rx 99: Read range and direction messages.
2025-08-09T17:28:05.235Z,1754760485.235 [DAT](INFO): direction in FSK: [-0.033008,-0.995015,0.094108]
2025-08-09T17:28:05.236Z,1754760485.236 [DAT](INFO): publishing direction and range info
2025-08-09T17:28:05.239Z,1754760485.239 [DAT](INFO): checking for new query: numPingsReceived=99, elapsed TxPingTime=32.536049
2025-08-09T17:28:05.435Z,1754760485.435 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 57.000000 m,
      deltaT: 0.503995 s,
      deltaX: 0.099998 m,
      approachRate: 0.198412 m/s,
      rangeRepo size: 4

2025-08-09T17:28:05.437Z,1754760485.437 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 57.000000 m,
      bearing: 183.742232 deg,
      lat: 36.906120 deg,
      lon: -122.115986 deg,
      deltaT: 0.503995 s,
      deltaX: 0.099998 m,
      approachRate: 0.198412 m/s,
      posRepo size: 4

2025-08-09T17:28:05.437Z,1754760485.437 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 57.00 m.
2025-08-09T17:28:05.467Z,1754760485.467 [DAT](INFO): checking for new query: numPingsReceived=99, elapsed TxPingTime=32.764404
2025-08-09T17:28:05.720Z,1754760485.720 [DAT](INFO): DAT read: Rx Time:17:28:04.8381 

2025-08-09T17:28:05.720Z,1754760485.720 [DAT](INFO): Rx dataTimestamp_ set to:1754760485.720136
2025-08-09T17:28:05.722Z,1754760485.722 [DAT](INFO): DAT read: Bearing 222.7, -86.4 (Local)

2025-08-09T17:28:05.722Z,1754760485.722 [DAT](INFO): Local bearing/azimuth received:
 Bearing 222.7, -86.4 (Local)

2025-08-09T17:28:05.724Z,1754760485.724 [DAT](INFO): DAT read: Range 11 to 50 :    56.9 m (trip time 37.9 ms) speed -0.1

2025-08-09T17:28:05.734Z,1754760485.734 [DAT](INFO): DAT read: 17:28:04.8381 LVL= 28128, 22641, 15426, 29379, AGC= 60, IDX= 506, 0.16,-1.418,-0.176, 0.830,-0.108, PHS=-1.208,-0.023, 0.893, RAW= 244.2,   3.7, CAL= 241.6,   4.1, ROT= 268.4,  -4.1

2025-08-09T17:28:05.735Z,1754760485.735 [DAT](INFO): got valid direction response:
 17:28:04.8381 LVL= 28128, 22641, 15426, 29379, AGC= 60, IDX= 506, 0.16,-1.418,-0.176, 0.830,-0.108, PHS=-1.208,-0.023, 0.893, RAW= 244.2,   3.7, CAL= 241.6,   4.1, ROT= 268.4,  -4.1

2025-08-09T17:28:05.735Z,1754760485.735 [DAT](INFO): #Rx 100: Read range and direction messages.
2025-08-09T17:28:05.736Z,1754760485.736 [DAT](INFO): direction in FSK: [-0.027850,-0.997052,0.071497]
2025-08-09T17:28:05.737Z,1754760485.737 [DAT](INFO): publishing direction and range info
2025-08-09T17:28:05.749Z,1754760485.749 [DAT](INFO): checking for new query: numPingsReceived=100, elapsed TxPingTime=33.046383
2025-08-09T17:28:05.856Z,1754760485.856 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 56.900002 m,
      deltaT: 0.504032 s,
      deltaX: -0.099998 m,
      approachRate: -0.198397 m/s,
      rangeRepo size: 4

2025-08-09T17:28:05.864Z,1754760485.864 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 56.900002 m,
      bearing: 183.587596 deg,
      lat: 36.906119 deg,
      lon: -122.115985 deg,
      deltaT: 0.504032 s,
      deltaX: -0.099998 m,
      approachRate: -0.198397 m/s,
      posRepo size: 4

2025-08-09T17:28:05.865Z,1754760485.865 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 56.90 m.
2025-08-09T17:28:05.972Z,1754760485.972 [DAT](INFO): checking for new query: numPingsReceived=100, elapsed TxPingTime=33.268505
2025-08-09T17:28:06.224Z,1754760486.224 [DAT](INFO): DAT read: Rx Time:17:28:05.3383 

2025-08-09T17:28:06.224Z,1754760486.224 [DAT](INFO): Rx dataTimestamp_ set to:1754760486.224110
2025-08-09T17:28:06.226Z,1754760486.226 [DAT](INFO): DAT read: Bearing 222.8, -86.3 (Local)

2025-08-09T17:28:06.226Z,1754760486.226 [DAT](INFO): Local bearing/azimuth received:
 Bearing 222.8, -86.3 (Local)

2025-08-09T17:28:06.228Z,1754760486.228 [DAT](INFO): DAT read: Range 11 to 50 :    57.2 m (trip time 38.1 ms) speed -0.1

2025-08-09T17:28:06.234Z,1754760486.234 [DAT](INFO): DAT read: 17:28:05.3383 LVL= 24512, 17649, 12370, 26259, AGC= 61, IDX= 507, 0.41, 0.550, 1.782, 2.777, 1.851, PHS=-1.199,-0.023, 0.882, RAW= 244.3,   3.8, CAL= 241.6,   4.1, ROT= 268.4,  -4.1

2025-08-09T17:28:06.260Z,1754760486.260 [DAT](INFO): got valid direction response:
 17:28:05.3383 LVL= 24512, 17649, 12370, 26259, AGC= 61, IDX= 507, 0.41, 0.550, 1.782, 2.777, 1.851, PHS=-1.199,-0.023, 0.882, RAW= 244.3,   3.8, CAL= 241.6,   4.1, ROT= 268.4,  -4.1

2025-08-09T17:28:06.261Z,1754760486.261 [DAT](INFO): #Rx 101: Read range and direction messages.
2025-08-09T17:28:06.276Z,1754760486.276 [DAT](INFO): direction in FSK: [-0.027850,-0.997052,0.071497]
2025-08-09T17:28:06.277Z,1754760486.277 [DAT](INFO): publishing direction and range info
2025-08-09T17:28:06.332Z,1754760486.332 [DAT](INFO): checking for new query: numPingsReceived=101, elapsed TxPingTime=33.628227
2025-08-09T17:28:06.444Z,1754760486.444 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 57.200001 m,
      deltaT: 0.503974 s,
      deltaX: 0.299999 m,
      approachRate: 0.595267 m/s,
      rangeRepo size: 4

2025-08-09T17:28:06.446Z,1754760486.446 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 57.200001 m,
      bearing: 183.465264 deg,
      lat: 36.906119 deg,
      lon: -122.115985 deg,
      deltaT: 0.503974 s,
      deltaX: 0.299999 m,
      approachRate: 0.595267 m/s,
      posRepo size: 4

2025-08-09T17:28:06.451Z,1754760486.451 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 57.20 m.
2025-08-09T17:28:06.475Z,1754760486.475 [DAT](INFO): checking for new query: numPingsReceived=101, elapsed TxPingTime=33.772446
2025-08-09T17:28:06.728Z,1754760486.728 [DAT](INFO): DAT read: Rx Time:17:28:05.8382 

2025-08-09T17:28:06.728Z,1754760486.728 [DAT](INFO): Rx dataTimestamp_ set to:1754760486.728106
2025-08-09T17:28:06.730Z,1754760486.730 [DAT](INFO): DAT read: Bearing 211.6, -85.8 (Local)

2025-08-09T17:28:06.730Z,1754760486.730 [DAT](INFO): Local bearing/azimuth received:
 Bearing 211.6, -85.8 (Local)

2025-08-09T17:28:06.732Z,1754760486.732 [DAT](INFO): DAT read: Range 11 to 50 :    57.0 m (trip time 38.0 ms) speed 0.0

2025-08-09T17:28:06.737Z,1754760486.737 [DAT](INFO): DAT read: 17:28:05.8382 LVL= 32752, 27825, 16850, 32755, AGC= 64, IDX= 507,-0.20,-2.366,-1.150,-0.151,-1.051, PHS=-1.213,-0.053, 0.856, RAW= 244.0,   4.6, CAL= 241.7,   5.1, ROT= 268.3,  -5.1

2025-08-09T17:28:06.738Z,1754760486.738 [DAT](INFO): got valid direction response:
 17:28:05.8382 LVL= 32752, 27825, 16850, 32755, AGC= 64, IDX= 507,-0.20,-2.366,-1.150,-0.151,-1.051, PHS=-1.213,-0.053, 0.856, RAW= 244.0,   4.6, CAL= 241.7,   5.1, ROT= 268.3,  -5.1

2025-08-09T17:28:06.756Z,1754760486.756 [DAT](INFO): #Rx 102: Read range and direction messages.
2025-08-09T17:28:06.759Z,1754760486.759 [DAT](INFO): direction in FSK: [-0.029549,-0.995603,0.088894]
2025-08-09T17:28:06.759Z,1754760486.759 [DAT](INFO): publishing direction and range info
2025-08-09T17:28:06.793Z,1754760486.793 [DAT](INFO): checking for new query: numPingsReceived=102, elapsed TxPingTime=34.089256
2025-08-09T17:28:06.917Z,1754760486.917 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 57.000000 m,
      deltaT: 0.503996 s,
      deltaX: -0.200001 m,
      approachRate: -0.396830 m/s,
      rangeRepo size: 4

2025-08-09T17:28:06.924Z,1754760486.924 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 57.000000 m,
      bearing: 182.953503 deg,
      lat: 36.906118 deg,
      lon: -122.115981 deg,
      deltaT: 0.503996 s,
      deltaX: -0.200001 m,
      approachRate: -0.396830 m/s,
      posRepo size: 4

2025-08-09T17:28:06.924Z,1754760486.924 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 57.00 m.
2025-08-09T17:28:06.979Z,1754760486.979 [DAT](INFO): checking for new query: numPingsReceived=102, elapsed TxPingTime=34.276325
2025-08-09T17:28:07.232Z,1754760487.232 [DAT](INFO): DAT read: Rx Time:17:28:06.3383 

2025-08-09T17:28:07.233Z,1754760487.233 [DAT](INFO): Rx dataTimestamp_ set to:1754760487.232314
2025-08-09T17:28:07.234Z,1754760487.234 [DAT](INFO): DAT read: Bearing 214.0, -86.6 (Local)

2025-08-09T17:28:07.235Z,1754760487.235 [DAT](INFO): Local bearing/azimuth received:
 Bearing 214.0, -86.6 (Local)

2025-08-09T17:28:07.237Z,1754760487.237 [DAT](INFO): DAT read: Range 11 to 50 :    57.2 m (trip time 38.1 ms) speed 0.0

2025-08-09T17:28:07.242Z,1754760487.242 [DAT](INFO): DAT read: 17:28:06.3383 LVL= 24048, 18081, 12242, 25427, AGC= 61, IDX= 508,-0.01,-0.602, 0.622, 1.636, 0.705, PHS=-1.205,-0.039, 0.887, RAW= 243.8,   4.0, CAL= 241.3,   4.4, ROT= 268.7,  -4.4

2025-08-09T17:28:07.243Z,1754760487.243 [DAT](INFO): got valid direction response:
 17:28:06.3383 LVL= 24048, 18081, 12242, 25427, AGC= 61, IDX= 508,-0.01,-0.602, 0.622, 1.636, 0.705, PHS=-1.205,-0.039, 0.887, RAW= 243.8,   4.0, CAL= 241.3,   4.4, ROT= 268.7,  -4.4

2025-08-09T17:28:07.244Z,1754760487.244 [DAT](INFO): #Rx 103: Read range and direction messages.
2025-08-09T17:28:07.245Z,1754760487.245 [DAT](INFO): direction in FSK: [-0.022620,-0.996796,0.076719]
2025-08-09T17:28:07.245Z,1754760487.245 [DAT](INFO): publishing direction and range info
2025-08-09T17:28:07.248Z,1754760487.248 [DAT](INFO): checking for new query: numPingsReceived=103, elapsed TxPingTime=34.545269
2025-08-09T17:28:07.482Z,1754760487.482 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 57.200001 m,
      deltaT: 0.504208 s,
      deltaX: 0.200001 m,
      approachRate: 0.396663 m/s,
      rangeRepo size: 4

2025-08-09T17:28:07.484Z,1754760487.484 [DAT](INFO): checking for new query: numPingsReceived=103, elapsed TxPingTime=34.780491
2025-08-09T17:28:07.486Z,1754760487.486 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 57.200001 m,
      bearing: 182.571757 deg,
      lat: 36.906118 deg,
      lon: -122.115978 deg,
      deltaT: 0.504208 s,
      deltaX: 0.200001 m,
      approachRate: 0.396663 m/s,
      posRepo size: 4

2025-08-09T17:28:07.487Z,1754760487.487 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 57.20 m.
2025-08-09T17:28:07.736Z,1754760487.736 [DAT](INFO): DAT read: Rx Time:17:28:06.8382 

2025-08-09T17:28:07.736Z,1754760487.736 [DAT](INFO): Rx dataTimestamp_ set to:1754760487.736040
2025-08-09T17:28:07.738Z,1754760487.738 [DAT](INFO): DAT read: Bearing 198.8, -85.9 (Local)

2025-08-09T17:28:07.738Z,1754760487.738 [DAT](INFO): Local bearing/azimuth received:
 Bearing 198.8, -85.9 (Local)

2025-08-09T17:28:07.740Z,1754760487.740 [DAT](INFO): DAT read: Range 11 to 50 :    57.0 m (trip time 38.0 ms) speed 0.0

2025-08-09T17:28:07.745Z,1754760487.745 [DAT](INFO): DAT read: 17:28:06.8382 LVL= 29616, 24417, 14498, 31843, AGC= 65, IDX= 507, 0.10,-0.313, 0.909, 1.961, 1.036, PHS=-1.247,-0.082, 0.881, RAW= 243.1,   4.9, CAL= 241.1,   5.4, ROT= 268.9,  -5.4

2025-08-09T17:28:07.746Z,1754760487.746 [DAT](INFO): got valid direction response:
 17:28:06.8382 LVL= 29616, 24417, 14498, 31843, AGC= 65, IDX= 507, 0.10,-0.313, 0.909, 1.961, 1.036, PHS=-1.247,-0.082, 0.881, RAW= 243.1,   4.9, CAL= 241.1,   5.4, ROT= 268.9,  -5.4

2025-08-09T17:28:07.746Z,1754760487.746 [DAT](INFO): #Rx 104: Read range and direction messages.
2025-08-09T17:28:07.747Z,1754760487.747 [DAT](INFO): direction in FSK: [-0.019113,-0.995378,0.094108]
2025-08-09T17:28:07.748Z,1754760487.748 [DAT](INFO): publishing direction and range info
2025-08-09T17:28:07.751Z,1754760487.751 [DAT](INFO): checking for new query: numPingsReceived=104, elapsed TxPingTime=35.048080
2025-08-09T17:28:07.988Z,1754760487.988 [DAT](INFO): checking for new query: numPingsReceived=104, elapsed TxPingTime=35.284603
2025-08-09T17:28:08.080Z,1754760488.080 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 57.000000 m,
      deltaT: 0.503726 s,
      deltaX: -0.200001 m,
      approachRate: -0.397043 m/s,
      rangeRepo size: 4

2025-08-09T17:28:08.082Z,1754760488.082 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 57.000000 m,
      bearing: 182.062703 deg,
      lat: 36.906118 deg,
      lon: -122.115974 deg,
      deltaT: 0.503726 s,
      deltaX: -0.200001 m,
      approachRate: -0.397043 m/s,
      posRepo size: 4

2025-08-09T17:28:08.083Z,1754760488.083 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 57.00 m.
2025-08-09T17:28:08.242Z,1754760488.242 [DAT](INFO): DAT read: Rx Time:17:28:07.3383 

2025-08-09T17:28:08.242Z,1754760488.242 [DAT](INFO): Rx dataTimestamp_ set to:1754760488.241928
2025-08-09T17:28:08.244Z,1754760488.244 [DAT](INFO): DAT read: Bearing 203.5, -86.1 (Local)

2025-08-09T17:28:08.244Z,1754760488.244 [DAT](INFO): Local bearing/azimuth received:
 Bearing 203.5, -86.1 (Local)

2025-08-09T17:28:08.246Z,1754760488.246 [DAT](INFO): DAT read: Range 11 to 50 :    57.2 m (trip time 38.1 ms) speed 0.0

2025-08-09T17:28:08.251Z,1754760488.251 [DAT](INFO): DAT read: 17:28:07.3383 LVL= 23072, 17809, 11874, 25267, AGC= 62, IDX= 508, 0.22, 1.281, 2.497,-2.764, 2.602, PHS=-1.219,-0.061, 0.873, RAW= 243.6,   4.5, CAL= 241.3,   5.0, ROT= 268.7,  -5.0

2025-08-09T17:28:08.253Z,1754760488.253 [DAT](INFO): got valid direction response:
 17:28:07.3383 LVL= 23072, 17809, 11874, 25267, AGC= 62, IDX= 508, 0.22, 1.281, 2.497,-2.764, 2.602, PHS=-1.219,-0.061, 0.873, RAW= 243.6,   4.5, CAL= 241.3,   5.0, ROT= 268.7,  -5.0

2025-08-09T17:28:08.256Z,1754760488.256 [DAT](INFO): #Rx 105: Read range and direction messages.
2025-08-09T17:28:08.259Z,1754760488.259 [DAT](INFO): direction in FSK: [-0.022601,-0.995938,0.087156]
2025-08-09T17:28:08.260Z,1754760488.260 [DAT](INFO): publishing direction and range info
2025-08-09T17:28:08.267Z,1754760488.267 [DAT](INFO): checking for new query: numPingsReceived=105, elapsed TxPingTime=35.562687
2025-08-09T17:28:08.491Z,1754760488.491 [DAT](INFO): checking for new query: numPingsReceived=105, elapsed TxPingTime=35.788338
2025-08-09T17:28:08.544Z,1754760488.544 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 57.200001 m,
      deltaT: 0.505888 s,
      deltaX: 0.200001 m,
      approachRate: 0.395346 m/s,
      rangeRepo size: 4

2025-08-09T17:28:08.545Z,1754760488.545 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 57.200001 m,
      bearing: 181.667831 deg,
      lat: 36.906116 deg,
      lon: -122.115970 deg,
      deltaT: 0.505888 s,
      deltaX: 0.200001 m,
      approachRate: 0.395346 m/s,
      posRepo size: 4

2025-08-09T17:28:08.546Z,1754760488.546 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 57.20 m.
2025-08-09T17:28:08.745Z,1754760488.745 [DAT](INFO): DAT read: Rx Time:17:28:07.8382 

2025-08-09T17:28:08.745Z,1754760488.745 [DAT](INFO): Rx dataTimestamp_ set to:1754760488.745002
2025-08-09T17:28:08.747Z,1754760488.747 [DAT](INFO): DAT read: Bearing 198.7, -86.2 (Local)

2025-08-09T17:28:08.748Z,1754760488.748 [DAT](INFO): Local bearing/azimuth received:
 Bearing 198.7, -86.2 (Local)

2025-08-09T17:28:08.751Z,1754760488.751 [DAT](INFO): DAT read: Range 11 to 50 :    57.0 m (trip time 38.0 ms) speed 0.0

2025-08-09T17:28:08.778Z,1754760488.778 [DAT](INFO): DAT read: 17:28:07.8382 LVL= 31984, 23521, 16146, 32755, AGC= 65, IDX= 507, 0.30, 0.836, 2.036, 3.061, 2.149, PHS=-1.210,-0.068, 0.868, RAW= 243.3,   4.6, CAL= 241.1,   5.1, ROT= 268.9,  -5.1

2025-08-09T17:28:08.784Z,1754760488.784 [DAT](INFO): got valid direction response:
 17:28:07.8382 LVL= 31984, 23521, 16146, 32755, AGC= 65, IDX= 507, 0.30, 0.836, 2.036, 3.061, 2.149, PHS=-1.210,-0.068, 0.868, RAW= 243.3,   4.6, CAL= 241.1,   5.1, ROT= 268.9,  -5.1

2025-08-09T17:28:08.785Z,1754760488.785 [DAT](INFO): #Rx 106: Read range and direction messages.
2025-08-09T17:28:08.786Z,1754760488.786 [DAT](INFO): direction in FSK: [-0.019122,-0.995858,0.088894]
2025-08-09T17:28:08.795Z,1754760488.795 [DAT](INFO): publishing direction and range info
2025-08-09T17:28:08.811Z,1754760488.811 [DAT](INFO): checking for new query: numPingsReceived=106, elapsed TxPingTime=36.107445
2025-08-09T17:28:08.995Z,1754760488.995 [DAT](INFO): checking for new query: numPingsReceived=106, elapsed TxPingTime=36.292408
2025-08-09T17:28:08.997Z,1754760488.997 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 57.000000 m,
      deltaT: 0.503074 s,
      deltaX: -0.200001 m,
      approachRate: -0.397557 m/s,
      rangeRepo size: 4

2025-08-09T17:28:09.004Z,1754760489.004 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 57.000000 m,
      bearing: 181.533831 deg,
      lat: 36.906118 deg,
      lon: -122.115970 deg,
      deltaT: 0.503074 s,
      deltaX: -0.200001 m,
      approachRate: -0.397557 m/s,
      posRepo size: 4

2025-08-09T17:28:09.007Z,1754760489.007 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 57.00 m.
2025-08-09T17:28:09.248Z,1754760489.248 [DAT](INFO): DAT read: Rx Time:17:28:08.3382 

2025-08-09T17:28:09.249Z,1754760489.249 [DAT](INFO): Rx dataTimestamp_ set to:1754760489.248815
2025-08-09T17:28:09.252Z,1754760489.252 [DAT](INFO): DAT read: Bearing 182.6, -86.2 (Local)

2025-08-09T17:28:09.252Z,1754760489.252 [DAT](INFO): Local bearing/azimuth received:
 Bearing 182.6, -86.2 (Local)

2025-08-09T17:28:09.257Z,1754760489.257 [DAT](INFO): DAT read: Range 11 to 50 :    57.0 m (trip time 38.0 ms) speed 0.0

2025-08-09T17:28:09.270Z,1754760489.270 [DAT](INFO): DAT read: 17:28:08.3382 LVL= 26144, 20849, 14994, 26579, AGC= 63, IDX= 508,-0.47,-1.491,-0.300, 0.783,-0.149, PHS=-1.240,-0.106, 0.888, RAW= 242.2,   5.0, CAL= 240.2,   5.6, ROT= 269.8,  -5.6

2025-08-09T17:28:09.281Z,1754760489.281 [DAT](INFO): got valid direction response:
 17:28:08.3382 LVL= 26144, 20849, 14994, 26579, AGC= 63, IDX= 508,-0.47,-1.491,-0.300, 0.783,-0.149, PHS=-1.240,-0.106, 0.888, RAW= 242.2,   5.0, CAL= 240.2,   5.6, ROT= 269.8,  -5.6

2025-08-09T17:28:09.281Z,1754760489.281 [DAT](INFO): #Rx 107: Read range and direction messages.
2025-08-09T17:28:09.295Z,1754760489.295 [DAT](INFO): direction in FSK: [-0.003474,-0.995221,0.097583]
2025-08-09T17:28:09.295Z,1754760489.295 [DAT](INFO): publishing direction and range info
2025-08-09T17:28:09.305Z,1754760489.305 [DAT](INFO): checking for new query: numPingsReceived=107, elapsed TxPingTime=36.601151
2025-08-09T17:28:09.500Z,1754760489.500 [DAT](INFO): checking for new query: numPingsReceived=107, elapsed TxPingTime=36.796661
2025-08-09T17:28:09.519Z,1754760489.519 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 57.000000 m,
      deltaT: 0.503813 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-08-09T17:28:09.521Z,1754760489.521 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 57.000000 m,
      bearing: 181.114907 deg,
      lat: 36.906118 deg,
      lon: -122.115966 deg,
      deltaT: 0.503813 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      posRepo size: 4

2025-08-09T17:28:09.522Z,1754760489.522 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 57.00 m.
2025-08-09T17:28:09.754Z,1754760489.754 [DAT](INFO): DAT read: Rx Time:17:28:08.8382 

2025-08-09T17:28:09.755Z,1754760489.755 [DAT](INFO): Rx dataTimestamp_ set to:1754760489.754701
2025-08-09T17:28:09.758Z,1754760489.758 [DAT](INFO): DAT read: Bearing 176.5, -85.8 (Local)

2025-08-09T17:28:09.758Z,1754760489.758 [DAT](INFO): Local bearing/azimuth received:
 Bearing 176.5, -85.8 (Local)

2025-08-09T17:28:09.765Z,1754760489.765 [DAT](INFO): DAT read: Range 11 to 50 :    57.0 m (trip time 38.0 ms) speed 0.0

2025-08-09T17:28:09.774Z,1754760489.774 [DAT](INFO): DAT read: 17:28:08.8382 LVL= 32752, 25761, 20018, 32755, AGC= 66, IDX= 507,-0.30, 2.649,-2.460,-1.369,-2.291, PHS=-1.241,-0.124, 0.878, RAW= 241.8,   5.4, CAL= 240.0,   6.1, ROT= 270.0,  -6.1

2025-08-09T17:28:09.798Z,1754760489.798 [DAT](INFO): got valid direction response:
 17:28:08.8382 LVL= 32752, 25761, 20018, 32755, AGC= 66, IDX= 507,-0.30, 2.649,-2.460,-1.369,-2.291, PHS=-1.241,-0.124, 0.878, RAW= 241.8,   5.4, CAL= 240.0,   6.1, ROT= 270.0,  -6.1

2025-08-09T17:28:09.798Z,1754760489.798 [DAT](INFO): #Rx 108: Read range and direction messages.
2025-08-09T17:28:09.803Z,1754760489.803 [DAT](INFO): direction in FSK: [0.000000,-0.994338,0.106264]
2025-08-09T17:28:09.803Z,1754760489.803 [DAT](INFO): publishing direction and range info
2025-08-09T17:28:09.811Z,1754760489.811 [DAT](INFO): checking for new query: numPingsReceived=108, elapsed TxPingTime=37.107983
2025-08-09T17:28:09.952Z,1754760489.952 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 57.000000 m,
      deltaT: 0.505886 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-08-09T17:28:09.955Z,1754760489.955 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 57.000000 m,
      bearing: 181.040502 deg,
      lat: 36.906118 deg,
      lon: -122.115966 deg,
      deltaT: 0.505886 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      posRepo size: 4

2025-08-09T17:28:09.955Z,1754760489.955 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 57.00 m.
2025-08-09T17:28:10.003Z,1754760490.003 [DAT](INFO): checking for new query: numPingsReceived=108, elapsed TxPingTime=37.300350
2025-08-09T17:28:10.260Z,1754760490.260 [DAT](INFO): DAT read: Rx Time:17:28:09.3383 

2025-08-09T17:28:10.261Z,1754760490.261 [DAT](INFO): Rx dataTimestamp_ set to:1754760490.260465
2025-08-09T17:28:10.264Z,1754760490.264 [DAT](INFO): DAT read: Bearing 167.5, -86.5 (Local)

2025-08-09T17:28:10.265Z,1754760490.265 [DAT](INFO): Local bearing/azimuth received:
 Bearing 167.5, -86.5 (Local)

2025-08-09T17:28:10.269Z,1754760490.269 [DAT](INFO): DAT read: Range 11 to 50 :    57.2 m (trip time 38.1 ms) speed 0.0

2025-08-09T17:28:10.277Z,1754760490.277 [DAT](INFO): DAT read: 17:28:09.3383 LVL= 27984, 22993, 14066, 26819, AGC= 64, IDX= 508,-0.16,-2.724,-1.560,-0.451,-1.397, PHS=-1.225,-0.118, 0.902, RAW= 241.4,   4.8, CAL= 239.4,   5.5, ROT= 270.6,  -5.5

2025-08-09T17:28:10.278Z,1754760490.278 [DAT](INFO): got valid direction response:
 17:28:09.3383 LVL= 27984, 22993, 14066, 26819, AGC= 64, IDX= 508,-0.16,-2.724,-1.560,-0.451,-1.397, PHS=-1.225,-0.118, 0.902, RAW= 241.4,   4.8, CAL= 239.4,   5.5, ROT= 270.6,  -5.5

2025-08-09T17:28:10.291Z,1754760490.291 [DAT](INFO): #Rx 109: Read range and direction messages.
2025-08-09T17:28:10.292Z,1754760490.292 [DAT](INFO): direction in FSK: [0.010424,-0.995342,0.095846]
2025-08-09T17:28:10.292Z,1754760490.292 [DAT](INFO): publishing direction and range info
2025-08-09T17:28:10.315Z,1754760490.315 [DAT](INFO): checking for new query: numPingsReceived=109, elapsed TxPingTime=37.612476
2025-08-09T17:28:10.448Z,1754760490.448 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 57.200001 m,
      deltaT: 0.505764 s,
      deltaX: 0.200001 m,
      approachRate: 0.395443 m/s,
      rangeRepo size: 4

2025-08-09T17:28:10.456Z,1754760490.456 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 57.200001 m,
      bearing: 180.966180 deg,
      lat: 36.906118 deg,
      lon: -122.115966 deg,
      deltaT: 0.505764 s,
      deltaX: 0.200001 m,
      approachRate: 0.395443 m/s,
      posRepo size: 4

2025-08-09T17:28:10.456Z,1754760490.456 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 57.20 m.
2025-08-09T17:28:10.508Z,1754760490.508 [DAT](INFO): checking for new query: numPingsReceived=109, elapsed TxPingTime=37.804821
2025-08-09T17:28:10.761Z,1754760490.761 [DAT](INFO): DAT read: Rx Time:17:28:09.8382 

2025-08-09T17:28:10.762Z,1754760490.762 [DAT](INFO): Rx dataTimestamp_ set to:1754760490.761151
2025-08-09T17:28:10.763Z,1754760490.763 [DAT](INFO): DAT read: Bearing 157.8, -87.1 (Local)

2025-08-09T17:28:10.764Z,1754760490.764 [DAT](INFO): Local bearing/azimuth received:
 Bearing 157.8, -87.1 (Local)

2025-08-09T17:28:10.767Z,1754760490.767 [DAT](INFO): DAT read: Range 11 to 50 :    57.0 m (trip time 38.0 ms) speed 0.0

2025-08-09T17:28:10.775Z,1754760490.775 [DAT](INFO): DAT read: 17:28:09.8382 LVL= 29296, 24001, 15346, 30563, AGC= 64, IDX= 507,-0.06, 2.304,-2.804,-1.668,-2.651, PHS=-1.227,-0.108, 0.939, RAW= 241.1,   4.3, CAL= 238.9,   4.9, ROT= 271.1,  -4.9

2025-08-09T17:28:10.776Z,1754760490.776 [DAT](INFO): got valid direction response:
 17:28:09.8382 LVL= 29296, 24001, 15346, 30563, AGC= 64, IDX= 507,-0.06, 2.304,-2.804,-1.668,-2.651, PHS=-1.227,-0.108, 0.939, RAW= 241.1,   4.3, CAL= 238.9,   4.9, ROT= 271.1,  -4.9

2025-08-09T17:28:10.777Z,1754760490.777 [DAT](INFO): #Rx 110: Read range and direction messages.
2025-08-09T17:28:10.779Z,1754760490.779 [DAT](INFO): direction in FSK: [0.019128,-0.996162,0.085417]
2025-08-09T17:28:10.779Z,1754760490.779 [DAT](INFO): publishing direction and range info
2025-08-09T17:28:10.783Z,1754760490.783 [DAT](INFO): checking for new query: numPingsReceived=110, elapsed TxPingTime=38.079926
2025-08-09T17:28:10.997Z,1754760490.997 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 57.000000 m,
      deltaT: 0.500686 s,
      deltaX: -0.200001 m,
      approachRate: -0.399453 m/s,
      rangeRepo size: 4

2025-08-09T17:28:10.999Z,1754760490.999 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 57.000000 m,
      bearing: 181.003199 deg,
      lat: 36.906118 deg,
      lon: -122.115967 deg,
      deltaT: 0.500686 s,
      deltaX: -0.200001 m,
      approachRate: -0.399453 m/s,
      posRepo size: 4

2025-08-09T17:28:10.000Z,1754760491.000 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 57.00 m.
2025-08-09T17:28:11.015Z,1754760491.015 [DAT](INFO): checking for new query: numPingsReceived=110, elapsed TxPingTime=38.311787
2025-08-09T17:28:11.265Z,1754760491.265 [DAT](INFO): DAT read: Rx Time:17:28:10.3383 

2025-08-09T17:28:11.266Z,1754760491.266 [DAT](INFO): Rx dataTimestamp_ set to:1754760491.265241
2025-08-09T17:28:11.269Z,1754760491.269 [DAT](INFO): DAT read: Bearing 153.1, -86.7 (Local)

2025-08-09T17:28:11.270Z,1754760491.270 [DAT](INFO): Local bearing/azimuth received:
 Bearing 153.1, -86.7 (Local)

2025-08-09T17:28:11.278Z,1754760491.278 [DAT](INFO): DAT read: Range 11 to 50 :    57.2 m (trip time 38.1 ms) speed 0.0

2025-08-09T17:28:11.284Z,1754760491.284 [DAT](INFO): DAT read: 17:28:10.3383 LVL= 26960, 21745, 14402, 29571, AGC= 63, IDX= 508, 0.05,-1.379,-0.215, 0.929,-0.047, PHS=-1.230,-0.123, 0.932, RAW= 240.8,   4.5, CAL= 238.7,   5.2, ROT= 271.3,  -5.2

2025-08-09T17:28:11.285Z,1754760491.285 [DAT](INFO): got valid direction response:
 17:28:10.3383 LVL= 26960, 21745, 14402, 29571, AGC= 63, IDX= 508, 0.05,-1.379,-0.215, 0.929,-0.047, PHS=-1.230,-0.123, 0.932, RAW= 240.8,   4.5, CAL= 238.7,   5.2, ROT= 271.3,  -5.2

2025-08-09T17:28:11.285Z,1754760491.285 [DAT](INFO): #Rx 111: Read range and direction messages.
2025-08-09T17:28:11.286Z,1754760491.286 [DAT](INFO): direction in FSK: [0.022594,-0.995628,0.090633]
2025-08-09T17:28:11.286Z,1754760491.286 [DAT](INFO): publishing direction and range info
2025-08-09T17:28:11.290Z,1754760491.290 [DAT](INFO): checking for new query: numPingsReceived=111, elapsed TxPingTime=38.586624
2025-08-09T17:28:11.507Z,1754760491.507 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 57.200001 m,
      deltaT: 0.504090 s,
      deltaX: 0.200001 m,
      approachRate: 0.396756 m/s,
      rangeRepo size: 4

2025-08-09T17:28:11.509Z,1754760491.509 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 57.200001 m,
      bearing: 180.917297 deg,
      lat: 36.906117 deg,
      lon: -122.115967 deg,
      deltaT: 0.504090 s,
      deltaX: 0.200001 m,
      approachRate: 0.396756 m/s,
      posRepo size: 4

2025-08-09T17:28:11.510Z,1754760491.510 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 57.20 m.
2025-08-09T17:28:11.515Z,1754760491.515 [DAT](INFO): checking for new query: numPingsReceived=111, elapsed TxPingTime=38.812378
2025-08-09T17:28:11.769Z,1754760491.769 [DAT](INFO): DAT read: Rx Time:17:28:10.8382 

2025-08-09T17:28:11.770Z,1754760491.770 [DAT](INFO): Rx dataTimestamp_ set to:1754760491.769482
2025-08-09T17:28:11.772Z,1754760491.772 [DAT](INFO): DAT read: Bearing 147.7, -86.9 (Local)

2025-08-09T17:28:11.773Z,1754760491.773 [DAT](INFO): Local bearing/azimuth received:
 Bearing 147.7, -86.9 (Local)

2025-08-09T17:28:11.776Z,1754760491.776 [DAT](INFO): DAT read: Range 11 to 50 :    57.0 m (trip time 38.0 ms) speed -0.1

2025-08-09T17:28:11.782Z,1754760491.782 [DAT](INFO): DAT read: 17:28:10.8382 LVL= 27376, 21185, 13810, 27747, AGC= 64, IDX= 507, 0.17,-2.102,-0.948, 0.193,-0.787, PHS=-1.213,-0.116, 0.936, RAW= 240.7,   4.3, CAL= 238.5,   4.9, ROT= 271.5,  -4.9

2025-08-09T17:28:11.788Z,1754760491.788 [DAT](INFO): got valid direction response:
 17:28:10.8382 LVL= 27376, 21185, 13810, 27747, AGC= 64, IDX= 507, 0.17,-2.102,-0.948, 0.193,-0.787, PHS=-1.213,-0.116, 0.936, RAW= 240.7,   4.3, CAL= 238.5,   4.9, ROT= 271.5,  -4.9

2025-08-09T17:28:11.789Z,1754760491.789 [DAT](INFO): #Rx 112: Read range and direction messages.
2025-08-09T17:28:11.789Z,1754760491.789 [DAT](INFO): direction in FSK: [0.026081,-0.996004,0.085417]
2025-08-09T17:28:11.790Z,1754760491.790 [DAT](INFO): publishing direction and range info
2025-08-09T17:28:11.805Z,1754760491.805 [DAT](INFO): checking for new query: numPingsReceived=112, elapsed TxPingTime=39.102329
2025-08-09T17:28:11.924Z,1754760491.924 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 57.000000 m,
      deltaT: 0.504241 s,
      deltaX: -0.200001 m,
      approachRate: -0.396637 m/s,
      rangeRepo size: 4

2025-08-09T17:28:11.926Z,1754760491.926 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 57.000000 m,
      bearing: 180.855373 deg,
      lat: 36.906117 deg,
      lon: -122.115967 deg,
      deltaT: 0.504241 s,
      deltaX: -0.200001 m,
      approachRate: -0.396637 m/s,
      posRepo size: 4

2025-08-09T17:28:11.931Z,1754760491.931 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 57.00 m.
2025-08-09T17:28:12.019Z,1754760492.019 [DAT](INFO): checking for new query: numPingsReceived=112, elapsed TxPingTime=39.316414
2025-08-09T17:28:12.255Z,1754760492.255 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 57.00 m.
2025-08-09T17:28:12.273Z,1754760492.273 [DAT](INFO): DAT read: Rx Time:17:28:11.3382 

2025-08-09T17:28:12.274Z,1754760492.274 [DAT](INFO): Rx dataTimestamp_ set to:1754760492.273525
2025-08-09T17:28:12.276Z,1754760492.276 [DAT](INFO): DAT read: Bearing 149.7, -86.2 (Local)

2025-08-09T17:28:12.277Z,1754760492.277 [DAT](INFO): Local bearing/azimuth received:
 Bearing 149.7, -86.2 (Local)

2025-08-09T17:28:12.284Z,1754760492.284 [DAT](INFO): DAT read: Range 11 to 50 :    57.0 m (trip time 38.0 ms) speed 0.0

2025-08-09T17:28:12.292Z,1754760492.293 [DAT](INFO): DAT read: 17:28:11.3382 LVL= 26192, 22801, 14834, 28707, AGC= 64, IDX= 507, 0.34,-2.094,-0.947, 0.199,-0.762, PHS=-1.229,-0.140, 0.918, RAW= 240.5,   4.9, CAL= 238.6,   5.6, ROT= 271.4,  -5.6

2025-08-09T17:28:12.294Z,1754760492.294 [DAT](INFO): got valid direction response:
 17:28:11.3382 LVL= 26192, 22801, 14834, 28707, AGC= 64, IDX= 507, 0.34,-2.094,-0.947, 0.199,-0.762, PHS=-1.229,-0.140, 0.918, RAW= 240.5,   4.9, CAL= 238.6,   5.6, ROT= 271.4,  -5.6

2025-08-09T17:28:12.294Z,1754760492.294 [DAT](INFO): #Rx 113: Read range and direction messages.
2025-08-09T17:28:12.303Z,1754760492.303 [DAT](INFO): direction in FSK: [0.024316,-0.994930,0.097583]
2025-08-09T17:28:12.303Z,1754760492.303 [DAT](INFO): publishing direction and range info
2025-08-09T17:28:12.307Z,1754760492.307 [DAT](INFO): checking for new query: numPingsReceived=113, elapsed TxPingTime=39.603848
2025-08-09T17:28:12.523Z,1754760492.523 [DAT](INFO): checking for new query: numPingsReceived=113, elapsed TxPingTime=39.820244
2025-08-09T17:28:12.777Z,1754760492.777 [DAT](INFO): DAT read: Rx Time:17:28:11.8382 

2025-08-09T17:28:12.777Z,1754760492.777 [DAT](INFO): Rx dataTimestamp_ set to:1754760492.776843
2025-08-09T17:28:12.779Z,1754760492.779 [DAT](INFO): DAT read: Bearing 126.4, -87.2 (Local)

2025-08-09T17:28:12.779Z,1754760492.779 [DAT](INFO): Local bearing/azimuth received:
 Bearing 126.4, -87.2 (Local)

2025-08-09T17:28:12.781Z,1754760492.781 [DAT](INFO): DAT read: Range 11 to 50 :    57.0 m (trip time 38.0 ms) speed 0.0

2025-08-09T17:28:12.785Z,1754760492.785 [DAT](INFO): DAT read: 17:28:11.8382 LVL= 32752, 28945, 22770, 27315, AGC= 64, IDX= 507,-0.34, 1.340, 2.504,-2.589, 2.663, PHS=-1.221,-0.113, 0.988, RAW= 240.1,   3.7, CAL= 237.7,   4.3, ROT= 272.3,  -4.3

2025-08-09T17:28:12.786Z,1754760492.786 [DAT](INFO): got valid direction response:
 17:28:11.8382 LVL= 32752, 28945, 22770, 27315, AGC= 64, IDX= 507,-0.34, 1.340, 2.504,-2.589, 2.663, PHS=-1.221,-0.113, 0.988, RAW= 240.1,   3.7, CAL= 237.7,   4.3, ROT= 272.3,  -4.3

2025-08-09T17:28:12.787Z,1754760492.787 [DAT](INFO): #Rx 114: Read range and direction messages.
2025-08-09T17:28:12.788Z,1754760492.788 [DAT](INFO): direction in FSK: [0.040019,-0.996382,0.074979]
2025-08-09T17:28:12.788Z,1754760492.788 [DAT](INFO): publishing direction and range info
2025-08-09T17:28:12.792Z,1754760492.792 [DAT](INFO): checking for new query: numPingsReceived=114, elapsed TxPingTime=40.088886
2025-08-09T17:28:12.800Z,1754760492.800 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 57.000000 m,
      deltaT: 1.007361 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-08-09T17:28:12.802Z,1754760492.802 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 57.000000 m,
      bearing: 180.677945 deg,
      lat: 36.906117 deg,
      lon: -122.115967 deg,
      deltaT: 0.504043 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      posRepo size: 4

2025-08-09T17:28:12.807Z,1754760492.807 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 57.00 m.
2025-08-09T17:28:13.028Z,1754760493.028 [DAT](INFO): checking for new query: numPingsReceived=114, elapsed TxPingTime=40.324490
2025-08-09T17:28:13.255Z,1754760493.255 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 57.00 m.
2025-08-09T17:28:13.281Z,1754760493.281 [DAT](INFO): DAT read: Rx Time:17:28:12.3383 

2025-08-09T17:28:13.282Z,1754760493.282 [DAT](INFO): Rx dataTimestamp_ set to:1754760493.281464
2025-08-09T17:28:13.283Z,1754760493.283 [DAT](INFO): DAT read: Bearing 129.7, -86.7 (Local)

2025-08-09T17:28:13.283Z,1754760493.283 [DAT](INFO): Local bearing/azimuth received:
 Bearing 129.7, -86.7 (Local)

2025-08-09T17:28:13.285Z,1754760493.285 [DAT](INFO): DAT read: Range 11 to 50 :    57.2 m (trip time 38.1 ms) speed 0.0

2025-08-09T17:28:13.290Z,1754760493.290 [DAT](INFO): DAT read: 17:28:12.3383 LVL= 30176, 25953, 18770, 26547, AGC= 64, IDX= 508,-0.15,-3.023,-1.888,-0.714,-1.712, PHS=-1.209,-0.131, 0.954, RAW= 239.9,   4.2, CAL= 237.7,   4.8, ROT= 272.3,  -4.8

2025-08-09T17:28:13.291Z,1754760493.291 [DAT](INFO): got valid direction response:
 17:28:12.3383 LVL= 30176, 25953, 18770, 26547, AGC= 64, IDX= 508,-0.15,-3.023,-1.888,-0.714,-1.712, PHS=-1.209,-0.131, 0.954, RAW= 239.9,   4.2, CAL= 237.7,   4.8, ROT= 272.3,  -4.8

2025-08-09T17:28:13.292Z,1754760493.292 [DAT](INFO): #Rx 115: Read range and direction messages.
2025-08-09T17:28:13.293Z,1754760493.293 [DAT](INFO): direction in FSK: [0.039991,-0.995690,0.083678]
2025-08-09T17:28:13.293Z,1754760493.293 [DAT](INFO): publishing direction and range info
2025-08-09T17:28:13.308Z,1754760493.308 [DAT](INFO): checking for new query: numPingsReceived=115, elapsed TxPingTime=40.605427
2025-08-09T17:28:13.531Z,1754760493.531 [DAT](INFO): checking for new query: numPingsReceived=115, elapsed TxPingTime=40.828373
2025-08-09T17:28:13.683Z,1754760493.683 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 57.200001 m,
      deltaT: 0.504621 s,
      deltaX: 0.200001 m,
      approachRate: 0.396339 m/s,
      rangeRepo size: 4

2025-08-09T17:28:13.700Z,1754760493.700 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 57.200001 m,
      bearing: 180.483177 deg,
      lat: 36.906116 deg,
      lon: -122.115966 deg,
      deltaT: 1.007939 s,
      deltaX: 0.200001 m,
      approachRate: 0.198425 m/s,
      posRepo size: 4

2025-08-09T17:28:13.702Z,1754760493.702 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 57.20 m.
2025-08-09T17:28:13.784Z,1754760493.784 [DAT](INFO): DAT read: Rx Time:17:28:12.8382 

2025-08-09T17:28:13.784Z,1754760493.784 [DAT](INFO): Rx dataTimestamp_ set to:1754760493.784110
2025-08-09T17:28:13.786Z,1754760493.786 [DAT](INFO): DAT read: Bearing 109.0, -87.5 (Local)

2025-08-09T17:28:13.786Z,1754760493.786 [DAT](INFO): Local bearing/azimuth received:
 Bearing 109.0, -87.5 (Local)

2025-08-09T17:28:13.788Z,1754760493.788 [DAT](INFO): DAT read: Range 11 to 50 :    57.0 m (trip time 38.0 ms) speed 0.0

2025-08-09T17:28:13.796Z,1754760493.796 [DAT](INFO): DAT read: 17:28:12.8382 LVL= 25008, 23073, 16370, 25939, AGC= 63, IDX= 507, 0.07,-3.047,-1.901,-0.723,-1.760, PHS=-1.185,-0.096, 0.993, RAW= 240.0,   3.1, CAL= 237.4,   3.6, ROT= 272.6,  -3.6

2025-08-09T17:28:13.797Z,1754760493.797 [DAT](INFO): got valid direction response:
 17:28:12.8382 LVL= 25008, 23073, 16370, 25939, AGC= 63, IDX= 507, 0.07,-3.047,-1.901,-0.723,-1.760, PHS=-1.185,-0.096, 0.993, RAW= 240.0,   3.1, CAL= 237.4,   3.6, ROT= 272.6,  -3.6

2025-08-09T17:28:13.798Z,1754760493.798 [DAT](INFO): #Rx 116: Read range and direction messages.
2025-08-09T17:28:13.815Z,1754760493.815 [DAT](INFO): direction in FSK: [0.045274,-0.996999,0.062791]
2025-08-09T17:28:13.816Z,1754760493.816 [DAT](INFO): publishing direction and range info
2025-08-09T17:28:13.846Z,1754760493.846 [DAT](INFO): checking for new query: numPingsReceived=116, elapsed TxPingTime=41.139145
2025-08-09T17:28:14.028Z,1754760494.028 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 57.000000 m,
      deltaT: 0.502646 s,
      deltaX: -0.200001 m,
      approachRate: -0.397896 m/s,
      rangeRepo size: 4

2025-08-09T17:28:14.030Z,1754760494.030 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 57.000000 m,
      bearing: 180.254913 deg,
      lat: 36.906116 deg,
      lon: -122.115964 deg,
      deltaT: 0.502646 s,
      deltaX: -0.200001 m,
      approachRate: -0.397896 m/s,
      posRepo size: 4

2025-08-09T17:28:14.031Z,1754760494.031 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 57.00 m.
2025-08-09T17:28:14.035Z,1754760494.035 [DAT](INFO): checking for new query: numPingsReceived=116, elapsed TxPingTime=41.332413
2025-08-09T17:28:14.288Z,1754760494.288 [DAT](INFO): DAT read: Rx Time:17:28:13.3383 

2025-08-09T17:28:14.288Z,1754760494.288 [DAT](INFO): Rx dataTimestamp_ set to:1754760494.288162
2025-08-09T17:28:14.290Z,1754760494.290 [DAT](INFO): DAT read: Bearing 111.7, -86.7 (Local)

2025-08-09T17:28:14.290Z,1754760494.290 [DAT](INFO): Local bearing/azimuth received:
 Bearing 111.7, -86.7 (Local)

2025-08-09T17:28:14.292Z,1754760494.292 [DAT](INFO): DAT read: Range 11 to 50 :    57.2 m (trip time 38.1 ms) speed 0.0

2025-08-09T17:28:14.297Z,1754760494.297 [DAT](INFO): DAT read: 17:28:13.3383 LVL= 24048, 19489, 13810, 24723, AGC= 64, IDX= 508, 0.33,-1.347,-0.219, 0.981,-0.047, PHS=-1.198,-0.128, 0.983, RAW= 239.4,   3.7, CAL= 237.0,   4.3, ROT= 273.0,  -4.3

2025-08-09T17:28:14.298Z,1754760494.298 [DAT](INFO): got valid direction response:
 17:28:13.3383 LVL= 24048, 19489, 13810, 24723, AGC= 64, IDX= 508, 0.33,-1.347,-0.219, 0.981,-0.047, PHS=-1.198,-0.128, 0.983, RAW= 239.4,   3.7, CAL= 237.0,   4.3, ROT= 273.0,  -4.3

2025-08-09T17:28:14.298Z,1754760494.298 [DAT](INFO): #Rx 117: Read range and direction messages.
2025-08-09T17:28:14.299Z,1754760494.299 [DAT](INFO): direction in FSK: [0.052189,-0.995819,0.074979]
2025-08-09T17:28:14.299Z,1754760494.299 [DAT](INFO): publishing direction and range info
2025-08-09T17:28:14.307Z,1754760494.307 [DAT](INFO): checking for new query: numPingsReceived=117, elapsed TxPingTime=41.604065
2025-08-09T17:28:14.503Z,1754760494.503 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 57.200001 m,
      deltaT: 0.504052 s,
      deltaX: 0.200001 m,
      approachRate: 0.396786 m/s,
      rangeRepo size: 4

2025-08-09T17:28:14.505Z,1754760494.505 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 57.200001 m,
      bearing: 180.187241 deg,
      lat: 36.906116 deg,
      lon: -122.115964 deg,
      deltaT: 0.504052 s,
      deltaX: 0.200001 m,
      approachRate: 0.396786 m/s,
      posRepo size: 4

2025-08-09T17:28:14.506Z,1754760494.506 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 57.20 m.
2025-08-09T17:28:14.541Z,1754760494.541 [DAT](INFO): checking for new query: numPingsReceived=117, elapsed TxPingTime=41.837639
2025-08-09T17:28:14.792Z,1754760494.792 [DAT](INFO): DAT read: Rx Time:17:28:13.8383 

2025-08-09T17:28:14.793Z,1754760494.793 [DAT](INFO): Rx dataTimestamp_ set to:1754760494.792560
2025-08-09T17:28:14.795Z,1754760494.795 [DAT](INFO): DAT read: Bearing  74.1, -86.5 (Local)

2025-08-09T17:28:14.795Z,1754760494.795 [DAT](INFO): Local bearing/azimuth received:
 Bearing  74.1, -86.5 (Local)

2025-08-09T17:28:14.797Z,1754760494.797 [DAT](INFO): DAT read: Range 11 to 50 :    57.2 m (trip time 38.1 ms) speed 0.0

2025-08-09T17:28:14.802Z,1754760494.802 [DAT](INFO): DAT read: 17:28:13.8383 LVL= 21904, 18385, 12082, 24147, AGC= 61, IDX= 508,-0.25, 1.714, 2.849,-2.196, 2.981, PHS=-1.166,-0.088, 1.062, RAW= 238.9,   2.0, CAL= 235.9,   2.5, ROT= 274.1,  -2.5

2025-08-09T17:28:14.803Z,1754760494.803 [DAT](INFO): got valid direction response:
 17:28:13.8383 LVL= 21904, 18385, 12082, 24147, AGC= 61, IDX= 508,-0.25, 1.714, 2.849,-2.196, 2.981, PHS=-1.166,-0.088, 1.062, RAW= 238.9,   2.0, CAL= 235.9,   2.5, ROT= 274.1,  -2.5

2025-08-09T17:28:14.804Z,1754760494.804 [DAT](INFO): #Rx 118: Read range and direction messages.
2025-08-09T17:28:14.805Z,1754760494.805 [DAT](INFO): direction in FSK: [0.071429,-0.996491,0.043619]
2025-08-09T17:28:14.805Z,1754760494.805 [DAT](INFO): publishing direction and range info
2025-08-09T17:28:14.808Z,1754760494.808 [DAT](INFO): checking for new query: numPingsReceived=118, elapsed TxPingTime=42.105339
2025-08-09T17:28:15.018Z,1754760495.018 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 57.200001 m,
      deltaT: 0.504398 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-08-09T17:28:15.020Z,1754760495.020 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 57.200001 m,
      bearing: 180.281864 deg,
      lat: 36.906115 deg,
      lon: -122.115966 deg,
      deltaT: 0.504398 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      posRepo size: 4

2025-08-09T17:28:15.021Z,1754760495.021 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 57.20 m.
2025-08-09T17:28:15.043Z,1754760495.043 [DAT](INFO): checking for new query: numPingsReceived=118, elapsed TxPingTime=42.340439
2025-08-09T17:28:15.298Z,1754760495.298 [DAT](INFO): DAT read: Rx Time:17:28:14.3384 

2025-08-09T17:28:15.299Z,1754760495.299 [DAT](INFO): Rx dataTimestamp_ set to:1754760495.298363
2025-08-09T17:28:15.300Z,1754760495.300 [DAT](INFO): DAT read: Bearing  74.3, -86.1 (Local)

2025-08-09T17:28:15.300Z,1754760495.300 [DAT](INFO): Local bearing/azimuth received:
 Bearing  74.3, -86.1 (Local)

2025-08-09T17:28:15.302Z,1754760495.302 [DAT](INFO): DAT read: Range 11 to 50 :    57.3 m (trip time 38.2 ms) speed 0.0

2025-08-09T17:28:15.308Z,1754760495.308 [DAT](INFO): DAT read: 17:28:14.3384 LVL= 23888, 19425, 11762, 26275, AGC= 60, IDX= 509, 0.01,-2.052,-0.939, 0.307,-0.796, PHS=-1.154,-0.098, 1.059, RAW= 238.5,   2.0, CAL= 235.5,   2.6, ROT= 274.5,  -2.6

2025-08-09T17:28:15.309Z,1754760495.309 [DAT](INFO): got valid direction response:
 17:28:14.3384 LVL= 23888, 19425, 11762, 26275, AGC= 60, IDX= 509, 0.01,-2.052,-0.939, 0.307,-0.796, PHS=-1.154,-0.098, 1.059, RAW= 238.5,   2.0, CAL= 235.5,   2.6, ROT= 274.5,  -2.6

2025-08-09T17:28:15.309Z,1754760495.309 [DAT](INFO): #Rx 119: Read range and direction messages.
2025-08-09T17:28:15.310Z,1754760495.310 [DAT](INFO): direction in FSK: [0.078378,-0.995891,0.045363]
2025-08-09T17:28:15.311Z,1754760495.311 [DAT](INFO): publishing direction and range info
2025-08-09T17:28:15.314Z,1754760495.314 [DAT](INFO): checking for new query: numPingsReceived=119, elapsed TxPingTime=42.610886
2025-08-09T17:28:15.551Z,1754760495.551 [DAT](INFO): checking for new query: numPingsReceived=119, elapsed TxPingTime=42.848404
2025-08-09T17:28:15.567Z,1754760495.567 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 57.299999 m,
      deltaT: 0.505803 s,
      deltaX: 0.099998 m,
      approachRate: 0.197702 m/s,
      rangeRepo size: 4

2025-08-09T17:28:15.569Z,1754760495.569 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 57.299999 m,
      bearing: 180.178088 deg,
      lat: 36.906114 deg,
      lon: -122.115966 deg,
      deltaT: 0.505803 s,
      deltaX: 0.099998 m,
      approachRate: 0.197702 m/s,
      posRepo size: 4

2025-08-09T17:28:15.570Z,1754760495.570 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 57.30 m.
2025-08-09T17:28:15.804Z,1754760495.804 [DAT](INFO): DAT read: Rx Time:17:28:14.8383 

2025-08-09T17:28:15.804Z,1754760495.804 [DAT](INFO): Rx dataTimestamp_ set to:1754760495.804149
2025-08-09T17:28:15.806Z,1754760495.806 [DAT](INFO): DAT read: Bearing  73.5, -86.1 (Local)

2025-08-09T17:28:15.806Z,1754760495.806 [DAT](INFO): Local bearing/azimuth received:
 Bearing  73.5, -86.1 (Local)

2025-08-09T17:28:15.808Z,1754760495.808 [DAT](INFO): DAT read: Range 11 to 50 :    57.2 m (trip time 38.1 ms) speed 0.0

2025-08-09T17:28:15.819Z,1754760495.819 [DAT](INFO): DAT read: 17:28:14.8383 LVL= 25136, 20545, 13298, 28291, AGC= 60, IDX= 508, 0.23,-1.965,-0.854, 0.384,-0.714, PHS=-1.149,-0.096, 1.054, RAW= 238.6,   2.0, CAL= 235.6,   2.5, ROT= 274.4,  -2.5

2025-08-09T17:28:15.821Z,1754760495.821 [DAT](INFO): got valid direction response:
 17:28:14.8383 LVL= 25136, 20545, 13298, 28291, AGC= 60, IDX= 508, 0.23,-1.965,-0.854, 0.384,-0.714, PHS=-1.149,-0.096, 1.054, RAW= 238.6,   2.0, CAL= 235.6,   2.5, ROT= 274.4,  -2.5

2025-08-09T17:28:15.821Z,1754760495.821 [DAT](INFO): #Rx 120: Read range and direction messages.
2025-08-09T17:28:15.826Z,1754760495.826 [DAT](INFO): direction in FSK: [0.076646,-0.996104,0.043619]
2025-08-09T17:28:15.827Z,1754760495.827 [DAT](INFO): publishing direction and range info
2025-08-09T17:28:15.830Z,1754760495.830 [DAT](INFO): ****** received valid address query ******
2025-08-09T17:28:15.830Z,1754760495.830 [DAT](INFO): ****** received valid ping request ******
2025-08-09T17:28:15.830Z,1754760495.830 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-09T17:28:15.000Z,1754760496.000 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 57.200001 m,
      deltaT: 0.505786 s,
      deltaX: -0.099998 m,
      approachRate: -0.197709 m/s,
      rangeRepo size: 4

2025-08-09T17:28:16.002Z,1754760496.002 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 57.200001 m,
      bearing: 180.652999 deg,
      lat: 36.906113 deg,
      lon: -122.115972 deg,
      deltaT: 0.505786 s,
      deltaX: -0.099998 m,
      approachRate: -0.197709 m/s,
      posRepo size: 4

2025-08-09T17:28:16.002Z,1754760496.002 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 57.20 m.
2025-08-09T17:28:16.055Z,1754760496.055 [DAT](INFO): Reached modem response timeout
2025-08-09T17:28:16.056Z,1754760496.056 [DAT](DEBUG): Acoustic response timeout
2025-08-09T17:28:16.056Z,1754760496.056 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-09T17:28:16.308Z,1754760496.308 [DAT](INFO): DAT read: Rx Time:17:28:15.3383 

2025-08-09T17:28:16.308Z,1754760496.308 [DAT](INFO): Rx dataTimestamp_ set to:1754760496.308054
2025-08-09T17:28:16.310Z,1754760496.310 [DAT](INFO): DAT read: Bearing  61.6, -85.4 (Local)

2025-08-09T17:28:16.310Z,1754760496.310 [DAT](INFO): Local bearing/azimuth received:
 Bearing  61.6, -85.4 (Local)

2025-08-09T17:28:16.313Z,1754760496.313 [DAT](INFO): DAT read: Range 11 to 50 :    57.2 m (trip time 38.1 ms) speed 0.0

2025-08-09T17:28:16.317Z,1754760496.317 [DAT](INFO): DAT read: 17:28:15.3383 LVL= 26512, 20337, 13682, 28659, AGC= 60, IDX= 509,-0.44,-2.977,-1.879,-0.626,-1.752, PHS=-1.123,-0.082, 1.082, RAW= 238.1,   1.3, CAL= 234.9,   1.8, ROT= 275.1,  -1.8

2025-08-09T17:28:16.324Z,1754760496.324 [DAT](INFO): got valid direction response:
 17:28:15.3383 LVL= 26512, 20337, 13682, 28659, AGC= 60, IDX= 509,-0.44,-2.977,-1.879,-0.626,-1.752, PHS=-1.123,-0.082, 1.082, RAW= 238.1,   1.3, CAL= 234.9,   1.8, ROT= 275.1,  -1.8

2025-08-09T17:28:16.324Z,1754760496.324 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-09T17:28:16.325Z,1754760496.325 [DAT](INFO): direction in FSK: [0.088850,-0.995550,0.031411]
2025-08-09T17:28:16.326Z,1754760496.326 [DAT](INFO): publishing direction and range info
2025-08-09T17:28:16.329Z,1754760496.329 [DAT](DEBUG): Acoustic response timeout
2025-08-09T17:28:16.329Z,1754760496.329 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-09T17:28:16.472Z,1754760496.472 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 57.200001 m,
      deltaT: 0.503905 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-08-09T17:28:16.505Z,1754760496.505 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 57.200001 m,
      bearing: 180.747765 deg,
      lat: 36.906113 deg,
      lon: -122.115974 deg,
      deltaT: 0.503905 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      posRepo size: 4

2025-08-09T17:28:16.505Z,1754760496.505 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 57.20 m.
2025-08-09T17:28:16.560Z,1754760496.560 [DAT](INFO): Reached modem response timeout
2025-08-09T17:28:16.560Z,1754760496.560 [DAT](DEBUG): Acoustic response timeout
2025-08-09T17:28:16.560Z,1754760496.560 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-09T17:28:16.812Z,1754760496.812 [DAT](INFO): DAT read: Rx Time:17:28:15.8383 

2025-08-09T17:28:16.812Z,1754760496.812 [DAT](INFO): Rx dataTimestamp_ set to:1754760496.812105
2025-08-09T17:28:16.814Z,1754760496.814 [DAT](INFO): DAT read: Bearing  60.4, -84.9 (Local)

2025-08-09T17:28:16.814Z,1754760496.814 [DAT](INFO): Local bearing/azimuth received:
 Bearing  60.4, -84.9 (Local)

2025-08-09T17:28:16.816Z,1754760496.816 [DAT](INFO): DAT read: Range 11 to 50 :    57.2 m (trip time 38.1 ms) speed 0.0

2025-08-09T17:28:16.821Z,1754760496.821 [DAT](INFO): DAT read: 17:28:15.8383 LVL= 24048, 20049, 13842, 25411, AGC= 60, IDX= 508,-0.16, 1.340, 2.441,-2.554, 2.578, PHS=-1.136,-0.092, 1.107, RAW= 237.7,   1.3, CAL= 234.5,   1.7, ROT= 275.5,  -1.7

2025-08-09T17:28:16.822Z,1754760496.822 [DAT](INFO): got valid direction response:
 17:28:15.8383 LVL= 24048, 20049, 13842, 25411, AGC= 60, IDX= 508,-0.16, 1.340, 2.441,-2.554, 2.578, PHS=-1.136,-0.092, 1.107, RAW= 237.7,   1.3, CAL= 234.5,   1.7, ROT= 275.5,  -1.7

2025-08-09T17:28:16.822Z,1754760496.822 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-09T17:28:16.823Z,1754760496.823 [DAT](INFO): direction in FSK: [0.095804,-0.994958,0.029666]
2025-08-09T17:28:16.823Z,1754760496.823 [DAT](INFO): publishing direction and range info
2025-08-09T17:28:16.843Z,1754760496.843 [DAT](DEBUG): Acoustic response timeout
2025-08-09T17:28:16.844Z,1754760496.844 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-09T17:28:16.932Z,1754760496.932 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 57.200001 m,
      deltaT: 0.504051 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-08-09T17:28:16.942Z,1754760496.942 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 57.200001 m,
      bearing: 180.677356 deg,
      lat: 36.906113 deg,
      lon: -122.115975 deg,
      deltaT: 0.504051 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      posRepo size: 4

2025-08-09T17:28:16.963Z,1754760496.963 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 57.20 m.
2025-08-09T17:28:17.064Z,1754760497.064 [DAT](INFO): Reached modem response timeout
2025-08-09T17:28:17.064Z,1754760497.064 [DAT](DEBUG): Acoustic response timeout
2025-08-09T17:28:17.065Z,1754760497.065 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-09T17:28:17.270Z,1754760497.270 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 57.20 m.
2025-08-09T17:28:17.316Z,1754760497.316 [DAT](INFO): DAT read: Rx Time:17:28:16.3384 

2025-08-09T17:28:17.316Z,1754760497.316 [DAT](INFO): Rx dataTimestamp_ set to:1754760497.316159
2025-08-09T17:28:17.318Z,1754760497.318 [DAT](INFO): DAT read: Bearing  58.6, -84.6 (Local)

2025-08-09T17:28:17.318Z,1754760497.318 [DAT](INFO): Local bearing/azimuth received:
 Bearing  58.6, -84.6 (Local)

2025-08-09T17:28:17.321Z,1754760497.321 [DAT](INFO): DAT read: Range 11 to 50 :    57.3 m (trip time 38.2 ms) speed 0.0

2025-08-09T17:28:17.327Z,1754760497.327 [DAT](INFO): DAT read: 17:28:16.3384 LVL= 22912, 19425, 14818, 25875, AGC= 60, IDX= 509,-0.03,-3.002,-1.921,-0.638,-1.784, PHS=-1.116,-0.092, 1.101, RAW= 237.5,   1.1, CAL= 234.2,   1.6, ROT= 275.8,  -1.6

2025-08-09T17:28:17.329Z,1754760497.329 [DAT](INFO): got valid direction response:
 17:28:16.3384 LVL= 22912, 19425, 14818, 25875, AGC= 60, IDX= 509,-0.03,-3.002,-1.921,-0.638,-1.784, PHS=-1.116,-0.092, 1.101, RAW= 237.5,   1.1, CAL= 234.2,   1.6, ROT= 275.8,  -1.6

2025-08-09T17:28:17.329Z,1754760497.329 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-09T17:28:17.332Z,1754760497.332 [DAT](INFO): direction in FSK: [0.101017,-0.994493,0.027922]
2025-08-09T17:28:17.333Z,1754760497.333 [DAT](INFO): publishing direction and range info
2025-08-09T17:28:17.337Z,1754760497.337 [DAT](DEBUG): Acoustic response timeout
2025-08-09T17:28:17.338Z,1754760497.338 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-09T17:28:17.567Z,1754760497.567 [DAT](INFO): Reached modem response timeout
2025-08-09T17:28:17.567Z,1754760497.567 [DAT](DEBUG): Acoustic response timeout
2025-08-09T17:28:17.567Z,1754760497.567 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-09T17:28:17.741Z,1754760497.741 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 57.299999 m,
      deltaT: 0.504054 s,
      deltaX: 0.099998 m,
      approachRate: 0.198388 m/s,
      rangeRepo size: 4

2025-08-09T17:28:17.745Z,1754760497.745 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 57.299999 m,
      bearing: 180.617977 deg,
      lat: 36.906113 deg,
      lon: -122.115976 deg,
      deltaT: 0.504054 s,
      deltaX: 0.099998 m,
      approachRate: 0.198388 m/s,
      posRepo size: 4

2025-08-09T17:28:17.746Z,1754760497.746 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 57.30 m.
2025-08-09T17:28:17.820Z,1754760497.820 [DAT](INFO): DAT read: Rx Time:17:28:16.8382 

2025-08-09T17:28:17.820Z,1754760497.820 [DAT](INFO): Rx dataTimestamp_ set to:1754760497.820204
2025-08-09T17:28:17.822Z,1754760497.822 [DAT](INFO): DAT read: Bearing  61.5, -84.7 (Local)

2025-08-09T17:28:17.822Z,1754760497.822 [DAT](INFO): Local bearing/azimuth received:
 Bearing  61.5, -84.7 (Local)

2025-08-09T17:28:17.824Z,1754760497.824 [DAT](INFO): DAT read: Range 11 to 50 :    57.0 m (trip time 38.0 ms) speed 0.0

2025-08-09T17:28:17.829Z,1754760497.829 [DAT](INFO): DAT read: 17:28:16.8382 LVL= 24480, 19745, 14786, 26979, AGC= 60, IDX= 508, 0.05,-2.648,-1.569,-0.295,-1.426, PHS=-1.119,-0.098, 1.087, RAW= 237.6,   1.4, CAL= 234.4,   1.9, ROT= 275.6,  -1.9

2025-08-09T17:28:17.830Z,1754760497.830 [DAT](INFO): got valid direction response:
 17:28:16.8382 LVL= 24480, 19745, 14786, 26979, AGC= 60, IDX= 508, 0.05,-2.648,-1.569,-0.295,-1.426, PHS=-1.119,-0.098, 1.087, RAW= 237.6,   1.4, CAL= 234.4,   1.9, ROT= 275.6,  -1.9

2025-08-09T17:28:17.830Z,1754760497.830 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-09T17:28:17.831Z,1754760497.831 [DAT](INFO): direction in FSK: [0.097530,-0.994680,0.033155]
2025-08-09T17:28:17.832Z,1754760497.832 [DAT](INFO): publishing direction and range info
2025-08-09T17:28:17.836Z,1754760497.836 [DAT](DEBUG): Acoustic response timeout
2025-08-09T17:28:17.836Z,1754760497.836 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-09T17:28:18.071Z,1754760498.071 [DAT](INFO): Reached modem response timeout
2025-08-09T17:28:18.071Z,1754760498.071 [DAT](DEBUG): Acoustic response timeout
2025-08-09T17:28:18.071Z,1754760498.071 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-09T17:28:18.211Z,1754760498.211 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 57.000000 m,
      deltaT: 0.504045 s,
      deltaX: -0.299999 m,
      approachRate: -0.595183 m/s,
      rangeRepo size: 4

2025-08-09T17:28:18.213Z,1754760498.213 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 57.000000 m,
      bearing: 180.544586 deg,
      lat: 36.906113 deg,
      lon: -122.115976 deg,
      deltaT: 0.504045 s,
      deltaX: -0.299999 m,
      approachRate: -0.595183 m/s,
      posRepo size: 4

2025-08-09T17:28:18.213Z,1754760498.213 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 57.00 m.
2025-08-09T17:28:18.325Z,1754760498.325 [DAT](INFO): DAT read: Rx Time:17:28:17.3383 

2025-08-09T17:28:18.325Z,1754760498.325 [DAT](INFO): Rx dataTimestamp_ set to:1754760498.325173
2025-08-09T17:28:18.327Z,1754760498.327 [DAT](INFO): DAT read: Bearing  58.5, -83.9 (Local)

2025-08-09T17:28:18.328Z,1754760498.328 [DAT](INFO): Local bearing/azimuth received:
 Bearing  58.5, -83.9 (Local)

2025-08-09T17:28:18.330Z,1754760498.330 [DAT](INFO): DAT read: Range 11 to 50 :    57.2 m (trip time 38.1 ms) speed -0.1

2025-08-09T17:28:18.335Z,1754760498.335 [DAT](INFO): DAT read: 17:28:17.3383 LVL= 22112, 17633, 12978, 24515, AGC= 62, IDX= 509, 0.09,-1.292,-0.212, 1.112,-0.062, PHS=-1.128,-0.105, 1.130, RAW= 236.9,   1.1, CAL= 233.7,   1.6, ROT= 276.3,  -1.6

2025-08-09T17:28:18.336Z,1754760498.336 [DAT](INFO): got valid direction response:
 17:28:17.3383 LVL= 22112, 17633, 12978, 24515, AGC= 62, IDX= 509, 0.09,-1.292,-0.212, 1.112,-0.062, PHS=-1.128,-0.105, 1.130, RAW= 236.9,   1.1, CAL= 233.7,   1.6, ROT= 276.3,  -1.6

2025-08-09T17:28:18.337Z,1754760498.337 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-09T17:28:18.338Z,1754760498.338 [DAT](INFO): direction in FSK: [0.109691,-0.993573,0.027922]
2025-08-09T17:28:18.338Z,1754760498.338 [DAT](INFO): publishing direction and range info
2025-08-09T17:28:18.342Z,1754760498.342 [DAT](DEBUG): Acoustic response timeout
2025-08-09T17:28:18.342Z,1754760498.342 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-09T17:28:18.575Z,1754760498.575 [DAT](INFO): Reached modem response timeout
2025-08-09T17:28:18.575Z,1754760498.575 [DAT](DEBUG): Acoustic response timeout
2025-08-09T17:28:18.576Z,1754760498.576 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-09T17:28:18.616Z,1754760498.616 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 57.200001 m,
      deltaT: 0.504969 s,
      deltaX: 0.200001 m,
      approachRate: 0.396065 m/s,
      rangeRepo size: 4

2025-08-09T17:28:18.622Z,1754760498.622 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 57.200001 m,
      bearing: 180.458380 deg,
      lat: 36.906113 deg,
      lon: -122.115976 deg,
      deltaT: 0.504969 s,
      deltaX: 0.200001 m,
      approachRate: 0.396065 m/s,
      posRepo size: 4

2025-08-09T17:28:18.623Z,1754760498.623 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 57.20 m.
2025-08-09T17:28:18.828Z,1754760498.828 [DAT](INFO): DAT read: Rx Time:17:28:17.8382 

2025-08-09T17:28:18.828Z,1754760498.828 [DAT](INFO): Rx dataTimestamp_ set to:1754760498.828199
2025-08-09T17:28:18.830Z,1754760498.830 [DAT](INFO): DAT read: Bearing  62.3, -83.8 (Local)

2025-08-09T17:28:18.830Z,1754760498.830 [DAT](INFO): Local bearing/azimuth received:
 Bearing  62.3, -83.8 (Local)

2025-08-09T17:28:18.832Z,1754760498.832 [DAT](INFO): DAT read: Range 11 to 50 :    57.0 m (trip time 38.0 ms) speed 0.1

2025-08-09T17:28:18.837Z,1754760498.837 [DAT](INFO): DAT read: 17:28:17.8382 LVL= 19440, 16369, 11842, 20819, AGC= 61, IDX= 508, 0.09,-2.270,-1.203, 0.125,-1.035, PHS=-1.133,-0.123, 1.116, RAW= 236.6,   1.4, CAL= 233.6,   2.0, ROT= 276.4,  -2.0

2025-08-09T17:28:18.838Z,1754760498.838 [DAT](INFO): got valid direction response:
 17:28:17.8382 LVL= 19440, 16369, 11842, 20819, AGC= 61, IDX= 508, 0.09,-2.270,-1.203, 0.125,-1.035, PHS=-1.133,-0.123, 1.116, RAW= 236.6,   1.4, CAL= 233.6,   2.0, ROT= 276.4,  -2.0

2025-08-09T17:28:18.838Z,1754760498.838 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-09T17:28:18.840Z,1754760498.840 [DAT](INFO): direction in FSK: [0.111401,-0.993163,0.034899]
2025-08-09T17:28:18.840Z,1754760498.840 [DAT](INFO): publishing direction and range info
2025-08-09T17:28:18.845Z,1754760498.845 [DAT](DEBUG): Acoustic response timeout
2025-08-09T17:28:18.845Z,1754760498.845 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-09T17:28:19.003Z,1754760499.003 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 57.000000 m,
      deltaT: 0.503026 s,
      deltaX: -0.200001 m,
      approachRate: -0.397595 m/s,
      rangeRepo size: 4

2025-08-09T17:28:19.005Z,1754760499.005 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 57.000000 m,
      bearing: 180.144959 deg,
      lat: 36.906113 deg,
      lon: -122.115973 deg,
      deltaT: 0.503026 s,
      deltaX: -0.200001 m,
      approachRate: -0.397595 m/s,
      posRepo size: 4

2025-08-09T17:28:19.006Z,1754760499.006 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 57.00 m.
2025-08-09T17:28:19.080Z,1754760499.080 [DAT](INFO): Reached modem response timeout
2025-08-09T17:28:19.080Z,1754760499.080 [DAT](DEBUG): Acoustic response timeout
2025-08-09T17:28:19.080Z,1754760499.080 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-09T17:28:19.332Z,1754760499.332 [DAT](INFO): DAT read: Rx Time:17:28:18.3383 

2025-08-09T17:28:19.332Z,1754760499.332 [DAT](INFO): Rx dataTimestamp_ set to:1754760499.332106
2025-08-09T17:28:19.334Z,1754760499.334 [DAT](INFO): DAT read: Bearing  60.1, -83.2 (Local)

2025-08-09T17:28:19.334Z,1754760499.334 [DAT](INFO): Local bearing/azimuth received:
 Bearing  60.1, -83.2 (Local)

2025-08-09T17:28:19.336Z,1754760499.336 [DAT](INFO): DAT read: Range 11 to 50 :    57.2 m (trip time 38.1 ms) speed 0.0

2025-08-09T17:28:19.342Z,1754760499.342 [DAT](INFO): DAT read: 17:28:18.3383 LVL= 22816, 18929, 15922, 25475, AGC= 62, IDX= 509, 0.04,-0.908, 0.174, 1.549, 0.347, PHS=-1.153,-0.129, 1.158, RAW= 236.2,   1.2, CAL= 233.1,   1.8, ROT= 276.9,  -1.8

2025-08-09T17:28:19.343Z,1754760499.343 [DAT](INFO): got valid direction response:
 17:28:18.3383 LVL= 22816, 18929, 15922, 25475, AGC= 62, IDX= 509, 0.04,-0.908, 0.174, 1.549, 0.347, PHS=-1.153,-0.129, 1.158, RAW= 236.2,   1.2, CAL= 233.1,   1.8, ROT= 276.9,  -1.8

2025-08-09T17:28:19.343Z,1754760499.343 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-09T17:28:19.344Z,1754760499.344 [DAT](INFO): direction in FSK: [0.120077,-0.992267,0.031411]
2025-08-09T17:28:19.344Z,1754760499.344 [DAT](INFO): publishing direction and range info
2025-08-09T17:28:19.348Z,1754760499.348 [DAT](DEBUG): Acoustic response timeout
2025-08-09T17:28:19.348Z,1754760499.348 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-09T17:28:19.423Z,1754760499.423 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 57.200001 m,
      deltaT: 0.503907 s,
      deltaX: 0.200001 m,
      approachRate: 0.396900 m/s,
      rangeRepo size: 4

2025-08-09T17:28:19.425Z,1754760499.425 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 57.200001 m,
      bearing: 180.071051 deg,
      lat: 36.906112 deg,
      lon: -122.115973 deg,
      deltaT: 0.503907 s,
      deltaX: 0.200001 m,
      approachRate: 0.396900 m/s,
      posRepo size: 4

2025-08-09T17:28:19.426Z,1754760499.426 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 57.20 m.
2025-08-09T17:28:19.583Z,1754760499.583 [DAT](INFO): Reached modem response timeout
2025-08-09T17:28:19.583Z,1754760499.583 [DAT](DEBUG): Acoustic response timeout
2025-08-09T17:28:19.584Z,1754760499.584 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-09T17:28:19.785Z,1754760499.785 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 57.20 m.
2025-08-09T17:28:19.837Z,1754760499.837 [DAT](INFO): DAT read: Rx Time:17:28:18.8382 

2025-08-09T17:28:19.837Z,1754760499.837 [DAT](INFO): Rx dataTimestamp_ set to:1754760499.837044
2025-08-09T17:28:19.840Z,1754760499.840 [DAT](INFO): DAT read: Bearing  63.2, -83.2 (Local)

2025-08-09T17:28:19.841Z,1754760499.841 [DAT](INFO): Local bearing/azimuth received:
 Bearing  63.2, -83.2 (Local)

2025-08-09T17:28:19.844Z,1754760499.844 [DAT](INFO): DAT read: Range 11 to 50 :    57.0 m (trip time 38.0 ms) speed -0.1

2025-08-09T17:28:19.867Z,1754760499.867 [DAT](INFO): DAT read: 17:28:18.8382 LVL= 22384, 18641, 14674, 23459, AGC= 63, IDX= 508,-0.07,-2.446,-1.380,-0.018,-1.194, PHS=-1.150,-0.141, 1.133, RAW= 236.2,   1.6, CAL= 233.2,   2.2, ROT= 276.8,  -2.2

2025-08-09T17:28:19.868Z,1754760499.868 [DAT](INFO): got valid direction response:
 17:28:18.8382 LVL= 22384, 18641, 14674, 23459, AGC= 63, IDX= 508,-0.07,-2.446,-1.380,-0.018,-1.194, PHS=-1.150,-0.141, 1.133, RAW= 236.2,   1.6, CAL= 233.2,   2.2, ROT= 276.8,  -2.2

2025-08-09T17:28:19.869Z,1754760499.869 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-09T17:28:19.880Z,1754760499.880 [DAT](INFO): direction in FSK: [0.118317,-0.992234,0.038388]
2025-08-09T17:28:19.880Z,1754760499.880 [DAT](INFO): publishing direction and range info
2025-08-09T17:28:19.887Z,1754760499.887 [DAT](DEBUG): Acoustic response timeout
2025-08-09T17:28:19.887Z,1754760499.887 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-09T17:28:20.087Z,1754760500.087 [DAT](INFO): Reached modem response timeout
2025-08-09T17:28:20.087Z,1754760500.087 [DAT](DEBUG): Acoustic response timeout
2025-08-09T17:28:20.088Z,1754760500.088 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-09T17:28:20.240Z,1754760500.240 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 57.000000 m,
      deltaT: 0.504938 s,
      deltaX: -0.200001 m,
      approachRate: -0.396090 m/s,
      rangeRepo size: 4

2025-08-09T17:28:20.249Z,1754760500.249 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 57.000000 m,
      bearing: 179.814926 deg,
      lat: 36.906114 deg,
      lon: -122.115972 deg,
      deltaT: 0.504938 s,
      deltaX: -0.200001 m,
      approachRate: -0.396090 m/s,
      posRepo size: 4

2025-08-09T17:28:20.254Z,1754760500.254 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 57.00 m.
2025-08-09T17:28:20.340Z,1754760500.340 [DAT](INFO): DAT read: Rx Time:17:28:19.3382 

2025-08-09T17:28:20.340Z,1754760500.340 [DAT](INFO): Rx dataTimestamp_ set to:1754760500.340151
2025-08-09T17:28:20.342Z,1754760500.342 [DAT](INFO): DAT read: Bearing  60.0, -83.0 (Local)

2025-08-09T17:28:20.343Z,1754760500.343 [DAT](INFO): Local bearing/azimuth received:
 Bearing  60.0, -83.0 (Local)

2025-08-09T17:28:20.345Z,1754760500.345 [DAT](INFO): DAT read: Range 11 to 50 :    57.0 m (trip time 38.0 ms) speed 0.0

2025-08-09T17:28:20.350Z,1754760500.350 [DAT](INFO): DAT read: 17:28:19.3382 LVL= 23392, 19377, 15122, 24211, AGC= 62, IDX= 508,-0.18, 2.940,-2.286,-0.932,-2.112, PHS=-1.129,-0.129, 1.136, RAW= 236.1,   1.3, CAL= 233.0,   1.8, ROT= 277.0,  -1.8

2025-08-09T17:28:20.351Z,1754760500.351 [DAT](INFO): got valid direction response:
 17:28:19.3382 LVL= 23392, 19377, 15122, 24211, AGC= 62, IDX= 508,-0.18, 2.940,-2.286,-0.932,-2.112, PHS=-1.129,-0.129, 1.136, RAW= 236.1,   1.3, CAL= 233.0,   1.8, ROT= 277.0,  -1.8

2025-08-09T17:28:20.352Z,1754760500.352 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-09T17:28:20.353Z,1754760500.353 [DAT](INFO): direction in FSK: [0.121809,-0.992056,0.031411]
2025-08-09T17:28:20.353Z,1754760500.353 [DAT](INFO): publishing direction and range info
2025-08-09T17:28:20.356Z,1754760500.356 [DAT](DEBUG): Acoustic response timeout
2025-08-09T17:28:20.357Z,1754760500.357 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-09T17:28:20.592Z,1754760500.592 [DAT](INFO): Reached modem response timeout
2025-08-09T17:28:20.592Z,1754760500.592 [DAT](DEBUG): Acoustic response timeout
2025-08-09T17:28:20.592Z,1754760500.592 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-09T17:28:20.784Z,1754760500.784 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 57.000000 m,
      deltaT: 0.503107 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-08-09T17:28:20.786Z,1754760500.786 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 57.000000 m,
      bearing: 179.833737 deg,
      lat: 36.906113 deg,
      lon: -122.115973 deg,
      deltaT: 0.503107 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      posRepo size: 4

2025-08-09T17:28:20.788Z,1754760500.788 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 57.00 m.
2025-08-09T17:28:20.845Z,1754760500.845 [DAT](INFO): DAT read: Rx Time:17:28:19.8381 

2025-08-09T17:28:20.846Z,1754760500.846 [DAT](INFO): Rx dataTimestamp_ set to:1754760500.845455
2025-08-09T17:28:20.848Z,1754760500.848 [DAT](INFO): DAT read: Bearing  65.0, -82.9 (Local)

2025-08-09T17:28:20.848Z,1754760500.848 [DAT](INFO): Local bearing/azimuth received:
 Bearing  65.0, -82.9 (Local)

2025-08-09T17:28:20.851Z,1754760500.851 [DAT](INFO): DAT read: Range 11 to 50 :    56.9 m (trip time 37.9 ms) speed -0.1

2025-08-09T17:28:20.858Z,1754760500.858 [DAT](INFO): DAT read: 17:28:19.8381 LVL= 21104, 17041, 12322, 20467, AGC= 62, IDX= 507,-0.38, 2.644,-2.590,-1.227,-2.394, PHS=-1.143,-0.151, 1.123, RAW= 235.9,   1.7, CAL= 233.0,   2.4, ROT= 277.0,  -2.4

2025-08-09T17:28:20.860Z,1754760500.860 [DAT](INFO): got valid direction response:
 17:28:19.8381 LVL= 21104, 17041, 12322, 20467, AGC= 62, IDX= 507,-0.38, 2.644,-2.590,-1.227,-2.394, PHS=-1.143,-0.151, 1.123, RAW= 235.9,   1.7, CAL= 233.0,   2.4, ROT= 277.0,  -2.4

2025-08-09T17:28:20.861Z,1754760500.861 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-09T17:28:20.862Z,1754760500.862 [DAT](INFO): direction in FSK: [0.121762,-0.991676,0.041876]
2025-08-09T17:28:20.863Z,1754760500.863 [DAT](INFO): publishing direction and range info
2025-08-09T17:28:20.869Z,1754760500.869 [DAT](DEBUG): Acoustic response timeout
2025-08-09T17:28:20.869Z,1754760500.869 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-09T17:28:21.095Z,1754760501.095 [DAT](INFO): Reached modem response timeout
2025-08-09T17:28:21.095Z,1754760501.095 [DAT](DEBUG): Acoustic response timeout
2025-08-09T17:28:21.095Z,1754760501.095 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-09T17:28:21.289Z,1754760501.289 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 56.900002 m,
      deltaT: 0.505304 s,
      deltaX: -0.099998 m,
      approachRate: -0.197898 m/s,
      rangeRepo size: 4

2025-08-09T17:28:21.291Z,1754760501.291 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 56.900002 m,
      bearing: 179.774189 deg,
      lat: 36.906114 deg,
      lon: -122.115973 deg,
      deltaT: 0.505304 s,
      deltaX: -0.099998 m,
      approachRate: -0.197898 m/s,
      posRepo size: 4

2025-08-09T17:28:21.292Z,1754760501.292 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 56.90 m.
2025-08-09T17:28:21.348Z,1754760501.348 [DAT](INFO): DAT read: Rx Time:17:28:20.3381 

2025-08-09T17:28:21.348Z,1754760501.348 [DAT](INFO): Rx dataTimestamp_ set to:1754760501.348104
2025-08-09T17:28:21.350Z,1754760501.350 [DAT](INFO): DAT read: Bearing  66.7, -83.2 (Local)

2025-08-09T17:28:21.350Z,1754760501.350 [DAT](INFO): Local bearing/azimuth received:
 Bearing  66.7, -83.2 (Local)

2025-08-09T17:28:21.352Z,1754760501.352 [DAT](INFO): DAT read: Range 11 to 50 :    56.9 m (trip time 37.9 ms) speed 0.0

2025-08-09T17:28:21.357Z,1754760501.357 [DAT](INFO): DAT read: 17:28:20.3381 LVL= 20752, 17089, 11938, 20931, AGC= 62, IDX= 507, 0.34,-1.182,-0.138, 1.196, 0.055, PHS=-1.135,-0.148, 1.097, RAW= 236.2,   2.0, CAL= 233.4,   2.6, ROT= 276.6,  -2.6

2025-08-09T17:28:21.358Z,1754760501.358 [DAT](INFO): got valid direction response:
 17:28:20.3381 LVL= 20752, 17089, 11938, 20931, AGC= 62, IDX= 507, 0.34,-1.182,-0.138, 1.196, 0.055, PHS=-1.135,-0.148, 1.097, RAW= 236.2,   2.0, CAL= 233.4,   2.6, ROT= 276.6,  -2.6

2025-08-09T17:28:21.358Z,1754760501.358 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-09T17:28:21.359Z,1754760501.359 [DAT](INFO): direction in FSK: [0.114819,-0.992350,0.045363]
2025-08-09T17:28:21.359Z,1754760501.359 [DAT](INFO): publishing direction and range info
2025-08-09T17:28:21.363Z,1754760501.363 [DAT](DEBUG): Acoustic response timeout
2025-08-09T17:28:21.363Z,1754760501.363 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-09T17:28:21.599Z,1754760501.599 [DAT](INFO): Reached modem response timeout
2025-08-09T17:28:21.599Z,1754760501.599 [DAT](DEBUG): Acoustic response timeout
2025-08-09T17:28:21.599Z,1754760501.599 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-09T17:28:21.767Z,1754760501.767 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 56.900002 m,
      deltaT: 0.502649 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-08-09T17:28:21.769Z,1754760501.769 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 56.900002 m,
      bearing: 179.695479 deg,
      lat: 36.906114 deg,
      lon: -122.115973 deg,
      deltaT: 0.502649 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      posRepo size: 4

2025-08-09T17:28:21.769Z,1754760501.769 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 56.90 m.
2025-08-09T17:28:21.852Z,1754760501.852 [DAT](INFO): DAT read: Rx Time:17:28:20.8380 

2025-08-09T17:28:21.853Z,1754760501.853 [DAT](INFO): Rx dataTimestamp_ set to:1754760501.852367
2025-08-09T17:28:21.854Z,1754760501.854 [DAT](INFO): DAT read: Bearing  65.0, -82.6 (Local)

2025-08-09T17:28:21.854Z,1754760501.854 [DAT](INFO): Local bearing/azimuth received:
 Bearing  65.0, -82.6 (Local)

2025-08-09T17:28:21.856Z,1754760501.856 [DAT](INFO): DAT read: Range 11 to 50 :    56.7 m (trip time 37.8 ms) speed -0.1

2025-08-09T17:28:21.861Z,1754760501.861 [DAT](INFO): DAT read: 17:28:20.8380 LVL= 24272, 20449, 14802, 24339, AGC= 62, IDX= 506, 0.14,-2.564,-1.529,-0.166,-1.329, PHS=-1.133,-0.156, 1.119, RAW= 235.7,   1.8, CAL= 232.8,   2.4, ROT= 277.2,  -2.4

2025-08-09T17:28:21.862Z,1754760501.862 [DAT](INFO): got valid direction response:
 17:28:20.8380 LVL= 24272, 20449, 14802, 24339, AGC= 62, IDX= 506, 0.14,-2.564,-1.529,-0.166,-1.329, PHS=-1.133,-0.156, 1.119, RAW= 235.7,   1.8, CAL= 232.8,   2.4, ROT= 277.2,  -2.4

2025-08-09T17:28:21.863Z,1754760501.863 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-09T17:28:21.864Z,1754760501.864 [DAT](INFO): direction in FSK: [0.125223,-0.991244,0.041876]
2025-08-09T17:28:21.864Z,1754760501.864 [DAT](INFO): publishing direction and range info
2025-08-09T17:28:21.867Z,1754760501.867 [DAT](DEBUG): Acoustic response timeout
2025-08-09T17:28:21.867Z,1754760501.867 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-09T17:28:22.106Z,1754760502.106 [DAT](INFO): Reached modem response timeout
2025-08-09T17:28:22.107Z,1754760502.107 [DAT](DEBUG): Acoustic response timeout
2025-08-09T17:28:22.107Z,1754760502.107 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-09T17:28:22.280Z,1754760502.280 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 56.700001 m,
      deltaT: 0.504263 s,
      deltaX: -0.200001 m,
      approachRate: -0.396620 m/s,
      rangeRepo size: 4

2025-08-09T17:28:22.287Z,1754760502.287 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 56.700001 m,
      bearing: 179.352354 deg,
      lat: 36.906114 deg,
      lon: -122.115970 deg,
      deltaT: 0.504263 s,
      deltaX: -0.200001 m,
      approachRate: -0.396620 m/s,
      posRepo size: 4

2025-08-09T17:28:22.287Z,1754760502.287 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 56.70 m.
2025-08-09T17:28:22.356Z,1754760502.356 [DAT](INFO): DAT read: Rx Time:17:28:21.3381 

2025-08-09T17:28:22.357Z,1754760502.357 [DAT](INFO): Rx dataTimestamp_ set to:1754760502.356391
2025-08-09T17:28:22.358Z,1754760502.358 [DAT](INFO): DAT read: Bearing  64.4, -82.5 (Local)

2025-08-09T17:28:22.358Z,1754760502.358 [DAT](INFO): Local bearing/azimuth received:
 Bearing  64.4, -82.5 (Local)

2025-08-09T17:28:22.360Z,1754760502.360 [DAT](INFO): DAT read: Range 11 to 50 :    56.9 m (trip time 37.9 ms) speed 0.0

2025-08-09T17:28:22.365Z,1754760502.365 [DAT](INFO): DAT read: 17:28:21.3381 LVL= 22640, 20561, 15858, 22483, AGC= 62, IDX= 507, 0.01,-2.292,-1.254, 0.117,-1.055, PHS=-1.135,-0.154, 1.127, RAW= 235.6,   1.7, CAL= 232.7,   2.3, ROT= 277.3,  -2.3

2025-08-09T17:28:22.366Z,1754760502.366 [DAT](INFO): got valid direction response:
 17:28:21.3381 LVL= 22640, 20561, 15858, 22483, AGC= 62, IDX= 507, 0.01,-2.292,-1.254, 0.117,-1.055, PHS=-1.135,-0.154, 1.127, RAW= 235.6,   1.7, CAL= 232.7,   2.3, ROT= 277.3,  -2.3

2025-08-09T17:28:22.367Z,1754760502.367 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-09T17:28:22.368Z,1754760502.368 [DAT](INFO): direction in FSK: [0.126962,-0.991095,0.040132]
2025-08-09T17:28:22.368Z,1754760502.368 [DAT](INFO): publishing direction and range info
2025-08-09T17:28:22.371Z,1754760502.371 [DAT](DEBUG): Acoustic response timeout
2025-08-09T17:28:22.372Z,1754760502.372 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-09T17:28:22.607Z,1754760502.607 [DAT](INFO): Reached modem response timeout
2025-08-09T17:28:22.607Z,1754760502.607 [DAT](DEBUG): Acoustic response timeout
2025-08-09T17:28:22.607Z,1754760502.607 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-09T17:28:22.850Z,1754760502.850 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 56.900002 m,
      deltaT: 0.504024 s,
      deltaX: 0.200001 m,
      approachRate: 0.396808 m/s,
      rangeRepo size: 4

2025-08-09T17:28:22.853Z,1754760502.853 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 56.900002 m,
      bearing: 179.238097 deg,
      lat: 36.906114 deg,
      lon: -122.115970 deg,
      deltaT: 0.504024 s,
      deltaX: 0.200001 m,
      approachRate: 0.396808 m/s,
      posRepo size: 4

2025-08-09T17:28:22.854Z,1754760502.854 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 56.90 m.
2025-08-09T17:28:22.863Z,1754760502.863 [DAT](INFO): DAT read: Rx Time:17:28:21.8380 

2025-08-09T17:28:22.864Z,1754760502.864 [DAT](INFO): Rx dataTimestamp_ set to:1754760502.863400
2025-08-09T17:28:22.866Z,1754760502.866 [DAT](INFO): DAT read: Bearing  63.3, -82.2 (Local)

2025-08-09T17:28:22.866Z,1754760502.866 [DAT](INFO): Local bearing/azimuth received:
 Bearing  63.3, -82.2 (Local)

2025-08-09T17:28:22.869Z,1754760502.869 [DAT](INFO): DAT read: Range 11 to 50 :    56.7 m (trip time 37.8 ms) speed 0.0

2025-08-09T17:28:22.876Z,1754760502.876 [DAT](INFO): DAT read: 17:28:21.8380 LVL= 23072, 20081, 15538, 24627, AGC= 62, IDX= 506,-0.11, 1.395, 2.446,-2.433, 2.648, PHS=-1.150,-0.157, 1.159, RAW= 235.4,   1.5, CAL= 232.5,   2.1, ROT= 277.5,  -2.1

2025-08-09T17:28:22.877Z,1754760502.877 [DAT](INFO): got valid direction response:
 17:28:21.8380 LVL= 23072, 20081, 15538, 24627, AGC= 62, IDX= 506,-0.11, 1.395, 2.446,-2.433, 2.648, PHS=-1.150,-0.157, 1.159, RAW= 235.4,   1.5, CAL= 232.5,   2.1, ROT= 277.5,  -2.1

2025-08-09T17:28:22.878Z,1754760502.878 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-09T17:28:22.903Z,1754760502.903 [DAT](INFO): direction in FSK: [0.130439,-0.990779,0.036644]
2025-08-09T17:28:22.904Z,1754760502.904 [DAT](INFO): publishing direction and range info
2025-08-09T17:28:22.912Z,1754760502.912 [DAT](DEBUG): Acoustic response timeout
2025-08-09T17:28:22.912Z,1754760502.912 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-09T17:28:23.114Z,1754760503.114 [DAT](INFO): Reached modem response timeout
2025-08-09T17:28:23.115Z,1754760503.115 [DAT](DEBUG): Acoustic response timeout
2025-08-09T17:28:23.115Z,1754760503.115 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-09T17:28:23.283Z,1754760503.283 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 56.700001 m,
      deltaT: 0.507009 s,
      deltaX: -0.200001 m,
      approachRate: -0.394472 m/s,
      rangeRepo size: 4

2025-08-09T17:28:23.291Z,1754760503.291 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 56.700001 m,
      bearing: 178.733267 deg,
      lat: 36.906114 deg,
      lon: -122.115966 deg,
      deltaT: 0.507009 s,
      deltaX: -0.200001 m,
      approachRate: -0.394472 m/s,
      posRepo size: 4

2025-08-09T17:28:23.292Z,1754760503.292 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 56.70 m.
2025-08-09T17:28:23.365Z,1754760503.365 [DAT](INFO): DAT read: Rx Time:17:28:22.3381 

2025-08-09T17:28:23.366Z,1754760503.366 [DAT](INFO): Rx dataTimestamp_ set to:1754760503.365524
2025-08-09T17:28:23.368Z,1754760503.368 [DAT](INFO): DAT read: Bearing  64.3, -81.8 (Local)

2025-08-09T17:28:23.368Z,1754760503.368 [DAT](INFO): Local bearing/azimuth received:
 Bearing  64.3, -81.8 (Local)

2025-08-09T17:28:23.372Z,1754760503.372 [DAT](INFO): DAT read: Range 11 to 50 :    56.9 m (trip time 37.9 ms) speed 0.0

2025-08-09T17:28:23.379Z,1754760503.379 [DAT](INFO): DAT read: 17:28:22.3381 LVL= 26944, 20081, 14786, 24691, AGC= 64, IDX= 507,-0.19, 2.313,-2.921,-1.479,-2.702, PHS=-1.166,-0.173, 1.179, RAW= 234.9,   1.6, CAL= 232.1,   2.3, ROT= 277.9,  -2.3

2025-08-09T17:28:23.381Z,1754760503.381 [DAT](INFO): got valid direction response:
 17:28:22.3381 LVL= 26944, 20081, 14786, 24691, AGC= 64, IDX= 507,-0.19, 2.313,-2.921,-1.479,-2.702, PHS=-1.166,-0.173, 1.179, RAW= 234.9,   1.6, CAL= 232.1,   2.3, ROT= 277.9,  -2.3

2025-08-09T17:28:23.381Z,1754760503.381 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-09T17:28:23.385Z,1754760503.385 [DAT](INFO): direction in FSK: [0.137334,-0.989712,0.040132]
2025-08-09T17:28:23.385Z,1754760503.385 [DAT](INFO): publishing direction and range info
2025-08-09T17:28:23.390Z,1754760503.390 [DAT](DEBUG): Acoustic response timeout
2025-08-09T17:28:23.390Z,1754760503.390 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-09T17:28:23.615Z,1754760503.615 [DAT](INFO): Reached modem response timeout
2025-08-09T17:28:23.615Z,1754760503.615 [DAT](DEBUG): Acoustic response timeout
2025-08-09T17:28:23.615Z,1754760503.615 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-09T17:28:23.755Z,1754760503.755 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 56.900002 m,
      deltaT: 0.502124 s,
      deltaX: 0.200001 m,
      approachRate: 0.398309 m/s,
      rangeRepo size: 4

2025-08-09T17:28:23.757Z,1754760503.757 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 56.900002 m,
      bearing: 178.657159 deg,
      lat: 36.906114 deg,
      lon: -122.115966 deg,
      deltaT: 0.502124 s,
      deltaX: 0.200001 m,
      approachRate: 0.398309 m/s,
      posRepo size: 4

2025-08-09T17:28:23.758Z,1754760503.758 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 56.90 m.
2025-08-09T17:28:23.870Z,1754760503.870 [DAT](INFO): DAT read: Rx Time:17:28:22.8380 

2025-08-09T17:28:23.871Z,1754760503.871 [DAT](INFO): Rx dataTimestamp_ set to:1754760503.870574
2025-08-09T17:28:23.873Z,1754760503.873 [DAT](INFO): DAT read: Bearing  62.4, -81.9 (Local)

2025-08-09T17:28:23.873Z,1754760503.873 [DAT](INFO): Local bearing/azimuth received:
 Bearing  62.4, -81.9 (Local)

2025-08-09T17:28:23.877Z,1754760503.877 [DAT](INFO): DAT read: Range 11 to 50 :    56.7 m (trip time 37.8 ms) speed 0.0

2025-08-09T17:28:23.883Z,1754760503.883 [DAT](INFO): DAT read: 17:28:22.8380 LVL= 27104, 23713, 14226, 23027, AGC= 62, IDX= 506,-0.23,-0.092, 0.961, 2.386, 1.166, PHS=-1.156,-0.160, 1.175, RAW= 235.2,   1.4, CAL= 232.2,   2.1, ROT= 277.8,  -2.1

2025-08-09T17:28:23.885Z,1754760503.885 [DAT](INFO): got valid direction response:
 17:28:22.8380 LVL= 27104, 23713, 14226, 23027, AGC= 62, IDX= 506,-0.23,-0.092, 0.961, 2.386, 1.166, PHS=-1.156,-0.160, 1.175, RAW= 235.2,   1.4, CAL= 232.2,   2.1, ROT= 277.8,  -2.1

2025-08-09T17:28:23.885Z,1754760503.885 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-09T17:28:23.895Z,1754760503.895 [DAT](INFO): direction in FSK: [0.135624,-0.990082,0.036644]
2025-08-09T17:28:23.895Z,1754760503.895 [DAT](INFO): publishing direction and range info
2025-08-09T17:28:23.899Z,1754760503.899 [DAT](DEBUG): Acoustic response timeout
2025-08-09T17:28:23.899Z,1754760503.899 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-09T17:28:24.062Z,1754760504.062 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 56.700001 m,
      deltaT: 0.505050 s,
      deltaX: -0.200001 m,
      approachRate: -0.396002 m/s,
      rangeRepo size: 4

2025-08-09T17:28:24.076Z,1754760504.076 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 56.700001 m,
      bearing: 178.601584 deg,
      lat: 36.906114 deg,
      lon: -122.115966 deg,
      deltaT: 0.505050 s,
      deltaX: -0.200001 m,
      approachRate: -0.396002 m/s,
      posRepo size: 4

2025-08-09T17:28:24.076Z,1754760504.076 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 56.70 m.
2025-08-09T17:28:24.120Z,1754760504.120 [DAT](INFO): Reached modem response timeout
2025-08-09T17:28:24.120Z,1754760504.120 [DAT](DEBUG): Acoustic response timeout
2025-08-09T17:28:24.121Z,1754760504.121 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-09T17:28:24.372Z,1754760504.372 [DAT](INFO): DAT read: Rx Time:17:28:23.3380 

2025-08-09T17:28:24.372Z,1754760504.372 [DAT](INFO): Rx dataTimestamp_ set to:1754760504.372020
2025-08-09T17:28:24.374Z,1754760504.374 [DAT](INFO): DAT read: Bearing  63.2, -81.9 (Local)

2025-08-09T17:28:24.374Z,1754760504.374 [DAT](INFO): Local bearing/azimuth received:
 Bearing  63.2, -81.9 (Local)

2025-08-09T17:28:24.377Z,1754760504.377 [DAT](INFO): DAT read: Range 11 to 50 :    56.7 m (trip time 37.8 ms) speed 0.0

2025-08-09T17:28:24.381Z,1754760504.381 [DAT](INFO): DAT read: 17:28:23.3380 LVL= 27248, 23393, 15346, 26163, AGC= 63, IDX= 506,-0.25, 0.156, 1.201, 2.608, 1.408, PHS=-1.149,-0.162, 1.156, RAW= 235.3,   1.6, CAL= 232.4,   2.2, ROT= 277.6,  -2.2

2025-08-09T17:28:24.383Z,1754760504.383 [DAT](INFO): got valid direction response:
 17:28:23.3380 LVL= 27248, 23393, 15346, 26163, AGC= 63, IDX= 506,-0.25, 0.156, 1.201, 2.608, 1.408, PHS=-1.149,-0.162, 1.156, RAW= 235.3,   1.6, CAL= 232.4,   2.2, ROT= 277.6,  -2.2

2025-08-09T17:28:24.383Z,1754760504.383 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-09T17:28:24.384Z,1754760504.384 [DAT](INFO): direction in FSK: [0.132159,-0.990485,0.038388]
2025-08-09T17:28:24.384Z,1754760504.384 [DAT](INFO): publishing direction and range info
2025-08-09T17:28:24.387Z,1754760504.387 [DAT](DEBUG): Acoustic response timeout
2025-08-09T17:28:24.388Z,1754760504.388 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-09T17:28:24.528Z,1754760504.528 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 56.700001 m,
      deltaT: 0.501446 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-08-09T17:28:24.530Z,1754760504.530 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 56.700001 m,
      bearing: 178.488853 deg,
      lat: 36.906114 deg,
      lon: -122.115965 deg,
      deltaT: 0.501446 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      posRepo size: 4

2025-08-09T17:28:24.535Z,1754760504.535 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 56.70 m.
2025-08-09T17:28:24.624Z,1754760504.624 [DAT](INFO): Reached modem response timeout
2025-08-09T17:28:24.624Z,1754760504.624 [DAT](DEBUG): Acoustic response timeout
2025-08-09T17:28:24.625Z,1754760504.625 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-09T17:28:24.877Z,1754760504.877 [DAT](INFO): DAT read: Rx Time:17:28:23.8379 

2025-08-09T17:28:24.877Z,1754760504.877 [DAT](INFO): Rx dataTimestamp_ set to:1754760504.877126
2025-08-09T17:28:24.879Z,1754760504.879 [DAT](INFO): DAT read: Bearing  62.5, -81.5 (Local)

2025-08-09T17:28:24.879Z,1754760504.879 [DAT](INFO): Local bearing/azimuth received:
 Bearing  62.5, -81.5 (Local)

2025-08-09T17:28:24.881Z,1754760504.881 [DAT](INFO): DAT read: Range 11 to 50 :    56.6 m (trip time 37.7 ms) speed 0.0

2025-08-09T17:28:24.889Z,1754760504.889 [DAT](INFO): DAT read: 17:28:23.8379 LVL= 29456, 26465, 15858, 27251, AGC= 64, IDX= 505,-0.17,-2.210,-1.191, 0.217,-0.978, PHS=-1.130,-0.168, 1.150, RAW= 234.8,   1.5, CAL= 231.9,   2.2, ROT= 278.1,  -2.2

2025-08-09T17:28:24.899Z,1754760504.899 [DAT](INFO): got valid direction response:
 17:28:23.8379 LVL= 29456, 26465, 15858, 27251, AGC= 64, IDX= 505,-0.17,-2.210,-1.191, 0.217,-0.978, PHS=-1.130,-0.168, 1.150, RAW= 234.8,   1.5, CAL= 231.9,   2.2, ROT= 278.1,  -2.2

2025-08-09T17:28:24.899Z,1754760504.899 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-09T17:28:24.900Z,1754760504.900 [DAT](INFO): direction in FSK: [0.140797,-0.989294,0.038388]
2025-08-09T17:28:24.900Z,1754760504.900 [DAT](INFO): publishing direction and range info
2025-08-09T17:28:24.909Z,1754760504.909 [DAT](DEBUG): Acoustic response timeout
2025-08-09T17:28:24.910Z,1754760504.910 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-09T17:28:24.968Z,1754760504.968 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 56.599998 m,
      deltaT: 0.505106 s,
      deltaX: -0.100002 m,
      approachRate: -0.197983 m/s,
      rangeRepo size: 4

2025-08-09T17:28:24.975Z,1754760504.975 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 56.599998 m,
      bearing: 178.424523 deg,
      lat: 36.906114 deg,
      lon: -122.115965 deg,
      deltaT: 0.505106 s,
      deltaX: -0.100002 m,
      approachRate: -0.197983 m/s,
      posRepo size: 4

2025-08-09T17:28:24.975Z,1754760504.975 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 56.60 m.
2025-08-09T17:28:25.127Z,1754760505.127 [DAT](INFO): Reached modem response timeout
2025-08-09T17:28:25.127Z,1754760505.127 [DAT](DEBUG): Acoustic response timeout
2025-08-09T17:28:25.127Z,1754760505.127 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-09T17:28:25.367Z,1754760505.367 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 56.60 m.
2025-08-09T17:28:25.380Z,1754760505.380 [DAT](INFO): DAT read: Rx Time:17:28:24.3380 

2025-08-09T17:28:25.380Z,1754760505.380 [DAT](INFO): Rx dataTimestamp_ set to:1754760505.380135
2025-08-09T17:28:25.382Z,1754760505.382 [DAT](INFO): DAT read: Bearing  56.8, -80.5 (Local)

2025-08-09T17:28:25.382Z,1754760505.382 [DAT](INFO): Local bearing/azimuth received:
 Bearing  56.8, -80.5 (Local)

2025-08-09T17:28:25.384Z,1754760505.384 [DAT](INFO): DAT read: Range 11 to 50 :    56.7 m (trip time 37.8 ms) speed 0.0

2025-08-09T17:28:25.389Z,1754760505.389 [DAT](INFO): DAT read: 17:28:24.3380 LVL= 24928, 22721, 13602, 23795, AGC= 63, IDX= 506,-0.06,-1.257,-0.228, 1.253,-0.018, PHS=-1.137,-0.165, 1.228, RAW= 234.1,   0.7, CAL= 231.0,   1.4, ROT= 279.0,  -1.4

2025-08-09T17:28:25.390Z,1754760505.390 [DAT](INFO): got valid direction response:
 17:28:24.3380 LVL= 24928, 22721, 13602, 23795, AGC= 63, IDX= 506,-0.06,-1.257,-0.228, 1.253,-0.018, PHS=-1.137,-0.165, 1.228, RAW= 234.1,   0.7, CAL= 231.0,   1.4, ROT= 279.0,  -1.4

2025-08-09T17:28:25.390Z,1754760505.390 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-09T17:28:25.391Z,1754760505.391 [DAT](INFO): direction in FSK: [0.156388,-0.987393,0.024432]
2025-08-09T17:28:25.392Z,1754760505.392 [DAT](INFO): publishing direction and range info
2025-08-09T17:28:25.395Z,1754760505.395 [DAT](DEBUG): Acoustic response timeout
2025-08-09T17:28:25.395Z,1754760505.395 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-09T17:28:25.631Z,1754760505.631 [DAT](INFO): Reached modem response timeout
2025-08-09T17:28:25.632Z,1754760505.632 [DAT](DEBUG): Acoustic response timeout
2025-08-09T17:28:25.632Z,1754760505.632 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-09T17:28:25.833Z,1754760505.833 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 56.700001 m,
      deltaT: 0.503009 s,
      deltaX: 0.100002 m,
      approachRate: 0.198808 m/s,
      rangeRepo size: 4

2025-08-09T17:28:25.840Z,1754760505.840 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 56.700001 m,
      bearing: 178.289940 deg,
      lat: 36.906114 deg,
      lon: -122.115965 deg,
      deltaT: 0.503009 s,
      deltaX: 0.100002 m,
      approachRate: 0.198808 m/s,
      posRepo size: 4

2025-08-09T17:28:25.840Z,1754760505.840 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 56.70 m.
2025-08-09T17:28:25.884Z,1754760505.884 [DAT](INFO): DAT read: Rx Time:17:28:24.8379 

2025-08-09T17:28:25.885Z,1754760505.885 [DAT](INFO): Rx dataTimestamp_ set to:1754760505.884326
2025-08-09T17:28:25.886Z,1754760505.886 [DAT](INFO): DAT read: Bearing  63.4, -81.0 (Local)

2025-08-09T17:28:25.886Z,1754760505.886 [DAT](INFO): Local bearing/azimuth received:
 Bearing  63.4, -81.0 (Local)

2025-08-09T17:28:25.889Z,1754760505.889 [DAT](INFO): DAT read: Range 11 to 50 :    56.6 m (trip time 37.7 ms) speed -0.1

2025-08-09T17:28:25.893Z,1754760505.893 [DAT](INFO): DAT read: 17:28:24.8379 LVL= 25824, 20785, 12530, 24339, AGC= 63, IDX= 505, 0.07,-1.373,-0.365, 1.075,-0.129, PHS=-1.141,-0.190, 1.161, RAW= 234.3,   1.7, CAL= 231.5,   2.5, ROT= 278.5,  -2.5

2025-08-09T17:28:25.894Z,1754760505.894 [DAT](INFO): got valid direction response:
 17:28:24.8379 LVL= 25824, 20785, 12530, 24339, AGC= 63, IDX= 505, 0.07,-1.373,-0.365, 1.075,-0.129, PHS=-1.141,-0.190, 1.161, RAW= 234.3,   1.7, CAL= 231.5,   2.5, ROT= 278.5,  -2.5

2025-08-09T17:28:25.895Z,1754760505.895 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-09T17:28:25.896Z,1754760505.896 [DAT](INFO): direction in FSK: [0.147669,-0.988075,0.043619]
2025-08-09T17:28:25.896Z,1754760505.896 [DAT](INFO): publishing direction and range info
2025-08-09T17:28:25.905Z,1754760505.905 [DAT](DEBUG): Acoustic response timeout
2025-08-09T17:28:25.905Z,1754760505.905 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-09T17:28:26.135Z,1754760506.135 [DAT](INFO): Reached modem response timeout
2025-08-09T17:28:26.136Z,1754760506.136 [DAT](DEBUG): Acoustic response timeout
2025-08-09T17:28:26.136Z,1754760506.136 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-09T17:28:26.309Z,1754760506.309 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 56.599998 m,
      deltaT: 0.504191 s,
      deltaX: -0.100002 m,
      approachRate: -0.198342 m/s,
      rangeRepo size: 4

2025-08-09T17:28:26.312Z,1754760506.312 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 56.599998 m,
      bearing: 178.159183 deg,
      lat: 36.906114 deg,
      lon: -122.115965 deg,
      deltaT: 0.504191 s,
      deltaX: -0.100002 m,
      approachRate: -0.198342 m/s,
      posRepo size: 4

2025-08-09T17:28:26.312Z,1754760506.312 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 56.60 m.
2025-08-09T17:28:26.388Z,1754760506.388 [DAT](INFO): DAT read: Rx Time:17:28:25.3380 

2025-08-09T17:28:26.389Z,1754760506.389 [DAT](INFO): Rx dataTimestamp_ set to:1754760506.388341
2025-08-09T17:28:26.390Z,1754760506.390 [DAT](INFO): DAT read: Bearing  59.2, -80.4 (Local)

2025-08-09T17:28:26.391Z,1754760506.391 [DAT](INFO): Local bearing/azimuth received:
 Bearing  59.2, -80.4 (Local)

2025-08-09T17:28:26.393Z,1754760506.393 [DAT](INFO): DAT read: Range 11 to 50 :    56.7 m (trip time 37.8 ms) speed 0.0

2025-08-09T17:28:26.397Z,1754760506.397 [DAT](INFO): DAT read: 17:28:25.3380 LVL= 20496, 19553, 13746, 23747, AGC= 62, IDX= 506, 0.29, 0.226, 1.228, 2.689, 1.454, PHS=-1.126,-0.181, 1.191, RAW= 233.9,   1.2, CAL= 231.0,   1.9, ROT= 279.0,  -1.9

2025-08-09T17:28:26.399Z,1754760506.399 [DAT](INFO): got valid direction response:
 17:28:25.3380 LVL= 20496, 19553, 13746, 23747, AGC= 62, IDX= 506, 0.29, 0.226, 1.228, 2.689, 1.454, PHS=-1.126,-0.181, 1.191, RAW= 233.9,   1.2, CAL= 231.0,   1.9, ROT= 279.0,  -1.9

2025-08-09T17:28:26.400Z,1754760506.400 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-09T17:28:26.401Z,1754760506.401 [DAT](INFO): direction in FSK: [0.156349,-0.987145,0.033155]
2025-08-09T17:28:26.401Z,1754760506.401 [DAT](INFO): publishing direction and range info
2025-08-09T17:28:26.404Z,1754760506.404 [DAT](DEBUG): Acoustic response timeout
2025-08-09T17:28:26.404Z,1754760506.404 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-09T17:28:26.643Z,1754760506.643 [DAT](INFO): Reached modem response timeout
2025-08-09T17:28:26.644Z,1754760506.644 [DAT](DEBUG): Acoustic response timeout
2025-08-09T17:28:26.644Z,1754760506.644 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-09T17:28:26.815Z,1754760506.815 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 56.700001 m,
      deltaT: 0.504015 s,
      deltaX: 0.100002 m,
      approachRate: 0.198411 m/s,
      rangeRepo size: 4

2025-08-09T17:28:26.817Z,1754760506.817 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 56.700001 m,
      bearing: 178.000422 deg,
      lat: 36.906114 deg,
      lon: -122.115964 deg,
      deltaT: 0.504015 s,
      deltaX: 0.100002 m,
      approachRate: 0.198411 m/s,
      posRepo size: 4

2025-08-09T17:28:26.817Z,1754760506.817 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 56.70 m.
2025-08-09T17:28:26.895Z,1754760506.895 [DAT](INFO): DAT read: R Tme17:28:25.8380 

2025-08-09T17:28:26.895Z,1754760506.895 [DAT](INFO): unknown deviceResponse_: R Tme17:28:25.8380 

2025-08-09T17:28:26.896Z,1754760506.896 [DAT](INFO): DAT read: Bearing  57.2, -79.9 (Local)

2025-08-09T17:28:26.897Z,1754760506.897 [DAT](INFO): Local bearing/azimuth received:
 Bearing  57.2, -79.9 (Local)

2025-08-09T17:28:26.899Z,1754760506.899 [DAT](INFO): DAT read: Range 11 to 50 :    56.7 m (trip time 37.8 ms) speed 0.0

2025-08-09T17:28:26.909Z,1754760506.909 [DAT](INFO): DAT read: 17:28:25.8380 LVL= 26016, 21841, 16834, 23283, AGC= 62, IDX= 506,-0.31, 3.024,-2.257,-0.765,-2.029, PHS=-1.128,-0.183, 1.220, RAW= 233.6,   0.9, CAL= 230.5,   1.6, ROT= 279.5,  -1.6

2025-08-09T17:28:26.910Z,1754760506.910 [DAT](INFO): got valid direction response:
 17:28:25.8380 LVL= 26016, 21841, 16834, 23283, AGC= 62, IDX= 506,-0.31, 3.024,-2.257,-0.765,-2.029, PHS=-1.128,-0.183, 1.220, RAW= 233.6,   0.9, CAL= 230.5,   1.6, ROT= 279.5,  -1.6

2025-08-09T17:28:26.910Z,1754760506.910 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-09T17:28:26.911Z,1754760506.911 [DAT](INFO): direction in FSK: [0.164983,-0.985901,0.027922]
2025-08-09T17:28:26.911Z,1754760506.911 [DAT](INFO): publishing direction and range info
2025-08-09T17:28:26.936Z,1754760506.936 [DAT](DEBUG): Acoustic response timeout
2025-08-09T17:28:26.936Z,1754760506.936 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-09T17:28:27.149Z,1754760507.149 [DAT](INFO): Reached modem response timeout
2025-08-09T17:28:27.150Z,1754760507.150 [DAT](DEBUG): Acoustic response timeout
2025-08-09T17:28:27.151Z,1754760507.151 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-09T17:28:27.282Z,1754760507.282 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 56.700001 m,
      deltaT: 0.505220 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-08-09T17:28:27.284Z,1754760507.284 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 56.700001 m,
      bearing: 178.025478 deg,
      lat: 36.906114 deg,
      lon: -122.115965 deg,
      deltaT: 0.505220 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      posRepo size: 4

2025-08-09T17:28:27.284Z,1754760507.284 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 56.70 m.
2025-08-09T17:28:27.400Z,1754760507.400 [DAT](INFO): DAT read: Rx Time:17:28:26.3381 

2025-08-09T17:28:27.401Z,1754760507.401 [DAT](INFO): Rx dataTimestamp_ set to:1754760507.400682
2025-08-09T17:28:27.403Z,1754760507.403 [DAT](INFO): DAT read: Bearing  79 79.7 (Local)

2025-08-09T17:28:27.403Z,1754760507.403 [DAT](INFO): Local bearing/azimuth received:
 Bearing  79 79.7 (Local)

2025-08-09T17:28:27.405Z,1754760507.405 [DAT](INFO): DAT read: Range 11 to 50 :    56.9 m (trip time 37.9 ms) speed -0.1

2025-08-09T17:28:27.410Z,1754760507.410 [DAT](INFO): DAT read: 17:28:26.3381 LVL= 25120, 19633, 13554, 24195, AGC= 61, IDX= 507,-0.01,-0.978, 0.015, 1.520, 0.258, PHS=-1.134,-0.198, 1.218, RAW= 233.3,   1.1, CAL= 230.4,   1.8, ROT= 279.6,  -1.8

2025-08-09T17:28:27.411Z,1754760507.411 [DAT](INFO): got valid direction response:
 17:28:26.3381 LVL= 25120, 19633, 13554, 24195, AGC= 61, IDX= 507,-0.01,-0.978, 0.015, 1.520, 0.258, PHS=-1.134,-0.198, 1.218, RAW= 233.3,   1.1, CAL= 230.4,   1.8, ROT= 279.6,  -1.8

2025-08-09T17:28:27.412Z,1754760507.412 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-09T17:28:27.413Z,1754760507.413 [DAT](INFO): direction in FSK: [0.166686,-0.985510,0.031411]
2025-08-09T17:28:27.413Z,1754760507.413 [DAT](INFO): publishing direction and range info
2025-08-09T17:28:27.416Z,1754760507.416 [DAT](DEBUG): Acoustic response timeout
2025-08-09T17:28:27.416Z,1754760507.416 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-09T17:28:27.655Z,1754760507.655 [DAT](INFO): DAT read: Rx Time:17:28:26.8380 

2025-08-09T17:28:27.657Z,1754760507.657 [DAT](INFO): Rx dataTimestamp_ set to:1754760507.656157
2025-08-09T17:28:27.660Z,1754760507.660 [DAT](INFO): DAT read: Bearing  58.8, -79.5 (Local)

2025-08-09T17:28:27.661Z,1754760507.661 [DAT](INFO): Local bearing/azimuth received:
 Bearing  58.8, -79.5 (Local)

2025-08-09T17:28:27.662Z,1754760507.662 [DAT](INFO): Reached modem response timeout
2025-08-09T17:28:27.663Z,1754760507.663 [DAT](DEBUG): Acoustic response timeout
2025-08-09T17:28:27.664Z,1754760507.664 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-09T17:28:27.834Z,1754760507.834 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 56.900002 m,
      deltaT: 0.507121 s,
      deltaX: 0.200001 m,
      approachRate: 0.394385 m/s,
      rangeRepo size: 4

2025-08-09T17:28:27.841Z,1754760507.841 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 56.900002 m,
      bearing: 177.918012 deg,
      lat: 36.906114 deg,
      lon: -122.115964 deg,
      deltaT: 0.507121 s,
      deltaX: 0.200001 m,
      approachRate: 0.394385 m/s,
      posRepo size: 4

2025-08-09T17:28:27.841Z,1754760507.841 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 56.90 m.
2025-08-09T17:28:27.906Z,1754760507.906 [DAT](INFO): DAT read: Range 11 to 50 :    56.7 m (trip time 78 ms speed 0.0

2025-08-09T17:28:27.918Z,1754760507.918 [DAT](INFO): DAT read: 17:28:26.8380 LVL= 26416, 21553, 17138, 22867, AGC= 63, IDX= 506, 0.33,-1.186,-0.229, 1.249, 0.026, PHS=-1.109,-0.210, 1.180, RAW= 233.0,   1.4, CAL= 230.2,   2.1, ROT= 279.8,  -2.1

2025-08-09T17:28:27.920Z,1754760507.920 [DAT](INFO): got valid direction response:
 17:28:26.8380 LVL= 26416, 21553, 17138, 22867, AGC= 63, IDX= 506, 0.33,-1.186,-0.229, 1.249, 0.026, PHS=-1.109,-0.210, 1.180, RAW= 233.0,   1.4, CAL= 230.2,   2.1, ROT= 279.8,  -2.1

2025-08-09T17:28:27.920Z,1754760507.920 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-09T17:28:27.922Z,1754760507.922 [DAT](INFO): direction in FSK: [0.170095,-0.984746,0.036644]
2025-08-09T17:28:27.923Z,1754760507.923 [DAT](INFO): publishing direction and range info
2025-08-09T17:28:27.928Z,1754760507.928 [DAT](DEBUG): Acoustic response timeout
2025-08-09T17:28:27.928Z,1754760507.928 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-09T17:28:28.136Z,1754760508.136 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 56.700001 m,
      deltaT: 0.502581 s,
      deltaX: -0.200001 m,
      approachRate: -0.397947 m/s,
      rangeRepo size: 4

2025-08-09T17:28:28.138Z,1754760508.138 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 56.700001 m,
      bearing: 177.885795 deg,
      lat: 36.906114 deg,
      lon: -122.115964 deg,
      deltaT: 0.502581 s,
      deltaX: -0.200001 m,
      approachRate: -0.397947 m/s,
      posRepo size: 4

2025-08-09T17:28:28.138Z,1754760508.138 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 56.70 m.
2025-08-09T17:28:28.158Z,1754760508.158 [DAT](INFO): DAT read: Rx Time:17:28:27.3381 

2025-08-09T17:28:28.160Z,1754760508.160 [DAT](INFO): Rx dataTimestamp_ set to:1754760508.158773
2025-08-09T17:28:28.163Z,1754760508.163 [DAT](INFO): DAT read: Bearing  57.3, -78.9 (Local)

2025-08-09T17:28:28.164Z,1754760508.164 [DAT](INFO): Local bearing/azimuth received:
 Bearing  57.3, -78.9 (Local)

2025-08-09T17:28:28.165Z,1754760508.165 [DAT](INFO): Reached modem response timeout
2025-08-09T17:28:28.165Z,1754760508.165 [DAT](DEBUG): Acoustic response timeout
2025-08-09T17:28:28.179Z,1754760508.179 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-09T17:28:28.409Z,1754760508.409 [DAT](INFO): DAT read: Range 11 to 50 :    56.9 m (trip time 37.9 ms) speed -0.1

2025-08-09T17:28:28.414Z,1754760508.414 [DAT](INFO): DAT read: 17:28:27.3381 LVL= 22512, 17713, 14066, 22131, AGC= 6,ID=507,-0.08, 3.079,-2.236,-0.693,-1.967, PHS=-1.136,-0.224, 1.230, RAW= 232.5,   1.3, CAL= 229.7,   2.0, ROT= 280.3,  -2.0

2025-08-09T17:28:28.415Z,1754760508.415 [DAT](INFO): unknown deviceResponse_: 17:28:27.3381 LVL= 22512, 17713, 14066, 22131, AGC= 6,ID=507,-0.08, 3.079,-2.236,-0.693,-1.967, PHS=-1.136,-0.224, 1.230, RAW= 232.5,   1.3, CAL= 229.7,   2.0, ROT= 280.3,  -2.0

2025-08-09T17:28:28.415Z,1754760508.415 [DAT](ERROR): #Rx 1: Read range message, but no direction.
2025-08-09T17:28:28.416Z,1754760508.416 [DAT](DEBUG): Acoustic response timeout
2025-08-09T17:28:28.416Z,1754760508.416 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-09T17:28:28.515Z,1754760508.515 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 56.900002 m,
      deltaT: 0.503668 s,
      deltaX: 0.200001 m,
      approachRate: 0.397088 m/s,
      rangeRepo size: 4

2025-08-09T17:28:28.516Z,1754760508.516 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 56.70 m.
2025-08-09T17:28:28.664Z,1754760508.664 [DAT](INFO): DAT read: Rx Time:17:28:27.8380 

2025-08-09T17:28:28.667Z,1754760508.667 [DAT](INFO): Rx dataTimestamp_ set to:1754760508.665036
2025-08-09T17:28:28.671Z,1754760508.671 [DAT](INFO): DAT read: Bearing  56.1, -78.6 (Local)

2025-08-09T17:28:28.672Z,1754760508.672 [DAT](INFO): Local bearing/azimuth received:
 Bearing  56.1, -78.6 (Local)

2025-08-09T17:28:28.679Z,1754760508.679 [DAT](INFO): DAT read: Range 11 to 50 :    56.7 m (trip time 37.8 ms) speed 0.0

2025-08-09T17:28:28.683Z,1754760508.683 [DAT](ERROR): #Rx 1: Read range message, but no direction.
2025-08-09T17:28:28.685Z,1754760508.685 [DAT](DEBUG): Acoustic response timeout
2025-08-09T17:28:28.688Z,1754760508.688 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-09T17:28:28.923Z,1754760508.923 [DAT](INFO): DAT read: 17:28:27.8380 LVL= 24048, 18801, 12402, 25795, AGC= 62, IDX= 506, 0.31, 3.135,-2.202,-0.679,-1.937 PS=-1.109,-0.220, 1.214, RAW= 232.3,   1.2, CAL= 229.4,   1.8, ROT= 280.6,  -1.8

2025-08-09T17:28:28.924Z,1754760508.924 [DAT](INFO): unknown deviceResponse_: 17:28:27.8380 LVL= 24048, 18801, 12402, 25795, AGC= 62, IDX= 506, 0.31, 3.135,-2.202,-0.679,-1.937 PS=-1.109,-0.220, 1.214, RAW= 232.3,   1.2, CAL= 229.4,   1.8, ROT= 280.6,  -1.8

2025-08-09T17:28:28.924Z,1754760508.924 [DAT](INFO): Reached modem response timeout
2025-08-09T17:28:28.924Z,1754760508.924 [DAT](DEBUG): Acoustic response timeout
2025-08-09T17:28:28.925Z,1754760508.925 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-09T17:28:28.988Z,1754760508.988 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 56.700001 m,
      deltaT: 0.258105 s,
      deltaX: -0.200001 m,
      approachRate: -0.774881 m/s,
      rangeRepo size: 4

2025-08-09T17:28:28.989Z,1754760508.989 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 56.70 m.
2025-08-09T17:28:29.173Z,1754760509.173 [DAT](INFO): DAT read: Rx Time:17:28:28.3382 

2025-08-09T17:28:29.175Z,1754760509.175 [DAT](INFO): Rx dataTimestamp_ set to:1754760509.173993
2025-08-09T17:28:29.178Z,1754760509.178 [DAT](INFO): DAT read: Bearing  56.3, -78.0 (Local)

2025-08-09T17:28:29.179Z,1754760509.179 [DAT](INFO): Local bearing/azimuth received:
 Bearing  56.3, -78.0 (Local)

2025-08-09T17:28:29.192Z,1754760509.192 [DAT](INFO): DAT read: Range 11 to 50 :    57.0 m (trip time 38.0 ms) speed -0.1

2025-08-09T17:28:29.195Z,1754760509.195 [DAT](ERROR): #Rx 1: Read range message, but no direction.
2025-08-09T17:28:29.197Z,1754760509.197 [DAT](DEBUG): Acoustic response timeout
2025-08-09T17:28:29.197Z,1754760509.197 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-09T17:28:29.371Z,1754760509.371 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 57.000000 m,
      deltaT: 0.508957 s,
      deltaX: 0.299999 m,
      approachRate: 0.589439 m/s,
      rangeRepo size: 4

2025-08-09T17:28:29.371Z,1754760509.371 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 56.70 m.
2025-08-09T17:28:29.424Z,1754760509.424 [DAT](INFO): DAT read: 17:28:28.3382 LVL= 24608, 22945, 13682, 24307, AGC= 63, IDX= 508,-0.10, 2.778,-2.561,-0.987,-2.274, PHS=-1.129,-0.242, 1.243, RAW= 231.7,  1.3 CAL= 229.0,   1.9, ROT= 281.0,  -1.9

2025-08-09T17:28:29.425Z,1754760509.425 [DAT](INFO): unknown deviceResponse_: 17:28:28.3382 LVL= 24608, 22945, 13682, 24307, AGC= 63, IDX= 508,-0.10, 2.778,-2.561,-0.987,-2.274, PHS=-1.129,-0.242, 1.243, RAW= 231.7,  1.3 CAL= 229.0,   1.9, ROT= 281.0,  -1.9

2025-08-09T17:28:29.425Z,1754760509.425 [DAT](INFO): Reached modem response timeout
2025-08-09T17:28:29.425Z,1754760509.425 [DAT](DEBUG): Acoustic response timeout
2025-08-09T17:28:29.425Z,1754760509.425 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-09T17:28:29.676Z,1754760509.676 [DAT](INFO): DAT read: Rx Time:17:28:28.8381 

2025-08-09T17:28:29.679Z,1754760509.679 [DAT](INFO): Rx dataTimestamp_ set to:1754760509.677298
2025-08-09T17:28:29.683Z,1754760509.683 [DAT](INFO): DAT read: Bearing  56.8, -78.0 (Local)

2025-08-09T17:28:29.684Z,1754760509.684 [DAT](INFO): Local bearing/azimuth received:
 Bearing  56.8, -78.0 (Local)

2025-08-09T17:28:29.689Z,1754760509.689 [DAT](INFO): DAT read: Range 11 to 50 :    56.9 m (trip time 37.9 ms) speed 0.0

2025-08-09T17:28:29.692Z,1754760509.692 [DAT](ERROR): #Rx 1: Read range message, but no direction.
2025-08-09T17:28:29.696Z,1754760509.696 [DAT](DEBUG): Acoustic response timeout
2025-08-09T17:28:29.697Z,1754760509.697 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-09T17:28:29.857Z,1754760509.857 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 56.900002 m,
      deltaT: 0.503305 s,
      deltaX: -0.099998 m,
      approachRate: -0.198684 m/s,
      rangeRepo size: 4

2025-08-09T17:28:29.858Z,1754760509.858 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 56.70 m.
2025-08-09T17:28:29.929Z,1754760509.929 [DAT](INFO): DAT read: 17:28:28.8381 LVL= 24944, 20257, 15218, 22451, AGC= 63, IDX= 507, 0.31,-2.604,-1.698,-0.193,-1.419, PHS=-1.083,-0.234, 1.182, RAW= 231.8,   1., CAL= 229.1,   2.0, ROT= 280.9,  -2.0

2025-08-09T17:28:29.930Z,1754760509.930 [DAT](INFO): got valid direction response:
 17:28:28.8381 LVL= 24944, 20257, 15218, 22451, AGC= 63, IDX= 507, 0.31,-2.604,-1.698,-0.193,-1.419, PHS=-1.083,-0.234, 1.182, RAW= 231.8,   1., CAL= 229.1,   2.0, ROT= 280.9,  -2.0

2025-08-09T17:28:29.931Z,1754760509.931 [DAT](INFO): #Rx 1: Read direction message, but no range.
2025-08-09T17:28:29.932Z,1754760509.932 [DAT](INFO): direction in FSK: [0.188980,-0.981361,0.034899]
2025-08-09T17:28:29.935Z,1754760509.935 [DAT](INFO): Reached modem response timeout
2025-08-09T17:28:29.935Z,1754760509.935 [DAT](DEBUG): Acoustic response timeout
2025-08-09T17:28:29.936Z,1754760509.936 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-09T17:28:30.178Z,1754760510.178 [DAT](INFO): DAT read: Rx Time:17:28:29.3383 

2025-08-09T17:28:30.180Z,1754760510.180 [DAT](INFO): Rx dataTimestamp_ set to:1754760510.178763
2025-08-09T17:28:30.183Z,1754760510.183 [DAT](INFO): DAT read: Bearing  58.7, -78.1 (Local)

2025-08-09T17:28:30.184Z,1754760510.184 [DAT](INFO): Local bearing/azimuth received:
 Bearing  58.7, -78.1 (Local)

2025-08-09T17:28:30.199Z,1754760510.199 [DAT](INFO): DAT read: Range 11 to 50 :    57.2 m (trip time 38.1 ms) speed 0.0

2025-08-09T17:28:30.202Z,1754760510.202 [DAT](ERROR): #Rx 1: Read range message, but no direction.
2025-08-09T17:28:30.212Z,1754760510.212 [DAT](DEBUG): Acoustic response timeout
2025-08-09T17:28:30.212Z,1754760510.212 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-09T17:28:30.293Z,1754760510.293 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 57.200001 m,
      deltaT: 0.501465 s,
      deltaX: 0.299999 m,
      approachRate: 0.598246 m/s,
      rangeRepo size: 4

2025-08-09T17:28:30.299Z,1754760510.299 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 57.200001 m,
      bearing: 177.937041 deg,
      lat: 36.906114 deg,
      lon: -122.115967 deg,
      deltaT: 2.275500 s,
      deltaX: 0.500000 m,
      approachRate: 0.219732 m/s,
      posRepo size: 4

2025-08-09T17:28:30.299Z,1754760510.299 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 57.20 m.
2025-08-09T17:28:30.431Z,1754760510.431 [DAT](INFO): DAT read: 17:28:29.3383 LVL= 26000, 25281, 14546, 23251, AGC= 64, IDX= 509,-0.16,-2.930,-2.033,-0.545,-1.744, PHS=-1.084,-0.245, 1.154, RAW= 231.8,   1.8, CAL= 229.3,   2.5, ROT= 280.7,  -2.5

2025-08-09T17:28:30.432Z,1754760510.432 [DAT](INFO): got valid direction response:
 17:28:29.3383 LVL= 26000, 25281, 14546, 23251, AGC= 64, IDX= 509,-0.16,-2.930,-2.033,-0.545,-1.744, PHS=-1.084,-0.245, 1.154, RAW= 231.8,   1.8, CAL= 229.3,   2.5, ROT= 280.7,  -2.5

2025-08-09T17:28:30.433Z,1754760510.433 [DAT](INFO): #Rx 1: Read direction message, but no range.
2025-08-09T17:28:30.434Z,1754760510.434 [DAT](INFO): direction in FSK: [0.185490,-0.981678,0.043619]
2025-08-09T17:28:30.437Z,1754760510.437 [DAT](INFO): Reached modem response timeout
2025-08-09T17:28:30.437Z,1754760510.437 [DAT](DEBUG): Acoustic response timeout
2025-08-09T17:28:30.437Z,1754760510.437 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-09T17:28:30.587Z,1754760510.587 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 57.20 m.
2025-08-09T17:28:30.685Z,1754760510.685 [DAT](INFO): DAT read: Rx Time:17:28:29.8382 

2025-08-09T17:28:30.688Z,1754760510.688 [DAT](INFO): Rx dataTimestamp_ set to:1754760510.686384
2025-08-09T17:28:30.693Z,1754760510.693 [DAT](INFO): DAT read: Bearing  53.8, -77.1 (Local)

2025-08-09T17:28:30.696Z,1754760510.696 [DAT](INFO): Local bearing/azimuth received:
 Bearing  53.8, -77.1 (Local)

2025-08-09T17:28:30.714Z,1754760510.714 [DAT](INFO): DAT read: Range 11 to 50 :    57.0 m (trip time 38.0 ms) speed 0.0

2025-08-09T17:28:30.739Z,1754760510.739 [DAT](INFO): DAT read: 17:28:29.8382 LVL= 21408, 19681, 12514, 22755, AGC= 63, IDX= 508, 0.11,-1.004,-0.104, 1.447, 0.179, PHS=-1.081,-0.238, 1.225, RAW= 231.2,   0.9, CAL= 228.4,   1.5, ROT= 281.6,  -1.5

2025-08-09T17:28:30.740Z,1754760510.740 [DAT](INFO): got valid direction response:
 17:28:29.8382 LVL= 21408, 19681, 12514, 22755, AGC= 63, IDX= 508, 0.11,-1.004,-0.104, 1.447, 0.179, PHS=-1.081,-0.238, 1.225, RAW= 231.2,   0.9, CAL= 228.4,   1.5, ROT= 281.6,  -1.5

2025-08-09T17:28:30.741Z,1754760510.741 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-09T17:28:30.747Z,1754760510.747 [DAT](INFO): direction in FSK: [0.201009,-0.979240,0.026177]
2025-08-09T17:28:30.747Z,1754760510.747 [DAT](INFO): publishing direction and range info
2025-08-09T17:28:30.759Z,1754760510.759 [DAT](DEBUG): Acoustic response timeout
2025-08-09T17:28:30.759Z,1754760510.759 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-09T17:28:30.931Z,1754760510.931 [DAT](INFO): Reached modem response timeout
2025-08-09T17:28:30.931Z,1754760510.931 [DAT](DEBUG): Acoustic response timeout
2025-08-09T17:28:30.931Z,1754760510.931 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-09T17:28:31.045Z,1754760511.045 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 57.000000 m,
      deltaT: 0.507621 s,
      deltaX: -0.200001 m,
      approachRate: -0.393996 m/s,
      rangeRepo size: 4

2025-08-09T17:28:31.051Z,1754760511.051 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 57.000000 m,
      bearing: 177.917445 deg,
      lat: 36.906112 deg,
      lon: -122.115967 deg,
      deltaT: 0.507621 s,
      deltaX: -0.200001 m,
      approachRate: -0.393996 m/s,
      posRepo size: 4

2025-08-09T17:28:31.052Z,1754760511.052 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 57.00 m.
2025-08-09T17:28:31.187Z,1754760511.187 [DAT](INFO): DAT read: Rx Time:17:28:30.3383 

2025-08-09T17:28:31.189Z,1754760511.189 [DAT](INFO): Rx dataTimestamp_ set to:1754760511.187624
2025-08-09T17:28:31.203Z,1754760511.203 [DAT](INFO): DAT read: Bearing  53.8, -76.6 (Local)

2025-08-09T17:28:31.204Z,1754760511.204 [DAT](INFO): Local bearing/azimuth received:
 Bearing  53.8, -76.6 (Local)

2025-08-09T17:28:31.208Z,1754760511.208 [DAT](INFO): DAT read: Range 11 to 50 :    57.2 m (trip time 38.1 ms) speed 0.0

2025-08-09T17:28:31.279Z,1754760511.279 [DAT](INFO): DAT read: 17:28:30.3383 LVL= 20080, 18513, 10674, 22099, AGC= 60, IDX= 509, 0.42, 1.266, 2.123,-2.634, 2.413, PHS=-1.045,-0.245, 1.192, RAW= 230.7,   1.0, CAL= 227.9,   1.6, ROT= 282.1,  -1.6

2025-08-09T17:28:31.281Z,1754760511.281 [DAT](INFO): got valid direction response:
 17:28:30.3383 LVL= 20080, 18513, 10674, 22099, AGC= 60, IDX= 509, 0.42, 1.266, 2.123,-2.634, 2.413, PHS=-1.045,-0.245, 1.192, RAW= 230.7,   1.0, CAL= 227.9,   1.6, ROT= 282.1,  -1.6

2025-08-09T17:28:31.281Z,1754760511.281 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-09T17:28:31.282Z,1754760511.282 [DAT](INFO): direction in FSK: [0.209537,-0.977402,0.027922]
2025-08-09T17:28:31.290Z,1754760511.290 [DAT](INFO): publishing direction and range info
2025-08-09T17:28:31.300Z,1754760511.300 [DAT](DEBUG): Acoustic response timeout
2025-08-09T17:28:31.301Z,1754760511.301 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-09T17:28:31.415Z,1754760511.415 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 57.200001 m,
      deltaT: 0.501240 s,
      deltaX: 0.200001 m,
      approachRate: 0.399012 m/s,
      rangeRepo size: 4

2025-08-09T17:28:31.417Z,1754760511.417 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 57.200001 m,
      bearing: 177.917454 deg,
      lat: 36.906112 deg,
      lon: -122.115968 deg,
      deltaT: 0.501240 s,
      deltaX: 0.200001 m,
      approachRate: 0.399012 m/s,
      posRepo size: 4

2025-08-09T17:28:31.418Z,1754760511.418 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 57.20 m.
2025-08-09T17:28:31.435Z,1754760511.435 [DAT](INFO): Reached modem response timeout
2025-08-09T17:28:31.435Z,1754760511.435 [DAT](DEBUG): Acoustic response timeout
2025-08-09T17:28:31.435Z,1754760511.435 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-09T17:28:31.715Z,1754760511.715 [DAT](INFO): DAT read: Rx Time:17:28:30.8383 

2025-08-09T17:28:31.716Z,1754760511.716 [DAT](INFO): Rx dataTimestamp_ set to:1754760511.715380
2025-08-09T17:28:31.718Z,1754760511.718 [DAT](INFO): DAT read: Bearing  50.3, -75.2 (Local)

2025-08-09T17:28:31.718Z,1754760511.718 [DAT](INFO): Local bearing/azimuth received:
 Bearing  50.3, -75.2 (Local)

2025-08-09T17:28:31.721Z,1754760511.721 [DAT](INFO): DAT read: Range 11 to 50 :    57.2 m (trip time 38.1 ms) speed 0.0

2025-08-09T17:28:31.728Z,1754760511.728 [DAT](INFO): DAT read: 17:28:30.8383 LVL= 20032, 17297, 12402, 21411, AGC= 59, IDX= 509,-0.14,-1.715,-0.886, 0.696,-0.590, PHS=-1.022,-0.251, 1.243, RAW= 229.6,   0.3, CAL= 226.6,   0.7, ROT= 283.4,  -0.7

2025-08-09T17:28:31.731Z,1754760511.731 [DAT](INFO): got valid direction response:
 17:28:30.8383 LVL= 20032, 17297, 12402, 21411, AGC= 59, IDX= 509,-0.14,-1.715,-0.886, 0.696,-0.590, PHS=-1.022,-0.251, 1.243, RAW= 229.6,   0.3, CAL= 226.6,   0.7, ROT= 283.4,  -0.7

2025-08-09T17:28:31.731Z,1754760511.731 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-09T17:28:31.733Z,1754760511.733 [DAT](INFO): direction in FSK: [0.231730,-0.972703,0.012217]
2025-08-09T17:28:31.733Z,1754760511.733 [DAT](INFO): publishing direction and range info
2025-08-09T17:28:31.751Z,1754760511.751 [DAT](DEBUG): Acoustic response timeout
2025-08-09T17:28:31.752Z,1754760511.752 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-09T17:28:31.908Z,1754760511.908 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 57.200001 m,
      deltaT: 0.527756 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-08-09T17:28:31.912Z,1754760511.912 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 57.200001 m,
      bearing: 178.258473 deg,
      lat: 36.906110 deg,
      lon: -122.115972 deg,
      deltaT: 0.527756 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      posRepo size: 4

2025-08-09T17:28:31.913Z,1754760511.913 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 57.20 m.
2025-08-09T17:28:31.964Z,1754760511.964 [DAT](INFO): Reached modem response timeout
2025-08-09T17:28:31.964Z,1754760511.964 [DAT](DEBUG): Acoustic response timeout
2025-08-09T17:28:31.965Z,1754760511.964 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-09T17:28:32.221Z,1754760512.221 [DAT](INFO): DAT read: Rx Time:17:28:31.3383 

2025-08-09T17:28:32.223Z,1754760512.223 [DAT](INFO): Rx dataTimestamp_ set to:1754760512.221889
2025-08-09T17:28:32.224Z,1754760512.224 [DAT](INFO): DAT read: Bearing  50.2, -74.9 (Local)

2025-08-09T17:28:32.225Z,1754760512.225 [DAT](INFO): Local bearing/azimuth received:
 Bearing  50.2, -74.9 (Local)

2025-08-09T17:28:32.228Z,1754760512.228 [DAT](INFO): DAT read: Range 11 to 50 :    57.2 m (trip time 38.1 ms) speed 0.0

2025-08-09T17:28:32.236Z,1754760512.236 [DAT](INFO): DAT read: 17:28:31.3383 LVL= 18112, 18081, 13490, 20339, AGC= 60, IDX= 509,-0.01,-0.474, 0.371, 1.997, 0.676, PHS=-1.048,-0.260, 1.277, RAW= 229.5,   0.3, CAL= 226.5,   0.7, ROT= 283.5,  -0.7

2025-08-09T17:28:32.238Z,1754760512.238 [DAT](INFO): got valid direction response:
 17:28:31.3383 LVL= 18112, 18081, 13490, 20339, AGC= 60, IDX= 509,-0.01,-0.474, 0.371, 1.997, 0.676, PHS=-1.048,-0.260, 1.277, RAW= 229.5,   0.3, CAL= 226.5,   0.7, ROT= 283.5,  -0.7

2025-08-09T17:28:32.239Z,1754760512.239 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-09T17:28:32.240Z,1754760512.240 [DAT](INFO): direction in FSK: [0.233428,-0.972297,0.012217]
2025-08-09T17:28:32.241Z,1754760512.241 [DAT](INFO): publishing direction and range info
2025-08-09T17:28:32.244Z,1754760512.244 [DAT](DEBUG): Acoustic response timeout
2025-08-09T17:28:32.244Z,1754760512.244 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-09T17:28:32.395Z,1754760512.395 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 57.200001 m,
      deltaT: 0.506509 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-08-09T17:28:32.397Z,1754760512.397 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 57.200001 m,
      bearing: 178.541126 deg,
      lat: 36.906110 deg,
      lon: -122.115976 deg,
      deltaT: 0.506509 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      posRepo size: 4

2025-08-09T17:28:32.397Z,1754760512.397 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 57.20 m.
2025-08-09T17:28:32.471Z,1754760512.471 [DAT](INFO): Reached modem response timeout
2025-08-09T17:28:32.471Z,1754760512.471 [DAT](DEBUG): Acoustic response timeout
2025-08-09T17:28:32.472Z,1754760512.472 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-09T17:28:32.729Z,1754760512.729 [DAT](INFO): DAT read: Rx Time:17:28:31.8382 

2025-08-09T17:28:32.733Z,1754760512.733 [DAT](INFO): Rx dataTimestamp_ set to:1754760512.729318
2025-08-09T17:28:32.746Z,1754760512.746 [DAT](INFO): DAT read: Bearing  51.6, -75.0 (Local)

2025-08-09T17:28:32.746Z,1754760512.746 [DAT](INFO): Local bearing/azimuth received:
 Bearing  51.6, -75.0 (Local)

2025-08-09T17:28:32.748Z,1754760512.748 [DAT](INFO): DAT read: Range 11 to 50 :    57.0 m (trip time 38.0 ms) speed 0.0

2025-08-09T17:28:32.765Z,1754760512.765 [DAT](INFO): DAT read: 17:28:31.8382 LVL= 19504, 19185, 13138, 22739, AGC= 60, IDX= 508, 0.06,-0.223, 0.598, 2.182, 0.910, PHS=-1.031,-0.268, 1.227, RAW= 229.4,   0.7, CAL= 226.6,   1.2, ROT= 283.4,  -1.2

2025-08-09T17:28:32.778Z,1754760512.778 [DAT](INFO): got valid direction response:
 17:28:31.8382 LVL= 19504, 19185, 13138, 22739, AGC= 60, IDX= 508, 0.06,-0.223, 0.598, 2.182, 0.910, PHS=-1.031,-0.268, 1.227, RAW= 229.4,   0.7, CAL= 226.6,   1.2, ROT= 283.4,  -1.2

2025-08-09T17:28:32.779Z,1754760512.779 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-09T17:28:32.780Z,1754760512.780 [DAT](INFO): direction in FSK: [0.231697,-0.972563,0.020942]
2025-08-09T17:28:32.780Z,1754760512.780 [DAT](INFO): publishing direction and range info
2025-08-09T17:28:32.796Z,1754760512.796 [DAT](DEBUG): Acoustic response timeout
2025-08-09T17:28:32.796Z,1754760512.796 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-09T17:28:32.936Z,1754760512.936 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 57.000000 m,
      deltaT: 0.507429 s,
      deltaX: -0.200001 m,
      approachRate: -0.394145 m/s,
      rangeRepo size: 4

2025-08-09T17:28:32.938Z,1754760512.938 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 57.000000 m,
      bearing: 179.292481 deg,
      lat: 36.906110 deg,
      lon: -122.115985 deg,
      deltaT: 0.507429 s,
      deltaX: -0.200001 m,
      approachRate: -0.394145 m/s,
      posRepo size: 4

2025-08-09T17:28:32.947Z,1754760512.947 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 57.00 m.
2025-08-09T17:28:32.976Z,1754760512.976 [DAT](INFO): Reached modem response timeout
2025-08-09T17:28:32.976Z,1754760512.976 [DAT](DEBUG): Acoustic response timeout
2025-08-09T17:28:32.976Z,1754760512.976 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-09T17:28:33.229Z,1754760513.229 [DAT](INFO): DAT read: Rx Time:17:28:32.3383 

2025-08-09T17:28:33.230Z,1754760513.230 [DAT](INFO): Rx dataTimestamp_ set to:1754760513.229422
2025-08-09T17:28:33.232Z,1754760513.232 [DAT](INFO): DAT read: Bearing  53.8, -75.0 (Local)

2025-08-09T17:28:33.233Z,1754760513.233 [DAT](INFO): Local bearing/azimuth received:
 Bearing  53.8, -75.0 (Local)

2025-08-09T17:28:33.236Z,1754760513.236 [DAT](INFO): DAT read: Range 11 to 50 :    57.2 m (trip time 38.1 ms) speed 0.0

2025-08-09T17:28:33.259Z,1754760513.259 [DAT](INFO): DAT read: 17:28:32.3383 LVL= 22080, 19505, 13458, 24339, AGC= 60, IDX= 509, 0.06, 1.363, 2.185,-2.507, 2.519, PHS=-1.053,-0.289, 1.213, RAW= 229.4,   1.3, CAL= 226.8,   1.8, ROT= 283.2,  -1.8

2025-08-09T17:28:33.260Z,1754760513.260 [DAT](INFO): got valid direction response:
 17:28:32.3383 LVL= 22080, 19505, 13458, 24339, AGC= 60, IDX= 509, 0.06, 1.363, 2.185,-2.507, 2.519, PHS=-1.053,-0.289, 1.213, RAW= 229.4,   1.3, CAL= 226.8,   1.8, ROT= 283.2,  -1.8

2025-08-09T17:28:33.260Z,1754760513.260 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-09T17:28:33.261Z,1754760513.261 [DAT](INFO): direction in FSK: [0.228239,-0.973098,0.031411]
2025-08-09T17:28:33.261Z,1754760513.261 [DAT](INFO): publishing direction and range info
2025-08-09T17:28:33.277Z,1754760513.277 [DAT](DEBUG): Acoustic response timeout
2025-08-09T17:28:33.277Z,1754760513.277 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-09T17:28:33.333Z,1754760513.333 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 57.200001 m,
      deltaT: 0.500104 s,
      deltaX: 0.200001 m,
      approachRate: 0.399918 m/s,
      rangeRepo size: 4

2025-08-09T17:28:33.339Z,1754760513.339 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 57.200001 m,
      bearing: 179.243642 deg,
      lat: 36.906110 deg,
      lon: -122.115985 deg,
      deltaT: 0.500104 s,
      deltaX: 0.200001 m,
      approachRate: 0.399918 m/s,
      posRepo size: 4

2025-08-09T17:28:33.339Z,1754760513.339 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 57.20 m.
2025-08-09T17:28:33.479Z,1754760513.479 [DAT](INFO): Reached modem response timeout
2025-08-09T17:28:33.479Z,1754760513.479 [DAT](DEBUG): Acoustic response timeout
2025-08-09T17:28:33.479Z,1754760513.479 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-09T17:28:33.736Z,1754760513.736 [DAT](INFO): DAT read: Rx Time:17:28:32.8382 

2025-08-09T17:28:33.739Z,1754760513.739 [DAT](INFO): Rx dataTimestamp_ set to:1754760513.737159
2025-08-09T17:28:33.743Z,1754760513.743 [DAT](INFO): DAT read: Bearing  52.1, -74.7 (Local)

2025-08-09T17:28:33.744Z,1754760513.744 [DAT](INFO): Local bearing/azimuth received:
 Bearing  52.1, -74.7 (Local)

2025-08-09T17:28:33.759Z,1754760513.759 [DAT](INFO): DAT read: Range 11 to 50 :    57.0 m (trip time 38.0 ms) speed 0.0

2025-08-09T17:28:33.764Z,1754760513.764 [DAT](INFO): DAT read: 17:28:32.8382 LVL= 21472, 21825, 14946, 24147, AGC= 60, IDX= 508,-0.05,-0.611, 0.205, 1.800, 0.531, PHS=-1.040,-0.281, 1.225, RAW= 229.2,   1.0, CAL= 226.6,   1.4, ROT= 283.4,  -1.4

2025-08-09T17:28:33.765Z,1754760513.765 [DAT](INFO): got valid direction response:
 17:28:32.8382 LVL= 21472, 21825, 14946, 24147, AGC= 60, IDX= 508,-0.05,-0.611, 0.205, 1.800, 0.531, PHS=-1.040,-0.281, 1.225, RAW= 229.2,   1.0, CAL= 226.6,   1.4, ROT= 283.4,  -1.4

2025-08-09T17:28:33.765Z,1754760513.765 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-09T17:28:33.808Z,1754760513.808 [DAT](INFO): direction in FSK: [0.231678,-0.972486,0.024432]
2025-08-09T17:28:33.808Z,1754760513.808 [DAT](INFO): publishing direction and range info
2025-08-09T17:28:33.831Z,1754760513.831 [DAT](DEBUG): Acoustic response timeout
2025-08-09T17:28:33.831Z,1754760513.831 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-09T17:28:33.927Z,1754760513.927 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 57.000000 m,
      deltaT: 0.507737 s,
      deltaX: -0.200001 m,
      approachRate: -0.393906 m/s,
      rangeRepo size: 4

2025-08-09T17:28:33.929Z,1754760513.929 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 57.000000 m,
      bearing: 179.164548 deg,
      lat: 36.906110 deg,
      lon: -122.115985 deg,
      deltaT: 0.507737 s,
      deltaX: -0.200001 m,
      approachRate: -0.393906 m/s,
      posRepo size: 4

2025-08-09T17:28:33.930Z,1754760513.930 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 57.00 m.
2025-08-09T17:28:33.983Z,1754760513.983 [DAT](INFO): Reached modem response timeout
2025-08-09T17:28:33.983Z,1754760513.983 [DAT](DEBUG): Acoustic response timeout
2025-08-09T17:28:33.984Z,1754760513.984 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-09T17:28:34.237Z,1754760514.237 [DAT](INFO): DAT read: Rx Time:17:28:33.3383 

2025-08-09T17:28:34.237Z,1754760514.237 [DAT](INFO): Rx dataTimestamp_ set to:1754760514.237183
2025-08-09T17:28:34.239Z,1754760514.239 [DAT](INFO): DAT read: Bearing  51.3, -74.0 (Local)

2025-08-09T17:28:34.239Z,1754760514.239 [DAT](INFO): Local bearing/azimuth received:
 Bearing  51.3, -74.0 (Local)

2025-08-09T17:28:34.241Z,1754760514.241 [DAT](INFO): DAT read: Range 11 to 50 :    57.2 m (trip time 38.1 ms) speed 0.0

2025-08-09T17:28:34.246Z,1754760514.246 [DAT](INFO): DAT read: 17:28:33.3383 LVL= 22000, 19297, 13106, 24115, AGC= 60, IDX= 509,-0.19, 0.752, 1.570,-3.053, 1.912, PHS=-1.059,-0.297, 1.274, RAW= 228.7,   0.8, CAL= 226.0,   1.2, ROT= 284.0,  -1.2

2025-08-09T17:28:34.247Z,1754760514.247 [DAT](INFO): got valid direction response:
 17:28:33.3383 LVL= 22000, 19297, 13106, 24115, AGC= 60, IDX= 509,-0.19, 0.752, 1.570,-3.053, 1.912, PHS=-1.059,-0.297, 1.274, RAW= 228.7,   0.8, CAL= 226.0,   1.2, ROT= 284.0,  -1.2

2025-08-09T17:28:34.247Z,1754760514.247 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-09T17:28:34.248Z,1754760514.248 [DAT](INFO): direction in FSK: [0.241869,-0.970083,0.020942]
2025-08-09T17:28:34.249Z,1754760514.249 [DAT](INFO): publishing direction and range info
2025-08-09T17:28:34.259Z,1754760514.259 [DAT](DEBUG): Acoustic response timeout
2025-08-09T17:28:34.260Z,1754760514.260 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-09T17:28:34.407Z,1754760514.407 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 57.200001 m,
      deltaT: 0.500024 s,
      deltaX: 0.200001 m,
      approachRate: 0.399982 m/s,
      rangeRepo size: 4

2025-08-09T17:28:34.409Z,1754760514.409 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 57.200001 m,
      bearing: 179.101561 deg,
      lat: 36.906110 deg,
      lon: -122.115985 deg,
      deltaT: 0.500024 s,
      deltaX: 0.200001 m,
      approachRate: 0.399982 m/s,
      posRepo size: 4

2025-08-09T17:28:34.410Z,1754760514.410 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 57.20 m.
2025-08-09T17:28:34.488Z,1754760514.488 [DAT](INFO): Reached modem response timeout
2025-08-09T17:28:34.489Z,1754760514.489 [DAT](DEBUG): Acoustic response timeout
2025-08-09T17:28:34.489Z,1754760514.489 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-09T17:28:34.744Z,1754760514.744 [DAT](INFO): DAT read: Rx Time:17:28:33.8381 

2025-08-09T17:28:34.745Z,1754760514.745 [DAT](INFO): Rx dataTimestamp_ set to:1754760514.744292
2025-08-09T17:28:34.749Z,1754760514.749 [DAT](INFO): DAT read: Bearing  51.5, -73.9 (Local)

2025-08-09T17:28:34.751Z,1754760514.751 [DAT](INFO): Local bearing/azimuth received:
 Bearing  51.5, -73.9 (Local)

2025-08-09T17:28:34.761Z,1754760514.761 [DAT](INFO): DAT read: Range 11 to 50 :    56.9 m (trip time 37.9 ms) speed 0.0

2025-08-09T17:28:34.777Z,1754760514.777 [DAT](INFO): DAT read: 17:28:33.8381 LVL= 22416, 22401, 13650, 25299, AGC= 59, IDX= 507, 0.48, 1.136, 1.923,-2.758, 2.259, PHS=-1.021,-0.291, 1.222, RAW= 228.6,   0.9, CAL= 226.0,   1.3, ROT= 284.0,  -1.3

2025-08-09T17:28:34.823Z,1754760514.823 [DAT](INFO): got valid direction response:
 17:28:33.8381 LVL= 22416, 22401, 13650, 25299, AGC= 59, IDX= 507, 0.48, 1.136, 1.923,-2.758, 2.259, PHS=-1.021,-0.291, 1.222, RAW= 228.6,   0.9, CAL= 226.0,   1.3, ROT= 284.0,  -1.3

2025-08-09T17:28:34.823Z,1754760514.823 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-09T17:28:34.824Z,1754760514.824 [DAT](INFO): direction in FSK: [0.241860,-0.970046,0.022687]
2025-08-09T17:28:34.824Z,1754760514.824 [DAT](INFO): publishing direction and range info
2025-08-09T17:28:34.840Z,1754760514.840 [DAT](DEBUG): Acoustic response timeout
2025-08-09T17:28:34.840Z,1754760514.840 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-09T17:28:34.942Z,1754760514.942 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 56.900002 m,
      deltaT: 0.507109 s,
      deltaX: -0.299999 m,
      approachRate: -0.591587 m/s,
      rangeRepo size: 4

2025-08-09T17:28:34.944Z,1754760514.944 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 56.900002 m,
      bearing: 178.895553 deg,
      lat: 36.906111 deg,
      lon: -122.115984 deg,
      deltaT: 0.507109 s,
      deltaX: -0.299999 m,
      approachRate: -0.591587 m/s,
      posRepo size: 4

2025-08-09T17:28:34.945Z,1754760514.945 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 56.90 m.
2025-08-09T17:28:34.991Z,1754760514.991 [DAT](INFO): Reached modem response timeout
2025-08-09T17:28:34.992Z,1754760514.992 [DAT](DEBUG): Acoustic response timeout
2025-08-09T17:28:34.992Z,1754760514.992 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-09T17:28:35.243Z,1754760515.243 [DAT](INFO): DAT read: user:553>

2025-08-09T17:28:35.244Z,1754760515.244 [DAT](INFO): DAT read: Command 'tr50' not found

2025-08-09T17:28:35.244Z,1754760515.244 [DAT](INFO): unknown deviceResponse_: Command 'tr50' not found

2025-08-09T17:28:35.245Z,1754760515.245 [DAT](INFO): DAT read: Error

2025-08-09T17:28:35.245Z,1754760515.245 [DAT](INFO): unknown deviceResponse_: Error

2025-08-09T17:28:35.245Z,1754760515.245 [DAT](INFO): DAT read: user:554>

2025-08-09T17:28:35.246Z,1754760515.246 [DAT](INFO): DAT read: Tx time:17:28:34.7857

2025-08-09T17:28:35.246Z,1754760515.246 [DAT](INFO): Ping request sent.
2025-08-09T17:28:35.247Z,1754760515.247 [DAT](INFO): transmitted an acoustic signal
2025-08-09T17:28:35.247Z,1754760515.247 [DAT](INFO): publishing transmit ping time
2025-08-09T17:28:35.247Z,1754760515.247 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000760
2025-08-09T17:28:35.282Z,1754760515.282 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-09T17:28:35.284Z,1754760515.284 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 56.90 m.
2025-08-09T17:28:35.495Z,1754760515.495 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.248754
2025-08-09T17:28:35.632Z,1754760515.632 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 56.90 m.
2025-08-09T17:28:35.751Z,1754760515.751 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.503777
2025-08-09T17:28:35.999Z,1754760515.999 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.752753
2025-08-09T17:28:36.058Z,1754760516.058 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 56.90 m.
2025-08-09T17:28:36.252Z,1754760516.252 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.005843
2025-08-09T17:28:36.434Z,1754760516.434 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 56.90 m.
2025-08-09T17:28:36.503Z,1754760516.503 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.256649
2025-08-09T17:28:36.760Z,1754760516.760 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.511518
2025-08-09T17:28:36.885Z,1754760516.885 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 56.90 m.
2025-08-09T17:28:37.007Z,1754760517.007 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.760683
2025-08-09T17:28:37.259Z,1754760517.259 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.012736
2025-08-09T17:28:37.362Z,1754760517.362 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 56.90 m.
2025-08-09T17:28:37.511Z,1754760517.511 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.264653
2025-08-09T17:28:37.766Z,1754760517.766 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518808
2025-08-09T17:28:37.881Z,1754760517.881 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 56.90 m.
2025-08-09T17:28:38.015Z,1754760518.015 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.768662
2025-08-09T17:28:38.174Z,1754760518.174 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 56.90 m.
2025-08-09T17:28:38.267Z,1754760518.267 [DAT](INFO): DAT read: Rx Time:17:28:37.2658

2025-08-09T17:28:38.268Z,1754760518.268 [DAT](INFO): Rx dataTimestamp_ set to:1754760518.267497
2025-08-09T17:28:38.268Z,1754760518.268 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.021760
2025-08-09T17:28:38.519Z,1754760518.519 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.272753
2025-08-09T17:28:38.582Z,1754760518.582 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 56.90 m.
2025-08-09T17:28:38.776Z,1754760518.776 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.528440
2025-08-09T17:28:39.029Z,1754760519.029 [DAT](INFO): DAT read: 17:28:37.2657 LVL= 25712, 26369, 18786, 24915, AGC= 61, IDX= 502, 0.41, 2.022, 2.742,-1.868,-3.120, PHS=-1.039,-0.376, 1.208, RAW= 226.7,   2.1, CAL= 224.7,   2.6, ROT= 285.3,  -2.6

2025-08-09T17:28:39.031Z,1754760519.031 [DAT](INFO): got valid direction response:
 17:28:37.2657 LVL= 25712, 26369, 18786, 24915, AGC= 61, IDX= 502, 0.41, 2.022, 2.742,-1.868,-3.120, PHS=-1.039,-0.376, 1.208, RAW= 226.7,   2.1, CAL= 224.7,   2.6, ROT= 285.3,  -2.6

2025-08-09T17:28:39.032Z,1754760519.032 [DAT](INFO): DAT read: Bearing  53.9, -71.9 (Local)

2025-08-09T17:28:39.032Z,1754760519.032 [DAT](INFO): Local bearing/azimuth received:
 Bearing  53.9, -71.9 (Local)

2025-08-09T17:28:39.033Z,1754760519.033 [DAT](INFO): DAT read: Range 11 to 50 : 56.9 m  (Round-trip  75.9 ms) speed  0.0 m/s

2025-08-09T17:28:39.034Z,1754760519.034 [DAT](INFO): DAT read: user:555>

2025-08-09T17:28:39.035Z,1754760519.035 [DAT](INFO): DAT read: Tx time:17:28:38.3856

2025-08-09T17:28:39.035Z,1754760519.035 [DAT](INFO): Ping request sent.
2025-08-09T17:28:39.036Z,1754760519.036 [DAT](INFO): transmitted an acoustic signal
2025-08-09T17:28:39.036Z,1754760519.036 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-09T17:28:39.037Z,1754760519.037 [DAT](INFO): direction in FSK: [0.263601,-0.963565,0.045363]
2025-08-09T17:28:39.037Z,1754760519.037 [DAT](INFO): publishing transmit ping time
2025-08-09T17:28:39.037Z,1754760519.037 [DAT](INFO): publishing direction and range info
2025-08-09T17:28:39.045Z,1754760519.045 [DAT](INFO): publishing transmit ping time
2025-08-09T17:28:39.045Z,1754760519.045 [DAT](INFO): publishing direction and range info
2025-08-09T17:28:39.127Z,1754760519.127 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 56.900002 m,
      deltaT: 4.278523 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-08-09T17:28:39.129Z,1754760519.129 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 56.900002 m,
      bearing: 177.981027 deg,
      lat: 36.906110 deg,
      lon: -122.115980 deg,
      deltaT: 4.278523 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      posRepo size: 4

2025-08-09T17:28:39.129Z,1754760519.129 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 56.90 m.
2025-08-09T17:28:39.524Z,1754760519.524 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 56.90 m.
2025-08-09T17:28:39.980Z,1754760519.980 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 56.90 m.
2025-08-09T17:28:40.343Z,1754760520.343 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 56.90 m.
2025-08-09T17:28:40.742Z,1754760520.742 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 56.90 m.
2025-08-09T17:28:41.155Z,1754760521.155 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 56.90 m.
2025-08-09T17:28:41.548Z,1754760521.548 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 56.90 m.
2025-08-09T17:28:42.020Z,1754760522.020 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 56.90 m.
2025-08-09T17:28:42.056Z,1754760522.056 [DAT](INFO): DAT read: Rx Time:17:28:40.8655

2025-08-09T17:28:42.056Z,1754760522.056 [DAT](INFO): Rx dataTimestamp_ set to:1754760522.055785
2025-08-09T17:28:42.351Z,1754760522.351 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 56.90 m.
2025-08-09T17:28:42.565Z,1754760522.565 [DAT](INFO): DAT read: 17:28:40.8655 LVL= 24304, 22385, 17330, 27123, AGC= 59, IDX= 436, 0.20,-2.623,-1.942,-0.225,-1.535, PHS=-0.986,-0.362, 1.266, RAW= 225.6,   0.8, CAL= 223.2,   1.1, ROT= 286.8,  -1.1

2025-08-09T17:28:42.566Z,1754760522.566 [DAT](INFO): got valid direction response:
 17:28:40.8655 LVL= 24304, 22385, 17330, 27123, AGC= 59, IDX= 436, 0.20,-2.623,-1.942,-0.225,-1.535, PHS=-0.986,-0.362, 1.266, RAW= 225.6,   0.8, CAL= 223.2,   1.1, ROT= 286.8,  -1.1

2025-08-09T17:28:42.567Z,1754760522.567 [DAT](INFO): DAT read: Bearing  47.0, -69.9 (Local)

2025-08-09T17:28:42.567Z,1754760522.567 [DAT](INFO): Local bearing/azimuth received:
 Bearing  47.0, -69.9 (Local)

2025-08-09T17:28:42.569Z,1754760522.569 [DAT](INFO): DAT read: Range 11 to 50 : 56.7 m  (Round-trip  75.7 ms) speed  0.0 m/s

2025-08-09T17:28:42.570Z,1754760522.570 [DAT](INFO): DAT read: user:556>

2025-08-09T17:28:42.570Z,1754760522.570 [DAT](INFO): DAT read: Tx time:17:28:41.9856

2025-08-09T17:28:42.571Z,1754760522.571 [DAT](INFO): Ping request sent.
2025-08-09T17:28:42.571Z,1754760522.571 [DAT](INFO): transmitted an acoustic signal
2025-08-09T17:28:42.571Z,1754760522.571 [DAT](INFO): #Rx 2: Read range and direction messages.
2025-08-09T17:28:42.572Z,1754760522.572 [DAT](INFO): direction in FSK: [0.288979,-0.957143,0.019197]
2025-08-09T17:28:42.572Z,1754760522.572 [DAT](INFO): publishing transmit ping time
2025-08-09T17:28:42.573Z,1754760522.573 [DAT](INFO): publishing direction and range info
2025-08-09T17:28:42.594Z,1754760522.594 [DAT](INFO): publishing transmit ping time
2025-08-09T17:28:42.608Z,1754760522.608 [DAT](INFO): publishing direction and range info
2025-08-09T17:28:42.777Z,1754760522.777 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 56.700001 m,
      deltaT: 3.535889 s,
      deltaX: -0.200001 m,
      approachRate: -0.056563 m/s,
      rangeRepo size: 4

2025-08-09T17:28:42.780Z,1754760522.780 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 56.700001 m,
      bearing: 177.556993 deg,
      lat: 36.906109 deg,
      lon: -122.115980 deg,
      deltaT: 3.535889 s,
      deltaX: -0.200001 m,
      approachRate: -0.056563 m/s,
      posRepo size: 4

2025-08-09T17:28:42.780Z,1754760522.780 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 56.70 m.
2025-08-09T17:28:43.186Z,1754760523.186 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 56.70 m.
2025-08-09T17:28:43.564Z,1754760523.564 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 56.70 m.
2025-08-09T17:28:43.993Z,1754760523.993 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 56.70 m.
2025-08-09T17:28:44.396Z,1754760524.396 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 56.70 m.
2025-08-09T17:28:44.801Z,1754760524.801 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 56.70 m.
2025-08-09T17:28:45.240Z,1754760525.240 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 56.70 m.
2025-08-09T17:28:45.583Z,1754760525.583 [DAT](INFO): DAT read: Rx Time:17:28:44.4655

2025-08-09T17:28:45.584Z,1754760525.584 [DAT](INFO): Rx dataTimestamp_ set to:1754760525.583634
2025-08-09T17:28:45.601Z,1754760525.601 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 56.70 m.
2025-08-09T17:28:46.079Z,1754760526.079 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 56.70 m.
2025-08-09T17:28:46.093Z,1754760526.093 [DAT](INFO): DAT read: 17:28:44.4655 LVL= 23600, 25169, 16322, 23459, AGC= 64, IDX= 436, 0.08, 2.786,-2.884,-1.122,-2.470, PHS=-0.925,-0.369, 1.304, RAW= 223.9,  -0.1, CAL= 221.4,  -0.2, ROT= 288.6,   0.2

2025-08-09T17:28:46.098Z,1754760526.098 [DAT](INFO): got valid direction response:
 17:28:44.4655 LVL= 23600, 25169, 16322, 23459, AGC= 64, IDX= 436, 0.08, 2.786,-2.884,-1.122,-2.470, PHS=-0.925,-0.369, 1.304, RAW= 223.9,  -0.1, CAL= 221.4,  -0.2, ROT= 288.6,   0.2

2025-08-09T17:28:46.099Z,1754760526.099 [DAT](INFO): DAT read: Bearing  40.9, -67.7 (Local)

2025-08-09T17:28:46.100Z,1754760526.100 [DAT](INFO): Local bearing/azimuth received:
 Bearing  40.9, -67.7 (Local)

2025-08-09T17:28:46.101Z,1754760526.101 [DAT](INFO): DAT read: Range 11 to 50 : 56.7 m  (Round-trip  75.7 ms) speed  0.0 m/s

2025-08-09T17:28:46.102Z,1754760526.102 [DAT](INFO): DAT read: user:557>

2025-08-09T17:28:46.103Z,1754760526.103 [DAT](INFO): DAT read: Tx time:17:28:45.5856

2025-08-09T17:28:46.103Z,1754760526.103 [DAT](INFO): Ping request sent.
2025-08-09T17:28:46.103Z,1754760526.103 [DAT](INFO): transmitted an acoustic signal
2025-08-09T17:28:46.103Z,1754760526.103 [DAT](INFO): #Rx 3: Read range and direction messages.
2025-08-09T17:28:46.104Z,1754760526.104 [DAT](INFO): direction in FSK: [0.318957,-0.947763,-0.003491]
2025-08-09T17:28:46.104Z,1754760526.104 [DAT](INFO): publishing transmit ping time
2025-08-09T17:28:46.105Z,1754760526.105 [DAT](INFO): publishing direction and range info
2025-08-09T17:28:46.129Z,1754760526.129 [DAT](INFO): publishing transmit ping time
2025-08-09T17:28:46.129Z,1754760526.129 [DAT](INFO): publishing direction and range info
2025-08-09T17:28:46.497Z,1754760526.497 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 56.700001 m,
      deltaT: 3.528172 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-08-09T17:28:46.503Z,1754760526.503 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 56.700001 m,
      bearing: 177.198220 deg,
      lat: 36.906109 deg,
      lon: -122.115980 deg,
      deltaT: 3.528172 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      posRepo size: 4

2025-08-09T17:28:46.504Z,1754760526.504 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 56.70 m.
2025-08-09T17:28:47.055Z,1754760527.055 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 56.70 m.
2025-08-09T17:28:47.497Z,1754760527.497 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 56.70 m.
2025-08-09T17:28:48.171Z,1754760528.171 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 56.70 m.
2025-08-09T17:28:48.551Z,1754760528.551 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 56.70 m.
2025-08-09T17:28:49.053Z,1754760529.053 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 56.70 m.
2025-08-09T17:28:49.112Z,1754760529.112 [DAT](INFO): DAT read: Rx Time:17:28:48.0655

2025-08-09T17:28:49.113Z,1754760529.113 [DAT](INFO): Rx dataTimestamp_ set to:1754760529.112241
2025-08-09T17:28:49.366Z,1754760529.366 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 56.70 m.
2025-08-09T17:28:49.632Z,1754760529.632 [DAT](INFO): DAT read: 17:28:48.0655 LVL= 23232, 23729, 16114, 24147, AGC= 63, IDX= 436, 0.31, 0.830, 1.370,-3.035, 1.868, PHS=-0.935,-0.453, 1.337, RAW= 221.6,   0.5, CAL= 219.5,   0.3, ROT= 290.5,  -0.3

2025-08-09T17:28:49.633Z,1754760529.633 [DAT](INFO): got valid direction response:
 17:28:48.0655 LVL= 23232, 23729, 16114, 24147, AGC= 63, IDX= 436, 0.31, 0.830, 1.370,-3.035, 1.868, PHS=-0.935,-0.453, 1.337, RAW= 221.6,   0.5, CAL= 219.5,   0.3, ROT= 290.5,  -0.3

2025-08-09T17:28:49.634Z,1754760529.634 [DAT](INFO): DAT read: Bearing  41.2, -65.5 (Local)

2025-08-09T17:28:49.634Z,1754760529.634 [DAT](INFO): Local bearing/azimuth received:
 Bearing  41.2, -65.5 (Local)

2025-08-09T17:28:49.636Z,1754760529.636 [DAT](INFO): DAT read: Range 11 to 50 : 56.7 m  (Round-trip  75.7 ms) speed  0.0 m/s

2025-08-09T17:28:49.636Z,1754760529.636 [DAT](INFO): DAT read: user:558>

2025-08-09T17:28:49.637Z,1754760529.637 [DAT](INFO): DAT read: Tx time:17:28:49.1856

2025-08-09T17:28:49.637Z,1754760529.637 [DAT](INFO): Ping request sent.
2025-08-09T17:28:49.637Z,1754760529.637 [DAT](INFO): transmitted an acoustic signal
2025-08-09T17:28:49.638Z,1754760529.638 [DAT](INFO): #Rx 4: Read range and direction messages.
2025-08-09T17:28:49.640Z,1754760529.640 [DAT](INFO): direction in FSK: [0.350202,-0.936659,0.005236]
2025-08-09T17:28:49.640Z,1754760529.640 [DAT](INFO): publishing transmit ping time
2025-08-09T17:28:49.640Z,1754760529.640 [DAT](INFO): publishing direction and range info
2025-08-09T17:28:49.643Z,1754760529.643 [DAT](INFO): publishing transmit ping time
2025-08-09T17:28:49.643Z,1754760529.643 [DAT](INFO): publishing direction and range info
2025-08-09T17:28:49.808Z,1754760529.808 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 56.700001 m,
      deltaT: 3.530114 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-08-09T17:28:49.816Z,1754760529.816 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 56.700001 m,
      bearing: 176.931827 deg,
      lat: 36.906109 deg,
      lon: -122.115980 deg,
      deltaT: 3.530114 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      posRepo size: 4

2025-08-09T17:28:49.817Z,1754760529.817 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 56.70 m.
2025-08-09T17:28:50.204Z,1754760530.204 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 56.70 m.
2025-08-09T17:28:50.604Z,1754760530.604 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 56.70 m.
2025-08-09T17:28:51.084Z,1754760531.084 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 56.70 m.
2025-08-09T17:28:51.430Z,1754760531.430 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 56.70 m.
2025-08-09T17:28:51.901Z,1754760531.901 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 56.70 m.
2025-08-09T17:28:52.268Z,1754760532.268 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 56.70 m.
2025-08-09T17:28:52.643Z,1754760532.643 [DAT](INFO): DAT read: Rx Time:17:28:51.6656

2025-08-09T17:28:52.644Z,1754760532.644 [DAT](INFO): Rx dataTimestamp_ set to:1754760532.643588
2025-08-09T17:28:52.719Z,1754760532.719 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 56.70 m.
2025-08-09T17:28:53.155Z,1754760533.155 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 56.70 m.
2025-08-09T17:28:53.408Z,1754760533.408 [DAT](INFO): DAT read: 17:28:51.6656 LVL= 21856, 18865, 14162, 19891, AGC= 61, IDX= 437,-0.30,-0.417,-0.042, 1.990, 0.527, PHS=-0.842,-0.524, 1.419, RAW= 217.5,  -0.5, CAL= 215.8,  -1.6, ROT= 294.2,   1.6

2025-08-09T17:28:53.409Z,1754760533.409 [DAT](INFO): got valid direction response:
 17:28:51.6656 LVL= 21856, 18865, 14162, 19891, AGC= 61, IDX= 437,-0.30,-0.417,-0.042, 1.990, 0.527, PHS=-0.842,-0.524, 1.419, RAW= 217.5,  -0.5, CAL= 215.8,  -1.6, ROT= 294.2,   1.6

2025-08-09T17:28:53.411Z,1754760533.411 [DAT](INFO): DAT read: Bearing  35.4, -61.7 (Local)

2025-08-09T17:28:53.411Z,1754760533.411 [DAT](INFO): Local bearing/azimuth received:
 Bearing  35.4, -61.7 (Local)

2025-08-09T17:28:53.413Z,1754760533.413 [DAT](INFO): DAT read: Range 11 to 50 : 56.8 m  (Round-trip  75.8 ms) speed  0.0 m/s

2025-08-09T17:28:53.414Z,1754760533.414 [DAT](INFO): DAT read: user:559>

2025-08-09T17:28:53.415Z,1754760533.415 [DAT](INFO): DAT read: Tx time:17:28:52.7856

2025-08-09T17:28:53.415Z,1754760533.415 [DAT](INFO): Ping request sent.
2025-08-09T17:28:53.415Z,1754760533.415 [DAT](INFO): transmitted an acoustic signal
2025-08-09T17:28:53.415Z,1754760533.415 [DAT](INFO): #Rx 5: Read range and direction messages.
2025-08-09T17:28:53.416Z,1754760533.416 [DAT](INFO): direction in FSK: [0.409763,-0.911764,-0.027922]
2025-08-09T17:28:53.416Z,1754760533.416 [DAT](INFO): publishing transmit ping time
2025-08-09T17:28:53.417Z,1754760533.417 [DAT](INFO): publishing direction and range info
2025-08-09T17:28:53.425Z,1754760533.425 [DAT](INFO): publishing transmit ping time
2025-08-09T17:28:53.425Z,1754760533.425 [DAT](INFO): publishing direction and range info
2025-08-09T17:28:53.630Z,1754760533.630 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 56.799999 m,
      deltaT: 3.782253 s,
      deltaX: 0.099998 m,
      approachRate: 0.026439 m/s,
      rangeRepo size: 4

2025-08-09T17:28:53.636Z,1754760533.636 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 56.799999 m,
      bearing: 176.864828 deg,
      lat: 36.906108 deg,
      lon: -122.115984 deg,
      deltaT: 3.782253 s,
      deltaX: 0.099998 m,
      approachRate: 0.026439 m/s,
      posRepo size: 4

2025-08-09T17:28:53.636Z,1754760533.636 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 56.80 m.
2025-08-09T17:28:54.108Z,1754760534.108 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 56.80 m.
2025-08-09T17:28:54.484Z,1754760534.484 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 56.80 m.
2025-08-09T17:28:54.895Z,1754760534.895 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 56.80 m.
2025-08-09T17:28:55.312Z,1754760535.312 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 56.80 m.
2025-08-09T17:28:55.729Z,1754760535.729 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 56.80 m.
2025-08-09T17:28:56.129Z,1754760536.129 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 56.80 m.
2025-08-09T17:28:56.423Z,1754760536.423 [DAT](INFO): DAT read: Rx Time:17:28:55.2652

2025-08-09T17:28:56.424Z,1754760536.424 [DAT](INFO): Rx dataTimestamp_ set to:1754760536.423466
2025-08-09T17:28:56.529Z,1754760536.529 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 56.80 m.
2025-08-09T17:28:56.933Z,1754760536.933 [DAT](INFO): DAT read: 17:28:55.2652 LVL= 20816, 20465, 14914, 24675, AGC= 62, IDX= 433, 0.49,-0.010, 0.359, 2.441, 0.956, PHS=-0.864,-0.553, 1.440, RAW= 217.2,  -0.2, CAL= 215.5,  -1.3, ROT= 294.5,   1.3

2025-08-09T17:28:56.934Z,1754760536.934 [DAT](INFO): got valid direction response:
 17:28:55.2652 LVL= 20816, 20465, 14914, 24675, AGC= 62, IDX= 433, 0.49,-0.010, 0.359, 2.441, 0.956, PHS=-0.864,-0.553, 1.440, RAW= 217.2,  -0.2, CAL= 215.5,  -1.3, ROT= 294.5,   1.3

2025-08-09T17:28:56.935Z,1754760536.935 [DAT](INFO): DAT read: Bearing  33.7, -61.3 (Local)

2025-08-09T17:28:56.936Z,1754760536.936 [DAT](INFO): Local bearing/azimuth received:
 Bearing  33.7, -61.3 (Local)

2025-08-09T17:28:56.937Z,1754760536.937 [DAT](INFO): DAT read: Range 11 to 50 : 56.5 m  (Round-trip  75.4 ms) speed -0.1 m/s

2025-08-09T17:28:56.938Z,1754760536.938 [DAT](INFO): DAT read: user:560>

2025-08-09T17:28:56.938Z,1754760536.938 [DAT](INFO): DAT read: Tx time:17:28:56.3856

2025-08-09T17:28:56.939Z,1754760536.939 [DAT](INFO): Ping request sent.
2025-08-09T17:28:56.939Z,1754760536.939 [DAT](INFO): transmitted an acoustic signal
2025-08-09T17:28:56.939Z,1754760536.939 [DAT](INFO): #Rx 6: Read range and direction messages.
2025-08-09T17:28:56.940Z,1754760536.940 [DAT](INFO): direction in FSK: [0.414586,-0.909727,-0.022687]
2025-08-09T17:28:56.940Z,1754760536.940 [DAT](INFO): publishing transmit ping time
2025-08-09T17:28:56.941Z,1754760536.941 [DAT](INFO): publishing direction and range info
2025-08-09T17:28:56.952Z,1754760536.952 [DAT](INFO): publishing transmit ping time
2025-08-09T17:28:56.952Z,1754760536.952 [DAT](INFO): publishing direction and range info
2025-08-09T17:28:57.063Z,1754760537.063 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 56.500000 m,
      deltaT: 3.527528 s,
      deltaX: -0.299999 m,
      approachRate: -0.085045 m/s,
      rangeRepo size: 4

2025-08-09T17:28:57.080Z,1754760537.080 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 56.500000 m,
      bearing: 177.238879 deg,
      lat: 36.906107 deg,
      lon: -122.115991 deg,
      deltaT: 3.527528 s,
      deltaX: -0.299999 m,
      approachRate: -0.085045 m/s,
      posRepo size: 4

2025-08-09T17:28:57.081Z,1754760537.081 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 56.50 m.
2025-08-09T17:28:57.404Z,1754760537.404 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 56.50 m.
2025-08-09T17:28:57.802Z,1754760537.802 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 56.50 m.
2025-08-09T17:28:58.241Z,1754760538.241 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 56.50 m.
2025-08-09T17:28:58.603Z,1754760538.603 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 56.50 m.
2025-08-09T17:28:59.013Z,1754760539.013 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 56.50 m.
2025-08-09T17:28:59.436Z,1754760539.436 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 56.50 m.
2025-08-09T17:28:59.835Z,1754760539.835 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 56.50 m.
2025-08-09T17:28:59.951Z,1754760539.951 [DAT](INFO): DAT read: Rx Time:17:28:58.8649

2025-08-09T17:28:59.952Z,1754760539.952 [DAT](INFO): Rx dataTimestamp_ set to:1754760539.951456
2025-08-09T17:29:00.257Z,1754760540.257 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 56.50 m.
2025-08-09T17:29:00.461Z,1754760540.461 [DAT](INFO): DAT read: 17:28:58.8649 LVL= 24944, 27761, 17058, 25267, AGC= 65, IDX= 430,-0.39,-0.375,-0.037, 2.062, 0.562, PHS=-0.835,-0.554, 1.457, RAW= 216.5,  -0.6, CAL= 215.0,  -1.9, ROT= 295.0,   1.9

2025-08-09T17:29:00.462Z,1754760540.462 [DAT](INFO): got valid direction response:
 17:28:58.8649 LVL= 24944, 27761, 17058, 25267, AGC= 65, IDX= 430,-0.39,-0.375,-0.037, 2.062, 0.562, PHS=-0.835,-0.554, 1.457, RAW= 216.5,  -0.6, CAL= 215.0,  -1.9, ROT= 295.0,   1.9

2025-08-09T17:29:00.463Z,1754760540.463 [DAT](INFO): DAT read: Bearing  30.2, -60.6 (Local)

2025-08-09T17:29:00.463Z,1754760540.463 [DAT](INFO): Local bearing/azimuth received:
 Bearing  30.2, -60.6 (Local)

2025-08-09T17:29:00.465Z,1754760540.465 [DAT](INFO): DAT read: Range 11 to 50 : 56.3 m  (Round-trip  75.1 ms) speed  0.0 m/s

2025-08-09T17:29:00.465Z,1754760540.466 [DAT](INFO): DAT read: user:561>

2025-08-09T17:29:00.474Z,1754760540.474 [DAT](INFO): DAT read: Tx time:17:28:59.9856

2025-08-09T17:29:00.474Z,1754760540.474 [DAT](INFO): Ping request sent.
2025-08-09T17:29:00.474Z,1754760540.474 [DAT](INFO): transmitted an acoustic signal
2025-08-09T17:29:00.475Z,1754760540.475 [DAT](INFO): #Rx 7: Read range and direction messages.
2025-08-09T17:29:00.476Z,1754760540.476 [DAT](INFO): direction in FSK: [0.422386,-0.905810,-0.033155]
2025-08-09T17:29:00.476Z,1754760540.476 [DAT](INFO): publishing transmit ping time
2025-08-09T17:29:00.476Z,1754760540.476 [DAT](INFO): publishing direction and range info
2025-08-09T17:29:00.479Z,1754760540.479 [DAT](INFO): publishing transmit ping time
2025-08-09T17:29:00.480Z,1754760540.480 [DAT](INFO): publishing direction and range info
2025-08-09T17:29:00.662Z,1754760540.662 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 56.299999 m,
      deltaT: 3.528018 s,
      deltaX: -0.200001 m,
      approachRate: -0.056689 m/s,
      rangeRepo size: 4

2025-08-09T17:29:00.670Z,1754760540.670 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 56.299999 m,
      bearing: 177.692738 deg,
      lat: 36.906105 deg,
      lon: -122.116000 deg,
      deltaT: 3.528018 s,
      deltaX: -0.200001 m,
      approachRate: -0.056689 m/s,
      posRepo size: 4

2025-08-09T17:29:00.675Z,1754760540.675 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 56.30 m.
2025-08-09T17:29:00.690Z,1754760540.690 [lineCaptureHoming:MicromodemComms:CheckIn:A](INFO): Timed out from 2025-08-09T17:19:00.3Z
2025-08-09T17:29:00.690Z,1754760540.690 [lineCaptureHoming:MicromodemComms:CheckIn:A] Stopped
2025-08-09T17:29:00.690Z,1754760540.690 [lineCaptureHoming:MicromodemComms:CheckIn](INFO): Completed lineCaptureHoming:MicromodemComms:CheckIn
2025-08-09T17:29:00.690Z,1754760540.690 [lineCaptureHoming:MicromodemComms:CheckIn] Stopped
2025-08-09T17:29:00.691Z,1754760540.691 [lineCaptureHoming:MicromodemComms:CheckIn](DEBUG): Aggregate::uninitialize lineCaptureHoming:MicromodemComms:CheckIn
2025-08-09T17:29:00.691Z,1754760540.691 [lineCaptureHoming:MicromodemComms](INFO): Completed lineCaptureHoming:MicromodemComms
2025-08-09T17:29:01.071Z,1754760541.071 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 56.30 m.
2025-08-09T17:29:01.075Z,1754760541.075 [lineCaptureHoming:MicromodemComms] Running Loop=1
2025-08-09T17:29:01.075Z,1754760541.075 [lineCaptureHoming:MicromodemComms](DEBUG): Aggregate::initialize lineCaptureHoming:MicromodemComms
2025-08-09T17:29:01.075Z,1754760541.075 [lineCaptureHoming:MicromodemComms:CheckIn] Running Loop=1
2025-08-09T17:29:01.075Z,1754760541.075 [lineCaptureHoming:MicromodemComms:CheckIn](DEBUG): Aggregate::initialize lineCaptureHoming:MicromodemComms:CheckIn
2025-08-09T17:29:01.075Z,1754760541.075 [lineCaptureHoming:MicromodemComms:CheckIn:A] Running Loop=1
2025-08-09T17:29:01.601Z,1754760541.601 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 56.30 m.
2025-08-09T17:29:01.960Z,1754760541.960 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 56.30 m.
2025-08-09T17:29:02.381Z,1754760542.381 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 56.30 m.
2025-08-09T17:29:02.761Z,1754760542.761 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 56.30 m.
2025-08-09T17:29:03.254Z,1754760543.254 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 56.30 m.
2025-08-09T17:29:03.479Z,1754760543.479 [DAT](INFO): DAT read: Rx Time:17:29:02.4646

2025-08-09T17:29:03.480Z,1754760543.480 [DAT](INFO): Rx dataTimestamp_ set to:1754760543.479525
2025-08-09T17:29:03.580Z,1754760543.580 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 56.30 m.
2025-08-09T17:29:04.041Z,1754760544.041 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 56.30 m.
2025-08-09T17:29:04.241Z,1754760544.241 [DAT](INFO): DAT read: 17:29:02.4645 LVL= 26560, 27537, 20898, 26083, AGC= 63, IDX= 443, 0.26, 2.879,-3.112,-1.090,-2.513, PHS=-0.790,-0.554, 1.378, RAW= 215.7,  -0.3, CAL= 214.3,  -1.6, ROT= 295.7,   1.6

2025-08-09T17:29:04.242Z,1754760544.242 [DAT](INFO): got valid direction response:
 17:29:02.4645 LVL= 26560, 27537, 20898, 26083, AGC= 63, IDX= 443, 0.26, 2.879,-3.112,-1.090,-2.513, PHS=-0.790,-0.554, 1.378, RAW= 215.7,  -0.3, CAL= 214.3,  -1.6, ROT= 295.7,   1.6

2025-08-09T17:29:04.243Z,1754760544.243 [DAT](INFO): DAT read: Bearing  28.7, -60.1 (Local)

2025-08-09T17:29:04.244Z,1754760544.244 [DAT](INFO): Local bearing/azimuth received:
 Bearing  28.7, -60.1 (Local)

2025-08-09T17:29:04.245Z,1754760544.245 [DAT](INFO): DAT read: Range 11 to 50 : 56.1 m  (Round-trip  74.9 ms) speed  0.0 m/s

2025-08-09T17:29:04.246Z,1754760544.246 [DAT](INFO): DAT read: user:562>

2025-08-09T17:29:04.246Z,1754760544.246 [DAT](INFO): DAT read: Tx time:17:29:03.5855

2025-08-09T17:29:04.247Z,1754760544.247 [DAT](INFO): Ping request sent.
2025-08-09T17:29:04.247Z,1754760544.247 [DAT](INFO): transmitted an acoustic signal
2025-08-09T17:29:04.247Z,1754760544.247 [DAT](INFO): #Rx 8: Read range and direction messages.
2025-08-09T17:29:04.248Z,1754760544.248 [DAT](INFO): direction in FSK: [0.433490,-0.900726,-0.027922]
2025-08-09T17:29:04.248Z,1754760544.248 [DAT](INFO): publishing transmit ping time
2025-08-09T17:29:04.249Z,1754760544.249 [DAT](INFO): publishing direction and range info
2025-08-09T17:29:04.276Z,1754760544.276 [DAT](INFO): publishing transmit ping time
2025-08-09T17:29:04.277Z,1754760544.277 [DAT](INFO): publishing direction and range info
2025-08-09T17:29:04.459Z,1754760544.459 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 56.099998 m,
      deltaT: 3.779948 s,
      deltaX: -0.200001 m,
      approachRate: -0.052911 m/s,
      rangeRepo size: 4

2025-08-09T17:29:04.461Z,1754760544.461 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 56.099998 m,
      bearing: 177.337547 deg,
      lat: 36.906105 deg,
      lon: -122.116000 deg,
      deltaT: 3.779948 s,
      deltaX: -0.200001 m,
      approachRate: -0.052911 m/s,
      posRepo size: 4

2025-08-09T17:29:04.462Z,1754760544.462 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 56.10 m.
2025-08-09T17:29:04.783Z,1754760544.783 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 56.10 m.
2025-08-09T17:29:05.264Z,1754760545.264 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 56.10 m.
2025-08-09T17:29:05.608Z,1754760545.608 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 56.10 m.
2025-08-09T17:29:06.067Z,1754760546.067 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 56.10 m.
2025-08-09T17:29:06.481Z,1754760546.481 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 56.10 m.
2025-08-09T17:29:06.811Z,1754760546.811 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 56.10 m.
2025-08-09T17:29:07.259Z,1754760547.259 [DAT](INFO): DAT read: Rx Time:17:29:06.0646

2025-08-09T17:29:07.260Z,1754760547.260 [DAT](INFO): Rx dataTimestamp_ set to:1754760547.259618
2025-08-09T17:29:07.292Z,1754760547.292 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 56.10 m.
2025-08-09T17:29:07.697Z,1754760547.697 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 56.10 m.
2025-08-09T17:29:07.774Z,1754760547.774 [DAT](INFO): DAT read: 17:29:06.0646 LVL= 23344, 25969, 16962, 25811, AGC= 64, IDX= 444,-0.28, 1.343, 1.563,-2.527, 2.232, PHS=-0.788,-0.624, 1.480, RAW= 213.7,  -0.6, CAL= 212.5,  -2.2, ROT= 297.5,   2.2

2025-08-09T17:29:07.775Z,1754760547.775 [DAT](INFO): got valid direction response:
 17:29:06.0646 LVL= 23344, 25969, 16962, 25811, AGC= 64, IDX= 444,-0.28, 1.343, 1.563,-2.527, 2.232, PHS=-0.788,-0.624, 1.480, RAW= 213.7,  -0.6, CAL= 212.5,  -2.2, ROT= 297.5,   2.2

2025-08-09T17:29:07.776Z,1754760547.776 [DAT](INFO): DAT read: Bearing  26.1, -58.6 (Local)

2025-08-09T17:29:07.776Z,1754760547.776 [DAT](INFO): Local bearing/azimuth received:
 Bearing  26.1, -58.6 (Local)

2025-08-09T17:29:07.779Z,1754760547.779 [DAT](INFO): DAT read: Range 11 to 50 : 56.2 m  (Round-trip  75.0 ms) speed  0.0 m/s

2025-08-09T17:29:07.780Z,1754760547.780 [DAT](INFO): DAT read: user:563>

2025-08-09T17:29:07.781Z,1754760547.781 [DAT](INFO): DAT read: Tx time:17:29:07.1855

2025-08-09T17:29:07.781Z,1754760547.781 [DAT](INFO): Ping request sent.
2025-08-09T17:29:07.782Z,1754760547.782 [DAT](INFO): transmitted an acoustic signal
2025-08-09T17:29:07.782Z,1754760547.782 [DAT](INFO): #Rx 9: Read range and direction messages.
2025-08-09T17:29:07.784Z,1754760547.784 [DAT](INFO): direction in FSK: [0.461408,-0.886357,-0.038388]
2025-08-09T17:29:07.784Z,1754760547.784 [DAT](INFO): publishing transmit ping time
2025-08-09T17:29:07.784Z,1754760547.784 [DAT](INFO): publishing direction and range info
2025-08-09T17:29:07.794Z,1754760547.794 [DAT](INFO): publishing transmit ping time
2025-08-09T17:29:07.798Z,1754760547.798 [DAT](INFO): publishing direction and range info
2025-08-09T17:29:08.036Z,1754760548.036 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 56.200001 m,
      deltaT: 3.533010 s,
      deltaX: 0.100002 m,
      approachRate: 0.028305 m/s,
      rangeRepo size: 4

2025-08-09T17:29:08.038Z,1754760548.038 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 56.200001 m,
      bearing: 177.334858 deg,
      lat: 36.906104 deg,
      lon: -122.116002 deg,
      deltaT: 3.533010 s,
      deltaX: 0.100002 m,
      approachRate: 0.028305 m/s,
      posRepo size: 4

2025-08-09T17:29:08.038Z,1754760548.038 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 56.20 m.
2025-08-09T17:29:08.456Z,1754760548.456 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 56.20 m.
2025-08-09T17:29:08.824Z,1754760548.824 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 56.20 m.
2025-08-09T17:29:09.298Z,1754760549.298 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 56.20 m.
2025-08-09T17:29:09.689Z,1754760549.689 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 56.20 m.
2025-08-09T17:29:10.038Z,1754760550.038 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 56.20 m.
2025-08-09T17:29:10.465Z,1754760550.465 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 56.20 m.
2025-08-09T17:29:10.792Z,1754760550.792 [DAT](INFO): DAT read: Rx Time:17:29:09.6645

2025-08-09T17:29:10.792Z,1754760550.792 [DAT](INFO): Rx dataTimestamp_ set to:1754760550.792113
2025-08-09T17:29:10.845Z,1754760550.845 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 56.20 m.
2025-08-09T17:29:11.316Z,1754760551.316 [DAT](INFO): DAT read: 17:29:09.6645 LVL= 25360, 25505, 21842, 25555, AGC= 64, IDX= 443, 0.02, 2.795, 2.939,-1.122,-2.621, PHS=-0.765,-0.678, 1.455, RAW= 212.0,  -0.1, CAL= 211.0,  -1.7, ROT= 299.0,   1.7

2025-08-09T17:29:11.317Z,1754760551.317 [DAT](INFO): got valid direction response:
 17:29:09.6645 LVL= 25360, 25505, 21842, 25555, AGC= 64, IDX= 443, 0.02, 2.795, 2.939,-1.122,-2.621, PHS=-0.765,-0.678, 1.455, RAW= 212.0,  -0.1, CAL= 211.0,  -1.7, ROT= 299.0,   1.7

2025-08-09T17:29:11.327Z,1754760551.327 [DAT](INFO): DAT read: Bearing  25.9, -57.3 (Local)

2025-08-09T17:29:11.327Z,1754760551.327 [DAT](INFO): Local bearing/azimuth received:
 Bearing  25.9, -57.3 (Local)

2025-08-09T17:29:11.329Z,1754760551.329 [DAT](INFO): DAT read: Range 11 to 50 : 56.1 m  (Round-trip  74.9 ms) speed  0.0 m/s

2025-08-09T17:29:11.335Z,1754760551.335 [DAT](INFO): DAT read: user:564>

2025-08-09T17:29:11.336Z,1754760551.336 [DAT](INFO): DAT read: Tx time:17:29:10.7855

2025-08-09T17:29:11.336Z,1754760551.336 [DAT](INFO): Ping request sent.
2025-08-09T17:29:11.336Z,1754760551.336 [DAT](INFO): transmitted an acoustic signal
2025-08-09T17:29:11.337Z,1754760551.337 [DAT](INFO): #Rx 10: Read range and direction messages.
2025-08-09T17:29:11.338Z,1754760551.338 [DAT](INFO): direction in FSK: [0.484596,-0.874235,-0.029666]
2025-08-09T17:29:11.338Z,1754760551.338 [DAT](INFO): publishing transmit ping time
2025-08-09T17:29:11.350Z,1754760551.350 [DAT](INFO): publishing direction and range info
2025-08-09T17:29:11.353Z,1754760551.353 [DAT](INFO): publishing transmit ping time
2025-08-09T17:29:11.354Z,1754760551.354 [DAT](INFO): publishing direction and range info
2025-08-09T17:29:11.356Z,1754760551.356 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 56.099998 m,
      deltaT: 3.528393 s,
      deltaX: -0.100002 m,
      approachRate: -0.028342 m/s,
      rangeRepo size: 4

2025-08-09T17:29:11.356Z,1754760551.356 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 56.20 m.
2025-08-09T17:29:11.706Z,1754760551.706 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 56.20 m.
2025-08-09T17:29:12.069Z,1754760552.069 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 56.20 m.
2025-08-09T17:29:12.510Z,1754760552.510 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 56.20 m.
2025-08-09T17:29:12.862Z,1754760552.862 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 56.20 m.
2025-08-09T17:29:13.275Z,1754760553.275 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 56.20 m.
2025-08-09T17:29:13.705Z,1754760553.705 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 56.20 m.
2025-08-09T17:29:14.107Z,1754760554.107 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 56.20 m.
2025-08-09T17:29:14.327Z,1754760554.327 [DAT](INFO): DAT read: Rx Time:17:29:13.2643

2025-08-09T17:29:14.328Z,1754760554.328 [DAT](INFO): Rx dataTimestamp_ set to:1754760554.327293
2025-08-09T17:29:14.531Z,1754760554.531 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 56.20 m.
2025-08-09T17:29:14.836Z,1754760554.836 [DAT](INFO): DAT read: 17:29:13.2643 LVL= 22624, 26273, 15714, 23843, AGC= 64, IDX= 441,-0.21,-2.353,-2.176, 0.003,-1.564, PHS=-0.687,-0.568, 1.523, RAW= 212.8,  -2.5, CAL= 211.7,  -4.6, ROT= 298.3,   4.6

2025-08-09T17:29:14.837Z,1754760554.837 [DAT](INFO): got valid direction response:
 17:29:13.2643 LVL= 22624, 26273, 15714, 23843, AGC= 64, IDX= 441,-0.21,-2.353,-2.176, 0.003,-1.564, PHS=-0.687,-0.568, 1.523, RAW= 212.8,  -2.5, CAL= 211.7,  -4.6, ROT= 298.3,   4.6

2025-08-09T17:29:14.838Z,1754760554.838 [DAT](INFO): DAT read: Bearing  18.9, -57.7 (Local)

2025-08-09T17:29:14.838Z,1754760554.838 [DAT](INFO): Local bearing/azimuth received:
 Bearing  18.9, -57.7 (Local)

2025-08-09T17:29:14.840Z,1754760554.840 [DAT](INFO): DAT read: Range 11 to 50 : 56.0 m  (Round-trip  74.7 ms) speed  0.0 m/s

2025-08-09T17:29:14.841Z,1754760554.841 [DAT](INFO): DAT read: user:565>

2025-08-09T17:29:14.843Z,1754760554.843 [DAT](INFO): DAT read: Tx time:17:29:14.3855

2025-08-09T17:29:14.843Z,1754760554.843 [DAT](INFO): Ping request sent.
2025-08-09T17:29:14.843Z,1754760554.843 [DAT](INFO): transmitted an acoustic signal
2025-08-09T17:29:14.844Z,1754760554.844 [DAT](INFO): #Rx 11: Read range and direction messages.
2025-08-09T17:29:14.845Z,1754760554.845 [DAT](INFO): direction in FSK: [0.472561,-0.877641,-0.080199]
2025-08-09T17:29:14.845Z,1754760554.845 [DAT](INFO): publishing transmit ping time
2025-08-09T17:29:14.846Z,1754760554.846 [DAT](INFO): publishing direction and range info
2025-08-09T17:29:14.852Z,1754760554.852 [DAT](INFO): publishing transmit ping time
2025-08-09T17:29:14.852Z,1754760554.852 [DAT](INFO): publishing direction and range info
2025-08-09T17:29:14.993Z,1754760554.993 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 56.000000 m,
      deltaT: 3.530665 s,
      deltaX: -0.099998 m,
      approachRate: -0.028323 m/s,
      rangeRepo size: 4

2025-08-09T17:29:15.003Z,1754760555.003 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 56.000000 m,
      bearing: 176.693232 deg,
      lat: 36.906103 deg,
      lon: -122.116000 deg,
      deltaT: 7.059058 s,
      deltaX: -0.200001 m,
      approachRate: -0.028332 m/s,
      posRepo size: 4

2025-08-09T17:29:15.004Z,1754760555.004 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 56.00 m.
2025-08-09T17:29:15.374Z,1754760555.374 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 56.00 m.
2025-08-09T17:29:15.779Z,1754760555.779 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 56.00 m.
2025-08-09T17:29:16.194Z,1754760556.194 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 56.00 m.
2025-08-09T17:29:16.580Z,1754760556.580 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 56.00 m.
2025-08-09T17:29:16.970Z,1754760556.970 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 56.00 m.
2025-08-09T17:29:17.441Z,1754760557.441 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 56.00 m.
2025-08-09T17:29:17.813Z,1754760557.813 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 56.00 m.
2025-08-09T17:29:17.852Z,1754760557.852 [DAT](INFO): DAT read: Rx Time:17:29:16.8639

2025-08-09T17:29:17.853Z,1754760557.853 [DAT](INFO): Rx dataTimestamp_ set to:1754760557.852400
2025-08-09T17:29:18.227Z,1754760558.227 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 56.00 m.
2025-08-09T17:29:18.608Z,1754760558.608 [DAT](INFO): DAT read: Range 11 to 50 : 55.7 m  (Round-trip  74.3 ms) speed  0.0 m/s

2025-08-09T17:29:18.609Z,1754760558.609 [DAT](INFO): DAT read: user:566>

2025-08-09T17:29:18.610Z,1754760558.610 [DAT](INFO): DAT read: Tx time:17:29:17.9855

2025-08-09T17:29:18.610Z,1754760558.610 [DAT](INFO): Ping request sent.
2025-08-09T17:29:18.610Z,1754760558.610 [DAT](INFO): transmitted an acoustic signal
2025-08-09T17:29:18.611Z,1754760558.611 [DAT](ERROR): #Rx 12: Read range message, but no direction.
2025-08-09T17:29:18.611Z,1754760558.611 [DAT](INFO): publishing transmit ping time
2025-08-09T17:29:18.611Z,1754760558.611 [DAT](INFO): publishing transmit ping time
2025-08-09T17:29:18.698Z,1754760558.698 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 55.700001 m,
      deltaT: 3.780002 s,
      deltaX: -0.299999 m,
      approachRate: -0.079365 m/s,
      rangeRepo size: 4

2025-08-09T17:29:18.702Z,1754760558.702 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 56.00 m.
2025-08-09T17:29:19.021Z,1754760559.021 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 56.00 m.
2025-08-09T17:29:19.487Z,1754760559.487 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 56.00 m.
2025-08-09T17:29:19.841Z,1754760559.841 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 56.00 m.
2025-08-09T17:29:20.312Z,1754760560.312 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 56.00 m.
2025-08-09T17:29:20.711Z,1754760560.711 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 56.00 m.
2025-08-09T17:29:21.051Z,1754760561.051 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 56.00 m.
2025-08-09T17:29:21.528Z,1754760561.528 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 56.00 m.
2025-08-09T17:29:21.632Z,1754760561.632 [DAT](INFO): DAT read: Rx Time:17:29:20.4635

2025-08-09T17:29:21.633Z,1754760561.633 [DAT](INFO): Rx dataTimestamp_ set to:1754760561.632382
2025-08-09T17:29:21.852Z,1754760561.852 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 56.00 m.
2025-08-09T17:29:22.155Z,1754760562.155 [DAT](INFO): DAT read: 17:29:20.4635 LVL= 29040, 28401, 15954, 26691, AGC= 65, IDX= 433, 0.02,-2.665,-2.515,-0.300,-1.799, PHS=-0.763,-0.671, 1.455, RAW= 212.1,  -0.2, CAL= 211.1,  -= 298.9,   ring  21.5, -57.7 (Local)

2025-08-09T17:29:22.156Z,1754760562.156 [DAT](INFO): Local bearing/azimuth received:
 17:29:20.4635 LVL= 29040, 28401, 15954, 26691, AGC= 65, IDX= 433, 0.02,-2.665,-2.515,-0.300,-1.799, PHS=-0.763,-0.671, 1.455, RAW= 212.1,  -0.2, CAL= 211.1,  -= 298.9,   ring  21.5, -57.7 (Local)

2025-08-09T17:29:22.157Z,1754760562.157 [DAT](INFO): DAT read: Range 11 to 50 : 55.4 m  (Round-trip  73.9 ms) speed  0.0 m/s

2025-08-09T17:29:22.158Z,1754760562.158 [DAT](INFO): DAT read: user:567>

2025-08-09T17:29:22.159Z,1754760562.159 [DAT](INFO): DAT read: Tx time:17:29:21.5855

2025-08-09T17:29:22.159Z,1754760562.159 [DAT](INFO): Ping request sent.
2025-08-09T17:29:22.159Z,1754760562.159 [DAT](INFO): transmitted an acoustic signal
2025-08-09T17:29:22.159Z,1754760562.159 [DAT](ERROR): #Rx 13: Read range message, but no direction.
2025-08-09T17:29:22.159Z,1754760562.159 [DAT](INFO): publishing transmit ping time
2025-08-09T17:29:22.160Z,1754760562.160 [DAT](INFO): publishing transmit ping time
2025-08-09T17:29:22.304Z,1754760562.304 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 55.400002 m,
      deltaT: 3.528006 s,
      deltaX: -0.299999 m,
      approachRate: -0.085034 m/s,
      rangeRepo size: 4

2025-08-09T17:29:22.304Z,1754760562.304 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 56.00 m.
2025-08-09T17:29:22.692Z,1754760562.692 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 56.00 m.
2025-08-09T17:29:23.163Z,1754760563.163 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 56.00 m.
2025-08-09T17:29:23.535Z,1754760563.535 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 56.00 m.
2025-08-09T17:29:23.885Z,1754760563.885 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 56.00 m.
2025-08-09T17:29:24.271Z,1754760564.271 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 56.00 m.
2025-08-09T17:29:24.716Z,1754760564.716 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 56.00 m.
2025-08-09T17:29:25.081Z,1754760565.081 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 56.00 m.
2025-08-09T17:29:25.164Z,1754760565.164 [DAT](INFO): DAT read: Rx Time:17:29:24.0635

2025-08-09T17:29:25.165Z,1754760565.165 [DAT](INFO): Rx dataTimestamp_ set to:1754760565.164390
2025-08-09T17:29:25.542Z,1754760565.542 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 56.00 m.
2025-08-09T17:29:25.674Z,1754760565.674 [DAT](INFO): DAT read: 17:29:24.0635 LVL= 22480, 29665, 19794, 25587, AGC= 63, IDX= 449,-0.13,-1.224,-1.118, 1.158,-0.384, PHS=-0.738,-0.689, 1.498, RAW= 211.1,  -0.6, CAL= 210.2,  -2.5, ROT= 299.8,   2.5

2025-08-09T17:29:25.675Z,1754760565.675 [DAT](INFO): got valid direction response:
 17:29:24.0635 LVL= 22480, 29665, 19794, 25587, AGC= 63, IDX= 449,-0.13,-1.224,-1.118, 1.158,-0.384, PHS=-0.738,-0.689, 1.498, RAW= 211.1,  -0.6, CAL= 210.2,  -2.5, ROT= 299.8,   2.5

2025-08-09T17:29:25.676Z,1754760565.676 [DAT](INFO): DAT read: Bearing  18.7, -56.9 (Local)

2025-08-09T17:29:25.676Z,1754760565.676 [DAT](INFO): Local bearing/azimuth received:
 Bearing  18.7, -56.9 (Local)

2025-08-09T17:29:25.678Z,1754760565.678 [DAT](INFO): DAT read: Range 11 to 50 : 55.4 m  (Round-trip  73.9 ms) speed  0.0 m/s

2025-08-09T17:29:25.682Z,1754760565.682 [DAT](INFO): DAT read: user:568>

2025-08-09T17:29:25.695Z,1754760565.695 [DAT](INFO): DAT read: Tx time:17:29:25.1855

2025-08-09T17:29:25.696Z,1754760565.696 [DAT](INFO): Ping request sent.
2025-08-09T17:29:25.696Z,1754760565.696 [DAT](INFO): transmitted an acoustic signal
2025-08-09T17:29:25.696Z,1754760565.696 [DAT](INFO): #Rx 14: Read range and direction messages.
2025-08-09T17:29:25.697Z,1754760565.697 [DAT](INFO): direction in FSK: [0.496501,-0.866940,-0.043619]
2025-08-09T17:29:25.697Z,1754760565.697 [DAT](INFO): publishing transmit ping time
2025-08-09T17:29:25.697Z,1754760565.697 [DAT](INFO): publishing direction and range info
2025-08-09T17:29:25.709Z,1754760565.709 [DAT](INFO): publishing transmit ping time
2025-08-09T17:29:25.709Z,1754760565.709 [DAT](INFO): publishing direction and range info
2025-08-09T17:29:25.927Z,1754760565.927 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 55.400002 m,
      deltaT: 3.531889 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-08-09T17:29:25.929Z,1754760565.929 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 55.400002 m,
      bearing: 175.313957 deg,
      lat: 36.906103 deg,
      lon: -122.115993 deg,
      deltaT: 10.839897 s,
      deltaX: -0.599998 m,
      approachRate: -0.055351 m/s,
      posRepo size: 4

2025-08-09T17:29:25.929Z,1754760565.929 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 55.40 m.
2025-08-09T17:29:26.299Z,1754760566.299 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 55.40 m.
2025-08-09T17:29:26.721Z,1754760566.721 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 55.40 m.
2025-08-09T17:29:27.098Z,1754760567.098 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 55.40 m.
2025-08-09T17:29:27.573Z,1754760567.573 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 55.40 m.
2025-08-09T17:29:27.945Z,1754760567.945 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 55.40 m.
2025-08-09T17:29:28.329Z,1754760568.329 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 55.40 m.
2025-08-09T17:29:28.691Z,1754760568.691 [DAT](INFO): DAT read: Rx Time:17:29:27.6637

2025-08-09T17:29:28.692Z,1754760568.692 [DAT](INFO): Rx dataTimestamp_ set to:1754760568.691548
2025-08-09T17:29:28.770Z,1754760568.770 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 55.40 m.
2025-08-09T17:29:29.136Z,1754760569.136 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 55.40 m.
2025-08-09T17:29:29.453Z,1754760569.453 [DAT](INFO): DAT read: 17:29:27.6637 LVL= 24160, 23329, 16114, 26035, AGC= 62, IDX= 451, 0.14,-1.850,-1.819, 0.459,-1.070, PHS=-0.679,-0.704, 1.485, RAW= 209.4,  -1.0, CAL= 208.7,  -3.0, ROT= 301.3,   3.0

2025-08-09T17:29:29.454Z,1754760569.454 [DAT](INFO): got valid direction response:
 17:29:27.6637 LVL= 24160, 23329, 16114, 26035, AGC= 62, IDX= 451, 0.14,-1.850,-1.819, 0.459,-1.070, PHS=-0.679,-0.704, 1.485, RAW= 209.4,  -1.0, CAL= 208.7,  -3.0, ROT= 301.3,   3.0

2025-08-09T17:29:29.455Z,1754760569.455 [DAT](INFO): DAT read: Bearing  16.4, -55.5 (Local)

2025-08-09T17:29:29.455Z,1754760569.455 [DAT](INFO): Local bearing/azimuth received:
 Bearing  16.4, -55.5 (Local)

2025-08-09T17:29:29.457Z,1754760569.457 [DAT](INFO): DAT read: Range 11 to 50 : 55.5 m  (Round-trip  74.1 ms) speed  0.0 m/s

2025-08-09T17:29:29.457Z,1754760569.457 [DAT](INFO): DAT read: user:569>

2025-08-09T17:29:29.458Z,1754760569.458 [DAT](INFO): DAT read: Tx time:17:29:28.7855

2025-08-09T17:29:29.459Z,1754760569.459 [DAT](INFO): Ping request sent.
2025-08-09T17:29:29.459Z,1754760569.459 [DAT](INFO): transmitted an acoustic signal
2025-08-09T17:29:29.459Z,1754760569.459 [DAT](INFO): #Rx 15: Read range and direction messages.
2025-08-09T17:29:29.460Z,1754760569.460 [DAT](INFO): direction in FSK: [0.518807,-0.853288,-0.052336]
2025-08-09T17:29:29.460Z,1754760569.460 [DAT](INFO): publishing transmit ping time
2025-08-09T17:29:29.461Z,1754760569.461 [DAT](INFO): publishing direction and range info
2025-08-09T17:29:29.472Z,1754760569.472 [DAT](INFO): publishing transmit ping time
2025-08-09T17:29:29.472Z,1754760569.472 [DAT](INFO): publishing direction and range info
2025-08-09T17:29:29.733Z,1754760569.733 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 55.500000 m,
      deltaT: 3.780013 s,
      deltaX: 0.099998 m,
      approachRate: 0.026455 m/s,
      rangeRepo size: 4

2025-08-09T17:29:29.735Z,1754760569.735 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 55.500000 m,
      bearing: 174.752657 deg,
      lat: 36.906103 deg,
      lon: -122.115989 deg,
      deltaT: 3.780013 s,
      deltaX: 0.099998 m,
      approachRate: 0.026455 m/s,
      posRepo size: 4

2025-08-09T17:29:29.736Z,1754760569.736 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 55.50 m.
2025-08-09T17:29:30.004Z,1754760570.004 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 55.50 m.
2025-08-09T17:29:30.413Z,1754760570.413 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 55.50 m.
2025-08-09T17:29:30.844Z,1754760570.844 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 55.50 m.
2025-08-09T17:29:31.217Z,1754760571.217 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 55.50 m.
2025-08-09T17:29:31.671Z,1754760571.671 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 55.50 m.
2025-08-09T17:29:32.088Z,1754760572.088 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 55.50 m.
2025-08-09T17:29:32.463Z,1754760572.463 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 55.50 m.
2025-08-09T17:29:32.475Z,1754760572.475 [DAT](INFO): DAT read: Rx Time:17:29:31.2632

2025-08-09T17:29:32.476Z,1754760572.476 [DAT](INFO): Rx dataTimestamp_ set to:1754760572.475564
2025-08-09T17:29:32.916Z,1754760572.916 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 55.50 m.
2025-08-09T17:29:32.987Z,1754760572.987 [DAT](INFO): DAT read: 17:29:31.2632 LVL= 21920, 24097, 18354, 24691, AGC= 62, IDX= 430, 0.34, 1.695, 1.716,-2.336, 2.508, PHS=-0.711,-0.747, 1.396, RAW= 209.2,   0.6, CAL= 208.5,  -1.2, ROT= 301.5,   1.2

2025-08-09T17:29:32.989Z,1754760572.989 [DAT](INFO): got valid direction response:
 17:29:31.2632 LVL= 21920, 24097, 18354, 24691, AGC= 62, IDX= 430, 0.34, 1.695, 1.716,-2.336, 2.508, PHS=-0.711,-0.747, 1.396, RAW= 209.2,   0.6, CAL= 208.5,  -1.2, ROT= 301.5,   1.2

2025-08-09T17:29:32.990Z,1754760572.990 [DAT](INFO): DAT read: Bearing  18.2, -55.6 (Local)

2025-08-09T17:29:32.995Z,1754760572.995 [DAT](INFO): Local bearing/azimuth received:
 Bearing  18.2, -55.6 (Local)

2025-08-09T17:29:32.998Z,1754760572.998 [DAT](INFO): DAT read: Range 11 to 50 : 55.2 m  (Round-trip  73.6 ms) speed  0.0 m/s

2025-08-09T17:29:32.999Z,1754760572.999 [DAT](INFO): DAT read: user:570>

2025-08-09T17:29:32.999Z,1754760572.999 [DAT](INFO): DAT read: Tx time:17:29:32.3855

2025-08-09T17:29:32.000Z,1754760573.000 [DAT](INFO): Ping request sent.
2025-08-09T17:29:32.000Z,1754760573.000 [DAT](INFO): transmitted an acoustic signal
2025-08-09T17:29:33.000Z,1754760573.000 [DAT](INFO): #Rx 16: Read range and direction messages.
2025-08-09T17:29:33.001Z,1754760573.001 [DAT](INFO): direction in FSK: [0.522384,-0.852453,-0.020942]
2025-08-09T17:29:33.001Z,1754760573.001 [DAT](INFO): publishing transmit ping time
2025-08-09T17:29:33.002Z,1754760573.002 [DAT](INFO): publishing direction and range info
2025-08-09T17:29:33.029Z,1754760573.029 [DAT](INFO): publishing transmit ping time
2025-08-09T17:29:33.029Z,1754760573.029 [DAT](INFO): publishing direction and range info
2025-08-09T17:29:33.295Z,1754760573.295 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 55.200001 m,
      deltaT: 3.532346 s,
      deltaX: -0.299999 m,
      approachRate: -0.084929 m/s,
      rangeRepo size: 4

2025-08-09T17:29:33.297Z,1754760573.297 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 55.200001 m,
      bearing: 174.514355 deg,
      lat: 36.906103 deg,
      lon: -122.115988 deg,
      deltaT: 3.532346 s,
      deltaX: -0.299999 m,
      approachRate: -0.084929 m/s,
      posRepo size: 4

2025-08-09T17:29:33.298Z,1754760573.298 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 55.20 m.
2025-08-09T17:29:33.726Z,1754760573.726 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 55.20 m.
2025-08-09T17:29:34.086Z,1754760574.086 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 55.20 m.
2025-08-09T17:29:34.549Z,1754760574.549 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 55.20 m.
2025-08-09T17:29:34.940Z,1754760574.940 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 55.20 m.
2025-08-09T17:29:35.328Z,1754760575.328 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-09T17:29:35.330Z,1754760575.330 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 55.20 m.
2025-08-09T17:29:35.499Z,1754760575.499 [DAT](INFO): ****** received valid address query ******
2025-08-09T17:29:35.499Z,1754760575.499 [DAT](INFO): ****** received valid ping request ******
2025-08-09T17:29:35.499Z,1754760575.499 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-09T17:29:35.751Z,1754760575.751 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.751573
2025-08-09T17:29:35.753Z,1754760575.753 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 55.20 m.
2025-08-09T17:29:36.003Z,1754760576.003 [DAT](INFO): DAT read: Rx Time:17:29:34.8627

2025-08-09T17:29:36.004Z,1754760576.004 [DAT](INFO): Rx dataTimestamp_ set to:1754760576.003463
2025-08-09T17:29:36.004Z,1754760576.004 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.004426
2025-08-09T17:29:36.127Z,1754760576.127 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 55.20 m.
2025-08-09T17:29:36.255Z,1754760576.255 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.255330
2025-08-09T17:29:36.513Z,1754760576.513 [DAT](INFO): DAT read: 17:29:34.8627 LVL= 31136, 31841, 17522, 28595, AGC= 64, IDX= 442,-0.49,-1.391,-1.385, 0.925,-0.559, PHS=-0.730,-0.781, 1.440, RAW= 208.8,   0.7, CAL= 208.2,  -1.1, ROT= 301.8,   1.1

2025-08-09T17:29:36.523Z,1754760576.523 [DAT](INFO): got valid direction response:
 17:29:34.8627 LVL= 31136, 31841, 17522, 28595, AGC= 64, IDX= 442,-0.49,-1.391,-1.385, 0.925,-0.559, PHS=-0.730,-0.781, 1.440, RAW= 208.8,   0.7, CAL= 208.2,  -1.1, ROT= 301.8,   1.1

2025-08-09T17:29:36.523Z,1754760576.523 [DAT](INFO): DAT read: Bearing  16.8, -55.2 (Local)

2025-08-09T17:29:36.524Z,1754760576.524 [DAT](INFO): Local bearing/azimuth received:
 Bearing  16.8, -55.2 (Local)

2025-08-09T17:29:36.525Z,1754760576.525 [DAT](INFO): DAT read: Range 11 to 50 : 54.8 m  (Round-trip  73.1 ms) speed  0.0 m/s

2025-08-09T17:29:36.526Z,1754760576.526 [DAT](INFO): DAT read: user:571>

2025-08-09T17:29:36.527Z,1754760576.527 [DAT](INFO): DAT read: Tx time:17:29:35.9855

2025-08-09T17:29:36.527Z,1754760576.527 [DAT](INFO): Ping request sent.
2025-08-09T17:29:36.527Z,1754760576.527 [DAT](INFO): transmitted an acoustic signal
2025-08-09T17:29:36.527Z,1754760576.527 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-09T17:29:36.528Z,1754760576.528 [DAT](INFO): direction in FSK: [0.526859,-0.849736,-0.019197]
2025-08-09T17:29:36.529Z,1754760576.529 [DAT](INFO): publishing transmit ping time
2025-08-09T17:29:36.529Z,1754760576.529 [DAT](INFO): publishing direction and range info
2025-08-09T17:29:36.530Z,1754760576.530 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 55.20 m.
2025-08-09T17:29:36.548Z,1754760576.548 [DAT](INFO): publishing transmit ping time
2025-08-09T17:29:36.548Z,1754760576.548 [DAT](INFO): publishing direction and range info
2025-08-09T17:29:36.949Z,1754760576.949 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 54.799999 m,
      deltaT: 3.527901 s,
      deltaX: -0.400002 m,
      approachRate: -0.113382 m/s,
      rangeRepo size: 4

2025-08-09T17:29:36.951Z,1754760576.951 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 54.799999 m,
      bearing: 173.922105 deg,
      lat: 36.906103 deg,
      lon: -122.115984 deg,
      deltaT: 3.527901 s,
      deltaX: -0.400002 m,
      approachRate: -0.113382 m/s,
      posRepo size: 4

2025-08-09T17:29:36.952Z,1754760576.952 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.80 m.
2025-08-09T17:29:37.347Z,1754760577.347 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.80 m.
2025-08-09T17:29:37.774Z,1754760577.774 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.80 m.
2025-08-09T17:29:38.139Z,1754760578.139 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.80 m.
2025-08-09T17:29:38.560Z,1754760578.560 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.80 m.
2025-08-09T17:29:38.969Z,1754760578.969 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.80 m.
2025-08-09T17:29:39.341Z,1754760579.341 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.80 m.
2025-08-09T17:29:39.532Z,1754760579.532 [DAT](INFO): DAT read: Rx Time:17:29:38.4628

2025-08-09T17:29:39.533Z,1754760579.533 [DAT](INFO): Rx dataTimestamp_ set to:1754760579.532084
2025-08-09T17:29:39.800Z,1754760579.800 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.80 m.
2025-08-09T17:29:40.041Z,1754760580.041 [DAT](INFO): DAT read: 17:29:38.4628 LVL= 25824, 28993, 16690, 28595, AGC= 64, IDX= 442,-0.06, 2.631, 2.600,-1.456,-2.873, PHS=-0.677,-0.765, 1.373, RAW= 207.9,   0.7, CAL= 207.3,  -1.2, ROT= 302.7,   1.2

2025-08-09T17:29:40.042Z,1754760580.042 [DAT](INFO): got valid direction response:
 17:29:38.4628 LVL= 25824, 28993, 16690, 28595, AGC= 64, IDX= 442,-0.06, 2.631, 2.600,-1.456,-2.873, PHS=-0.677,-0.765, 1.373, RAW= 207.9,   0.7, CAL= 207.3,  -1.2, ROT= 302.7,   1.2

2025-08-09T17:29:40.043Z,1754760580.043 [DAT](INFO): DAT read: Bearing  15.1, -54.3 (Local)

2025-08-09T17:29:40.043Z,1754760580.043 [DAT](INFO): Local bearing/azimuth received:
 Bearing  15.1, -54.3 (Local)

2025-08-09T17:29:40.045Z,1754760580.045 [DAT](INFO): DAT read: Range 11 to 50 : 54.9 m  (Round-trip  73.2 ms) speed  0.0 m/s

2025-08-09T17:29:40.045Z,1754760580.045 [DAT](INFO): DAT read: user:572>

2025-08-09T17:29:40.054Z,1754760580.054 [DAT](INFO): DAT read: Tx time:17:29:39.5855

2025-08-09T17:29:40.055Z,1754760580.055 [DAT](INFO): Ping request sent.
2025-08-09T17:29:40.055Z,1754760580.055 [DAT](INFO): transmitted an acoustic signal
2025-08-09T17:29:40.055Z,1754760580.055 [DAT](INFO): #Rx 2: Read range and direction messages.
2025-08-09T17:29:40.056Z,1754760580.056 [DAT](INFO): direction in FSK: [0.540122,-0.841326,-0.020942]
2025-08-09T17:29:40.056Z,1754760580.056 [DAT](INFO): publishing transmit ping time
2025-08-09T17:29:40.057Z,1754760580.057 [DAT](INFO): publishing direction and range info
2025-08-09T17:29:40.060Z,1754760580.060 [DAT](INFO): publishing transmit ping time
2025-08-09T17:29:40.060Z,1754760580.060 [DAT](INFO): publishing direction and range info
2025-08-09T17:29:40.208Z,1754760580.208 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 54.900002 m,
      deltaT: 3.527792 s,
      deltaX: 0.100002 m,
      approachRate: 0.028347 m/s,
      rangeRepo size: 4

2025-08-09T17:29:40.215Z,1754760580.215 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 54.900002 m,
      bearing: 173.655419 deg,
      lat: 36.906103 deg,
      lon: -122.115984 deg,
      deltaT: 3.527792 s,
      deltaX: 0.100002 m,
      approachRate: 0.028347 m/s,
      posRepo size: 4

2025-08-09T17:29:40.215Z,1754760580.215 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.90 m.
2025-08-09T17:29:40.556Z,1754760580.556 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.90 m.
2025-08-09T17:29:40.983Z,1754760580.983 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.90 m.
2025-08-09T17:29:41.377Z,1754760581.377 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.90 m.
2025-08-09T17:29:41.813Z,1754760581.813 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.90 m.
2025-08-09T17:29:42.186Z,1754760582.186 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.90 m.
2025-08-09T17:29:42.599Z,1754760582.599 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.90 m.
2025-08-09T17:29:43.005Z,1754760583.005 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.90 m.
2025-08-09T17:29:43.060Z,1754760583.060 [DAT](INFO): DAT read: Rx Time:17:29:42.0626

2025-08-09T17:29:43.060Z,1754760583.060 [DAT](INFO): Rx dataTimestamp_ set to:1754760583.060130
2025-08-09T17:29:43.385Z,1754760583.385 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.90 m.
2025-08-09T17:29:43.829Z,1754760583.829 [DAT](INFO): DAT read: 17:29:42.0626 LVL= 25968, 27729, 18786, 26195, AGC= 59, IDX= 441, 0.14, 0.136, 0.050, 2.315, 0.893, PHS=-0.655,-0.798, 1.378, RAW= 206.6,   0.7, CAL= 206.2,  -1.3, ROT= 303.8,   1.3

2025-08-09T17:29:43.830Z,1754760583.830 [DAT](INFO): got valid direction response:
 17:29:42.0626 LVL= 25968, 27729, 18786, 26195, AGC= 59, IDX= 441, 0.14, 0.136, 0.050, 2.315, 0.893, PHS=-0.655,-0.798, 1.378, RAW= 206.6,   0.7, CAL= 206.2,  -1.3, ROT= 303.8,   1.3

2025-08-09T17:29:43.851Z,1754760583.851 [DAT](INFO): DAT read: Bearing  13.6, -53.3 (Local)

2025-08-09T17:29:43.852Z,1754760583.852 [DAT](INFO): Local bearing/azimuth received:
 Bearing  13.6, -53.3 (Local)

2025-08-09T17:29:43.854Z,1754760583.854 [DAT](INFO): DAT read: Range 11 to 50 : 54.8 m  (Round-trip  73.1 ms) speed  0.0 m/s

2025-08-09T17:29:43.863Z,1754760583.863 [DAT](INFO): DAT read: user:573>

2025-08-09T17:29:43.864Z,1754760583.864 [DAT](INFO): DAT read: Tx time:17:29:43.1854

2025-08-09T17:29:43.864Z,1754760583.864 [DAT](INFO): Ping request sent.
2025-08-09T17:29:43.864Z,1754760583.864 [DAT](INFO): transmitted an acoustic signal
2025-08-09T17:29:43.865Z,1754760583.865 [DAT](INFO): #Rx 3: Read range and direction messages.
2025-08-09T17:29:43.907Z,1754760583.907 [DAT](INFO): direction in FSK: [0.556152,-0.830771,-0.022687]
2025-08-09T17:29:43.908Z,1754760583.908 [DAT](INFO): publishing transmit ping time
2025-08-09T17:29:43.909Z,1754760583.909 [DAT](INFO): publishing direction and range info
2025-08-09T17:29:43.922Z,1754760583.922 [DAT](INFO): publishing transmit ping time
2025-08-09T17:29:43.923Z,1754760583.923 [DAT](INFO): publishing direction and range info
2025-08-09T17:29:43.972Z,1754760583.972 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 54.799999 m,
      deltaT: 3.780008 s,
      deltaX: -0.100002 m,
      approachRate: -0.026456 m/s,
      rangeRepo size: 4

2025-08-09T17:29:43.979Z,1754760583.979 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 54.799999 m,
      bearing: 173.563176 deg,
      lat: 36.906102 deg,
      lon: -122.115986 deg,
      deltaT: 3.780008 s,
      deltaX: -0.100002 m,
      approachRate: -0.026456 m/s,
      posRepo size: 4

2025-08-09T17:29:43.980Z,1754760583.980 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.80 m.
2025-08-09T17:29:44.229Z,1754760584.229 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.80 m.
2025-08-09T17:29:44.634Z,1754760584.634 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.80 m.
2025-08-09T17:29:45.056Z,1754760585.056 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.80 m.
2025-08-09T17:29:45.436Z,1754760585.436 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.80 m.
2025-08-09T17:29:45.892Z,1754760585.892 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.80 m.
2025-08-09T17:29:46.248Z,1754760586.248 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.80 m.
2025-08-09T17:29:46.657Z,1754760586.657 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.80 m.
2025-08-09T17:29:46.839Z,1754760586.839 [DAT](INFO): DAT read: Rx Time:17:29:45.6623

2025-08-09T17:29:46.840Z,1754760586.840 [DAT](INFO): Rx dataTimestamp_ set to:1754760586.839423
2025-08-09T17:29:47.123Z,1754760587.123 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.80 m.
2025-08-09T17:29:47.349Z,1754760587.349 [DAT](INFO): DAT read: 17:29:45.6623 LVL= 25168, 28017, 17682, 25715, AGC= 61, IDX= 437,-0.03, 2.258, 2.155,-1.879, 3.014, PHS=-0.654,-0.814, 1.346, RAW= 206.2,   1.2, CAL= 205.8,  -0.8, ROT= 304.2,   0.8

2025-08-09T17:29:47.350Z,1754760587.350 [DAT](INFO): got valid direction response:
 17:29:45.6623 LVL= 25168, 28017, 17682, 25715, AGC= 61, IDX= 437,-0.03, 2.258, 2.155,-1.879, 3.014, PHS=-0.654,-0.814, 1.346, RAW= 206.2,   1.2, CAL= 205.8,  -0.8, ROT= 304.2,   0.8

2025-08-09T17:29:47.351Z,1754760587.351 [DAT](INFO): DAT read: Bearing  13.3, -53.1 (Local)

2025-08-09T17:29:47.351Z,1754760587.351 [DAT](INFO): Local bearing/azimuth received:
 Bearing  13.3, -53.1 (Local)

2025-08-09T17:29:47.353Z,1754760587.353 [DAT](INFO): DAT read: Range 11 to 50 : 54.5 m  (Round-trip  72.7 ms) speed  0.0 m/s

2025-08-09T17:29:47.353Z,1754760587.353 [DAT](INFO): DAT read: user:574>

2025-08-09T17:29:47.354Z,1754760587.354 [DAT](INFO): DAT read: Tx time:17:29:46.7854

2025-08-09T17:29:47.355Z,1754760587.355 [DAT](INFO): Ping request sent.
2025-08-09T17:29:47.355Z,1754760587.355 [DAT](INFO): transmitted an acoustic signal
2025-08-09T17:29:47.355Z,1754760587.355 [DAT](INFO): #Rx 4: Read range and direction messages.
2025-08-09T17:29:47.356Z,1754760587.356 [DAT](INFO): direction in FSK: [0.562029,-0.827000,-0.013962]
2025-08-09T17:29:47.356Z,1754760587.356 [DAT](INFO): publishing transmit ping time
2025-08-09T17:29:47.356Z,1754760587.356 [DAT](INFO): publishing direction and range info
2025-08-09T17:29:47.360Z,1754760587.360 [DAT](INFO): publishing transmit ping time
2025-08-09T17:29:47.360Z,1754760587.360 [DAT](INFO): publishing direction and range info
2025-08-09T17:29:47.491Z,1754760587.491 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 54.500000 m,
      deltaT: 3.527945 s,
      deltaX: -0.299999 m,
      approachRate: -0.085035 m/s,
      rangeRepo size: 4

2025-08-09T17:29:47.494Z,1754760587.494 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 54.500000 m,
      bearing: 173.415709 deg,
      lat: 36.906103 deg,
      lon: -122.115986 deg,
      deltaT: 3.527945 s,
      deltaX: -0.299999 m,
      approachRate: -0.085035 m/s,
      posRepo size: 4

2025-08-09T17:29:47.494Z,1754760587.494 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.50 m.
2025-08-09T17:29:47.930Z,1754760587.930 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.50 m.
2025-08-09T17:29:48.291Z,1754760588.291 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.50 m.
2025-08-09T17:29:48.759Z,1754760588.759 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.50 m.
2025-08-09T17:29:49.159Z,1754760589.159 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.50 m.
2025-08-09T17:29:49.527Z,1754760589.527 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.50 m.
2025-08-09T17:29:49.962Z,1754760589.962 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.50 m.
2025-08-09T17:29:50.316Z,1754760590.316 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.50 m.
2025-08-09T17:29:50.368Z,1754760590.368 [DAT](INFO): DAT read: Rx Time:17:29:49.2620

2025-08-09T17:29:50.369Z,1754760590.369 [DAT](INFO): Rx dataTimestamp_ set to:1754760590.368527
2025-08-09T17:29:50.731Z,1754760590.731 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.50 m.
2025-08-09T17:29:50.886Z,1754760590.886 [DAT](INFO): DAT read: 17:29:49.2620 LVL= 30064, 29425, 20290, 30435, AGC= 64, IDX= 434, 0.14, 2.880, 2.752,-1.311,-2.637, PHS=-0.664,-0.849, 1.282, RAW= 205.5,   2.3, CAL= 205.2,   0.5, ROT= 304.8,  -0.5

2025-08-09T17:29:50.888Z,1754760590.888 [DAT](INFO): got valid direction response:
 17:29:49.2620 LVL= 30064, 29425, 20290, 30435, AGC= 64, IDX= 434, 0.14, 2.880, 2.752,-1.311,-2.637, PHS=-0.664,-0.849, 1.282, RAW= 205.5,   2.3, CAL= 205.2,   0.5, ROT= 304.8,  -0.5

2025-08-09T17:29:50.888Z,1754760590.888 [DAT](INFO): DAT read: Bearing  14.6, -52.7 (Local)

2025-08-09T17:29:50.889Z,1754760590.889 [DAT](INFO): Local bearing/azimuth received:
 Bearing  14.6, -52.7 (Local)

2025-08-09T17:29:50.919Z,1754760590.919 [DAT](INFO): DAT read: Range 11 to 50 : 54.3 m  (Round-trip  72.4 ms) speed -0.1 m/s

2025-08-09T17:29:50.919Z,1754760590.919 [DAT](INFO): DAT read: user:575>

2025-08-09T17:29:50.920Z,1754760590.920 [DAT](INFO): DAT read: Tx time:17:29:50.3854

2025-08-09T17:29:50.920Z,1754760590.920 [DAT](INFO): Ping request sent.
2025-08-09T17:29:50.920Z,1754760590.920 [DAT](INFO): transmitted an acoustic signal
2025-08-09T17:29:50.921Z,1754760590.921 [DAT](INFO): #Rx 5: Read range and direction messages.
2025-08-09T17:29:50.922Z,1754760590.922 [DAT](INFO): direction in FSK: [0.570692,-0.821118,0.008727]
2025-08-09T17:29:50.922Z,1754760590.922 [DAT](INFO): publishing transmit ping time
2025-08-09T17:29:50.937Z,1754760590.937 [DAT](INFO): publishing direction and range info
2025-08-09T17:29:50.944Z,1754760590.944 [DAT](INFO): publishing transmit ping time
2025-08-09T17:29:50.944Z,1754760590.944 [DAT](INFO): publishing direction and range info
2025-08-09T17:29:51.160Z,1754760591.160 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 54.299999 m,
      deltaT: 3.530087 s,
      deltaX: -0.200001 m,
      approachRate: -0.056656 m/s,
      rangeRepo size: 4

2025-08-09T17:29:51.162Z,1754760591.162 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 54.299999 m,
      bearing: 173.414651 deg,
      lat: 36.906103 deg,
      lon: -122.115987 deg,
      deltaT: 3.530087 s,
      deltaX: -0.200001 m,
      approachRate: -0.056656 m/s,
      posRepo size: 4

2025-08-09T17:29:51.163Z,1754760591.163 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.30 m.
2025-08-09T17:29:51.523Z,1754760591.523 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.30 m.
2025-08-09T17:29:51.975Z,1754760591.975 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.30 m.
2025-08-09T17:29:52.339Z,1754760592.339 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.30 m.
2025-08-09T17:29:52.747Z,1754760592.747 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.30 m.
2025-08-09T17:29:53.166Z,1754760593.166 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.30 m.
2025-08-09T17:29:53.542Z,1754760593.542 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.30 m.
2025-08-09T17:29:53.898Z,1754760593.898 [DAT](INFO): DAT read: Rx Time:17:29:52.8620

2025-08-09T17:29:53.899Z,1754760593.899 [DAT](INFO): Rx dataTimestamp_ set to:1754760593.898558
2025-08-09T17:29:54.014Z,1754760594.014 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.30 m.
2025-08-09T17:29:54.350Z,1754760594.350 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.30 m.
2025-08-09T17:29:54.416Z,1754760594.416 [DAT](INFO): DAT read: 17:29:52.8620 LVL= 25392, 25009, 17458, 25059, AGC= 62, IDX= 418, 0.32,-2.817,-2.977,-0.706,-2.084, PHS=-0.631,-0.847, 1.334, RAW= 204.8,   1.4, CAL= 204.5,  -0.7, ROT= 305.5,   0.7

2025-08-09T17:29:54.417Z,1754760594.417 [DAT](INFO): got valid direction response:
 17:29:52.8620 LVL= 25392, 25009, 17458, 25059, AGC= 62, IDX= 418, 0.32,-2.817,-2.977,-0.706,-2.084, PHS=-0.631,-0.847, 1.334, RAW= 204.8,   1.4, CAL= 204.5,  -0.7, ROT= 305.5,   0.7

2025-08-09T17:29:54.418Z,1754760594.418 [DAT](INFO): DAT read: Bearing  11.6, -51.8 (Local)

2025-08-09T17:29:54.418Z,1754760594.418 [DAT](INFO): Local bearing/azimuth received:
 Bearing  11.6, -51.8 (Local)

2025-08-09T17:29:54.419Z,1754760594.419 [DAT](INFO): DAT read: Range 11 to 50 : 54.3 m  (Round-trip  72.4 ms) speed  0.0 m/s

2025-08-09T17:29:54.420Z,1754760594.420 [DAT](INFO): DAT read: user:576>

2025-08-09T17:29:54.420Z,1754760594.420 [DAT](INFO): #Rx 6: Read range and direction messages.
2025-08-09T17:29:54.421Z,1754760594.421 [DAT](INFO): direction in FSK: [0.580659,-0.814055,-0.012217]
2025-08-09T17:29:54.422Z,1754760594.422 [DAT](INFO): publishing direction and range info
2025-08-09T17:29:54.651Z,1754760594.651 [DAT](INFO): DAT read: Tx time:17:29:53.9854

2025-08-09T17:29:54.652Z,1754760594.652 [DAT](INFO): Ping request sent.
2025-08-09T17:29:54.652Z,1754760594.652 [DAT](INFO): transmitted an acoustic signal
2025-08-09T17:29:54.652Z,1754760594.652 [DAT](INFO): publishing transmit ping time
2025-08-09T17:29:54.767Z,1754760594.767 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 54.299999 m,
      deltaT: 3.527209 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-08-09T17:29:54.769Z,1754760594.769 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 54.299999 m,
      bearing: 173.280462 deg,
      lat: 36.906103 deg,
      lon: -122.115987 deg,
      deltaT: 3.527209 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      posRepo size: 4

2025-08-09T17:29:54.770Z,1754760594.770 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.30 m.
2025-08-09T17:29:55.201Z,1754760595.201 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.30 m.
2025-08-09T17:29:55.576Z,1754760595.576 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.30 m.
2025-08-09T17:29:56.034Z,1754760596.034 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.30 m.
2025-08-09T17:29:56.395Z,1754760596.395 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.30 m.
2025-08-09T17:29:56.808Z,1754760596.808 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.30 m.
2025-08-09T17:29:57.230Z,1754760597.230 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.30 m.
2025-08-09T17:29:57.607Z,1754760597.607 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.30 m.
2025-08-09T17:29:57.680Z,1754760597.680 [DAT](INFO): DAT read: Rx Time:17:29:56.4618

2025-08-09T17:29:57.681Z,1754760597.681 [DAT](INFO): Rx dataTimestamp_ set to:1754760597.680480
2025-08-09T17:29:58.089Z,1754760598.089 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.30 m.
2025-08-09T17:29:58.190Z,1754760598.190 [DAT](INFO): DAT read: 17:29:56.4618 LVL= 25072, 26465, 17170, 25699, AGC= 61, IDX= 433,-0.17, 1.507, 1.335,-2.674, 2.223, PHS=-0.615,-0.844, 1.341, RAW= 204.5,   1.1, CAL= 204.2,  -1.0, ROT= 305.8,   1.0

2025-08-09T17:29:58.191Z,1754760598.191 [DAT](INFO): got valid direction response:
 17:29:56.4618 LVL= 25072, 26465, 17170, 25699, AGC= 61, IDX= 433,-0.17, 1.507, 1.335,-2.674, 2.223, PHS=-0.615,-0.844, 1.341, RAW= 204.5,   1.1, CAL= 204.2,  -1.0, ROT= 305.8,   1.0

2025-08-09T17:29:58.193Z,1754760598.193 [DAT](INFO): DAT read: Bearing  10.0, -51.5 (Local)

2025-08-09T17:29:58.193Z,1754760598.193 [DAT](INFO): Local bearing/azimuth received:
 Bearing  10.0, -51.5 (Local)

2025-08-09T17:29:58.195Z,1754760598.195 [DAT](INFO): DAT read: Range 11 to 50 : 54.1 m  (Round-trip  72.2 ms) speed  0.0 m/s

2025-08-09T17:29:58.196Z,1754760598.196 [DAT](INFO): DAT read: user:577>

2025-08-09T17:29:58.197Z,1754760598.197 [DAT](INFO): DAT read: Tx time:17:29:57.5854

2025-08-09T17:29:58.197Z,1754760598.197 [DAT](INFO): Ping request sent.
2025-08-09T17:29:58.198Z,1754760598.198 [DAT](INFO): transmitted an acoustic signal
2025-08-09T17:29:58.198Z,1754760598.198 [DAT](INFO): #Rx 7: Read range and direction messages.
2025-08-09T17:29:58.200Z,1754760598.200 [DAT](INFO): direction in FSK: [0.584869,-0.810940,-0.017452]
2025-08-09T17:29:58.200Z,1754760598.200 [DAT](INFO): publishing transmit ping time
2025-08-09T17:29:58.200Z,1754760598.200 [DAT](INFO): publishing direction and range info
2025-08-09T17:29:58.203Z,1754760598.203 [DAT](INFO): publishing transmit ping time
2025-08-09T17:29:58.203Z,1754760598.203 [DAT](INFO): publishing direction and range info
2025-08-09T17:29:58.436Z,1754760598.436 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 54.099998 m,
      deltaT: 3.782759 s,
      deltaX: -0.200001 m,
      approachRate: -0.052872 m/s,
      rangeRepo size: 4

2025-08-09T17:29:58.438Z,1754760598.438 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 54.099998 m,
      bearing: 172.942668 deg,
      lat: 36.906102 deg,
      lon: -122.115987 deg,
      deltaT: 3.782759 s,
      deltaX: -0.200001 m,
      approachRate: -0.052872 m/s,
      posRepo size: 4

2025-08-09T17:29:58.440Z,1754760598.440 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.10 m.
2025-08-09T17:29:58.813Z,1754760598.813 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.10 m.
2025-08-09T17:29:59.242Z,1754760599.242 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.10 m.
2025-08-09T17:29:59.618Z,1754760599.618 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.10 m.
2025-08-09T17:30:00.117Z,1754760600.117 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.10 m.
2025-08-09T17:30:00.428Z,1754760600.428 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.10 m.
2025-08-09T17:30:00.842Z,1754760600.842 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.10 m.
2025-08-09T17:30:01.211Z,1754760601.211 [DAT](INFO): DAT read: Rx Time:17:30:00.0615

2025-08-09T17:30:01.212Z,1754760601.212 [DAT](INFO): Rx dataTimestamp_ set to:1754760601.211565
2025-08-09T17:30:01.273Z,1754760601.273 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.10 m.
2025-08-09T17:30:01.652Z,1754760601.652 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.10 m.
2025-08-09T17:30:01.721Z,1754760601.721 [DAT](INFO): DAT read: 17:30:00.0615 LVL= 29424, 30625, 20370, 32755, AGC= 63, IDX= 445, 0.05,-3.004, 3.105,-0.948,-2.241, PHS=-0.661,-0.892, 1.249, RAW= 204.4,   3.0, CAL= 204.2,   1.4, ROT= 305.8,  -1.4

2025-08-09T17:30:01.722Z,1754760601.722 [DAT](INFO): got valid direction response:
 17:30:00.0615 LVL= 29424, 30625, 20370, 32755, AGC= 63, IDX= 445, 0.05,-3.004, 3.105,-0.948,-2.241, PHS=-0.661,-0.892, 1.249, RAW= 204.4,   3.0, CAL= 204.2,   1.4, ROT= 305.8,  -1.4

2025-08-09T17:30:01.723Z,1754760601.723 [DAT](INFO): DAT read: Bearing  12.4, -51.5 (Local)

2025-08-09T17:30:01.723Z,1754760601.723 [DAT](INFO): Local bearing/azimuth received:
 Bearing  12.4, -51.5 (Local)

2025-08-09T17:30:01.725Z,1754760601.725 [DAT](INFO): DAT read: Range 11 to 50 : 53.9 m  (Round-trip  71.9 ms) speed  0.0 m/s

2025-08-09T17:30:01.725Z,1754760601.725 [DAT](INFO): DAT read: user:578>

2025-08-09T17:30:01.726Z,1754760601.726 [DAT](INFO): DAT read: Tx time:17:30:01.1854

2025-08-09T17:30:01.727Z,1754760601.727 [DAT](INFO): Ping request sent.
2025-08-09T17:30:01.727Z,1754760601.727 [DAT](INFO): transmitted an acoustic signal
2025-08-09T17:30:01.727Z,1754760601.727 [DAT](INFO): #Rx 8: Read range and direction messages.
2025-08-09T17:30:01.728Z,1754760601.728 [DAT](INFO): direction in FSK: [0.584783,-0.810822,0.024432]
2025-08-09T17:30:01.728Z,1754760601.728 [DAT](INFO): publishing transmit ping time
2025-08-09T17:30:01.728Z,1754760601.728 [DAT](INFO): publishing direction and range info
2025-08-09T17:30:01.736Z,1754760601.736 [DAT](INFO): publishing transmit ping time
2025-08-09T17:30:01.736Z,1754760601.736 [DAT](INFO): publishing direction and range info
2025-08-09T17:30:02.135Z,1754760602.135 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 53.900002 m,
      deltaT: 3.531956 s,
      deltaX: -0.199997 m,
      approachRate: -0.056625 m/s,
      rangeRepo size: 4

2025-08-09T17:30:02.137Z,1754760602.137 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 53.900002 m,
      bearing: 172.665461 deg,
      lat: 36.906103 deg,
      lon: -122.115987 deg,
      deltaT: 3.531956 s,
      deltaX: -0.199997 m,
      approachRate: -0.056625 m/s,
      posRepo size: 4

2025-08-09T17:30:02.137Z,1754760602.137 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 53.90 m.
2025-08-09T17:30:02.450Z,1754760602.450 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 53.90 m.
2025-08-09T17:30:02.870Z,1754760602.870 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 53.90 m.
2025-08-09T17:30:03.345Z,1754760603.345 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 53.90 m.
2025-08-09T17:30:03.667Z,1754760603.667 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 53.90 m.
2025-08-09T17:30:04.170Z,1754760604.170 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 53.90 m.
2025-08-09T17:30:04.541Z,1754760604.541 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 53.90 m.
2025-08-09T17:30:04.739Z,1754760604.739 [DAT](INFO): DAT read: Rx Time:17:30:03.6613

2025-08-09T17:30:04.740Z,1754760604.740 [DAT](INFO): Rx dataTimestamp_ set to:1754760604.739544
2025-08-09T17:30:04.922Z,1754760604.922 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 53.90 m.
2025-08-09T17:30:05.249Z,1754760605.249 [DAT](INFO): DAT read: 17:30:03.6613 LVL= 28192, 28945, 17714, 31843, AGC= 63, IDX= 444,-0.33,-0.517,-0.718, 1.535, 0.239, PHS=-0.654,-0.912, 1.252, RAW= 203.7,   3.1, CAL= 203.6,   1.5, ROT= 306.4,  -1.5

2025-08-09T17:30:05.250Z,1754760605.250 [DAT](INFO): got valid direction response:
 17:30:03.6613 LVL= 28192, 28945, 17714, 31843, AGC= 63, IDX= 444,-0.33,-0.517,-0.718, 1.535, 0.239, PHS=-0.654,-0.912, 1.252, RAW= 203.7,   3.1, CAL= 203.6,   1.5, ROT= 306.4,  -1.5

2025-08-09T17:30:05.251Z,1754760605.251 [DAT](INFO): DAT read: Bearing  11.0, -50.8 (Local)

2025-08-09T17:30:05.251Z,1754760605.251 [DAT](INFO): Local bearing/azimuth received:
 Bearing  11.0, -50.8 (Local)

2025-08-09T17:30:05.253Z,1754760605.253 [DAT](INFO): DAT read: Range 11 to 50 : 53.7 m  (Round-trip  71.7 ms) speed  0.0 m/s

2025-08-09T17:30:05.253Z,1754760605.253 [DAT](INFO): DAT read: user:579>

2025-08-09T17:30:05.254Z,1754760605.254 [DAT](INFO): DAT read: Tx time:17:30:04.7854

2025-08-09T17:30:05.255Z,1754760605.255 [DAT](INFO): Ping request sent.
2025-08-09T17:30:05.255Z,1754760605.255 [DAT](INFO): transmitted an acoustic signal
2025-08-09T17:30:05.255Z,1754760605.255 [DAT](INFO): #Rx 9: Read range and direction messages.
2025-08-09T17:30:05.256Z,1754760605.256 [DAT](INFO): direction in FSK: [0.593215,-0.804618,0.026177]
2025-08-09T17:30:05.256Z,1754760605.256 [DAT](INFO): publishing transmit ping time
2025-08-09T17:30:05.256Z,1754760605.256 [DAT](INFO): publishing direction and range info
2025-08-09T17:30:05.260Z,1754760605.260 [DAT](INFO): publishing transmit ping time
2025-08-09T17:30:05.260Z,1754760605.260 [DAT](INFO): publishing direction and range info
2025-08-09T17:30:05.484Z,1754760605.484 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 53.700001 m,
      deltaT: 3.528033 s,
      deltaX: -0.200001 m,
      approachRate: -0.056689 m/s,
      rangeRepo size: 4

2025-08-09T17:30:05.490Z,1754760605.490 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 53.700001 m,
      bearing: 172.237174 deg,
      lat: 36.906103 deg,
      lon: -122.115983 deg,
      deltaT: 3.528033 s,
      deltaX: -0.200001 m,
      approachRate: -0.056689 m/s,
      posRepo size: 4

2025-08-09T17:30:05.491Z,1754760605.491 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 53.70 m.
2025-08-09T17:30:05.736Z,1754760605.736 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 53.70 m.
2025-08-09T17:30:06.187Z,1754760606.187 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 53.70 m.
2025-08-09T17:30:06.561Z,1754760606.561 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 53.70 m.
2025-08-09T17:30:06.942Z,1754760606.942 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 53.70 m.
2025-08-09T17:30:07.393Z,1754760607.393 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 53.70 m.
2025-08-09T17:30:07.757Z,1754760607.757 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 53.70 m.
2025-08-09T17:30:08.201Z,1754760608.201 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 53.70 m.
2025-08-09T17:30:08.268Z,1754760608.268 [DAT](INFO): DAT read: Rx Time:17:30:07.2611

2025-08-09T17:30:08.269Z,1754760608.269 [DAT](INFO): Rx dataTimestamp_ set to:1754760608.268457
2025-08-09T17:30:08.603Z,1754760608.603 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 53.70 m.
2025-08-09T17:30:08.964Z,1754760608.964 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 53.70 m.
2025-08-09T17:30:09.033Z,1754760609.033 [DAT](INFO): DAT read: 17:30:07.2611 LVL= 27488, 28193, 18322, 27955, AGC= 63, IDX= 441, 0.06,-0.398,-0.626, 1.623, 0.382, PHS=-0.678,-0.963, 1.197, RAW= 203.0,   4.4, CAL= 203.1,   3.4, ROT= 306.9,  -3.4

2025-08-09T17:30:09.041Z,1754760609.041 [DAT](INFO): got valid direction response:
 17:30:07.2611 LVL= 27488, 28193, 18322, 27955, AGC= 63, IDX= 441, 0.06,-0.398,-0.626, 1.623, 0.382, PHS=-0.678,-0.963, 1.197, RAW= 203.0,   4.4, CAL= 203.1,   3.4, ROT= 306.9,  -3.4

2025-08-09T17:30:09.047Z,1754760609.047 [DAT](INFO): DAT read: Bearing  12.6, -50.3 (Local)

2025-08-09T17:30:09.048Z,1754760609.048 [DAT](INFO): Local bearing/azimuth received:
 Bearing  12.6, -50.3 (Local)

2025-08-09T17:30:09.055Z,1754760609.055 [DAT](INFO): DAT read: Range 11 to 50 : 53.6 m  (Round-trip  71.5 ms) speed  0.0 m/s

2025-08-09T17:30:09.057Z,1754760609.057 [DAT](INFO): DAT read: user:580>

2025-08-09T17:30:09.063Z,1754760609.063 [DAT](INFO): DAT read: Tx time:17:30:08.3854

2025-08-09T17:30:09.063Z,1754760609.063 [DAT](INFO): Ping request sent.
2025-08-09T17:30:09.063Z,1754760609.063 [DAT](INFO): transmitted an acoustic signal
2025-08-09T17:30:09.064Z,1754760609.064 [DAT](INFO): #Rx 10: Read range and direction messages.
2025-08-09T17:30:09.065Z,1754760609.065 [DAT](INFO): direction in FSK: [0.599363,-0.798277,0.059306]
2025-08-09T17:30:09.065Z,1754760609.065 [DAT](INFO): publishing transmit ping time
2025-08-09T17:30:09.065Z,1754760609.065 [DAT](INFO): publishing direction and range info
2025-08-09T17:30:09.093Z,1754760609.093 [DAT](INFO): publishing transmit ping time
2025-08-09T17:30:09.094Z,1754760609.094 [DAT](INFO): publishing direction and range info
2025-08-09T17:30:09.413Z,1754760609.413 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 53.599998 m,
      deltaT: 3.780349 s,
      deltaX: -0.100002 m,
      approachRate: -0.026453 m/s,
      rangeRepo size: 4

2025-08-09T17:30:09.433Z,1754760609.433 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 53.599998 m,
      bearing: 171.382699 deg,
      lat: 36.906104 deg,
      lon: -122.115975 deg,
      deltaT: 3.780349 s,
      deltaX: -0.100002 m,
      approachRate: -0.026453 m/s,
      posRepo size: 4

2025-08-09T17:30:09.433Z,1754760609.433 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 53.60 m.
2025-08-09T17:30:09.772Z,1754760609.772 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 53.60 m.
2025-08-09T17:30:10.235Z,1754760610.235 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 53.60 m.
2025-08-09T17:30:10.606Z,1754760610.606 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 53.60 m.
2025-08-09T17:30:10.982Z,1754760610.982 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 53.60 m.
2025-08-09T17:30:11.430Z,1754760611.430 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 53.60 m.
2025-08-09T17:30:11.801Z,1754760611.801 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 53.60 m.
2025-08-09T17:30:12.050Z,1754760612.050 [DAT](INFO): DAT read: Rx Time:17:30:10.8608

2025-08-09T17:30:12.050Z,1754760612.050 [DAT](INFO): Rx dataTimestamp_ set to:1754760612.049847
2025-08-09T17:30:12.265Z,1754760612.265 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 53.60 m.
2025-08-09T17:30:12.559Z,1754760612.559 [DAT](INFO): DAT read: 17:30:10.8608 LVL= 30432, 32753, 22306, 32755, AGC= 63, IDX= 439,-0.25,-0.456,-0.719, 1.554, 0.285, PHS=-0.639,-0.960, 1.225, RAW= 202.2,   3.7, CAL= 202.2,   2.2, ROT= 307.8,  -2.2

2025-08-09T17:30:12.560Z,1754760612.560 [DAT](INFO): got valid direction response:
 17:30:10.8608 LVL= 30432, 32753, 22306, 32755, AGC= 63, IDX= 439,-0.25,-0.456,-0.719, 1.554, 0.285, PHS=-0.639,-0.960, 1.225, RAW= 202.2,   3.7, CAL= 202.2,   2.2, ROT= 307.8,  -2.2

2025-08-09T17:30:12.561Z,1754760612.561 [DAT](INFO): DAT read: Bearing   9.2, -49.5 (Local)

2025-08-09T17:30:12.561Z,1754760612.561 [DAT](INFO): Local bearing/azimuth received:
 Bearing   9.2, -49.5 (Local)

2025-08-09T17:30:12.563Z,1754760612.563 [DAT](INFO): DAT read: Range 11 to 50 : 53.4 m  (Round-trip  71.2 ms) speed  0.0 m/s

2025-08-09T17:30:12.563Z,1754760612.563 [DAT](INFO): DAT read: user:581>

2025-08-09T17:30:12.564Z,1754760612.564 [DAT](INFO): DAT read: Tx time:17:30:11.9854

2025-08-09T17:30:12.564Z,1754760612.564 [DAT](INFO): Ping request sent.
2025-08-09T17:30:12.565Z,1754760612.565 [DAT](INFO): transmitted an acoustic signal
2025-08-09T17:30:12.565Z,1754760612.565 [DAT](INFO): #Rx 11: Read range and direction messages.
2025-08-09T17:30:12.566Z,1754760612.566 [DAT](INFO): direction in FSK: [0.612455,-0.789573,0.038388]
2025-08-09T17:30:12.570Z,1754760612.570 [DAT](INFO): publishing transmit ping time
2025-08-09T17:30:12.570Z,1754760612.570 [DAT](INFO): publishing direction and range info
2025-08-09T17:30:12.573Z,1754760612.573 [DAT](INFO): publishing transmit ping time
2025-08-09T17:30:12.574Z,1754760612.574 [DAT](INFO): publishing direction and range info
2025-08-09T17:30:12.707Z,1754760612.707 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 53.400002 m,
      deltaT: 3.528099 s,
      deltaX: -0.199997 m,
      approachRate: -0.056687 m/s,
      rangeRepo size: 4

2025-08-09T17:30:12.709Z,1754760612.709 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 53.400002 m,
      bearing: 171.157996 deg,
      lat: 36.906105 deg,
      lon: -122.115975 deg,
      deltaT: 3.528099 s,
      deltaX: -0.199997 m,
      approachRate: -0.056687 m/s,
      posRepo size: 4

2025-08-09T17:30:12.710Z,1754760612.710 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 53.40 m.
2025-08-09T17:30:13.054Z,1754760613.054 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 53.40 m.
2025-08-09T17:30:13.455Z,1754760613.455 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 53.40 m.
2025-08-09T17:30:13.823Z,1754760613.823 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 53.40 m.
2025-08-09T17:30:14.298Z,1754760614.298 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 53.40 m.
2025-08-09T17:30:14.628Z,1754760614.628 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 53.40 m.
2025-08-09T17:30:15.045Z,1754760615.045 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 53.40 m.
2025-08-09T17:30:15.457Z,1754760615.457 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 53.40 m.
2025-08-09T17:30:15.579Z,1754760615.579 [DAT](INFO): DAT read: Rx Time:17:30:14.4608

2025-08-09T17:30:15.580Z,1754760615.580 [DAT](INFO): Rx dataTimestamp_ set to:1754760615.579474
2025-08-09T17:30:15.832Z,1754760615.832 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 53.40 m.
2025-08-09T17:30:16.091Z,1754760616.091 [DAT](INFO): DAT read: 17:30:14.4608 LVL= 30608, 27601, 18290, 29315, AGC= 65, IDX= 438, 0.30, 2.187, 1.902,-2.149, 2.954, PHS=-0.665,-1.007, 1.136, RAW= 201.5,   5.4, CAL= 201.6,   4.7, ROT= 308.4,  -4.7

2025-08-09T17:30:16.092Z,1754760616.092 [DAT](INFO): got valid direction response:
 17:30:14.4608 LVL= 30608, 27601, 18290, 29315, AGC= 65, IDX= 438, 0.30, 2.187, 1.902,-2.149, 2.954, PHS=-0.665,-1.007, 1.136, RAW= 201.5,   5.4, CAL= 201.6,   4.7, ROT= 308.4,  -4.7

2025-08-09T17:30:16.093Z,1754760616.093 [DAT](INFO): DAT read: Bearing  11.5, -48.8 (Local)

2025-08-09T17:30:16.094Z,1754760616.094 [DAT](INFO): Local bearing/azimuth received:
 Bearing  11.5, -48.8 (Local)

2025-08-09T17:30:16.096Z,1754760616.096 [DAT](INFO): DAT read: Range 11 to 50 : 53.4 m  (Round-trip  71.2 ms) speed  0.0 m/s

2025-08-09T17:30:16.097Z,1754760616.097 [DAT](INFO): DAT read: user:582>

2025-08-09T17:30:16.098Z,1754760616.098 [DAT](INFO): DAT read: Tx time:17:30:15.5854

2025-08-09T17:30:16.098Z,1754760616.098 [DAT](INFO): Ping request sent.
2025-08-09T17:30:16.098Z,1754760616.098 [DAT](INFO): transmitted an acoustic signal
2025-08-09T17:30:16.099Z,1754760616.099 [DAT](INFO): #Rx 12: Read range and direction messages.
2025-08-09T17:30:16.100Z,1754760616.100 [DAT](INFO): direction in FSK: [0.619059,-0.781058,0.081939]
2025-08-09T17:30:16.100Z,1754760616.100 [DAT](INFO): publishing transmit ping time
2025-08-09T17:30:16.100Z,1754760616.100 [DAT](INFO): publishing direction and range info
2025-08-09T17:30:16.104Z,1754760616.104 [DAT](INFO): publishing transmit ping time
2025-08-09T17:30:16.104Z,1754760616.104 [DAT](INFO): publishing direction and range info
2025-08-09T17:30:16.379Z,1754760616.379 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 53.400002 m,
      deltaT: 3.531552 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-08-09T17:30:16.381Z,1754760616.381 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 53.400002 m,
      bearing: 170.771064 deg,
      lat: 36.906105 deg,
      lon: -122.115973 deg,
      deltaT: 3.531552 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      posRepo size: 4

2025-08-09T17:30:16.382Z,1754760616.382 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 53.40 m.
2025-08-09T17:30:16.682Z,1754760616.682 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 53.40 m.
2025-08-09T17:30:17.095Z,1754760617.095 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 53.40 m.
2025-08-09T17:30:17.572Z,1754760617.572 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 53.40 m.
2025-08-09T17:30:17.896Z,1754760617.896 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 53.40 m.
2025-08-09T17:30:18.364Z,1754760618.364 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 53.40 m.
2025-08-09T17:30:18.722Z,1754760618.722 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 53.40 m.
2025-08-09T17:30:19.102Z,1754760619.102 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 53.40 m.
2025-08-09T17:30:19.112Z,1754760619.112 [DAT](INFO): DAT read: Rx Time:17:30:18.0604

2025-08-09T17:30:19.112Z,1754760619.112 [DAT](INFO): Rx dataTimestamp_ set to:1754760619.111868
2025-08-09T17:30:19.581Z,1754760619.581 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 53.40 m.
2025-08-09T17:30:19.625Z,1754760619.625 [DAT](INFO): DAT read: 17:30:18.0604 LVL= 31600, 30241, 21746, 32755, AGC= 64, IDX= 436,-0.33,-2.390,-2.707,-0.445,-1.650, PHS=-0.638,-1.011, 1.161, RAW= 200.7,   4.9, CAL= 200.9,   3.9, ROT= 309.1,  -3.9

2025-08-09T17:30:19.627Z,1754760619.627 [DAT](INFO): got valid direction response:
 17:30:18.0604 LVL= 31600, 30241, 21746, 32755, AGC= 64, IDX= 436,-0.33,-2.390,-2.707,-0.445,-1.650, PHS=-0.638,-1.011, 1.161, RAW= 200.7,   4.9, CAL= 200.9,   3.9, ROT= 309.1,  -3.9

2025-08-09T17:30:19.627Z,1754760619.627 [DAT](INFO): DAT read: Bearing   9.2, -48.1 (Local)

2025-08-09T17:30:19.628Z,1754760619.628 [DAT](INFO): Local bearing/azimuth received:
 Bearing   9.2, -48.1 (Local)

2025-08-09T17:30:19.635Z,1754760619.635 [DAT](INFO): DAT read: Range 11 to 50 : 53.1 m  (Round-trip  70.9 ms) speed  0.0 m/s

2025-08-09T17:30:19.636Z,1754760619.636 [DAT](INFO): DAT read: user:583>

2025-08-09T17:30:19.636Z,1754760619.636 [DAT](INFO): DAT read: Tx time:17:30:19.1853

2025-08-09T17:30:19.637Z,1754760619.637 [DAT](INFO): Ping request sent.
2025-08-09T17:30:19.637Z,1754760619.637 [DAT](INFO): transmitted an acoustic signal
2025-08-09T17:30:19.637Z,1754760619.637 [DAT](INFO): #Rx 13: Read range and direction messages.
2025-08-09T17:30:19.638Z,1754760619.638 [DAT](INFO): direction in FSK: [0.629216,-0.774249,0.068015]
2025-08-09T17:30:19.650Z,1754760619.650 [DAT](INFO): publishing transmit ping time
2025-08-09T17:30:19.651Z,1754760619.651 [DAT](INFO): publishing direction and range info
2025-08-09T17:30:19.654Z,1754760619.654 [DAT](INFO): publishing transmit ping time
2025-08-09T17:30:19.654Z,1754760619.654 [DAT](INFO): publishing direction and range info
2025-08-09T17:30:19.945Z,1754760619.945 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 53.099998 m,
      deltaT: 3.533392 s,
      deltaX: -0.300003 m,
      approachRate: -0.084905 m/s,
      rangeRepo size: 4

2025-08-09T17:30:19.948Z,1754760619.948 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 53.099998 m,
      bearing: 170.513267 deg,
      lat: 36.906105 deg,
      lon: -122.115972 deg,
      deltaT: 3.533392 s,
      deltaX: -0.300003 m,
      approachRate: -0.084905 m/s,
      posRepo size: 4

2025-08-09T17:30:19.948Z,1754760619.948 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 53.10 m.
2025-08-09T17:30:20.391Z,1754760620.391 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 53.10 m.
2025-08-09T17:30:20.812Z,1754760620.812 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 53.10 m.
2025-08-09T17:30:21.163Z,1754760621.163 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 53.10 m.
2025-08-09T17:30:21.591Z,1754760621.591 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 53.10 m.
2025-08-09T17:30:21.963Z,1754760621.963 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 53.10 m.
2025-08-09T17:30:22.432Z,1754760622.432 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 53.10 m.
2025-08-09T17:30:22.644Z,1754760622.644 [DAT](INFO): DAT read: Rx Time:17:30:21.6601

2025-08-09T17:30:22.644Z,1754760622.644 [DAT](INFO): Rx dataTimestamp_ set to:1754760622.643735
2025-08-09T17:30:22.785Z,1754760622.785 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 53.10 m.
2025-08-09T17:30:23.257Z,1754760623.257 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 53.10 m.
2025-08-09T17:30:23.409Z,1754760623.409 [DAT](INFO): DAT read: 17:30:21.6601 LVL= 30320, 30785, 20626, 32755, AGC= 64, IDX= 432, 0.26, 0.222,-0.115, 2.144, 0.951, PHS=-0.627,-1.021, 1.149, RAW= 200.2,   5.0, CAL= 200.4,   4.1, ROT= 309.6,  -4.1

2025-08-09T17:30:23.410Z,1754760623.410 [DAT](INFO): got valid direction response:
 17:30:21.6601 LVL= 30320, 30785, 20626, 32755, AGC= 64, IDX= 432, 0.26, 0.222,-0.115, 2.144, 0.951, PHS=-0.627,-1.021, 1.149, RAW= 200.2,   5.0, CAL= 200.4,   4.1, ROT= 309.6,  -4.1

2025-08-09T17:30:23.411Z,1754760623.411 [DAT](INFO): DAT read: Bearing   8.1, -47.6 (Local)

2025-08-09T17:30:23.412Z,1754760623.412 [DAT](INFO): Local bearing/azimuth received:
 Bearing   8.1, -47.6 (Local)

2025-08-09T17:30:23.413Z,1754760623.413 [DAT](INFO): DAT read: Range 11 to 50 : 53.0 m  (Round-trip  70.7 ms) speed  0.0 m/s

2025-08-09T17:30:23.414Z,1754760623.414 [DAT](INFO): DAT read: user:584>

2025-08-09T17:30:23.415Z,1754760623.415 [DAT](INFO): DAT read: Tx time:17:30:22.7853

2025-08-09T17:30:23.415Z,1754760623.415 [DAT](INFO): Ping request sent.
2025-08-09T17:30:23.415Z,1754760623.415 [DAT](INFO): transmitted an acoustic signal
2025-08-09T17:30:23.415Z,1754760623.415 [DAT](INFO): #Rx 14: Read range and direction messages.
2025-08-09T17:30:23.416Z,1754760623.416 [DAT](INFO): direction in FSK: [0.635793,-0.768541,0.071497]
2025-08-09T17:30:23.417Z,1754760623.417 [DAT](INFO): publishing transmit ping time
2025-08-09T17:30:23.417Z,1754760623.417 [DAT](INFO): publishing direction and range info
2025-08-09T17:30:23.420Z,1754760623.420 [DAT](INFO): publishing transmit ping time
2025-08-09T17:30:23.420Z,1754760623.420 [DAT](INFO): publishing direction and range info
2025-08-09T17:30:23.668Z,1754760623.668 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 53.000000 m,
      deltaT: 3.785112 s,
      deltaX: -0.099998 m,
      approachRate: -0.026419 m/s,
      rangeRepo size: 4

2025-08-09T17:30:23.670Z,1754760623.670 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 53.000000 m,
      bearing: 170.234400 deg,
      lat: 36.906106 deg,
      lon: -122.115971 deg,
      deltaT: 3.785112 s,
      deltaX: -0.099998 m,
      approachRate: -0.026419 m/s,
      posRepo size: 4

2025-08-09T17:30:23.674Z,1754760623.674 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 53.00 m.
2025-08-09T17:30:24.003Z,1754760624.003 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 53.00 m.
2025-08-09T17:30:24.469Z,1754760624.469 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 53.00 m.
2025-08-09T17:30:24.823Z,1754760624.823 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 53.00 m.
2025-08-09T17:30:25.212Z,1754760625.212 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 53.00 m.
2025-08-09T17:30:25.633Z,1754760625.633 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 53.00 m.
2025-08-09T17:30:26.036Z,1754760626.036 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 53.00 m.
2025-08-09T17:30:26.423Z,1754760626.423 [DAT](INFO): DAT read: Rx Time:17:30:25.2600

2025-08-09T17:30:26.424Z,1754760626.424 [DAT](INFO): Rx dataTimestamp_ set to:1754760626.423679
2025-08-09T17:30:26.494Z,1754760626.494 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 53.00 m.
2025-08-09T17:30:26.860Z,1754760626.860 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 53.00 m.
2025-08-09T17:30:26.933Z,1754760626.933 [DAT](INFO): DAT read: 17:30:25.2600 LVL= 26688, 27569, 18210, 28403, AGC= 64, IDX= 447, 0.08,-2.018,-2.383,-0.199,-1.315, PHS=-0.601,-1.023, 1.072, RAW= 199.0,   5.8, CAL= 199.3,   5.2, ROT= 310.7,  -5.2

2025-08-09T17:30:26.934Z,1754760626.934 [DAT](INFO): got valid direction response:
 17:30:25.2600 LVL= 26688, 27569, 18210, 28403, AGC= 64, IDX= 447, 0.08,-2.018,-2.383,-0.199,-1.315, PHS=-0.601,-1.023, 1.072, RAW= 199.0,   5.8, CAL= 199.3,   5.2, ROT= 310.7,  -5.2

2025-08-09T17:30:26.936Z,1754760626.936 [DAT](INFO): DAT read: Bearing   8.6, -46.4 (Local)

2025-08-09T17:30:26.936Z,1754760626.936 [DAT](INFO): Local bearing/azimuth received:
 Bearing   8.6, -46.4 (Local)

2025-08-09T17:30:26.938Z,1754760626.938 [DAT](INFO): DAT read: Range 11 to 50 : 52.9 m  (Round-trip  70.6 ms) speed  0.0 m/s

2025-08-09T17:30:26.947Z,1754760626.947 [DAT](INFO): DAT read: user:585>

2025-08-09T17:30:26.948Z,1754760626.948 [DAT](INFO): DAT read: Tx time:17:30:26.3853

2025-08-09T17:30:26.948Z,1754760626.948 [DAT](INFO): Ping request sent.
2025-08-09T17:30:26.948Z,1754760626.948 [DAT](INFO): transmitted an acoustic signal
2025-08-09T17:30:26.948Z,1754760626.948 [DAT](INFO): #Rx 15: Read range and direction messages.
2025-08-09T17:30:26.949Z,1754760626.949 [DAT](INFO): direction in FSK: [0.649415,-0.755014,0.090633]
2025-08-09T17:30:26.949Z,1754760626.949 [DAT](INFO): publishing transmit ping time
2025-08-09T17:30:26.950Z,1754760626.950 [DAT](INFO): publishing direction and range info
2025-08-09T17:30:26.962Z,1754760626.962 [DAT](INFO): publishing transmit ping time
2025-08-09T17:30:26.966Z,1754760626.966 [DAT](INFO): publishing direction and range info
2025-08-09T17:30:27.258Z,1754760627.258 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 52.900002 m,
      deltaT: 3.525503 s,
      deltaX: -0.099998 m,
      approachRate: -0.028364 m/s,
      rangeRepo size: 4

2025-08-09T17:30:27.260Z,1754760627.260 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 52.900002 m,
      bearing: 170.141781 deg,
      lat: 36.906106 deg,
      lon: -122.115971 deg,
      deltaT: 3.525503 s,
      deltaX: -0.099998 m,
      approachRate: -0.028364 m/s,
      posRepo size: 4

2025-08-09T17:30:27.261Z,1754760627.261 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 52.90 m.
2025-08-09T17:30:27.659Z,1754760627.659 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 52.90 m.
2025-08-09T17:30:28.074Z,1754760628.074 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 52.90 m.
2025-08-09T17:30:28.531Z,1754760628.531 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 52.90 m.
2025-08-09T17:30:28.854Z,1754760628.854 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 52.90 m.
2025-08-09T17:30:29.264Z,1754760629.264 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 52.90 m.
2025-08-09T17:30:29.677Z,1754760629.677 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 52.90 m.
2025-08-09T17:30:29.955Z,1754760629.955 [DAT](INFO): DAT read: Rx Time:17:30:28.8599

2025-08-09T17:30:29.956Z,1754760629.956 [DAT](INFO): Rx dataTimestamp_ set to:1754760629.955485
2025-08-09T17:30:30.062Z,1754760630.062 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 52.90 m.
2025-08-09T17:30:30.484Z,1754760630.484 [DAT](INFO): DAT read: 17:30:28.8599 LVL= 28080, 29809, 19890, 31043, AGC= 62, IDX= 447,-0.37,-2.679,-3.052,-0.829,-2.028, PHS=-0.549,-0.979, 1.155, RAW= 199.0,   3.9, CAL= 199.2,   2.2, ROT= 310.8,  -2.2

2025-08-09T17:30:30.485Z,1754760630.485 [DAT](INFO): got valid direction response:
 17:30:28.8599 LVL= 28080, 29809, 19890, 31043, AGC= 62, IDX= 447,-0.37,-2.679,-3.052,-0.829,-2.028, PHS=-0.549,-0.979, 1.155, RAW= 199.0,   3.9, CAL= 199.2,   2.2, ROT= 310.8,  -2.2

2025-08-09T17:30:30.495Z,1754760630.495 [DAT](INFO): DAT read: Bearing   3.0, -46.5 (Local)

2025-08-09T17:30:30.496Z,1754760630.496 [DAT](INFO): Local bearing/azimuth received:
 Bearing   3.0, -46.5 (Local)

2025-08-09T17:30:30.498Z,1754760630.498 [DAT](INFO): DAT read: Range 11 to 50 : 52.8 m  (Round-trip  70.5 ms) speed  0.0 m/s

2025-08-09T17:30:30.507Z,1754760630.507 [DAT](INFO): DAT read: user:586>

2025-08-09T17:30:30.509Z,1754760630.509 [DAT](INFO): DAT read: Tx time:17:30:29.9853

2025-08-09T17:30:30.509Z,1754760630.509 [DAT](INFO): Ping request sent.
2025-08-09T17:30:30.509Z,1754760630.509 [DAT](INFO): transmitted an acoustic signal
2025-08-09T17:30:30.510Z,1754760630.510 [DAT](INFO): #Rx 16: Read range and direction messages.
2025-08-09T17:30:30.520Z,1754760630.520 [DAT](INFO): direction in FSK: [0.652939,-0.756437,0.038388]
2025-08-09T17:30:30.521Z,1754760630.521 [DAT](INFO): publishing transmit ping time
2025-08-09T17:30:30.522Z,1754760630.522 [DAT](INFO): publishing direction and range info
2025-08-09T17:30:30.533Z,1754760630.533 [DAT](INFO): publishing transmit ping time
2025-08-09T17:30:30.533Z,1754760630.533 [DAT](INFO): publishing direction and range info
2025-08-09T17:30:30.665Z,1754760630.665 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 52.799999 m,
      deltaT: 3.533511 s,
      deltaX: -0.100002 m,
      approachRate: -0.028301 m/s,
      rangeRepo size: 4

2025-08-09T17:30:30.671Z,1754760630.671 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 52.799999 m,
      bearing: 170.001070 deg,
      lat: 36.906106 deg,
      lon: -122.115971 deg,
      deltaT: 3.533511 s,
      deltaX: -0.100002 m,
      approachRate: -0.028301 m/s,
      posRepo size: 4

2025-08-09T17:30:30.671Z,1754760630.671 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 52.80 m.
2025-08-09T17:30:30.926Z,1754760630.926 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 52.80 m.
2025-08-09T17:30:31.328Z,1754760631.328 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 52.80 m.
2025-08-09T17:30:31.859Z,1754760631.859 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 52.80 m.
2025-08-09T17:30:32.159Z,1754760632.159 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 52.80 m.
2025-08-09T17:30:32.590Z,1754760632.590 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 52.80 m.
2025-08-09T17:30:33.054Z,1754760633.054 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 52.80 m.
2025-08-09T17:30:33.367Z,1754760633.367 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 52.80 m.
2025-08-09T17:30:33.487Z,1754760633.487 [DAT](INFO): DAT read: Rx Time:17:30:32.4595

2025-08-09T17:30:33.489Z,1754760633.489 [DAT](INFO): Rx dataTimestamp_ set to:1754760633.487403
2025-08-09T17:30:33.781Z,1754760633.781 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 52.80 m.
2025-08-09T17:30:34.166Z,1754760634.166 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 52.80 m.
2025-08-09T17:30:34.247Z,1754760634.247 [DAT](INFO): DAT read: 17:30:32.4595 LVL= 30448, 32081, 21842, 31523, AGC= 65, IDX= 442, 0.47, 1.709, 1.294,-2.728, 2.411, PHS=-0.600,-1.071, 1.101, RAW= 198.1,   5.8, CAL= 198.3,   5.2, ROT= 311.7,  -5.2

2025-08-09T17:30:34.249Z,1754760634.249 [DAT](INFO): got valid direction response:
 17:30:32.4595 LVL= 30448, 32081, 21842, 31523, AGC= 65, IDX= 442, 0.47, 1.709, 1.294,-2.728, 2.411, PHS=-0.600,-1.071, 1.101, RAW= 198.1,   5.8, CAL= 198.3,   5.2, ROT= 311.7,  -5.2

2025-08-09T17:30:34.250Z,1754760634.250 [DAT](INFO): DAT read: Bearing   6.0, -45.6 (Local)

2025-08-09T17:30:34.255Z,1754760634.255 [DAT](INFO): Local bearing/azimuth received:
 Bearing   6.0, -45.6 (Local)

2025-08-09T17:30:34.257Z,1754760634.257 [DAT](INFO): DAT read: Range 11 to 50 : 52.5 m  (Round-trip  70.1 ms) speed  0.0 m/s

2025-08-09T17:30:34.258Z,1754760634.258 [DAT](INFO): DAT read: user:587>

2025-08-09T17:30:34.259Z,1754760634.259 [DAT](INFO): DAT read: Tx time:17:30:33.5853

2025-08-09T17:30:34.259Z,1754760634.259 [DAT](INFO): Ping request sent.
2025-08-09T17:30:34.259Z,1754760634.259 [DAT](INFO): transmitted an acoustic signal
2025-08-09T17:30:34.260Z,1754760634.260 [DAT](INFO): #Rx 17: Read range and direction messages.
2025-08-09T17:30:34.261Z,1754760634.261 [DAT](INFO): direction in FSK: [0.662493,-0.743565,0.090633]
2025-08-09T17:30:34.261Z,1754760634.261 [DAT](INFO): publishing transmit ping time
2025-08-09T17:30:34.261Z,1754760634.261 [DAT](INFO): publishing direction and range info
2025-08-09T17:30:34.264Z,1754760634.264 [DAT](INFO): publishing transmit ping time
2025-08-09T17:30:34.265Z,1754760634.265 [DAT](INFO): publishing direction and range info
2025-08-09T17:30:34.622Z,1754760634.622 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 52.500000 m,
      deltaT: 3.778471 s,
      deltaX: -0.299999 m,
      approachRate: -0.079397 m/s,
      rangeRepo size: 4

2025-08-09T17:30:34.628Z,1754760634.628 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 52.500000 m,
      bearing: 169.811865 deg,
      lat: 36.906106 deg,
      lon: -122.115971 deg,
      deltaT: 3.778471 s,
      deltaX: -0.299999 m,
      approachRate: -0.079397 m/s,
      posRepo size: 4

2025-08-09T17:30:34.628Z,1754760634.628 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 52.50 m.
2025-08-09T17:30:34.963Z,1754760634.963 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 52.50 m.
2025-08-09T17:30:35.369Z,1754760635.369 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-09T17:30:35.371Z,1754760635.371 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 52.50 m.
2025-08-09T17:30:35.504Z,1754760635.504 [DAT](INFO): ****** received valid address query ******
2025-08-09T17:30:35.504Z,1754760635.504 [DAT](INFO): ****** received valid ping request ******
2025-08-09T17:30:35.505Z,1754760635.505 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-09T17:30:35.751Z,1754760635.751 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.491788
2025-08-09T17:30:35.805Z,1754760635.805 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 52.50 m.
2025-08-09T17:30:36.004Z,1754760636.004 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.744124
2025-08-09T17:30:36.175Z,1754760636.175 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 52.50 m.
2025-08-09T17:30:36.256Z,1754760636.256 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.996796
2025-08-09T17:30:36.511Z,1754760636.511 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.250589
2025-08-09T17:30:36.631Z,1754760636.631 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 52.50 m.
2025-08-09T17:30:36.760Z,1754760636.760 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.500256
2025-08-09T17:30:36.991Z,1754760636.991 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 52.50 m.
2025-08-09T17:30:37.023Z,1754760637.023 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.763577
2025-08-09T17:30:37.263Z,1754760637.263 [DAT](INFO): DAT read: Rx Time:17:30:36.0594

2025-08-09T17:30:37.264Z,1754760637.264 [DAT](INFO): Rx dataTimestamp_ set to:1754760637.263504
2025-08-09T17:30:37.264Z,1754760637.264 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.004929
2025-08-09T17:30:37.403Z,1754760637.403 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 52.50 m.
2025-08-09T17:30:37.518Z,1754760637.518 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.257873
2025-08-09T17:30:37.773Z,1754760637.773 [DAT](INFO): DAT read: 17:30:36.0594 LVL= 31856, 31729, 22066, 32755, AGC= 61, IDX= 441, 0.06,-1.975,-2.397,-0.158,-1.273, PHS=-0.601,-1.080, 1.071, RAW= 197.7,   6.3, CAL= 198.0,   5.9, ROT= 312.0,  -5.9

2025-08-09T17:30:37.774Z,1754760637.774 [DAT](INFO): got valid direction response:
 17:30:36.0594 LVL= 31856, 31729, 22066, 32755, AGC= 61, IDX= 441, 0.06,-1.975,-2.397,-0.158,-1.273, PHS=-0.601,-1.080, 1.071, RAW= 197.7,   6.3, CAL= 198.0,   5.9, ROT= 312.0,  -5.9

2025-08-09T17:30:37.775Z,1754760637.775 [DAT](INFO): DAT read: Bearing   6.1, -45.2 (Local)

2025-08-09T17:30:37.776Z,1754760637.776 [DAT](INFO): Local bearing/azimuth received:
 Bearing   6.1, -45.2 (Local)

2025-08-09T17:30:37.777Z,1754760637.777 [DAT](INFO): DAT read: Range 11 to 50 : 52.5 m  (Round-trip  70.0 ms) speed  0.0 m/s

2025-08-09T17:30:37.778Z,1754760637.778 [DAT](INFO): DAT read: user:588>

2025-08-09T17:30:37.778Z,1754760637.778 [DAT](INFO): DAT read: Tx time:17:30:37.1853

2025-08-09T17:30:37.779Z,1754760637.779 [DAT](INFO): Ping request sent.
2025-08-09T17:30:37.779Z,1754760637.779 [DAT](INFO): transmitted an acoustic signal
2025-08-09T17:30:37.779Z,1754760637.779 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-09T17:30:37.780Z,1754760637.780 [DAT](INFO): direction in FSK: [0.665586,-0.739208,0.102793]
2025-08-09T17:30:37.780Z,1754760637.780 [DAT](INFO): publishing transmit ping time
2025-08-09T17:30:37.781Z,1754760637.781 [DAT](INFO): publishing direction and range info
2025-08-09T17:30:37.790Z,1754760637.790 [DAT](INFO): publishing transmit ping time
2025-08-09T17:30:37.790Z,1754760637.790 [DAT](INFO): publishing direction and range info
2025-08-09T17:30:37.952Z,1754760637.952 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 52.500000 m,
      deltaT: 3.528078 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-08-09T17:30:37.959Z,1754760637.959 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 52.500000 m,
      bearing: 170.020906 deg,
      lat: 36.906106 deg,
      lon: -122.115975 deg,
      deltaT: 3.528078 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      posRepo size: 4

2025-08-09T17:30:37.959Z,1754760637.959 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 52.50 m.
2025-08-09T17:30:38.223Z,1754760638.223 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 52.50 m.
2025-08-09T17:30:38.679Z,1754760638.679 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 52.50 m.
2025-08-09T17:30:39.047Z,1754760639.047 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 52.50 m.
2025-08-09T17:30:39.432Z,1754760639.432 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 52.50 m.
2025-08-09T17:30:39.890Z,1754760639.890 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 52.50 m.
2025-08-09T17:30:40.243Z,1754760640.243 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 52.50 m.
2025-08-09T17:30:40.680Z,1754760640.680 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 52.50 m.
2025-08-09T17:30:40.796Z,1754760640.796 [DAT](INFO): DAT read: Rx Time:17:30:39.6593

2025-08-09T17:30:40.796Z,1754760640.796 [DAT](INFO): Rx dataTimestamp_ set to:1754760640.795851
2025-08-09T17:30:41.076Z,1754760641.076 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 52.50 m.
2025-08-09T17:30:41.305Z,1754760641.305 [DAT](INFO): DAT read: 17:30:39.6593 LVL= 27232, 28225, 22322, 29219, AGC= 62, IDX= 441,-0.42, 3.116, 2.676,-1.342,-2.515, PHS=-0.550,-1.047, 1.129, RAW= 197.4,   4.8, CAL= 197.6,   3.5, ROT= 312.4,  -3.5

2025-08-09T17:30:41.306Z,1754760641.306 [DAT](INFO): got valid direction response:
 17:30:39.6593 LVL= 27232, 28225, 22322, 29219, AGC= 62, IDX= 441,-0.42, 3.116, 2.676,-1.342,-2.515, PHS=-0.550,-1.047, 1.129, RAW= 197.4,   4.8, CAL= 197.6,   3.5, ROT= 312.4,  -3.5

2025-08-09T17:30:41.307Z,1754760641.307 [DAT](INFO): DAT read: Bearing   1.8, -44.9 (Local)

2025-08-09T17:30:41.308Z,1754760641.308 [DAT](INFO): Local bearing/azimuth received:
 Bearing   1.8, -44.9 (Local)

2025-08-09T17:30:41.309Z,1754760641.309 [DAT](INFO): DAT read: Range 11 to 50 : 52.4 m  (Round-trip  69.9 ms) speed  0.1 m/s

2025-08-09T17:30:41.310Z,1754760641.310 [DAT](INFO): DAT read: user:589>

2025-08-09T17:30:41.310Z,1754760641.310 [DAT](INFO): DAT read: Tx time:17:30:40.7853

2025-08-09T17:30:41.311Z,1754760641.311 [DAT](INFO): Ping request sent.
2025-08-09T17:30:41.311Z,1754760641.311 [DAT](INFO): transmitted an acoustic signal
2025-08-09T17:30:41.311Z,1754760641.311 [DAT](INFO): #Rx 2: Read range and direction messages.
2025-08-09T17:30:41.312Z,1754760641.312 [DAT](INFO): direction in FSK: [0.673044,-0.737078,0.061049]
2025-08-09T17:30:41.312Z,1754760641.312 [DAT](INFO): publishing transmit ping time
2025-08-09T17:30:41.313Z,1754760641.313 [DAT](INFO): publishing direction and range info
2025-08-09T17:30:41.316Z,1754760641.316 [DAT](INFO): publishing transmit ping time
2025-08-09T17:30:41.316Z,1754760641.316 [DAT](INFO): publishing direction and range info
2025-08-09T17:30:41.528Z,1754760641.528 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 52.400002 m,
      deltaT: 3.532203 s,
      deltaX: -0.099998 m,
      approachRate: -0.028311 m/s,
      rangeRepo size: 4

2025-08-09T17:30:41.530Z,1754760641.530 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 52.400002 m,
      bearing: 169.805580 deg,
      lat: 36.906106 deg,
      lon: -122.115975 deg,
      deltaT: 3.532203 s,
      deltaX: -0.099998 m,
      approachRate: -0.028311 m/s,
      posRepo size: 4

2025-08-09T17:30:41.534Z,1754760641.534 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 52.40 m.
2025-08-09T17:30:41.921Z,1754760641.921 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 52.40 m.
2025-08-09T17:30:42.282Z,1754760642.282 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 52.40 m.
2025-08-09T17:30:42.734Z,1754760642.734 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 52.40 m.
2025-08-09T17:30:43.094Z,1754760643.094 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 52.40 m.
2025-08-09T17:30:43.518Z,1754760643.518 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 52.40 m.
2025-08-09T17:30:43.935Z,1754760643.935 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 52.40 m.
2025-08-09T17:30:44.303Z,1754760644.303 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 52.40 m.
2025-08-09T17:30:44.323Z,1754760644.323 [DAT](INFO): DAT read: Rx Time:17:30:43.2588

2025-08-09T17:30:44.324Z,1754760644.324 [DAT](INFO): Rx dataTimestamp_ set to:1754760644.323565
2025-08-09T17:30:44.777Z,1754760644.777 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 52.40 m.
2025-08-09T17:30:44.836Z,1754760644.836 [DAT](INFO): DAT read: 17:30:43.2588 LVL= 27408, 29345, 18146, 30227, AGC= 65, IDX= 436,-0.34,-1.136,-1.585, 0.694,-0.432, PHS=-0.603,-1.108, 1.082, RAW= 197.3,   6.4, CAL= 197.5,   6.0, ROT= 312.5,  -6.0

2025-08-09T17:30:44.837Z,1754760644.837 [DAT](INFO): got valid direction response:
 17:30:43.2588 LVL= 27408, 29345, 18146, 30227, AGC= 65, IDX= 436,-0.34,-1.136,-1.585, 0.694,-0.432, PHS=-0.603,-1.108, 1.082, RAW= 197.3,   6.4, CAL= 197.5,   6.0, ROT= 312.5,  -6.0

2025-08-09T17:30:44.838Z,1754760644.838 [DAT](INFO): DAT read: Bearing   4.5, -44.8 (Local)

2025-08-09T17:30:44.838Z,1754760644.838 [DAT](INFO): Local bearing/azimuth received:
 Bearing   4.5, -44.8 (Local)

2025-08-09T17:30:44.840Z,1754760644.840 [DAT](INFO): DAT read: Range 11 to 50 : 52.0 m  (Round-trip  69.4 ms) speed  0.0 m/s

2025-08-09T17:30:44.840Z,1754760644.840 [DAT](INFO): DAT read: user:590>

2025-08-09T17:30:44.841Z,1754760644.841 [DAT](INFO): DAT read: Tx time:17:30:44.3853

2025-08-09T17:30:44.841Z,1754760644.841 [DAT](INFO): Ping request sent.
2025-08-09T17:30:44.841Z,1754760644.841 [DAT](INFO): transmitted an acoustic signal
2025-08-09T17:30:44.842Z,1754760644.842 [DAT](INFO): #Rx 3: Read range and direction messages.
2025-08-09T17:30:44.848Z,1754760644.848 [DAT](INFO): direction in FSK: [0.671889,-0.733238,0.104528]
2025-08-09T17:30:44.848Z,1754760644.848 [DAT](INFO): publishing transmit ping time
2025-08-09T17:30:44.849Z,1754760644.849 [DAT](INFO): publishing direction and range info
2025-08-09T17:30:44.861Z,1754760644.861 [DAT](INFO): publishing transmit ping time
2025-08-09T17:30:44.861Z,1754760644.861 [DAT](INFO): publishing direction and range info
2025-08-09T17:30:45.128Z,1754760645.128 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 52.000000 m,
      deltaT: 3.529938 s,
      deltaX: -0.400002 m,
      approachRate: -0.113317 m/s,
      rangeRepo size: 4

2025-08-09T17:30:45.130Z,1754760645.130 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 52.000000 m,
      bearing: 169.581278 deg,
      lat: 36.906106 deg,
      lon: -122.115975 deg,
      deltaT: 3.529938 s,
      deltaX: -0.400002 m,
      approachRate: -0.113317 m/s,
      posRepo size: 4

2025-08-09T17:30:45.131Z,1754760645.131 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 52.00 m.
2025-08-09T17:30:45.544Z,1754760645.544 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 52.00 m.
2025-08-09T17:30:46.027Z,1754760646.027 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 52.00 m.
2025-08-09T17:30:46.336Z,1754760646.336 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 52.00 m.
2025-08-09T17:30:46.799Z,1754760646.799 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 52.00 m.
2025-08-09T17:30:47.159Z,1754760647.159 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 52.00 m.
2025-08-09T17:30:47.547Z,1754760647.547 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 52.00 m.
2025-08-09T17:30:47.852Z,1754760647.852 [DAT](INFO): DAT read: Rx Time:17:30:46.8584

2025-08-09T17:30:47.853Z,1754760647.853 [DAT](INFO): Rx dataTimestamp_ set to:1754760647.852050
2025-08-09T17:30:48.015Z,1754760648.015 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 52.00 m.
2025-08-09T17:30:48.363Z,1754760648.363 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 52.00 m.
2025-08-09T17:30:48.615Z,1754760648.615 [DAT](INFO): DAT read: 17:30:46.8584 LVL= 26192, 24737, 19586, 28627, AGC= 58, IDX= 432, 0.13, 0.317,-0.142, 2.148, 1.017, PHS=-0.599,-1.115, 1.086, RAW= 197.0,   6.3, CAL= 197.3,   5.9, ROT= 312.7,  -5.9

2025-08-09T17:30:48.616Z,1754760648.616 [DAT](INFO): got valid direction response:
 17:30:46.8584 LVL= 26192, 24737, 19586, 28627, AGC= 58, IDX= 432, 0.13, 0.317,-0.142, 2.148, 1.017, PHS=-0.599,-1.115, 1.086, RAW= 197.0,   6.3, CAL= 197.3,   5.9, ROT= 312.7,  -5.9

2025-08-09T17:30:48.617Z,1754760648.617 [DAT](INFO): DAT read: Bearing   3.7, -44.7 (Local)

2025-08-09T17:30:48.617Z,1754760648.617 [DAT](INFO): Local bearing/azimuth received:
 Bearing   3.7, -44.7 (Local)

2025-08-09T17:30:48.627Z,1754760648.627 [DAT](INFO): DAT read: Range 11 to 50 : 51.8 m  (Round-trip  69.1 ms) speed -0.1 m/s

2025-08-09T17:30:48.628Z,1754760648.628 [DAT](INFO): DAT read: user:591>

2025-08-09T17:30:48.629Z,1754760648.629 [DAT](INFO): DAT read: Tx time:17:30:47.9852

2025-08-09T17:30:48.629Z,1754760648.629 [DAT](INFO): Ping request sent.
2025-08-09T17:30:48.629Z,1754760648.629 [DAT](INFO): transmitted an acoustic signal
2025-08-09T17:30:48.629Z,1754760648.629 [DAT](INFO): #Rx 4: Read range and direction messages.
2025-08-09T17:30:48.630Z,1754760648.630 [DAT](INFO): direction in FSK: [0.674568,-0.731021,0.102793]
2025-08-09T17:30:48.631Z,1754760648.631 [DAT](INFO): publishing transmit ping time
2025-08-09T17:30:48.631Z,1754760648.631 [DAT](INFO): publishing direction and range info
2025-08-09T17:30:48.634Z,1754760648.634 [DAT](INFO): publishing transmit ping time
2025-08-09T17:30:48.634Z,1754760648.634 [DAT](INFO): publishing direction and range info
2025-08-09T17:30:48.885Z,1754760648.885 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 51.799999 m,
      deltaT: 3.777815 s,
      deltaX: -0.200001 m,
      approachRate: -0.052941 m/s,
      rangeRepo size: 4

2025-08-09T17:30:48.890Z,1754760648.890 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 51.799999 m,
      bearing: 169.648276 deg,
      lat: 36.906107 deg,
      lon: -122.115975 deg,
      deltaT: 3.777815 s,
      deltaX: -0.200001 m,
      approachRate: -0.052941 m/s,
      posRepo size: 4

2025-08-09T17:30:48.898Z,1754760648.898 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 51.80 m.
2025-08-09T17:30:49.170Z,1754760649.170 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 51.80 m.
2025-08-09T17:30:49.571Z,1754760649.571 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 51.80 m.
2025-08-09T17:30:50.012Z,1754760650.012 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 51.80 m.
2025-08-09T17:30:50.371Z,1754760650.371 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 51.80 m.
2025-08-09T17:30:50.830Z,1754760650.830 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 51.80 m.
2025-08-09T17:30:51.186Z,1754760651.186 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 51.80 m.
2025-08-09T17:30:51.594Z,1754760651.594 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 51.80 m.
2025-08-09T17:30:51.633Z,1754760651.633 [DAT](INFO): DAT read: Rx Time:17:30:50.4587

2025-08-09T17:30:51.634Z,1754760651.634 [DAT](INFO): Rx dataTimestamp_ set to:1754760651.633333
2025-08-09T17:30:52.099Z,1754760652.099 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 51.80 m.
2025-08-09T17:30:52.144Z,1754760652.144 [DAT](INFO): DAT read: 17:30:50.4587 LVL= 26720, 27073, 18338, 29475, AGC= 64, IDX= 435,-0.03,-1.904,-2.393,-0.088,-1.205, PHS=-0.597,-1.143, 1.072, RAW= 196.3,   6.7, CAL= 196.5,   6.5, ROT= 313.5,  -6.5

2025-08-09T17:30:52.145Z,1754760652.145 [DAT](INFO): got valid direction response:
 17:30:50.4587 LVL= 26720, 27073, 18338, 29475, AGC= 64, IDX= 435,-0.03,-1.904,-2.393,-0.088,-1.205, PHS=-0.597,-1.143, 1.072, RAW= 196.3,   6.7, CAL= 196.5,   6.5, ROT= 313.5,  -6.5

2025-08-09T17:30:52.146Z,1754760652.146 [DAT](INFO): DAT read: Bearing   3.8, -44.5 (Local)

2025-08-09T17:30:52.146Z,1754760652.146 [DAT](INFO): Local bearing/azimuth received:
 Bearing   3.8, -44.5 (Local)

2025-08-09T17:30:52.148Z,1754760652.148 [DAT](INFO): DAT read: Range 11 to 50 : 52.0 m  (Round-trip  69.4 ms) speed  0.0 m/s

2025-08-09T17:30:52.149Z,1754760652.149 [DAT](INFO): DAT read: user:592>

2025-08-09T17:30:52.150Z,1754760652.150 [DAT](INFO): DAT read: Tx time:17:30:51.5852

2025-08-09T17:30:52.151Z,1754760652.151 [DAT](INFO): Ping request sent.
2025-08-09T17:30:52.151Z,1754760652.151 [DAT](INFO): transmitted an acoustic signal
2025-08-09T17:30:52.151Z,1754760652.151 [DAT](INFO): #Rx 5: Read range and direction messages.
2025-08-09T17:30:52.153Z,1754760652.153 [DAT](INFO): direction in FSK: [0.683930,-0.720712,0.113203]
2025-08-09T17:30:52.153Z,1754760652.153 [DAT](INFO): publishing transmit ping time
2025-08-09T17:30:52.153Z,1754760652.153 [DAT](INFO): publishing direction and range info
2025-08-09T17:30:52.162Z,1754760652.162 [DAT](INFO): publishing transmit ping time
2025-08-09T17:30:52.167Z,1754760652.167 [DAT](INFO): publishing direction and range info
2025-08-09T17:30:52.399Z,1754760652.399 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 52.000000 m,
      deltaT: 3.530095 s,
      deltaX: 0.200001 m,
      approachRate: 0.056656 m/s,
      rangeRepo size: 4

2025-08-09T17:30:52.401Z,1754760652.401 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 52.000000 m,
      bearing: 169.612454 deg,
      lat: 36.906106 deg,
      lon: -122.115975 deg,
      deltaT: 3.530095 s,
      deltaX: 0.200001 m,
      approachRate: 0.056656 m/s,
      posRepo size: 4

2025-08-09T17:30:52.402Z,1754760652.402 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 52.00 m.
2025-08-09T17:30:52.883Z,1754760652.883 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 52.00 m.
2025-08-09T17:30:53.198Z,1754760653.198 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 52.00 m.
2025-08-09T17:30:53.604Z,1754760653.604 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 52.00 m.
2025-08-09T17:30:54.041Z,1754760654.041 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 52.00 m.
2025-08-09T17:30:54.427Z,1754760654.427 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 52.00 m.
2025-08-09T17:30:54.903Z,1754760654.903 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 52.00 m.
2025-08-09T17:30:55.159Z,1754760655.159 [DAT](INFO): DAT read: Rx Time:17:30:54.0587

2025-08-09T17:30:55.160Z,1754760655.160 [DAT](INFO): Rx dataTimestamp_ set to:1754760655.159469
2025-08-09T17:30:55.229Z,1754760655.229 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 52.00 m.
2025-08-09T17:30:55.641Z,1754760655.641 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 52.00 m.
2025-08-09T17:30:55.684Z,1754760655.684 [DAT](INFO): DAT read: 17:30:54.0587 LVL= 31808, 30177, 20338, 27955, AGC= 63, IDX= 435,-0.09, 1.928, 1.446,-2.532, 2.598, PHS=-0.569,-1.107, 1.109, RAW= 196.5,   5.7, CAL= 196.7,   4.9, ROT= 313.3,  -4.9

2025-08-09T17:30:55.686Z,1754760655.686 [DAT](INFO): got valid direction response:
 17:30:54.0587 LVL= 31808, 30177, 20338, 27955, AGC= 63, IDX= 435,-0.09, 1.928, 1.446,-2.532, 2.598, PHS=-0.569,-1.107, 1.109, RAW= 196.5,   5.7, CAL= 196.7,   4.9, ROT= 313.3,  -4.9

2025-08-09T17:30:55.688Z,1754760655.688 [DAT](INFO): DAT read: Bearing   0.8, -45.1 (Local)

2025-08-09T17:30:55.688Z,1754760655.688 [DAT](INFO): Local bearing/azimuth received:
 Bearing   0.8, -45.1 (Local)

2025-08-09T17:30:55.699Z,1754760655.699 [DAT](INFO): DAT read: Range 11 to 50 : 52.0 m  (Round-trip  69.4 ms) speed  0.0 m/s

2025-08-09T17:30:55.700Z,1754760655.700 [DAT](INFO): DAT read: user:593>

2025-08-09T17:30:55.701Z,1754760655.701 [DAT](INFO): DAT read: Tx time:17:30:55.1852

2025-08-09T17:30:55.701Z,1754760655.701 [DAT](INFO): Ping request sent.
2025-08-09T17:30:55.701Z,1754760655.701 [DAT](INFO): transmitted an acoustic signal
2025-08-09T17:30:55.701Z,1754760655.701 [DAT](INFO): #Rx 6: Read range and direction messages.
2025-08-09T17:30:55.703Z,1754760655.703 [DAT](INFO): direction in FSK: [0.683312,-0.725113,0.085417]
2025-08-09T17:30:55.703Z,1754760655.703 [DAT](INFO): publishing transmit ping time
2025-08-09T17:30:55.703Z,1754760655.703 [DAT](INFO): publishing direction and range info
2025-08-09T17:30:55.706Z,1754760655.706 [DAT](INFO): publishing transmit ping time
2025-08-09T17:30:55.722Z,1754760655.722 [DAT](INFO): publishing direction and range info
2025-08-09T17:30:56.078Z,1754760656.078 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 52.000000 m,
      deltaT: 3.538414 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-08-09T17:30:56.085Z,1754760656.085 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 52.000000 m,
      bearing: 169.282386 deg,
      lat: 36.906106 deg,
      lon: -122.115975 deg,
      deltaT: 3.538414 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      posRepo size: 4

2025-08-09T17:30:56.085Z,1754760656.085 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 52.00 m.
2025-08-09T17:30:56.432Z,1754760656.432 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 52.00 m.
2025-08-09T17:30:56.928Z,1754760656.928 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 52.00 m.
2025-08-09T17:30:57.241Z,1754760657.241 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 52.00 m.
2025-08-09T17:30:57.655Z,1754760657.655 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 52.00 m.
2025-08-09T17:30:58.084Z,1754760658.084 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 52.00 m.
2025-08-09T17:30:58.464Z,1754760658.464 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 52.00 m.
2025-08-09T17:30:58.699Z,1754760658.699 [DAT](INFO): DAT read: Rx Time:17:30:57.6580

2025-08-09T17:30:58.700Z,1754760658.700 [DAT](INFO): Rx dataTimestamp_ set to:1754760658.699426
2025-08-09T17:30:58.917Z,1754760658.917 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 52.00 m.
2025-08-09T17:30:59.215Z,1754760659.215 [DAT](INFO): DAT read: 17:30:57.6580 LVL= 25536, 24097, 18834, 26531, AGC= 62, IDX= 428,-0.34,-1.845,-2.314, 0.005,-1.143, PHS=-0.600,-1.126, 1.104, RAW= 197.0,   6.2, CAL= 197.2,   5.7, ROT= 312.8,  -5.7

2025-08-09T17:30:59.216Z,1754760659.216 [DAT](INFO): got valid direction response:
 17:30:57.6580 LVL= 25536, 24097, 18834, 26531, AGC= 62, IDX= 428,-0.34,-1.845,-2.314, 0.005,-1.143, PHS=-0.600,-1.126, 1.104, RAW= 197.0,   6.2, CAL= 197.2,   5.7, ROT= 312.8,  -5.7

2025-08-09T17:30:59.217Z,1754760659.217 [DAT](INFO): DAT read: Bearing   2.1, -45.6 (Local)

2025-08-09T17:30:59.217Z,1754760659.217 [DAT](INFO): Local bearing/azimuth received:
 Bearing   2.1, -45.6 (Local)

2025-08-09T17:30:59.220Z,1754760659.220 [DAT](INFO): DAT read: Range 11 to 50 : 51.4 m  (Round-trip  68.6 ms) speed  0.0 m/s

2025-08-09T17:30:59.220Z,1754760659.220 [DAT](INFO): DAT read: user:594>

2025-08-09T17:30:59.221Z,1754760659.221 [DAT](INFO): #Rx 7: Read range and direction messages.
2025-08-09T17:30:59.222Z,1754760659.222 [DAT](INFO): direction in FSK: [0.676082,-0.730102,0.099320]
2025-08-09T17:30:59.222Z,1754760659.222 [DAT](INFO): publishing direction and range info
2025-08-09T17:30:59.381Z,1754760659.381 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 51.400002 m,
      deltaT: 3.528714 s,
      deltaX: -0.599998 m,
      approachRate: -0.170033 m/s,
      rangeRepo size: 4

2025-08-09T17:30:59.386Z,1754760659.386 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 51.400002 m,
      bearing: 169.041716 deg,
      lat: 36.906106 deg,
      lon: -122.115975 deg,
      deltaT: 3.528714 s,
      deltaX: -0.599998 m,
      approachRate: -0.170033 m/s,
      posRepo size: 4

2025-08-09T17:30:59.394Z,1754760659.394 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 51.40 m.
2025-08-09T17:30:59.457Z,1754760659.457 [DAT](INFO): DAT read: Tx time:17:30:58.7852

2025-08-09T17:30:59.457Z,1754760659.457 [DAT](INFO): Ping request sent.
2025-08-09T17:30:59.458Z,1754760659.458 [DAT](INFO): transmitted an acoustic signal
2025-08-09T17:30:59.458Z,1754760659.458 [DAT](INFO): publishing transmit ping time
2025-08-09T17:30:59.667Z,1754760659.667 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 51.40 m.
2025-08-09T17:31:00.092Z,1754760660.092 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 51.40 m.
2025-08-09T17:31:00.558Z,1754760660.559 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 51.40 m.
2025-08-09T17:31:01.010Z,1754760661.010 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 51.40 m.
2025-08-09T17:31:01.303Z,1754760661.303 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 51.40 m.
2025-08-09T17:31:01.702Z,1754760661.702 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 51.40 m.
2025-08-09T17:31:02.133Z,1754760662.133 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 51.40 m.
2025-08-09T17:31:02.241Z,1754760662.241 [DAT](INFO): DAT read: Rx Time:17:31:01.2576

2025-08-09T17:31:02.241Z,1754760662.241 [DAT](INFO): Rx dataTimestamp_ set to:1754760662.240738
2025-08-09T17:31:02.494Z,1754760662.494 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 51.40 m.
2025-08-09T17:31:02.964Z,1754760662.964 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 51.40 m.
2025-08-09T17:31:03.001Z,1754760663.001 [DAT](INFO): DAT read: 17:31:01.2576 LVL= 28752, 27185, 19442, 30291, AGC= 60, IDX= 440,-0.22, 1.287, 0.816,-3.128, 2.003, PHS=-0.614,-1.142, 1.108, RAW= 197.0,   6.4, CAL= 197.2,   6.0, ROT= 312.8,  -6.0

2025-08-09T17:31:03.002Z,1754760663.002 [DAT](INFO): got valid direction response:
 17:31:01.2576 LVL= 28752, 27185, 19442, 30291, AGC= 60, IDX= 440,-0.22, 1.287, 0.816,-3.128, 2.003, PHS=-0.614,-1.142, 1.108, RAW= 197.0,   6.4, CAL= 197.2,   6.0, ROT= 312.8,  -6.0

2025-08-09T17:31:03.003Z,1754760663.003 [DAT](INFO): DAT read: Bearing   2.6, -45.5 (Local)

2025-08-09T17:31:03.004Z,1754760663.004 [DAT](INFO): Local bearing/azimuth received:
 Bearing   2.6, -45.5 (Local)

2025-08-09T17:31:03.005Z,1754760663.005 [DAT](INFO): DAT read: Range 11 to 50 : 51.1 m  (Round-trip  68.2 ms) speed -0.1 m/s

2025-08-09T17:31:03.006Z,1754760663.006 [DAT](INFO): DAT read: user:595>

2025-08-09T17:31:03.007Z,1754760663.007 [DAT](INFO): DAT read: Tx time:17:31:02.3852

2025-08-09T17:31:03.007Z,1754760663.007 [DAT](INFO): Ping request sent.
2025-08-09T17:31:03.007Z,1754760663.007 [DAT](INFO): transmitted an acoustic signal
2025-08-09T17:31:03.007Z,1754760663.007 [DAT](INFO): #Rx 8: Read range and direction messages.
2025-08-09T17:31:03.008Z,1754760663.008 [DAT](INFO): direction in FSK: [0.675719,-0.729711,0.104528]
2025-08-09T17:31:03.008Z,1754760663.008 [DAT](INFO): publishing transmit ping time
2025-08-09T17:31:03.009Z,1754760663.009 [DAT](INFO): publishing direction and range info
2025-08-09T17:31:03.018Z,1754760663.018 [DAT](INFO): publishing transmit ping time
2025-08-09T17:31:03.030Z,1754760663.030 [DAT](INFO): publishing direction and range info
2025-08-09T17:31:03.337Z,1754760663.337 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 51.099998 m,
      deltaT: 3.790883 s,
      deltaX: -0.300003 m,
      approachRate: -0.079138 m/s,
      rangeRepo size: 4

2025-08-09T17:31:03.339Z,1754760663.339 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 51.099998 m,
      bearing: 168.962841 deg,
      lat: 36.906106 deg,
      lon: -122.115975 deg,
      deltaT: 3.790883 s,
      deltaX: -0.300003 m,
      approachRate: -0.079138 m/s,
      posRepo size: 4

2025-08-09T17:31:03.339Z,1754760663.339 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 51.10 m.
2025-08-09T17:31:03.707Z,1754760663.707 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 51.10 m.
2025-08-09T17:31:04.133Z,1754760664.133 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 51.10 m.
2025-08-09T17:31:04.519Z,1754760664.519 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 51.10 m.
2025-08-09T17:31:04.962Z,1754760664.962 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 51.10 m.
2025-08-09T17:31:05.356Z,1754760665.356 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 51.10 m.
2025-08-09T17:31:05.724Z,1754760665.724 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 51.10 m.
2025-08-09T17:31:06.023Z,1754760666.023 [DAT](INFO): DAT read: Rx Time:17:31:04.8579

2025-08-09T17:31:06.024Z,1754760666.024 [DAT](INFO): Rx dataTimestamp_ set to:1754760666.023525
2025-08-09T17:31:06.153Z,1754760666.153 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 51.10 m.
2025-08-09T17:31:06.533Z,1754760666.533 [DAT](INFO): DAT read: 17:31:04.8579 LVL= 30672, 32753, 17698, 32755, AGC= 63, IDX= 426,-0.13,-0.694,-1.179, 1.136,-0.005, PHS=-0.587,-1.129, 1.097, RAW= 196.5,   6.2, CAL= 196.7,   5.7, ROT= 313.3,  -5.7

2025-08-09T17:31:06.542Z,1754760666.542 [DAT](INFO): got valid direction response:
 17:31:04.8579 LVL= 30672, 32753, 17698, 32755, AGC= 63, IDX= 426,-0.13,-0.694,-1.179, 1.136,-0.005, PHS=-0.587,-1.129, 1.097, RAW= 196.5,   6.2, CAL= 196.7,   5.7, ROT= 313.3,  -5.7

2025-08-09T17:31:06.543Z,1754760666.543 [DAT](INFO): DAT read: Bearing   1.6, -44.8 (Local)

2025-08-09T17:31:06.544Z,1754760666.544 [DAT](INFO): Local bearing/azimuth received:
 Bearing   1.6, -44.8 (Local)

2025-08-09T17:31:06.545Z,1754760666.545 [DAT](INFO): DAT read: Range 11 to 50 : 51.3 m  (Round-trip  68.5 ms) speed -0.1 m/s

2025-08-09T17:31:06.546Z,1754760666.546 [DAT](INFO): DAT read: user:596>

2025-08-09T17:31:06.547Z,1754760666.547 [DAT](INFO): DAT read: Tx time:17:31:05.9852

2025-08-09T17:31:06.547Z,1754760666.547 [DAT](INFO): Ping request sent.
2025-08-09T17:31:06.547Z,1754760666.547 [DAT](INFO): transmitted an acoustic signal
2025-08-09T17:31:06.547Z,1754760666.547 [DAT](INFO): #Rx 9: Read range and direction messages.
2025-08-09T17:31:06.548Z,1754760666.548 [DAT](INFO): direction in FSK: [0.682427,-0.724175,0.099320]
2025-08-09T17:31:06.548Z,1754760666.548 [DAT](INFO): publishing transmit ping time
2025-08-09T17:31:06.549Z,1754760666.549 [DAT](INFO): publishing direction and range info
2025-08-09T17:31:06.568Z,1754760666.568 [DAT](INFO): publishing transmit ping time
2025-08-09T17:31:06.568Z,1754760666.568 [DAT](INFO): publishing direction and range info
2025-08-09T17:31:06.584Z,1754760666.584 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 51.299999 m,
      deltaT: 3.531955 s,
      deltaX: 0.200001 m,
      approachRate: 0.056626 m/s,
      rangeRepo size: 4

2025-08-09T17:31:06.586Z,1754760666.586 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 51.299999 m,
      bearing: 168.910265 deg,
      lat: 36.906106 deg,
      lon: -122.115976 deg,
      deltaT: 3.531955 s,
      deltaX: 0.200001 m,
      approachRate: 0.056626 m/s,
      posRepo size: 4

2025-08-09T17:31:06.591Z,1754760666.591 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 51.30 m.
2025-08-09T17:31:06.984Z,1754760666.984 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 51.30 m.
2025-08-09T17:31:07.375Z,1754760667.375 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 51.30 m.
2025-08-09T17:31:07.744Z,1754760667.744 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 51.30 m.
2025-08-09T17:31:08.175Z,1754760668.175 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 51.30 m.
2025-08-09T17:31:08.571Z,1754760668.571 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 51.30 m.
2025-08-09T17:31:08.966Z,1754760668.966 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 51.30 m.
2025-08-09T17:31:09.380Z,1754760669.380 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 51.30 m.
2025-08-09T17:31:09.551Z,1754760669.551 [DAT](INFO): DAT read: Rx Time:17:31:08.4580

2025-08-09T17:31:09.552Z,1754760669.552 [DAT](INFO): Rx dataTimestamp_ set to:1754760669.551596
2025-08-09T17:31:09.775Z,1754760669.775 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 51.30 m.
2025-08-09T17:31:10.061Z,1754760670.061 [DAT](INFO): DAT read: 17:31:08.4580 LVL= 30320, 29793, 25106, 31603, AGC= 64, IDX= 427, 0.38,-0.358,-0.856, 1.510, 0.365, PHS=-0.622,-1.176, 1.100, RAW= 196.5,   6.8, CAL= 196.7,   6.7, ROT= 313.3,  -6.7

2025-08-09T17:31:10.062Z,1754760670.062 [DAT](INFO): got valid direction response:
 17:31:08.4580 LVL= 30320, 29793, 25106, 31603, AGC= 64, IDX= 427, 0.38,-0.358,-0.856, 1.510, 0.365, PHS=-0.622,-1.176, 1.100, RAW= 196.5,   6.8, CAL= 196.7,   6.7, ROT= 313.3,  -6.7

2025-08-09T17:31:10.063Z,1754760670.063 [DAT](INFO): DAT read: Bearing   2.5, -44.5 (Local)

2025-08-09T17:31:10.064Z,1754760670.064 [DAT](INFO): Local bearing/azimuth received:
 Bearing   2.5, -44.5 (Local)

2025-08-09T17:31:10.065Z,1754760670.065 [DAT](INFO): DAT read: Range 11 to 50 : 51.4 m  (Round-trip  68.6 ms) speed  0.0 m/s

2025-08-09T17:31:10.066Z,1754760670.066 [DAT](INFO): DAT read: user:597>

2025-08-09T17:31:10.087Z,1754760670.087 [DAT](INFO): DAT read: Tx time:17:31:09.5852

2025-08-09T17:31:10.087Z,1754760670.087 [DAT](INFO): Ping request sent.
2025-08-09T17:31:10.087Z,1754760670.087 [DAT](INFO): transmitted an acoustic signal
2025-08-09T17:31:10.088Z,1754760670.088 [DAT](INFO): #Rx 10: Read range and direction messages.
2025-08-09T17:31:10.089Z,1754760670.089 [DAT](INFO): direction in FSK: [0.681134,-0.722803,0.116671]
2025-08-09T17:31:10.089Z,1754760670.089 [DAT](INFO): publishing transmit ping time
2025-08-09T17:31:10.089Z,1754760670.089 [DAT](INFO): publishing direction and range info
2025-08-09T17:31:10.104Z,1754760670.104 [DAT](INFO): publishing transmit ping time
2025-08-09T17:31:10.105Z,1754760670.105 [DAT](INFO): publishing direction and range info
2025-08-09T17:31:10.251Z,1754760670.251 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 51.400002 m,
      deltaT: 3.528067 s,
      deltaX: 0.100002 m,
      approachRate: 0.028345 m/s,
      rangeRepo size: 4

2025-08-09T17:31:10.253Z,1754760670.253 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 51.400002 m,
      bearing: 168.703669 deg,
      lat: 36.906106 deg,
      lon: -122.115975 deg,
      deltaT: 3.528067 s,
      deltaX: 0.100002 m,
      approachRate: 0.028345 m/s,
      posRepo size: 4

2025-08-09T17:31:10.253Z,1754760670.253 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 51.40 m.
2025-08-09T17:31:10.575Z,1754760670.575 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 51.40 m.
2025-08-09T17:31:10.985Z,1754760670.985 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 51.40 m.
2025-08-09T17:31:11.412Z,1754760671.412 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 51.40 m.
2025-08-09T17:31:11.784Z,1754760671.784 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 51.40 m.
2025-08-09T17:31:12.217Z,1754760672.217 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 51.40 m.
2025-08-09T17:31:12.620Z,1754760672.620 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 51.40 m.
2025-08-09T17:31:13.082Z,1754760673.082 [DAT](INFO): DAT read: Rx Time:17:31:12.0575

2025-08-09T17:31:13.084Z,1754760673.084 [DAT](INFO): Rx dataTimestamp_ set to:1754760673.082864
2025-08-09T17:31:13.194Z,1754760673.194 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 51.40 m.
2025-08-09T17:31:13.620Z,1754760673.620 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 51.40 m.
2025-08-09T17:31:13.841Z,1754760673.841 [DAT](INFO): DAT read: 17:31:12.0575 LVL= 29552, 28081, 18114, 32755, AGC= 64, IDX= 438, 0.17,-2.704, 3.117,-0.911,-2.026, PHS=-0.576,-1.095, 1.071, RAW= 196.7,   6.2, CAL= 196.9,   5.6, ROT= 313.1,  -5.6

2025-08-09T17:31:13.843Z,1754760673.843 [DAT](INFO): got valid direction response:
 17:31:12.0575 LVL= 29552, 28081, 18114, 32755, AGC= 64, IDX= 438, 0.17,-2.704, 3.117,-0.911,-2.026, PHS=-0.576,-1.095, 1.071, RAW= 196.7,   6.2, CAL= 196.9,   5.6, ROT= 313.1,  -5.6

2025-08-09T17:31:13.844Z,1754760673.844 [DAT](INFO): DAT read: Bearing   0.7, -44.7 (Local)

2025-08-09T17:31:13.844Z,1754760673.844 [DAT](INFO): Local bearing/azimuth received:
 Bearing   0.7, -44.7 (Local)

2025-08-09T17:31:13.855Z,1754760673.855 [DAT](INFO): DAT read: Range 11 to 50 : 51.0 m  (Round-trip  68.1 ms) speed  0.0 m/s

2025-08-09T17:31:13.857Z,1754760673.857 [DAT](INFO): DAT read: user:598>

2025-08-09T17:31:13.858Z,1754760673.858 [DAT](INFO): DAT read: Tx time:17:31:13.1852

2025-08-09T17:31:13.858Z,1754760673.858 [DAT](INFO): Ping request sent.
2025-08-09T17:31:13.866Z,1754760673.866 [DAT](INFO): transmitted an acoustic signal
2025-08-09T17:31:13.867Z,1754760673.867 [DAT](INFO): #Rx 11: Read range and direction messages.
2025-08-09T17:31:13.868Z,1754760673.868 [DAT](INFO): direction in FSK: [0.680013,-0.726678,0.097583]
2025-08-09T17:31:13.869Z,1754760673.869 [DAT](INFO): publishing transmit ping time
2025-08-09T17:31:13.869Z,1754760673.869 [DAT](INFO): publishing direction and range info
2025-08-09T17:31:13.873Z,1754760673.873 [DAT](INFO): publishing transmit ping time
2025-08-09T17:31:13.874Z,1754760673.874 [DAT](INFO): publishing direction and range info
2025-08-09T17:31:14.047Z,1754760674.047 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 51.000000 m,
      deltaT: 3.779751 s,
      deltaX: -0.400002 m,
      approachRate: -0.105827 m/s,
      rangeRepo size: 4

2025-08-09T17:31:14.058Z,1754760674.058 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 51.000000 m,
      bearing: 168.581672 deg,
      lat: 36.906106 deg,
      lon: -122.115975 deg,
      deltaT: 3.779751 s,
      deltaX: -0.400002 m,
      approachRate: -0.105827 m/s,
      posRepo size: 4

2025-08-09T17:31:14.064Z,1754760674.064 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 51.00 m.
2025-08-09T17:31:14.408Z,1754760674.408 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 51.00 m.
2025-08-09T17:31:14.869Z,1754760674.869 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 51.00 m.
2025-08-09T17:31:15.292Z,1754760675.292 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 51.00 m.
2025-08-09T17:31:15.664Z,1754760675.664 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 51.00 m.
2025-08-09T17:31:16.074Z,1754760676.074 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 51.00 m.
2025-08-09T17:31:16.494Z,1754760676.494 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 51.00 m.
2025-08-09T17:31:16.864Z,1754760676.864 [DAT](INFO): DAT read: Rx Time:17:31:15.6570

2025-08-09T17:31:16.864Z,1754760676.864 [DAT](INFO): Rx dataTimestamp_ set to:1754760676.864151
2025-08-09T17:31:16.879Z,1754760676.879 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 51.00 m.
2025-08-09T17:31:17.300Z,1754760677.300 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 51.00 m.
2025-08-09T17:31:17.373Z,1754760677.373 [DAT](INFO): DAT read: 17:31:15.6570 LVL= 28384, 28657, 21874, 29635, AGC= 64, IDX= 433, 0.20, 1.036, 0.557, 2.849, 1.728, PHS=-0.589,-1.125, 1.078, RAW= 196.5,   6.5, CAL= 196.7,   6.1, ROT= 313.3,  -6.1

2025-08-09T17:31:17.378Z,1754760677.378 [DAT](INFO): got valid direction response:
 17:31:15.6570 LVL= 28384, 28657, 21874, 29635, AGC= 64, IDX= 433, 0.20, 1.036, 0.557, 2.849, 1.728, PHS=-0.589,-1.125, 1.078, RAW= 196.5,   6.5, CAL= 196.7,   6.1, ROT= 313.3,  -6.1

2025-08-09T17:31:17.380Z,1754760677.380 [DAT](INFO): DAT read: Bearing   0.8, -44.6 (Local)

2025-08-09T17:31:17.381Z,1754760677.381 [DAT](INFO): Local bearing/azimuth received:
 Bearing   0.8, -44.6 (Local)

2025-08-09T17:31:17.382Z,1754760677.382 [DAT](INFO): DAT read: Range 11 to 50 : 50.7 m  (Round-trip  67.6 ms) speed  0.1 m/s

2025-08-09T17:31:17.395Z,1754760677.395 [DAT](INFO): DAT read: user:599>

2025-08-09T17:31:17.396Z,1754760677.396 [DAT](INFO): DAT read: Tx time:17:31:16.7852

2025-08-09T17:31:17.397Z,1754760677.397 [DAT](INFO): Ping request sent.
2025-08-09T17:31:17.397Z,1754760677.397 [DAT](INFO): transmitted an acoustic signal
2025-08-09T17:31:17.397Z,1754760677.397 [DAT](INFO): #Rx 12: Read range and direction messages.
2025-08-09T17:31:17.405Z,1754760677.405 [DAT](INFO): direction in FSK: [0.681935,-0.723652,0.106264]
2025-08-09T17:31:17.405Z,1754760677.405 [DAT](INFO): publishing transmit ping time
2025-08-09T17:31:17.406Z,1754760677.406 [DAT](INFO): publishing direction and range info
2025-08-09T17:31:17.428Z,1754760677.428 [DAT](INFO): publishing transmit ping time
2025-08-09T17:31:17.428Z,1754760677.428 [DAT](INFO): publishing direction and range info
2025-08-09T17:31:17.699Z,1754760677.699 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 50.700001 m,
      deltaT: 3.532156 s,
      deltaX: -0.299999 m,
      approachRate: -0.084934 m/s,
      rangeRepo size: 4

2025-08-09T17:31:17.701Z,1754760677.701 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 50.700001 m,
      bearing: 168.445160 deg,
      lat: 36.906106 deg,
      lon: -122.115976 deg,
      deltaT: 3.532156 s,
      deltaX: -0.299999 m,
      approachRate: -0.084934 m/s,
      posRepo size: 4

2025-08-09T17:31:17.702Z,1754760677.702 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 50.70 m.
2025-08-09T17:31:18.067Z,1754760678.067 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 50.70 m.
2025-08-09T17:31:18.502Z,1754760678.502 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 50.70 m.
2025-08-09T17:31:18.886Z,1754760678.886 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 50.70 m.
2025-08-09T17:31:19.333Z,1754760679.333 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 50.70 m.
2025-08-09T17:31:19.705Z,1754760679.705 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 50.70 m.
2025-08-09T17:31:20.086Z,1754760680.086 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 50.70 m.
2025-08-09T17:31:20.400Z,1754760680.400 [DAT](INFO): DAT read: Rx Time:17:31:19.2570

2025-08-09T17:31:20.401Z,1754760680.401 [DAT](INFO): Rx dataTimestamp_ set to:1754760680.400755
2025-08-09T17:31:20.512Z,1754760680.512 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 50.70 m.
2025-08-09T17:31:20.913Z,1754760680.913 [DAT](INFO): DAT read: 17:31:19.2570 LVL= 28992, 30241, 18018, 32307, AGC= 63, IDX= 449,-0.13,-2.830, 2.984,-0.964,-2.106, PHS=-0.622,-1.148, 1.098, RAW= 197.1,   6.7, CAL= 197.3,   6.4, ROT= 312.7,  -6.4

2025-08-09T17:31:20.914Z,1754760680.914 [DAT](INFO): got valid direction response:
 17:31:19.2570 LVL= 28992, 30241, 18018, 32307, AGC= 63, IDX= 449,-0.13,-2.830, 2.984,-0.964,-2.106, PHS=-0.622,-1.148, 1.098, RAW= 197.1,   6.7, CAL= 197.3,   6.4, ROT= 312.7,  -6.4

2025-08-09T17:31:20.916Z,1754760680.916 [DAT](INFO): DAT read: Bearing   1.1, -45.3 (Local)

2025-08-09T17:31:20.916Z,1754760680.916 [DAT](INFO): Local bearing/azimuth received:
 Bearing   1.1, -45.3 (Local)

2025-08-09T17:31:20.922Z,1754760680.922 [DAT](INFO): DAT read: Range 11 to 50 : 50.7 m  (Round-trip  67.6 ms) speed  0.0 m/s

2025-08-09T17:31:20.923Z,1754760680.923 [DAT](INFO): #Rx 13: Read range and direction messages.
2025-08-09T17:31:20.925Z,1754760680.925 [DAT](INFO): direction in FSK: [0.673934,-0.730334,0.111469]
2025-08-09T17:31:20.926Z,1754760680.926 [DAT](INFO): publishing direction and range info
2025-08-09T17:31:20.930Z,1754760680.930 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 50.70 m.
2025-08-09T17:31:21.331Z,1754760681.331 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 50.700001 m,
      deltaT: 3.537459 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-08-09T17:31:21.331Z,1754760681.331 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 50.70 m.
2025-08-09T17:31:21.719Z,1754760681.719 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 50.70 m.
2025-08-09T17:31:22.134Z,1754760682.134 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 50.70 m.
2025-08-09T17:31:22.535Z,1754760682.535 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 50.70 m.
2025-08-09T17:31:22.947Z,1754760682.947 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 50.70 m.
2025-08-09T17:31:23.346Z,1754760683.346 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 50.70 m.
2025-08-09T17:31:23.742Z,1754760683.742 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 50.70 m.
2025-08-09T17:31:24.143Z,1754760684.143 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 50.70 m.
2025-08-09T17:31:24.568Z,1754760684.568 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 50.70 m.
2025-08-09T17:31:24.945Z,1754760684.945 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 50.70 m.
2025-08-09T17:31:25.367Z,1754760685.367 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 50.70 m.
2025-08-09T17:31:25.762Z,1754760685.762 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 50.70 m.
2025-08-09T17:31:26.148Z,1754760686.148 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 50.70 m.
2025-08-09T17:31:26.590Z,1754760686.590 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 50.70 m.
2025-08-09T17:31:26.963Z,1754760686.963 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 50.70 m.
2025-08-09T17:31:27.386Z,1754760687.386 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 50.70 m.
2025-08-09T17:31:27.768Z,1754760687.768 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 50.70 m.
2025-08-09T17:31:28.169Z,1754760688.169 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 50.70 m.
2025-08-09T17:31:28.596Z,1754760688.596 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 50.70 m.
2025-08-09T17:31:28.976Z,1754760688.976 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 50.70 m.
2025-08-09T17:31:29.489Z,1754760689.489 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 50.70 m.
2025-08-09T17:31:29.802Z,1754760689.802 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 50.70 m.
2025-08-09T17:31:30.212Z,1754760690.212 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 50.70 m.
2025-08-09T17:31:30.635Z,1754760690.635 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 50.70 m.
2025-08-09T17:31:31.010Z,1754760691.010 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 50.70 m.
2025-08-09T17:31:31.455Z,1754760691.455 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 50.70 m.
2025-08-09T17:31:31.827Z,1754760691.827 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 50.70 m.
2025-08-09T17:31:32.229Z,1754760692.229 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 50.70 m.
2025-08-09T17:31:32.647Z,1754760692.647 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 50.70 m.
2025-08-09T17:31:33.017Z,1754760693.017 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 50.70 m.
2025-08-09T17:31:33.457Z,1754760693.457 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 50.70 m.
2025-08-09T17:31:33.828Z,1754760693.828 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 50.70 m.
2025-08-09T17:31:34.228Z,1754760694.228 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 50.70 m.
2025-08-09T17:31:34.651Z,1754760694.651 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 50.70 m.
2025-08-09T17:31:35.036Z,1754760695.036 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 50.70 m.
2025-08-09T17:31:35.492Z,1754760695.492 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-09T17:31:35.494Z,1754760695.494 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 50.70 m.
2025-08-09T17:31:35.532Z,1754760695.532 [DAT](DEBUG): Acoustic response timeout
2025-08-09T17:31:35.533Z,1754760695.533 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-09T17:31:35.783Z,1754760695.783 [DAT](INFO): DAT read: user:600>

2025-08-09T17:31:35.784Z,1754760695.784 [DAT](INFO): DAT read: Tx time:17:31:35.1351

2025-08-09T17:31:35.784Z,1754760695.784 [DAT](INFO): Ping request sent.
2025-08-09T17:31:35.784Z,1754760695.784 [DAT](INFO): transmitted an acoustic signal
2025-08-09T17:31:35.784Z,1754760695.784 [DAT](INFO): publishing transmit ping time
2025-08-09T17:31:35.785Z,1754760695.785 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000744
2025-08-09T17:31:35.906Z,1754760695.906 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 50.70 m.
2025-08-09T17:31:36.036Z,1754760696.036 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251192
2025-08-09T17:31:36.254Z,1754760696.254 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 50.70 m.
2025-08-09T17:31:36.288Z,1754760696.288 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.503240
2025-08-09T17:31:36.539Z,1754760696.539 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754888
2025-08-09T17:31:36.690Z,1754760696.690 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 50.70 m.
2025-08-09T17:31:36.792Z,1754760696.792 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.008022
2025-08-09T17:31:37.043Z,1754760697.043 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.259023
2025-08-09T17:31:37.063Z,1754760697.063 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 50.70 m.
2025-08-09T17:31:37.295Z,1754760697.295 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510887
2025-08-09T17:31:37.530Z,1754760697.530 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 50.70 m.
2025-08-09T17:31:37.547Z,1754760697.547 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.763068
2025-08-09T17:31:37.799Z,1754760697.799 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.015133
2025-08-09T17:31:37.909Z,1754760697.909 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 50.70 m.
2025-08-09T17:31:38.051Z,1754760698.051 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266902
2025-08-09T17:31:38.301Z,1754760698.301 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 50.70 m.
2025-08-09T17:31:38.304Z,1754760698.304 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.519300
2025-08-09T17:31:38.555Z,1754760698.555 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770968
2025-08-09T17:31:38.702Z,1754760698.702 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 50.70 m.
2025-08-09T17:31:38.808Z,1754760698.808 [DAT](INFO): DAT read: Rx Time:17:31:37.6056

2025-08-09T17:31:38.809Z,1754760698.809 [DAT](INFO): Rx dataTimestamp_ set to:1754760698.808494
2025-08-09T17:31:38.809Z,1754760698.809 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.024997
2025-08-09T17:31:39.059Z,1754760699.059 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274988
2025-08-09T17:31:39.094Z,1754760699.094 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 50.70 m.
2025-08-09T17:31:39.318Z,1754760699.318 [DAT](INFO): DAT read: 17:31:37.6056 LVL= 32752, 31729, 23698, 30531, AGC= 65, IDX= 436, 0.42, 1.530, 1.107,-2.903, 2.266, PHS=-0.634,-1.114, 1.070, RAW= 197.9,   6.9, CAL= 198.2,   6.8, ROT= 311.8,  -6.8

2025-08-09T17:31:39.319Z,1754760699.319 [DAT](INFO): got valid direction response:
 17:31:37.6056 LVL= 32752, 31729, 23698, 30531, AGC= 65, IDX= 436, 0.42, 1.530, 1.107,-2.903, 2.266, PHS=-0.634,-1.114, 1.070, RAW= 197.9,   6.9, CAL= 198.2,   6.8, ROT= 311.8,  -6.8

2025-08-09T17:31:39.320Z,1754760699.320 [DAT](INFO): DAT read: Bearing   0.3, -46.3 (Local)

2025-08-09T17:31:39.320Z,1754760699.320 [DAT](INFO): Local bearing/azimuth received:
 Bearing   0.3, -46.3 (Local)

2025-08-09T17:31:39.322Z,1754760699.322 [DAT](INFO): DAT read: Range 11 to 50 : 49.8 m  (Round-trip  66.4 ms) speed  0.1 m/s

2025-08-09T17:31:39.329Z,1754760699.329 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-09T17:31:39.330Z,1754760699.330 [DAT](INFO): direction in FSK: [0.661844,-0.740232,0.118404]
2025-08-09T17:31:39.341Z,1754760699.341 [DAT](INFO): publishing direction and range info
2025-08-09T17:31:39.569Z,1754760699.569 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 49.799999 m,
      deltaT: 18.406544 s,
      deltaX: -0.900002 m,
      approachRate: -0.048896 m/s,
      rangeRepo size: 4

2025-08-09T17:31:39.575Z,1754760699.575 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 49.799999 m,
      bearing: 167.293326 deg,
      lat: 36.906106 deg,
      lon: -122.115975 deg,
      deltaT: 21.944003 s,
      deltaX: -0.900002 m,
      approachRate: -0.041014 m/s,
      posRepo size: 4

2025-08-09T17:31:39.576Z,1754760699.576 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 49.80 m.
2025-08-09T17:31:39.919Z,1754760699.919 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 49.80 m.
2025-08-09T17:31:40.302Z,1754760700.302 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 49.80 m.
2025-08-09T17:31:40.721Z,1754760700.721 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 49.80 m.
2025-08-09T17:31:41.104Z,1754760701.104 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 49.80 m.
2025-08-09T17:31:41.572Z,1754760701.572 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 49.80 m.
2025-08-09T17:31:41.930Z,1754760701.930 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 49.80 m.
2025-08-09T17:31:42.309Z,1754760702.309 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 49.80 m.
2025-08-09T17:31:42.732Z,1754760702.732 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 49.80 m.
2025-08-09T17:31:43.121Z,1754760703.121 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 49.80 m.
2025-08-09T17:31:43.655Z,1754760703.655 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 49.80 m.
2025-08-09T17:31:43.933Z,1754760703.933 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 49.80 m.
2025-08-09T17:31:44.347Z,1754760704.347 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 49.80 m.
2025-08-09T17:31:44.790Z,1754760704.790 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 49.80 m.
2025-08-09T17:31:45.152Z,1754760705.152 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 49.80 m.
2025-08-09T17:31:45.608Z,1754760705.608 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 49.80 m.
2025-08-09T17:31:45.986Z,1754760705.986 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 49.80 m.
2025-08-09T17:31:46.405Z,1754760706.405 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 49.80 m.
2025-08-09T17:31:46.800Z,1754760706.800 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 49.80 m.
2025-08-09T17:31:47.188Z,1754760707.188 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 49.80 m.
2025-08-09T17:31:47.633Z,1754760707.633 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 49.80 m.
2025-08-09T17:31:48.089Z,1754760708.089 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 49.80 m.
2025-08-09T17:31:48.461Z,1754760708.461 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 49.80 m.
2025-08-09T17:31:48.912Z,1754760708.912 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 49.80 m.
2025-08-09T17:31:49.274Z,1754760709.274 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 49.80 m.
2025-08-09T17:31:49.707Z,1754760709.707 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 49.80 m.
2025-08-09T17:31:50.073Z,1754760710.073 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 49.80 m.
2025-08-09T17:31:50.487Z,1754760710.487 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 49.80 m.
2025-08-09T17:31:50.921Z,1754760710.921 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 49.80 m.
2025-08-09T17:31:51.303Z,1754760711.303 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 49.80 m.
2025-08-09T17:31:51.736Z,1754760711.736 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 49.80 m.
2025-08-09T17:31:52.100Z,1754760712.100 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 49.80 m.
2025-08-09T17:31:52.520Z,1754760712.520 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 49.80 m.
2025-08-09T17:31:52.934Z,1754760712.934 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 49.80 m.
2025-08-09T17:31:53.308Z,1754760713.308 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 49.80 m.
2025-08-09T17:31:53.761Z,1754760713.761 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 49.80 m.
2025-08-09T17:31:54.146Z,1754760714.146 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 49.80 m.
2025-08-09T17:31:54.516Z,1754760714.516 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 49.80 m.
2025-08-09T17:31:54.960Z,1754760714.960 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 49.80 m.
2025-08-09T17:31:55.327Z,1754760715.327 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 49.80 m.
2025-08-09T17:31:55.792Z,1754760715.792 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 49.80 m.
2025-08-09T17:31:56.150Z,1754760716.150 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 49.80 m.
2025-08-09T17:31:56.537Z,1754760716.537 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 49.80 m.
2025-08-09T17:31:56.963Z,1754760716.963 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 49.80 m.
2025-08-09T17:31:57.366Z,1754760717.366 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 49.80 m.
2025-08-09T17:31:57.925Z,1754760717.925 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 49.80 m.
2025-08-09T17:31:58.198Z,1754760718.198 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 49.80 m.
2025-08-09T17:31:58.608Z,1754760718.608 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 49.80 m.
2025-08-09T17:31:59.035Z,1754760719.035 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 49.80 m.
2025-08-09T17:31:59.395Z,1754760719.395 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 49.80 m.
2025-08-09T17:31:59.879Z,1754760719.879 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 49.80 m.
2025-08-09T17:32:00.216Z,1754760720.216 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 49.80 m.
2025-08-09T17:32:00.605Z,1754760720.605 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 49.80 m.
2025-08-09T17:32:01.060Z,1754760721.060 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 49.80 m.
2025-08-09T17:32:01.435Z,1754760721.435 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 49.80 m.
2025-08-09T17:32:01.906Z,1754760721.906 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 49.80 m.
2025-08-09T17:32:02.220Z,1754760722.220 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 49.80 m.
2025-08-09T17:32:02.634Z,1754760722.634 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 49.80 m.
2025-08-09T17:32:03.071Z,1754760723.071 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 49.80 m.
2025-08-09T17:32:03.437Z,1754760723.437 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 49.80 m.
2025-08-09T17:32:03.932Z,1754760723.932 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 49.80 m.
2025-08-09T17:32:04.245Z,1754760724.245 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 49.80 m.
2025-08-09T17:32:04.666Z,1754760724.666 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 49.80 m.
2025-08-09T17:32:05.079Z,1754760725.079 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 49.80 m.
2025-08-09T17:32:05.469Z,1754760725.469 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 49.80 m.
2025-08-09T17:32:05.961Z,1754760725.961 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 49.80 m.
2025-08-09T17:32:06.282Z,1754760726.282 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 49.80 m.
2025-08-09T17:32:06.682Z,1754760726.682 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 49.80 m.
2025-08-09T17:32:07.113Z,1754760727.113 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 49.80 m.
2025-08-09T17:32:07.533Z,1754760727.533 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 49.80 m.
2025-08-09T17:32:07.984Z,1754760727.984 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 49.80 m.
2025-08-09T17:32:08.303Z,1754760728.303 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 49.80 m.
2025-08-09T17:32:08.685Z,1754760728.685 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 49.80 m.
2025-08-09T17:32:09.141Z,1754760729.141 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 49.80 m.
2025-08-09T17:32:09.515Z,1754760729.515 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 49.80 m.
2025-08-09T17:32:09.989Z,1754760729.989 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 49.80 m.
2025-08-09T17:32:10.388Z,1754760730.388 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 49.80 m.
2025-08-09T17:32:10.779Z,1754760730.779 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 49.80 m.
2025-08-09T17:32:11.225Z,1754760731.225 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 49.80 m.
2025-08-09T17:32:11.589Z,1754760731.589 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 49.80 m.
2025-08-09T17:32:12.104Z,1754760732.104 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 49.80 m.
2025-08-09T17:32:12.481Z,1754760732.481 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 49.80 m.
2025-08-09T17:32:12.897Z,1754760732.897 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 49.80 m.
2025-08-09T17:32:13.353Z,1754760733.353 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 49.80 m.
2025-08-09T17:32:13.682Z,1754760733.682 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 49.80 m.
2025-08-09T17:32:14.109Z,1754760734.109 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 49.80 m.
2025-08-09T17:32:14.499Z,1754760734.499 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 49.80 m.
2025-08-09T17:32:14.917Z,1754760734.917 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 49.80 m.
2025-08-09T17:32:15.349Z,1754760735.349 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 49.80 m.
2025-08-09T17:32:15.710Z,1754760735.710 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 49.80 m.
2025-08-09T17:32:16.132Z,1754760736.132 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 49.80 m.
2025-08-09T17:32:16.507Z,1754760736.507 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 49.80 m.
2025-08-09T17:32:16.921Z,1754760736.921 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 49.80 m.
2025-08-09T17:32:17.357Z,1754760737.357 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 49.80 m.
2025-08-09T17:32:17.737Z,1754760737.737 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 49.80 m.
2025-08-09T17:32:18.151Z,1754760738.151 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 49.80 m.
2025-08-09T17:32:18.544Z,1754760738.544 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 49.80 m.
2025-08-09T17:32:18.933Z,1754760738.933 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 49.80 m.
2025-08-09T17:32:19.385Z,1754760739.385 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 49.80 m.
2025-08-09T17:32:19.756Z,1754760739.756 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 49.80 m.
2025-08-09T17:32:20.184Z,1754760740.184 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 49.80 m.
2025-08-09T17:32:20.578Z,1754760740.578 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 49.80 m.
2025-08-09T17:32:20.971Z,1754760740.971 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 49.80 m.
2025-08-09T17:32:21.411Z,1754760741.411 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 49.80 m.
2025-08-09T17:32:21.804Z,1754760741.804 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 49.80 m.
2025-08-09T17:32:22.256Z,1754760742.256 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 49.80 m.
2025-08-09T17:32:22.617Z,1754760742.617 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 49.80 m.
2025-08-09T17:32:23.025Z,1754760743.025 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 49.80 m.
2025-08-09T17:32:23.466Z,1754760743.466 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 49.80 m.
2025-08-09T17:32:23.838Z,1754760743.838 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 49.80 m.
2025-08-09T17:32:24.265Z,1754760744.265 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 49.80 m.
2025-08-09T17:32:24.635Z,1754760744.635 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 49.80 m.
2025-08-09T17:32:25.043Z,1754760745.043 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 49.80 m.
2025-08-09T17:32:25.469Z,1754760745.469 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 49.80 m.
2025-08-09T17:32:25.866Z,1754760745.866 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 49.80 m.
2025-08-09T17:32:26.361Z,1754760746.361 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 49.80 m.
2025-08-09T17:32:26.666Z,1754760746.666 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 49.80 m.
2025-08-09T17:32:27.078Z,1754760747.078 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 49.80 m.
2025-08-09T17:32:27.481Z,1754760747.481 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for water mass range. Device response is::WD,     ,        +0.00,     ,  20.00,3168.41
2025-08-09T17:32:27.496Z,1754760747.496 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 49.80 m.
2025-08-09T17:32:27.995Z,1754760747.995 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 49.80 m.
2025-08-09T17:32:28.333Z,1754760748.333 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 49.80 m.
2025-08-09T17:32:28.694Z,1754760748.694 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 49.80 m.
2025-08-09T17:32:29.085Z,1754760749.085 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 49.80 m.
2025-08-09T17:32:29.518Z,1754760749.518 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 49.80 m.
2025-08-09T17:32:29.894Z,1754760749.894 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 49.80 m.
2025-08-09T17:32:30.349Z,1754760750.349 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 49.80 m.
2025-08-09T17:32:30.702Z,1754760750.702 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 49.80 m.
2025-08-09T17:32:31.116Z,1754760751.116 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 49.80 m.
2025-08-09T17:32:31.541Z,1754760751.541 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 49.80 m.
2025-08-09T17:32:31.910Z,1754760751.910 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 49.80 m.
2025-08-09T17:32:32.379Z,1754760752.379 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 49.80 m.
2025-08-09T17:32:32.715Z,1754760752.715 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 49.80 m.
2025-08-09T17:32:33.131Z,1754760753.131 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 49.80 m.
2025-08-09T17:32:33.566Z,1754760753.566 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 49.80 m.
2025-08-09T17:32:33.938Z,1754760753.938 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 49.80 m.
2025-08-09T17:32:34.378Z,1754760754.378 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 49.80 m.
2025-08-09T17:32:34.768Z,1754760754.768 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 49.80 m.
2025-08-09T17:32:35.146Z,1754760755.146 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 49.80 m.
2025-08-09T17:32:35.572Z,1754760755.572 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-09T17:32:35.574Z,1754760755.574 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 49.80 m.
2025-08-09T17:32:35.575Z,1754760755.575 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Resuming propulsion at range: 49.80 m and bearing: 164.816695 deg. Not drifting fast enough.
2025-08-09T17:32:35.804Z,1754760755.804 [DAT](DEBUG): Acoustic response timeout
2025-08-09T17:32:35.804Z,1754760755.804 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-09T17:32:35.968Z,1754760755.968 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 49.80 m.
2025-08-09T17:32:35.974Z,1754760755.974 [lineCaptureHoming:LineCapture:HoldBuoyancy] Running Loop=1
2025-08-09T17:32:35.974Z,1754760755.974 [lineCaptureHoming:LineCapture:HoldBuoyancy](DEBUG): Aggregate::initialize lineCaptureHoming:LineCapture:HoldBuoyancy
2025-08-09T17:32:35.974Z,1754760755.974 [lineCaptureHoming:LineCapture:HoldBuoyancy:A.Buoyancy] Running Loop=1
2025-08-09T17:32:35.974Z,1754760755.974 [lineCaptureHoming:LineCapture:HoldBuoyancy:A.Buoyancy](DEBUG): Initialize Buoyancy Component.
2025-08-09T17:32:36.056Z,1754760756.056 [DAT](INFO): DAT read: user:601>

2025-08-09T17:32:36.057Z,1754760756.057 [DAT](INFO): DAT read: Tx time:17:32:35.4349

2025-08-09T17:32:36.057Z,1754760756.057 [DAT](INFO): Ping request sent.
2025-08-09T17:32:36.058Z,1754760756.058 [DAT](INFO): transmitted an acoustic signal
2025-08-09T17:32:36.058Z,1754760756.058 [DAT](INFO): publishing transmit ping time
2025-08-09T17:32:36.058Z,1754760756.058 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000844
2025-08-09T17:32:36.310Z,1754760756.310 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.252093
2025-08-09T17:32:36.413Z,1754760756.413 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 49.80 m.
2025-08-09T17:32:36.559Z,1754760756.559 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.501902
2025-08-09T17:32:36.773Z,1754760756.773 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 49.80 m.
2025-08-09T17:32:36.811Z,1754760756.811 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.753842
2025-08-09T17:32:37.063Z,1754760757.063 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.005676
2025-08-09T17:32:37.211Z,1754760757.211 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 49.80 m.
2025-08-09T17:32:37.319Z,1754760757.319 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.260252
2025-08-09T17:32:37.567Z,1754760757.567 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.509807
2025-08-09T17:32:37.593Z,1754760757.593 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error. Device response is::TS,00021421194577,35.0,  0.0,1489.8,  0
2025-08-09T17:32:37.608Z,1754760757.608 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 49.80 m.
2025-08-09T17:32:37.819Z,1754760757.819 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.761735
2025-08-09T17:32:38.021Z,1754760758.021 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 49.80 m.
2025-08-09T17:32:38.072Z,1754760758.072 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014028
2025-08-09T17:32:38.330Z,1754760758.330 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.271232
2025-08-09T17:32:38.452Z,1754760758.452 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 49.80 m.
2025-08-09T17:32:38.576Z,1754760758.576 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518273
2025-08-09T17:32:38.820Z,1754760758.820 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 49.80 m.
2025-08-09T17:32:38.827Z,1754760758.827 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.769802
2025-08-09T17:32:39.079Z,1754760759.079 [DAT](INFO): DAT read: Rx Time:17:32:37.9030

2025-08-09T17:32:39.080Z,1754760759.080 [DAT](INFO): Rx dataTimestamp_ set to:1754760759.079533
2025-08-09T17:32:39.080Z,1754760759.080 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.022803
2025-08-09T17:32:39.224Z,1754760759.224 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 49.80 m.
2025-08-09T17:32:39.334Z,1754760759.334 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.276020
2025-08-09T17:32:39.588Z,1754760759.588 [DAT](INFO): DAT read: 17:32:37.9030 LVL= 25056, 27537, 19874, 28595, AGC= 62, IDX= 411, 0.09,-2.943,-3.085,-0.817,-2.151, PHS=-0.691,-0.890, 1.290, RAW= 205.3,   2.8, CAL= 205.0,   1.2, ROT= 305.0,  -1.2

2025-08-09T17:32:39.590Z,1754760759.590 [DAT](INFO): got valid direction response:
 17:32:37.9030 LVL= 25056, 27537, 19874, 28595, AGC= 62, IDX= 411, 0.09,-2.943,-3.085,-0.817,-2.151, PHS=-0.691,-0.890, 1.290, RAW= 205.3,   2.8, CAL= 205.0,   1.2, ROT= 305.0,  -1.2

2025-08-09T17:32:39.591Z,1754760759.591 [DAT](INFO): DAT read: Bearing 353.8, -52.9 (Local)

2025-08-09T17:32:39.591Z,1754760759.591 [DAT](INFO): Local bearing/azimuth received:
 Bearing 353.8, -52.9 (Local)

2025-08-09T17:32:39.592Z,1754760759.592 [DAT](INFO): DAT read: Range 11 to 50 : 47.9 m  (Round-trip  63.9 ms) speed  0.0 m/s

2025-08-09T17:32:39.593Z,1754760759.593 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-09T17:32:39.594Z,1754760759.594 [DAT](INFO): direction in FSK: [0.573451,-0.818972,0.020942]
2025-08-09T17:32:39.602Z,1754760759.602 [DAT](INFO): publishing direction and range info
2025-08-09T17:32:39.796Z,1754760759.796 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 47.900002 m,
      deltaT: 60.271901 s,
      deltaX: -1.899998 m,
      approachRate: -0.031524 m/s,
      rangeRepo size: 4

2025-08-09T17:32:39.798Z,1754760759.798 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 47.900002 m,
      bearing: 164.399818 deg,
      lat: 36.906105 deg,
      lon: -122.115974 deg,
      deltaT: 60.271901 s,
      deltaX: -1.899998 m,
      approachRate: -0.031524 m/s,
      posRepo size: 4

2025-08-09T17:32:39.802Z,1754760759.802 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 47.90 m.
2025-08-09T17:32:40.137Z,1754760760.137 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 47.90 m.
2025-08-09T17:32:40.595Z,1754760760.595 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 47.90 m.
2025-08-09T17:32:40.959Z,1754760760.959 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 47.90 m.
2025-08-09T17:32:41.414Z,1754760761.414 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 47.90 m.
2025-08-09T17:32:41.796Z,1754760761.796 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 47.90 m.
2025-08-09T17:32:42.178Z,1754760762.178 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 47.90 m.
2025-08-09T17:32:42.583Z,1754760762.583 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 47.90 m.
2025-08-09T17:32:42.985Z,1754760762.985 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 47.90 m.
2025-08-09T17:32:43.427Z,1754760763.427 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 47.90 m.
2025-08-09T17:32:43.829Z,1754760763.829 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 47.90 m.
2025-08-09T17:32:44.199Z,1754760764.199 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 47.90 m.
2025-08-09T17:32:44.648Z,1754760764.648 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 47.90 m.
2025-08-09T17:32:45.012Z,1754760765.012 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 47.90 m.
2025-08-09T17:32:45.505Z,1754760765.505 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 47.90 m.
2025-08-09T17:32:45.836Z,1754760765.836 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 47.90 m.
2025-08-09T17:32:46.232Z,1754760766.232 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 47.90 m.
2025-08-09T17:32:46.681Z,1754760766.681 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 47.90 m.
2025-08-09T17:32:47.053Z,1754760767.053 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 47.90 m.
2025-08-09T17:32:47.577Z,1754760767.577 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 47.90 m.
2025-08-09T17:32:47.933Z,1754760767.933 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 47.90 m.
2025-08-09T17:32:48.308Z,1754760768.308 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 47.90 m.
2025-08-09T17:32:48.734Z,1754760768.734 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 47.90 m.
2025-08-09T17:32:49.127Z,1754760769.127 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 47.90 m.
2025-08-09T17:32:49.572Z,1754760769.572 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 47.90 m.
2025-08-09T17:32:50.039Z,1754760770.039 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 47.90 m.
2025-08-09T17:32:50.449Z,1754760770.449 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 47.90 m.
2025-08-09T17:32:50.915Z,1754760770.915 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 47.90 m.
2025-08-09T17:32:51.289Z,1754760771.289 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 47.90 m.
2025-08-09T17:32:51.711Z,1754760771.711 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 47.90 m.
2025-08-09T17:32:52.104Z,1754760772.104 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 47.90 m.
2025-08-09T17:32:52.492Z,1754760772.492 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 47.90 m.
2025-08-09T17:32:53.063Z,1754760773.063 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 47.90 m.
2025-08-09T17:32:53.422Z,1754760773.422 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 47.90 m.
2025-08-09T17:32:53.857Z,1754760773.857 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 47.90 m.
2025-08-09T17:32:54.263Z,1754760774.263 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 47.90 m.
2025-08-09T17:32:54.673Z,1754760774.673 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 47.90 m.
2025-08-09T17:32:55.018Z,1754760775.018 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 47.90 m.
2025-08-09T17:32:55.430Z,1754760775.430 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 47.90 m.
2025-08-09T17:32:55.931Z,1754760775.931 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 47.90 m.
2025-08-09T17:32:56.291Z,1754760776.291 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 47.90 m.
2025-08-09T17:32:56.720Z,1754760776.720 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 47.90 m.
2025-08-09T17:32:57.092Z,1754760777.092 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 47.90 m.
2025-08-09T17:32:57.501Z,1754760777.501 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 47.90 m.
2025-08-09T17:32:57.926Z,1754760777.926 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 47.90 m.
2025-08-09T17:32:58.319Z,1754760778.319 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 47.90 m.
2025-08-09T17:32:58.762Z,1754760778.762 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 47.90 m.
2025-08-09T17:32:59.118Z,1754760779.118 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 47.90 m.
2025-08-09T17:32:59.539Z,1754760779.539 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 47.90 m.
2025-08-09T17:32:59.952Z,1754760779.952 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 47.90 m.
2025-08-09T17:33:00.330Z,1754760780.330 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 47.90 m.
2025-08-09T17:33:00.785Z,1754760780.785 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 47.90 m.
2025-08-09T17:33:01.155Z,1754760781.155 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 47.90 m.
2025-08-09T17:33:01.572Z,1754760781.572 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 47.90 m.
2025-08-09T17:33:02.003Z,1754760782.003 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 47.90 m.
2025-08-09T17:33:02.395Z,1754760782.395 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 47.90 m.
2025-08-09T17:33:03.084Z,1754760783.084 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 47.90 m.
2025-08-09T17:33:03.513Z,1754760783.513 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 47.90 m.
2025-08-09T17:33:03.935Z,1754760783.935 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 47.90 m.
2025-08-09T17:33:04.327Z,1754760784.327 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 47.90 m.
2025-08-09T17:33:04.811Z,1754760784.811 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 47.90 m.
2025-08-09T17:33:05.208Z,1754760785.208 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 47.90 m.
2025-08-09T17:33:05.682Z,1754760785.682 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 47.90 m.
2025-08-09T17:33:06.217Z,1754760786.217 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 47.90 m.
2025-08-09T17:33:06.747Z,1754760786.747 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 47.90 m.
2025-08-09T17:33:07.168Z,1754760787.168 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 47.90 m.
2025-08-09T17:33:07.585Z,1754760787.585 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 47.90 m.
2025-08-09T17:33:07.969Z,1754760787.969 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 47.90 m.
2025-08-09T17:33:08.359Z,1754760788.359 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 47.90 m.
2025-08-09T17:33:08.830Z,1754760788.830 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 47.90 m.
2025-08-09T17:33:09.324Z,1754760789.324 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 47.90 m.
2025-08-09T17:33:09.731Z,1754760789.731 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 47.90 m.
2025-08-09T17:33:10.229Z,1754760790.229 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 47.90 m.
2025-08-09T17:33:10.595Z,1754760790.595 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 47.90 m.
2025-08-09T17:33:11.030Z,1754760791.030 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 47.90 m.
2025-08-09T17:33:11.401Z,1754760791.401 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 47.90 m.
2025-08-09T17:33:11.872Z,1754760791.872 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 47.90 m.
2025-08-09T17:33:12.287Z,1754760792.287 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 47.90 m.
2025-08-09T17:33:12.652Z,1754760792.652 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 47.90 m.
2025-08-09T17:33:13.033Z,1754760793.033 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 47.90 m.
2025-08-09T17:33:13.431Z,1754760793.431 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 47.90 m.
2025-08-09T17:33:13.887Z,1754760793.887 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 47.90 m.
2025-08-09T17:33:14.375Z,1754760794.375 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 47.90 m.
2025-08-09T17:33:14.768Z,1754760794.768 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 47.90 m.
2025-08-09T17:33:15.257Z,1754760795.257 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 47.90 m.
2025-08-09T17:33:15.611Z,1754760795.611 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 47.90 m.
2025-08-09T17:33:16.035Z,1754760796.035 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 47.90 m.
2025-08-09T17:33:16.415Z,1754760796.415 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 47.90 m.
2025-08-09T17:33:16.820Z,1754760796.820 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 47.90 m.
2025-08-09T17:33:17.287Z,1754760797.287 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 47.90 m.
2025-08-09T17:33:17.650Z,1754760797.650 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 47.90 m.
2025-08-09T17:33:18.083Z,1754760798.083 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 47.90 m.
2025-08-09T17:33:18.463Z,1754760798.463 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 47.90 m.
2025-08-09T17:33:18.876Z,1754760798.876 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 47.90 m.
2025-08-09T17:33:19.428Z,1754760799.428 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 47.90 m.
2025-08-09T17:33:19.984Z,1754760799.984 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 47.90 m.
2025-08-09T17:33:20.395Z,1754760800.395 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 47.90 m.
2025-08-09T17:33:20.785Z,1754760800.785 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 47.90 m.
2025-08-09T17:33:21.228Z,1754760801.228 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 47.90 m.
2025-08-09T17:33:21.584Z,1754760801.584 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 47.90 m.
2025-08-09T17:33:22.067Z,1754760802.067 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 47.90 m.
2025-08-09T17:33:22.405Z,1754760802.405 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 47.90 m.
2025-08-09T17:33:22.806Z,1754760802.806 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 47.90 m.
2025-08-09T17:33:23.280Z,1754760803.280 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 47.90 m.
2025-08-09T17:33:23.626Z,1754760803.626 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 47.90 m.
2025-08-09T17:33:24.069Z,1754760804.069 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 47.90 m.
2025-08-09T17:33:24.409Z,1754760804.409 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 47.90 m.
2025-08-09T17:33:24.826Z,1754760804.826 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 47.90 m.
2025-08-09T17:33:25.210Z,1754760805.210 [BPC1](ERROR): Battery stick #17 (s/n: 00C9) reported TERMINATE_DISCHARGE_ALARM. Status code: 0x4AD0.
2025-08-09T17:33:25.211Z,1754760805.211 [BPC1](ERROR): Battery stick #18 (s/n: 0186) reported TERMINATE_DISCHARGE_ALARM. Status code: 0x4AD0.
2025-08-09T17:33:25.212Z,1754760805.212 [BPC1](ERROR): Battery stick #26 (s/n: 0112) reported TERMINATE_DISCHARGE_ALARM. Status code: 0x48C0.
2025-08-09T17:33:25.213Z,1754760805.213 [BPC1](ERROR): Battery stick #27 (s/n: 00AF) reported TERMINATE_DISCHARGE_ALARM. Status code: 0x4AD0.
2025-08-09T17:33:25.213Z,1754760805.213 [BPC1](ERROR): Battery stick #37 (s/n: 00A3) reported TERMINATE_DISCHARGE_ALARM. Status code: 0x48C0.
2025-08-09T17:33:25.214Z,1754760805.214 [BPC1](ERROR): Battery stick #44 (s/n: 00E4) reported TERMINATE_DISCHARGE_ALARM. Status code: 0x48C0.
2025-08-09T17:33:25.215Z,1754760805.215 [BPC1](ERROR): Battery stick #58 (s/n: 00F3) reported TERMINATE_DISCHARGE_ALARM. Status code: 0x4AD0.
2025-08-09T17:33:25.216Z,1754760805.216 [BPC1](INFO): Calculating totals. Valid battery stick count: 30. Valid reserve battery stick count: 3.
2025-08-09T17:33:25.237Z,1754760805.237 [BPC1](FAULT): Failed to receive data from 24 sticks prior to timeout. Will not retry this scan cycle. Missing stick IDs are: 2, 3, 4, 5, 6, 7, 8, 9, 11, 12, 13, 14, 15, 16, 17, 18, 26, 27, 33, 34, 37, 39, 44, 58.
2025-08-09T17:33:25.323Z,1754760805.323 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 47.90 m.
2025-08-09T17:33:25.659Z,1754760805.659 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 47.90 m.
2025-08-09T17:33:26.101Z,1754760806.101 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 47.90 m.
2025-08-09T17:33:26.455Z,1754760806.455 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 47.90 m.
2025-08-09T17:33:26.869Z,1754760806.869 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 47.90 m.
2025-08-09T17:33:27.301Z,1754760807.301 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 47.90 m.
2025-08-09T17:33:27.693Z,1754760807.693 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 47.90 m.
2025-08-09T17:33:28.128Z,1754760808.128 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 47.90 m.
2025-08-09T17:33:28.476Z,1754760808.476 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 47.90 m.
2025-08-09T17:33:28.907Z,1754760808.907 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 47.90 m.
2025-08-09T17:33:29.315Z,1754760809.315 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 47.90 m.
2025-08-09T17:33:29.719Z,1754760809.719 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 47.90 m.
2025-08-09T17:33:30.164Z,1754760810.164 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 47.90 m.
2025-08-09T17:33:30.518Z,1754760810.518 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 47.90 m.
2025-08-09T17:33:30.921Z,1754760810.921 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 47.90 m.
2025-08-09T17:33:31.349Z,1754760811.349 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 47.90 m.
2025-08-09T17:33:31.726Z,1754760811.726 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 47.90 m.
2025-08-09T17:33:32.297Z,1754760812.297 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 47.90 m.
2025-08-09T17:33:32.638Z,1754760812.638 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 47.90 m.
2025-08-09T17:33:33.067Z,1754760813.067 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 47.90 m.
2025-08-09T17:33:33.503Z,1754760813.503 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 47.90 m.
2025-08-09T17:33:33.898Z,1754760813.898 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 47.90 m.
2025-08-09T17:33:34.328Z,1754760814.328 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 47.90 m.
2025-08-09T17:33:34.696Z,1754760814.696 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 47.90 m.
2025-08-09T17:33:35.082Z,1754760815.082 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 47.90 m.
2025-08-09T17:33:35.521Z,1754760815.521 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 47.90 m.
2025-08-09T17:33:35.896Z,1754760815.896 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-09T17:33:35.898Z,1754760815.898 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 47.90 m.
2025-08-09T17:33:36.099Z,1754760816.099 [DAT](DEBUG): Acoustic response timeout
2025-08-09T17:33:36.099Z,1754760816.099 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-09T17:33:36.325Z,1754760816.325 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 47.90 m.
2025-08-09T17:33:36.351Z,1754760816.351 [DAT](INFO): DAT read: user:602>

2025-08-09T17:33:36.353Z,1754760816.353 [DAT](INFO): DAT read: Tx time:17:33:35.7347

2025-08-09T17:33:36.353Z,1754760816.353 [DAT](INFO): Ping request sent.
2025-08-09T17:33:36.353Z,1754760816.353 [DAT](INFO): transmitted an acoustic signal
2025-08-09T17:33:36.354Z,1754760816.354 [DAT](INFO): publishing transmit ping time
2025-08-09T17:33:36.354Z,1754760816.354 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000743
2025-08-09T17:33:36.603Z,1754760816.603 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.249869
2025-08-09T17:33:36.720Z,1754760816.720 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 47.90 m.
2025-08-09T17:33:36.859Z,1754760816.859 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.504754
2025-08-09T17:33:37.112Z,1754760817.112 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.757921
2025-08-09T17:33:37.112Z,1754760817.112 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 47.90 m.
2025-08-09T17:33:37.363Z,1754760817.363 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.009757
2025-08-09T17:33:37.521Z,1754760817.521 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for water mass range. Device response is::WD,        +0.00,+0   238.44
2025-08-09T17:33:37.536Z,1754760817.536 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 47.90 m.
2025-08-09T17:33:37.616Z,1754760817.616 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.262402
2025-08-09T17:33:37.868Z,1754760817.868 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.514441
2025-08-09T17:33:37.914Z,1754760817.914 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 47.90 m.
2025-08-09T17:33:38.119Z,1754760818.119 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.765801
2025-08-09T17:33:38.362Z,1754760818.362 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 47.90 m.
2025-08-09T17:33:38.371Z,1754760818.371 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.017877
2025-08-09T17:33:38.623Z,1754760818.623 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.269839
2025-08-09T17:33:38.738Z,1754760818.738 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 47.90 m.
2025-08-09T17:33:38.876Z,1754760818.876 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.522257
2025-08-09T17:33:39.127Z,1754760819.127 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.773869
2025-08-09T17:33:39.157Z,1754760819.157 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 47.90 m.
2025-08-09T17:33:39.380Z,1754760819.380 [DAT](INFO): DAT read: Rx Time:17:33:38.2208

2025-08-09T17:33:39.380Z,1754760819.380 [DAT](INFO): Rx dataTimestamp_ set to:1754760819.379791
2025-08-09T17:33:39.381Z,1754760819.381 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.027185
2025-08-09T17:33:39.548Z,1754760819.548 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 47.90 m.
2025-08-09T17:33:39.632Z,1754760819.632 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.278838
2025-08-09T17:33:39.889Z,1754760819.889 [DAT](INFO): DAT read: 17:33:38.2208 LVL= 28848, 27025, 32754, 32755, AGC= 70, IDX= 115, 0.33, 2.266,-2.317, 1.687, 2.791, PHS=-0.423, 1.220,-1.148, RAW= 347.4,   3.4, CAL= 347.0,   0.6, ROT= 163.0,  -0.6

2025-08-09T17:33:39.890Z,1754760819.890 [DAT](INFO): got valid direction response:
 17:33:38.2208 LVL= 28848, 27025, 32754, 32755, AGC= 70, IDX= 115, 0.33, 2.266,-2.317, 1.687, 2.791, PHS=-0.423, 1.220,-1.148, RAW= 347.4,   3.4, CAL= 347.0,   0.6, ROT= 163.0,  -0.6

2025-08-09T17:33:39.891Z,1754760819.891 [DAT](INFO): DAT read: Bearing 292.8,  10.8 (Local)

2025-08-09T17:33:39.891Z,1754760819.891 [DAT](INFO): Local bearing/azimuth received:
 Bearing 292.8,  10.8 (Local)

2025-08-09T17:33:39.892Z,1754760819.892 [DAT](INFO): DAT read: Range 11 to 50 : 61.4 m  (Round-trip  81.9 ms) speed -0.7 m/s

2025-08-09T17:33:39.893Z,1754760819.893 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-09T17:33:39.894Z,1754760819.894 [DAT](INFO): direction in FSK: [-0.956252,0.292356,0.010472]
2025-08-09T17:33:39.896Z,1754760819.896 [DAT](INFO): publishing direction and range info
2025-08-09T17:33:39.961Z,1754760819.961 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 61.400002 m,
      deltaT: 60.300052 s,
      deltaX: 13.500000 m,
      approachRate: 0.223880 m/s,
      rangeRepo size: 4

2025-08-09T17:33:39.965Z,1754760819.965 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 61.400002 m,
      bearing: 142.756868 deg,
      lat: 36.906105 deg,
      lon: -122.115972 deg,
      deltaT: 60.300052 s,
      deltaX: 13.500000 m,
      approachRate: 0.223880 m/s,
      posRepo size: 4

2025-08-09T17:33:39.966Z,1754760819.966 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 61.40 m.
2025-08-09T17:33:40.376Z,1754760820.376 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 61.40 m.
2025-08-09T17:33:40.741Z,1754760820.741 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 61.40 m.
2025-08-09T17:33:41.176Z,1754760821.176 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 61.40 m.
2025-08-09T17:33:41.694Z,1754760821.694 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 61.40 m.
2025-08-09T17:33:42.053Z,1754760822.053 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 61.40 m.
2025-08-09T17:33:42.520Z,1754760822.520 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 61.40 m.
2025-08-09T17:33:43.169Z,1754760823.169 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 61.40 m.
2025-08-09T17:33:43.582Z,1754760823.582 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 61.40 m.
2025-08-09T17:33:43.968Z,1754760823.968 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 61.40 m.
2025-08-09T17:33:44.410Z,1754760824.410 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 61.40 m.
2025-08-09T17:33:44.911Z,1754760824.911 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 61.40 m.
2025-08-09T17:33:45.332Z,1754760825.332 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 61.40 m.
2025-08-09T17:33:45.807Z,1754760825.807 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 61.40 m.
2025-08-09T17:33:46.188Z,1754760826.188 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 61.40 m.
2025-08-09T17:33:46.607Z,1754760826.607 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 61.40 m.
2025-08-09T17:33:46.998Z,1754760826.998 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 61.40 m.
2025-08-09T17:33:47.463Z,1754760827.463 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 61.40 m.
2025-08-09T17:33:47.798Z,1754760827.798 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 61.40 m.
2025-08-09T17:33:48.205Z,1754760828.205 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 61.40 m.
2025-08-09T17:33:48.687Z,1754760828.687 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 61.40 m.
2025-08-09T17:33:49.048Z,1754760829.048 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 61.40 m.
2025-08-09T17:33:49.511Z,1754760829.511 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 61.40 m.
2025-08-09T17:33:49.893Z,1754760829.893 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 61.40 m.
2025-08-09T17:33:50.294Z,1754760830.294 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 61.40 m.
2025-08-09T17:33:50.720Z,1754760830.720 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 61.40 m.
2025-08-09T17:33:51.098Z,1754760831.098 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 61.40 m.
2025-08-09T17:33:51.539Z,1754760831.539 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 61.40 m.
2025-08-09T17:33:51.911Z,1754760831.911 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 61.40 m.
2025-08-09T17:33:52.363Z,1754760832.363 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 61.40 m.
2025-08-09T17:33:52.814Z,1754760832.814 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 61.40 m.
2025-08-09T17:33:53.278Z,1754760833.278 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 61.40 m.
2025-08-09T17:33:53.700Z,1754760833.700 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 61.40 m.
2025-08-09T17:33:54.099Z,1754760834.099 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 61.40 m.
2025-08-09T17:33:54.540Z,1754760834.540 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 61.40 m.
2025-08-09T17:33:54.897Z,1754760834.897 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 61.40 m.
2025-08-09T17:33:55.304Z,1754760835.304 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 61.40 m.
2025-08-09T17:33:55.727Z,1754760835.727 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 61.40 m.
2025-08-09T17:33:56.106Z,1754760836.106 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 61.40 m.
2025-08-09T17:33:56.565Z,1754760836.565 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 61.40 m.
2025-08-09T17:33:56.931Z,1754760836.931 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 61.40 m.
2025-08-09T17:33:57.336Z,1754760837.336 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 61.40 m.
2025-08-09T17:33:57.754Z,1754760837.754 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 61.40 m.
2025-08-09T17:33:58.234Z,1754760838.234 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 61.40 m.
2025-08-09T17:33:58.672Z,1754760838.672 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 61.40 m.
2025-08-09T17:33:59.164Z,1754760839.164 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 61.40 m.
2025-08-09T17:33:59.647Z,1754760839.647 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 61.40 m.
2025-08-09T17:33:59.955Z,1754760839.955 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 61.40 m.
2025-08-09T17:34:00.365Z,1754760840.365 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 61.40 m.
2025-08-09T17:34:00.783Z,1754760840.783 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 61.40 m.
2025-08-09T17:34:01.192Z,1754760841.192 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 61.40 m.
2025-08-09T17:34:01.683Z,1754760841.683 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 61.40 m.
2025-08-09T17:34:02.048Z,1754760842.048 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 61.40 m.
2025-08-09T17:34:02.455Z,1754760842.455 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 61.40 m.
2025-08-09T17:34:02.927Z,1754760842.927 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 61.40 m.
2025-08-09T17:34:03.448Z,1754760843.448 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 61.40 m.
2025-08-09T17:34:03.890Z,1754760843.890 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 61.40 m.
2025-08-09T17:34:04.357Z,1754760844.357 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 61.40 m.
2025-08-09T17:34:04.775Z,1754760844.775 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 61.40 m.
2025-08-09T17:34:05.165Z,1754760845.165 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 61.40 m.
2025-08-09T17:34:05.583Z,1754760845.583 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 61.40 m.
2025-08-09T17:34:06.161Z,1754760846.161 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 61.40 m.
2025-08-09T17:34:06.525Z,1754760846.525 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 61.40 m.
2025-08-09T17:34:06.961Z,1754760846.961 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 61.40 m.
2025-08-09T17:34:07.359Z,1754760847.359 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 61.40 m.
2025-08-09T17:34:07.783Z,1754760847.783 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 61.40 m.
2025-08-09T17:34:08.154Z,1754760848.154 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 61.40 m.
2025-08-09T17:34:08.700Z,1754760848.700 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 61.40 m.
2025-08-09T17:34:09.129Z,1754760849.129 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 61.40 m.
2025-08-09T17:34:09.621Z,1754760849.621 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 61.40 m.
2025-08-09T17:34:10.015Z,1754760850.015 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 61.40 m.
2025-08-09T17:34:10.397Z,1754760850.397 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 61.40 m.
2025-08-09T17:34:10.809Z,1754760850.809 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 61.40 m.
2025-08-09T17:34:11.190Z,1754760851.190 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 61.40 m.
2025-08-09T17:34:11.637Z,1754760851.637 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 61.40 m.
2025-08-09T17:34:12.047Z,1754760852.047 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 61.40 m.
2025-08-09T17:34:12.466Z,1754760852.466 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 61.40 m.
2025-08-09T17:34:12.936Z,1754760852.936 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 61.40 m.
2025-08-09T17:34:13.298Z,1754760853.298 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 61.40 m.
2025-08-09T17:34:13.732Z,1754760853.732 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 61.40 m.
2025-08-09T17:34:14.149Z,1754760854.149 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 61.40 m.
2025-08-09T17:34:14.653Z,1754760854.653 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 61.40 m.
2025-08-09T17:34:15.071Z,1754760855.071 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 61.40 m.
2025-08-09T17:34:15.540Z,1754760855.540 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 61.40 m.
2025-08-09T17:34:15.965Z,1754760855.965 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 61.40 m.
2025-08-09T17:34:16.338Z,1754760856.338 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 61.40 m.
2025-08-09T17:34:16.751Z,1754760856.751 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 61.40 m.
2025-08-09T17:34:17.175Z,1754760857.175 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 61.40 m.
2025-08-09T17:34:17.544Z,1754760857.544 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 61.40 m.
2025-08-09T17:34:18.034Z,1754760858.034 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 61.40 m.
2025-08-09T17:34:18.386Z,1754760858.386 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 61.40 m.
2025-08-09T17:34:18.882Z,1754760858.882 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 61.40 m.
2025-08-09T17:34:19.252Z,1754760859.252 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 61.40 m.
2025-08-09T17:34:19.894Z,1754760859.894 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 61.40 m.
2025-08-09T17:34:20.271Z,1754760860.271 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 61.40 m.
2025-08-09T17:34:20.989Z,1754760860.989 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 61.40 m.
2025-08-09T17:34:21.488Z,1754760861.488 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 61.40 m.
2025-08-09T17:34:21.955Z,1754760861.955 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 61.40 m.
2025-08-09T17:34:22.445Z,1754760862.445 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 61.40 m.
2025-08-09T17:34:22.959Z,1754760862.959 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 61.40 m.
2025-08-09T17:34:23.331Z,1754760863.331 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 61.40 m.
2025-08-09T17:34:23.744Z,1754760863.744 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 61.40 m.
2025-08-09T17:34:24.163Z,1754760864.163 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 61.40 m.
2025-08-09T17:34:24.555Z,1754760864.555 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 61.40 m.
2025-08-09T17:34:24.984Z,1754760864.984 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 61.40 m.
2025-08-09T17:34:25.352Z,1754760865.352 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 61.40 m.
2025-08-09T17:34:25.813Z,1754760865.813 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 61.40 m.
2025-08-09T17:34:26.296Z,1754760866.296 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 61.40 m.
2025-08-09T17:34:26.658Z,1754760866.658 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 61.40 m.
2025-08-09T17:34:27.112Z,1754760867.112 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 61.40 m.
2025-08-09T17:34:27.485Z,1754760867.485 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 61.40 m.
2025-08-09T17:34:27.889Z,1754760867.889 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 61.40 m.
2025-08-09T17:34:28.316Z,1754760868.316 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 61.40 m.
2025-08-09T17:34:28.686Z,1754760868.686 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 61.40 m.
2025-08-09T17:34:29.118Z,1754760869.118 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 61.40 m.
2025-08-09T17:34:29.483Z,1754760869.483 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 61.40 m.
2025-08-09T17:34:29.895Z,1754760869.895 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 61.40 m.
2025-08-09T17:34:30.317Z,1754760870.317 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 61.40 m.
2025-08-09T17:34:30.706Z,1754760870.706 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 61.40 m.
2025-08-09T17:34:31.137Z,1754760871.137 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 61.40 m.
2025-08-09T17:34:31.508Z,1754760871.508 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 61.40 m.
2025-08-09T17:34:31.913Z,1754760871.913 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 61.40 m.
2025-08-09T17:34:32.344Z,1754760872.344 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 61.40 m.
2025-08-09T17:34:32.715Z,1754760872.715 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 61.40 m.
2025-08-09T17:34:33.141Z,1754760873.141 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 61.40 m.
2025-08-09T17:34:33.535Z,1754760873.535 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 61.40 m.
2025-08-09T17:34:33.997Z,1754760873.997 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 61.40 m.
2025-08-09T17:34:34.547Z,1754760874.547 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 61.40 m.
2025-08-09T17:34:35.009Z,1754760875.009 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 61.40 m.
2025-08-09T17:34:35.429Z,1754760875.429 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 61.40 m.
2025-08-09T17:34:35.827Z,1754760875.827 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 61.40 m.
2025-08-09T17:34:36.244Z,1754760876.244 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-09T17:34:36.246Z,1754760876.246 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 61.40 m.
2025-08-09T17:34:36.375Z,1754760876.375 [DAT](DEBUG): Acoustic response timeout
2025-08-09T17:34:36.375Z,1754760876.375 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-09T17:34:36.619Z,1754760876.619 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 61.40 m.
2025-08-09T17:34:36.627Z,1754760876.627 [DAT](INFO): DAT read: user:603>

2025-08-09T17:34:36.628Z,1754760876.628 [DAT](INFO): DAT read: Tx time:17:34:35.9861

2025-08-09T17:34:36.628Z,1754760876.628 [DAT](INFO): Ping request sent.
2025-08-09T17:34:36.628Z,1754760876.628 [DAT](INFO): transmitted an acoustic signal
2025-08-09T17:34:36.629Z,1754760876.629 [DAT](INFO): publishing transmit ping time
2025-08-09T17:34:36.629Z,1754760876.629 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000754
2025-08-09T17:34:36.880Z,1754760876.880 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251460
2025-08-09T17:34:37.046Z,1754760877.046 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 61.40 m.
2025-08-09T17:34:37.131Z,1754760877.131 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.503050
2025-08-09T17:34:37.383Z,1754760877.383 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754878
2025-08-09T17:34:37.460Z,1754760877.460 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 61.40 m.
2025-08-09T17:34:37.636Z,1754760877.636 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.007257
2025-08-09T17:34:37.836Z,1754760877.836 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 61.40 m.
2025-08-09T17:34:37.891Z,1754760877.891 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.261624
2025-08-09T17:34:38.141Z,1754760878.141 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.512887
2025-08-09T17:34:38.255Z,1754760878.255 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 61.40 m.
2025-08-09T17:34:38.391Z,1754760878.391 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762846
2025-08-09T17:34:38.643Z,1754760878.643 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014879
2025-08-09T17:34:38.752Z,1754760878.752 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 61.40 m.
2025-08-09T17:34:38.895Z,1754760878.895 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266785
2025-08-09T17:34:39.149Z,1754760879.149 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.520718
2025-08-09T17:34:39.221Z,1754760879.221 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 61.40 m.
2025-08-09T17:34:39.399Z,1754760879.399 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770902
2025-08-09T17:34:39.651Z,1754760879.651 [DAT](INFO): DAT read: Rx Time:17:34:38.5194

2025-08-09T17:34:39.652Z,1754760879.652 [DAT](INFO): Rx dataTimestamp_ set to:1754760879.651568
2025-08-09T17:34:39.652Z,1754760879.652 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.024017
2025-08-09T17:34:39.716Z,1754760879.716 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 61.40 m.
2025-08-09T17:34:39.904Z,1754760879.904 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.276093
2025-08-09T17:34:40.189Z,1754760880.189 [DAT](INFO): DAT read: 17:34:38.5194 LVL= 32752, 31169, 32754, 32755, AGC= 71, IDX= 392,-0.39, 1.740,-3.096, 1.346, 2.051, PHS=-0.208, 1.182,-0.748, RAW= 345.7,  -2.6, CAL= 345.3,  -5.6, ROT= 164.7,   5.6

2025-08-09T17:34:40.190Z,1754760880.190 [DAT](INFO): got valid direction response:
 17:34:38.5194 LVL= 32752, 31169, 32754, 32755, AGC= 71, IDX= 392,-0.39, 1.740,-3.096, 1.346, 2.051, PHS=-0.208, 1.182,-0.748, RAW= 345.7,  -2.6, CAL= 345.3,  -5.6, ROT= 164.7,   5.6

2025-08-09T17:34:40.211Z,1754760880.211 [DAT](INFO): DAT read: Bearing 313.4,  27.9 (Local)

2025-08-09T17:34:40.211Z,1754760880.211 [DAT](INFO): Local bearing/azimuth received:
 Bearing 313.4,  27.9 (Local)

2025-08-09T17:34:40.212Z,1754760880.212 [DAT](INFO): DAT read: Range 11 to 50 : 96.8 m  (Round-trip  129.1 ms) speed -0.5 m/s

2025-08-09T17:34:40.213Z,1754760880.213 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-09T17:34:40.218Z,1754760880.218 [DAT](INFO): direction in FSK: [-0.959954,0.262614,-0.097583]
2025-08-09T17:34:40.219Z,1754760880.219 [DAT](INFO): publishing direction and range info
2025-08-09T17:34:40.268Z,1754760880.268 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 96.800003 m,
      deltaT: 60.281305 s,
      deltaX: 35.400002 m,
      approachRate: 0.587247 m/s,
      rangeRepo size: 4

2025-08-09T17:34:40.275Z,1754760880.275 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 96.800003 m,
      bearing: 150.133393 deg,
      lat: 36.906106 deg,
      lon: -122.115972 deg,
      deltaT: 60.281305 s,
      deltaX: 35.400002 m,
      approachRate: 0.587247 m/s,
      posRepo size: 4

2025-08-09T17:34:40.275Z,1754760880.275 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 96.80 m.
2025-08-09T17:34:40.600Z,1754760880.600 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 96.80 m.
2025-08-09T17:34:41.013Z,1754760881.013 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 96.80 m.
2025-08-09T17:34:41.453Z,1754760881.453 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 96.80 m.
2025-08-09T17:34:41.807Z,1754760881.807 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 96.80 m.
2025-08-09T17:34:42.285Z,1754760882.285 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 96.80 m.
2025-08-09T17:34:42.626Z,1754760882.626 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 96.80 m.
2025-08-09T17:34:43.059Z,1754760883.059 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 96.80 m.
2025-08-09T17:34:43.465Z,1754760883.465 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 96.80 m.
2025-08-09T17:34:43.828Z,1754760883.828 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 96.80 m.
2025-08-09T17:34:44.301Z,1754760884.301 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 96.80 m.
2025-08-09T17:34:44.634Z,1754760884.634 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 96.80 m.
2025-08-09T17:34:45.074Z,1754760885.074 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 96.80 m.
2025-08-09T17:34:45.464Z,1754760885.464 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 96.80 m.
2025-08-09T17:34:45.867Z,1754760885.867 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 96.80 m.
2025-08-09T17:34:46.322Z,1754760886.322 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 96.80 m.
2025-08-09T17:34:46.655Z,1754760886.655 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 96.80 m.
2025-08-09T17:34:47.069Z,1754760887.069 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 96.80 m.
2025-08-09T17:34:47.469Z,1754760887.469 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for altitude. Device response is::BD,     -220.53099.48,     -127.31,   6.77,  0.00
2025-08-09T17:34:47.485Z,1754760887.485 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 96.80 m.
2025-08-09T17:34:47.888Z,1754760887.888 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 96.80 m.
2025-08-09T17:34:48.347Z,1754760888.347 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 96.80 m.
2025-08-09T17:34:48.677Z,1754760888.677 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 96.80 m.
2025-08-09T17:34:49.086Z,1754760889.086 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 96.80 m.
2025-08-09T17:34:49.510Z,1754760889.510 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 96.80 m.
2025-08-09T17:34:49.918Z,1754760889.918 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 96.80 m.
2025-08-09T17:34:50.358Z,1754760890.358 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 96.80 m.
2025-08-09T17:34:50.712Z,1754760890.712 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 96.80 m.
2025-08-09T17:34:51.115Z,1754760891.115 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 96.80 m.
2025-08-09T17:34:51.589Z,1754760891.589 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 96.80 m.
2025-08-09T17:34:51.942Z,1754760891.942 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 96.80 m.
2025-08-09T17:34:52.389Z,1754760892.389 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 96.80 m.
2025-08-09T17:34:52.731Z,1754760892.731 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 96.80 m.
2025-08-09T17:34:53.145Z,1754760893.145 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 96.80 m.
2025-08-09T17:34:53.589Z,1754760893.589 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 96.80 m.
2025-08-09T17:34:54.081Z,1754760894.081 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 96.80 m.
2025-08-09T17:34:54.511Z,1754760894.511 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 96.80 m.
2025-08-09T17:34:54.937Z,1754760894.937 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 96.80 m.
2025-08-09T17:34:55.392Z,1754760895.392 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 96.80 m.
2025-08-09T17:34:55.760Z,1754760895.760 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 96.80 m.
2025-08-09T17:34:56.133Z,1754760896.133 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 96.80 m.
2025-08-09T17:34:56.591Z,1754760896.591 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 96.80 m.
2025-08-09T17:34:56.955Z,1754760896.955 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 96.80 m.
2025-08-09T17:34:57.423Z,1754760897.423 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 96.80 m.
2025-08-09T17:34:57.917Z,1754760897.917 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 96.80 m.
2025-08-09T17:34:58.311Z,1754760898.311 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 96.80 m.
2025-08-09T17:34:58.780Z,1754760898.780 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 96.80 m.
2025-08-09T17:34:59.150Z,1754760899.150 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 96.80 m.
2025-08-09T17:34:59.584Z,1754760899.584 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 96.80 m.
2025-08-09T17:34:59.954Z,1754760899.954 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 96.80 m.
2025-08-09T17:35:00.358Z,1754760900.358 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 96.80 m.
2025-08-09T17:35:00.790Z,1754760900.790 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 96.80 m.
2025-08-09T17:35:01.182Z,1754760901.182 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 96.80 m.
2025-08-09T17:35:01.608Z,1754760901.608 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 96.80 m.
2025-08-09T17:35:01.975Z,1754760901.975 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 96.80 m.
2025-08-09T17:35:02.380Z,1754760902.380 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 96.80 m.
2025-08-09T17:35:02.819Z,1754760902.819 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 96.80 m.
2025-08-09T17:35:03.187Z,1754760903.187 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 96.80 m.
2025-08-09T17:35:03.631Z,1754760903.631 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 96.80 m.
2025-08-09T17:35:04.031Z,1754760904.031 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 96.80 m.
2025-08-09T17:35:04.399Z,1754760904.399 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 96.80 m.
2025-08-09T17:35:04.909Z,1754760904.909 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 96.80 m.
2025-08-09T17:35:05.247Z,1754760905.247 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 96.80 m.
2025-08-09T17:35:05.747Z,1754760905.747 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 96.80 m.
2025-08-09T17:35:06.121Z,1754760906.121 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 96.80 m.
2025-08-09T17:35:06.620Z,1754760906.620 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 96.80 m.
2025-08-09T17:35:06.918Z,1754760906.918 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 96.80 m.
2025-08-09T17:35:07.352Z,1754760907.352 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 96.80 m.
2025-08-09T17:35:07.751Z,1754760907.751 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 96.80 m.
2025-08-09T17:35:08.151Z,1754760908.151 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 96.80 m.
2025-08-09T17:35:08.613Z,1754760908.613 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 96.80 m.
2025-08-09T17:35:08.964Z,1754760908.964 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 96.80 m.
2025-08-09T17:35:09.360Z,1754760909.360 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 96.80 m.
2025-08-09T17:35:09.778Z,1754760909.778 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 96.80 m.
2025-08-09T17:35:10.150Z,1754760910.150 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 96.80 m.
2025-08-09T17:35:10.630Z,1754760910.630 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 96.80 m.
2025-08-09T17:35:11.024Z,1754760911.024 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 96.80 m.
2025-08-09T17:35:11.362Z,1754760911.362 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 96.80 m.
2025-08-09T17:35:11.813Z,1754760911.813 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 96.80 m.
2025-08-09T17:35:12.185Z,1754760912.185 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 96.80 m.
2025-08-09T17:35:12.661Z,1754760912.661 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 96.80 m.
2025-08-09T17:35:13.183Z,1754760913.183 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 96.80 m.
2025-08-09T17:35:13.557Z,1754760913.557 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 96.80 m.
2025-08-09T17:35:14.097Z,1754760914.097 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 96.80 m.
2025-08-09T17:35:14.472Z,1754760914.472 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 96.80 m.
2025-08-09T17:35:14.921Z,1754760914.921 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 96.80 m.
2025-08-09T17:35:15.292Z,1754760915.292 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 96.80 m.
2025-08-09T17:35:15.759Z,1754760915.759 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 96.80 m.
2025-08-09T17:35:16.097Z,1754760916.097 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 96.80 m.
2025-08-09T17:35:16.533Z,1754760916.533 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 96.80 m.
2025-08-09T17:35:16.921Z,1754760916.921 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 96.80 m.
2025-08-09T17:35:17.330Z,1754760917.330 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 96.80 m.
2025-08-09T17:35:17.763Z,1754760917.763 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 96.80 m.
2025-08-09T17:35:18.112Z,1754760918.112 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 96.80 m.
2025-08-09T17:35:18.519Z,1754760918.519 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 96.80 m.
2025-08-09T17:35:18.939Z,1754760918.939 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 96.80 m.
2025-08-09T17:35:19.344Z,1754760919.344 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 96.80 m.
2025-08-09T17:35:19.787Z,1754760919.787 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 96.80 m.
2025-08-09T17:35:20.130Z,1754760920.130 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 96.80 m.
2025-08-09T17:35:20.526Z,1754760920.526 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 96.80 m.
2025-08-09T17:35:20.972Z,1754760920.972 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 96.80 m.
2025-08-09T17:35:21.385Z,1754760921.385 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 96.80 m.
2025-08-09T17:35:21.813Z,1754760921.813 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 96.80 m.
2025-08-09T17:35:22.158Z,1754760922.158 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 96.80 m.
2025-08-09T17:35:22.546Z,1754760922.546 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 96.80 m.
2025-08-09T17:35:23.009Z,1754760923.009 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 96.80 m.
2025-08-09T17:35:23.362Z,1754760923.362 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 96.80 m.
2025-08-09T17:35:23.861Z,1754760923.861 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 96.80 m.
2025-08-09T17:35:24.352Z,1754760924.352 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 96.80 m.
2025-08-09T17:35:24.849Z,1754760924.849 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 96.80 m.
2025-08-09T17:35:25.208Z,1754760925.208 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 96.80 m.
2025-08-09T17:35:25.599Z,1754760925.599 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 96.80 m.
2025-08-09T17:35:26.029Z,1754760926.029 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 96.80 m.
2025-08-09T17:35:26.393Z,1754760926.393 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 96.80 m.
2025-08-09T17:35:26.864Z,1754760926.864 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 96.80 m.
2025-08-09T17:35:27.243Z,1754760927.243 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 96.80 m.
2025-08-09T17:35:27.623Z,1754760927.623 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 96.80 m.
2025-08-09T17:35:28.083Z,1754760928.083 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 96.80 m.
2025-08-09T17:35:28.429Z,1754760928.429 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 96.80 m.
2025-08-09T17:35:28.820Z,1754760928.820 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 96.80 m.
2025-08-09T17:35:29.243Z,1754760929.243 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 96.80 m.
2025-08-09T17:35:29.628Z,1754760929.628 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 96.80 m.
2025-08-09T17:35:30.052Z,1754760930.052 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 96.80 m.
2025-08-09T17:35:30.430Z,1754760930.430 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 96.80 m.
2025-08-09T17:35:30.848Z,1754760930.848 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 96.80 m.
2025-08-09T17:35:31.297Z,1754760931.297 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 96.80 m.
2025-08-09T17:35:31.643Z,1754760931.643 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 96.80 m.
2025-08-09T17:35:32.065Z,1754760932.065 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 96.80 m.
2025-08-09T17:35:32.468Z,1754760932.468 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 96.80 m.
2025-08-09T17:35:32.970Z,1754760932.970 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 96.80 m.
2025-08-09T17:35:33.355Z,1754760933.355 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 96.80 m.
2025-08-09T17:35:33.720Z,1754760933.720 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 96.80 m.
2025-08-09T17:35:34.136Z,1754760934.136 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 96.80 m.
2025-08-09T17:35:34.591Z,1754760934.591 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 96.80 m.
2025-08-09T17:35:35.026Z,1754760935.026 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 96.80 m.
2025-08-09T17:35:35.485Z,1754760935.485 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 96.80 m.
2025-08-09T17:35:35.907Z,1754760935.907 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 96.80 m.
2025-08-09T17:35:36.322Z,1754760936.322 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-09T17:35:36.324Z,1754760936.324 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 96.80 m.
2025-08-09T17:35:36.364Z,1754760936.364 [DAT](DEBUG): Acoustic response timeout
2025-08-09T17:35:36.364Z,1754760936.364 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-09T17:35:36.615Z,1754760936.615 [DAT](INFO): DAT read: user:604>

2025-08-09T17:35:36.616Z,1754760936.616 [DAT](INFO): DAT read: Tx time:17:35:35.9844

2025-08-09T17:35:36.616Z,1754760936.616 [DAT](INFO): Ping request sent.
2025-08-09T17:35:36.616Z,1754760936.616 [DAT](INFO): transmitted an acoustic signal
2025-08-09T17:35:36.616Z,1754760936.616 [DAT](INFO): publishing transmit ping time
2025-08-09T17:35:36.617Z,1754760936.617 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000748
2025-08-09T17:35:36.735Z,1754760936.735 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 96.80 m.
2025-08-09T17:35:36.868Z,1754760936.868 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251923
2025-08-09T17:35:37.114Z,1754760937.114 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 96.80 m.
2025-08-09T17:35:37.119Z,1754760937.119 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.503149
2025-08-09T17:35:37.371Z,1754760937.371 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754934
2025-08-09T17:35:37.514Z,1754760937.514 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 96.80 m.
2025-08-09T17:35:37.623Z,1754760937.623 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006991
2025-08-09T17:35:37.876Z,1754760937.876 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.259409
2025-08-09T17:35:38.033Z,1754760938.033 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 96.80 m.
2025-08-09T17:35:38.128Z,1754760938.128 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.511402
2025-08-09T17:35:38.371Z,1754760938.371 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 96.80 m.
2025-08-09T17:35:38.388Z,1754760938.388 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.771260
2025-08-09T17:35:38.641Z,1754760938.641 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.024257
2025-08-09T17:35:38.771Z,1754760938.771 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 96.80 m.
2025-08-09T17:35:38.891Z,1754760938.891 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.274900
2025-08-09T17:35:39.144Z,1754760939.144 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.527317
2025-08-09T17:35:39.196Z,1754760939.196 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 96.80 m.
2025-08-09T17:35:39.395Z,1754760939.395 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.779059
2025-08-09T17:35:39.566Z,1754760939.566 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 96.80 m.
2025-08-09T17:35:39.648Z,1754760939.648 [DAT](INFO): DAT read: Rx Time:17:35:38.5682

2025-08-09T17:35:39.648Z,1754760939.648 [DAT](INFO): Rx dataTimestamp_ set to:1754760939.648139
2025-08-09T17:35:39.649Z,1754760939.649 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.033018
2025-08-09T17:35:39.900Z,1754760939.900 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.283321
2025-08-09T17:35:40.041Z,1754760940.041 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 96.80 m.
2025-08-09T17:35:40.159Z,1754760940.159 [DAT](INFO): DAT read: 17:35:38.5682 LVL= 32752, 32753, 32754, 32755, AGC= 73, IDX= 428, 0.10,-0.806, 1.085,-1.167,-0.287, PHS=-0.417, 1.417,-0.924, RAW= 341.9,  -0.7, CAL= 341.4,  -3.6, ROT= 168.6,   3.6

2025-08-09T17:35:40.160Z,1754760940.160 [DAT](INFO): got valid direction response:
 17:35:38.5682 LVL= 32752, 32753, 32754, 32755, AGC= 73, IDX= 428, 0.10,-0.806, 1.085,-1.167,-0.287, PHS=-0.417, 1.417,-0.924, RAW= 341.9,  -0.7, CAL= 341.4,  -3.6, ROT= 168.6,   3.6

2025-08-09T17:35:40.161Z,1754760940.161 [DAT](INFO): DAT read: Bearing 323.4,   8.4 (Local)

2025-08-09T17:35:40.161Z,1754760940.161 [DAT](INFO): Local bearing/azimuth received:
 Bearing 323.4,   8.4 (Local)

2025-08-09T17:35:40.163Z,1754760940.163 [DAT](INFO): DAT read: Range 11 to 50 : 134.7 m  (Round-trip  179.6 ms) speed -0.2 m/s

2025-08-09T17:35:40.164Z,1754760940.164 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-09T17:35:40.165Z,1754760940.165 [DAT](INFO): direction in FSK: [-0.978337,0.197267,-0.062791]
2025-08-09T17:35:40.165Z,1754760940.165 [DAT](INFO): publishing direction and range info
2025-08-09T17:35:40.411Z,1754760940.411 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 134.699997 m,
      deltaT: 59.986881 s,
      deltaX: 37.899994 m,
      approachRate: 0.631805 m/s,
      rangeRepo size: 4

2025-08-09T17:35:40.413Z,1754760940.413 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 134.699997 m,
      bearing: 153.066045 deg,
      lat: 36.906100 deg,
      lon: -122.115972 deg,
      deltaT: 59.986881 s,
      deltaX: 37.899994 m,
      approachRate: 0.631805 m/s,
      posRepo size: 4

2025-08-09T17:35:40.414Z,1754760940.414 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 134.70 m.
2025-08-09T17:35:40.414Z,1754760940.414 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Completed rollout at range: 134.70 m. Resuming terminal guidance.
2025-08-09T17:35:40.415Z,1754760940.415 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Transitioning guidance mode to: TERMINAL_GUIDANCE
2025-08-09T17:35:40.783Z,1754760940.783 [lineCaptureHoming:UpdatePingUpdateRate_Terminal] Running Loop=1
2025-08-09T17:35:40.783Z,1754760940.783 [lineCaptureHoming:UpdatePingUpdateRate_Terminal](DEBUG): Aggregate::initialize lineCaptureHoming:UpdatePingUpdateRate_Terminal
2025-08-09T17:35:40.783Z,1754760940.783 [lineCaptureHoming:UpdatePingUpdateRate_Terminal:A] Running Loop=1
2025-08-09T17:35:40.785Z,1754760940.785 [lineCaptureHoming:UpdatePingUpdateRate_Terminal:A](INFO): Entering Terminal tracking update period  2.000000 s sec at 134.699997 m (mode  1.000000 count ).
2025-08-09T17:35:40.785Z,1754760940.785 [lineCaptureHoming:UpdatePingUpdateRate_Terminal:A] Stopped
2025-08-09T17:35:40.785Z,1754760940.785 [lineCaptureHoming:UpdatePingUpdateRate_Terminal:B] Running Loop=1
2025-08-09T17:35:41.206Z,1754760941.206 [lineCaptureHoming:UpdatePingUpdateRate_Terminal:B] Stopped
2025-08-09T17:35:41.206Z,1754760941.206 [lineCaptureHoming:UpdatePingUpdateRate_Terminal:C] Running Loop=1
2025-08-09T17:35:41.208Z,1754760941.208 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-09T17:35:41.411Z,1754760941.411 [DAT](INFO): ****** received valid address query ******
2025-08-09T17:35:41.411Z,1754760941.411 [DAT](INFO): ****** received valid ping request ******
2025-08-09T17:35:41.411Z,1754760941.411 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-09T17:35:41.594Z,1754760941.594 [lineCaptureHoming:UpdatePingUpdateRate_Terminal:C] Stopped
2025-08-09T17:35:41.594Z,1754760941.594 [lineCaptureHoming:UpdatePingUpdateRate_Terminal:D] Running Loop=1
2025-08-09T17:35:41.663Z,1754760941.663 [DAT](INFO): DAT read: user:605>

2025-08-09T17:35:41.664Z,1754760941.664 [DAT](INFO): DAT read: Tx time:17:35:41.0344

2025-08-09T17:35:41.664Z,1754760941.664 [DAT](INFO): Ping request sent.
2025-08-09T17:35:41.664Z,1754760941.664 [DAT](INFO): transmitted an acoustic signal
2025-08-09T17:35:41.665Z,1754760941.665 [DAT](INFO): publishing transmit ping time
2025-08-09T17:35:41.665Z,1754760941.665 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000747
2025-08-09T17:35:41.916Z,1754760941.916 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251691
2025-08-09T17:35:42.029Z,1754760942.029 [lineCaptureHoming:UpdatePingUpdateRate_Terminal:D] Stopped
2025-08-09T17:35:42.030Z,1754760942.030 [lineCaptureHoming:UpdatePingUpdateRate_Terminal](INFO): Completed lineCaptureHoming:UpdatePingUpdateRate_Terminal
2025-08-09T17:35:42.035Z,1754760942.035 [lineCaptureHoming:UpdatePingUpdateRate_Terminal] Stopped
2025-08-09T17:35:42.035Z,1754760942.035 [lineCaptureHoming:UpdatePingUpdateRate_Terminal](DEBUG): Aggregate::uninitialize lineCaptureHoming:UpdatePingUpdateRate_Terminal
2025-08-09T17:35:42.167Z,1754760942.167 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502746
2025-08-09T17:35:42.422Z,1754760942.422 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.756787
2025-08-09T17:35:42.671Z,1754760942.671 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006650
2025-08-09T17:35:42.924Z,1754760942.924 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.259622
2025-08-09T17:35:43.175Z,1754760943.175 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510906
2025-08-09T17:35:43.250Z,1754760943.250 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-09T17:35:43.428Z,1754760943.428 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.763610
2025-08-09T17:35:43.679Z,1754760943.679 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014866
2025-08-09T17:35:43.932Z,1754760943.932 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.267337
2025-08-09T17:35:44.184Z,1754760944.184 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.519290
2025-08-09T17:35:44.436Z,1754760944.436 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.771733
2025-08-09T17:35:44.687Z,1754760944.687 [DAT](INFO): DAT read: Rx Time:17:35:43.6221

2025-08-09T17:35:44.688Z,1754760944.688 [DAT](INFO): Rx dataTimestamp_ set to:1754760944.687542
2025-08-09T17:35:44.688Z,1754760944.688 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.023879
2025-08-09T17:35:44.940Z,1754760944.940 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.275110
2025-08-09T17:35:45.191Z,1754760945.191 [DAT](INFO): DAT read: $Error in header

2025-08-09T17:35:45.192Z,1754760945.192 [DAT](INFO): Received a bad header
2025-08-09T17:35:45.203Z,1754760945.203 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.538249
2025-08-09T17:35:45.266Z,1754760945.266 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-09T17:35:45.444Z,1754760945.444 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.779974
2025-08-09T17:35:45.696Z,1754760945.696 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.031733
2025-08-09T17:35:45.947Z,1754760945.947 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.282758
2025-08-09T17:35:46.199Z,1754760946.199 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.534913
2025-08-09T17:35:46.451Z,1754760946.451 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.786707
2025-08-09T17:35:46.703Z,1754760946.703 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.038972
2025-08-09T17:35:46.955Z,1754760946.955 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.290861
2025-08-09T17:35:47.207Z,1754760947.207 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.542726
2025-08-09T17:35:47.282Z,1754760947.282 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-09T17:35:47.459Z,1754760947.459 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.794854
2025-08-09T17:35:47.711Z,1754760947.711 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.046927
2025-08-09T17:35:47.963Z,1754760947.963 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.298684
2025-08-09T17:35:48.215Z,1754760948.215 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.550697
2025-08-09T17:35:48.467Z,1754760948.467 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.802732
2025-08-09T17:35:48.719Z,1754760948.719 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.054883
2025-08-09T17:35:48.972Z,1754760948.972 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.307017
2025-08-09T17:35:49.224Z,1754760949.224 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.559491
2025-08-09T17:35:49.362Z,1754760949.362 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-09T17:35:49.476Z,1754760949.476 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.811167
2025-08-09T17:35:49.727Z,1754760949.727 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.062819
2025-08-09T17:35:49.980Z,1754760949.980 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.315887
2025-08-09T17:35:50.231Z,1754760950.231 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.566681
2025-08-09T17:35:50.484Z,1754760950.484 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.819917
2025-08-09T17:35:50.735Z,1754760950.735 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.070809
2025-08-09T17:35:50.987Z,1754760950.987 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.322687
2025-08-09T17:35:51.240Z,1754760951.240 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.575580
2025-08-09T17:35:51.480Z,1754760951.480 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-09T17:35:51.491Z,1754760951.491 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.826900
2025-08-09T17:35:51.744Z,1754760951.744 [DAT](INFO): Reached modem response timeout
2025-08-09T17:35:51.744Z,1754760951.744 [DAT](DEBUG): Acoustic response timeout
2025-08-09T17:35:51.744Z,1754760951.744 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-09T17:35:51.995Z,1754760951.995 [DAT](INFO): DAT read: 

2025-08-09T17:35:51.995Z,1754760951.995 [DAT](INFO): Reached modem response timeout
2025-08-09T17:35:51.996Z,1754760951.996 [DAT](DEBUG): Acoustic response timeout
2025-08-09T17:35:51.996Z,1754760951.996 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-09T17:35:52.247Z,1754760952.247 [DAT](INFO): Reached modem response timeout
2025-08-09T17:35:52.247Z,1754760952.247 [DAT](DEBUG): Acoustic response timeout
2025-08-09T17:35:52.247Z,1754760952.247 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-09T17:35:52.500Z,1754760952.500 [DAT](INFO): Reached modem response timeout
2025-08-09T17:35:52.500Z,1754760952.500 [DAT](DEBUG): Acoustic response timeout
2025-08-09T17:35:52.500Z,1754760952.500 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-09T17:35:52.751Z,1754760952.751 [DAT](INFO): Reached modem response timeout
2025-08-09T17:35:52.751Z,1754760952.751 [DAT](DEBUG): Acoustic response timeout
2025-08-09T17:35:52.752Z,1754760952.752 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-09T17:35:53.003Z,1754760953.003 [DAT](INFO): Reached modem response timeout
2025-08-09T17:35:53.003Z,1754760953.003 [DAT](DEBUG): Acoustic response timeout
2025-08-09T17:35:53.003Z,1754760953.003 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-09T17:35:53.255Z,1754760953.255 [DAT](INFO): Reached modem response timeout
2025-08-09T17:35:53.255Z,1754760953.255 [DAT](DEBUG): Acoustic response timeout
2025-08-09T17:35:53.256Z,1754760953.256 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-09T17:35:53.507Z,1754760953.507 [DAT](INFO): Reached modem response timeout
2025-08-09T17:35:53.507Z,1754760953.507 [DAT](DEBUG): Acoustic response timeout
2025-08-09T17:35:53.508Z,1754760953.508 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-09T17:35:53.623Z,1754760953.623 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-09T17:35:53.759Z,1754760953.759 [DAT](INFO): Reached modem response timeout
2025-08-09T17:35:53.759Z,1754760953.759 [DAT](DEBUG): Acoustic response timeout
2025-08-09T17:35:53.760Z,1754760953.760 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-09T17:35:54.011Z,1754760954.011 [DAT](INFO): DAT read: Response Not Received

2025-08-09T17:35:54.012Z,1754760954.012 [DAT](INFO): response not received
2025-08-09T17:35:54.012Z,1754760954.012 [DAT](INFO): DAT read: user:607>

2025-08-09T17:35:54.013Z,1754760954.013 [DAT](INFO): DAT read: Tx time:17:35:53.4844

2025-08-09T17:35:54.013Z,1754760954.013 [DAT](INFO): Ping request sent.
2025-08-09T17:35:54.013Z,1754760954.013 [DAT](INFO): transmitted an acoustic signal
2025-08-09T17:35:54.013Z,1754760954.013 [DAT](INFO): publishing transmit ping time
2025-08-09T17:35:54.014Z,1754760954.014 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000744
2025-08-09T17:35:54.263Z,1754760954.263 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250089
2025-08-09T17:35:54.520Z,1754760954.520 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.507167
2025-08-09T17:35:54.771Z,1754760954.771 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.758027
2025-08-09T17:35:55.024Z,1754760955.024 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.010428
2025-08-09T17:35:55.279Z,1754760955.279 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.264540
2025-08-09T17:35:55.527Z,1754760955.527 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.514117
2025-08-09T17:35:55.649Z,1754760955.649 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-09T17:35:55.779Z,1754760955.779 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.766026
2025-08-09T17:35:56.039Z,1754760956.039 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.026158
2025-08-09T17:35:56.291Z,1754760956.291 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.278051
2025-08-09T17:35:56.543Z,1754760956.543 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.530174
2025-08-09T17:35:56.795Z,1754760956.795 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.782172
2025-08-09T17:35:57.048Z,1754760957.048 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.034674
2025-08-09T17:35:57.303Z,1754760957.303 [DAT](INFO): DAT read: Rx Time:17:35:56.0828

2025-08-09T17:35:57.304Z,1754760957.304 [DAT](INFO): Rx dataTimestamp_ set to:1754760957.303302
2025-08-09T17:35:57.307Z,1754760957.307 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.292680
2025-08-09T17:35:57.551Z,1754760957.551 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.538142
2025-08-09T17:35:57.808Z,1754760957.808 [DAT](INFO): DAT read: 17:35:56.0828 LVL= 32752, 32753, 32754, 32755, AGC= 74, IDX=  17,-0.15,-0.540, 1.863, 0.439, 0.717, PHS=-1.154, 1.191,-0.321, RAW= 309.5,   2.8, CAL= 307.1,  -0.4, ROT= 202.9,   0.4

2025-08-09T17:35:57.809Z,1754760957.809 [DAT](INFO): got valid direction response:
 17:35:56.0828 LVL= 32752, 32753, 32754, 32755, AGC= 74, IDX=  17,-0.15,-0.540, 1.863, 0.439, 0.717, PHS=-1.154, 1.191,-0.321, RAW= 309.5,   2.8, CAL= 307.1,  -0.4, ROT= 202.9,   0.4

2025-08-09T17:35:57.815Z,1754760957.815 [DAT](INFO): DAT read: Range 11 to 50 : 145.6 m  (Round-trip  194.2 ms) speed -0.4 m/s

2025-08-09T17:35:57.816Z,1754760957.816 [DAT](INFO): DAT read: user:608>

2025-08-09T17:35:57.817Z,1754760957.817 [DAT](INFO): DAT read: Tx time:17:35:57.1844

2025-08-09T17:35:57.818Z,1754760957.818 [DAT](INFO): Ping request sent.
2025-08-09T17:35:57.823Z,1754760957.823 [DAT](INFO): transmitted an acoustic signal
2025-08-09T17:35:57.824Z,1754760957.824 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-09T17:35:57.825Z,1754760957.825 [DAT](INFO): direction in FSK: [-0.921163,-0.389114,-0.006981]
2025-08-09T17:35:57.825Z,1754760957.825 [DAT](INFO): publishing transmit ping time
2025-08-09T17:35:57.826Z,1754760957.826 [DAT](INFO): publishing direction and range info
2025-08-09T17:35:57.829Z,1754760957.829 [DAT](INFO): publishing transmit ping time
2025-08-09T17:35:57.830Z,1754760957.830 [DAT](INFO): publishing direction and range info
2025-08-09T17:35:57.978Z,1754760957.978 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 145.600006 m,
      deltaT: nan s,
      deltaX: nan m,
      approachRate: -1.000000 m/s,
      rangeRepo size: 1

2025-08-09T17:35:57.984Z,1754760957.984 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 145.600006 m,
      bearing: 152.637324 deg,
      lat: 36.906098 deg,
      lon: -122.115972 deg,
      deltaT: nan s,
      deltaX: nan m,
      approachRate: -1.000000 m/s,
      posRepo size: 1

2025-08-09T17:35:57.985Z,1754760957.985 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 145.60 m.
2025-08-09T17:35:57.992Z,1754760957.992 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 145.600006 m,
      nav range: 145.563828 m,
      bearing: 152.637324 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.000000 deg/s,
      cmd heading: 164.816695 deg,
      new cmd heading: 152.637324 deg.

2025-08-09T17:35:58.472Z,1754760958.472 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-09T17:35:58.474Z,1754760958.474 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 145.60 m.
2025-08-09T17:35:58.477Z,1754760958.477 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 145.600006 m,
      nav range: 145.830994 m,
      bearing: 152.569773 deg,
      approach rate: 0.537327 m/s,
      LOS rate: -0.135611 deg/s,
      cmd heading: 152.637325 deg,
      new cmd heading: 152.569773 deg.

2025-08-09T17:35:58.560Z,1754760958.560 [DAT](INFO): ****** received valid address query ******
2025-08-09T17:35:58.560Z,1754760958.560 [DAT](INFO): ****** received valid ping request ******
2025-08-09T17:35:58.560Z,1754760958.560 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-09T17:35:58.811Z,1754760958.811 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.993399
2025-08-09T17:35:58.881Z,1754760958.881 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 145.60 m.
2025-08-09T17:35:58.892Z,1754760958.892 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 145.600006 m,
      nav range: 146.036789 m,
      bearing: 152.515769 deg,
      approach rate: 0.506427 m/s,
      LOS rate: -0.132709 deg/s,
      cmd heading: 152.569774 deg,
      new cmd heading: 152.515769 deg.

2025-08-09T17:35:59.063Z,1754760959.063 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.245374
2025-08-09T17:35:59.271Z,1754760959.271 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 145.60 m.
2025-08-09T17:35:59.280Z,1754760959.280 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 145.600006 m,
      nav range: 146.227707 m,
      bearing: 152.463751 deg,
      approach rate: 0.489919 m/s,
      LOS rate: -0.133309 deg/s,
      cmd heading: 152.515775 deg,
      new cmd heading: 152.463751 deg.

2025-08-09T17:35:59.320Z,1754760959.320 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.501009
2025-08-09T17:35:59.568Z,1754760959.568 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.749748
2025-08-09T17:35:59.711Z,1754760959.711 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 145.60 m.
2025-08-09T17:35:59.714Z,1754760959.714 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 145.600006 m,
      nav range: 146.445282 m,
      bearing: 152.401581 deg,
      approach rate: 0.493177 m/s,
      LOS rate: -0.140711 deg/s,
      cmd heading: 152.463756 deg,
      new cmd heading: 152.401581 deg.

2025-08-09T17:35:59.819Z,1754760959.819 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.001431
2025-08-09T17:36:00.071Z,1754760960.071 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.253359
2025-08-09T17:36:00.114Z,1754760960.114 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 145.60 m.
2025-08-09T17:36:00.123Z,1754760960.123 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 145.600006 m,
      nav range: 146.650055 m,
      bearing: 152.343286 deg,
      approach rate: 0.524043 m/s,
      LOS rate: -0.148978 deg/s,
      cmd heading: 152.401587 deg,
      new cmd heading: 152.343286 deg.

2025-08-09T17:36:00.329Z,1754760960.329 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.510696
2025-08-09T17:36:00.503Z,1754760960.503 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-09T17:36:00.505Z,1754760960.505 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 145.60 m.
2025-08-09T17:36:00.508Z,1754760960.508 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 145.600006 m,
      nav range: 146.845505 m,
      bearing: 152.286370 deg,
      approach rate: 0.484636 m/s,
      LOS rate: -0.140940 deg/s,
      cmd heading: 152.343285 deg,
      new cmd heading: 152.286370 deg.

2025-08-09T17:36:00.577Z,1754760960.577 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.758344
2025-08-09T17:36:00.827Z,1754760960.827 [DAT](INFO): DAT read: Rx Time:17:35:59.7855

2025-08-09T17:36:00.828Z,1754760960.828 [DAT](INFO): Rx dataTimestamp_ set to:1754760960.827447
2025-08-09T17:36:00.828Z,1754760960.828 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.010411
2025-08-09T17:36:00.941Z,1754760960.941 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 145.60 m.
2025-08-09T17:36:00.944Z,1754760960.944 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 145.600006 m,
      nav range: 147.054428 m,
      bearing: 152.223394 deg,
      approach rate: 0.479789 m/s,
      LOS rate: -0.144419 deg/s,
      cmd heading: 152.286376 deg,
      new cmd heading: 152.223394 deg.

2025-08-09T17:36:01.080Z,1754760961.080 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.261765
2025-08-09T17:36:01.357Z,1754760961.357 [DAT](INFO): DAT read: 17:35:59.7855 LVL= 32752, 31841, 32754, 32755, AGC= 69, IDX= 461,-0.02, 1.431,-2.702, 2.473, 2.624, PHS=-1.091, 1.003,-0.195, RAW= 304.8,   3.2, CAL= 302.4,  -0.5, ROT= 207.6,   0.5

2025-08-09T17:36:01.360Z,1754760961.360 [DAT](INFO): got valid direction response:
 17:35:59.7855 LVL= 32752, 31841, 32754, 32755, AGC= 69, IDX= 461,-0.02, 1.431,-2.702, 2.473, 2.624, PHS=-1.091, 1.003,-0.195, RAW= 304.8,   3.2, CAL= 302.4,  -0.5, ROT= 207.6,   0.5

2025-08-09T17:36:01.377Z,1754760961.377 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 145.60 m.
2025-08-09T17:36:01.380Z,1754760961.380 [DAT](INFO): DAT read: Bearing 287.6, -30.2 (Local)

2025-08-09T17:36:01.380Z,1754760961.380 [DAT](INFO): Local bearing/azimuth received:
 Bearing 287.6, -30.2 (Local)

2025-08-09T17:36:01.389Z,1754760961.389 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 145.600006 m,
      nav range: 147.217789 m,
      bearing: 152.172448 deg,
      approach rate: 0.374695 m/s,
      LOS rate: -0.116723 deg/s,
      cmd heading: 152.223388 deg,
      new cmd heading: 152.172448 deg.

2025-08-09T17:36:01.391Z,1754760961.391 [DAT](INFO): DAT read: Range 11 to 50 : 147.6 m  (Round-trip  196.9 ms) speed -0.7 m/s

2025-08-09T17:36:01.393Z,1754760961.393 [DAT](INFO): DAT read: user:609>

2025-08-09T17:36:01.402Z,1754760961.402 [DAT](INFO): DAT read: Tx time:17:36:00.8844

2025-08-09T17:36:01.403Z,1754760961.403 [DAT](INFO): Ping request sent.
2025-08-09T17:36:01.403Z,1754760961.403 [DAT](INFO): transmitted an acoustic signal
2025-08-09T17:36:01.404Z,1754760961.404 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-09T17:36:01.406Z,1754760961.406 [DAT](INFO): direction in FSK: [-0.886170,-0.463279,-0.008727]
2025-08-09T17:36:01.418Z,1754760961.418 [DAT](INFO): publishing transmit ping time
2025-08-09T17:36:01.419Z,1754760961.419 [DAT](INFO): publishing direction and range info
2025-08-09T17:36:01.421Z,1754760961.421 [DAT](INFO): publishing transmit ping time
2025-08-09T17:36:01.422Z,1754760961.422 [DAT](INFO): publishing direction and range info
2025-08-09T17:36:01.792Z,1754760961.792 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 147.600006 m,
      deltaT: 3.530323 s,
      deltaX: 2.000000 m,
      approachRate: 0.566520 m/s,
      rangeRepo size: 2

2025-08-09T17:36:01.794Z,1754760961.794 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 147.600006 m,
      bearing: 152.095055 deg,
      lat: 36.906098 deg,
      lon: -122.115972 deg,
      deltaT: 3.530323 s,
      deltaX: 2.000000 m,
      approachRate: 0.566520 m/s,
      posRepo size: 2

2025-08-09T17:36:01.795Z,1754760961.795 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 147.60 m.
2025-08-09T17:36:01.797Z,1754760961.797 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 147.600006 m,
      nav range: 147.456528 m,
      bearing: 152.095055 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.116723 deg/s,
      cmd heading: 152.172448 deg,
      new cmd heading: 152.027607 deg.

2025-08-09T17:36:02.170Z,1754760962.170 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 147.60 m.
2025-08-09T17:36:02.173Z,1754760962.173 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 147.600006 m,
      nav range: 147.636551 m,
      bearing: 152.034735 deg,
      approach rate: 0.474575 m/s,
      LOS rate: -0.158822 deg/s,
      cmd heading: 152.027607 deg,
      new cmd heading: 151.846868 deg.

2025-08-09T17:36:02.592Z,1754760962.592 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-09T17:36:02.594Z,1754760962.594 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 147.60 m.
2025-08-09T17:36:02.596Z,1754760962.596 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 147.600006 m,
      nav range: 147.832275 m,
      bearing: 151.967010 deg,
      approach rate: 0.461794 m/s,
      LOS rate: -0.159580 deg/s,
      cmd heading: 151.846867 deg,
      new cmd heading: 151.643960 deg.

2025-08-09T17:36:02.843Z,1754760962.843 [DAT](INFO): ****** received valid address query ******
2025-08-09T17:36:02.843Z,1754760962.843 [DAT](INFO): ****** received valid ping request ******
2025-08-09T17:36:02.843Z,1754760962.843 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-09T17:36:02.976Z,1754760962.976 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 147.60 m.
2025-08-09T17:36:02.979Z,1754760962.979 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 147.600006 m,
      nav range: 148.007126 m,
      bearing: 151.904468 deg,
      approach rate: 0.457270 m/s,
      LOS rate: -0.163366 deg/s,
      cmd heading: 151.643956 deg,
      new cmd heading: 151.456553 deg.

2025-08-09T17:36:03.095Z,1754760963.095 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.692018
2025-08-09T17:36:03.354Z,1754760963.354 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.950339
2025-08-09T17:36:03.450Z,1754760963.450 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 147.60 m.
2025-08-09T17:36:03.453Z,1754760963.453 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 147.600006 m,
      nav range: 148.225739 m,
      bearing: 151.828191 deg,
      approach rate: 0.461410 m/s,
      LOS rate: -0.160754 deg/s,
      cmd heading: 151.456549 deg,
      new cmd heading: 151.228057 deg.

2025-08-09T17:36:03.603Z,1754760963.603 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.200198
2025-08-09T17:36:03.778Z,1754760963.778 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 147.60 m.
2025-08-09T17:36:03.781Z,1754760963.781 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 147.600006 m,
      nav range: 148.374756 m,
      bearing: 151.774408 deg,
      approach rate: 0.453837 m/s,
      LOS rate: -0.163633 deg/s,
      cmd heading: 151.228052 deg,
      new cmd heading: 151.066866 deg.

2025-08-09T17:36:03.857Z,1754760963.857 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.453026
2025-08-09T17:36:04.108Z,1754760964.108 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.704293
2025-08-09T17:36:04.190Z,1754760964.190 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 147.60 m.
2025-08-09T17:36:04.193Z,1754760964.193 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 147.600006 m,
      nav range: 148.558533 m,
      bearing: 151.705805 deg,
      approach rate: 0.446138 m/s,
      LOS rate: -0.166336 deg/s,
      cmd heading: 151.066859 deg,
      new cmd heading: 150.861305 deg.

2025-08-09T17:36:04.362Z,1754760964.362 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.958172
2025-08-09T17:36:04.617Z,1754760964.617 [DAT](INFO): DAT read: 17:36:03.4879 LVL= 32752, 25841, 32754, 32755, AGC= 70, IDX= 454,-0.12, 3.008,-1.251,-2.133,-2.129, PHS=-1.045, 0.922,-0.048, RAW= 299.6,   2.0, CAL= 297.7,  -2.1, ROT= 212.3,   2.1

2025-08-09T17:36:04.618Z,1754760964.618 [DAT](INFO): got valid direction response:
 17:36:03.4879 LVL= 32752, 25841, 32754, 32755, AGC= 70, IDX= 454,-0.12, 3.008,-1.251,-2.133,-2.129, PHS=-1.045, 0.922,-0.048, RAW= 299.6,   2.0, CAL= 297.7,  -2.1, ROT= 212.3,   2.1

2025-08-09T17:36:04.619Z,1754760964.619 [DAT](INFO): DAT read: Rx Time:17:36:03.4879

2025-08-09T17:36:04.619Z,1754760964.619 [DAT](INFO): Rx dataTimestamp_ set to:1754760964.618967
2025-08-09T17:36:04.620Z,1754760964.620 [DAT](INFO): DAT read: $Low SNR acquisition

2025-08-09T17:36:04.620Z,1754760964.620 [DAT](INFO): Received low SNR in chirp
2025-08-09T17:36:04.628Z,1754760964.628 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-09T17:36:04.630Z,1754760964.630 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 147.60 m.
2025-08-09T17:36:04.633Z,1754760964.633 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 147.600006 m,
      nav range: 148.754532 m,
      bearing: 151.634321 deg,
      approach rate: 0.445706 m/s,
      LOS rate: -0.162341 deg/s,
      cmd heading: 150.861298 deg,
      new cmd heading: 150.647131 deg.

2025-08-09T17:36:04.635Z,1754760964.635 [DAT](INFO): #Rx 1: Read direction message, but no range.
2025-08-09T17:36:04.636Z,1754760964.636 [DAT](INFO): direction in FSK: [-0.844694,-0.533993,-0.036644]
2025-08-09T17:36:04.639Z,1754760964.639 [DAT](INFO): ****** received valid address query ******
2025-08-09T17:36:04.639Z,1754760964.639 [DAT](INFO): ****** received valid ping request ******
2025-08-09T17:36:04.639Z,1754760964.639 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-09T17:36:04.864Z,1754760964.864 [DAT](INFO): ****** received valid address query ******
2025-08-09T17:36:04.864Z,1754760964.864 [DAT](INFO): ****** received valid ping request ******
2025-08-09T17:36:04.864Z,1754760964.864 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-09T17:36:04.993Z,1754760964.993 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 147.60 m.
2025-08-09T17:36:04.996Z,1754760964.996 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 147.600006 m,
      nav range: 148.914062 m,
      bearing: 151.574092 deg,
      approach rate: 0.439384 m/s,
      LOS rate: -0.165708 deg/s,
      cmd heading: 150.647130 deg,
      new cmd heading: 150.466636 deg.

2025-08-09T17:36:05.115Z,1754760965.115 [DAT](INFO): ****** received valid address query ******
2025-08-09T17:36:05.115Z,1754760965.115 [DAT](INFO): ****** received valid ping request ******
2025-08-09T17:36:05.116Z,1754760965.116 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-09T17:36:05.369Z,1754760965.369 [DAT](INFO): ****** received valid address query ******
2025-08-09T17:36:05.369Z,1754760965.369 [DAT](INFO): ****** received valid ping request ******
2025-08-09T17:36:05.370Z,1754760965.370 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-09T17:36:05.481Z,1754760965.481 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 147.60 m.
2025-08-09T17:36:05.484Z,1754760965.484 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 147.600006 m,
      nav range: 149.122482 m,
      bearing: 151.495812 deg,
      approach rate: 0.426923 m/s,
      LOS rate: -0.160124 deg/s,
      cmd heading: 150.466636 deg,
      new cmd heading: 150.232124 deg.

2025-08-09T17:36:05.619Z,1754760965.619 [DAT](INFO): ****** received valid address query ******
2025-08-09T17:36:05.619Z,1754760965.619 [DAT](INFO): ****** received valid ping request ******
2025-08-09T17:36:05.620Z,1754760965.620 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-09T17:36:05.818Z,1754760965.818 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 147.60 m.
2025-08-09T17:36:05.821Z,1754760965.821 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 147.600006 m,
      nav range: 149.264420 m,
      bearing: 151.440723 deg,
      approach rate: 0.421460 m/s,
      LOS rate: -0.163421 deg/s,
      cmd heading: 150.232128 deg,
      new cmd heading: 150.067021 deg.

2025-08-09T17:36:05.873Z,1754760965.873 [DAT](INFO): ****** received valid address query ******
2025-08-09T17:36:05.873Z,1754760965.873 [DAT](INFO): ****** received valid ping request ******
2025-08-09T17:36:05.874Z,1754760965.874 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-09T17:36:06.127Z,1754760966.127 [DAT](INFO): ****** received valid address query ******
2025-08-09T17:36:06.127Z,1754760966.127 [DAT](INFO): ****** received valid ping request ******
2025-08-09T17:36:06.127Z,1754760966.127 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-09T17:36:06.217Z,1754760966.217 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 147.60 m.
2025-08-09T17:36:06.219Z,1754760966.219 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 147.600006 m,
      nav range: 149.429077 m,
      bearing: 151.374644 deg,
      approach rate: 0.413039 m/s,
      LOS rate: -0.165575 deg/s,
      cmd heading: 150.067015 deg,
      new cmd heading: 149.868997 deg.

2025-08-09T17:36:06.378Z,1754760966.378 [DAT](INFO): ****** received valid address query ******
2025-08-09T17:36:06.379Z,1754760966.379 [DAT](INFO): ****** received valid ping request ******
2025-08-09T17:36:06.379Z,1754760966.379 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-09T17:36:06.627Z,1754760966.627 [DAT](INFO): ****** received valid address query ******
2025-08-09T17:36:06.627Z,1754760966.627 [DAT](INFO): ****** received valid ping request ******
2025-08-09T17:36:06.627Z,1754760966.627 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-09T17:36:06.673Z,1754760966.673 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-09T17:36:06.679Z,1754760966.679 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 147.60 m.
2025-08-09T17:36:06.682Z,1754760966.682 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 147.600006 m,
      nav range: 149.614349 m,
      bearing: 151.298795 deg,
      approach rate: 0.400505 m/s,
      LOS rate: -0.163760 deg/s,
      cmd heading: 149.868994 deg,
      new cmd heading: 149.641731 deg.

2025-08-09T17:36:06.880Z,1754760966.880 [DAT](INFO): ****** received valid address query ******
2025-08-09T17:36:06.880Z,1754760966.880 [DAT](INFO): ****** received valid ping request ******
2025-08-09T17:36:06.880Z,1754760966.880 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-09T17:36:07.044Z,1754760967.044 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 147.60 m.
2025-08-09T17:36:07.047Z,1754760967.047 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 147.600006 m,
      nav range: 149.769852 m,
      bearing: 151.235360 deg,
      approach rate: 0.426079 m/s,
      LOS rate: -0.173634 deg/s,
      cmd heading: 149.641727 deg,
      new cmd heading: 149.451619 deg.

2025-08-09T17:36:07.132Z,1754760967.132 [DAT](INFO): ****** received valid address query ******
2025-08-09T17:36:07.132Z,1754760967.132 [DAT](INFO): ****** received valid ping request ******
2025-08-09T17:36:07.132Z,1754760967.132 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-09T17:36:07.384Z,1754760967.384 [DAT](INFO): ****** received valid address query ******
2025-08-09T17:36:07.384Z,1754760967.384 [DAT](INFO): ****** received valid ping request ******
2025-08-09T17:36:07.384Z,1754760967.384 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-09T17:36:07.528Z,1754760967.528 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 147.60 m.
2025-08-09T17:36:07.530Z,1754760967.530 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 147.600006 m,
      nav range: 149.967728 m,
      bearing: 151.157642 deg,
      approach rate: 0.409353 m/s,
      LOS rate: -0.160565 deg/s,
      cmd heading: 149.451615 deg,
      new cmd heading: 149.218771 deg.

2025-08-09T17:36:07.635Z,1754760967.635 [DAT](INFO): ****** received valid address query ******
2025-08-09T17:36:07.635Z,1754760967.635 [DAT](INFO): ****** received valid ping request ******
2025-08-09T17:36:07.635Z,1754760967.635 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-09T17:36:07.854Z,1754760967.854 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 147.60 m.
2025-08-09T17:36:07.859Z,1754760967.859 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 147.600006 m,
      nav range: 150.091064 m,
      bearing: 151.103734 deg,
      approach rate: 0.378033 m/s,
      LOS rate: -0.165095 deg/s,
      cmd heading: 149.218774 deg,
      new cmd heading: 149.057183 deg.

2025-08-09T17:36:07.888Z,1754760967.888 [DAT](INFO): ****** received valid address query ******
2025-08-09T17:36:07.889Z,1754760967.889 [DAT](INFO): ****** received valid ping request ******
2025-08-09T17:36:07.889Z,1754760967.889 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-09T17:36:08.139Z,1754760968.139 [DAT](INFO): ****** received valid address query ******
2025-08-09T17:36:08.139Z,1754760968.139 [DAT](INFO): ****** received valid ping request ******
2025-08-09T17:36:08.139Z,1754760968.139 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-09T17:36:08.344Z,1754760968.344 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 147.60 m.
2025-08-09T17:36:08.347Z,1754760968.347 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 147.600006 m,
      nav range: 150.276703 m,
      bearing: 151.019845 deg,
      approach rate: 0.379032 m/s,
      LOS rate: -0.171072 deg/s,
      cmd heading: 149.057185 deg,
      new cmd heading: 148.805829 deg.

2025-08-09T17:36:08.392Z,1754760968.392 [DAT](INFO): ****** received valid address query ******
2025-08-09T17:36:08.393Z,1754760968.393 [DAT](INFO): ****** received valid ping request ******
2025-08-09T17:36:08.394Z,1754760968.394 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-09T17:36:08.643Z,1754760968.643 [DAT](INFO): ****** received valid address query ******
2025-08-09T17:36:08.644Z,1754760968.644 [DAT](INFO): ****** received valid ping request ******
2025-08-09T17:36:08.644Z,1754760968.644 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-09T17:36:08.764Z,1754760968.764 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-09T17:36:08.770Z,1754760968.770 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 147.60 m.
2025-08-09T17:36:08.773Z,1754760968.773 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 147.600006 m,
      nav range: 150.420502 m,
      bearing: 150.949469 deg,
      approach rate: 0.340251 m/s,
      LOS rate: -0.166360 deg/s,
      cmd heading: 148.805834 deg,
      new cmd heading: 148.594911 deg.

2025-08-09T17:36:08.896Z,1754760968.896 [DAT](INFO): ****** received valid address query ******
2025-08-09T17:36:08.896Z,1754760968.896 [DAT](INFO): ****** received valid ping request ******
2025-08-09T17:36:08.896Z,1754760968.896 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-09T17:36:09.147Z,1754760969.147 [DAT](INFO): ****** received valid address query ******
2025-08-09T17:36:09.147Z,1754760969.147 [DAT](INFO): ****** received valid ping request ******
2025-08-09T17:36:09.147Z,1754760969.147 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-09T17:36:09.232Z,1754760969.232 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 147.60 m.
2025-08-09T17:36:09.235Z,1754760969.235 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 147.600006 m,
      nav range: 150.588531 m,
      bearing: 150.864425 deg,
      approach rate: 0.360710 m/s,
      LOS rate: -0.182362 deg/s,
      cmd heading: 148.594904 deg,
      new cmd heading: 148.340057 deg.

2025-08-09T17:36:09.403Z,1754760969.403 [DAT](INFO): ****** received valid address query ******
2025-08-09T17:36:09.403Z,1754760969.403 [DAT](INFO): ****** received valid ping request ******
2025-08-09T17:36:09.403Z,1754760969.403 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-09T17:36:09.651Z,1754760969.651 [DAT](INFO): ****** received valid address query ******
2025-08-09T17:36:09.651Z,1754760969.651 [DAT](INFO): ****** received valid ping request ******
2025-08-09T17:36:09.651Z,1754760969.651 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-09T17:36:09.655Z,1754760969.655 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 147.60 m.
2025-08-09T17:36:09.658Z,1754760969.658 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 147.600006 m,
      nav range: 150.731979 m,
      bearing: 150.790174 deg,
      approach rate: 0.338801 m/s,
      LOS rate: -0.175200 deg/s,
      cmd heading: 148.340056 deg,
      new cmd heading: 148.117519 deg.

2025-08-09T17:36:09.903Z,1754760969.903 [DAT](INFO): ****** received valid address query ******
2025-08-09T17:36:09.903Z,1754760969.903 [DAT](INFO): ****** received valid ping request ******
2025-08-09T17:36:09.904Z,1754760969.904 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-09T17:36:10.043Z,1754760970.043 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 147.60 m.
2025-08-09T17:36:10.045Z,1754760970.045 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 147.600006 m,
      nav range: 150.861679 m,
      bearing: 150.720636 deg,
      approach rate: 0.334964 m/s,
      LOS rate: -0.179437 deg/s,
      cmd heading: 148.117515 deg,
      new cmd heading: 147.909080 deg.

2025-08-09T17:36:10.155Z,1754760970.155 [DAT](INFO): ****** received valid address query ******
2025-08-09T17:36:10.155Z,1754760970.155 [DAT](INFO): ****** received valid ping request ******
2025-08-09T17:36:10.155Z,1754760970.155 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-09T17:36:10.408Z,1754760970.408 [DAT](INFO): ****** received valid address query ******
2025-08-09T17:36:10.409Z,1754760970.409 [DAT](INFO): ****** received valid ping request ******
2025-08-09T17:36:10.409Z,1754760970.409 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-09T17:36:10.519Z,1754760970.519 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 147.60 m.
2025-08-09T17:36:10.521Z,1754760970.521 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 147.600006 m,
      nav range: 151.012253 m,
      bearing: 150.637094 deg,
      approach rate: 0.319132 m/s,
      LOS rate: -0.176886 deg/s,
      cmd heading: 147.909085 deg,
      new cmd heading: 147.658710 deg.

2025-08-09T17:36:10.659Z,1754760970.659 [DAT](INFO): ****** received valid address query ******
2025-08-09T17:36:10.659Z,1754760970.659 [DAT](INFO): ****** received valid ping request ******
2025-08-09T17:36:10.659Z,1754760970.659 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-09T17:36:10.911Z,1754760970.911 [DAT](INFO): ****** received valid address query ******
2025-08-09T17:36:10.912Z,1754760970.912 [DAT](INFO): ****** received valid ping request ******
2025-08-09T17:36:10.912Z,1754760970.912 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-09T17:36:10.920Z,1754760970.920 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-09T17:36:10.922Z,1754760970.922 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 147.60 m.
2025-08-09T17:36:10.925Z,1754760970.925 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 147.600006 m,
      nav range: 151.139679 m,
      bearing: 150.562173 deg,
      approach rate: 0.312791 m/s,
      LOS rate: -0.183752 deg/s,
      cmd heading: 147.658704 deg,
      new cmd heading: 147.434132 deg.

2025-08-09T17:36:11.164Z,1754760971.164 [DAT](INFO): ****** received valid address query ******
2025-08-09T17:36:11.165Z,1754760971.165 [DAT](INFO): ****** received valid ping request ******
2025-08-09T17:36:11.165Z,1754760971.165 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-09T17:36:11.260Z,1754760971.260 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 147.60 m.
2025-08-09T17:36:11.263Z,1754760971.263 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 147.600006 m,
      nav range: 151.241440 m,
      bearing: 150.500116 deg,
      approach rate: 0.300761 m/s,
      LOS rate: -0.183289 deg/s,
      cmd heading: 147.434127 deg,
      new cmd heading: 147.248083 deg.

2025-08-09T17:36:11.415Z,1754760971.415 [DAT](INFO): Reached modem response timeout
2025-08-09T17:36:11.415Z,1754760971.415 [DAT](DEBUG): Acoustic response timeout
2025-08-09T17:36:11.415Z,1754760971.415 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-09T17:36:11.667Z,1754760971.667 [DAT](INFO): Reached modem response timeout
2025-08-09T17:36:11.667Z,1754760971.667 [DAT](DEBUG): Acoustic response timeout
2025-08-09T17:36:11.667Z,1754760971.667 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-09T17:36:11.700Z,1754760971.700 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 147.60 m.
2025-08-09T17:36:11.703Z,1754760971.703 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 147.600006 m,
      nav range: 151.371521 m,
      bearing: 150.417113 deg,
      approach rate: 0.295774 m/s,
      LOS rate: -0.188567 deg/s,
      cmd heading: 147.248087 deg,
      new cmd heading: 146.999293 deg.

2025-08-09T17:36:11.919Z,1754760971.919 [DAT](INFO): Reached modem response timeout
2025-08-09T17:36:11.920Z,1754760971.920 [DAT](DEBUG): Acoustic response timeout
2025-08-09T17:36:11.920Z,1754760971.920 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-09T17:36:12.067Z,1754760972.067 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 147.60 m.
2025-08-09T17:36:12.069Z,1754760972.069 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 147.600006 m,
      nav range: 151.476685 m,
      bearing: 150.347375 deg,
      approach rate: 0.287000 m/s,
      LOS rate: -0.190188 deg/s,
      cmd heading: 146.999290 deg,
      new cmd heading: 146.790224 deg.

2025-08-09T17:36:12.171Z,1754760972.171 [DAT](INFO): Reached modem response timeout
2025-08-09T17:36:12.172Z,1754760972.172 [DAT](DEBUG): Acoustic response timeout
2025-08-09T17:36:12.172Z,1754760972.172 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-09T17:36:12.423Z,1754760972.423 [DAT](INFO): Reached modem response timeout
2025-08-09T17:36:12.423Z,1754760972.423 [DAT](DEBUG): Acoustic response timeout
2025-08-09T17:36:12.423Z,1754760972.423 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-09T17:36:12.560Z,1754760972.560 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 147.60 m.
2025-08-09T17:36:12.563Z,1754760972.563 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 147.600006 m,
      nav range: 151.623230 m,
      bearing: 150.247738 deg,
      approach rate: 0.296957 m/s,
      LOS rate: -0.201708 deg/s,
      cmd heading: 146.790218 deg,
      new cmd heading: 146.491597 deg.

2025-08-09T17:36:12.675Z,1754760972.675 [DAT](INFO): Reached modem response timeout
2025-08-09T17:36:12.675Z,1754760972.675 [DAT](DEBUG): Acoustic response timeout
2025-08-09T17:36:12.676Z,1754760972.676 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-09T17:36:12.927Z,1754760972.927 [DAT](INFO): Reached modem response timeout
2025-08-09T17:36:12.927Z,1754760972.927 [DAT](DEBUG): Acoustic response timeout
2025-08-09T17:36:12.928Z,1754760972.928 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-09T17:36:12.945Z,1754760972.945 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-09T17:36:12.947Z,1754760972.947 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 147.60 m.
2025-08-09T17:36:12.950Z,1754760972.950 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 147.600006 m,
      nav range: 151.734299 m,
      bearing: 150.169086 deg,
      approach rate: 0.286938 m/s,
      LOS rate: -0.203043 deg/s,
      cmd heading: 146.491602 deg,
      new cmd heading: 146.255820 deg.

2025-08-09T17:36:13.179Z,1754760973.179 [DAT](INFO): Reached modem response timeout
2025-08-09T17:36:13.179Z,1754760973.179 [DAT](DEBUG): Acoustic response timeout
2025-08-09T17:36:13.179Z,1754760973.179 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-09T17:36:13.278Z,1754760973.278 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 147.60 m.
2025-08-09T17:36:13.304Z,1754760973.304 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 147.600006 m,
      nav range: 151.826462 m,
      bearing: 150.101062 deg,
      approach rate: 0.278581 m/s,
      LOS rate: -0.205488 deg/s,
      cmd heading: 146.255824 deg,
      new cmd heading: 146.051880 deg.

2025-08-09T17:36:13.431Z,1754760973.431 [DAT](INFO): Reached modem response timeout
2025-08-09T17:36:13.431Z,1754760973.431 [DAT](DEBUG): Acoustic response timeout
2025-08-09T17:36:13.431Z,1754760973.431 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-09T17:36:13.683Z,1754760973.683 [DAT](INFO): Reached modem response timeout
2025-08-09T17:36:13.683Z,1754760973.683 [DAT](DEBUG): Acoustic response timeout
2025-08-09T17:36:13.683Z,1754760973.683 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-09T17:36:13.750Z,1754760973.750 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 147.60 m.
2025-08-09T17:36:13.756Z,1754760973.756 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 147.600006 m,
      nav range: 151.952667 m,
      bearing: 150.006587 deg,
      approach rate: 0.267503 m/s,
      LOS rate: -0.200082 deg/s,
      cmd heading: 146.051875 deg,
      new cmd heading: 145.768688 deg.

2025-08-09T17:36:13.935Z,1754760973.935 [DAT](INFO): DAT read: Response Not Received

2025-08-09T17:36:13.936Z,1754760973.936 [DAT](INFO): response not received
2025-08-09T17:36:13.936Z,1754760973.936 [DAT](INFO): DAT read: user:611>

2025-08-09T17:36:13.937Z,1754760973.937 [DAT](INFO): DAT read: Tx time:17:36:13.3343

2025-08-09T17:36:13.937Z,1754760973.937 [DAT](INFO): Ping request sent.
2025-08-09T17:36:13.937Z,1754760973.937 [DAT](INFO): transmitted an acoustic signal
2025-08-09T17:36:13.937Z,1754760973.937 [DAT](INFO): publishing transmit ping time
2025-08-09T17:36:13.938Z,1754760973.938 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000737
2025-08-09T17:36:14.099Z,1754760974.099 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 147.60 m.
2025-08-09T17:36:14.102Z,1754760974.102 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 147.600006 m,
      nav range: 152.050598 m,
      bearing: 149.930035 deg,
      approach rate: 0.280286 m/s,
      LOS rate: -0.218959 deg/s,
      cmd heading: 145.768681 deg,
      new cmd heading: 145.539173 deg.

2025-08-09T17:36:14.188Z,1754760974.188 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250745
2025-08-09T17:36:14.439Z,1754760974.439 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502202
2025-08-09T17:36:14.568Z,1754760974.568 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 147.60 m.
2025-08-09T17:36:14.574Z,1754760974.574 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 147.600006 m,
      nav range: 152.169189 m,
      bearing: 149.833066 deg,
      approach rate: 0.253068 m/s,
      LOS rate: -0.206766 deg/s,
      cmd heading: 145.539173 deg,
      new cmd heading: 145.248495 deg.

2025-08-09T17:36:14.692Z,1754760974.692 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754560
2025-08-09T17:36:14.943Z,1754760974.943 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006306
2025-08-09T17:36:14.977Z,1754760974.977 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-09T17:36:14.979Z,1754760974.979 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 147.60 m.
2025-08-09T17:36:14.982Z,1754760974.982 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 147.600006 m,
      nav range: 152.280548 m,
      bearing: 149.745948 deg,
      approach rate: 0.270497 m/s,
      LOS rate: -0.211459 deg/s,
      cmd heading: 145.248494 deg,
      new cmd heading: 144.987334 deg.

2025-08-09T17:36:15.196Z,1754760975.196 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.259166
2025-08-09T17:36:15.346Z,1754760975.346 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 147.60 m.
2025-08-09T17:36:15.349Z,1754760975.349 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 147.600006 m,
      nav range: 152.371201 m,
      bearing: 149.667977 deg,
      approach rate: 0.247077 m/s,
      LOS rate: -0.212387 deg/s,
      cmd heading: 144.987335 deg,
      new cmd heading: 144.753563 deg.

2025-08-09T17:36:15.449Z,1754760975.449 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.511417
2025-08-09T17:36:15.699Z,1754760975.699 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762101
2025-08-09T17:36:15.774Z,1754760975.774 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 147.60 m.
2025-08-09T17:36:15.777Z,1754760975.777 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 147.600006 m,
      nav range: 152.474884 m,
      bearing: 149.577226 deg,
      approach rate: 0.242461 m/s,
      LOS rate: -0.212074 deg/s,
      cmd heading: 144.753565 deg,
      new cmd heading: 144.481500 deg.

2025-08-09T17:36:15.951Z,1754760975.951 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014106
2025-08-09T17:36:16.166Z,1754760976.166 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 147.60 m.
2025-08-09T17:36:16.169Z,1754760976.169 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 147.600006 m,
      nav range: 152.570343 m,
      bearing: 149.494078 deg,
      approach rate: 0.243445 m/s,
      LOS rate: -0.211917 deg/s,
      cmd heading: 144.481505 deg,
      new cmd heading: 144.232218 deg.

2025-08-09T17:36:16.220Z,1754760976.220 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.283186
2025-08-09T17:36:16.471Z,1754760976.471 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.534224
2025-08-09T17:36:16.644Z,1754760976.644 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 147.60 m.
2025-08-09T17:36:16.651Z,1754760976.651 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 147.600006 m,
      nav range: 152.668213 m,
      bearing: 149.390873 deg,
      approach rate: 0.204833 m/s,
      LOS rate: -0.215860 deg/s,
      cmd heading: 144.232217 deg,
      new cmd heading: 143.922805 deg.

2025-08-09T17:36:16.724Z,1754760976.724 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.786940
2025-08-09T17:36:16.975Z,1754760976.975 [DAT](INFO): DAT read: Rx Time:17:36:15.9440

2025-08-09T17:36:16.976Z,1754760976.976 [DAT](INFO): Rx dataTimestamp_ set to:1754760976.975486
2025-08-09T17:36:16.976Z,1754760976.976 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.039237
2025-08-09T17:36:16.986Z,1754760976.986 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 147.60 m.
2025-08-09T17:36:16.989Z,1754760976.989 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 147.600006 m,
      nav range: 152.736801 m,
      bearing: 149.314609 deg,
      approach rate: 0.205133 m/s,
      LOS rate: -0.227988 deg/s,
      cmd heading: 143.922809 deg,
      new cmd heading: 143.694120 deg.

2025-08-09T17:36:17.228Z,1754760977.228 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.290802
2025-08-09T17:36:17.403Z,1754760977.403 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-09T17:36:17.405Z,1754760977.405 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 147.60 m.
2025-08-09T17:36:17.408Z,1754760977.408 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 147.600006 m,
      nav range: 152.823242 m,
      bearing: 149.212921 deg,
      approach rate: 0.202424 m/s,
      LOS rate: -0.237993 deg/s,
      cmd heading: 143.694121 deg,
      new cmd heading: 143.389233 deg.

2025-08-09T17:36:17.497Z,1754760977.497 [DAT](INFO): DAT read: 17:36:15.9440 LVL= 32752, 32161, 28066, 32755, AGC= 69, IDX= 501,-0.11, 0.483, 2.088, 2.740, 1.708, PHS=-1.124, 0.425, 0.988, RAW= 255.1,  -3.1, CAL= 252.1,  -6.9, ROT= 257.9,   6.9

2025-08-09T17:36:17.501Z,1754760977.501 [DAT](INFO): got valid direction response:
 17:36:15.9440 LVL= 32752, 32161, 28066, 32755, AGC= 69, IDX= 501,-0.11, 0.483, 2.088, 2.740, 1.708, PHS=-1.124, 0.425, 0.988, RAW= 255.1,  -3.1, CAL= 252.1,  -6.9, ROT= 257.9,   6.9

2025-08-09T17:36:17.518Z,1754760977.518 [DAT](INFO): DAT read: Bearing 291.1, -68.0 (Local)

2025-08-09T17:36:17.519Z,1754760977.519 [DAT](INFO): Local bearing/azimuth received:
 Bearing 291.1, -68.0 (Local)

2025-08-09T17:36:17.521Z,1754760977.521 [DAT](INFO): DAT read: Range 11 to 50 : 154.1 m  (Round-trip  205.5 ms) speed -0.2 m/s

2025-08-09T17:36:17.522Z,1754760977.522 [DAT](INFO): DAT read: user:612>

2025-08-09T17:36:17.529Z,1754760977.529 [DAT](INFO): DAT read: Tx time:17:36:17.0343

2025-08-09T17:36:17.534Z,1754760977.534 [DAT](INFO): Ping request sent.
2025-08-09T17:36:17.534Z,1754760977.534 [DAT](INFO): transmitted an acoustic signal
2025-08-09T17:36:17.535Z,1754760977.535 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-09T17:36:17.536Z,1754760977.536 [DAT](INFO): direction in FSK: [-0.208100,-0.970701,-0.120137]
2025-08-09T17:36:17.536Z,1754760977.536 [DAT](INFO): publishing transmit ping time
2025-08-09T17:36:17.536Z,1754760977.536 [DAT](INFO): publishing direction and range info
2025-08-09T17:36:17.584Z,1754760977.584 [DAT](INFO): publishing transmit ping time
2025-08-09T17:36:17.585Z,1754760977.585 [DAT](INFO): publishing direction and range info
2025-08-09T17:36:17.899Z,1754760977.899 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 154.100006 m,
      deltaT: 16.147111 s,
      deltaX: 6.500000 m,
      approachRate: 0.402549 m/s,
      rangeRepo size: 3

2025-08-09T17:36:17.901Z,1754760977.901 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 154.100006 m,
      bearing: 149.212619 deg,
      lat: 36.906098 deg,
      lon: -122.115976 deg,
      deltaT: 16.147111 s,
      deltaX: 6.500000 m,
      approachRate: 0.402549 m/s,
      posRepo size: 3

2025-08-09T17:36:17.901Z,1754760977.901 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 154.10 m.
2025-08-09T17:36:17.912Z,1754760977.912 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 154.100006 m,
      nav range: 152.749908 m,
      bearing: 149.212619 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.237993 deg/s,
      cmd heading: 143.389235 deg,
      new cmd heading: 143.055455 deg.

2025-08-09T17:36:18.399Z,1754760978.399 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 154.10 m.
2025-08-09T17:36:18.402Z,1754760978.402 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 154.100006 m,
      nav range: 152.851486 m,
      bearing: 149.083240 deg,
      approach rate: 0.192942 m/s,
      LOS rate: -0.245584 deg/s,
      cmd heading: 143.055457 deg,
      new cmd heading: 142.667586 deg.

2025-08-09T17:36:18.799Z,1754760978.799 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 154.10 m.
2025-08-09T17:36:18.802Z,1754760978.802 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 154.100006 m,
      nav range: 152.915634 m,
      bearing: 148.990452 deg,
      approach rate: 0.160367 m/s,
      LOS rate: -0.231869 deg/s,
      cmd heading: 142.667584 deg,
      new cmd heading: 142.389338 deg.

2025-08-09T17:36:19.276Z,1754760979.276 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 154.10 m.
2025-08-09T17:36:19.279Z,1754760979.279 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 154.100006 m,
      nav range: 152.985184 m,
      bearing: 148.882396 deg,
      approach rate: 0.145897 m/s,
      LOS rate: -0.226570 deg/s,
      cmd heading: 142.389336 deg,
      new cmd heading: 142.065319 deg.

2025-08-09T17:36:19.759Z,1754760979.759 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-09T17:36:19.761Z,1754760979.761 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 154.10 m.
2025-08-09T17:36:19.765Z,1754760979.765 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 154.100006 m,
      nav range: 153.055099 m,
      bearing: 148.769145 deg,
      approach rate: 0.144072 m/s,
      LOS rate: -0.233265 deg/s,
      cmd heading: 142.065312 deg,
      new cmd heading: 141.725718 deg.

2025-08-09T17:36:19.000Z,1754760980.000 [DAT](INFO): ****** received valid address query ******
2025-08-09T17:36:19.000Z,1754760980.000 [DAT](INFO): ****** received valid ping request ******
2025-08-09T17:36:20.000Z,1754760980.000 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-09T17:36:20.127Z,1754760980.127 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 154.10 m.
2025-08-09T17:36:20.129Z,1754760980.129 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 154.100006 m,
      nav range: 153.102814 m,
      bearing: 148.685539 deg,
      approach rate: 0.130434 m/s,
      LOS rate: -0.228477 deg/s,
      cmd heading: 141.725715 deg,
      new cmd heading: 141.474979 deg.

2025-08-09T17:36:20.251Z,1754760980.251 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.716852
2025-08-09T17:36:20.503Z,1754760980.503 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.968885
2025-08-09T17:36:20.529Z,1754760980.529 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 154.10 m.
2025-08-09T17:36:20.532Z,1754760980.532 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 154.100006 m,
      nav range: 153.150833 m,
      bearing: 148.593667 deg,
      approach rate: 0.119466 m/s,
      LOS rate: -0.228493 deg/s,
      cmd heading: 141.474979 deg,
      new cmd heading: 141.199452 deg.

2025-08-09T17:36:20.759Z,1754760980.759 [DAT](INFO): DAT read: Rx Time:17:36:19.6450

2025-08-09T17:36:20.759Z,1754760980.759 [DAT](INFO): Rx dataTimestamp_ set to:1754760980.759084
2025-08-09T17:36:20.760Z,1754760980.760 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.225484
2025-08-09T17:36:20.967Z,1754760980.967 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 154.10 m.
2025-08-09T17:36:20.971Z,1754760980.971 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 154.100006 m,
      nav range: 153.188644 m,
      bearing: 148.490814 deg,
      approach rate: 0.086228 m/s,
      LOS rate: -0.234496 deg/s,
      cmd heading: 141.199449 deg,
      new cmd heading: 140.890969 deg.

2025-08-09T17:36:21.010Z,1754760981.010 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.475927
2025-08-09T17:36:21.269Z,1754760981.269 [DAT](INFO): DAT read: 17:36:19.6450 LVL= 32752, 26833, 22850, 32755, AGC= 69, IDX= 431,-0.24, 0.419, 1.726, 2.455, 1.630, PHS=-1.109, 0.141, 0.781, RAW= 250.5,   2.3, CAL= 246.5,   1.2, ROT= 263.5,  -1.2

2025-08-09T17:36:21.270Z,1754760981.270 [DAT](INFO): got valid direction response:
 17:36:19.6450 LVL= 32752, 26833, 22850, 32755, AGC= 69, IDX= 431,-0.24, 0.419, 1.726, 2.455, 1.630, PHS=-1.109, 0.141, 0.781, RAW= 250.5,   2.3, CAL= 246.5,   1.2, ROT= 263.5,  -1.2

2025-08-09T17:36:21.271Z,1754760981.271 [DAT](INFO): DAT read: Bearing 279.0, -77.8 (Local)

2025-08-09T17:36:21.271Z,1754760981.271 [DAT](INFO): Local bearing/azimuth received:
 Bearing 279.0, -77.8 (Local)

2025-08-09T17:36:21.273Z,1754760981.273 [DAT](INFO): DAT read: Range 11 to 50 : 154.8 m  (Round-trip  206.5 ms) speed -0.2 m/s

2025-08-09T17:36:21.273Z,1754760981.273 [DAT](INFO): DAT read: user:613>

2025-08-09T17:36:21.274Z,1754760981.274 [DAT](INFO): DAT read: Tx time:17:36:20.7343

2025-08-09T17:36:21.275Z,1754760981.275 [DAT](INFO): Ping request sent.
2025-08-09T17:36:21.275Z,1754760981.275 [DAT](INFO): transmitted an acoustic signal
2025-08-09T17:36:21.275Z,1754760981.275 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-09T17:36:21.276Z,1754760981.276 [DAT](INFO): direction in FSK: [-0.113178,-0.993354,0.020942]
2025-08-09T17:36:21.276Z,1754760981.276 [DAT](INFO): publishing transmit ping time
2025-08-09T17:36:21.276Z,1754760981.276 [DAT](INFO): publishing direction and range info
2025-08-09T17:36:21.279Z,1754760981.279 [DAT](INFO): publishing transmit ping time
2025-08-09T17:36:21.280Z,1754760981.280 [DAT](INFO): publishing direction and range info
2025-08-09T17:36:21.471Z,1754760981.471 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 154.800003 m,
      deltaT: 3.782558 s,
      deltaX: 0.699997 m,
      approachRate: 0.185059 m/s,
      rangeRepo size: 4

2025-08-09T17:36:21.473Z,1754760981.473 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 154.800003 m,
      bearing: 149.332371 deg,
      lat: 36.906096 deg,
      lon: -122.116008 deg,
      deltaT: 3.782558 s,
      deltaX: 0.699997 m,
      approachRate: 0.185059 m/s,
      posRepo size: 4

2025-08-09T17:36:21.474Z,1754760981.474 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 154.80 m.
2025-08-09T17:36:21.488Z,1754760981.488 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 154.800003 m,
      nav range: 151.913239 m,
      bearing: 149.332371 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.234496 deg/s,
      cmd heading: 140.890970 deg,
      new cmd heading: 140.540303 deg.

2025-08-09T17:36:21.893Z,1754760981.893 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-09T17:36:21.899Z,1754760981.899 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 154.80 m.
2025-08-09T17:36:21.902Z,1754760981.902 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 154.800003 m,
      nav range: 151.930756 m,
      bearing: 149.228587 deg,
      approach rate: 0.040397 m/s,
      LOS rate: -0.239315 deg/s,
      cmd heading: 140.540308 deg,
      new cmd heading: 140.228995 deg.

2025-08-09T17:36:22.019Z,1754760982.019 [DAT](INFO): ****** received valid address query ******
2025-08-09T17:36:22.019Z,1754760982.019 [DAT](INFO): ****** received valid ping request ******
2025-08-09T17:36:22.020Z,1754760982.020 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-09T17:36:22.267Z,1754760982.267 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 154.80 m.
2025-08-09T17:36:22.269Z,1754760982.269 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 154.800003 m,
      nav range: 151.942245 m,
      bearing: 149.136773 deg,
      approach rate: 0.031302 m/s,
      LOS rate: -0.250112 deg/s,
      cmd heading: 140.228988 deg,
      new cmd heading: 139.953567 deg.

2025-08-09T17:36:22.272Z,1754760982.272 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.996968
2025-08-09T17:36:22.524Z,1754760982.524 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.249115
2025-08-09T17:36:22.716Z,1754760982.716 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 154.80 m.
2025-08-09T17:36:22.719Z,1754760982.719 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 154.800003 m,
      nav range: 151.948898 m,
      bearing: 149.030729 deg,
      approach rate: 0.014786 m/s,
      LOS rate: -0.235668 deg/s,
      cmd heading: 139.953568 deg,
      new cmd heading: 139.635456 deg.

2025-08-09T17:36:22.777Z,1754760982.777 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.501532
2025-08-09T17:36:23.027Z,1754760983.027 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.752571
2025-08-09T17:36:23.071Z,1754760983.071 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 154.80 m.
2025-08-09T17:36:23.076Z,1754760983.076 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 154.800003 m,
      nav range: 151.950470 m,
      bearing: 148.949116 deg,
      approach rate: 0.004543 m/s,
      LOS rate: -0.235906 deg/s,
      cmd heading: 139.635458 deg,
      new cmd heading: 139.390623 deg.

2025-08-09T17:36:23.279Z,1754760983.279 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.004768
2025-08-09T17:36:23.477Z,1754760983.477 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 154.80 m.
2025-08-09T17:36:23.480Z,1754760983.480 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 154.800003 m,
      nav range: 151.948166 m,
      bearing: 148.853777 deg,
      approach rate: -0.005550 m/s,
      LOS rate: -0.229669 deg/s,
      cmd heading: 139.390624 deg,
      new cmd heading: 139.104604 deg.

2025-08-09T17:36:23.532Z,1754760983.532 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.257352
2025-08-09T17:36:23.783Z,1754760983.783 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.508627
2025-08-09T17:36:23.924Z,1754760983.924 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-09T17:36:23.926Z,1754760983.926 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 154.80 m.
2025-08-09T17:36:23.929Z,1754760983.929 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 154.800003 m,
      nav range: 151.947128 m,
      bearing: 148.752645 deg,
      approach rate: -0.002313 m/s,
      LOS rate: -0.225490 deg/s,
      cmd heading: 139.104603 deg,
      new cmd heading: 138.801206 deg.

2025-08-09T17:36:24.035Z,1754760984.035 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.760694
2025-08-09T17:36:24.287Z,1754760984.287 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.012389
2025-08-09T17:36:24.320Z,1754760984.320 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 154.80 m.
2025-08-09T17:36:24.323Z,1754760984.323 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 154.800003 m,
      nav range: 151.946609 m,
      bearing: 148.667385 deg,
      approach rate: -0.001317 m/s,
      LOS rate: -0.216514 deg/s,
      cmd heading: 138.801206 deg,
      new cmd heading: 138.545429 deg.

2025-08-09T17:36:24.544Z,1754760984.544 [DAT](INFO): DAT read: Rx Time:17:36:23.3452

2025-08-09T17:36:24.545Z,1754760984.545 [DAT](INFO): Rx dataTimestamp_ set to:1754760984.544449
2025-08-09T17:36:24.546Z,1754760984.546 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.270615
2025-08-09T17:36:24.747Z,1754760984.747 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 154.80 m.
2025-08-09T17:36:24.750Z,1754760984.750 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 154.800003 m,
      nav range: 151.938293 m,
      bearing: 148.568769 deg,
      approach rate: -0.019476 m/s,
      LOS rate: -0.230974 deg/s,
      cmd heading: 138.545429 deg,
      new cmd heading: 138.249567 deg.

2025-08-09T17:36:24.793Z,1754760984.793 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.518457
2025-08-09T17:36:25.049Z,1754760985.049 [DAT](INFO): DAT read: 17:36:23.3452 LVL= 29024, 25393, 19938, 29235, AGC= 66, IDX= 434,-0.21, 2.375,-2.854,-1.795,-2.711, PHS=-1.095,-0.098, 0.872, RAW= 240.5,   3.8, CAL= 238.1,   4.4, ROT= 271.9,  -4.4

2025-08-09T17:36:25.050Z,1754760985.050 [DAT](INFO): got valid direction response:
 17:36:23.3452 LVL= 29024, 25393, 19938, 29235, AGC= 66, IDX= 434,-0.21, 2.375,-2.854,-1.795,-2.711, PHS=-1.095,-0.098, 0.872, RAW= 240.5,   3.8, CAL= 238.1,   4.4, ROT= 271.9,  -4.4

2025-08-09T17:36:25.055Z,1754760985.055 [DAT](INFO): DAT read: Bearing 316.0, -84.0 (Local)

2025-08-09T17:36:25.055Z,1754760985.055 [DAT](INFO): Local bearing/azimuth received:
 Bearing 316.0, -84.0 (Local)

2025-08-09T17:36:25.057Z,1754760985.057 [DAT](INFO): DAT read: Range 11 to 50 : 155.0 m  (Round-trip  206.7 ms) speed -0.1 m/s

2025-08-09T17:36:25.057Z,1754760985.057 [DAT](INFO): DAT read: user:614>

2025-08-09T17:36:25.058Z,1754760985.058 [DAT](INFO): DAT read: Tx time:17:36:24.4343

2025-08-09T17:36:25.059Z,1754760985.059 [DAT](INFO): Ping request sent.
2025-08-09T17:36:25.059Z,1754760985.059 [DAT](INFO): transmitted an acoustic signal
2025-08-09T17:36:25.059Z,1754760985.059 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-09T17:36:25.060Z,1754760985.060 [DAT](INFO): direction in FSK: [0.033057,-0.996505,0.076719]
2025-08-09T17:36:25.060Z,1754760985.060 [DAT](INFO): publishing transmit ping time
2025-08-09T17:36:25.061Z,1754760985.061 [DAT](INFO): publishing direction and range info
2025-08-09T17:36:25.064Z,1754760985.064 [DAT](INFO): publishing transmit ping time
2025-08-09T17:36:25.064Z,1754760985.064 [DAT](INFO): publishing direction and range info
2025-08-09T17:36:25.187Z,1754760985.187 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 155.000000 m,
      deltaT: 3.780008 s,
      deltaX: 0.199997 m,
      approachRate: 0.052909 m/s,
      rangeRepo size: 4

2025-08-09T17:36:25.189Z,1754760985.189 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 155.000000 m,
      bearing: 150.540203 deg,
      lat: 36.906080 deg,
      lon: -122.116067 deg,
      deltaT: 3.780008 s,
      deltaX: 0.199997 m,
      approachRate: 0.052909 m/s,
      posRepo size: 4

2025-08-09T17:36:25.190Z,1754760985.190 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 155.00 m.
2025-08-09T17:36:25.200Z,1754760985.200 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 155.000000 m,
      nav range: 150.747681 m,
      bearing: 150.540203 deg,
      approach rate: 178128117081025372946553634816 m/s,
      LOS rate: -0.230974 deg/s,
      cmd heading: 138.249572 deg,
      new cmd heading: 137.948032 deg.

2025-08-09T17:36:25.535Z,1754760985.535 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 155.00 m.
2025-08-09T17:36:25.538Z,1754760985.538 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 155.000000 m,
      nav range: 150.724701 m,
      bearing: 150.453799 deg,
      approach rate: -0.065080 m/s,
      LOS rate: -0.244736 deg/s,
      cmd heading: 137.948033 deg,
      new cmd heading: 137.688785 deg.

2025-08-09T17:36:25.966Z,1754760985.966 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-09T17:36:25.968Z,1754760985.968 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 155.00 m.
2025-08-09T17:36:25.971Z,1754760985.971 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 155.000000 m,
      nav range: 150.693802 m,
      bearing: 150.353752 deg,
      approach rate: -0.071348 m/s,
      LOS rate: -0.231063 deg/s,
      cmd heading: 137.688786 deg,
      new cmd heading: 137.388587 deg.

2025-08-09T17:36:26.052Z,1754760986.052 [DAT](INFO): ****** received valid address query ******
2025-08-09T17:36:26.052Z,1754760986.052 [DAT](INFO): ****** received valid ping request ******
2025-08-09T17:36:26.052Z,1754760986.052 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-09T17:36:26.303Z,1754760986.303 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.244572
2025-08-09T17:36:26.380Z,1754760986.380 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 155.00 m.
2025-08-09T17:36:26.387Z,1754760986.387 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 155.000000 m,
      nav range: 150.660828 m,
      bearing: 150.260761 deg,
      approach rate: -0.080058 m/s,
      LOS rate: -0.225824 deg/s,
      cmd heading: 137.388586 deg,
      new cmd heading: 137.109553 deg.

2025-08-09T17:36:26.555Z,1754760986.555 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.496307
2025-08-09T17:36:26.784Z,1754760986.784 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 155.00 m.
2025-08-09T17:36:26.787Z,1754760986.787 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 155.000000 m,
      nav range: 150.631973 m,
      bearing: 150.165435 deg,
      approach rate: -0.071347 m/s,
      LOS rate: -0.235753 deg/s,
      cmd heading: 137.109559 deg,
      new cmd heading: 136.823529 deg.

2025-08-09T17:36:26.828Z,1754760986.828 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.769013
2025-08-09T17:36:27.079Z,1754760987.079 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.020477
2025-08-09T17:36:27.167Z,1754760987.167 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 155.00 m.
2025-08-09T17:36:27.170Z,1754760987.170 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 155.000000 m,
      nav range: 150.602859 m,
      bearing: 150.081265 deg,
      approach rate: -0.079585 m/s,
      LOS rate: -0.230129 deg/s,
      cmd heading: 136.823524 deg,
      new cmd heading: 136.570967 deg.

2025-08-09T17:36:27.333Z,1754760987.333 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.273574
2025-08-09T17:36:27.570Z,1754760987.570 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 155.00 m.
2025-08-09T17:36:27.573Z,1754760987.573 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 155.000000 m,
      nav range: 150.569885 m,
      bearing: 149.984715 deg,
      approach rate: -0.078565 m/s,
      LOS rate: -0.230092 deg/s,
      cmd heading: 136.570971 deg,
      new cmd heading: 136.281259 deg.

2025-08-09T17:36:27.584Z,1754760987.584 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.525017
2025-08-09T17:36:27.837Z,1754760987.837 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.777824
2025-08-09T17:36:27.985Z,1754760987.985 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-09T17:36:27.987Z,1754760987.987 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 155.00 m.
2025-08-09T17:36:27.990Z,1754760987.990 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 155.000000 m,
      nav range: 150.532303 m,
      bearing: 149.889356 deg,
      approach rate: -0.090118 m/s,
      LOS rate: -0.228716 deg/s,
      cmd heading: 136.281262 deg,
      new cmd heading: 135.995116 deg.

2025-08-09T17:36:28.088Z,1754760988.088 [DAT](INFO): DAT read: Rx Time:17:36:27.0454

2025-08-09T17:36:28.088Z,1754760988.088 [DAT](INFO): Rx dataTimestamp_ set to:1754760988.088043
2025-08-09T17:36:28.089Z,1754760988.089 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.030325
2025-08-09T17:36:28.341Z,1754760988.341 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.281749
2025-08-09T17:36:28.377Z,1754760988.377 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 155.00 m.
2025-08-09T17:36:28.380Z,1754760988.380 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 155.000000 m,
      nav range: 150.493149 m,
      bearing: 149.800134 deg,
      approach rate: -0.100453 m/s,
      LOS rate: -0.228965 deg/s,
      cmd heading: 135.995118 deg,
      new cmd heading: 135.727385 deg.

2025-08-09T17:36:28.608Z,1754760988.608 [DAT](INFO): DAT read: 17:36:27.0454 LVL= 31312, 32753, 25586, 26195, AGC= 67, IDX= 436,-0.44, 2.798,-2.615,-1.389,-2.412, PHS=-0.971,-0.158, 0.979, RAW= 234.5,   1.8, CAL= 231.8,   2.5, ROT= 278.2,  -2.5

2025-08-09T17:36:28.610Z,1754760988.610 [DAT](INFO): got valid direction response:
 17:36:27.0454 LVL= 31312, 32753, 25586, 26195, AGC= 67, IDX= 436,-0.44, 2.798,-2.615,-1.389,-2.412, PHS=-0.971,-0.158, 0.979, RAW= 234.5,   1.8, CAL= 231.8,   2.5, ROT= 278.2,  -2.5

2025-08-09T17:36:28.611Z,1754760988.611 [DAT](INFO): DAT read: Bearing 344.1, -79.5 (Local)

2025-08-09T17:36:28.611Z,1754760988.611 [DAT](INFO): Local bearing/azimuth received:
 Bearing 344.1, -79.5 (Local)

2025-08-09T17:36:28.612Z,1754760988.612 [DAT](INFO): DAT read: Range 11 to 50 : 155.1 m  (Round-trip  206.9 ms) speed -0.1 m/s

2025-08-09T17:36:28.613Z,1754760988.613 [DAT](INFO): DAT read: user:615>

2025-08-09T17:36:28.614Z,1754760988.614 [DAT](INFO): DAT read: Tx time:17:36:28.1343

2025-08-09T17:36:28.614Z,1754760988.614 [DAT](INFO): Ping request sent.
2025-08-09T17:36:28.621Z,1754760988.621 [DAT](INFO): transmitted an acoustic signal
2025-08-09T17:36:28.626Z,1754760988.626 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-09T17:36:28.629Z,1754760988.629 [DAT](INFO): direction in FSK: [0.142494,-0.988834,0.043619]
2025-08-09T17:36:28.629Z,1754760988.629 [DAT](INFO): publishing transmit ping time
2025-08-09T17:36:28.629Z,1754760988.629 [DAT](INFO): publishing direction and range info
2025-08-09T17:36:28.637Z,1754760988.637 [DAT](INFO): publishing transmit ping time
2025-08-09T17:36:28.638Z,1754760988.638 [DAT](INFO): publishing direction and range info
2025-08-09T17:36:28.886Z,1754760988.886 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 155.100006 m,
      deltaT: 3.549369 s,
      deltaX: 0.100006 m,
      approachRate: 0.028176 m/s,
      rangeRepo size: 4

2025-08-09T17:36:28.896Z,1754760988.896 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 155.100006 m,
      bearing: 149.692822 deg,
      lat: 36.906080 deg,
      lon: -122.116067 deg,
      deltaT: 3.549369 s,
      deltaX: 0.100006 m,
      approachRate: 0.028176 m/s,
      posRepo size: 4

2025-08-09T17:36:28.897Z,1754760988.897 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 155.10 m.
2025-08-09T17:36:28.904Z,1754760988.904 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 155.100006 m,
      nav range: 150.445786 m,
      bearing: 149.692822 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.228965 deg/s,
      cmd heading: 135.727388 deg,
      new cmd heading: 135.378165 deg.

2025-08-09T17:36:29.215Z,1754760989.215 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 155.10 m.
2025-08-09T17:36:29.217Z,1754760989.217 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 155.100006 m,
      nav range: 150.407471 m,
      bearing: 149.614003 deg,
      approach rate: -0.116207 m/s,
      LOS rate: -0.239116 deg/s,
      cmd heading: 135.378161 deg,
      new cmd heading: 135.141643 deg.

2025-08-09T17:36:29.603Z,1754760989.603 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 155.10 m.
2025-08-09T17:36:29.606Z,1754760989.606 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 155.100006 m,
      nav range: 150.360352 m,
      bearing: 149.525763 deg,
      approach rate: -0.121286 m/s,
      LOS rate: -0.227204 deg/s,
      cmd heading: 135.141645 deg,
      new cmd heading: 134.876844 deg.

2025-08-09T17:36:30.029Z,1754760990.029 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-09T17:36:30.031Z,1754760990.031 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 155.10 m.
2025-08-09T17:36:30.034Z,1754760990.034 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 155.100006 m,
      nav range: 150.311172 m,
      bearing: 149.429489 deg,
      approach rate: -0.114981 m/s,
      LOS rate: -0.225164 deg/s,
      cmd heading: 134.876838 deg,
      new cmd heading: 134.587923 deg.

2025-08-09T17:36:30.104Z,1754760990.104 [DAT](INFO): ****** received valid address query ******
2025-08-09T17:36:30.104Z,1754760990.104 [DAT](INFO): ****** received valid ping request ******
2025-08-09T17:36:30.105Z,1754760990.105 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-09T17:36:30.356Z,1754760990.356 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.742002
2025-08-09T17:36:30.417Z,1754760990.417 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 155.10 m.
2025-08-09T17:36:30.420Z,1754760990.420 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 155.100006 m,
      nav range: 150.262772 m,
      bearing: 149.342890 deg,
      approach rate: -0.125398 m/s,
      LOS rate: -0.224434 deg/s,
      cmd heading: 134.587921 deg,
      new cmd heading: 134.328044 deg.

2025-08-09T17:36:30.607Z,1754760990.607 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.993219
2025-08-09T17:36:30.860Z,1754760990.860 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.245824
2025-08-09T17:36:30.889Z,1754760990.889 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 155.10 m.
2025-08-09T17:36:30.896Z,1754760990.896 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 155.100006 m,
      nav range: 150.201370 m,
      bearing: 149.238703 deg,
      approach rate: -0.129978 m/s,
      LOS rate: -0.220639 deg/s,
      cmd heading: 134.328046 deg,
      new cmd heading: 134.015360 deg.

2025-08-09T17:36:31.111Z,1754760991.111 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.497121
2025-08-09T17:36:31.259Z,1754760991.259 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 155.10 m.
2025-08-09T17:36:31.262Z,1754760991.262 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 155.100006 m,
      nav range: 150.148163 m,
      bearing: 149.155215 deg,
      approach rate: -0.143887 m/s,
      LOS rate: -0.225853 deg/s,
      cmd heading: 134.015360 deg,
      new cmd heading: 133.764810 deg.

2025-08-09T17:36:31.363Z,1754760991.363 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.749307
2025-08-09T17:36:31.615Z,1754760991.615 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.001168
2025-08-09T17:36:31.665Z,1754760991.665 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 155.10 m.
2025-08-09T17:36:31.667Z,1754760991.667 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 155.100006 m,
      nav range: 150.086731 m,
      bearing: 149.065484 deg,
      approach rate: -0.151544 m/s,
      LOS rate: -0.221445 deg/s,
      cmd heading: 133.764815 deg,
      new cmd heading: 133.495513 deg.

2025-08-09T17:36:31.868Z,1754760991.868 [DAT](INFO): DAT read: Rx Time:17:36:30.7454

2025-08-09T17:36:31.869Z,1754760991.869 [DAT](INFO): Rx dataTimestamp_ set to:1754760991.868408
2025-08-09T17:36:31.870Z,1754760991.870 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.255247
2025-08-09T17:36:32.080Z,1754760992.080 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-09T17:36:32.098Z,1754760992.098 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 155.10 m.
2025-08-09T17:36:32.101Z,1754760992.101 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 155.100006 m,
      nav range: 150.017975 m,
      bearing: 148.975706 deg,
      approach rate: -0.164634 m/s,
      LOS rate: -0.215068 deg/s,
      cmd heading: 133.495515 deg,
      new cmd heading: 133.226059 deg.

2025-08-09T17:36:32.119Z,1754760992.119 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.505289
2025-08-09T17:36:32.382Z,1754760992.382 [DAT](INFO): DAT read: 17:36:30.7454 LVL= 27616, 29361, 18610, 28755, AGC= 66, IDX= 419,-0.07,-1.972,-1.378, 0.260,-1.022, PHS=-0.849,-0.311, 1.237, RAW= 224.4,  -0.8, CAL= 221.9,  -1.2, ROT= 288.1,   1.2

2025-08-09T17:36:32.383Z,1754760992.383 [DAT](INFO): got valid direction response:
 17:36:30.7454 LVL= 27616, 29361, 18610, 28755, AGC= 66, IDX= 419,-0.07,-1.972,-1.378, 0.260,-1.022, PHS=-0.849,-0.311, 1.237, RAW= 224.4,  -0.8, CAL= 221.9,  -1.2, ROT= 288.1,   1.2

2025-08-09T17:36:32.385Z,1754760992.385 [DAT](INFO): DAT read: Bearing 347.7, -69.0 (Local)

2025-08-09T17:36:32.385Z,1754760992.385 [DAT](INFO): Local bearing/azimuth received:
 Bearing 347.7, -69.0 (Local)

2025-08-09T17:36:32.391Z,1754760992.391 [DAT](INFO): DAT read: Range 11 to 50 : 155.1 m  (Round-trip  206.9 ms) speed  0.0 m/s

2025-08-09T17:36:32.392Z,1754760992.392 [DAT](INFO): DAT read: user:616>

2025-08-09T17:36:32.393Z,1754760992.393 [DAT](INFO): DAT read: Tx time:17:36:31.8343

2025-08-09T17:36:32.393Z,1754760992.393 [DAT](INFO): Ping request sent.
2025-08-09T17:36:32.393Z,1754760992.393 [DAT](INFO): transmitted an acoustic signal
2025-08-09T17:36:32.393Z,1754760992.393 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-09T17:36:32.415Z,1754760992.415 [DAT](INFO): direction in FSK: [0.310608,-0.950307,-0.020942]
2025-08-09T17:36:32.415Z,1754760992.415 [DAT](INFO): publishing transmit ping time
2025-08-09T17:36:32.416Z,1754760992.416 [DAT](INFO): publishing direction and range info
2025-08-09T17:36:32.419Z,1754760992.419 [DAT](INFO): publishing transmit ping time
2025-08-09T17:36:32.420Z,1754760992.420 [DAT](INFO): publishing direction and range info
2025-08-09T17:36:32.507Z,1754760992.507 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 155.100006 m,
      deltaT: 3.781268 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-08-09T17:36:32.509Z,1754760992.509 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 155.100006 m,
      bearing: 149.082928 deg,
      lat: 36.906072 deg,
      lon: -122.116067 deg,
      deltaT: 3.781268 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      posRepo size: 4

2025-08-09T17:36:32.510Z,1754760992.510 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 155.10 m.
2025-08-09T17:36:32.517Z,1754760992.517 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 155.100006 m,
      nav range: 150.787811 m,
      bearing: 149.082928 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.215068 deg/s,
      cmd heading: 133.226064 deg,
      new cmd heading: 132.957660 deg.

2025-08-09T17:36:32.928Z,1754760992.928 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 155.10 m.
2025-08-09T17:36:32.931Z,1754760992.931 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 155.100006 m,
      nav range: 150.707458 m,
      bearing: 148.987430 deg,
      approach rate: -0.187064 m/s,
      LOS rate: -0.222441 deg/s,
      cmd heading: 132.957664 deg,
      new cmd heading: 132.671021 deg.

2025-08-09T17:36:33.274Z,1754760993.274 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 155.10 m.
2025-08-09T17:36:33.277Z,1754760993.277 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 155.100006 m,
      nav range: 150.638412 m,
      bearing: 148.914656 deg,
      approach rate: -0.199300 m/s,
      LOS rate: -0.210159 deg/s,
      cmd heading: 132.671015 deg,
      new cmd heading: 132.452592 deg.

2025-08-09T17:36:33.699Z,1754760993.699 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 155.10 m.
2025-08-09T17:36:33.702Z,1754760993.702 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 155.100006 m,
      nav range: 150.554047 m,
      bearing: 148.825303 deg,
      approach rate: -0.198506 m/s,
      LOS rate: -0.210358 deg/s,
      cmd heading: 132.452586 deg,
      new cmd heading: 132.184378 deg.

2025-08-09T17:36:34.114Z,1754760994.114 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-09T17:36:34.116Z,1754760994.116 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 155.10 m.
2025-08-09T17:36:34.119Z,1754760994.119 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 155.100006 m,
      nav range: 150.462433 m,
      bearing: 148.740172 deg,
      approach rate: -0.219930 m/s,
      LOS rate: -0.204490 deg/s,
      cmd heading: 132.184378 deg,
      new cmd heading: 131.928833 deg.

2025-08-09T17:36:34.135Z,1754760994.135 [DAT](INFO): ****** received valid address query ******
2025-08-09T17:36:34.135Z,1754760994.135 [DAT](INFO): ****** received valid ping request ******
2025-08-09T17:36:34.135Z,1754760994.135 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-09T17:36:34.391Z,1754760994.391 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.997884
2025-08-09T17:36:34.493Z,1754760994.493 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 155.10 m.
2025-08-09T17:36:34.496Z,1754760994.496 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 155.100006 m,
      nav range: 150.375763 m,
      bearing: 148.663337 deg,
      approach rate: -0.229640 m/s,
      LOS rate: -0.203698 deg/s,
      cmd heading: 131.928833 deg,
      new cmd heading: 131.698198 deg.

2025-08-09T17:36:34.639Z,1754760994.639 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.246194
2025-08-09T17:36:34.891Z,1754760994.891 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.498329
2025-08-09T17:36:34.944Z,1754760994.944 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 155.10 m.
2025-08-09T17:36:34.947Z,1754760994.947 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 155.100006 m,
      nav range: 150.266479 m,
      bearing: 148.571709 deg,
      approach rate: -0.242409 m/s,
      LOS rate: -0.203395 deg/s,
      cmd heading: 131.698191 deg,
      new cmd heading: 131.423109 deg.

2025-08-09T17:36:35.143Z,1754760995.143 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.750128
2025-08-09T17:36:35.307Z,1754760995.307 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 155.10 m.
2025-08-09T17:36:35.310Z,1754760995.310 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 155.100006 m,
      nav range: 150.171768 m,
      bearing: 148.499234 deg,
      approach rate: -0.260762 m/s,
      LOS rate: -0.199667 deg/s,
      cmd heading: 131.423112 deg,
      new cmd heading: 131.205550 deg.

2025-08-09T17:36:35.397Z,1754760995.397 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.003692
2025-08-09T17:36:35.647Z,1754760995.647 [DAT](INFO): DAT read: Rx Time:17:36:34.4445

2025-08-09T17:36:35.648Z,1754760995.648 [DAT](INFO): Rx dataTimestamp_ set to:1754760995.647447
2025-08-09T17:36:35.648Z,1754760995.648 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.255177
2025-08-09T17:36:35.720Z,1754760995.720 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 155.10 m.
2025-08-09T17:36:35.723Z,1754760995.723 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 155.100006 m,
      nav range: 150.060394 m,
      bearing: 148.417145 deg,
      approach rate: -0.269543 m/s,
      LOS rate: -0.198816 deg/s,
      cmd heading: 131.205543 deg,
      new cmd heading: 130.959095 deg.

2025-08-09T17:36:35.899Z,1754760995.899 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.506107
2025-08-09T17:36:36.141Z,1754760996.141 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-09T17:36:36.144Z,1754760996.144 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 155.10 m.
2025-08-09T17:36:36.146Z,1754760996.146 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 155.100006 m,
      nav range: 149.942322 m,
      bearing: 148.335011 deg,
      approach rate: -0.279100 m/s,
      LOS rate: -0.194300 deg/s,
      cmd heading: 130.959097 deg,
      new cmd heading: 130.712503 deg.

2025-08-09T17:36:36.161Z,1754760996.161 [DAT](INFO): DAT read: 17:36:34.4445 LVL= 31472, 30321, 17698, 32755, AGC= 64, IDX= 426, 0.12, 3.085,-2.908,-1.175,-2.448, PHS=-0.649,-0.415, 1.228, RAW= 216.5,  -1.9, CAL= 215.1,  -3.5, ROT= 294.9,   3.5

2025-08-09T17:36:36.162Z,1754760996.162 [DAT](INFO): got valid direction response:
 17:36:34.4445 LVL= 31472, 30321, 17698, 32755, AGC= 64, IDX= 426, 0.12, 3.085,-2.908,-1.175,-2.448, PHS=-0.649,-0.415, 1.228, RAW= 216.5,  -1.9, CAL= 215.1,  -3.5, ROT= 294.9,   3.5

2025-08-09T17:36:36.163Z,1754760996.163 [DAT](INFO): DAT read: Bearing 342.1, -61.9 (Local)

2025-08-09T17:36:36.163Z,1754760996.163 [DAT](INFO): Local bearing/azimuth received:
 Bearing 342.1, -61.9 (Local)

2025-08-09T17:36:36.165Z,1754760996.165 [DAT](INFO): DAT read: Range 11 to 50 : 154.5 m  (Round-trip  206.0 ms) speed  0.0 m/s

2025-08-09T17:36:36.166Z,1754760996.166 [DAT](INFO): DAT read: user:617>

2025-08-09T17:36:36.187Z,1754760996.187 [DAT](INFO): DAT read: Tx time:17:36:35.5343

2025-08-09T17:36:36.187Z,1754760996.187 [DAT](INFO): Ping request sent.
2025-08-09T17:36:36.187Z,1754760996.187 [DAT](INFO): transmitted an acoustic signal
2025-08-09T17:36:36.187Z,1754760996.187 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-09T17:36:36.188Z,1754760996.188 [DAT](INFO): direction in FSK: [0.420251,-0.905352,-0.061049]
2025-08-09T17:36:36.189Z,1754760996.189 [DAT](INFO): publishing transmit ping time
2025-08-09T17:36:36.189Z,1754760996.189 [DAT](INFO): publishing direction and range info
2025-08-09T17:36:36.193Z,1754760996.193 [DAT](INFO): publishing transmit ping time
2025-08-09T17:36:36.193Z,1754760996.193 [DAT](INFO): publishing direction and range info
2025-08-09T17:36:36.527Z,1754760996.527 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 154.500000 m,
      deltaT: 3.779758 s,
      deltaX: -0.600006 m,
      approachRate: -0.158742 m/s,
      rangeRepo size: 4

2025-08-09T17:36:36.529Z,1754760996.529 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 154.500000 m,
      bearing: 146.706188 deg,
      lat: 36.906080 deg,
      lon: -122.116020 deg,
      deltaT: 3.779758 s,
      deltaX: -0.600006 m,
      approachRate: -0.158742 m/s,
      posRepo size: 4

2025-08-09T17:36:36.530Z,1754760996.530 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 154.50 m.
2025-08-09T17:36:36.533Z,1754760996.533 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 154.500000 m,
      nav range: 151.278336 m,
      bearing: 146.706188 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.194300 deg/s,
      cmd heading: 130.712499 deg,
      new cmd heading: 130.489344 deg.

2025-08-09T17:36:36.961Z,1754760996.961 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 154.50 m.
2025-08-09T17:36:36.964Z,1754760996.964 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 154.500000 m,
      nav range: 151.161926 m,
      bearing: 146.616603 deg,
      approach rate: -0.268135 m/s,
      LOS rate: -0.206508 deg/s,
      cmd heading: 130.489343 deg,
      new cmd heading: 130.220383 deg.

2025-08-09T17:36:37.389Z,1754760997.389 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 154.50 m.
2025-08-09T17:36:37.396Z,1754760997.396 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 154.500000 m,
      nav range: 151.053055 m,
      bearing: 146.536250 deg,
      approach rate: -0.254151 m/s,
      LOS rate: -0.187713 deg/s,
      cmd heading: 130.220384 deg,
      new cmd heading: 129.979152 deg.

2025-08-09T17:36:37.741Z,1754760997.741 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 154.50 m.
2025-08-09T17:36:37.743Z,1754760997.743 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 154.500000 m,
      nav range: 150.940155 m,
      bearing: 146.456256 deg,
      approach rate: -0.320945 m/s,
      LOS rate: -0.227571 deg/s,
      cmd heading: 129.979156 deg,
      new cmd heading: 129.738997 deg.

2025-08-09T17:36:38.181Z,1754760998.181 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-09T17:36:38.184Z,1754760998.184 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 154.50 m.
2025-08-09T17:36:38.206Z,1754760998.206 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 154.500000 m,
      nav range: 150.817398 m,
      bearing: 146.364940 deg,
      approach rate: -0.277134 m/s,
      LOS rate: -0.206322 deg/s,
      cmd heading: 129.738992 deg,
      new cmd heading: 129.464823 deg.

2025-08-09T17:36:38.419Z,1754760998.419 [DAT](INFO): ****** received valid address query ******
2025-08-09T17:36:38.419Z,1754760998.419 [DAT](INFO): ****** received valid ping request ******
2025-08-09T17:36:38.419Z,1754760998.419 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-09T17:36:38.549Z,1754760998.549 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 154.50 m.
2025-08-09T17:36:38.553Z,1754760998.553 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 154.500000 m,
      nav range: 150.709137 m,
      bearing: 146.290841 deg,
      approach rate: -0.296380 m/s,
      LOS rate: -0.203002 deg/s,
      cmd heading: 129.464829 deg,
      new cmd heading: 129.242373 deg.

2025-08-09T17:36:38.671Z,1754760998.671 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.484100
2025-08-09T17:36:38.923Z,1754760998.923 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.736171
2025-08-09T17:36:39.010Z,1754760999.010 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 154.50 m.
2025-08-09T17:36:39.013Z,1754760999.013 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 154.500000 m,
      nav range: 150.562897 m,
      bearing: 146.200719 deg,
      approach rate: -0.328306 m/s,
      LOS rate: -0.202517 deg/s,
      cmd heading: 129.242369 deg,
      new cmd heading: 128.971745 deg.

2025-08-09T17:36:39.175Z,1754760999.175 [DAT](INFO): DAT read: Rx Time:17:36:38.1434

2025-08-09T17:36:39.176Z,1754760999.176 [DAT](INFO): Rx dataTimestamp_ set to:1754760999.175596
2025-08-09T17:36:39.176Z,1754760999.176 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.989354
2025-08-09T17:36:39.385Z,1754760999.385 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 154.50 m.
2025-08-09T17:36:39.392Z,1754760999.392 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 154.500000 m,
      nav range: 150.439453 m,
      bearing: 146.127457 deg,
      approach rate: -0.315618 m/s,
      LOS rate: -0.187469 deg/s,
      cmd heading: 128.971744 deg,
      new cmd heading: 128.751778 deg.

2025-08-09T17:36:39.428Z,1754760999.428 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.240445
2025-08-09T17:36:39.705Z,1754760999.704 [DAT](INFO): DAT read: 17:36:38.1434 LVL= 27824, 30945, 22482, 32099, AGC= 66, IDX= 432,-0.06,-2.156,-2.274,-0.451,-1.558, PHS=-0.496,-0.671, 1.063, RAW= 204.7,   1.3, CAL= 204.4,  -0.8, ROT= 305.6,   0.8

2025-08-09T17:36:39.706Z,1754760999.706 [DAT](INFO): got valid direction response:
 17:36:38.1434 LVL= 27824, 30945, 22482, 32099, AGC= 66, IDX= 432,-0.06,-2.156,-2.274,-0.451,-1.558, PHS=-0.496,-0.671, 1.063, RAW= 204.7,   1.3, CAL= 204.4,  -0.8, ROT= 305.6,   0.8

2025-08-09T17:36:39.707Z,1754760999.707 [DAT](INFO): DAT read: Bearing 345.1, -53.0 (Local)

2025-08-09T17:36:39.707Z,1754760999.707 [DAT](INFO): Local bearing/azimuth received:
 Bearing 345.1, -53.0 (Local)

2025-08-09T17:36:39.709Z,1754760999.709 [DAT](INFO): DAT read: Range 11 to 50 : 153.6 m  (Round-trip  204.9 ms) speed  0.1 m/s

2025-08-09T17:36:39.709Z,1754760999.709 [DAT](INFO): DAT read: user:618>

2025-08-09T17:36:39.710Z,1754760999.710 [DAT](INFO): DAT read: Tx time:17:36:39.2343

2025-08-09T17:36:39.710Z,1754760999.710 [DAT](INFO): Ping request sent.
2025-08-09T17:36:39.710Z,1754760999.710 [DAT](INFO): transmitted an acoustic signal
2025-08-09T17:36:39.711Z,1754760999.711 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-09T17:36:39.712Z,1754760999.712 [DAT](INFO): direction in FSK: [0.582066,-0.813021,-0.013962]
2025-08-09T17:36:39.712Z,1754760999.712 [DAT](INFO): publishing transmit ping time
2025-08-09T17:36:39.712Z,1754760999.712 [DAT](INFO): publishing direction and range info
2025-08-09T17:36:39.715Z,1754760999.715 [DAT](INFO): publishing transmit ping time
2025-08-09T17:36:39.716Z,1754760999.716 [DAT](INFO): publishing direction and range info
2025-08-09T17:36:39.909Z,1754760999.909 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 153.600006 m,
      deltaT: 3.528490 s,
      deltaX: -0.899994 m,
      approachRate: -0.255065 m/s,
      rangeRepo size: 4

2025-08-09T17:36:39.947Z,1754760999.947 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 153.600006 m,
      bearing: 145.832734 deg,
      lat: 36.906080 deg,
      lon: -122.116012 deg,
      deltaT: 3.528490 s,
      deltaX: -0.899994 m,
      approachRate: -0.255065 m/s,
      posRepo size: 4

2025-08-09T17:36:39.947Z,1754760999.947 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 153.60 m.
2025-08-09T17:36:39.950Z,1754760999.950 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 153.600006 m,
      nav range: 150.641052 m,
      bearing: 145.832734 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.187469 deg/s,
      cmd heading: 128.751784 deg,
      new cmd heading: 128.461981 deg.

2025-08-09T17:36:40.410Z,1754761000.410 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-09T17:36:40.412Z,1754761000.412 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 153.60 m.
2025-08-09T17:36:40.415Z,1754761000.415 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 153.600006 m,
      nav range: 150.427277 m,
      bearing: 145.714541 deg,
      approach rate: -0.418151 m/s,
      LOS rate: -0.231517 deg/s,
      cmd heading: 128.461979 deg,
      new cmd heading: 128.106901 deg.

2025-08-09T17:36:40.435Z,1754761000.435 [DAT](INFO): ****** received valid address query ******
2025-08-09T17:36:40.435Z,1754761000.435 [DAT](INFO): ****** received valid ping request ******
2025-08-09T17:36:40.435Z,1754761000.435 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-09T17:36:40.687Z,1754761000.687 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.976776
2025-08-09T17:36:40.756Z,1754761000.756 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 153.60 m.
2025-08-09T17:36:40.759Z,1754761000.759 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 153.600006 m,
      nav range: 150.296188 m,
      bearing: 145.647386 deg,
      approach rate: -0.380731 m/s,
      LOS rate: -0.195214 deg/s,
      cmd heading: 128.106905 deg,
      new cmd heading: 127.905265 deg.

2025-08-09T17:36:40.940Z,1754761000.940 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.229701
2025-08-09T17:36:41.191Z,1754761001.191 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.480817
2025-08-09T17:36:41.247Z,1754761001.247 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 153.60 m.
2025-08-09T17:36:41.250Z,1754761001.250 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 153.600006 m,
      nav range: 150.108093 m,
      bearing: 145.554289 deg,
      approach rate: -0.383364 m/s,
      LOS rate: -0.189984 deg/s,
      cmd heading: 127.905264 deg,
      new cmd heading: 127.625624 deg.

2025-08-09T17:36:41.443Z,1754761001.443 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.732834
2025-08-09T17:36:41.672Z,1754761001.672 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 153.60 m.
2025-08-09T17:36:41.675Z,1754761001.675 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 153.600006 m,
      nav range: 149.940506 m,
      bearing: 145.474240 deg,
      approach rate: -0.393828 m/s,
      LOS rate: -0.188323 deg/s,
      cmd heading: 127.625623 deg,
      new cmd heading: 127.385211 deg.

2025-08-09T17:36:41.695Z,1754761001.695 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.984626
2025-08-09T17:36:41.950Z,1754761001.950 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.238863
2025-08-09T17:36:42.102Z,1754761002.102 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 153.60 m.
2025-08-09T17:36:42.105Z,1754761002.105 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 153.600006 m,
      nav range: 149.768433 m,
      bearing: 145.391750 deg,
      approach rate: -0.400681 m/s,
      LOS rate: -0.192304 deg/s,
      cmd heading: 127.385214 deg,
      new cmd heading: 127.137459 deg.

2025-08-09T17:36:42.199Z,1754761002.199 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.488894
2025-08-09T17:36:42.451Z,1754761002.451 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.740789
2025-08-09T17:36:42.479Z,1754761002.479 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-09T17:36:42.481Z,1754761002.481 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 153.60 m.
2025-08-09T17:36:42.484Z,1754761002.484 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 153.600006 m,
      nav range: 149.613449 m,
      bearing: 145.319941 deg,
      approach rate: -0.409027 m/s,
      LOS rate: -0.189712 deg/s,
      cmd heading: 127.137455 deg,
      new cmd heading: 126.921807 deg.

2025-08-09T17:36:42.704Z,1754761002.704 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.993070
2025-08-09T17:36:42.959Z,1754761002.959 [DAT](INFO): DAT read: Rx Time:17:36:41.8420

2025-08-09T17:36:42.961Z,1754761002.961 [DAT](INFO): Rx dataTimestamp_ set to:1754761002.960162
2025-08-09T17:36:42.964Z,1754761002.964 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.253072
2025-08-09T17:36:43.053Z,1754761003.053 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 153.60 m.
2025-08-09T17:36:43.059Z,1754761003.059 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 153.600006 m,
      nav range: 149.383408 m,
      bearing: 145.220151 deg,
      approach rate: -0.402324 m/s,
      LOS rate: -0.174793 deg/s,
      cmd heading: 126.921813 deg,
      new cmd heading: 126.621985 deg.

2025-08-09T17:36:43.207Z,1754761003.207 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.496700
2025-08-09T17:36:43.439Z,1754761003.439 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 153.60 m.
2025-08-09T17:36:43.442Z,1754761003.442 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 153.600006 m,
      nav range: 149.213593 m,
      bearing: 145.148879 deg,
      approach rate: -0.439176 m/s,
      LOS rate: -0.184534 deg/s,
      cmd heading: 126.621981 deg,
      new cmd heading: 126.407923 deg.

2025-08-09T17:36:43.467Z,1754761003.467 [DAT](INFO): DAT read: 17:36:41.8420 LVL= 32752, 32753, 21746, 32755, AGC= 67, IDX= 433, 0.18, 0.885, 0.315, 2.445, 1.337, PHS=-0.350,-0.977, 1.064, RAW= 192.5,   2.9, CAL= 192.7,   0.2, ROT= 317.3,  -0.2

2025-08-09T17:36:43.468Z,1754761003.468 [DAT](INFO): got valid direction response:
 17:36:41.8420 LVL= 32752, 32753, 21746, 32755, AGC= 67, IDX= 433, 0.18, 0.885, 0.315, 2.445, 1.337, PHS=-0.350,-0.977, 1.064, RAW= 192.5,   2.9, CAL= 192.7,   0.2, ROT= 317.3,  -0.2

2025-08-09T17:36:43.469Z,1754761003.469 [DAT](INFO): DAT read: Bearing 341.1, -41.9 (Local)

2025-08-09T17:36:43.470Z,1754761003.470 [DAT](INFO): Local bearing/azimuth received:
 Bearing 341.1, -41.9 (Local)

2025-08-09T17:36:43.472Z,1754761003.472 [DAT](INFO): DAT read: Range 11 to 50 : 152.7 m  (Round-trip  203.6 ms) speed  0.4 m/s

2025-08-09T17:36:43.473Z,1754761003.473 [DAT](INFO): DAT read: user:619>

2025-08-09T17:36:43.474Z,1754761003.474 [DAT](INFO): DAT read: Tx time:17:36:42.9343

2025-08-09T17:36:43.475Z,1754761003.475 [DAT](INFO): Ping request sent.
2025-08-09T17:36:43.475Z,1754761003.475 [DAT](INFO): transmitted an acoustic signal
2025-08-09T17:36:43.475Z,1754761003.475 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-09T17:36:43.477Z,1754761003.477 [DAT](INFO): direction in FSK: [0.734910,-0.678156,0.003491]
2025-08-09T17:36:43.477Z,1754761003.477 [DAT](INFO): publishing transmit ping time
2025-08-09T17:36:43.477Z,1754761003.477 [DAT](INFO): publishing direction and range info
2025-08-09T17:36:43.482Z,1754761003.482 [DAT](INFO): publishing transmit ping time
2025-08-09T17:36:43.482Z,1754761003.482 [DAT](INFO): publishing direction and range info
2025-08-09T17:36:43.837Z,1754761003.837 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 152.699997 m,
      deltaT: 3.778828 s,
      deltaX: -0.900009 m,
      approachRate: -0.238172 m/s,
      rangeRepo size: 4

2025-08-09T17:36:43.840Z,1754761003.840 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 152.699997 m,
      bearing: 145.247529 deg,
      lat: 36.906074 deg,
      lon: -122.116012 deg,
      deltaT: 3.778828 s,
      deltaX: -0.900009 m,
      approachRate: -0.238172 m/s,
      posRepo size: 4

2025-08-09T17:36:43.841Z,1754761003.841 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 152.70 m.
2025-08-09T17:36:43.848Z,1754761003.848 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 152.699997 m,
      nav range: 149.664978 m,
      bearing: 145.247529 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.184534 deg/s,
      cmd heading: 126.407923 deg,
      new cmd heading: 126.188148 deg.

2025-08-09T17:36:44.233Z,1754761004.233 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 152.70 m.
2025-08-09T17:36:44.235Z,1754761004.235 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 152.699997 m,
      nav range: 149.485062 m,
      bearing: 145.176088 deg,
      approach rate: -0.453975 m/s,
      LOS rate: -0.180480 deg/s,
      cmd heading: 126.188141 deg,
      new cmd heading: 125.973563 deg.

2025-08-09T17:36:44.612Z,1754761004.612 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-09T17:36:44.615Z,1754761004.615 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 152.70 m.
2025-08-09T17:36:44.617Z,1754761004.617 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 152.699997 m,
      nav range: 149.320938 m,
      bearing: 145.113125 deg,
      approach rate: -0.429763 m/s,
      LOS rate: -0.165052 deg/s,
      cmd heading: 125.973564 deg,
      new cmd heading: 125.784467 deg.

2025-08-09T17:36:44.727Z,1754761004.727 [DAT](INFO): ****** received valid address query ******
2025-08-09T17:36:44.728Z,1754761004.728 [DAT](INFO): ****** received valid ping request ******
2025-08-09T17:36:44.728Z,1754761004.728 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-09T17:36:44.982Z,1754761004.982 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.506664
2025-08-09T17:36:45.077Z,1754761005.077 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 152.70 m.
2025-08-09T17:36:45.084Z,1754761005.084 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 152.699997 m,
      nav range: 149.126465 m,
      bearing: 145.040646 deg,
      approach rate: -0.420389 m/s,
      LOS rate: -0.156881 deg/s,
      cmd heading: 125.784463 deg,
      new cmd heading: 125.566743 deg.

2025-08-09T17:36:45.231Z,1754761005.231 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.756478
2025-08-09T17:36:45.429Z,1754761005.429 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 152.70 m.
2025-08-09T17:36:45.432Z,1754761005.432 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 152.699997 m,
      nav range: 148.963654 m,
      bearing: 144.981996 deg,
      approach rate: -0.462802 m/s,
      LOS rate: -0.166899 deg/s,
      cmd heading: 125.566744 deg,
      new cmd heading: 125.390602 deg.

2025-08-09T17:36:45.484Z,1754761005.484 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.009182
2025-08-09T17:36:45.735Z,1754761005.735 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.260374
2025-08-09T17:36:45.861Z,1754761005.861 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 152.70 m.
2025-08-09T17:36:45.869Z,1754761005.869 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 152.699997 m,
      nav range: 148.777374 m,
      bearing: 144.917241 deg,
      approach rate: -0.431180 m/s,
      LOS rate: -0.150075 deg/s,
      cmd heading: 125.390607 deg,
      new cmd heading: 125.196101 deg.

2025-08-09T17:36:45.990Z,1754761005.990 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.514493
2025-08-09T17:36:46.239Z,1754761006.239 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.764529
2025-08-09T17:36:46.268Z,1754761006.268 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 152.70 m.
2025-08-09T17:36:46.271Z,1754761006.271 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 152.699997 m,
      nav range: 148.591370 m,
      bearing: 144.853386 deg,
      approach rate: -0.456876 m/s,
      LOS rate: -0.157041 deg/s,
      cmd heading: 125.196097 deg,
      new cmd heading: 125.004293 deg.

2025-08-09T17:36:46.491Z,1754761006.491 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.016507
2025-08-09T17:36:46.640Z,1754761006.640 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-09T17:36:46.642Z,1754761006.642 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 152.70 m.
2025-08-09T17:36:46.645Z,1754761006.645 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 152.699997 m,
      nav range: 148.425323 m,
      bearing: 144.798282 deg,
      approach rate: -0.443861 m/s,
      LOS rate: -0.147463 deg/s,
      cmd heading: 125.004292 deg,
      new cmd heading: 124.838796 deg.

2025-08-09T17:36:46.744Z,1754761006.744 [DAT](INFO): DAT read: Rx Time:17:36:45.5400

2025-08-09T17:36:46.744Z,1754761006.744 [DAT](INFO): Rx dataTimestamp_ set to:1754761006.744215
2025-08-09T17:36:46.745Z,1754761006.745 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.270563
2025-08-09T17:36:46.998Z,1754761006.998 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.522564
2025-08-09T17:36:47.141Z,1754761007.141 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 152.70 m.
2025-08-09T17:36:47.144Z,1754761007.144 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 152.699997 m,
      nav range: 148.203217 m,
      bearing: 144.727693 deg,
      approach rate: -0.444824 m/s,
      LOS rate: -0.141584 deg/s,
      cmd heading: 124.838796 deg,
      new cmd heading: 124.626712 deg.

2025-08-09T17:36:47.256Z,1754761007.256 [DAT](INFO): DAT read: 17:36:45.5400 LVL= 31216, 32113, 20002, 32755, AGC= 64, IDX= 428, 0.42, 2.330, 1.451,-2.494, 2.532, PHS=-0.100,-1.036, 1.212, RAW= 185.5,  -0.8, CAL= 185.6,  -3.4, ROT= 324.4,   3.4

2025-08-09T17:36:47.257Z,1754761007.257 [DAT](INFO): got valid direction response:
 17:36:45.5400 LVL= 31216, 32113, 20002, 32755, AGC= 64, IDX= 428, 0.42, 2.330, 1.451,-2.494, 2.532, PHS=-0.100,-1.036, 1.212, RAW= 185.5,  -0.8, CAL= 185.6,  -3.4, ROT= 324.4,   3.4

2025-08-09T17:36:47.258Z,1754761007.258 [DAT](INFO): DAT read: Bearing 328.9, -33.7 (Local)

2025-08-09T17:36:47.259Z,1754761007.259 [DAT](INFO): Local bearing/azimuth received:
 Bearing 328.9, -33.7 (Local)

2025-08-09T17:36:47.260Z,1754761007.260 [DAT](INFO): DAT read: Range 11 to 50 : 151.1 m  (Round-trip  201.5 ms) speed  0.3 m/s

2025-08-09T17:36:47.261Z,1754761007.261 [DAT](INFO): DAT read: user:620>

2025-08-09T17:36:47.262Z,1754761007.262 [DAT](INFO): DAT read: Tx time:17:36:46.6343

2025-08-09T17:36:47.262Z,1754761007.262 [DAT](INFO): Ping request sent.
2025-08-09T17:36:47.262Z,1754761007.262 [DAT](INFO): transmitted an acoustic signal
2025-08-09T17:36:47.263Z,1754761007.263 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-09T17:36:47.264Z,1754761007.264 [DAT](INFO): direction in FSK: [0.811670,-0.581098,-0.059306]
2025-08-09T17:36:47.264Z,1754761007.264 [DAT](INFO): publishing transmit ping time
2025-08-09T17:36:47.264Z,1754761007.264 [DAT](INFO): publishing direction and range info
2025-08-09T17:36:47.267Z,1754761007.267 [DAT](INFO): publishing transmit ping time
2025-08-09T17:36:47.267Z,1754761007.267 [DAT](INFO): publishing direction and range info
2025-08-09T17:36:47.504Z,1754761007.504 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 151.100006 m,
      deltaT: 3.786930 s,
      deltaX: -1.599991 m,
      approachRate: -0.422503 m/s,
      rangeRepo size: 4

2025-08-09T17:36:47.506Z,1754761007.506 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 151.100006 m,
      bearing: 144.004458 deg,
      lat: 36.906074 deg,
      lon: -122.115988 deg,
      deltaT: 3.786930 s,
      deltaX: -1.599991 m,
      approachRate: -0.422503 m/s,
      posRepo size: 4

2025-08-09T17:36:47.510Z,1754761007.510 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 151.10 m.
2025-08-09T17:36:47.513Z,1754761007.513 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 151.100006 m,
      nav range: 149.307449 m,
      bearing: 144.004458 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.141584 deg/s,
      cmd heading: 124.626719 deg,
      new cmd heading: 124.473163 deg.

2025-08-09T17:36:47.941Z,1754761007.941 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 151.10 m.
2025-08-09T17:36:47.944Z,1754761007.944 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 151.100006 m,
      nav range: 149.101105 m,
      bearing: 143.942458 deg,
      approach rate: -0.470796 m/s,
      LOS rate: -0.141656 deg/s,
      cmd heading: 124.473163 deg,
      new cmd heading: 124.286904 deg.

2025-08-09T17:36:48.330Z,1754761008.330 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 151.10 m.
2025-08-09T17:36:48.364Z,1754761008.364 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 151.100006 m,
      nav range: 148.929260 m,
      bearing: 143.894236 deg,
      approach rate: -0.443464 m/s,
      LOS rate: -0.124587 deg/s,
      cmd heading: 124.286903 deg,
      new cmd heading: 124.142070 deg.

2025-08-09T17:36:48.704Z,1754761008.704 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-09T17:36:48.707Z,1754761008.707 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 151.10 m.
2025-08-09T17:36:48.709Z,1754761008.709 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 151.100006 m,
      nav range: 148.763748 m,
      bearing: 143.849510 deg,
      approach rate: -0.438329 m/s,
      LOS rate: -0.118580 deg/s,
      cmd heading: 124.142076 deg,
      new cmd heading: 124.007749 deg.

2025-08-09T17:36:48.760Z,1754761008.760 [DAT](INFO): ****** received valid address query ******
2025-08-09T17:36:48.760Z,1754761008.760 [DAT](INFO): ****** received valid ping request ******
2025-08-09T17:36:48.760Z,1754761008.760 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-09T17:36:49.014Z,1754761009.014 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.751432
2025-08-09T17:36:49.129Z,1754761009.129 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 151.10 m.
2025-08-09T17:36:49.132Z,1754761009.132 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 151.100006 m,
      nav range: 148.553833 m,
      bearing: 143.797714 deg,
      approach rate: -0.496301 m/s,
      LOS rate: -0.122633 deg/s,
      cmd heading: 124.007753 deg,
      new cmd heading: 123.852147 deg.

2025-08-09T17:36:49.263Z,1754761009.263 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.001124
2025-08-09T17:36:49.515Z,1754761009.515 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.253318
2025-08-09T17:36:49.524Z,1754761009.524 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 151.10 m.
2025-08-09T17:36:49.535Z,1754761009.535 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 151.100006 m,
      nav range: 148.367401 m,
      bearing: 143.753450 deg,
      approach rate: -0.471695 m/s,
      LOS rate: -0.112135 deg/s,
      cmd heading: 123.852148 deg,
      new cmd heading: 123.719188 deg.

2025-08-09T17:36:49.769Z,1754761009.769 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.507060
2025-08-09T17:36:49.906Z,1754761009.906 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 151.10 m.
2025-08-09T17:36:49.924Z,1754761009.924 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 151.100006 m,
      nav range: 148.176605 m,
      bearing: 143.709845 deg,
      approach rate: -0.500737 m/s,
      LOS rate: -0.114587 deg/s,
      cmd heading: 123.719192 deg,
      new cmd heading: 123.588209 deg.

2025-08-09T17:36:50.020Z,1754761010.020 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.757528
2025-08-09T17:36:50.271Z,1754761010.271 [DAT](INFO): DAT read: Rx Time:17:36:49.2379

2025-08-09T17:36:50.272Z,1754761010.272 [DAT](INFO): Rx dataTimestamp_ set to:1754761010.271452
2025-08-09T17:36:50.272Z,1754761010.272 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.010248
2025-08-09T17:36:50.367Z,1754761010.367 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 151.10 m.
2025-08-09T17:36:50.369Z,1754761010.369 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 151.100006 m,
      nav range: 147.942596 m,
      bearing: 143.662957 deg,
      approach rate: -0.507840 m/s,
      LOS rate: -0.101917 deg/s,
      cmd heading: 123.588202 deg,
      new cmd heading: 123.447316 deg.

2025-08-09T17:36:50.523Z,1754761010.523 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.261248
2025-08-09T17:36:50.716Z,1754761010.716 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-09T17:36:50.718Z,1754761010.718 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 151.10 m.
2025-08-09T17:36:50.721Z,1754761010.721 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 151.100006 m,
      nav range: 147.762375 m,
      bearing: 143.628351 deg,
      approach rate: -0.512075 m/s,
      LOS rate: -0.098446 deg/s,
      cmd heading: 123.447309 deg,
      new cmd heading: 123.343367 deg.

2025-08-09T17:36:50.801Z,1754761010.801 [DAT](INFO): DAT read: 17:36:49.2379 LVL= 29248, 32753, 20466, 30947, AGC= 62, IDX= 423,-0.09, 0.380,-0.555, 1.877, 0.527, PHS=-0.046,-1.038, 1.305, RAW= 185.1,  -2.2, CAL= 185.2,  -4.7, ROT= 324.8,   4.7

2025-08-09T17:36:50.803Z,1754761010.803 [DAT](INFO): got valid direction response:
 17:36:49.2379 LVL= 29248, 32753, 20466, 30947, AGC= 62, IDX= 423,-0.09, 0.380,-0.555, 1.877, 0.527, PHS=-0.046,-1.038, 1.305, RAW= 185.1,  -2.2, CAL= 185.2,  -4.7, ROT= 324.8,   4.7

2025-08-09T17:36:50.804Z,1754761010.804 [DAT](INFO): DAT read: Bearing 317.5, -32.5 (Local)

2025-08-09T17:36:50.805Z,1754761010.805 [DAT](INFO): Local bearing/azimuth received:
 Bearing 317.5, -32.5 (Local)

2025-08-09T17:36:50.823Z,1754761010.823 [DAT](INFO): DAT read: Range 11 to 50 : 149.6 m  (Round-trip  199.5 ms) speed  0.4 m/s

2025-08-09T17:36:50.824Z,1754761010.824 [DAT](INFO): DAT read: user:621>

2025-08-09T17:36:50.825Z,1754761010.825 [DAT](INFO): DAT read: Tx time:17:36:50.3343

2025-08-09T17:36:50.825Z,1754761010.825 [DAT](INFO): Ping request sent.
2025-08-09T17:36:50.826Z,1754761010.826 [DAT](INFO): transmitted an acoustic signal
2025-08-09T17:36:50.835Z,1754761010.835 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-09T17:36:50.836Z,1754761010.836 [DAT](INFO): direction in FSK: [0.814397,-0.574494,-0.081939]
2025-08-09T17:36:50.836Z,1754761010.836 [DAT](INFO): publishing transmit ping time
2025-08-09T17:36:50.837Z,1754761010.837 [DAT](INFO): publishing direction and range info
2025-08-09T17:36:50.845Z,1754761010.845 [DAT](INFO): publishing transmit ping time
2025-08-09T17:36:50.845Z,1754761010.845 [DAT](INFO): publishing direction and range info
2025-08-09T17:36:51.195Z,1754761011.195 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 149.600006 m,
      deltaT: 3.528959 s,
      deltaX: -1.500000 m,
      approachRate: -0.425055 m/s,
      rangeRepo size: 4

2025-08-09T17:36:51.197Z,1754761011.197 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 149.600006 m,
      bearing: 142.713530 deg,
      lat: 36.906074 deg,
      lon: -122.115956 deg,
      deltaT: 3.528959 s,
      deltaX: -1.500000 m,
      approachRate: -0.425055 m/s,
      posRepo size: 4

2025-08-09T17:36:51.197Z,1754761011.197 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 149.60 m.
2025-08-09T17:36:51.204Z,1754761011.204 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 149.600006 m,
      nav range: 149.180023 m,
      bearing: 142.713530 deg,
      approach rate: 671134274027520.000000 m/s,
      LOS rate: -0.098446 deg/s,
      cmd heading: 123.343367 deg,
      new cmd heading: 123.204096 deg.

2025-08-09T17:36:51.540Z,1754761011.540 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 149.60 m.
2025-08-09T17:36:51.543Z,1754761011.543 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 149.600006 m,
      nav range: 148.998154 m,
      bearing: 142.681032 deg,
      approach rate: -0.518821 m/s,
      LOS rate: -0.092821 deg/s,
      cmd heading: 123.204100 deg,
      new cmd heading: 123.106486 deg.

2025-08-09T17:36:51.945Z,1754761011.945 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 149.60 m.
2025-08-09T17:36:51.948Z,1754761011.948 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 149.600006 m,
      nav range: 148.795273 m,
      bearing: 142.646392 deg,
      approach rate: -0.501624 m/s,
      LOS rate: -0.085762 deg/s,
      cmd heading: 123.106483 deg,
      new cmd heading: 123.002423 deg.

2025-08-09T17:36:52.407Z,1754761012.407 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 149.60 m.
2025-08-09T17:36:52.410Z,1754761012.410 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 149.600006 m,
      nav range: 148.556656 m,
      bearing: 142.605959 deg,
      approach rate: -0.516401 m/s,
      LOS rate: -0.087644 deg/s,
      cmd heading: 123.002418 deg,
      new cmd heading: 122.880923 deg.

2025-08-09T17:36:52.803Z,1754761012.803 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-09T17:36:52.811Z,1754761012.811 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 149.60 m.
2025-08-09T17:36:52.819Z,1754761012.819 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 149.600006 m,
      nav range: 148.360764 m,
      bearing: 142.576066 deg,
      approach rate: -0.490594 m/s,
      LOS rate: -0.074963 deg/s,
      cmd heading: 122.880922 deg,
      new cmd heading: 122.791126 deg.

2025-08-09T17:36:53.043Z,1754761013.043 [DAT](INFO): ****** received valid address query ******
2025-08-09T17:36:53.043Z,1754761013.043 [DAT](INFO): ****** received valid ping request ******
2025-08-09T17:36:53.044Z,1754761013.044 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-09T17:36:53.207Z,1754761013.207 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 149.60 m.
2025-08-09T17:36:53.209Z,1754761013.209 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 149.600006 m,
      nav range: 148.133301 m,
      bearing: 142.542693 deg,
      approach rate: -0.568437 m/s,
      LOS rate: -0.083529 deg/s,
      cmd heading: 122.791119 deg,
      new cmd heading: 122.690846 deg.

2025-08-09T17:36:53.297Z,1754761013.297 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.471107
2025-08-09T17:36:53.547Z,1754761013.547 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.721662
2025-08-09T17:36:53.598Z,1754761013.598 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 149.60 m.
2025-08-09T17:36:53.601Z,1754761013.601 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 149.600006 m,
      nav range: 147.922592 m,
      bearing: 142.513458 deg,
      approach rate: -0.537710 m/s,
      LOS rate: -0.074712 deg/s,
      cmd heading: 122.690852 deg,
      new cmd heading: 122.603021 deg.

2025-08-09T17:36:53.801Z,1754761013.801 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.975565
2025-08-09T17:36:54.012Z,1754761014.012 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 149.60 m.
2025-08-09T17:36:54.015Z,1754761014.015 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 149.600006 m,
      nav range: 147.698669 m,
      bearing: 142.484192 deg,
      approach rate: -0.541173 m/s,
      LOS rate: -0.070835 deg/s,
      cmd heading: 122.603016 deg,
      new cmd heading: 122.515086 deg.

2025-08-09T17:36:54.052Z,1754761014.052 [DAT](INFO): DAT read: Rx Time:17:36:52.9357

2025-08-09T17:36:54.053Z,1754761014.053 [DAT](INFO): Rx dataTimestamp_ set to:1754761014.052429
2025-08-09T17:36:54.054Z,1754761014.054 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.227950
2025-08-09T17:36:54.304Z,1754761014.304 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.477965
2025-08-09T17:36:54.419Z,1754761014.419 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 149.60 m.
2025-08-09T17:36:54.422Z,1754761014.422 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 149.600006 m,
      nav range: 147.470093 m,
      bearing: 142.455574 deg,
      approach rate: -0.561455 m/s,
      LOS rate: -0.070403 deg/s,
      cmd heading: 122.515084 deg,
      new cmd heading: 122.429098 deg.

2025-08-09T17:36:54.561Z,1754761014.561 [DAT](INFO): DAT read: 17:36:52.9357 LVL= 26736, 32321, 24338, 30387, AGC= 61, IDX= 416, 0.32,-0.275,-1.476, 0.570,-0.214, PHS= 0.041,-1.217, 0.740, RAW= 170.6,   5.1, CAL= 169.9,   3.9, ROT= 340.1,  -3.9

2025-08-09T17:36:54.562Z,1754761014.562 [DAT](INFO): got valid direction response:
 17:36:52.9357 LVL= 26736, 32321, 24338, 30387, AGC= 61, IDX= 416, 0.32,-0.275,-1.476, 0.570,-0.214, PHS= 0.041,-1.217, 0.740, RAW= 170.6,   5.1, CAL= 169.9,   3.9, ROT= 340.1,  -3.9

2025-08-09T17:36:54.564Z,1754761014.564 [DAT](INFO): DAT read: Bearing 320.9, -19.1 (Local)

2025-08-09T17:36:54.564Z,1754761014.564 [DAT](INFO): Local bearing/azimuth received:
 Bearing 320.9, -19.1 (Local)

2025-08-09T17:36:54.566Z,1754761014.566 [DAT](INFO): DAT read: Range 11 to 50 : 147.9 m  (Round-trip  197.2 ms) speed  0.4 m/s

2025-08-09T17:36:54.566Z,1754761014.566 [DAT](INFO): DAT read: user:622>

2025-08-09T17:36:54.569Z,1754761014.569 [DAT](INFO): DAT read: Tx time:17:36:54.0343

2025-08-09T17:36:54.574Z,1754761014.574 [DAT](INFO): Ping request sent.
2025-08-09T17:36:54.575Z,1754761014.575 [DAT](INFO): transmitted an acoustic signal
2025-08-09T17:36:54.575Z,1754761014.575 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-09T17:36:54.576Z,1754761014.576 [DAT](INFO): direction in FSK: [0.938111,-0.339591,0.068015]
2025-08-09T17:36:54.576Z,1754761014.576 [DAT](INFO): publishing transmit ping time
2025-08-09T17:36:54.576Z,1754761014.576 [DAT](INFO): publishing direction and range info
2025-08-09T17:36:54.584Z,1754761014.584 [DAT](INFO): publishing transmit ping time
2025-08-09T17:36:54.584Z,1754761014.584 [DAT](INFO): publishing direction and range info
2025-08-09T17:36:54.830Z,1754761014.830 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 147.899994 m,
      deltaT: 3.778489 s,
      deltaX: -1.700012 m,
      approachRate: -0.449919 m/s,
      rangeRepo size: 4

2025-08-09T17:36:54.832Z,1754761014.832 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 147.899994 m,
      bearing: 142.428657 deg,
      lat: 36.906074 deg,
      lon: -122.115956 deg,
      deltaT: 3.778489 s,
      deltaX: -1.700012 m,
      approachRate: -0.449919 m/s,
      posRepo size: 4

2025-08-09T17:36:54.833Z,1754761014.833 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 147.90 m.
2025-08-09T17:36:54.836Z,1754761014.836 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 147.899994 m,
      nav range: 147.240677 m,
      bearing: 142.428657 deg,
      approach rate: 671134274027520.000000 m/s,
      LOS rate: -0.070403 deg/s,
      cmd heading: 122.429092 deg,
      new cmd heading: 122.342445 deg.

2025-08-09T17:36:55.226Z,1754761015.226 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-09T17:36:55.228Z,1754761015.228 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 147.90 m.
2025-08-09T17:36:55.232Z,1754761015.232 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 147.899994 m,
      nav range: 147.013855 m,
      bearing: 142.402630 deg,
      approach rate: -0.568383 m/s,
      LOS rate: -0.065320 deg/s,
      cmd heading: 122.342444 deg,
      new cmd heading: 122.264244 deg.

2025-08-09T17:36:55.312Z,1754761015.312 [DAT](INFO): ****** received valid address query ******
2025-08-09T17:36:55.312Z,1754761015.312 [DAT](INFO): ****** received valid ping request ******
2025-08-09T17:36:55.312Z,1754761015.312 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-09T17:36:55.563Z,1754761015.563 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.988642
2025-08-09T17:36:55.626Z,1754761015.626 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 147.90 m.
2025-08-09T17:36:55.629Z,1754761015.629 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 147.899994 m,
      nav range: 146.789780 m,
      bearing: 142.376837 deg,
      approach rate: -0.563880 m/s,
      LOS rate: -0.065007 deg/s,
      cmd heading: 122.264238 deg,
      new cmd heading: 122.186741 deg.

2025-08-09T17:36:55.816Z,1754761015.816 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.241376
2025-08-09T17:36:56.016Z,1754761016.016 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 147.90 m.
2025-08-09T17:36:56.019Z,1754761016.019 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 147.899994 m,
      nav range: 146.568268 m,
      bearing: 142.354793 deg,
      approach rate: -0.568368 m/s,
      LOS rate: -0.056648 deg/s,
      cmd heading: 122.186743 deg,
      new cmd heading: 122.120511 deg.

2025-08-09T17:36:56.068Z,1754761016.068 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.493370
2025-08-09T17:36:56.320Z,1754761016.320 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.744922
2025-08-09T17:36:56.451Z,1754761016.451 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 147.90 m.
2025-08-09T17:36:56.453Z,1754761016.453 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 147.899994 m,
      nav range: 146.315475 m,
      bearing: 142.325476 deg,
      approach rate: -0.581474 m/s,
      LOS rate: -0.067552 deg/s,
      cmd heading: 122.120518 deg,
      new cmd heading: 122.032414 deg.

2025-08-09T17:36:56.575Z,1754761016.575 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.000375
2025-08-09T17:36:56.823Z,1754761016.823 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.248740
2025-08-09T17:36:56.832Z,1754761016.832 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 147.90 m.
2025-08-09T17:36:56.835Z,1754761016.835 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 147.899994 m,
      nav range: 146.092606 m,
      bearing: 142.303141 deg,
      approach rate: -0.583907 m/s,
      LOS rate: -0.058606 deg/s,
      cmd heading: 122.032408 deg,
      new cmd heading: 121.965300 deg.

2025-08-09T17:36:57.075Z,1754761017.075 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.500688
2025-08-09T17:36:57.244Z,1754761017.244 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-09T17:36:57.246Z,1754761017.246 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 147.90 m.
2025-08-09T17:36:57.249Z,1754761017.249 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 147.899994 m,
      nav range: 145.852539 m,
      bearing: 142.277691 deg,
      approach rate: -0.579521 m/s,
      LOS rate: -0.061537 deg/s,
      cmd heading: 121.965295 deg,
      new cmd heading: 121.888819 deg.

2025-08-09T17:36:57.329Z,1754761017.329 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.753898
2025-08-09T17:36:57.579Z,1754761017.579 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.004577
2025-08-09T17:36:57.665Z,1754761017.665 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 147.90 m.
2025-08-09T17:36:57.668Z,1754761017.668 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 147.899994 m,
      nav range: 145.618759 m,
      bearing: 142.252824 deg,
      approach rate: -0.558681 m/s,
      LOS rate: -0.059521 deg/s,
      cmd heading: 121.888824 deg,
      new cmd heading: 121.814105 deg.

2025-08-09T17:36:57.832Z,1754761017.832 [DAT](INFO): DAT read: Rx Time:17:36:56.6330

2025-08-09T17:36:57.832Z,1754761017.832 [DAT](INFO): Rx dataTimestamp_ set to:1754761017.831734
2025-08-09T17:36:57.833Z,1754761017.833 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.257954
2025-08-09T17:36:58.042Z,1754761018.042 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 147.90 m.
2025-08-09T17:36:58.045Z,1754761018.045 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 147.899994 m,
      nav range: 145.390701 m,
      bearing: 142.231820 deg,
      approach rate: -0.604373 m/s,
      LOS rate: -0.055751 deg/s,
      cmd heading: 121.814102 deg,
      new cmd heading: 121.750990 deg.

2025-08-09T17:36:58.084Z,1754761018.084 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.509376
2025-08-09T17:36:58.200Z,1754761018.200 [RudderServo](ERROR): getPosition uart error serial timeout
2025-08-09T17:36:58.201Z,1754761018.201 [RudderServo](FAULT): Rudder uart error - getPosition..serial timeout
2025-08-09T17:36:58.201Z,1754761018.201 [RudderServo] Communications Fault, FailCount= 1
2025-08-09T17:36:58.201Z,1754761018.201 [RudderServo](ERROR): Communications Fault
2025-08-09T17:36:58.275Z,1754761018.275 [CBIT](ERROR): Communications Fault in component: RudderServo
2025-08-09T17:36:58.341Z,1754761018.341 [DAT](INFO): DAT read: 17:36:56.6330 LVL= 32752, 32753, 31586, 32755, AGC= 64, IDX= 420, 0.10, 1.269,-0.230, 1.679, 1.187, PHS= 0.184,-1.372, 0.447, RAW= 157.7,   8.7, CAL= 157.4,   9.2, ROT= 352.6,  -9.2

2025-08-09T17:36:58.342Z,1754761018.342 [DAT](INFO): got valid direction response:
 17:36:56.6330 LVL= 32752, 32753, 31586, 32755, AGC= 64, IDX= 420, 0.10, 1.269,-0.230, 1.679, 1.187, PHS= 0.184,-1.372, 0.447, RAW= 157.7,   8.7, CAL= 157.4,   9.2, ROT= 352.6,  -9.2

2025-08-09T17:36:58.343Z,1754761018.343 [DAT](INFO): DAT read: Bearing 318.3,  -7.3 (Local)

2025-08-09T17:36:58.344Z,1754761018.344 [DAT](INFO): Local bearing/azimuth received:
 Bearing 318.3,  -7.3 (Local)

2025-08-09T17:36:58.345Z,1754761018.345 [DAT](INFO): DAT read: Range 11 to 50 : 145.8 m  (Round-trip  194.5 ms) speed  0.5 m/s

2025-08-09T17:36:58.346Z,1754761018.346 [DAT](INFO): DAT read: user:623>

2025-08-09T17:36:58.347Z,1754761018.347 [DAT](INFO): DAT read: Tx time:17:36:57.7343

2025-08-09T17:36:58.347Z,1754761018.347 [DAT](INFO): Ping request sent.
2025-08-09T17:36:58.347Z,1754761018.347 [DAT](INFO): transmitted an acoustic signal
2025-08-09T17:36:58.347Z,1754761018.347 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-09T17:36:58.348Z,1754761018.348 [DAT](INFO): direction in FSK: [0.978915,-0.127138,0.159881]
2025-08-09T17:36:58.348Z,1754761018.348 [DAT](INFO): publishing transmit ping time
2025-08-09T17:36:58.349Z,1754761018.349 [DAT](INFO): publishing direction and range info
2025-08-09T17:36:58.356Z,1754761018.356 [DAT](INFO): publishing transmit ping time
2025-08-09T17:36:58.356Z,1754761018.356 [DAT](INFO): publishing direction and range info
2025-08-09T17:36:58.535Z,1754761018.535 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 145.800003 m,
      deltaT: 3.780067 s,
      deltaX: -2.099991 m,
      approachRate: -0.555543 m/s,
      rangeRepo size: 4

2025-08-09T17:36:58.537Z,1754761018.537 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 145.800003 m,
      bearing: 142.205665 deg,
      lat: 36.906074 deg,
      lon: -122.115956 deg,
      deltaT: 3.780067 s,
      deltaX: -2.099991 m,
      approachRate: -0.555543 m/s,
      posRepo size: 4

2025-08-09T17:36:58.538Z,1754761018.538 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 145.80 m.
2025-08-09T17:36:58.545Z,1754761018.545 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 145.800003 m,
      nav range: 145.131271 m,
      bearing: 142.205665 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.055751 deg/s,
      cmd heading: 121.750991 deg,
      new cmd heading: 121.670051 deg.

2025-08-09T17:36:58.624Z,1754761018.624 [RudderServo](DEBUG): Uninitialize Rudder Servo.
2025-08-09T17:36:58.625Z,1754761018.625 [RudderServo](INFO): Powering down
2025-08-09T17:36:58.853Z,1754761018.853 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 145.80 m.
2025-08-09T17:36:58.857Z,1754761018.857 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 145.800003 m,
      nav range: 144.925552 m,
      bearing: 142.187882 deg,
      approach rate: -0.630440 m/s,
      LOS rate: -0.054576 deg/s,
      cmd heading: 121.670053 deg,
      new cmd heading: 121.616627 deg.

2025-08-09T17:36:59.283Z,1754761019.283 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-09T17:36:59.287Z,1754761019.287 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 145.80 m.
2025-08-09T17:36:59.293Z,1754761019.293 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 145.800003 m,
      nav range: 144.693619 m,
      bearing: 142.166067 deg,
      approach rate: -0.533232 m/s,
      LOS rate: -0.050235 deg/s,
      cmd heading: 121.616627 deg,
      new cmd heading: 121.551077 deg.

2025-08-09T17:36:59.343Z,1754761019.343 [DAT](INFO): ****** received valid address query ******
2025-08-09T17:36:59.343Z,1754761019.343 [DAT](INFO): ****** received valid ping request ******
2025-08-09T17:36:59.344Z,1754761019.344 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-09T17:36:59.380Z,1754761019.380 [RudderServo](DEBUG): Initializing EZServoServo.
2025-08-09T17:36:59.499Z,1754761019.499 [RudderServo](DEBUG): Initializing RudderServo.
2025-08-09T17:36:59.518Z,1754761019.518 [CBIT](INFO): Clearing failed state for component RudderServo
2025-08-09T17:36:59.518Z,1754761019.518 [RudderServo] No Fault, FailCount= 1
2025-08-09T17:36:59.595Z,1754761019.595 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.248347
2025-08-09T17:36:59.666Z,1754761019.666 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 145.80 m.
2025-08-09T17:36:59.669Z,1754761019.669 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 145.800003 m,
      nav range: 144.466278 m,
      bearing: 142.146287 deg,
      approach rate: -0.600309 m/s,
      LOS rate: -0.052311 deg/s,
      cmd heading: 121.551071 deg,
      new cmd heading: 121.491640 deg.

2025-08-09T17:36:59.848Z,1754761019.848 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.500837
2025-08-09T17:37:00.070Z,1754761020.070 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 145.80 m.
2025-08-09T17:37:00.073Z,1754761020.073 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 145.800003 m,
      nav range: 144.239578 m,
      bearing: 142.128240 deg,
      approach rate: -0.560858 m/s,
      LOS rate: -0.044720 deg/s,
      cmd heading: 121.491635 deg,
      new cmd heading: 121.437407 deg.

2025-08-09T17:37:00.099Z,1754761020.099 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.752168
2025-08-09T17:37:00.351Z,1754761020.351 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.004308
2025-08-09T17:37:00.448Z,1754761020.448 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error. Device response is::TS,00021421240867,35.0,  +9.9,   0.0,10
2025-08-09T17:37:00.464Z,1754761020.464 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 145.80 m.
2025-08-09T17:37:00.466Z,1754761020.466 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 145.800003 m,
      nav range: 144.014160 m,
      bearing: 142.111975 deg,
      approach rate: -0.573030 m/s,
      LOS rate: -0.041411 deg/s,
      cmd heading: 121.437403 deg,
      new cmd heading: 121.388532 deg.

2025-08-09T17:37:00.603Z,1754761020.603 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.256385
2025-08-09T17:37:00.857Z,1754761020.857 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.509212
2025-08-09T17:37:00.872Z,1754761020.872 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 145.80 m.
2025-08-09T17:37:00.876Z,1754761020.876 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 145.800003 m,
      nav range: 143.784088 m,
      bearing: 142.097107 deg,
      approach rate: -0.563323 m/s,
      LOS rate: -0.036462 deg/s,
      cmd heading: 121.388526 deg,
      new cmd heading: 121.343851 deg.

2025-08-09T17:37:01.107Z,1754761021.107 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.760304
2025-08-09T17:37:01.321Z,1754761021.321 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-09T17:37:01.329Z,1754761021.329 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 145.80 m.
2025-08-09T17:37:01.333Z,1754761021.333 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 145.800003 m,
      nav range: 143.524307 m,
      bearing: 142.086369 deg,
      approach rate: -0.572784 m/s,
      LOS rate: -0.023718 deg/s,
      cmd heading: 121.343857 deg,
      new cmd heading: 121.311585 deg.

2025-08-09T17:37:01.360Z,1754761021.360 [DAT](INFO): DAT read: Rx Time:17:37:00.3302

2025-08-09T17:37:01.360Z,1754761021.360 [DAT](INFO): Rx dataTimestamp_ set to:1754761021.359700
2025-08-09T17:37:01.361Z,1754761021.361 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.013560
2025-08-09T17:37:01.611Z,1754761021.611 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.264247
2025-08-09T17:37:01.681Z,1754761021.681 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 145.80 m.
2025-08-09T17:37:01.684Z,1754761021.684 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 145.800003 m,
      nav range: 143.318985 m,
      bearing: 142.079486 deg,
      approach rate: -0.577179 m/s,
      LOS rate: -0.019378 deg/s,
      cmd heading: 121.311591 deg,
      new cmd heading: 121.290911 deg.

2025-08-09T17:37:01.886Z,1754761021.886 [DAT](INFO): DAT read: 17:37:00.3302 LVL= 27344, 32753, 27122, 31987, AGC= 69, IDX= 409,-0.41, 0.834,-0.905, 0.990, 0.554, PHS= 0.381,-1.415, 0.391, RAW= 150.3,   7.2, CAL= 149.7,   7.7, ROT=   0.3,  -7.7

2025-08-09T17:37:01.891Z,1754761021.891 [DAT](INFO): got valid direction response:
 17:37:00.3302 LVL= 27344, 32753, 27122, 31987, AGC= 69, IDX= 409,-0.41, 0.834,-0.905, 0.990, 0.554, PHS= 0.381,-1.415, 0.391, RAW= 150.3,   7.2, CAL= 149.7,   7.7, ROT=   0.3,  -7.7

2025-08-09T17:37:01.892Z,1754761021.892 [DAT](INFO): DAT read: Bearing 308.7,   1.0 (Local)

2025-08-09T17:37:01.893Z,1754761021.893 [DAT](INFO): Local bearing/azimuth received:
 Bearing 308.7,   1.0 (Local)

2025-08-09T17:37:01.922Z,1754761021.922 [DAT](INFO): DAT read: Range 11 to 50 : 143.7 m  (Round-trip  191.7 ms) speed  0.4 m/s

2025-08-09T17:37:01.923Z,1754761021.923 [DAT](INFO): DAT read: user:624>

2025-08-09T17:37:01.924Z,1754761021.924 [DAT](INFO): DAT read: Tx time:17:37:01.4343

2025-08-09T17:37:01.924Z,1754761021.924 [DAT](INFO): Ping request sent.
2025-08-09T17:37:01.924Z,1754761021.924 [DAT](INFO): transmitted an acoustic signal
2025-08-09T17:37:01.925Z,1754761021.925 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-09T17:37:01.926Z,1754761021.926 [DAT](INFO): direction in FSK: [0.990970,0.005189,0.133986]
2025-08-09T17:37:01.926Z,1754761021.926 [DAT](INFO): publishing transmit ping time
2025-08-09T17:37:01.938Z,1754761021.938 [DAT](INFO): publishing direction and range info
2025-08-09T17:37:01.941Z,1754761021.941 [DAT](INFO): publishing transmit ping time
2025-08-09T17:37:01.941Z,1754761021.941 [DAT](INFO): publishing direction and range info
2025-08-09T17:37:02.104Z,1754761022.104 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 143.699997 m,
      deltaT: 3.529751 s,
      deltaX: -2.100006 m,
      approachRate: -0.594945 m/s,
      rangeRepo size: 4

2025-08-09T17:37:02.106Z,1754761022.106 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 143.699997 m,
      bearing: 141.772384 deg,
      lat: 36.906085 deg,
      lon: -122.115956 deg,
      deltaT: 3.529751 s,
      deltaX: -2.100006 m,
      approachRate: -0.594945 m/s,
      posRepo size: 4

2025-08-09T17:37:02.111Z,1754761022.111 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 143.70 m.
2025-08-09T17:37:02.113Z,1754761022.113 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 143.699997 m,
      nav range: 142.129593 m,
      bearing: 141.772384 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.019378 deg/s,
      cmd heading: 121.290909 deg,
      new cmd heading: 121.266380 deg.

2025-08-09T17:37:02.503Z,1754761022.503 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 143.70 m.
2025-08-09T17:37:02.506Z,1754761022.506 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 143.699997 m,
      nav range: 141.901855 m,
      bearing: 141.769893 deg,
      approach rate: -0.569200 m/s,
      LOS rate: -0.006236 deg/s,
      cmd heading: 121.266375 deg,
      new cmd heading: 121.258890 deg.

2025-08-09T17:37:02.897Z,1754761022.897 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 143.70 m.
2025-08-09T17:37:02.900Z,1754761022.900 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 143.699997 m,
      nav range: 141.686249 m,
      bearing: 141.769198 deg,
      approach rate: -0.547233 m/s,
      LOS rate: -0.001767 deg/s,
      cmd heading: 121.258889 deg,
      new cmd heading: 121.256800 deg.

2025-08-09T17:37:03.327Z,1754761023.327 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-09T17:37:03.329Z,1754761023.329 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 143.70 m.
2025-08-09T17:37:03.332Z,1754761023.332 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 143.699997 m,
      nav range: 141.454147 m,
      bearing: 141.771107 deg,
      approach rate: -0.537816 m/s,
      LOS rate: 0.004432 deg/s,
      cmd heading: 121.256799 deg,
      new cmd heading: 121.262537 deg.

2025-08-09T17:37:03.376Z,1754761023.376 [DAT](INFO): ****** received valid address query ******
2025-08-09T17:37:03.377Z,1754761023.377 [DAT](INFO): ****** received valid ping request ******
2025-08-09T17:37:03.378Z,1754761023.378 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-09T17:37:03.628Z,1754761023.628 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.703292
2025-08-09T17:37:03.686Z,1754761023.686 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 143.70 m.
2025-08-09T17:37:03.689Z,1754761023.689 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 143.699997 m,
      nav range: 141.261429 m,
      bearing: 141.774220 deg,
      approach rate: -0.539187 m/s,
      LOS rate: 0.008721 deg/s,
      cmd heading: 121.262536 deg,
      new cmd heading: 121.271888 deg.

2025-08-09T17:37:03.880Z,1754761023.880 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.955630
2025-08-09T17:37:04.126Z,1754761024.126 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 143.70 m.
2025-08-09T17:37:04.129Z,1754761024.129 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 143.699997 m,
      nav range: 141.024857 m,
      bearing: 141.778053 deg,
      approach rate: -0.537828 m/s,
      LOS rate: 0.008728 deg/s,
      cmd heading: 121.271894 deg,
      new cmd heading: 121.283412 deg.

2025-08-09T17:37:04.140Z,1754761024.140 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.215452
2025-08-09T17:37:04.392Z,1754761024.392 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.467242
2025-08-09T17:37:04.536Z,1754761024.536 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 143.70 m.
2025-08-09T17:37:04.538Z,1754761024.538 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 143.699997 m,
      nav range: 140.816055 m,
      bearing: 141.786042 deg,
      approach rate: -0.509957 m/s,
      LOS rate: 0.019539 deg/s,
      cmd heading: 121.283410 deg,
      new cmd heading: 121.307410 deg.

2025-08-09T17:37:04.644Z,1754761024.644 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.719832
2025-08-09T17:37:04.895Z,1754761024.895 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.971087
2025-08-09T17:37:04.908Z,1754761024.908 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 143.70 m.
2025-08-09T17:37:04.911Z,1754761024.911 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 143.699997 m,
      nav range: 140.608322 m,
      bearing: 141.795565 deg,
      approach rate: -0.557802 m/s,
      LOS rate: 0.025610 deg/s,
      cmd heading: 121.307411 deg,
      new cmd heading: 121.336023 deg.

2025-08-09T17:37:05.147Z,1754761025.147 [DAT](INFO): DAT read: Rx Time:17:37:04.0275

2025-08-09T17:37:05.148Z,1754761025.148 [DAT](INFO): Rx dataTimestamp_ set to:1754761025.147494
2025-08-09T17:37:05.148Z,1754761025.148 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.223949
2025-08-09T17:37:05.388Z,1754761025.388 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-09T17:37:05.394Z,1754761025.394 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 143.70 m.
2025-08-09T17:37:05.397Z,1754761025.397 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 143.699997 m,
      nav range: 140.349823 m,
      bearing: 141.812611 deg,
      approach rate: -0.535997 m/s,
      LOS rate: 0.035409 deg/s,
      cmd heading: 121.336029 deg,
      new cmd heading: 121.387261 deg.

2025-08-09T17:37:05.399Z,1754761025.399 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.475021
2025-08-09T17:37:05.657Z,1754761025.657 [DAT](INFO): DAT read: 17:37:04.0275 LVL= 31600, 32753, 32754, 32755, AGC= 70, IDX= 412, 0.24,-1.705, 2.708,-1.876,-2.079, PHS= 0.476,-1.451, 0.159, RAW= 141.2,   9.2, CAL= 140.7,  10.0, ROT=   9.3, -10.0

2025-08-09T17:37:05.658Z,1754761025.658 [DAT](INFO): got valid direction response:
 17:37:04.0275 LVL= 31600, 32753, 32754, 32755, AGC= 70, IDX= 412, 0.24,-1.705, 2.708,-1.876,-2.079, PHS= 0.476,-1.451, 0.159, RAW= 141.2,   9.2, CAL= 140.7,  10.0, ROT=   9.3, -10.0

2025-08-09T17:37:05.659Z,1754761025.659 [DAT](INFO): DAT read: Bearing 302.7,   8.9 (Local)

2025-08-09T17:37:05.659Z,1754761025.659 [DAT](INFO): Local bearing/azimuth received:
 Bearing 302.7,   8.9 (Local)

2025-08-09T17:37:05.661Z,1754761025.661 [DAT](INFO): DAT read: Range 11 to 50 : 141.7 m  (Round-trip  189.0 ms) speed  0.8 m/s

2025-08-09T17:37:05.662Z,1754761025.662 [DAT](INFO): DAT read: user:625>

2025-08-09T17:37:05.662Z,1754761025.662 [DAT](INFO): DAT read: Tx time:17:37:05.1343

2025-08-09T17:37:05.663Z,1754761025.663 [DAT](INFO): Ping request sent.
2025-08-09T17:37:05.663Z,1754761025.663 [DAT](INFO): transmitted an acoustic signal
2025-08-09T17:37:05.663Z,1754761025.663 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-09T17:37:05.664Z,1754761025.664 [DAT](INFO): direction in FSK: [0.971863,0.159149,0.173648]
2025-08-09T17:37:05.664Z,1754761025.664 [DAT](INFO): publishing transmit ping time
2025-08-09T17:37:05.664Z,1754761025.664 [DAT](INFO): publishing direction and range info
2025-08-09T17:37:05.668Z,1754761025.668 [DAT](INFO): publishing transmit ping time
2025-08-09T17:37:05.668Z,1754761025.668 [DAT](INFO): publishing direction and range info
2025-08-09T17:37:05.805Z,1754761025.805 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 141.699997 m,
      deltaT: 3.786140 s,
      deltaX: -2.000000 m,
      approachRate: -0.528242 m/s,
      rangeRepo size: 4

2025-08-09T17:37:05.812Z,1754761025.812 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 141.699997 m,
      bearing: 141.410920 deg,
      lat: 36.906093 deg,
      lon: -122.115950 deg,
      deltaT: 3.786140 s,
      deltaX: -2.000000 m,
      approachRate: -0.528242 m/s,
      posRepo size: 4

2025-08-09T17:37:05.812Z,1754761025.812 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 141.70 m.
2025-08-09T17:37:05.823Z,1754761025.823 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 141.699997 m,
      nav range: 139.830124 m,
      bearing: 141.410920 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.035409 deg/s,
      cmd heading: 121.387256 deg,
      new cmd heading: 121.431252 deg.

2025-08-09T17:37:06.147Z,1754761026.147 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 141.70 m.
2025-08-09T17:37:06.150Z,1754761026.150 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 141.699997 m,
      nav range: 139.612717 m,
      bearing: 141.428053 deg,
      approach rate: -0.634356 m/s,
      LOS rate: 0.050069 deg/s,
      cmd heading: 121.431256 deg,
      new cmd heading: 121.482735 deg.

2025-08-09T17:37:06.547Z,1754761026.547 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 141.70 m.
2025-08-09T17:37:06.550Z,1754761026.550 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 141.699997 m,
      nav range: 139.383102 m,
      bearing: 141.447771 deg,
      approach rate: -0.573656 m/s,
      LOS rate: 0.049342 deg/s,
      cmd heading: 121.482742 deg,
      new cmd heading: 121.541991 deg.

2025-08-09T17:37:06.924Z,1754761026.924 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 141.70 m.
2025-08-09T17:37:06.927Z,1754761026.927 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 141.699997 m,
      nav range: 139.171631 m,
      bearing: 141.467552 deg,
      approach rate: -0.560998 m/s,
      LOS rate: 0.052556 deg/s,
      cmd heading: 121.541987 deg,
      new cmd heading: 121.601420 deg.

2025-08-09T17:37:07.421Z,1754761027.421 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-09T17:37:07.430Z,1754761027.430 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 141.70 m.
2025-08-09T17:37:07.437Z,1754761027.437 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 141.699997 m,
      nav range: 138.919052 m,
      bearing: 141.495395 deg,
      approach rate: -0.502655 m/s,
      LOS rate: 0.055512 deg/s,
      cmd heading: 121.601423 deg,
      new cmd heading: 121.685106 deg.

2025-08-09T17:37:07.669Z,1754761027.669 [DAT](INFO): ****** received valid address query ******
2025-08-09T17:37:07.669Z,1754761027.669 [DAT](INFO): ****** received valid ping request ******
2025-08-09T17:37:07.669Z,1754761027.669 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-09T17:37:07.797Z,1754761027.797 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 141.70 m.
2025-08-09T17:37:07.800Z,1754761027.800 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 141.699997 m,
      nav range: 138.686096 m,
      bearing: 141.521169 deg,
      approach rate: -0.629446 m/s,
      LOS rate: 0.069756 deg/s,
      cmd heading: 121.685107 deg,
      new cmd heading: 121.762557 deg.

2025-08-09T17:37:07.920Z,1754761027.920 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.257165
2025-08-09T17:37:08.170Z,1754761028.170 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 141.70 m.
2025-08-09T17:37:08.171Z,1754761028.171 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.508634
2025-08-09T17:37:08.195Z,1754761028.195 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 141.699997 m,
      nav range: 138.477005 m,
      bearing: 141.547249 deg,
      approach rate: -0.560879 m/s,
      LOS rate: 0.070065 deg/s,
      cmd heading: 121.762561 deg,
      new cmd heading: 121.840920 deg.

2025-08-09T17:37:08.423Z,1754761028.423 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.760502
2025-08-09T17:37:08.621Z,1754761028.621 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 141.70 m.
2025-08-09T17:37:08.627Z,1754761028.627 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 141.699997 m,
      nav range: 138.240952 m,
      bearing: 141.577088 deg,
      approach rate: -0.523596 m/s,
      LOS rate: 0.066299 deg/s,
      cmd heading: 121.840917 deg,
      new cmd heading: 121.930586 deg.

2025-08-09T17:37:08.676Z,1754761028.676 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.013367
2025-08-09T17:37:08.927Z,1754761028.927 [DAT](INFO): DAT read: Rx Time:17:37:07.7246

2025-08-09T17:37:08.928Z,1754761028.928 [DAT](INFO): Rx dataTimestamp_ set to:1754761028.927448
2025-08-09T17:37:08.928Z,1754761028.928 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.265541
2025-08-09T17:37:09.010Z,1754761029.010 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 141.70 m.
2025-08-09T17:37:09.012Z,1754761029.012 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 141.699997 m,
      nav range: 138.020416 m,
      bearing: 141.606378 deg,
      approach rate: -0.583417 m/s,
      LOS rate: 0.077609 deg/s,
      cmd heading: 121.930584 deg,
      new cmd heading: 122.018594 deg.

2025-08-09T17:37:09.180Z,1754761029.180 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.517194
2025-08-09T17:37:09.423Z,1754761029.423 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-09T17:37:09.425Z,1754761029.425 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 141.70 m.
2025-08-09T17:37:09.428Z,1754761029.428 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 141.699997 m,
      nav range: 137.775696 m,
      bearing: 141.639221 deg,
      approach rate: -0.573965 m/s,
      LOS rate: 0.077167 deg/s,
      cmd heading: 122.018597 deg,
      new cmd heading: 122.117302 deg.

2025-08-09T17:37:09.437Z,1754761029.437 [DAT](INFO): DAT read: 17:37:07.7246 LVL= 32752, 32753, 32754, 32755, AGC= 69, IDX= 414, 0.27,-0.533,-2.453,-1.029,-0.943, PHS= 0.512,-1.465,-0.130, RAW= 131.5,  12.4, CAL= 130.9,  13.5, ROT=  19.1, -13.5

2025-08-09T17:37:09.438Z,1754761029.438 [DAT](INFO): got valid direction response:
 17:37:07.7246 LVL= 32752, 32753, 32754, 32755, AGC= 69, IDX= 414, 0.27,-0.533,-2.453,-1.029,-0.943, PHS= 0.512,-1.465,-0.130, RAW= 131.5,  12.4, CAL= 130.9,  13.5, ROT=  19.1, -13.5

2025-08-09T17:37:09.439Z,1754761029.439 [DAT](INFO): DAT read: Bearing 298.9,  17.5 (Local)

2025-08-09T17:37:09.440Z,1754761029.440 [DAT](INFO): Local bearing/azimuth received:
 Bearing 298.9,  17.5 (Local)

2025-08-09T17:37:09.441Z,1754761029.441 [DAT](INFO): DAT read: Range 11 to 50 : 139.5 m  (Round-trip  186.1 ms) speed  0.5 m/s

2025-08-09T17:37:09.442Z,1754761029.442 [DAT](INFO): DAT read: user:626>

2025-08-09T17:37:09.443Z,1754761029.443 [DAT](INFO): DAT read: Tx time:17:37:08.8343

2025-08-09T17:37:09.444Z,1754761029.444 [DAT](INFO): Ping request sent.
2025-08-09T17:37:09.444Z,1754761029.444 [DAT](INFO): transmitted an acoustic signal
2025-08-09T17:37:09.444Z,1754761029.444 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-09T17:37:09.445Z,1754761029.445 [DAT](INFO): direction in FSK: [0.918840,0.318177,0.233445]
2025-08-09T17:37:09.445Z,1754761029.445 [DAT](INFO): publishing transmit ping time
2025-08-09T17:37:09.445Z,1754761029.445 [DAT](INFO): publishing direction and range info
2025-08-09T17:37:09.449Z,1754761029.449 [DAT](INFO): publishing transmit ping time
2025-08-09T17:37:09.449Z,1754761029.449 [DAT](INFO): publishing direction and range info
2025-08-09T17:37:09.821Z,1754761029.821 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 139.500000 m,
      deltaT: 3.780142 s,
      deltaX: -2.199997 m,
      approachRate: -0.581988 m/s,
      rangeRepo size: 4

2025-08-09T17:37:09.823Z,1754761029.823 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 139.500000 m,
      bearing: 142.232793 deg,
      lat: 36.906085 deg,
      lon: -122.115961 deg,
      deltaT: 3.780142 s,
      deltaX: -2.199997 m,
      approachRate: -0.581988 m/s,
      posRepo size: 4

2025-08-09T17:37:09.824Z,1754761029.824 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 139.50 m.
2025-08-09T17:37:09.826Z,1754761029.826 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 139.500000 m,
      nav range: 137.607483 m,
      bearing: 142.232793 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.077167 deg/s,
      cmd heading: 122.117307 deg,
      new cmd heading: 122.208777 deg.

2025-08-09T17:37:10.198Z,1754761030.198 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 139.50 m.
2025-08-09T17:37:10.201Z,1754761030.201 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 139.500000 m,
      nav range: 137.389587 m,
      bearing: 142.265316 deg,
      approach rate: -0.577043 m/s,
      LOS rate: 0.086266 deg/s,
      cmd heading: 122.208777 deg,
      new cmd heading: 122.306502 deg.

2025-08-09T17:37:10.625Z,1754761030.625 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 139.50 m.
2025-08-09T17:37:10.628Z,1754761030.628 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 139.500000 m,
      nav range: 137.153107 m,
      bearing: 142.300395 deg,
      approach rate: -0.553100 m/s,
      LOS rate: 0.082186 deg/s,
      cmd heading: 122.306504 deg,
      new cmd heading: 122.411920 deg.

2025-08-09T17:37:11.004Z,1754761031.004 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 139.50 m.
2025-08-09T17:37:11.007Z,1754761031.007 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 139.500000 m,
      nav range: 136.939804 m,
      bearing: 142.332865 deg,
      approach rate: -0.563269 m/s,
      LOS rate: 0.085878 deg/s,
      cmd heading: 122.411921 deg,
      new cmd heading: 122.509483 deg.

2025-08-09T17:37:11.575Z,1754761031.575 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-09T17:37:11.577Z,1754761031.577 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 139.50 m.
2025-08-09T17:37:11.581Z,1754761031.581 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 139.500000 m,
      nav range: 136.634125 m,
      bearing: 142.379679 deg,
      approach rate: -0.532999 m/s,
      LOS rate: 0.081809 deg/s,
      cmd heading: 122.509483 deg,
      new cmd heading: 122.650238 deg.

2025-08-09T17:37:11.699Z,1754761031.699 [DAT](INFO): ****** received valid address query ******
2025-08-09T17:37:11.699Z,1754761031.699 [DAT](INFO): ****** received valid ping request ******
2025-08-09T17:37:11.699Z,1754761031.699 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-09T17:37:11.818Z,1754761031.818 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 139.50 m.
2025-08-09T17:37:11.821Z,1754761031.821 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 139.500000 m,
      nav range: 136.506439 m,
      bearing: 142.400185 deg,
      approach rate: -0.530692 m/s,
      LOS rate: 0.085310 deg/s,
      cmd heading: 122.650240 deg,
      new cmd heading: 122.711817 deg.

2025-08-09T17:37:11.951Z,1754761031.951 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.507469
2025-08-09T17:37:12.204Z,1754761032.204 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.760069
2025-08-09T17:37:12.217Z,1754761032.217 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 139.50 m.
2025-08-09T17:37:12.220Z,1754761032.220 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 139.500000 m,
      nav range: 136.295486 m,
      bearing: 142.434411 deg,
      approach rate: -0.529116 m/s,
      LOS rate: 0.085978 deg/s,
      cmd heading: 122.711821 deg,
      new cmd heading: 122.814656 deg.

2025-08-09T17:37:12.456Z,1754761032.456 [DAT](INFO): DAT read: Rx Time:17:37:11.4217

2025-08-09T17:37:12.456Z,1754761032.456 [DAT](INFO): Rx dataTimestamp_ set to:1754761032.456212
2025-08-09T17:37:12.457Z,1754761032.457 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.013583
2025-08-09T17:37:12.640Z,1754761032.640 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 139.50 m.
2025-08-09T17:37:12.643Z,1754761032.643 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 139.500000 m,
      nav range: 136.075882 m,
      bearing: 142.470296 deg,
      approach rate: -0.519157 m/s,
      LOS rate: 0.084972 deg/s,
      cmd heading: 122.814656 deg,
      new cmd heading: 122.922486 deg.

2025-08-09T17:37:12.708Z,1754761032.708 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.264300
2025-08-09T17:37:12.977Z,1754761032.977 [DAT](INFO): DAT read: 17:37:11.4217 LVL= 22496, 28833, 29810, 32755, AGC= 66, IDX= 418, 0.36, 0.973,-0.959, 0.333, 0.510, PHS= 0.565,-1.424,-0.221, RAW= 126.9,  12.4, CAL= 126.8,  13.6, ROT=  23.2, -13.6

2025-08-09T17:37:12.991Z,1754761032.991 [DAT](INFO): got valid direction response:
 17:37:11.4217 LVL= 22496, 28833, 29810, 32755, AGC= 66, IDX= 418, 0.36, 0.973,-0.959, 0.333, 0.510, PHS= 0.565,-1.424,-0.221, RAW= 126.9,  12.4, CAL= 126.8,  13.6, ROT=  23.2, -13.6

2025-08-09T17:37:12.992Z,1754761032.992 [DAT](INFO): DAT read: Bearing 295.9,  21.8 (Local)

2025-08-09T17:37:12.992Z,1754761032.992 [DAT](INFO): Local bearing/azimuth received:
 Bearing 295.9,  21.8 (Local)

2025-08-09T17:37:12.993Z,1754761032.993 [DAT](INFO): DAT read: Range 11 to 50 : 137.4 m  (Round-trip  183.3 ms) speed  0.4 m/s

2025-08-09T17:37:13.010Z,1754761033.010 [DAT](INFO): DAT read: user:627>

2025-08-09T17:37:13.011Z,1754761033.011 [DAT](INFO): DAT read: Tx time:17:37:12.5358

2025-08-09T17:37:13.012Z,1754761033.012 [DAT](INFO): Ping request sent.
2025-08-09T17:37:13.012Z,1754761033.012 [DAT](INFO): transmitted an acoustic signal
2025-08-09T17:37:13.012Z,1754761033.012 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-09T17:37:13.013Z,1754761033.013 [DAT](INFO): direction in FSK: [0.893364,0.382896,0.235142]
2025-08-09T17:37:13.013Z,1754761033.013 [DAT](INFO): publishing transmit ping time
2025-08-09T17:37:13.013Z,1754761033.013 [DAT](INFO): publishing direction and range info
2025-08-09T17:37:13.025Z,1754761033.025 [DAT](INFO): publishing transmit ping time
2025-08-09T17:37:13.025Z,1754761033.025 [DAT](INFO): publishing direction and range info
2025-08-09T17:37:13.129Z,1754761033.129 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 137.399994 m,
      deltaT: 3.530303 s,
      deltaX: -2.100006 m,
      approachRate: -0.594851 m/s,
      rangeRepo size: 4

2025-08-09T17:37:13.143Z,1754761033.143 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 137.399994 m,
      bearing: 143.673822 deg,
      lat: 36.906077 deg,
      lon: -122.115992 deg,
      deltaT: 3.530303 s,
      deltaX: -2.100006 m,
      approachRate: -0.594851 m/s,
      posRepo size: 4

2025-08-09T17:37:13.144Z,1754761033.144 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 137.40 m.
2025-08-09T17:37:13.159Z,1754761033.159 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 137.399994 m,
      nav range: 134.908279 m,
      bearing: 143.673822 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.084972 deg/s,
      cmd heading: 122.922491 deg,
      new cmd heading: 123.047158 deg.

2025-08-09T17:37:13.516Z,1754761033.516 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 137.40 m.
2025-08-09T17:37:13.519Z,1754761033.519 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 137.399994 m,
      nav range: 134.688828 m,
      bearing: 143.716284 deg,
      approach rate: -0.566736 m/s,
      LOS rate: 0.109836 deg/s,
      cmd heading: 123.047156 deg,
      new cmd heading: 123.174748 deg.

2025-08-09T17:37:13.895Z,1754761033.895 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-09T17:37:13.897Z,1754761033.897 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 137.40 m.
2025-08-09T17:37:13.901Z,1754761033.901 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 137.399994 m,
      nav range: 134.483566 m,
      bearing: 143.755933 deg,
      approach rate: -0.538447 m/s,
      LOS rate: 0.104168 deg/s,
      cmd heading: 123.174744 deg,
      new cmd heading: 123.293873 deg.

2025-08-09T17:37:13.968Z,1754761033.968 [DAT](INFO): ****** received valid address query ******
2025-08-09T17:37:13.968Z,1754761033.968 [DAT](INFO): ****** received valid ping request ******
2025-08-09T17:37:13.968Z,1754761033.968 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-09T17:37:14.219Z,1754761034.219 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.207554
2025-08-09T17:37:14.315Z,1754761034.315 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 137.40 m.
2025-08-09T17:37:14.318Z,1754761034.318 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 137.399994 m,
      nav range: 134.266495 m,
      bearing: 143.797815 deg,
      approach rate: -0.519220 m/s,
      LOS rate: 0.100340 deg/s,
      cmd heading: 123.293876 deg,
      new cmd heading: 123.419724 deg.

2025-08-09T17:37:14.471Z,1754761034.471 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.459603
2025-08-09T17:37:14.723Z,1754761034.723 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.711731
2025-08-09T17:37:14.728Z,1754761034.728 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 137.40 m.
2025-08-09T17:37:14.731Z,1754761034.731 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 137.399994 m,
      nav range: 134.032257 m,
      bearing: 143.840863 deg,
      approach rate: -0.567377 m/s,
      LOS rate: 0.104453 deg/s,
      cmd heading: 123.419729 deg,
      new cmd heading: 123.549097 deg.

2025-08-09T17:37:14.976Z,1754761034.976 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.964179
2025-08-09T17:37:15.139Z,1754761035.139 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 137.40 m.
2025-08-09T17:37:15.141Z,1754761035.141 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 137.399994 m,
      nav range: 133.807755 m,
      bearing: 143.881864 deg,
      approach rate: -0.552304 m/s,
      LOS rate: 0.101039 deg/s,
      cmd heading: 123.549093 deg,
      new cmd heading: 123.672305 deg.

2025-08-09T17:37:15.228Z,1754761035.228 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.216245
2025-08-09T17:37:15.479Z,1754761035.479 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.467717
2025-08-09T17:37:15.534Z,1754761035.534 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 137.40 m.
2025-08-09T17:37:15.553Z,1754761035.553 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 137.399994 m,
      nav range: 133.588196 m,
      bearing: 143.922561 deg,
      approach rate: -0.549771 m/s,
      LOS rate: 0.102070 deg/s,
      cmd heading: 123.672309 deg,
      new cmd heading: 123.794598 deg.

2025-08-09T17:37:15.731Z,1754761035.731 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.719510
2025-08-09T17:37:15.909Z,1754761035.909 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-09T17:37:15.911Z,1754761035.911 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 137.40 m.
2025-08-09T17:37:15.914Z,1754761035.914 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 137.399994 m,
      nav range: 133.380188 m,
      bearing: 143.960815 deg,
      approach rate: -0.551029 m/s,
      LOS rate: 0.101498 deg/s,
      cmd heading: 123.794597 deg,
      new cmd heading: 123.909540 deg.

2025-08-09T17:37:15.984Z,1754761035.984 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.972620
2025-08-09T17:37:16.235Z,1754761036.235 [DAT](INFO): DAT read: Rx Time:17:37:15.1207

2025-08-09T17:37:16.236Z,1754761036.236 [DAT](INFO): Rx dataTimestamp_ set to:1754761036.235502
2025-08-09T17:37:16.236Z,1754761036.236 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.224675
2025-08-09T17:37:16.320Z,1754761036.320 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 137.40 m.
2025-08-09T17:37:16.324Z,1754761036.324 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 137.399994 m,
      nav range: 133.154541 m,
      bearing: 144.001985 deg,
      approach rate: -0.551761 m/s,
      LOS rate: 0.100841 deg/s,
      cmd heading: 123.909535 deg,
      new cmd heading: 124.033255 deg.

2025-08-09T17:37:16.489Z,1754761036.489 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.477039
2025-08-09T17:37:16.751Z,1754761036.751 [DAT](INFO): DAT read: 17:37:15.1207 LVL= 27712, 32753, 32754, 32755, AGC= 68, IDX= 407,-0.05,-1.373, 2.986,-1.978,-1.854, PHS= 0.583,-1.398,-0.168, RAW= 127.9,  11.4, CAL= 127.9,  12.6, ROT=  22.1, -12.6

2025-08-09T17:37:16.753Z,1754761036.753 [DAT](INFO): got valid direction response:
 17:37:15.1207 LVL= 27712, 32753, 32754, 32755, AGC= 68, IDX= 407,-0.05,-1.373, 2.986,-1.978,-1.854, PHS= 0.583,-1.398,-0.168, RAW= 127.9,  11.4, CAL= 127.9,  12.6, ROT=  22.1, -12.6

2025-08-09T17:37:16.759Z,1754761036.759 [DAT](INFO): DAT read: Bearing 294.7,  22.7 (Local)

2025-08-09T17:37:16.760Z,1754761036.760 [DAT](INFO): Local bearing/azimuth received:
 Bearing 294.7,  22.7 (Local)

2025-08-09T17:37:16.791Z,1754761036.791 [DAT](INFO): DAT read: Range 11 to 50 : 135.5 m  (Round-trip  180.7 ms) speed  0.4 m/s

2025-08-09T17:37:16.792Z,1754761036.792 [DAT](INFO): DAT read: user:628>

2025-08-09T17:37:16.792Z,1754761036.792 [DAT](INFO): DAT read: Tx time:17:37:16.2342

2025-08-09T17:37:16.793Z,1754761036.793 [DAT](INFO): Ping request sent.
2025-08-09T17:37:16.793Z,1754761036.793 [DAT](INFO): transmitted an acoustic signal
2025-08-09T17:37:16.793Z,1754761036.793 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-09T17:37:16.794Z,1754761036.794 [DAT](INFO): direction in FSK: [0.904215,0.367164,0.218143]
2025-08-09T17:37:16.815Z,1754761036.815 [DAT](INFO): publishing transmit ping time
2025-08-09T17:37:16.815Z,1754761036.815 [DAT](INFO): publishing direction and range info
2025-08-09T17:37:16.818Z,1754761036.818 [DAT](INFO): publishing transmit ping time
2025-08-09T17:37:16.818Z,1754761036.818 [DAT](INFO): publishing direction and range info
2025-08-09T17:37:16.882Z,1754761036.882 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 135.500000 m,
      deltaT: 3.778602 s,
      deltaX: -1.899994 m,
      approachRate: -0.502830 m/s,
      rangeRepo size: 4

2025-08-09T17:37:16.888Z,1754761036.888 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 135.500000 m,
      bearing: 143.980052 deg,
      lat: 36.906079 deg,
      lon: -122.115992 deg,
      deltaT: 3.778602 s,
      deltaX: -1.899994 m,
      approachRate: -0.502830 m/s,
      posRepo size: 4

2025-08-09T17:37:16.889Z,1754761036.889 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 135.50 m.
2025-08-09T17:37:16.896Z,1754761036.896 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 135.500000 m,
      nav range: 132.627045 m,
      bearing: 143.980052 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.100841 deg/s,
      cmd heading: 124.033257 deg,
      new cmd heading: 124.202872 deg.

2025-08-09T17:37:17.368Z,1754761037.368 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 135.50 m.
2025-08-09T17:37:17.371Z,1754761037.371 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 135.500000 m,
      nav range: 132.342026 m,
      bearing: 144.027972 deg,
      approach rate: -0.585915 m/s,
      LOS rate: 0.098720 deg/s,
      cmd heading: 124.202878 deg,
      new cmd heading: 124.346946 deg.

2025-08-09T17:37:17.917Z,1754761037.917 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-09T17:37:17.936Z,1754761037.936 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 135.50 m.
2025-08-09T17:37:17.939Z,1754761037.939 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 135.500000 m,
      nav range: 132.020660 m,
      bearing: 144.080906 deg,
      approach rate: -0.565598 m/s,
      LOS rate: 0.093391 deg/s,
      cmd heading: 124.346941 deg,
      new cmd heading: 124.506130 deg.

2025-08-09T17:37:17.000Z,1754761038.000 [DAT](INFO): ****** received valid address query ******
2025-08-09T17:37:17.000Z,1754761038.000 [DAT](INFO): ****** received valid ping request ******
2025-08-09T17:37:18.000Z,1754761038.000 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-09T17:37:18.252Z,1754761038.252 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.459232
2025-08-09T17:37:18.329Z,1754761038.329 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 135.50 m.
2025-08-09T17:37:18.332Z,1754761038.332 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 135.500000 m,
      nav range: 131.788406 m,
      bearing: 144.118894 deg,
      approach rate: -0.590564 m/s,
      LOS rate: 0.096764 deg/s,
      cmd heading: 124.506125 deg,
      new cmd heading: 124.620289 deg.

2025-08-09T17:37:18.508Z,1754761038.508 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.713091
2025-08-09T17:37:18.757Z,1754761038.757 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.963762
2025-08-09T17:37:18.777Z,1754761038.777 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 135.50 m.
2025-08-09T17:37:18.784Z,1754761038.784 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 135.500000 m,
      nav range: 131.541245 m,
      bearing: 144.155345 deg,
      approach rate: -0.551810 m/s,
      LOS rate: 0.081533 deg/s,
      cmd heading: 124.620285 deg,
      new cmd heading: 124.729843 deg.

2025-08-09T17:37:19.007Z,1754761039.007 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.214592
2025-08-09T17:37:19.122Z,1754761039.122 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 135.50 m.
2025-08-09T17:37:19.125Z,1754761039.125 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 135.500000 m,
      nav range: 131.325180 m,
      bearing: 144.186920 deg,
      approach rate: -0.625568 m/s,
      LOS rate: 0.091569 deg/s,
      cmd heading: 124.729841 deg,
      new cmd heading: 124.824722 deg.

2025-08-09T17:37:19.261Z,1754761039.261 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.467654
2025-08-09T17:37:19.511Z,1754761039.511 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.718509
2025-08-09T17:37:19.567Z,1754761039.567 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 135.50 m.
2025-08-09T17:37:19.570Z,1754761039.570 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 135.500000 m,
      nav range: 131.057968 m,
      bearing: 144.223204 deg,
      approach rate: -0.602056 m/s,
      LOS rate: 0.081918 deg/s,
      cmd heading: 124.824726 deg,
      new cmd heading: 124.933800 deg.

2025-08-09T17:37:19.766Z,1754761039.766 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.973539
2025-08-09T17:37:19.925Z,1754761039.925 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-09T17:37:19.927Z,1754761039.927 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 135.50 m.
2025-08-09T17:37:19.930Z,1754761039.930 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 135.500000 m,
      nav range: 130.840485 m,
      bearing: 144.252547 deg,
      approach rate: -0.602464 m/s,
      LOS rate: 0.081420 deg/s,
      cmd heading: 124.933804 deg,
      new cmd heading: 125.021979 deg.

2025-08-09T17:37:20.016Z,1754761040.016 [DAT](INFO): DAT read: Rx Time:17:37:18.8162

2025-08-09T17:37:20.016Z,1754761040.016 [DAT](INFO): Rx dataTimestamp_ set to:1754761040.015810
2025-08-09T17:37:20.017Z,1754761040.017 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.223880
2025-08-09T17:37:20.267Z,1754761040.267 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.474459
2025-08-09T17:37:20.386Z,1754761040.386 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 135.50 m.
2025-08-09T17:37:20.396Z,1754761040.396 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 135.500000 m,
      nav range: 130.577454 m,
      bearing: 144.287838 deg,
      approach rate: -0.573805 m/s,
      LOS rate: 0.077143 deg/s,
      cmd heading: 125.021982 deg,
      new cmd heading: 125.128069 deg.

2025-08-09T17:37:20.538Z,1754761040.538 [DAT](INFO): DAT read: 17:37:18.8162 LVL= 26064, 32193, 30082, 32755, AGC= 68, IDX= 409, 0.22,-1.863, 2.519,-2.401,-2.354, PHS= 0.593,-1.365,-0.091, RAW= 129.9,  10.1, CAL= 129.7,  11.3, ROT=  20.3, -11.3

2025-08-09T17:37:20.540Z,1754761040.540 [DAT](INFO): got valid direction response:
 17:37:18.8162 LVL= 26064, 32193, 30082, 32755, AGC= 68, IDX= 409, 0.22,-1.863, 2.519,-2.401,-2.354, PHS= 0.593,-1.365,-0.091, RAW= 129.9,  10.1, CAL= 129.7,  11.3, ROT=  20.3, -11.3

2025-08-09T17:37:20.541Z,1754761040.541 [DAT](INFO): DAT read: Bearing 294.9,  22.5 (Local)

2025-08-09T17:37:20.541Z,1754761040.541 [DAT](INFO): Local bearing/azimuth received:
 Bearing 294.9,  22.5 (Local)

2025-08-09T17:37:20.543Z,1754761040.543 [DAT](INFO): DAT read: Range 11 to 50 : 133.3 m  (Round-trip  177.8 ms) speed  0.5 m/s

2025-08-09T17:37:20.544Z,1754761040.544 [DAT](INFO): DAT read: user:629>

2025-08-09T17:37:20.544Z,1754761040.544 [DAT](INFO): DAT read: Tx time:17:37:19.9342

2025-08-09T17:37:20.545Z,1754761040.545 [DAT](INFO): Ping request sent.
2025-08-09T17:37:20.545Z,1754761040.545 [DAT](INFO): transmitted an acoustic signal
2025-08-09T17:37:20.545Z,1754761040.545 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-09T17:37:20.546Z,1754761040.546 [DAT](INFO): direction in FSK: [0.919708,0.340210,0.195946]
2025-08-09T17:37:20.547Z,1754761040.547 [DAT](INFO): publishing transmit ping time
2025-08-09T17:37:20.547Z,1754761040.547 [DAT](INFO): publishing direction and range info
2025-08-09T17:37:20.550Z,1754761040.550 [DAT](INFO): publishing transmit ping time
2025-08-09T17:37:20.550Z,1754761040.550 [DAT](INFO): publishing direction and range info
2025-08-09T17:37:20.793Z,1754761040.793 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 133.300003 m,
      deltaT: 3.780138 s,
      deltaX: -2.199997 m,
      approachRate: -0.581989 m/s,
      rangeRepo size: 4

2025-08-09T17:37:20.796Z,1754761040.796 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 133.300003 m,
      bearing: 144.436972 deg,
      lat: 36.906079 deg,
      lon: -122.115996 deg,
      deltaT: 3.780138 s,
      deltaX: -2.199997 m,
      approachRate: -0.581989 m/s,
      posRepo size: 4

2025-08-09T17:37:20.796Z,1754761040.796 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 133.30 m.
2025-08-09T17:37:20.799Z,1754761040.799 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 133.300003 m,
      nav range: 130.127426 m,
      bearing: 144.436972 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.077143 deg/s,
      cmd heading: 125.128068 deg,
      new cmd heading: 125.222149 deg.

2025-08-09T17:37:21.137Z,1754761041.137 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 133.30 m.
2025-08-09T17:37:21.140Z,1754761041.140 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 133.300003 m,
      nav range: 129.913177 m,
      bearing: 144.464015 deg,
      approach rate: -0.620841 m/s,
      LOS rate: 0.078492 deg/s,
      cmd heading: 125.222147 deg,
      new cmd heading: 125.303409 deg.

2025-08-09T17:37:21.586Z,1754761041.586 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 133.30 m.
2025-08-09T17:37:21.589Z,1754761041.589 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 133.300003 m,
      nav range: 129.636658 m,
      bearing: 144.496009 deg,
      approach rate: -0.616637 m/s,
      LOS rate: 0.071498 deg/s,
      cmd heading: 125.303413 deg,
      new cmd heading: 125.399599 deg.

2025-08-09T17:37:21.951Z,1754761041.951 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-09T17:37:21.953Z,1754761041.953 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 133.30 m.
2025-08-09T17:37:21.956Z,1754761041.956 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 133.300003 m,
      nav range: 129.409943 m,
      bearing: 144.522090 deg,
      approach rate: -0.616459 m/s,
      LOS rate: 0.071040 deg/s,
      cmd heading: 125.399596 deg,
      new cmd heading: 125.477975 deg.

2025-08-09T17:37:22.035Z,1754761042.035 [DAT](INFO): ****** received valid address query ******
2025-08-09T17:37:22.035Z,1754761042.035 [DAT](INFO): ****** received valid ping request ******
2025-08-09T17:37:22.036Z,1754761042.036 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-09T17:37:22.287Z,1754761042.287 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.742462
2025-08-09T17:37:22.360Z,1754761042.360 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 133.30 m.
2025-08-09T17:37:22.374Z,1754761042.374 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 133.300003 m,
      nav range: 129.159256 m,
      bearing: 144.551041 deg,
      approach rate: -0.616941 m/s,
      LOS rate: 0.071388 deg/s,
      cmd heading: 125.477979 deg,
      new cmd heading: 125.565002 deg.

2025-08-09T17:37:22.544Z,1754761042.544 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.996711
2025-08-09T17:37:22.792Z,1754761042.792 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.246888
2025-08-09T17:37:22.804Z,1754761042.804 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 133.30 m.
2025-08-09T17:37:22.807Z,1754761042.807 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 133.300003 m,
      nav range: 128.893097 m,
      bearing: 144.581329 deg,
      approach rate: -0.598658 m/s,
      LOS rate: 0.068265 deg/s,
      cmd heading: 125.564996 deg,
      new cmd heading: 125.656046 deg.

2025-08-09T17:37:23.043Z,1754761043.043 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.498387
2025-08-09T17:37:23.288Z,1754761043.288 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 133.30 m.
2025-08-09T17:37:23.291Z,1754761043.291 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 133.300003 m,
      nav range: 128.603287 m,
      bearing: 144.614457 deg,
      approach rate: -0.599475 m/s,
      LOS rate: 0.068679 deg/s,
      cmd heading: 125.656042 deg,
      new cmd heading: 125.755649 deg.

2025-08-09T17:37:23.295Z,1754761043.295 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.750501
2025-08-09T17:37:23.551Z,1754761043.551 [DAT](INFO): DAT read: Rx Time:17:37:22.5129

2025-08-09T17:37:23.552Z,1754761043.552 [DAT](INFO): Rx dataTimestamp_ set to:1754761043.551374
2025-08-09T17:37:23.555Z,1754761043.555 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.008881
2025-08-09T17:37:23.677Z,1754761043.677 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 133.30 m.
2025-08-09T17:37:23.680Z,1754761043.680 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 133.300003 m,
      nav range: 128.361588 m,
      bearing: 144.645196 deg,
      approach rate: -0.621352 m/s,
      LOS rate: 0.079172 deg/s,
      cmd heading: 125.755653 deg,
      new cmd heading: 125.848044 deg.

2025-08-09T17:37:23.801Z,1754761043.801 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.256172
2025-08-09T17:37:24.070Z,1754761044.070 [DAT](INFO): DAT read: 17:37:22.5129 LVL= 31472, 32753, 32754, 32755, AGC= 63, IDX= 409,-0.45, 1.334,-0.522, 0.812, 0.841, PHS= 0.594,-1.318,-0.073, RAW= 129.9,   9.5, CAL= 129.8,  10.8, ROT=  20.2, -10.8

2025-08-09T17:37:24.075Z,1754761044.075 [DAT](INFO): got valid direction response:
 17:37:22.5129 LVL= 31472, 32753, 32754, 32755, AGC= 63, IDX= 409,-0.45, 1.334,-0.522, 0.812, 0.841, PHS= 0.594,-1.318,-0.073, RAW= 129.9,   9.5, CAL= 129.8,  10.8, ROT=  20.2, -10.8

2025-08-09T17:37:24.076Z,1754761044.076 [DAT](INFO): DAT read: Bearing 296.2,  22.9 (Local)

2025-08-09T17:37:24.076Z,1754761044.076 [DAT](INFO): Local bearing/azimuth received:
 Bearing 296.2,  22.9 (Local)

2025-08-09T17:37:24.123Z,1754761044.123 [DAT](INFO): DAT read: Range 11 to 50 : 130.9 m  (Round-trip  174.6 ms) speed  0.8 m/s

2025-08-09T17:37:24.124Z,1754761044.124 [DAT](INFO): DAT read: user:630>

2025-08-09T17:37:24.125Z,1754761044.125 [DAT](INFO): DAT read: Tx time:17:37:23.6342

2025-08-09T17:37:24.125Z,1754761044.125 [DAT](INFO): Ping request sent.
2025-08-09T17:37:24.125Z,1754761044.125 [DAT](INFO): transmitted an acoustic signal
2025-08-09T17:37:24.126Z,1754761044.126 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-09T17:37:24.131Z,1754761044.131 [DAT](INFO): direction in FSK: [0.921870,0.339182,0.187381]
2025-08-09T17:37:24.131Z,1754761044.131 [DAT](INFO): publishing transmit ping time
2025-08-09T17:37:24.131Z,1754761044.131 [DAT](INFO): publishing direction and range info
2025-08-09T17:37:24.150Z,1754761044.150 [DAT](INFO): publishing transmit ping time
2025-08-09T17:37:24.151Z,1754761044.151 [DAT](INFO): publishing direction and range info
2025-08-09T17:37:24.233Z,1754761044.233 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 130.899994 m,
      deltaT: 3.532298 s,
      deltaX: -2.400009 m,
      approachRate: -0.679447 m/s,
      rangeRepo size: 4

2025-08-09T17:37:24.241Z,1754761044.241 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 130.899994 m,
      bearing: 144.975922 deg,
      lat: 36.906077 deg,
      lon: -122.116002 deg,
      deltaT: 3.532298 s,
      deltaX: -2.400009 m,
      approachRate: -0.679447 m/s,
      posRepo size: 4

2025-08-09T17:37:24.247Z,1754761044.247 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 130.90 m.
2025-08-09T17:37:24.263Z,1754761044.263 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 130.899994 m,
      nav range: 127.932594 m,
      bearing: 144.975922 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.079172 deg/s,
      cmd heading: 125.848039 deg,
      new cmd heading: 125.978395 deg.

2025-08-09T17:37:24.681Z,1754761044.681 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-09T17:37:24.687Z,1754761044.687 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 130.90 m.
2025-08-09T17:37:24.689Z,1754761044.689 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 130.899994 m,
      nav range: 127.638451 m,
      bearing: 145.018255 deg,
      approach rate: -0.643553 m/s,
      LOS rate: 0.092833 deg/s,
      cmd heading: 125.978400 deg,
      new cmd heading: 126.105691 deg.

2025-08-09T17:37:24.807Z,1754761044.807 [DAT](INFO): ****** received valid address query ******
2025-08-09T17:37:24.808Z,1754761044.808 [DAT](INFO): ****** received valid ping request ******
2025-08-09T17:37:24.808Z,1754761044.808 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-09T17:37:25.027Z,1754761045.027 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 130.90 m.
2025-08-09T17:37:25.030Z,1754761045.030 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 130.899994 m,
      nav range: 127.413795 m,
      bearing: 145.050727 deg,
      approach rate: -0.651802 m/s,
      LOS rate: 0.094378 deg/s,
      cmd heading: 126.105687 deg,
      new cmd heading: 126.203274 deg.

2025-08-09T17:37:25.060Z,1754761045.060 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.934812
2025-08-09T17:37:25.311Z,1754761045.311 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.186035
2025-08-09T17:37:25.439Z,1754761045.439 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 130.90 m.
2025-08-09T17:37:25.442Z,1754761045.442 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 130.899994 m,
      nav range: 127.166916 m,
      bearing: 145.085520 deg,
      approach rate: -0.599058 m/s,
      LOS rate: 0.084591 deg/s,
      cmd heading: 126.203277 deg,
      new cmd heading: 126.307860 deg.

2025-08-09T17:37:25.566Z,1754761045.566 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.440201
2025-08-09T17:37:25.815Z,1754761045.815 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.689943
2025-08-09T17:37:25.879Z,1754761045.879 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 130.90 m.
2025-08-09T17:37:25.881Z,1754761045.881 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 130.899994 m,
      nav range: 126.893822 m,
      bearing: 145.130410 deg,
      approach rate: -0.622268 m/s,
      LOS rate: 0.102506 deg/s,
      cmd heading: 126.307861 deg,
      new cmd heading: 126.442820 deg.

2025-08-09T17:37:26.070Z,1754761046.070 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.944660
2025-08-09T17:37:26.259Z,1754761046.259 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 130.90 m.
2025-08-09T17:37:26.270Z,1754761046.270 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 130.899994 m,
      nav range: 126.673317 m,
      bearing: 145.166486 deg,
      approach rate: -0.578352 m/s,
      LOS rate: 0.094787 deg/s,
      cmd heading: 126.442825 deg,
      new cmd heading: 126.551242 deg.

2025-08-09T17:37:26.319Z,1754761046.319 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.194157
2025-08-09T17:37:26.575Z,1754761046.575 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.449634
2025-08-09T17:37:26.785Z,1754761046.785 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-09T17:37:26.787Z,1754761046.787 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 130.90 m.
2025-08-09T17:37:26.790Z,1754761046.790 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 130.899994 m,
      nav range: 126.345139 m,
      bearing: 145.225865 deg,
      approach rate: -0.622100 m/s,
      LOS rate: 0.112851 deg/s,
      cmd heading: 126.551248 deg,
      new cmd heading: 126.729846 deg.

2025-08-09T17:37:26.823Z,1754761046.823 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.698131
2025-08-09T17:37:27.075Z,1754761047.075 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.949991
2025-08-09T17:37:27.164Z,1754761047.164 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 130.90 m.
2025-08-09T17:37:27.167Z,1754761047.167 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 130.899994 m,
      nav range: 126.122978 m,
      bearing: 145.265237 deg,
      approach rate: -0.589105 m/s,
      LOS rate: 0.104587 deg/s,
      cmd heading: 126.729843 deg,
      new cmd heading: 126.848167 deg.

2025-08-09T17:37:27.328Z,1754761047.328 [DAT](INFO): DAT read: Rx Time:17:37:26.2098

2025-08-09T17:37:27.328Z,1754761047.328 [DAT](INFO): Rx dataTimestamp_ set to:1754761047.327712
2025-08-09T17:37:27.329Z,1754761047.329 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.203279
2025-08-09T17:37:27.582Z,1754761047.582 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.455715
2025-08-09T17:37:27.793Z,1754761047.793 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 130.90 m.
2025-08-09T17:37:27.807Z,1754761047.807 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 130.899994 m,
      nav range: 125.728844 m,
      bearing: 145.344399 deg,
      approach rate: -0.627200 m/s,
      LOS rate: 0.126367 deg/s,
      cmd heading: 126.848170 deg,
      new cmd heading: 127.086397 deg.

2025-08-09T17:37:27.838Z,1754761047.838 [DAT](INFO): DAT read: 17:37:26.2098 LVL= 24496, 32753, 29138, 32755, AGC= 65, IDX= 408, 0.10, 0.151,-1.757,-0.321,-0.322, PHS= 0.575,-1.390,-0.043, RAW= 132.1,   9.9, CAL= 131.9,  11.1, ROT=  18.1, -11.1

2025-08-09T17:37:27.862Z,1754761047.862 [DAT](INFO): got valid direction response:
 17:37:26.2098 LVL= 24496, 32753, 29138, 32755, AGC= 65, IDX= 408, 0.10, 0.151,-1.757,-0.321,-0.322, PHS= 0.575,-1.390,-0.043, RAW= 132.1,   9.9, CAL= 131.9,  11.1, ROT=  18.1, -11.1

2025-08-09T17:37:27.863Z,1754761047.863 [DAT](INFO): DAT read: Bearing 297.8,  20.6 (Local)

2025-08-09T17:37:27.864Z,1754761047.864 [DAT](INFO): Local bearing/azimuth received:
 Bearing 297.8,  20.6 (Local)

2025-08-09T17:37:27.865Z,1754761047.865 [DAT](INFO): DAT read: Range 11 to 50 : 128.5 m  (Round-trip  171.4 ms) speed  0.4 m/s

2025-08-09T17:37:27.866Z,1754761047.866 [DAT](INFO): DAT read: user:631>

2025-08-09T17:37:27.923Z,1754761047.923 [DAT](INFO): DAT read: Tx time:17:37:27.3342

2025-08-09T17:37:27.923Z,1754761047.923 [DAT](INFO): Ping request sent.
2025-08-09T17:37:27.923Z,1754761047.923 [DAT](INFO): transmitted an acoustic signal
2025-08-09T17:37:27.924Z,1754761047.924 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-09T17:37:27.925Z,1754761047.925 [DAT](INFO): direction in FSK: [0.932734,0.304864,0.192522]
2025-08-09T17:37:27.925Z,1754761047.925 [DAT](INFO): publishing transmit ping time
2025-08-09T17:37:27.926Z,1754761047.926 [DAT](INFO): publishing direction and range info
2025-08-09T17:37:27.947Z,1754761047.947 [DAT](INFO): publishing transmit ping time
2025-08-09T17:37:27.948Z,1754761047.948 [DAT](INFO): publishing direction and range info
2025-08-09T17:37:28.218Z,1754761048.218 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 128.500000 m,
      deltaT: 3.778721 s,
      deltaX: -2.399994 m,
      approachRate: -0.635134 m/s,
      rangeRepo size: 4

2025-08-09T17:37:28.222Z,1754761048.222 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 128.500000 m,
      bearing: 145.324079 deg,
      lat: 36.906079 deg,
      lon: -122.116002 deg,
      deltaT: 3.778721 s,
      deltaX: -2.399994 m,
      approachRate: -0.635134 m/s,
      posRepo size: 4

2025-08-09T17:37:28.224Z,1754761048.224 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 128.50 m.
2025-08-09T17:37:28.229Z,1754761048.229 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 128.500000 m,
      nav range: 125.224495 m,
      bearing: 145.324079 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.126367 deg/s,
      cmd heading: 127.086393 deg,
      new cmd heading: 127.246869 deg.

2025-08-09T17:37:28.714Z,1754761048.714 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 128.50 m.
2025-08-09T17:37:28.725Z,1754761048.725 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 128.500000 m,
      nav range: 124.920120 m,
      bearing: 145.386365 deg,
      approach rate: -0.615731 m/s,
      LOS rate: 0.126308 deg/s,
      cmd heading: 127.246875 deg,
      new cmd heading: 127.434188 deg.

2025-08-09T17:37:29.070Z,1754761049.070 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-09T17:37:29.073Z,1754761049.073 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 128.50 m.
2025-08-09T17:37:29.075Z,1754761049.075 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 128.500000 m,
      nav range: 124.684235 m,
      bearing: 145.434645 deg,
      approach rate: -0.650927 m/s,
      LOS rate: 0.133482 deg/s,
      cmd heading: 127.434186 deg,
      new cmd heading: 127.579301 deg.

2025-08-09T17:37:29.093Z,1754761049.093 [DAT](INFO): ****** received valid address query ******
2025-08-09T17:37:29.093Z,1754761049.093 [DAT](INFO): ****** received valid ping request ******
2025-08-09T17:37:29.094Z,1754761049.094 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-09T17:37:29.343Z,1754761049.343 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.420255
2025-08-09T17:37:29.471Z,1754761049.471 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 128.50 m.
2025-08-09T17:37:29.474Z,1754761049.474 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 128.500000 m,
      nav range: 124.434479 m,
      bearing: 145.485681 deg,
      approach rate: -0.626583 m/s,
      LOS rate: 0.128295 deg/s,
      cmd heading: 127.579300 deg,
      new cmd heading: 127.732715 deg.

2025-08-09T17:37:29.598Z,1754761049.598 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.674139
2025-08-09T17:37:29.848Z,1754761049.848 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.924793
2025-08-09T17:37:29.926Z,1754761049.926 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 128.50 m.
2025-08-09T17:37:29.929Z,1754761049.929 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 128.500000 m,
      nav range: 124.156303 m,
      bearing: 145.542276 deg,
      approach rate: -0.611950 m/s,
      LOS rate: 0.124780 deg/s,
      cmd heading: 127.732720 deg,
      new cmd heading: 127.902884 deg.

2025-08-09T17:37:30.099Z,1754761050.099 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.175983
2025-08-09T17:37:30.291Z,1754761050.291 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 128.50 m.
2025-08-09T17:37:30.294Z,1754761050.294 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 128.500000 m,
      nav range: 123.940323 m,
      bearing: 145.586115 deg,
      approach rate: -0.591285 m/s,
      LOS rate: 0.120227 deg/s,
      cmd heading: 127.902887 deg,
      new cmd heading: 128.034634 deg.

2025-08-09T17:37:30.352Z,1754761050.352 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.428892
2025-08-09T17:37:30.608Z,1754761050.608 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.683722
2025-08-09T17:37:30.767Z,1754761050.767 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 128.50 m.
2025-08-09T17:37:30.770Z,1754761050.770 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 128.500000 m,
      nav range: 123.650406 m,
      bearing: 145.643673 deg,
      approach rate: -0.608843 m/s,
      LOS rate: 0.121158 deg/s,
      cmd heading: 128.034628 deg,
      new cmd heading: 128.207705 deg.

2025-08-09T17:37:30.856Z,1754761050.856 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.932732
2025-08-09T17:37:31.096Z,1754761051.096 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-09T17:37:31.098Z,1754761051.098 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 128.50 m.
2025-08-09T17:37:31.101Z,1754761051.101 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 128.500000 m,
      nav range: 123.430199 m,
      bearing: 145.687262 deg,
      approach rate: -0.666122 m/s,
      LOS rate: 0.132092 deg/s,
      cmd heading: 128.207705 deg,
      new cmd heading: 128.338706 deg.

2025-08-09T17:37:31.108Z,1754761051.108 [DAT](INFO): DAT read: Rx Time:17:37:29.9068

2025-08-09T17:37:31.108Z,1754761051.108 [DAT](INFO): Rx dataTimestamp_ set to:1754761051.107877
2025-08-09T17:37:31.109Z,1754761051.109 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.185508
2025-08-09T17:37:31.359Z,1754761051.359 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.436094
2025-08-09T17:37:31.500Z,1754761051.500 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 128.50 m.
2025-08-09T17:37:31.519Z,1754761051.519 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 128.500000 m,
      nav range: 123.178757 m,
      bearing: 145.736792 deg,
      approach rate: -0.624455 m/s,
      LOS rate: 0.123259 deg/s,
      cmd heading: 128.338708 deg,
      new cmd heading: 128.487601 deg.

2025-08-09T17:37:31.617Z,1754761051.617 [DAT](INFO): DAT read: 17:37:29.9068 LVL= 27376, 32753, 31522, 32755, AGC= 69, IDX= 409, 0.24,-0.899,-2.709,-1.306,-1.312, PHS= 0.515,-1.352,-0.038, RAW= 133.3,  10.6, CAL= 132.9,  11.7, ROT=  17.1, -11.7

2025-08-09T17:37:31.619Z,1754761051.619 [DAT](INFO): got valid direction response:
 17:37:29.9068 LVL= 27376, 32753, 31522, 32755, AGC= 69, IDX= 409, 0.24,-0.899,-2.709,-1.306,-1.312, PHS= 0.515,-1.352,-0.038, RAW= 133.3,  10.6, CAL= 132.9,  11.7, ROT=  17.1, -11.7

2025-08-09T17:37:31.619Z,1754761051.619 [DAT](INFO): DAT read: Bearing 299.2,  18.6 (Local)

2025-08-09T17:37:31.620Z,1754761051.620 [DAT](INFO): Local bearing/azimuth received:
 Bearing 299.2,  18.6 (Local)

2025-08-09T17:37:31.623Z,1754761051.623 [DAT](INFO): DAT read: Range 11 to 50 : 126.3 m  (Round-trip  168.4 ms) speed  0.5 m/s

2025-08-09T17:37:31.625Z,1754761051.625 [DAT](INFO): DAT read: user:632>

2025-08-09T17:37:31.634Z,1754761051.634 [DAT](INFO): DAT read: Tx time:17:37:31.0342

2025-08-09T17:37:31.647Z,1754761051.647 [DAT](INFO): Ping request sent.
2025-08-09T17:37:31.648Z,1754761051.648 [DAT](INFO): transmitted an acoustic signal
2025-08-09T17:37:31.649Z,1754761051.649 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-09T17:37:31.685Z,1754761051.685 [DAT](INFO): direction in FSK: [0.935934,0.287931,0.202787]
2025-08-09T17:37:31.686Z,1754761051.686 [DAT](INFO): publishing transmit ping time
2025-08-09T17:37:31.698Z,1754761051.698 [DAT](INFO): publishing direction and range info
2025-08-09T17:37:31.701Z,1754761051.701 [DAT](INFO): publishing transmit ping time
2025-08-09T17:37:31.702Z,1754761051.702 [DAT](INFO): publishing direction and range info
2025-08-09T17:37:31.950Z,1754761051.950 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 126.300003 m,
      deltaT: 3.780286 s,
      deltaX: -2.199997 m,
      approachRate: -0.581966 m/s,
      rangeRepo size: 4

2025-08-09T17:37:31.952Z,1754761051.952 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 126.300003 m,
      bearing: 145.557851 deg,
      lat: 36.906079 deg,
      lon: -122.115996 deg,
      deltaT: 3.780286 s,
      deltaX: -2.199997 m,
      approachRate: -0.581966 m/s,
      posRepo size: 4

2025-08-09T17:37:31.953Z,1754761051.953 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 126.30 m.
2025-08-09T17:37:31.956Z,1754761051.956 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 126.300003 m,
      nav range: 123.228874 m,
      bearing: 145.557851 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.123259 deg/s,
      cmd heading: 128.487606 deg,
      new cmd heading: 128.653639 deg.

2025-08-09T17:37:32.301Z,1754761052.301 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 126.30 m.
2025-08-09T17:37:32.304Z,1754761052.304 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 126.300003 m,
      nav range: 123.002472 m,
      bearing: 145.596757 deg,
      approach rate: -0.643106 m/s,
      LOS rate: 0.110718 deg/s,
      cmd heading: 128.653634 deg,
      new cmd heading: 128.770568 deg.

2025-08-09T17:37:32.773Z,1754761052.773 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 126.30 m.
2025-08-09T17:37:32.776Z,1754761052.776 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 126.300003 m,
      nav range: 122.710426 m,
      bearing: 145.643731 deg,
      approach rate: -0.619382 m/s,
      LOS rate: 0.099861 deg/s,
      cmd heading: 128.770567 deg,
      new cmd heading: 128.911824 deg.

2025-08-09T17:37:33.108Z,1754761053.108 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-09T17:37:33.111Z,1754761053.111 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 126.30 m.
2025-08-09T17:37:33.113Z,1754761053.113 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 126.300003 m,
      nav range: 122.501320 m,
      bearing: 145.677126 deg,
      approach rate: -0.619613 m/s,
      LOS rate: 0.099123 deg/s,
      cmd heading: 128.911829 deg,
      new cmd heading: 129.012185 deg.

2025-08-09T17:37:33.123Z,1754761053.123 [DAT](INFO): ****** received valid address query ******
2025-08-09T17:37:33.123Z,1754761053.123 [DAT](INFO): ****** received valid ping request ******
2025-08-09T17:37:33.123Z,1754761053.123 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-09T17:37:33.376Z,1754761053.376 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.728402
2025-08-09T17:37:33.515Z,1754761053.515 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 126.30 m.
2025-08-09T17:37:33.517Z,1754761053.517 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 126.300003 m,
      nav range: 122.250763 m,
      bearing: 145.716955 deg,
      approach rate: -0.620263 m/s,
      LOS rate: 0.098800 deg/s,
      cmd heading: 129.012178 deg,
      new cmd heading: 129.131910 deg.

2025-08-09T17:37:33.628Z,1754761053.628 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.980523
2025-08-09T17:37:33.879Z,1754761053.879 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.232093
2025-08-09T17:37:33.947Z,1754761053.947 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 126.30 m.
2025-08-09T17:37:33.949Z,1754761053.949 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 126.300003 m,
      nav range: 121.974274 m,
      bearing: 145.755900 deg,
      approach rate: -0.640379 m/s,
      LOS rate: 0.090406 deg/s,
      cmd heading: 129.131912 deg,
      new cmd heading: 129.249012 deg.

2025-08-09T17:37:34.132Z,1754761054.132 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.484293
2025-08-09T17:37:34.322Z,1754761054.322 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 126.30 m.
2025-08-09T17:37:34.325Z,1754761054.325 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 126.300003 m,
      nav range: 121.733780 m,
      bearing: 145.789634 deg,
      approach rate: -0.640178 m/s,
      LOS rate: 0.089975 deg/s,
      cmd heading: 129.249008 deg,
      new cmd heading: 129.350410 deg.

2025-08-09T17:37:34.384Z,1754761054.384 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.736935
2025-08-09T17:37:34.635Z,1754761054.635 [DAT](INFO): DAT read: Rx Time:17:37:33.6036

2025-08-09T17:37:34.636Z,1754761054.636 [DAT](INFO): Rx dataTimestamp_ set to:1754761054.635443
2025-08-09T17:37:34.636Z,1754761054.636 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.989073
2025-08-09T17:37:34.816Z,1754761054.816 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 126.30 m.
2025-08-09T17:37:34.823Z,1754761054.823 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 126.300003 m,
      nav range: 121.431793 m,
      bearing: 145.827954 deg,
      approach rate: -0.611206 m/s,
      LOS rate: 0.077750 deg/s,
      cmd heading: 129.350409 deg,
      new cmd heading: 129.465655 deg.

2025-08-09T17:37:34.890Z,1754761054.890 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.242852
2025-08-09T17:37:35.161Z,1754761055.161 [DAT](INFO): DAT read: 17:37:33.6036 LVL= 27616, 32753, 30002, 32755, AGC= 66, IDX= 408, 0.41,-0.125,-1.983,-0.490,-0.535, PHS= 0.511,-1.403, 0.001, RAW= 135.1,  10.4, CAL= 134.7,  11.5, ROT=  15.3, -11.5

2025-08-09T17:37:35.162Z,1754761055.162 [DAT](INFO): got valid direction response:
 17:37:33.6036 LVL= 27616, 32753, 30002, 32755, AGC= 66, IDX= 408, 0.41,-0.125,-1.983,-0.490,-0.535, PHS= 0.511,-1.403, 0.001, RAW= 135.1,  10.4, CAL= 134.7,  11.5, ROT=  15.3, -11.5

2025-08-09T17:37:35.163Z,1754761055.163 [DAT](INFO): DAT read: Bearing 300.2,  16.4 (Local)

2025-08-09T17:37:35.163Z,1754761055.163 [DAT](INFO): Local bearing/azimuth received:
 Bearing 300.2,  16.4 (Local)

2025-08-09T17:37:35.164Z,1754761055.164 [DAT](INFO): DAT read: Range 11 to 50 : 123.9 m  (Round-trip  165.2 ms) speed  0.6 m/s

2025-08-09T17:37:35.165Z,1754761055.165 [DAT](INFO): DAT read: user:633>

2025-08-09T17:37:35.165Z,1754761055.165 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-09T17:37:35.180Z,1754761055.180 [DAT](INFO): direction in FSK: [0.945194,0.258576,0.199368]
2025-08-09T17:37:35.180Z,1754761055.180 [DAT](INFO): publishing direction and range info
2025-08-09T17:37:35.187Z,1754761055.187 [DAT](INFO): ****** received valid address query ******
2025-08-09T17:37:35.187Z,1754761055.187 [DAT](INFO): ****** received valid ping request ******
2025-08-09T17:37:35.187Z,1754761055.187 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-09T17:37:35.291Z,1754761055.291 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 123.900002 m,
      deltaT: 3.532628 s,
      deltaX: -2.400002 m,
      approachRate: -0.679381 m/s,
      rangeRepo size: 4

2025-08-09T17:37:35.293Z,1754761055.293 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 123.900002 m,
      bearing: 145.735882 deg,
      lat: 36.906081 deg,
      lon: -122.115994 deg,
      deltaT: 3.532628 s,
      deltaX: -2.400002 m,
      approachRate: -0.679381 m/s,
      posRepo size: 4

2025-08-09T17:37:35.294Z,1754761055.294 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 123.90 m.
2025-08-09T17:37:35.300Z,1754761055.300 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 123.900002 m,
      nav range: 121.100662 m,
      bearing: 145.735882 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.077750 deg/s,
      cmd heading: 129.465648 deg,
      new cmd heading: 129.573397 deg.

2025-08-09T17:37:35.396Z,1754761055.396 [DAT](INFO): DAT read: Tx time:17:37:34.7342

2025-08-09T17:37:35.396Z,1754761055.396 [DAT](INFO): Ping request sent.
2025-08-09T17:37:35.397Z,1754761055.397 [DAT](INFO): transmitted an acoustic signal
2025-08-09T17:37:35.397Z,1754761055.397 [DAT](INFO): publishing transmit ping time
2025-08-09T17:37:35.398Z,1754761055.398 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.001103
2025-08-09T17:37:35.618Z,1754761055.618 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-09T17:37:35.620Z,1754761055.620 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 123.90 m.
2025-08-09T17:37:35.623Z,1754761055.623 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 123.900002 m,
      nav range: 120.840012 m,
      bearing: 145.768518 deg,
      approach rate: -0.760697 m/s,
      LOS rate: 0.095453 deg/s,
      cmd heading: 129.573401 deg,
      new cmd heading: 129.671521 deg.

2025-08-09T17:37:35.647Z,1754761055.647 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250795
2025-08-09T17:37:35.899Z,1754761055.899 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502846
2025-08-09T17:37:36.043Z,1754761056.043 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 123.90 m.
2025-08-09T17:37:36.046Z,1754761056.046 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 123.900002 m,
      nav range: 120.568451 m,
      bearing: 145.799482 deg,
      approach rate: -0.642060 m/s,
      LOS rate: 0.073373 deg/s,
      cmd heading: 129.671524 deg,
      new cmd heading: 129.764624 deg.

2025-08-09T17:37:36.151Z,1754761056.151 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754814
2025-08-09T17:37:36.404Z,1754761056.404 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.007137
2025-08-09T17:37:36.432Z,1754761056.432 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 123.90 m.
2025-08-09T17:37:36.434Z,1754761056.434 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 123.900002 m,
      nav range: 120.320053 m,
      bearing: 145.827813 deg,
      approach rate: -0.639928 m/s,
      LOS rate: 0.073138 deg/s,
      cmd heading: 129.764619 deg,
      new cmd heading: 129.849788 deg.

2025-08-09T17:37:36.655Z,1754761056.655 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258922
2025-08-09T17:37:36.892Z,1754761056.892 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 123.90 m.
2025-08-09T17:37:36.899Z,1754761056.899 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 123.900002 m,
      nav range: 120.026558 m,
      bearing: 145.859995 deg,
      approach rate: -0.637700 m/s,
      LOS rate: 0.070094 deg/s,
      cmd heading: 129.849792 deg,
      new cmd heading: 129.946572 deg.

2025-08-09T17:37:36.907Z,1754761056.907 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510997
2025-08-09T17:37:37.159Z,1754761057.159 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762835
2025-08-09T17:37:37.271Z,1754761057.271 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 123.90 m.
2025-08-09T17:37:37.274Z,1754761057.274 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 123.900002 m,
      nav range: 119.774300 m,
      bearing: 145.887680 deg,
      approach rate: -0.665240 m/s,
      LOS rate: 0.073164 deg/s,
      cmd heading: 129.946576 deg,
      new cmd heading: 130.029807 deg.

2025-08-09T17:37:37.414Z,1754761057.414 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.017525
2025-08-09T17:37:37.633Z,1754761057.633 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-09T17:37:37.635Z,1754761057.635 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 123.90 m.
2025-08-09T17:37:37.638Z,1754761057.638 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 123.900002 m,
      nav range: 119.527130 m,
      bearing: 145.914791 deg,
      approach rate: -0.679067 m/s,
      LOS rate: 0.074637 deg/s,
      cmd heading: 130.029808 deg,
      new cmd heading: 130.111309 deg.

2025-08-09T17:37:37.663Z,1754761057.663 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266775
2025-08-09T17:37:37.915Z,1754761057.915 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518768
2025-08-09T17:37:38.059Z,1754761058.059 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 123.90 m.
2025-08-09T17:37:38.062Z,1754761058.062 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 123.900002 m,
      nav range: 119.255684 m,
      bearing: 145.946041 deg,
      approach rate: -0.641003 m/s,
      LOS rate: 0.073963 deg/s,
      cmd heading: 130.111306 deg,
      new cmd heading: 130.205270 deg.

2025-08-09T17:37:38.168Z,1754761058.168 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.771140
2025-08-09T17:37:38.420Z,1754761058.420 [DAT](INFO): DAT read: Rx Time:17:37:37.3003

2025-08-09T17:37:38.420Z,1754761058.420 [DAT](INFO): Rx dataTimestamp_ set to:1754761058.419698
2025-08-09T17:37:38.421Z,1754761058.421 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.024073
2025-08-09T17:37:38.445Z,1754761058.445 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 123.90 m.
2025-08-09T17:37:38.468Z,1754761058.468 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 123.900002 m,
      nav range: 119.008499 m,
      bearing: 145.974450 deg,
      approach rate: -0.640053 m/s,
      LOS rate: 0.073715 deg/s,
      cmd heading: 130.205276 deg,
      new cmd heading: 130.290681 deg.

2025-08-09T17:37:38.672Z,1754761058.672 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.275554
2025-08-09T17:37:38.930Z,1754761058.930 [DAT](INFO): DAT read: 17:37:37.3003 LVL= 32752, 32753, 32754, 32755, AGC= 71, IDX= 407, 0.07, 0.867,-1.022, 0.484, 0.481, PHS= 0.488,-1.457,-0.041, RAW= 134.8,  11.6, CAL= 134.2,  12.7, ROT=  15.8, -12.7

2025-08-09T17:37:38.931Z,1754761058.931 [DAT](INFO): got valid direction response:
 17:37:37.3003 LVL= 32752, 32753, 32754, 32755, AGC= 71, IDX= 407, 0.07, 0.867,-1.022, 0.484, 0.481, PHS= 0.488,-1.457,-0.041, RAW= 134.8,  11.6, CAL= 134.2,  12.7, ROT=  15.8, -12.7

2025-08-09T17:37:38.932Z,1754761058.932 [DAT](INFO): DAT read: Bearing 302.8,  15.8 (Local)

2025-08-09T17:37:38.932Z,1754761058.932 [DAT](INFO): Local bearing/azimuth received:
 Bearing 302.8,  15.8 (Local)

2025-08-09T17:37:38.934Z,1754761058.934 [DAT](INFO): DAT read: Range 11 to 50 : 121.5 m  (Round-trip  162.0 ms) speed  0.5 m/s

2025-08-09T17:37:38.951Z,1754761058.951 [DAT](INFO): DAT read: user:634>

2025-08-09T17:37:38.951Z,1754761058.951 [DAT](INFO): DAT read: Tx time:17:37:38.3842

2025-08-09T17:37:38.952Z,1754761058.952 [DAT](INFO): Ping request sent.
2025-08-09T17:37:38.952Z,1754761058.952 [DAT](INFO): transmitted an acoustic signal
2025-08-09T17:37:38.952Z,1754761058.952 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-09T17:37:38.953Z,1754761058.953 [DAT](INFO): direction in FSK: [0.938677,0.265619,0.219846]
2025-08-09T17:37:38.953Z,1754761058.953 [DAT](INFO): publishing transmit ping time
2025-08-09T17:37:38.953Z,1754761058.953 [DAT](INFO): publishing direction and range info
2025-08-09T17:37:38.961Z,1754761058.961 [DAT](INFO): publishing transmit ping time
2025-08-09T17:37:38.961Z,1754761058.961 [DAT](INFO): publishing direction and range info
2025-08-09T17:37:38.972Z,1754761058.972 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 121.500000 m,
      deltaT: 3.779126 s,
      deltaX: -2.400002 m,
      approachRate: -0.635068 m/s,
      rangeRepo size: 4

2025-08-09T17:37:38.974Z,1754761058.974 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 121.500000 m,
      bearing: 146.030403 deg,
      lat: 36.906080 deg,
      lon: -122.115994 deg,
      deltaT: 3.779126 s,
      deltaX: -2.400002 m,
      approachRate: -0.635068 m/s,
      posRepo size: 4

2025-08-09T17:37:38.999Z,1754761058.999 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 121.50 m.
2025-08-09T17:37:39.001Z,1754761059.001 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 121.500000 m,
      nav range: 118.771408 m,
      bearing: 146.030403 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.073715 deg/s,
      cmd heading: 130.290681 deg,
      new cmd heading: 130.407112 deg.

2025-08-09T17:37:39.354Z,1754761059.354 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 121.50 m.
2025-08-09T17:37:39.356Z,1754761059.356 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 121.500000 m,
      nav range: 118.509109 m,
      bearing: 146.060778 deg,
      approach rate: -0.686047 m/s,
      LOS rate: 0.079624 deg/s,
      cmd heading: 130.407108 deg,
      new cmd heading: 130.498436 deg.

2025-08-09T17:37:39.822Z,1754761059.822 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-09T17:37:39.828Z,1754761059.828 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 121.50 m.
2025-08-09T17:37:39.835Z,1754761059.835 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 121.500000 m,
      nav range: 118.235748 m,
      bearing: 146.092547 deg,
      approach rate: -0.576066 m/s,
      LOS rate: 0.067103 deg/s,
      cmd heading: 130.498441 deg,
      new cmd heading: 130.593968 deg.

2025-08-09T17:37:39.932Z,1754761059.932 [DAT](INFO): ****** received valid address query ******
2025-08-09T17:37:39.932Z,1754761059.932 [DAT](INFO): ****** received valid ping request ******
2025-08-09T17:37:39.933Z,1754761059.933 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-09T17:37:40.183Z,1754761060.183 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.231483
2025-08-09T17:37:40.237Z,1754761060.237 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 121.50 m.
2025-08-09T17:37:40.256Z,1754761060.256 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 121.500000 m,
      nav range: 117.961021 m,
      bearing: 146.123828 deg,
      approach rate: -0.671559 m/s,
      LOS rate: 0.076644 deg/s,
      cmd heading: 130.593968 deg,
      new cmd heading: 130.688030 deg.

2025-08-09T17:37:40.435Z,1754761060.435 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.483622
2025-08-09T17:37:40.584Z,1754761060.584 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 121.50 m.
2025-08-09T17:37:40.587Z,1754761060.587 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 121.500000 m,
      nav range: 117.720932 m,
      bearing: 146.151156 deg,
      approach rate: -0.691811 m/s,
      LOS rate: 0.078903 deg/s,
      cmd heading: 130.688034 deg,
      new cmd heading: 130.770183 deg.

2025-08-09T17:37:40.687Z,1754761060.687 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.735469
2025-08-09T17:37:40.940Z,1754761060.940 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.988028
2025-08-09T17:37:41.107Z,1754761061.107 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 121.50 m.
2025-08-09T17:37:41.110Z,1754761061.110 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 121.500000 m,
      nav range: 117.391052 m,
      bearing: 146.191384 deg,
      approach rate: -0.630658 m/s,
      LOS rate: 0.077125 deg/s,
      cmd heading: 130.770187 deg,
      new cmd heading: 130.891212 deg.

2025-08-09T17:37:41.192Z,1754761061.192 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.240428
2025-08-09T17:37:41.443Z,1754761061.443 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.491541
2025-08-09T17:37:41.471Z,1754761061.471 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 121.50 m.
2025-08-09T17:37:41.473Z,1754761061.473 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 121.500000 m,
      nav range: 117.153107 m,
      bearing: 146.220450 deg,
      approach rate: -0.654617 m/s,
      LOS rate: 0.080126 deg/s,
      cmd heading: 130.891218 deg,
      new cmd heading: 130.978593 deg.

2025-08-09T17:37:41.697Z,1754761061.697 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.744679
2025-08-09T17:37:41.936Z,1754761061.936 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-09T17:37:41.939Z,1754761061.939 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 121.50 m.
2025-08-09T17:37:41.942Z,1754761061.942 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 121.500000 m,
      nav range: 116.846672 m,
      bearing: 146.260599 deg,
      approach rate: -0.655234 m/s,
      LOS rate: 0.086074 deg/s,
      cmd heading: 130.978590 deg,
      new cmd heading: 131.099352 deg.

2025-08-09T17:37:41.947Z,1754761061.947 [DAT](INFO): DAT read: Rx Time:17:37:40.9472

2025-08-09T17:37:41.948Z,1754761061.948 [DAT](INFO): Rx dataTimestamp_ set to:1754761061.947651
2025-08-09T17:37:41.948Z,1754761061.948 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.996730
2025-08-09T17:37:42.204Z,1754761062.204 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.251867
2025-08-09T17:37:42.309Z,1754761062.309 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 121.50 m.
2025-08-09T17:37:42.312Z,1754761062.312 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 121.500000 m,
      nav range: 116.599045 m,
      bearing: 146.293009 deg,
      approach rate: -0.668452 m/s,
      LOS rate: 0.087672 deg/s,
      cmd heading: 131.099348 deg,
      new cmd heading: 131.196781 deg.

2025-08-09T17:37:42.454Z,1754761062.454 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.501767
2025-08-09T17:37:42.713Z,1754761062.713 [DAT](INFO): DAT read: 17:37:40.9472 LVL= 26720, 32753, 32594, 32755, AGC= 67, IDX= 407,-0.23,-0.299,-2.212,-0.664,-0.670, PHS= 0.473,-1.497,-0.038, RAW= 135.5,  12.0, CAL= 134.9,  13.0, ROT=  15.1, -13.0

2025-08-09T17:37:42.715Z,1754761062.715 [DAT](INFO): got valid direction response:
 17:37:40.9472 LVL= 26720, 32753, 32594, 32755, AGC= 67, IDX= 407,-0.23,-0.299,-2.212,-0.664,-0.670, PHS= 0.473,-1.497,-0.038, RAW= 135.5,  12.0, CAL= 134.9,  13.0, ROT=  15.1, -13.0

2025-08-09T17:37:42.716Z,1754761062.716 [DAT](INFO): DAT read: Bearing 303.7,  14.8 (Local)

2025-08-09T17:37:42.717Z,1754761062.717 [DAT](INFO): Local bearing/azimuth received:
 Bearing 303.7,  14.8 (Local)

2025-08-09T17:37:42.727Z,1754761062.727 [DAT](INFO): DAT read: Range 11 to 50 : 119.1 m  (Round-trip  158.8 ms) speed  0.6 m/s

2025-08-09T17:37:42.728Z,1754761062.728 [DAT](INFO): DAT read: user:635>

2025-08-09T17:37:42.729Z,1754761062.729 [DAT](INFO): DAT read: Tx time:17:37:42.0342

2025-08-09T17:37:42.729Z,1754761062.729 [DAT](INFO): Ping request sent.
2025-08-09T17:37:42.729Z,1754761062.729 [DAT](INFO): transmitted an acoustic signal
2025-08-09T17:37:42.729Z,1754761062.729 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-09T17:37:42.730Z,1754761062.730 [DAT](INFO): direction in FSK: [0.940728,0.253828,0.224951]
2025-08-09T17:37:42.731Z,1754761062.731 [DAT](INFO): publishing transmit ping time
2025-08-09T17:37:42.731Z,1754761062.731 [DAT](INFO): publishing direction and range info
2025-08-09T17:37:42.734Z,1754761062.734 [DAT](INFO): publishing transmit ping time
2025-08-09T17:37:42.734Z,1754761062.734 [DAT](INFO): publishing direction and range info
2025-08-09T17:37:42.775Z,1754761062.775 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 119.099998 m,
      deltaT: 3.779908 s,
      deltaX: -2.400002 m,
      approachRate: -0.634937 m/s,
      rangeRepo size: 4

2025-08-09T17:37:42.777Z,1754761062.777 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 119.099998 m,
      bearing: 146.290873 deg,
      lat: 36.906080 deg,
      lon: -122.115993 deg,
      deltaT: 3.779908 s,
      deltaX: -2.400002 m,
      approachRate: -0.634937 m/s,
      posRepo size: 4

2025-08-09T17:37:42.778Z,1754761062.778 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 119.10 m.
2025-08-09T17:37:42.787Z,1754761062.787 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 119.099998 m,
      nav range: 116.361961 m,
      bearing: 146.290873 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.087672 deg/s,
      cmd heading: 131.196787 deg,
      new cmd heading: 131.318017 deg.

2025-08-09T17:37:43.146Z,1754761063.146 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 119.10 m.
2025-08-09T17:37:43.149Z,1754761063.149 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 119.099998 m,
      nav range: 116.099190 m,
      bearing: 146.326367 deg,
      approach rate: -0.698835 m/s,
      LOS rate: 0.094610 deg/s,
      cmd heading: 131.318023 deg,
      new cmd heading: 131.424746 deg.

2025-08-09T17:37:43.527Z,1754761063.527 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 119.10 m.
2025-08-09T17:37:43.530Z,1754761063.530 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 119.099998 m,
      nav range: 115.846138 m,
      bearing: 146.360458 deg,
      approach rate: -0.663866 m/s,
      LOS rate: 0.089630 deg/s,
      cmd heading: 131.424751 deg,
      new cmd heading: 131.527247 deg.

2025-08-09T17:37:43.972Z,1754761063.972 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-09T17:37:43.974Z,1754761063.974 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 119.10 m.
2025-08-09T17:37:43.981Z,1754761063.981 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 119.099998 m,
      nav range: 115.569565 m,
      bearing: 146.399379 deg,
      approach rate: -0.619146 m/s,
      LOS rate: 0.087339 deg/s,
      cmd heading: 131.527245 deg,
      new cmd heading: 131.644288 deg.

2025-08-09T17:37:44.218Z,1754761064.218 [DAT](INFO): ****** received valid address query ******
2025-08-09T17:37:44.219Z,1754761064.219 [DAT](INFO): ****** received valid ping request ******
2025-08-09T17:37:44.220Z,1754761064.220 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-09T17:37:44.347Z,1754761064.347 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 119.10 m.
2025-08-09T17:37:44.350Z,1754761064.350 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 119.099998 m,
      nav range: 115.313255 m,
      bearing: 146.435390 deg,
      approach rate: -0.686366 m/s,
      LOS rate: 0.096646 deg/s,
      cmd heading: 131.644287 deg,
      new cmd heading: 131.752559 deg.

2025-08-09T17:37:44.467Z,1754761064.467 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.738274
2025-08-09T17:37:44.720Z,1754761064.720 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.990996
2025-08-09T17:37:44.746Z,1754761064.746 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 119.10 m.
2025-08-09T17:37:44.765Z,1754761064.765 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 119.099998 m,
      nav range: 115.053352 m,
      bearing: 146.471781 deg,
      approach rate: -0.651966 m/s,
      LOS rate: 0.091494 deg/s,
      cmd heading: 131.752560 deg,
      new cmd heading: 131.861980 deg.

2025-08-09T17:37:44.971Z,1754761064.971 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.242476
2025-08-09T17:37:45.167Z,1754761065.167 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 119.10 m.
2025-08-09T17:37:45.170Z,1754761065.170 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 119.099998 m,
      nav range: 114.776276 m,
      bearing: 146.511110 deg,
      approach rate: -0.657449 m/s,
      LOS rate: 0.093545 deg/s,
      cmd heading: 131.861979 deg,
      new cmd heading: 131.980251 deg.

2025-08-09T17:37:45.223Z,1754761065.223 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.494466
2025-08-09T17:37:45.475Z,1754761065.475 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.746374
2025-08-09T17:37:45.555Z,1754761065.555 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 119.10 m.
2025-08-09T17:37:45.557Z,1754761065.557 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 119.099998 m,
      nav range: 114.521133 m,
      bearing: 146.547232 deg,
      approach rate: -0.658884 m/s,
      LOS rate: 0.093490 deg/s,
      cmd heading: 131.980251 deg,
      new cmd heading: 132.088859 deg.

2025-08-09T17:37:45.727Z,1754761065.727 [DAT](INFO): DAT read: Rx Time:17:37:44.5939

2025-08-09T17:37:45.728Z,1754761065.728 [DAT](INFO): Rx dataTimestamp_ set to:1754761065.727617
2025-08-09T17:37:45.728Z,1754761065.728 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.999545
2025-08-09T17:37:45.973Z,1754761065.973 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-09T17:37:45.975Z,1754761065.975 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 119.10 m.
2025-08-09T17:37:45.978Z,1754761065.978 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 119.099998 m,
      nav range: 114.240936 m,
      bearing: 146.589831 deg,
      approach rate: -0.666129 m/s,
      LOS rate: 0.101522 deg/s,
      cmd heading: 132.088864 deg,
      new cmd heading: 132.216976 deg.

2025-08-09T17:37:45.979Z,1754761065.979 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.250454
2025-08-09T17:37:46.237Z,1754761066.237 [DAT](INFO): DAT read: 17:37:44.5939 LVL= 26672, 32753, 31394, 32755, AGC= 68, IDX= 405,-0.17,-2.138, 2.237,-2.463,-2.477, PHS= 0.441,-1.524,-0.030, RAW= 136.7,  12.5, CAL= 136.1,  13.6, ROT=  13.9, -13.6

2025-08-09T17:37:46.238Z,1754761066.238 [DAT](INFO): got valid direction response:
 17:37:44.5939 LVL= 26672, 32753, 31394, 32755, AGC= 68, IDX= 405,-0.17,-2.138, 2.237,-2.463,-2.477, PHS= 0.441,-1.524,-0.030, RAW= 136.7,  12.5, CAL= 136.1,  13.6, ROT=  13.9, -13.6

2025-08-09T17:37:46.239Z,1754761066.239 [DAT](INFO): DAT read: Bearing 305.0,  12.6 (Local)

2025-08-09T17:37:46.240Z,1754761066.240 [DAT](INFO): Local bearing/azimuth received:
 Bearing 305.0,  12.6 (Local)

2025-08-09T17:37:46.241Z,1754761066.241 [DAT](INFO): DAT read: Range 11 to 50 : 116.6 m  (Round-trip  155.5 ms) speed  0.5 m/s

2025-08-09T17:37:46.242Z,1754761066.242 [DAT](INFO): DAT read: user:636>

2025-08-09T17:37:46.243Z,1754761066.243 [DAT](INFO): DAT read: Tx time:17:37:45.6842

2025-08-09T17:37:46.243Z,1754761066.243 [DAT](INFO): Ping request sent.
2025-08-09T17:37:46.243Z,1754761066.243 [DAT](INFO): transmitted an acoustic signal
2025-08-09T17:37:46.243Z,1754761066.243 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-09T17:37:46.244Z,1754761066.244 [DAT](INFO): direction in FSK: [0.943499,0.233492,0.235142]
2025-08-09T17:37:46.245Z,1754761066.245 [DAT](INFO): publishing transmit ping time
2025-08-09T17:37:46.245Z,1754761066.245 [DAT](INFO): publishing direction and range info
2025-08-09T17:37:46.248Z,1754761066.248 [DAT](INFO): publishing transmit ping time
2025-08-09T17:37:46.248Z,1754761066.248 [DAT](INFO): publishing direction and range info
2025-08-09T17:37:46.397Z,1754761066.397 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 116.599998 m,
      deltaT: 3.527785 s,
      deltaX: -2.500000 m,
      approachRate: -0.708660 m/s,
      rangeRepo size: 4

2025-08-09T17:37:46.408Z,1754761066.408 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 116.599998 m,
      bearing: 146.270723 deg,
      lat: 36.906084 deg,
      lon: -122.115986 deg,
      deltaT: 3.527785 s,
      deltaX: -2.500000 m,
      approachRate: -0.708660 m/s,
      posRepo size: 4

2025-08-09T17:37:46.408Z,1754761066.408 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 116.60 m.
2025-08-09T17:37:46.415Z,1754761066.415 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 116.599998 m,
      nav range: 113.981255 m,
      bearing: 146.270723 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.101522 deg/s,
      cmd heading: 132.216971 deg,
      new cmd heading: 132.345375 deg.

2025-08-09T17:37:46.760Z,1754761066.760 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 116.60 m.
2025-08-09T17:37:46.783Z,1754761066.783 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 116.599998 m,
      nav range: 113.720070 m,
      bearing: 146.309481 deg,
      approach rate: -0.718197 m/s,
      LOS rate: 0.106820 deg/s,
      cmd heading: 132.345379 deg,
      new cmd heading: 132.461920 deg.

2025-08-09T17:37:47.190Z,1754761067.190 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 116.60 m.
2025-08-09T17:37:47.215Z,1754761067.215 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 116.599998 m,
      nav range: 113.447960 m,
      bearing: 146.353884 deg,
      approach rate: -0.634345 m/s,
      LOS rate: 0.103762 deg/s,
      cmd heading: 132.461916 deg,
      new cmd heading: 132.595446 deg.

2025-08-09T17:37:47.583Z,1754761067.583 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 116.60 m.
2025-08-09T17:37:47.585Z,1754761067.585 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 116.599998 m,
      nav range: 113.192329 m,
      bearing: 146.395804 deg,
      approach rate: -0.649691 m/s,
      LOS rate: 0.106779 deg/s,
      cmd heading: 132.595446 deg,
      new cmd heading: 132.721488 deg.

2025-08-09T17:37:48.003Z,1754761068.003 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-09T17:37:48.005Z,1754761068.005 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 116.60 m.
2025-08-09T17:37:48.008Z,1754761068.008 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 116.599998 m,
      nav range: 112.920219 m,
      bearing: 146.442150 deg,
      approach rate: -0.644448 m/s,
      LOS rate: 0.110030 deg/s,
      cmd heading: 132.721490 deg,
      new cmd heading: 132.860866 deg.

2025-08-09T17:37:48.247Z,1754761068.247 [DAT](INFO): ****** received valid address query ******
2025-08-09T17:37:48.248Z,1754761068.248 [DAT](INFO): ****** received valid ping request ******
2025-08-09T17:37:48.248Z,1754761068.248 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-09T17:37:48.382Z,1754761068.382 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 116.60 m.
2025-08-09T17:37:48.385Z,1754761068.385 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 116.599998 m,
      nav range: 112.676666 m,
      bearing: 146.483666 deg,
      approach rate: -0.646498 m/s,
      LOS rate: 0.110440 deg/s,
      cmd heading: 132.860867 deg,
      new cmd heading: 132.985684 deg.

2025-08-09T17:37:48.500Z,1754761068.500 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.256419
2025-08-09T17:37:48.751Z,1754761068.751 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.508113
2025-08-09T17:37:48.780Z,1754761068.780 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 116.60 m.
2025-08-09T17:37:48.783Z,1754761068.783 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 116.599998 m,
      nav range: 112.419670 m,
      bearing: 146.527534 deg,
      approach rate: -0.645528 m/s,
      LOS rate: 0.110439 deg/s,
      cmd heading: 132.985682 deg,
      new cmd heading: 133.117585 deg.

2025-08-09T17:37:49.004Z,1754761069.004 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.760817
2025-08-09T17:37:49.255Z,1754761069.255 [DAT](INFO): DAT read: Rx Time:17:37:48.2406

2025-08-09T17:37:49.256Z,1754761069.256 [DAT](INFO): Rx dataTimestamp_ set to:1754761069.255578
2025-08-09T17:37:49.256Z,1754761069.256 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.013243
2025-08-09T17:37:49.340Z,1754761069.340 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 116.60 m.
2025-08-09T17:37:49.351Z,1754761069.351 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 116.599998 m,
      nav range: 112.077911 m,
      bearing: 146.587807 deg,
      approach rate: -0.609838 m/s,
      LOS rate: 0.107880 deg/s,
      cmd heading: 133.117587 deg,
      new cmd heading: 133.298957 deg.

2025-08-09T17:37:49.507Z,1754761069.507 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.264082
2025-08-09T17:37:49.727Z,1754761069.727 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 116.60 m.
2025-08-09T17:37:49.729Z,1754761069.729 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 116.599998 m,
      nav range: 111.829636 m,
      bearing: 146.631839 deg,
      approach rate: -0.642339 m/s,
      LOS rate: 0.114171 deg/s,
      cmd heading: 133.298955 deg,
      new cmd heading: 133.431343 deg.

2025-08-09T17:37:49.775Z,1754761069.775 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.530846
2025-08-09T17:37:50.029Z,1754761070.029 [DAT](INFO): DAT read: 17:37:48.2406 LVL= 32240, 32753, 32754, 32755, AGC= 69, IDX= 403, 0.02,-2.615, 1.794,-2.934,-2.957, PHS= 0.444,-1.487,-0.021, RAW= 136.7,  12.2, CAL= 136.1,  13.2, ROT=  13.9, -13.2

2025-08-09T17:37:50.030Z,1754761070.030 [DAT](INFO): got valid direction response:
 17:37:48.2406 LVL= 32240, 32753, 32754, 32755, AGC= 69, IDX= 403, 0.02,-2.615, 1.794,-2.934,-2.957, PHS= 0.444,-1.487,-0.021, RAW= 136.7,  12.2, CAL= 136.1,  13.2, ROT=  13.9, -13.2

2025-08-09T17:37:50.031Z,1754761070.031 [DAT](INFO): DAT read: Bearing 305.1,  11.7 (Local)

2025-08-09T17:37:50.031Z,1754761070.031 [DAT](INFO): Local bearing/azimuth received:
 Bearing 305.1,  11.7 (Local)

2025-08-09T17:37:50.033Z,1754761070.033 [DAT](INFO): DAT read: Range 11 to 50 : 114.1 m  (Round-trip  152.2 ms) speed  0.6 m/s

2025-08-09T17:37:50.033Z,1754761070.033 [DAT](INFO): DAT read: user:637>

2025-08-09T17:37:50.034Z,1754761070.034 [DAT](INFO): DAT read: Tx time:17:37:49.3342

2025-08-09T17:37:50.034Z,1754761070.034 [DAT](INFO): Ping request sent.
2025-08-09T17:37:50.035Z,1754761070.035 [DAT](INFO): transmitted an acoustic signal
2025-08-09T17:37:50.035Z,1754761070.035 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-09T17:37:50.036Z,1754761070.036 [DAT](INFO): direction in FSK: [0.945069,0.233881,0.228351]
2025-08-09T17:37:50.036Z,1754761070.036 [DAT](INFO): publishing transmit ping time
2025-08-09T17:37:50.036Z,1754761070.036 [DAT](INFO): publishing direction and range info
2025-08-09T17:37:50.039Z,1754761070.039 [DAT](INFO): publishing transmit ping time
2025-08-09T17:37:50.040Z,1754761070.040 [DAT](INFO): publishing direction and range info
2025-08-09T17:37:50.286Z,1754761070.286 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 114.099998 m,
      deltaT: 3.792032 s,
      deltaX: -2.500000 m,
      approachRate: -0.659277 m/s,
      rangeRepo size: 4

2025-08-09T17:37:50.289Z,1754761070.289 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 114.099998 m,
      bearing: 146.737675 deg,
      lat: 36.906083 deg,
      lon: -122.115986 deg,
      deltaT: 3.792032 s,
      deltaX: -2.500000 m,
      approachRate: -0.659277 m/s,
      posRepo size: 4

2025-08-09T17:37:50.289Z,1754761070.289 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 114.10 m.
2025-08-09T17:37:50.292Z,1754761070.292 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 114.099998 m,
      nav range: 111.627739 m,
      bearing: 146.737675 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.114171 deg/s,
      cmd heading: 133.431338 deg,
      new cmd heading: 133.622544 deg.

2025-08-09T17:37:50.653Z,1754761070.653 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-09T17:37:50.655Z,1754761070.655 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 114.10 m.
2025-08-09T17:37:50.657Z,1754761070.657 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 114.099998 m,
      nav range: 111.399971 m,
      bearing: 146.778870 deg,
      approach rate: -0.616445 m/s,
      LOS rate: 0.111722 deg/s,
      cmd heading: 133.622542 deg,
      new cmd heading: 133.746381 deg.

2025-08-09T17:37:50.779Z,1754761070.779 [DAT](INFO): ****** received valid address query ******
2025-08-09T17:37:50.779Z,1754761070.779 [DAT](INFO): ****** received valid ping request ******
2025-08-09T17:37:50.779Z,1754761070.779 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-09T17:37:51.031Z,1754761071.031 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.996756
2025-08-09T17:37:51.091Z,1754761071.091 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 114.10 m.
2025-08-09T17:37:51.094Z,1754761071.094 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 114.099998 m,
      nav range: 111.137794 m,
      bearing: 146.822494 deg,
      approach rate: -0.600402 m/s,
      LOS rate: 0.100137 deg/s,
      cmd heading: 133.746387 deg,
      new cmd heading: 133.877567 deg.

2025-08-09T17:37:51.284Z,1754761071.284 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.248981
2025-08-09T17:37:51.466Z,1754761071.466 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 114.10 m.
2025-08-09T17:37:51.469Z,1754761071.469 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 114.099998 m,
      nav range: 110.911926 m,
      bearing: 146.860090 deg,
      approach rate: -0.602408 m/s,
      LOS rate: 0.100475 deg/s,
      cmd heading: 133.877568 deg,
      new cmd heading: 133.990585 deg.

2025-08-09T17:37:51.536Z,1754761071.536 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.501108
2025-08-09T17:37:51.787Z,1754761071.787 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.752692
2025-08-09T17:37:51.879Z,1754761071.879 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 114.10 m.
2025-08-09T17:37:51.882Z,1754761071.882 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 114.099998 m,
      nav range: 110.666763 m,
      bearing: 146.900966 deg,
      approach rate: -0.595382 m/s,
      LOS rate: 0.099488 deg/s,
      cmd heading: 133.990580 deg,
      new cmd heading: 134.113480 deg.

2025-08-09T17:37:52.039Z,1754761072.039 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.004706
2025-08-09T17:37:52.291Z,1754761072.291 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.256754
2025-08-09T17:37:52.293Z,1754761072.293 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 114.10 m.
2025-08-09T17:37:52.296Z,1754761072.296 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 114.099998 m,
      nav range: 110.402672 m,
      bearing: 146.940360 deg,
      approach rate: -0.636506 m/s,
      LOS rate: 0.095175 deg/s,
      cmd heading: 134.113483 deg,
      new cmd heading: 134.231949 deg.

2025-08-09T17:37:52.543Z,1754761072.543 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.508691
2025-08-09T17:37:52.664Z,1754761072.664 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-09T17:37:52.666Z,1754761072.666 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 114.10 m.
2025-08-09T17:37:52.668Z,1754761072.668 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 114.099998 m,
      nav range: 110.165855 m,
      bearing: 146.975605 deg,
      approach rate: -0.635125 m/s,
      LOS rate: 0.094727 deg/s,
      cmd heading: 134.231946 deg,
      new cmd heading: 134.337907 deg.

2025-08-09T17:37:52.795Z,1754761072.795 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.760708
2025-08-09T17:37:53.047Z,1754761073.047 [DAT](INFO): DAT read: Rx Time:17:37:51.8875

2025-08-09T17:37:53.048Z,1754761073.048 [DAT](INFO): Rx dataTimestamp_ set to:1754761073.047382
2025-08-09T17:37:53.048Z,1754761073.048 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.013597
2025-08-09T17:37:53.111Z,1754761073.111 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 114.10 m.
2025-08-09T17:37:53.113Z,1754761073.113 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 114.099998 m,
      nav range: 109.907089 m,
      bearing: 147.010971 deg,
      approach rate: -0.587312 m/s,
      LOS rate: 0.080458 deg/s,
      cmd heading: 134.337909 deg,
      new cmd heading: 134.444257 deg.

2025-08-09T17:37:53.299Z,1754761073.299 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.264697
2025-08-09T17:37:53.497Z,1754761073.497 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 114.10 m.
2025-08-09T17:37:53.499Z,1754761073.499 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 114.099998 m,
      nav range: 109.659508 m,
      bearing: 147.044612 deg,
      approach rate: -0.634270 m/s,
      LOS rate: 0.086377 deg/s,
      cmd heading: 134.444255 deg,
      new cmd heading: 134.545404 deg.

2025-08-09T17:37:53.560Z,1754761073.560 [DAT](INFO): DAT read: 17:37:51.8875 LVL= 32208, 32753, 32754, 32755, AGC= 72, IDX= 403, 0.46, 0.985,-0.950, 0.645, 0.623, PHS= 0.463,-1.528,-0.022, RAW= 136.5,  12.1, CAL= 135.9,  13.1, ROT=  14.1, -13.1

2025-08-09T17:37:53.562Z,1754761073.562 [DAT](INFO): got valid direction response:
 17:37:51.8875 LVL= 32208, 32753, 32754, 32755, AGC= 72, IDX= 403, 0.46, 0.985,-0.950, 0.645, 0.623, PHS= 0.463,-1.528,-0.022, RAW= 136.5,  12.1, CAL= 135.9,  13.1, ROT=  14.1, -13.1

2025-08-09T17:37:53.564Z,1754761073.564 [DAT](INFO): DAT read: Bearing 305.4,  10.6 (Local)

2025-08-09T17:37:53.564Z,1754761073.564 [DAT](INFO): Local bearing/azimuth received:
 Bearing 305.4,  10.6 (Local)

2025-08-09T17:37:53.567Z,1754761073.567 [DAT](INFO): DAT read: Range 11 to 50 : 111.8 m  (Round-trip  149.1 ms) speed  0.5 m/s

2025-08-09T17:37:53.568Z,1754761073.568 [DAT](INFO): DAT read: user:638>

2025-08-09T17:37:53.569Z,1754761073.569 [DAT](INFO): DAT read: Tx time:17:37:52.9842

2025-08-09T17:37:53.569Z,1754761073.569 [DAT](INFO): Ping request sent.
2025-08-09T17:37:53.570Z,1754761073.570 [DAT](INFO): transmitted an acoustic signal
2025-08-09T17:37:53.570Z,1754761073.570 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-09T17:37:53.572Z,1754761073.572 [DAT](INFO): direction in FSK: [0.944632,0.237275,0.226651]
2025-08-09T17:37:53.572Z,1754761073.572 [DAT](INFO): publishing transmit ping time
2025-08-09T17:37:53.573Z,1754761073.573 [DAT](INFO): publishing direction and range info
2025-08-09T17:37:53.576Z,1754761073.576 [DAT](INFO): publishing transmit ping time
2025-08-09T17:37:53.576Z,1754761073.576 [DAT](INFO): publishing direction and range info
2025-08-09T17:37:53.894Z,1754761073.894 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 111.800003 m,
      deltaT: 3.528973 s,
      deltaX: -2.299995 m,
      approachRate: -0.651746 m/s,
      rangeRepo size: 4

2025-08-09T17:37:53.896Z,1754761073.896 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 111.800003 m,
      bearing: 147.009891 deg,
      lat: 36.906083 deg,
      lon: -122.115984 deg,
      deltaT: 3.528973 s,
      deltaX: -2.299995 m,
      approachRate: -0.651746 m/s,
      posRepo size: 4

2025-08-09T17:37:53.897Z,1754761073.897 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 111.80 m.
2025-08-09T17:37:53.899Z,1754761073.899 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 111.800003 m,
      nav range: 109.502861 m,
      bearing: 147.009891 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.086377 deg/s,
      cmd heading: 134.545410 deg,
      new cmd heading: 134.648198 deg.

2025-08-09T17:37:54.318Z,1754761074.318 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 111.80 m.
2025-08-09T17:37:54.321Z,1754761074.321 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 111.800003 m,
      nav range: 109.229172 m,
      bearing: 147.043516 deg,
      approach rate: -0.644498 m/s,
      LOS rate: 0.079381 deg/s,
      cmd heading: 134.648205 deg,
      new cmd heading: 134.749333 deg.

2025-08-09T17:37:54.695Z,1754761074.695 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-09T17:37:54.699Z,1754761074.699 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 111.80 m.
2025-08-09T17:37:54.703Z,1754761074.703 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 111.800003 m,
      nav range: 108.989845 m,
      bearing: 147.072615 deg,
      approach rate: -0.629209 m/s,
      LOS rate: 0.076671 deg/s,
      cmd heading: 134.749332 deg,
      new cmd heading: 134.836820 deg.

2025-08-09T17:37:54.812Z,1754761074.812 [DAT](INFO): ****** received valid address query ******
2025-08-09T17:37:54.812Z,1754761074.812 [DAT](INFO): ****** received valid ping request ******
2025-08-09T17:37:54.812Z,1754761074.812 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-09T17:37:55.071Z,1754761075.071 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.501539
2025-08-09T17:37:55.189Z,1754761075.189 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 111.80 m.
2025-08-09T17:37:55.216Z,1754761075.216 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 111.800003 m,
      nav range: 108.687523 m,
      bearing: 147.107012 deg,
      approach rate: -0.615970 m/s,
      LOS rate: 0.070277 deg/s,
      cmd heading: 134.836827 deg,
      new cmd heading: 134.940304 deg.

2025-08-09T17:37:55.323Z,1754761075.323 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.753699
2025-08-09T17:37:55.494Z,1754761075.494 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 111.80 m.
2025-08-09T17:37:55.497Z,1754761075.497 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 111.800003 m,
      nav range: 108.481735 m,
      bearing: 147.129777 deg,
      approach rate: -0.675351 m/s,
      LOS rate: 0.074853 deg/s,
      cmd heading: 134.940304 deg,
      new cmd heading: 135.008731 deg.

2025-08-09T17:37:55.575Z,1754761075.575 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.005833
2025-08-09T17:37:55.831Z,1754761075.831 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.261781
2025-08-09T17:37:55.904Z,1754761075.904 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 111.80 m.
2025-08-09T17:37:55.907Z,1754761075.907 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 111.800003 m,
      nav range: 108.221153 m,
      bearing: 147.158275 deg,
      approach rate: -0.635829 m/s,
      LOS rate: 0.069702 deg/s,
      cmd heading: 135.008729 deg,
      new cmd heading: 135.094427 deg.

2025-08-09T17:37:56.079Z,1754761076.079 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.509753
2025-08-09T17:37:56.331Z,1754761076.331 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.761660
2025-08-09T17:37:56.346Z,1754761076.346 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 111.80 m.
2025-08-09T17:37:56.349Z,1754761076.349 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 111.800003 m,
      nav range: 107.953285 m,
      bearing: 147.184850 deg,
      approach rate: -0.610880 m/s,
      LOS rate: 0.060756 deg/s,
      cmd heading: 135.094421 deg,
      new cmd heading: 135.174344 deg.

2025-08-09T17:37:56.583Z,1754761076.583 [DAT](INFO): DAT read: Rx Time:17:37:55.5344

2025-08-09T17:37:56.584Z,1754761076.584 [DAT](INFO): Rx dataTimestamp_ set to:1754761076.583451
2025-08-09T17:37:56.585Z,1754761076.585 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.015091
2025-08-09T17:37:56.816Z,1754761076.816 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-09T17:37:56.819Z,1754761076.819 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 111.80 m.
2025-08-09T17:37:56.821Z,1754761076.821 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 111.800003 m,
      nav range: 107.633644 m,
      bearing: 147.216318 deg,
      approach rate: -0.671067 m/s,
      LOS rate: 0.066262 deg/s,
      cmd heading: 135.174348 deg,
      new cmd heading: 135.269032 deg.

2025-08-09T17:37:56.835Z,1754761076.835 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.265818
2025-08-09T17:37:57.101Z,1754761077.101 [DAT](INFO): DAT read: 17:37:55.5344 LVL= 32752, 32753, 32754, 32755, AGC= 68, IDX= 404, 0.32, 0.339,-1.565,-0.012,-0.048, PHS= 0.489,-1.472,-0.008, RAW= 135.9,  11.2, CAL= 135.4,  12.3, ROT=  14.6, -12.3

2025-08-09T17:37:57.103Z,1754761077.103 [DAT](INFO): got valid direction response:
 17:37:55.5344 LVL= 32752, 32753, 32754, 32755, AGC= 68, IDX= 404, 0.32, 0.339,-1.565,-0.012,-0.048, PHS= 0.489,-1.472,-0.008, RAW= 135.9,  11.2, CAL= 135.4,  12.3, ROT=  14.6, -12.3

2025-08-09T17:37:57.104Z,1754761077.104 [DAT](INFO): DAT read: Bearing 305.9,  10.3 (Local)

2025-08-09T17:37:57.105Z,1754761077.105 [DAT](INFO): Local bearing/azimuth received:
 Bearing 305.9,  10.3 (Local)

2025-08-09T17:37:57.106Z,1754761077.106 [DAT](INFO): DAT read: Range 11 to 50 : 109.5 m  (Round-trip  146.0 ms) speed  0.6 m/s

2025-08-09T17:37:57.107Z,1754761077.107 [DAT](INFO): DAT read: user:639>

2025-08-09T17:37:57.108Z,1754761077.108 [DAT](INFO): DAT read: Tx time:17:37:56.6342

2025-08-09T17:37:57.108Z,1754761077.108 [DAT](INFO): Ping request sent.
2025-08-09T17:37:57.108Z,1754761077.108 [DAT](INFO): transmitted an acoustic signal
2025-08-09T17:37:57.109Z,1754761077.109 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-09T17:37:57.109Z,1754761077.109 [DAT](INFO): direction in FSK: [0.945496,0.246283,0.213030]
2025-08-09T17:37:57.110Z,1754761077.110 [DAT](INFO): publishing transmit ping time
2025-08-09T17:37:57.110Z,1754761077.110 [DAT](INFO): publishing direction and range info
2025-08-09T17:37:57.113Z,1754761077.113 [DAT](INFO): publishing transmit ping time
2025-08-09T17:37:57.114Z,1754761077.114 [DAT](INFO): publishing direction and range info
2025-08-09T17:37:57.327Z,1754761077.327 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 109.500000 m,
      deltaT: 3.538476 s,
      deltaX: -2.300003 m,
      approachRate: -0.649998 m/s,
      rangeRepo size: 4

2025-08-09T17:37:57.332Z,1754761077.332 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 109.500000 m,
      bearing: 147.249496 deg,
      lat: 36.906083 deg,
      lon: -122.115984 deg,
      deltaT: 3.538476 s,
      deltaX: -2.300003 m,
      approachRate: -0.649998 m/s,
      posRepo size: 4

2025-08-09T17:37:57.332Z,1754761077.332 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 109.50 m.
2025-08-09T17:37:57.343Z,1754761077.343 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 109.500000 m,
      nav range: 107.306641 m,
      bearing: 147.249496 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.066262 deg/s,
      cmd heading: 135.269028 deg,
      new cmd heading: 135.369037 deg.

2025-08-09T17:37:57.719Z,1754761077.719 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 109.50 m.
2025-08-09T17:37:57.721Z,1754761077.721 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 109.500000 m,
      nav range: 107.019402 m,
      bearing: 147.278810 deg,
      approach rate: -0.723484 m/s,
      LOS rate: 0.074032 deg/s,
      cmd heading: 135.369035 deg,
      new cmd heading: 135.457212 deg.

2025-08-09T17:37:58.143Z,1754761078.143 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 109.50 m.
2025-08-09T17:37:58.146Z,1754761078.146 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 109.500000 m,
      nav range: 106.737732 m,
      bearing: 147.308885 deg,
      approach rate: -0.663764 m/s,
      LOS rate: 0.071060 deg/s,
      cmd heading: 135.457213 deg,
      new cmd heading: 135.547677 deg.

2025-08-09T17:37:58.511Z,1754761078.511 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 109.50 m.
2025-08-09T17:37:58.513Z,1754761078.513 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 109.500000 m,
      nav range: 106.493752 m,
      bearing: 147.334862 deg,
      approach rate: -0.663798 m/s,
      LOS rate: 0.070837 deg/s,
      cmd heading: 135.547672 deg,
      new cmd heading: 135.625781 deg.

2025-08-09T17:37:58.929Z,1754761078.929 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-09T17:37:58.931Z,1754761078.931 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 109.50 m.
2025-08-09T17:37:58.934Z,1754761078.934 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 109.500000 m,
      nav range: 106.219643 m,
      bearing: 147.364192 deg,
      approach rate: -0.651232 m/s,
      LOS rate: 0.069864 deg/s,
      cmd heading: 135.625782 deg,
      new cmd heading: 135.714001 deg.

2025-08-09T17:37:59.107Z,1754761079.107 [DAT](INFO): ****** received valid address query ******
2025-08-09T17:37:59.107Z,1754761079.107 [DAT](INFO): ****** received valid ping request ******
2025-08-09T17:37:59.108Z,1754761079.108 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-09T17:37:59.344Z,1754761079.344 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 109.50 m.
2025-08-09T17:37:59.347Z,1754761079.347 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 109.500000 m,
      nav range: 105.941833 m,
      bearing: 147.395795 deg,
      approach rate: -0.673601 m/s,
      LOS rate: 0.076827 deg/s,
      cmd heading: 135.714001 deg,
      new cmd heading: 135.809057 deg.

2025-08-09T17:37:59.356Z,1754761079.356 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.247286
2025-08-09T17:37:59.608Z,1754761079.608 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.499994
2025-08-09T17:37:59.719Z,1754761079.719 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 109.50 m.
2025-08-09T17:37:59.721Z,1754761079.721 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 109.500000 m,
      nav range: 105.694130 m,
      bearing: 147.423899 deg,
      approach rate: -0.661488 m/s,
      LOS rate: 0.075227 deg/s,
      cmd heading: 135.809064 deg,
      new cmd heading: 135.893573 deg.

2025-08-09T17:37:59.860Z,1754761079.860 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.751631
2025-08-09T17:38:00.111Z,1754761080.111 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.003193
2025-08-09T17:38:00.228Z,1754761080.228 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 109.50 m.
2025-08-09T17:38:00.239Z,1754761080.239 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 109.500000 m,
      nav range: 105.388046 m,
      bearing: 147.460120 deg,
      approach rate: -0.608088 m/s,
      LOS rate: 0.072169 deg/s,
      cmd heading: 135.893567 deg,
      new cmd heading: 136.002547 deg.

2025-08-09T17:38:00.369Z,1754761080.369 [DAT](INFO): DAT read: 17:37:59.1811 LVL= 32752, 32753, 32754, 32755, AGC= 68, IDX= 402,-0.18,-2.222, 2.127,-2.632,-2.659, PHS= 0.538,-1.452,-0.018, RAW= 134.3,  10.5, CAL= 133.9,  11.6, ROT=  16.1, -11.6

2025-08-09T17:38:00.370Z,1754761080.370 [DAT](INFO): got valid direction response:
 17:37:59.1811 LVL= 32752, 32753, 32754, 32755, AGC= 68, IDX= 402,-0.18,-2.222, 2.127,-2.632,-2.659, PHS= 0.538,-1.452,-0.018, RAW= 134.3,  10.5, CAL= 133.9,  11.6, ROT=  16.1, -11.6

2025-08-09T17:38:00.371Z,1754761080.371 [DAT](INFO): DAT read: Rx Time:17:37:59.1811

2025-08-09T17:38:00.371Z,1754761080.371 [DAT](INFO): Rx dataTimestamp_ set to:1754761080.370681
2025-08-09T17:38:00.372Z,1754761080.372 [DAT](INFO): DAT read: $Low SNR acquisition

2025-08-09T17:38:00.372Z,1754761080.372 [DAT](INFO): Received low SNR in chirp
2025-08-09T17:38:00.382Z,1754761080.382 [DAT](INFO): #Rx 1: Read direction message, but no range.
2025-08-09T17:38:00.383Z,1754761080.383 [DAT](INFO): direction in FSK: [0.941155,0.271651,0.201078]
2025-08-09T17:38:00.386Z,1754761080.386 [DAT](INFO): ****** received valid address query ******
2025-08-09T17:38:00.386Z,1754761080.386 [DAT](INFO): ****** received valid ping request ******
2025-08-09T17:38:00.387Z,1754761080.387 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-09T17:38:00.596Z,1754761080.596 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 109.50 m.
2025-08-09T17:38:00.607Z,1754761080.607 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 109.500000 m,
      nav range: 105.112007 m,
      bearing: 147.492659 deg,
      approach rate: -0.736843 m/s,
      LOS rate: 0.087085 deg/s,
      cmd heading: 136.002549 deg,
      new cmd heading: 136.100422 deg.

2025-08-09T17:38:00.618Z,1754761080.618 [DAT](INFO): ****** received valid address query ******
2025-08-09T17:38:00.618Z,1754761080.618 [DAT](INFO): ****** received valid ping request ******
2025-08-09T17:38:00.618Z,1754761080.618 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-09T17:38:00.874Z,1754761080.874 [DAT](INFO): ****** received valid address query ******
2025-08-09T17:38:00.875Z,1754761080.875 [DAT](INFO): ****** received valid ping request ******
2025-08-09T17:38:00.875Z,1754761080.875 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-09T17:38:00.972Z,1754761080.972 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-09T17:38:00.974Z,1754761080.974 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 109.50 m.
2025-08-09T17:38:00.977Z,1754761080.977 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 109.500000 m,
      nav range: 104.853294 m,
      bearing: 147.522983 deg,
      approach rate: -0.684614 m/s,
      LOS rate: 0.080443 deg/s,
      cmd heading: 136.100426 deg,
      new cmd heading: 136.191623 deg.

2025-08-09T17:38:01.125Z,1754761081.125 [DAT](INFO): ****** received valid address query ******
2025-08-09T17:38:01.126Z,1754761081.126 [DAT](INFO): ****** received valid ping request ******
2025-08-09T17:38:01.127Z,1754761081.127 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-09T17:38:01.375Z,1754761081.375 [DAT](INFO): ****** received valid address query ******
2025-08-09T17:38:01.375Z,1754761081.375 [DAT](INFO): ****** received valid ping request ******
2025-08-09T17:38:01.375Z,1754761081.375 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-09T17:38:01.407Z,1754761081.407 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 109.50 m.
2025-08-09T17:38:01.410Z,1754761081.410 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 109.500000 m,
      nav range: 104.559822 m,
      bearing: 147.556770 deg,
      approach rate: -0.677731 m/s,
      LOS rate: 0.078244 deg/s,
      cmd heading: 136.191622 deg,
      new cmd heading: 136.293267 deg.

2025-08-09T17:38:01.628Z,1754761081.628 [DAT](INFO): ****** received valid address query ******
2025-08-09T17:38:01.628Z,1754761081.628 [DAT](INFO): ****** received valid ping request ******
2025-08-09T17:38:01.628Z,1754761081.628 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-09T17:38:01.783Z,1754761081.783 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 109.50 m.
2025-08-09T17:38:01.785Z,1754761081.785 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 109.500000 m,
      nav range: 104.305244 m,
      bearing: 147.585837 deg,
      approach rate: -0.677576 m/s,
      LOS rate: 0.077554 deg/s,
      cmd heading: 136.293269 deg,
      new cmd heading: 136.380685 deg.

2025-08-09T17:38:01.879Z,1754761081.879 [DAT](INFO): ****** received valid address query ******
2025-08-09T17:38:01.880Z,1754761081.880 [DAT](INFO): ****** received valid ping request ******
2025-08-09T17:38:01.880Z,1754761081.880 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-09T17:38:02.133Z,1754761082.133 [DAT](INFO): ****** received valid address query ******
2025-08-09T17:38:02.133Z,1754761082.133 [DAT](INFO): ****** received valid ping request ******
2025-08-09T17:38:02.134Z,1754761082.134 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-09T17:38:02.245Z,1754761082.245 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 109.50 m.
2025-08-09T17:38:02.248Z,1754761082.248 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 109.500000 m,
      nav range: 103.992043 m,
      bearing: 147.620527 deg,
      approach rate: -0.677640 m/s,
      LOS rate: 0.075279 deg/s,
      cmd heading: 136.380682 deg,
      new cmd heading: 136.485063 deg.

2025-08-09T17:38:02.383Z,1754761082.383 [DAT](INFO): ****** received valid address query ******
2025-08-09T17:38:02.383Z,1754761082.383 [DAT](INFO): ****** received valid ping request ******
2025-08-09T17:38:02.383Z,1754761082.383 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-09T17:38:02.594Z,1754761082.594 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 109.50 m.
2025-08-09T17:38:02.597Z,1754761082.597 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 109.500000 m,
      nav range: 103.753456 m,
      bearing: 147.646604 deg,
      approach rate: -0.683552 m/s,
      LOS rate: 0.074885 deg/s,
      cmd heading: 136.485061 deg,
      new cmd heading: 136.563475 deg.

2025-08-09T17:38:02.637Z,1754761082.637 [DAT](INFO): ****** received valid address query ******
2025-08-09T17:38:02.637Z,1754761082.637 [DAT](INFO): ****** received valid ping request ******
2025-08-09T17:38:02.638Z,1754761082.638 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-09T17:38:02.887Z,1754761082.887 [DAT](INFO): ****** received valid address query ******
2025-08-09T17:38:02.887Z,1754761082.887 [DAT](INFO): ****** received valid ping request ******
2025-08-09T17:38:02.887Z,1754761082.887 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-09T17:38:02.995Z,1754761082.995 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-09T17:38:02.997Z,1754761082.997 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 109.50 m.
2025-08-09T17:38:02.000Z,1754761083.000 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 109.500000 m,
      nav range: 103.480072 m,
      bearing: 147.676114 deg,
      approach rate: -0.679057 m/s,
      LOS rate: 0.073493 deg/s,
      cmd heading: 136.563472 deg,
      new cmd heading: 136.652235 deg.

2025-08-09T17:38:03.141Z,1754761083.141 [DAT](INFO): ****** received valid address query ******
2025-08-09T17:38:03.141Z,1754761083.141 [DAT](INFO): ****** received valid ping request ******
2025-08-09T17:38:03.142Z,1754761083.142 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-09T17:38:03.391Z,1754761083.391 [DAT](INFO): ****** received valid address query ******
2025-08-09T17:38:03.391Z,1754761083.391 [DAT](INFO): ****** received valid ping request ******
2025-08-09T17:38:03.391Z,1754761083.391 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-09T17:38:03.453Z,1754761083.453 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 109.50 m.
2025-08-09T17:38:03.460Z,1754761083.460 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 109.500000 m,
      nav range: 103.191505 m,
      bearing: 147.709778 deg,
      approach rate: -0.632864 m/s,
      LOS rate: 0.074035 deg/s,
      cmd heading: 136.652237 deg,
      new cmd heading: 136.753509 deg.

2025-08-09T17:38:03.646Z,1754761083.646 [DAT](INFO): ****** received valid address query ******
2025-08-09T17:38:03.646Z,1754761083.646 [DAT](INFO): ****** received valid ping request ******
2025-08-09T17:38:03.646Z,1754761083.646 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-09T17:38:03.823Z,1754761083.823 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 109.50 m.
2025-08-09T17:38:03.826Z,1754761083.826 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 109.500000 m,
      nav range: 102.923416 m,
      bearing: 147.741225 deg,
      approach rate: -0.723032 m/s,
      LOS rate: 0.085034 deg/s,
      cmd heading: 136.753515 deg,
      new cmd heading: 136.848103 deg.

2025-08-09T17:38:03.895Z,1754761083.895 [DAT](INFO): ****** received valid address query ******
2025-08-09T17:38:03.895Z,1754761083.895 [DAT](INFO): ****** received valid ping request ******
2025-08-09T17:38:03.895Z,1754761083.895 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-09T17:38:04.149Z,1754761084.149 [DAT](INFO): ****** received valid address query ******
2025-08-09T17:38:04.149Z,1754761084.149 [DAT](INFO): ****** received valid ping request ******
2025-08-09T17:38:04.150Z,1754761084.150 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-09T17:38:04.249Z,1754761084.249 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 109.50 m.
2025-08-09T17:38:04.252Z,1754761084.252 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 109.500000 m,
      nav range: 102.635841 m,
      bearing: 147.775562 deg,
      approach rate: -0.676052 m/s,
      LOS rate: 0.080948 deg/s,
      cmd heading: 136.848099 deg,
      new cmd heading: 136.951398 deg.

2025-08-09T17:38:04.399Z,1754761084.399 [DAT](INFO): ****** received valid address query ******
2025-08-09T17:38:04.399Z,1754761084.399 [DAT](INFO): ****** received valid ping request ******
2025-08-09T17:38:04.399Z,1754761084.399 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-09T17:38:04.627Z,1754761084.627 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 109.50 m.
2025-08-09T17:38:04.629Z,1754761084.629 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 109.500000 m,
      nav range: 102.380348 m,
      bearing: 147.805986 deg,
      approach rate: -0.676577 m/s,
      LOS rate: 0.080766 deg/s,
      cmd heading: 136.951399 deg,
      new cmd heading: 137.042897 deg.

2025-08-09T17:38:04.668Z,1754761084.668 [DAT](INFO): ****** received valid address query ******
2025-08-09T17:38:04.668Z,1754761084.668 [DAT](INFO): ****** received valid ping request ******
2025-08-09T17:38:04.669Z,1754761084.669 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-09T17:38:04.919Z,1754761084.919 [DAT](INFO): ****** received valid address query ******
2025-08-09T17:38:04.919Z,1754761084.919 [DAT](INFO): ****** received valid ping request ******
2025-08-09T17:38:04.919Z,1754761084.919 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-09T17:38:05.056Z,1754761085.056 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-09T17:38:05.058Z,1754761085.058 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 109.50 m.
2025-08-09T17:38:05.061Z,1754761085.061 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 109.500000 m,
      nav range: 102.091255 m,
      bearing: 147.840597 deg,
      approach rate: -0.670227 m/s,
      LOS rate: 0.080470 deg/s,
      cmd heading: 137.042896 deg,
      new cmd heading: 137.147025 deg.

2025-08-09T17:38:05.173Z,1754761085.173 [DAT](INFO): ****** received valid address query ******
2025-08-09T17:38:05.173Z,1754761085.173 [DAT](INFO): ****** received valid ping request ******
2025-08-09T17:38:05.174Z,1754761085.174 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-09T17:38:05.423Z,1754761085.423 [DAT](INFO): ****** received valid address query ******
2025-08-09T17:38:05.423Z,1754761085.423 [DAT](INFO): ****** received valid ping request ******
2025-08-09T17:38:05.423Z,1754761085.423 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-09T17:38:05.495Z,1754761085.495 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 109.50 m.
2025-08-09T17:38:05.498Z,1754761085.498 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 109.500000 m,
      nav range: 101.820770 m,
      bearing: 147.874682 deg,
      approach rate: -0.618627 m/s,
      LOS rate: 0.078162 deg/s,
      cmd heading: 137.147029 deg,
      new cmd heading: 137.249554 deg.

2025-08-09T17:38:05.676Z,1754761085.676 [DAT](INFO): ****** received valid address query ******
2025-08-09T17:38:05.676Z,1754761085.676 [DAT](INFO): ****** received valid ping request ******
2025-08-09T17:38:05.676Z,1754761085.676 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-09T17:38:05.860Z,1754761085.860 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 109.50 m.
2025-08-09T17:38:05.868Z,1754761085.868 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 109.500000 m,
      nav range: 101.585365 m,
      bearing: 147.904041 deg,
      approach rate: -0.645283 m/s,
      LOS rate: 0.080664 deg/s,
      cmd heading: 137.249550 deg,
      new cmd heading: 137.337831 deg.

2025-08-09T17:38:05.928Z,1754761085.928 [DAT](INFO): ****** received valid address query ******
2025-08-09T17:38:05.928Z,1754761085.928 [DAT](INFO): ****** received valid ping request ******
2025-08-09T17:38:05.929Z,1754761085.929 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-09T17:38:06.181Z,1754761086.181 [DAT](INFO): ****** received valid address query ******
2025-08-09T17:38:06.182Z,1754761086.182 [DAT](INFO): ****** received valid ping request ******
2025-08-09T17:38:06.182Z,1754761086.182 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-09T17:38:06.285Z,1754761086.285 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 109.50 m.
2025-08-09T17:38:06.288Z,1754761086.288 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 109.500000 m,
      nav range: 101.303871 m,
      bearing: 147.939360 deg,
      approach rate: -0.662381 m/s,
      LOS rate: 0.083339 deg/s,
      cmd heading: 137.337837 deg,
      new cmd heading: 137.444088 deg.

2025-08-09T17:38:06.431Z,1754761086.431 [DAT](INFO): ****** received valid address query ******
2025-08-09T17:38:06.431Z,1754761086.431 [DAT](INFO): ****** received valid ping request ******
2025-08-09T17:38:06.431Z,1754761086.431 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-09T17:38:06.669Z,1754761086.669 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 109.50 m.
2025-08-09T17:38:06.683Z,1754761086.683 [DAT](INFO): ****** received valid address query ******
2025-08-09T17:38:06.683Z,1754761086.683 [DAT](INFO): ****** received valid ping request ******
2025-08-09T17:38:06.683Z,1754761086.683 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-09T17:38:06.692Z,1754761086.692 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 109.500000 m,
      nav range: 101.065582 m,
      bearing: 147.969339 deg,
      approach rate: -0.620628 m/s,
      LOS rate: 0.078266 deg/s,
      cmd heading: 137.444088 deg,
      new cmd heading: 137.534238 deg.

2025-08-09T17:38:06.936Z,1754761086.936 [DAT](INFO): ****** received valid address query ******
2025-08-09T17:38:06.936Z,1754761086.936 [DAT](INFO): ****** received valid ping request ******
2025-08-09T17:38:06.936Z,1754761086.936 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-09T17:38:07.067Z,1754761087.067 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-09T17:38:07.069Z,1754761087.069 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 109.50 m.
2025-08-09T17:38:07.072Z,1754761087.072 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 109.500000 m,
      nav range: 100.810844 m,
      bearing: 148.001515 deg,
      approach rate: -0.635846 m/s,
      LOS rate: 0.080516 deg/s,
      cmd heading: 137.534233 deg,
      new cmd heading: 137.631003 deg.

2025-08-09T17:38:07.189Z,1754761087.189 [DAT](INFO): Reached modem response timeout
2025-08-09T17:38:07.190Z,1754761087.190 [DAT](DEBUG): Acoustic response timeout
2025-08-09T17:38:07.191Z,1754761087.191 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-09T17:38:07.442Z,1754761087.442 [DAT](INFO): Reached modem response timeout
2025-08-09T17:38:07.442Z,1754761087.442 [DAT](DEBUG): Acoustic response timeout
2025-08-09T17:38:07.443Z,1754761087.443 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-09T17:38:07.555Z,1754761087.555 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 109.50 m.
2025-08-09T17:38:07.557Z,1754761087.557 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 109.500000 m,
      nav range: 100.503288 m,
      bearing: 148.041884 deg,
      approach rate: -0.634254 m/s,
      LOS rate: 0.083505 deg/s,
      cmd heading: 137.631003 deg,
      new cmd heading: 137.752480 deg.

2025-08-09T17:38:07.691Z,1754761087.691 [DAT](INFO): Reached modem response timeout
2025-08-09T17:38:07.691Z,1754761087.691 [DAT](DEBUG): Acoustic response timeout
2025-08-09T17:38:07.692Z,1754761087.692 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-09T17:38:07.943Z,1754761087.943 [DAT](INFO): Reached modem response timeout
2025-08-09T17:38:07.943Z,1754761087.943 [DAT](DEBUG): Acoustic response timeout
2025-08-09T17:38:07.943Z,1754761087.943 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-09T17:38:08.059Z,1754761088.059 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 109.50 m.
2025-08-09T17:38:08.062Z,1754761088.062 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 109.500000 m,
      nav range: 100.195381 m,
      bearing: 148.082359 deg,
      approach rate: -0.609876 m/s,
      LOS rate: 0.080416 deg/s,
      cmd heading: 137.752485 deg,
      new cmd heading: 137.874283 deg.

2025-08-09T17:38:08.197Z,1754761088.197 [DAT](INFO): Reached modem response timeout
2025-08-09T17:38:08.199Z,1754761088.199 [DAT](DEBUG): Acoustic response timeout
2025-08-09T17:38:08.200Z,1754761088.200 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-09T17:38:08.448Z,1754761088.448 [DAT](INFO): Reached modem response timeout
2025-08-09T17:38:08.448Z,1754761088.448 [DAT](DEBUG): Acoustic response timeout
2025-08-09T17:38:08.448Z,1754761088.448 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-09T17:38:08.573Z,1754761088.573 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 109.50 m.
2025-08-09T17:38:08.580Z,1754761088.580 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 109.500000 m,
      nav range: 99.863388 m,
      bearing: 148.128027 deg,
      approach rate: -0.646199 m/s,
      LOS rate: 0.089185 deg/s,
      cmd heading: 137.874281 deg,
      new cmd heading: 138.011740 deg.

2025-08-09T17:38:08.699Z,1754761088.699 [DAT](INFO): Reached modem response timeout
2025-08-09T17:38:08.699Z,1754761088.699 [DAT](DEBUG): Acoustic response timeout
2025-08-09T17:38:08.699Z,1754761088.699 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-09T17:38:08.952Z,1754761088.952 [DAT](INFO): Reached modem response timeout
2025-08-09T17:38:08.952Z,1754761088.952 [DAT](DEBUG): Acoustic response timeout
2025-08-09T17:38:08.952Z,1754761088.952 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-09T17:38:09.056Z,1754761089.056 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 109.50 m.
2025-08-09T17:38:09.058Z,1754761089.058 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 109.500000 m,
      nav range: 99.571266 m,
      bearing: 148.168470 deg,
      approach rate: -0.605213 m/s,
      LOS rate: 0.084035 deg/s,
      cmd heading: 138.011745 deg,
      new cmd heading: 138.133430 deg.

2025-08-09T17:38:09.205Z,1754761089.205 [DAT](INFO): Reached modem response timeout
2025-08-09T17:38:09.206Z,1754761089.206 [DAT](DEBUG): Acoustic response timeout
2025-08-09T17:38:09.207Z,1754761089.207 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-09T17:38:09.446Z,1754761089.446 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-09T17:38:09.448Z,1754761089.448 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 109.50 m.
2025-08-09T17:38:09.451Z,1754761089.451 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 109.500000 m,
      nav range: 99.315041 m,
      bearing: 148.200390 deg,
      approach rate: -0.653114 m/s,
      LOS rate: 0.081574 deg/s,
      cmd heading: 138.133432 deg,
      new cmd heading: 138.229440 deg.

2025-08-09T17:38:09.455Z,1754761089.455 [DAT](INFO): Reached modem response timeout
2025-08-09T17:38:09.455Z,1754761089.455 [DAT](DEBUG): Acoustic response timeout
2025-08-09T17:38:09.455Z,1754761089.455 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-09T17:38:09.707Z,1754761089.707 [DAT](INFO): DAT read: Response Not Received

2025-08-09T17:38:09.708Z,1754761089.708 [DAT](INFO): response not received
2025-08-09T17:38:09.708Z,1754761089.708 [DAT](INFO): DAT read: user:641>

2025-08-09T17:38:09.709Z,1754761089.709 [DAT](INFO): DAT read: Tx time:17:38:09.0842

2025-08-09T17:38:09.709Z,1754761089.709 [DAT](INFO): Ping request sent.
2025-08-09T17:38:09.709Z,1754761089.709 [DAT](INFO): transmitted an acoustic signal
2025-08-09T17:38:09.709Z,1754761089.709 [DAT](INFO): publishing transmit ping time
2025-08-09T17:38:09.710Z,1754761089.710 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000753
2025-08-09T17:38:09.832Z,1754761089.832 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 109.50 m.
2025-08-09T17:38:09.834Z,1754761089.834 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 109.500000 m,
      nav range: 99.067184 m,
      bearing: 148.230959 deg,
      approach rate: -0.645827 m/s,
      LOS rate: 0.079851 deg/s,
      cmd heading: 138.229437 deg,
      new cmd heading: 138.321372 deg.

2025-08-09T17:38:09.960Z,1754761089.960 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250425
2025-08-09T17:38:10.214Z,1754761090.214 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.504264
2025-08-09T17:38:10.310Z,1754761090.310 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 109.50 m.
2025-08-09T17:38:10.313Z,1754761090.313 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 109.500000 m,
      nav range: 98.753441 m,
      bearing: 148.271381 deg,
      approach rate: -0.656273 m/s,
      LOS rate: 0.084821 deg/s,
      cmd heading: 138.321371 deg,
      new cmd heading: 138.443021 deg.

2025-08-09T17:38:10.463Z,1754761090.463 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754010
2025-08-09T17:38:10.634Z,1754761090.634 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 109.50 m.
2025-08-09T17:38:10.637Z,1754761090.637 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 109.500000 m,
      nav range: 98.540627 m,
      bearing: 148.298481 deg,
      approach rate: -0.656707 m/s,
      LOS rate: 0.083806 deg/s,
      cmd heading: 138.443017 deg,
      new cmd heading: 138.524492 deg.

2025-08-09T17:38:10.717Z,1754761090.717 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.007061
2025-08-09T17:38:10.967Z,1754761090.967 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258034
2025-08-09T17:38:11.034Z,1754761091.034 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 109.50 m.
2025-08-09T17:38:11.036Z,1754761091.036 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 109.500000 m,
      nav range: 98.278053 m,
      bearing: 148.331534 deg,
      approach rate: -0.656990 m/s,
      LOS rate: 0.082925 deg/s,
      cmd heading: 138.524487 deg,
      new cmd heading: 138.623913 deg.

2025-08-09T17:38:11.219Z,1754761091.219 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510093
2025-08-09T17:38:11.459Z,1754761091.459 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-09T17:38:11.461Z,1754761091.461 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 109.50 m.
2025-08-09T17:38:11.464Z,1754761091.464 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 109.500000 m,
      nav range: 97.990555 m,
      bearing: 148.368992 deg,
      approach rate: -0.672716 m/s,
      LOS rate: 0.087905 deg/s,
      cmd heading: 138.623907 deg,
      new cmd heading: 138.736611 deg.

2025-08-09T17:38:11.471Z,1754761091.471 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762229
2025-08-09T17:38:11.723Z,1754761091.723 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014025
2025-08-09T17:38:11.836Z,1754761091.836 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 109.50 m.
2025-08-09T17:38:11.839Z,1754761091.839 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 109.500000 m,
      nav range: 97.738441 m,
      bearing: 148.401500 deg,
      approach rate: -0.672517 m/s,
      LOS rate: 0.086939 deg/s,
      cmd heading: 138.736606 deg,
      new cmd heading: 138.834381 deg.

2025-08-09T17:38:11.975Z,1754761091.975 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266074
2025-08-09T17:38:12.230Z,1754761092.230 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.520274
2025-08-09T17:38:12.326Z,1754761092.326 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 109.50 m.
2025-08-09T17:38:12.328Z,1754761092.328 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 109.500000 m,
      nav range: 97.413216 m,
      bearing: 148.439619 deg,
      approach rate: -0.663932 m/s,
      LOS rate: 0.078078 deg/s,
      cmd heading: 138.834387 deg,
      new cmd heading: 138.949126 deg.

2025-08-09T17:38:12.479Z,1754761092.479 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770024
2025-08-09T17:38:12.689Z,1754761092.689 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 109.50 m.
2025-08-09T17:38:12.696Z,1754761092.696 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 109.500000 m,
      nav range: 97.180397 m,
      bearing: 148.466229 deg,
      approach rate: -0.641119 m/s,
      LOS rate: 0.073451 deg/s,
      cmd heading: 138.949120 deg,
      new cmd heading: 139.029140 deg.

2025-08-09T17:38:12.731Z,1754761092.731 [DAT](INFO): DAT read: Rx Time:17:38:11.6201

2025-08-09T17:38:12.732Z,1754761092.732 [DAT](INFO): Rx dataTimestamp_ set to:1754761092.731637
2025-08-09T17:38:12.732Z,1754761092.732 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.023282
2025-08-09T17:38:12.983Z,1754761092.983 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274176
2025-08-09T17:38:13.071Z,1754761093.071 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 109.50 m.
2025-08-09T17:38:13.074Z,1754761093.074 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 109.500000 m,
      nav range: 96.918777 m,
      bearing: 148.496286 deg,
      approach rate: -0.684021 m/s,
      LOS rate: 0.078799 deg/s,
      cmd heading: 139.029143 deg,
      new cmd heading: 139.119558 deg.

2025-08-09T17:38:13.246Z,1754761093.246 [DAT](INFO): DAT read: 17:38:11.6201 LVL= 25680, 32753, 27122, 32755, AGC= 71, IDX= 321,-0.50,-2.477, 1.776,-2.921,-2.942, PHS= 0.567,-1.521,-0.023, RAW= 134.1,  10.5, CAL= 133.7,  11.6, ROT=  16.3, -11.6

2025-08-09T17:38:13.249Z,1754761093.249 [DAT](INFO): got valid direction response:
 17:38:11.6201 LVL= 25680, 32753, 27122, 32755, AGC= 71, IDX= 321,-0.50,-2.477, 1.776,-2.921,-2.942, PHS= 0.567,-1.521,-0.023, RAW= 134.1,  10.5, CAL= 133.7,  11.6, ROT=  16.3, -11.6

2025-08-09T17:38:13.250Z,1754761093.250 [DAT](INFO): DAT read: Bearing 309.6,  10.2 (Local)

2025-08-09T17:38:13.250Z,1754761093.250 [DAT](INFO): Local bearing/azimuth received:
 Bearing 309.6,  10.2 (Local)

2025-08-09T17:38:13.253Z,1754761093.253 [DAT](INFO): DAT read: Range 11 to 50 : 98.7 m  (Round-trip  131.7 ms) speed  0.6 m/s

2025-08-09T17:38:13.277Z,1754761093.277 [DAT](INFO): DAT read: user:642>

2025-08-09T17:38:13.280Z,1754761093.280 [DAT](INFO): DAT read: Tx time:17:38:12.7342

2025-08-09T17:38:13.281Z,1754761093.281 [DAT](INFO): Ping request sent.
2025-08-09T17:38:13.282Z,1754761093.282 [DAT](INFO): transmitted an acoustic signal
2025-08-09T17:38:13.289Z,1754761093.289 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-09T17:38:13.297Z,1754761093.297 [DAT](INFO): direction in FSK: [0.940202,0.274934,0.201078]
2025-08-09T17:38:13.302Z,1754761093.302 [DAT](INFO): publishing transmit ping time
2025-08-09T17:38:13.303Z,1754761093.303 [DAT](INFO): publishing direction and range info
2025-08-09T17:38:13.321Z,1754761093.321 [DAT](INFO): publishing transmit ping time
2025-08-09T17:38:13.321Z,1754761093.321 [DAT](INFO): publishing direction and range info
2025-08-09T17:38:13.517Z,1754761093.517 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 98.699997 m,
      deltaT: 16.145085 s,
      deltaX: -10.800003 m,
      approachRate: -0.668934 m/s,
      rangeRepo size: 4

2025-08-09T17:38:13.524Z,1754761093.524 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 98.699997 m,
      bearing: 148.840770 deg,
      lat: 36.906074 deg,
      lon: -122.115984 deg,
      deltaT: 16.145085 s,
      deltaX: -10.800003 m,
      approachRate: -0.668934 m/s,
      posRepo size: 4

2025-08-09T17:38:13.524Z,1754761093.524 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 98.70 m.
2025-08-09T17:38:13.528Z,1754761093.528 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 98.699997 m,
      nav range: 97.489479 m,
      bearing: 148.840770 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.078799 deg/s,
      cmd heading: 139.119561 deg,
      new cmd heading: 139.224869 deg.

2025-08-09T17:38:13.980Z,1754761093.980 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-09T17:38:13.982Z,1754761093.982 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 98.70 m.
2025-08-09T17:38:13.984Z,1754761093.984 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 98.699997 m,
      nav range: 97.165604 m,
      bearing: 148.880593 deg,
      approach rate: -0.696575 m/s,
      LOS rate: 0.085935 deg/s,
      cmd heading: 139.224868 deg,
      new cmd heading: 139.344735 deg.

2025-08-09T17:38:13.995Z,1754761093.995 [DAT](INFO): ****** received valid address query ******
2025-08-09T17:38:13.995Z,1754761093.995 [DAT](INFO): ****** received valid ping request ******
2025-08-09T17:38:13.995Z,1754761093.995 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-09T17:38:14.249Z,1754761094.249 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.967495
2025-08-09T17:38:14.499Z,1754761094.499 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.217892
2025-08-09T17:38:14.515Z,1754761094.515 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 98.70 m.
2025-08-09T17:38:14.517Z,1754761094.517 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 98.699997 m,
      nav range: 96.828056 m,
      bearing: 148.920872 deg,
      approach rate: -0.638428 m/s,
      LOS rate: 0.076448 deg/s,
      cmd heading: 139.344738 deg,
      new cmd heading: 139.465996 deg.

2025-08-09T17:38:14.752Z,1754761094.752 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.470475
2025-08-09T17:38:14.996Z,1754761094.996 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 98.70 m.
2025-08-09T17:38:14.999Z,1754761094.999 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 98.699997 m,
      nav range: 96.498192 m,
      bearing: 148.960181 deg,
      approach rate: -0.678975 m/s,
      LOS rate: 0.081188 deg/s,
      cmd heading: 139.466001 deg,
      new cmd heading: 139.584331 deg.

2025-08-09T17:38:15.003Z,1754761095.003 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.722059
2025-08-09T17:38:15.255Z,1754761095.255 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.974014
2025-08-09T17:38:15.423Z,1754761095.423 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 98.70 m.
2025-08-09T17:38:15.425Z,1754761095.425 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 98.699997 m,
      nav range: 96.223793 m,
      bearing: 148.988711 deg,
      approach rate: -0.643595 m/s,
      LOS rate: 0.067109 deg/s,
      cmd heading: 139.584328 deg,
      new cmd heading: 139.670164 deg.

2025-08-09T17:38:15.508Z,1754761095.508 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.226782
2025-08-09T17:38:15.759Z,1754761095.759 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.477882
2025-08-09T17:38:15.800Z,1754761095.800 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 98.70 m.
2025-08-09T17:38:15.802Z,1754761095.802 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 98.699997 m,
      nav range: 95.981239 m,
      bearing: 149.013870 deg,
      approach rate: -0.643203 m/s,
      LOS rate: 0.066884 deg/s,
      cmd heading: 139.670170 deg,
      new cmd heading: 139.745836 deg.

2025-08-09T17:38:16.012Z,1754761096.012 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.730266
2025-08-09T17:38:16.195Z,1754761096.195 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-09T17:38:16.197Z,1754761096.197 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 98.70 m.
2025-08-09T17:38:16.200Z,1754761096.200 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 98.699997 m,
      nav range: 95.725853 m,
      bearing: 149.040227 deg,
      approach rate: -0.642625 m/s,
      LOS rate: 0.066499 deg/s,
      cmd heading: 139.745834 deg,
      new cmd heading: 139.825117 deg.

2025-08-09T17:38:16.264Z,1754761096.264 [DAT](INFO): DAT read: Rx Time:17:38:15.2668

2025-08-09T17:38:16.265Z,1754761096.265 [DAT](INFO): Rx dataTimestamp_ set to:1754761096.264377
2025-08-09T17:38:16.266Z,1754761096.266 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.984220
2025-08-09T17:38:16.516Z,1754761096.516 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.234238
2025-08-09T17:38:16.662Z,1754761096.662 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 98.70 m.
2025-08-09T17:38:16.668Z,1754761096.668 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 98.699997 m,
      nav range: 95.454979 m,
      bearing: 149.068402 deg,
      approach rate: -0.588307 m/s,
      LOS rate: 0.061367 deg/s,
      cmd heading: 139.825119 deg,
      new cmd heading: 139.909884 deg.

2025-08-09T17:38:16.769Z,1754761096.769 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.486754
2025-08-09T17:38:17.004Z,1754761097.004 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 98.70 m.
2025-08-09T17:38:17.007Z,1754761097.007 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 98.699997 m,
      nav range: 95.205788 m,
      bearing: 149.094220 deg,
      approach rate: -0.719682 m/s,
      LOS rate: 0.074758 deg/s,
      cmd heading: 139.909882 deg,
      new cmd heading: 139.987537 deg.

2025-08-09T17:38:17.025Z,1754761097.025 [DAT](INFO): DAT read: 17:38:15.2668 LVL= 23536, 32753, 25666, 32755, AGC= 69, IDX= 415, 0.48, 1.011,-0.996, 0.622, 0.535, PHS= 0.577,-1.486, 0.043, RAW= 135.6,   9.4, CAL= 135.3,  10.4, ROT=  14.7, -10.4

2025-08-09T17:38:17.026Z,1754761097.026 [DAT](INFO): got valid direction response:
 17:38:15.2668 LVL= 23536, 32753, 25666, 32755, AGC= 69, IDX= 415, 0.48, 1.011,-0.996, 0.622, 0.535, PHS= 0.577,-1.486, 0.043, RAW= 135.6,   9.4, CAL= 135.3,  10.4, ROT=  14.7, -10.4

2025-08-09T17:38:17.027Z,1754761097.027 [DAT](INFO): DAT read: Bearing 309.5,   9.3 (Local)

2025-08-09T17:38:17.027Z,1754761097.027 [DAT](INFO): Local bearing/azimuth received:
 Bearing 309.5,   9.3 (Local)

2025-08-09T17:38:17.029Z,1754761097.029 [DAT](INFO): DAT read: Range 11 to 50 : 96.3 m  (Round-trip  128.5 ms) speed  0.5 m/s

2025-08-09T17:38:17.030Z,1754761097.030 [DAT](INFO): DAT read: user:643>

2025-08-09T17:38:17.048Z,1754761097.048 [DAT](INFO): DAT read: Tx time:17:38:16.3842

2025-08-09T17:38:17.049Z,1754761097.049 [DAT](INFO): Ping request sent.
2025-08-09T17:38:17.050Z,1754761097.050 [DAT](INFO): transmitted an acoustic signal
2025-08-09T17:38:17.055Z,1754761097.055 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-09T17:38:17.056Z,1754761097.056 [DAT](INFO): direction in FSK: [0.951377,0.249589,0.180519]
2025-08-09T17:38:17.056Z,1754761097.056 [DAT](INFO): publishing transmit ping time
2025-08-09T17:38:17.056Z,1754761097.056 [DAT](INFO): publishing direction and range info
2025-08-09T17:38:17.065Z,1754761097.065 [DAT](INFO): publishing transmit ping time
2025-08-09T17:38:17.065Z,1754761097.065 [DAT](INFO): publishing direction and range info
2025-08-09T17:38:17.494Z,1754761097.494 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 96.300003 m,
      deltaT: 3.783547 s,
      deltaX: -2.399994 m,
      approachRate: -0.634324 m/s,
      rangeRepo size: 4

2025-08-09T17:38:17.500Z,1754761097.500 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 96.300003 m,
      bearing: 150.402464 deg,
      lat: 36.906061 deg,
      lon: -122.116003 deg,
      deltaT: 3.783547 s,
      deltaX: -2.399994 m,
      approachRate: -0.634324 m/s,
      posRepo size: 4

2025-08-09T17:38:17.501Z,1754761097.501 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 96.30 m.
2025-08-09T17:38:17.504Z,1754761097.504 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 96.300003 m,
      nav range: 95.288696 m,
      bearing: 150.402464 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.074758 deg/s,
      cmd heading: 139.987541 deg,
      new cmd heading: 140.097280 deg.

2025-08-09T17:38:17.883Z,1754761097.883 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 96.30 m.
2025-08-09T17:38:17.885Z,1754761097.885 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 96.300003 m,
      nav range: 95.052460 m,
      bearing: 150.429589 deg,
      approach rate: -0.606137 m/s,
      LOS rate: 0.069770 deg/s,
      cmd heading: 140.097275 deg,
      new cmd heading: 140.178852 deg.

2025-08-09T17:38:18.261Z,1754761098.261 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-09T17:38:18.279Z,1754761098.279 [DAT](INFO): ****** received valid address query ******
2025-08-09T17:38:18.279Z,1754761098.279 [DAT](INFO): ****** received valid ping request ******
2025-08-09T17:38:18.280Z,1754761098.280 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-09T17:38:18.284Z,1754761098.284 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 96.30 m.
2025-08-09T17:38:18.301Z,1754761098.301 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 96.300003 m,
      nav range: 94.792389 m,
      bearing: 150.459610 deg,
      approach rate: -0.647924 m/s,
      LOS rate: 0.074998 deg/s,
      cmd heading: 140.178855 deg,
      new cmd heading: 140.269165 deg.

2025-08-09T17:38:18.531Z,1754761098.531 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.481929
2025-08-09T17:38:18.735Z,1754761098.735 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 96.30 m.
2025-08-09T17:38:18.738Z,1754761098.738 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 96.300003 m,
      nav range: 94.502556 m,
      bearing: 150.485879 deg,
      approach rate: -0.642460 m/s,
      LOS rate: 0.058406 deg/s,
      cmd heading: 140.269163 deg,
      new cmd heading: 140.348210 deg.

2025-08-09T17:38:18.783Z,1754761098.783 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.734136
2025-08-09T17:38:19.035Z,1754761099.035 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.986047
2025-08-09T17:38:19.092Z,1754761099.092 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 96.30 m.
2025-08-09T17:38:19.095Z,1754761099.095 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 96.300003 m,
      nav range: 94.265778 m,
      bearing: 150.507180 deg,
      approach rate: -0.663864 m/s,
      LOS rate: 0.059874 deg/s,
      cmd heading: 140.348216 deg,
      new cmd heading: 140.412281 deg.

2025-08-09T17:38:19.287Z,1754761099.287 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.238000
2025-08-09T17:38:19.527Z,1754761099.527 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 96.30 m.
2025-08-09T17:38:19.529Z,1754761099.529 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 96.300003 m,
      nav range: 93.992577 m,
      bearing: 150.536061 deg,
      approach rate: -0.629023 m/s,
      LOS rate: 0.066690 deg/s,
      cmd heading: 140.412283 deg,
      new cmd heading: 140.499178 deg.

2025-08-09T17:38:19.540Z,1754761099.540 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.490372
2025-08-09T17:38:19.793Z,1754761099.793 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.743254
2025-08-09T17:38:19.909Z,1754761099.909 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 96.30 m.
2025-08-09T17:38:19.912Z,1754761099.912 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 96.300003 m,
      nav range: 93.732628 m,
      bearing: 150.563415 deg,
      approach rate: -0.678510 m/s,
      LOS rate: 0.071597 deg/s,
      cmd heading: 140.499177 deg,
      new cmd heading: 140.581467 deg.

2025-08-09T17:38:20.044Z,1754761100.044 [DAT](INFO): DAT read: Rx Time:17:38:18.9137

2025-08-09T17:38:20.044Z,1754761100.044 [DAT](INFO): Rx dataTimestamp_ set to:1754761100.043864
2025-08-09T17:38:20.045Z,1754761100.045 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.995453
2025-08-09T17:38:20.296Z,1754761100.296 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.246259
2025-08-09T17:38:20.303Z,1754761100.303 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-09T17:38:20.305Z,1754761100.305 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 96.30 m.
2025-08-09T17:38:20.312Z,1754761100.312 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 96.300003 m,
      nav range: 93.478325 m,
      bearing: 150.590025 deg,
      approach rate: -0.643154 m/s,
      LOS rate: 0.067481 deg/s,
      cmd heading: 140.581467 deg,
      new cmd heading: 140.661513 deg.

2025-08-09T17:38:20.553Z,1754761100.553 [DAT](INFO): DAT read: 17:38:18.9137 LVL= 32752, 32753, 32754, 32755, AGC= 72, IDX= 416,-0.34,-0.544,-2.504,-0.847,-0.962, PHS= 0.520,-1.497, 0.071, RAW= 137.8,   9.9, CAL= 137.3,  10.9, ROT=  12.7, -10.9

2025-08-09T17:38:20.554Z,1754761100.554 [DAT](INFO): got valid direction response:
 17:38:18.9137 LVL= 32752, 32753, 32754, 32755, AGC= 72, IDX= 416,-0.34,-0.544,-2.504,-0.847,-0.962, PHS= 0.520,-1.497, 0.071, RAW= 137.8,   9.9, CAL= 137.3,  10.9, ROT=  12.7, -10.9

2025-08-09T17:38:20.555Z,1754761100.555 [DAT](INFO): DAT read: Bearing 311.3,   8.1 (Local)

2025-08-09T17:38:20.556Z,1754761100.556 [DAT](INFO): Local bearing/azimuth received:
 Bearing 311.3,   8.1 (Local)

2025-08-09T17:38:20.557Z,1754761100.557 [DAT](INFO): DAT read: Range 11 to 50 : 93.9 m  (Round-trip  125.3 ms) speed  0.4 m/s

2025-08-09T17:38:20.558Z,1754761100.558 [DAT](INFO): DAT read: user:644>

2025-08-09T17:38:20.558Z,1754761100.558 [DAT](INFO): DAT read: Tx time:17:38:20.0342

2025-08-09T17:38:20.559Z,1754761100.559 [DAT](INFO): Ping request sent.
2025-08-09T17:38:20.559Z,1754761100.559 [DAT](INFO): transmitted an acoustic signal
2025-08-09T17:38:20.559Z,1754761100.559 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-09T17:38:20.560Z,1754761100.560 [DAT](INFO): direction in FSK: [0.957935,0.215880,0.189095]
2025-08-09T17:38:20.560Z,1754761100.560 [DAT](INFO): publishing transmit ping time
2025-08-09T17:38:20.561Z,1754761100.561 [DAT](INFO): publishing direction and range info
2025-08-09T17:38:20.569Z,1754761100.569 [DAT](INFO): publishing transmit ping time
2025-08-09T17:38:20.569Z,1754761100.569 [DAT](INFO): publishing direction and range info
2025-08-09T17:38:20.800Z,1754761100.800 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 93.900002 m,
      deltaT: 3.528023 s,
      deltaX: -2.400002 m,
      approachRate: -0.680268 m/s,
      rangeRepo size: 4

2025-08-09T17:38:20.806Z,1754761100.806 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 93.900002 m,
      bearing: 153.889826 deg,
      lat: 36.906037 deg,
      lon: -122.116055 deg,
      deltaT: 3.528023 s,
      deltaX: -2.400002 m,
      approachRate: -0.680268 m/s,
      posRepo size: 4

2025-08-09T17:38:20.807Z,1754761100.807 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 93.90 m.
2025-08-09T17:38:20.810Z,1754761100.810 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 93.900002 m,
      nav range: 93.311157 m,
      bearing: 153.889826 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.067481 deg/s,
      cmd heading: 140.661517 deg,
      new cmd heading: 140.759825 deg.

2025-08-09T17:38:21.169Z,1754761101.169 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 93.90 m.
2025-08-09T17:38:21.180Z,1754761101.180 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 93.900002 m,
      nav range: 93.065239 m,
      bearing: 153.919598 deg,
      approach rate: -0.648892 m/s,
      LOS rate: 0.078766 deg/s,
      cmd heading: 140.759831 deg,
      new cmd heading: 140.849383 deg.

2025-08-09T17:38:21.566Z,1754761101.566 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 93.90 m.
2025-08-09T17:38:21.569Z,1754761101.569 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 93.900002 m,
      nav range: 92.785561 m,
      bearing: 153.954447 deg,
      approach rate: -0.705000 m/s,
      LOS rate: 0.088112 deg/s,
      cmd heading: 140.849388 deg,
      new cmd heading: 140.954252 deg.

2025-08-09T17:38:21.945Z,1754761101.945 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 93.90 m.
2025-08-09T17:38:21.948Z,1754761101.948 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 93.900002 m,
      nav range: 92.533409 m,
      bearing: 153.985910 deg,
      approach rate: -0.665899 m/s,
      LOS rate: 0.083316 deg/s,
      cmd heading: 140.954245 deg,
      new cmd heading: 141.048891 deg.

2025-08-09T17:38:22.345Z,1754761102.345 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-09T17:38:22.348Z,1754761102.348 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 93.90 m.
2025-08-09T17:38:22.350Z,1754761102.350 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 93.900002 m,
      nav range: 92.265839 m,
      bearing: 154.019313 deg,
      approach rate: -0.664210 m/s,
      LOS rate: 0.083159 deg/s,
      cmd heading: 141.048884 deg,
      new cmd heading: 141.149384 deg.

2025-08-09T17:38:22.563Z,1754761102.563 [DAT](INFO): ****** received valid address query ******
2025-08-09T17:38:22.563Z,1754761102.563 [DAT](INFO): ****** received valid ping request ******
2025-08-09T17:38:22.564Z,1754761102.564 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-09T17:38:22.815Z,1754761102.815 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.256425
2025-08-09T17:38:22.931Z,1754761102.931 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 93.90 m.
2025-08-09T17:38:22.933Z,1754761102.933 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 93.900002 m,
      nav range: 91.870140 m,
      bearing: 154.066535 deg,
      approach rate: -0.678572 m/s,
      LOS rate: 0.081328 deg/s,
      cmd heading: 141.149384 deg,
      new cmd heading: 141.291659 deg.

2025-08-09T17:38:23.068Z,1754761103.068 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.508653
2025-08-09T17:38:23.309Z,1754761103.309 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 93.90 m.
2025-08-09T17:38:23.312Z,1754761103.312 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 93.900002 m,
      nav range: 91.613777 m,
      bearing: 154.097202 deg,
      approach rate: -0.677413 m/s,
      LOS rate: 0.081263 deg/s,
      cmd heading: 141.291656 deg,
      new cmd heading: 141.383916 deg.

2025-08-09T17:38:23.319Z,1754761103.319 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.760477
2025-08-09T17:38:23.571Z,1754761103.571 [DAT](INFO): DAT read: Rx Time:17:38:22.5602

2025-08-09T17:38:23.572Z,1754761103.572 [DAT](INFO): Rx dataTimestamp_ set to:1754761103.571478
2025-08-09T17:38:23.572Z,1754761103.572 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.013425
2025-08-09T17:38:23.791Z,1754761103.791 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 93.90 m.
2025-08-09T17:38:23.794Z,1754761103.794 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 93.900002 m,
      nav range: 91.296768 m,
      bearing: 154.135497 deg,
      approach rate: -0.658716 m/s,
      LOS rate: 0.079848 deg/s,
      cmd heading: 141.383919 deg,
      new cmd heading: 141.499200 deg.

2025-08-09T17:38:23.823Z,1754761103.823 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.264350
2025-08-09T17:38:24.079Z,1754761104.079 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.519734
2025-08-09T17:38:24.170Z,1754761104.170 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 93.90 m.
2025-08-09T17:38:24.173Z,1754761104.173 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 93.900002 m,
      nav range: 91.046585 m,
      bearing: 154.165646 deg,
      approach rate: -0.659070 m/s,
      LOS rate: 0.079643 deg/s,
      cmd heading: 141.499199 deg,
      new cmd heading: 141.589896 deg.

2025-08-09T17:38:24.333Z,1754761104.333 [DAT](INFO): DAT read: 17:38:22.5602 LVL= 32752, 32753, 32754, 32755, AGC= 72, IDX= 412, 0.32,-2.230, 2.029,-2.449,-2.671, PHS= 0.543,-1.538, 0.178, RAW= 140.6,   8.5, CAL= 140.1,   9.4, ROT=   9.9,  -9.4

2025-08-09T17:38:24.334Z,1754761104.334 [DAT](INFO): got valid direction response:
 17:38:22.5602 LVL= 32752, 32753, 32754, 32755, AGC= 72, IDX= 412, 0.32,-2.230, 2.029,-2.449,-2.671, PHS= 0.543,-1.538, 0.178, RAW= 140.6,   8.5, CAL= 140.1,   9.4, ROT=   9.9,  -9.4

2025-08-09T17:38:24.335Z,1754761104.335 [DAT](INFO): DAT read: Bearing 310.5,   6.3 (Local)

2025-08-09T17:38:24.335Z,1754761104.335 [DAT](INFO): Local bearing/azimuth received:
 Bearing 310.5,   6.3 (Local)

2025-08-09T17:38:24.337Z,1754761104.337 [DAT](INFO): DAT read: Range 11 to 50 : 91.3 m  (Round-trip  121.8 ms) speed  0.6 m/s

2025-08-09T17:38:24.338Z,1754761104.338 [DAT](INFO): DAT read: user:645>

2025-08-09T17:38:24.339Z,1754761104.339 [DAT](INFO): DAT read: Tx time:17:38:23.6842

2025-08-09T17:38:24.339Z,1754761104.339 [DAT](INFO): Ping request sent.
2025-08-09T17:38:24.339Z,1754761104.339 [DAT](INFO): transmitted an acoustic signal
2025-08-09T17:38:24.339Z,1754761104.339 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-09T17:38:24.340Z,1754761104.340 [DAT](INFO): direction in FSK: [0.971881,0.169620,0.163326]
2025-08-09T17:38:24.341Z,1754761104.341 [DAT](INFO): publishing transmit ping time
2025-08-09T17:38:24.341Z,1754761104.341 [DAT](INFO): publishing direction and range info
2025-08-09T17:38:24.345Z,1754761104.345 [DAT](INFO): publishing transmit ping time
2025-08-09T17:38:24.345Z,1754761104.345 [DAT](INFO): publishing direction and range info
2025-08-09T17:38:24.664Z,1754761104.664 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 91.300003 m,
      deltaT: 3.780011 s,
      deltaX: -2.599998 m,
      approachRate: -0.687828 m/s,
      rangeRepo size: 4

2025-08-09T17:38:24.670Z,1754761104.670 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 91.300003 m,
      bearing: 154.205475 deg,
      lat: 36.906037 deg,
      lon: -122.116055 deg,
      deltaT: 3.780011 s,
      deltaX: -2.599998 m,
      approachRate: -0.687828 m/s,
      posRepo size: 4

2025-08-09T17:38:24.671Z,1754761104.671 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 91.30 m.
2025-08-09T17:38:24.673Z,1754761104.673 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 91.300003 m,
      nav range: 90.741089 m,
      bearing: 154.205475 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.079643 deg/s,
      cmd heading: 141.589890 deg,
      new cmd heading: 141.707757 deg.

2025-08-09T17:38:25.016Z,1754761105.016 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-09T17:38:25.018Z,1754761105.018 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 91.30 m.
2025-08-09T17:38:25.020Z,1754761105.020 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 91.300003 m,
      nav range: 90.480202 m,
      bearing: 154.239419 deg,
      approach rate: -0.736485 m/s,
      LOS rate: 0.096099 deg/s,
      cmd heading: 141.707752 deg,
      new cmd heading: 141.809876 deg.

2025-08-09T17:38:25.085Z,1754761105.085 [DAT](INFO): ****** received valid address query ******
2025-08-09T17:38:25.085Z,1754761105.085 [DAT](INFO): ****** received valid ping request ******
2025-08-09T17:38:25.085Z,1754761105.085 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-09T17:38:25.335Z,1754761105.335 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.996188
2025-08-09T17:38:25.429Z,1754761105.429 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 91.30 m.
2025-08-09T17:38:25.436Z,1754761105.436 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 91.300003 m,
      nav range: 90.204964 m,
      bearing: 154.275255 deg,
      approach rate: -0.668693 m/s,
      LOS rate: 0.087329 deg/s,
      cmd heading: 141.809877 deg,
      new cmd heading: 141.917712 deg.

2025-08-09T17:38:25.588Z,1754761105.588 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.248624
2025-08-09T17:38:25.840Z,1754761105.840 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.500154
2025-08-09T17:38:25.877Z,1754761105.877 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 91.30 m.
2025-08-09T17:38:25.880Z,1754761105.880 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 91.300003 m,
      nav range: 89.919197 m,
      bearing: 154.316563 deg,
      approach rate: -0.638536 m/s,
      LOS rate: 0.092595 deg/s,
      cmd heading: 141.917712 deg,
      new cmd heading: 142.042030 deg.

2025-08-09T17:38:26.092Z,1754761106.092 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.752794
2025-08-09T17:38:26.225Z,1754761106.225 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 91.30 m.
2025-08-09T17:38:26.231Z,1754761106.231 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 91.300003 m,
      nav range: 89.691780 m,
      bearing: 154.349474 deg,
      approach rate: -0.653664 m/s,
      LOS rate: 0.094838 deg/s,
      cmd heading: 142.042035 deg,
      new cmd heading: 142.141020 deg.

2025-08-09T17:38:26.344Z,1754761106.344 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.004562
2025-08-09T17:38:26.595Z,1754761106.595 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.256199
2025-08-09T17:38:26.679Z,1754761106.679 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 91.30 m.
2025-08-09T17:38:26.681Z,1754761106.681 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 91.300003 m,
      nav range: 89.404709 m,
      bearing: 154.395671 deg,
      approach rate: -0.632985 m/s,
      LOS rate: 0.102190 deg/s,
      cmd heading: 142.141018 deg,
      new cmd heading: 142.280053 deg.

2025-08-09T17:38:26.848Z,1754761106.848 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.508548
2025-08-09T17:38:27.031Z,1754761107.031 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-09T17:38:27.033Z,1754761107.033 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 91.30 m.
2025-08-09T17:38:27.037Z,1754761107.037 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 91.300003 m,
      nav range: 89.179970 m,
      bearing: 154.431886 deg,
      approach rate: -0.632898 m/s,
      LOS rate: 0.102244 deg/s,
      cmd heading: 142.280053 deg,
      new cmd heading: 142.388972 deg.

2025-08-09T17:38:27.100Z,1754761107.100 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.760475
2025-08-09T17:38:27.351Z,1754761107.351 [DAT](INFO): DAT read: Rx Time:17:38:26.2068

2025-08-09T17:38:27.352Z,1754761107.352 [DAT](INFO): Rx dataTimestamp_ set to:1754761107.351518
2025-08-09T17:38:27.352Z,1754761107.352 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.013287
2025-08-09T17:38:27.521Z,1754761107.521 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 91.30 m.
2025-08-09T17:38:27.534Z,1754761107.534 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 91.300003 m,
      nav range: 88.922256 m,
      bearing: 154.473334 deg,
      approach rate: -0.529867 m/s,
      LOS rate: 0.085464 deg/s,
      cmd heading: 142.388967 deg,
      new cmd heading: 142.513669 deg.

2025-08-09T17:38:27.603Z,1754761107.603 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.264291
2025-08-09T17:38:27.868Z,1754761107.868 [DAT](INFO): DAT read: 17:38:26.2068 LVL= 23376, 31905, 25986, 32755, AGC= 67, IDX= 409, 0.40, 0.115,-1.799,-0.047,-0.288, PHS= 0.504,-1.467, 0.196, RAW= 141.7,   8.4, CAL= 141.2,   9.2, ROT=   8.8,  -9.2

2025-08-09T17:38:27.869Z,1754761107.869 [DAT](INFO): got valid direction response:
 17:38:26.2068 LVL= 23376, 31905, 25986, 32755, AGC= 67, IDX= 409, 0.40, 0.115,-1.799,-0.047,-0.288, PHS= 0.504,-1.467, 0.196, RAW= 141.7,   8.4, CAL= 141.2,   9.2, ROT=   8.8,  -9.2

2025-08-09T17:38:27.906Z,1754761107.906 [DAT](INFO): DAT read: Bearing 310.9,   6.1 (Local)

2025-08-09T17:38:27.907Z,1754761107.907 [DAT](INFO): Local bearing/azimuth received:
 Bearing 310.9,   6.1 (Local)

2025-08-09T17:38:27.908Z,1754761107.908 [DAT](INFO): DAT read: Range 11 to 50 : 88.8 m  (Round-trip  118.4 ms) speed  0.5 m/s

2025-08-09T17:38:27.909Z,1754761107.909 [DAT](INFO): DAT read: user:646>

2025-08-09T17:38:27.910Z,1754761107.910 [DAT](INFO): DAT read: Tx time:17:38:27.3342

2025-08-09T17:38:27.910Z,1754761107.910 [DAT](INFO): Ping request sent.
2025-08-09T17:38:27.910Z,1754761107.910 [DAT](INFO): transmitted an acoustic signal
2025-08-09T17:38:27.914Z,1754761107.914 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-09T17:38:27.915Z,1754761107.915 [DAT](INFO): direction in FSK: [0.975516,0.151018,0.159881]
2025-08-09T17:38:27.916Z,1754761107.916 [DAT](INFO): publishing transmit ping time
2025-08-09T17:38:27.916Z,1754761107.916 [DAT](INFO): publishing direction and range info
2025-08-09T17:38:27.923Z,1754761107.923 [DAT](INFO): publishing transmit ping time
2025-08-09T17:38:27.923Z,1754761107.923 [DAT](INFO): publishing direction and range info
2025-08-09T17:38:27.988Z,1754761107.988 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 88.800003 m,
      deltaT: 3.530568 s,
      deltaX: -2.500000 m,
      approachRate: -0.708101 m/s,
      rangeRepo size: 4

2025-08-09T17:38:27.994Z,1754761107.994 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 88.800003 m,
      bearing: 154.527279 deg,
      lat: 36.906037 deg,
      lon: -122.116055 deg,
      deltaT: 3.530568 s,
      deltaX: -2.500000 m,
      approachRate: -0.708101 m/s,
      posRepo size: 4

2025-08-09T17:38:27.995Z,1754761107.995 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 88.80 m.
2025-08-09T17:38:27.997Z,1754761107.997 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 88.800003 m,
      nav range: 88.589134 m,
      bearing: 154.527279 deg,
      approach rate: -0.000000 m/s,
      LOS rate: 0.085464 deg/s,
      cmd heading: 142.513673 deg,
      new cmd heading: 142.633603 deg.

2025-08-09T17:38:28.326Z,1754761108.326 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 88.80 m.
2025-08-09T17:38:28.333Z,1754761108.333 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 88.800003 m,
      nav range: 88.369263 m,
      bearing: 154.562149 deg,
      approach rate: -0.649468 m/s,
      LOS rate: 0.103256 deg/s,
      cmd heading: 142.633597 deg,
      new cmd heading: 142.738466 deg.

2025-08-09T17:38:28.736Z,1754761108.736 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 88.80 m.
2025-08-09T17:38:28.739Z,1754761108.739 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 88.800003 m,
      nav range: 88.107941 m,
      bearing: 154.609637 deg,
      approach rate: -0.637099 m/s,
      LOS rate: 0.116121 deg/s,
      cmd heading: 142.738468 deg,
      new cmd heading: 142.881357 deg.

2025-08-09T17:38:29.136Z,1754761109.136 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-09T17:38:29.139Z,1754761109.139 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 88.80 m.
2025-08-09T17:38:29.141Z,1754761109.141 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 88.800003 m,
      nav range: 87.862984 m,
      bearing: 154.653922 deg,
      approach rate: -0.608764 m/s,
      LOS rate: 0.110362 deg/s,
      cmd heading: 142.881356 deg,
      new cmd heading: 143.014579 deg.

2025-08-09T17:38:29.367Z,1754761109.367 [DAT](INFO): ****** received valid address query ******
2025-08-09T17:38:29.367Z,1754761109.367 [DAT](INFO): ****** received valid ping request ******
2025-08-09T17:38:29.367Z,1754761109.367 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-09T17:38:29.604Z,1754761109.604 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 88.80 m.
2025-08-09T17:38:29.610Z,1754761109.610 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 88.800003 m,
      nav range: 87.574486 m,
      bearing: 154.707680 deg,
      approach rate: -0.620890 m/s,
      LOS rate: 0.116076 deg/s,
      cmd heading: 143.014585 deg,
      new cmd heading: 143.176389 deg.

2025-08-09T17:38:29.620Z,1754761109.620 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.710128
2025-08-09T17:38:29.872Z,1754761109.872 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.961933
2025-08-09T17:38:29.960Z,1754761109.960 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 88.80 m.
2025-08-09T17:38:29.967Z,1754761109.967 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 88.800003 m,
      nav range: 87.362839 m,
      bearing: 154.746920 deg,
      approach rate: -0.593869 m/s,
      LOS rate: 0.110372 deg/s,
      cmd heading: 143.176392 deg,
      new cmd heading: 143.294398 deg.

2025-08-09T17:38:30.125Z,1754761110.125 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.214749
2025-08-09T17:38:30.355Z,1754761110.355 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 88.80 m.
2025-08-09T17:38:30.358Z,1754761110.358 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 88.800003 m,
      nav range: 87.112923 m,
      bearing: 154.793049 deg,
      approach rate: -0.632022 m/s,
      LOS rate: 0.116994 deg/s,
      cmd heading: 143.294404 deg,
      new cmd heading: 143.433190 deg.

2025-08-09T17:38:30.376Z,1754761110.376 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.466293
2025-08-09T17:38:30.628Z,1754761110.628 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.718030
2025-08-09T17:38:30.782Z,1754761110.782 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 88.80 m.
2025-08-09T17:38:30.785Z,1754761110.785 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 88.800003 m,
      nav range: 86.846962 m,
      bearing: 154.842243 deg,
      approach rate: -0.623076 m/s,
      LOS rate: 0.115601 deg/s,
      cmd heading: 143.433194 deg,
      new cmd heading: 143.581227 deg.

2025-08-09T17:38:30.880Z,1754761110.880 [DAT](INFO): DAT read: Rx Time:17:38:29.8538

2025-08-09T17:38:30.881Z,1754761110.881 [DAT](INFO): Rx dataTimestamp_ set to:1754761110.880917
2025-08-09T17:38:30.882Z,1754761110.882 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.971826
2025-08-09T17:38:31.133Z,1754761111.133 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.222701
2025-08-09T17:38:31.167Z,1754761111.167 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-09T17:38:31.169Z,1754761111.169 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 88.80 m.
2025-08-09T17:38:31.172Z,1754761111.172 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 88.800003 m,
      nav range: 86.601212 m,
      bearing: 154.887422 deg,
      approach rate: -0.634817 m/s,
      LOS rate: 0.117035 deg/s,
      cmd heading: 143.581231 deg,
      new cmd heading: 143.717151 deg.

2025-08-09T17:38:31.386Z,1754761111.386 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.475697
2025-08-09T17:38:31.641Z,1754761111.641 [DAT](INFO): DAT read: 17:38:29.8538 LVL= 27824, 32753, 30770, 32755, AGC= 70, IDX= 410, 0.21,-1.167,-3.066,-1.245,-1.549, PHS= 0.485,-1.471, 0.260, RAW= 144.0,   7.9, CAL= 143.6,   8.6, ROT=   6.4,  -8.6

2025-08-09T17:38:31.642Z,1754761111.642 [DAT](INFO): got valid direction response:
 17:38:29.8538 LVL= 27824, 32753, 30770, 32755, AGC= 70, IDX= 410, 0.21,-1.167,-3.066,-1.245,-1.549, PHS= 0.485,-1.471, 0.260, RAW= 144.0,   7.9, CAL= 143.6,   8.6, ROT=   6.4,  -8.6

2025-08-09T17:38:31.643Z,1754761111.643 [DAT](INFO): DAT read: Bearing 311.2,   5.1 (Local)

2025-08-09T17:38:31.644Z,1754761111.644 [DAT](INFO): Local bearing/azimuth received:
 Bearing 311.2,   5.1 (Local)

2025-08-09T17:38:31.645Z,1754761111.645 [DAT](INFO): DAT read: Range 11 to 50 : 86.5 m  (Round-trip  115.4 ms) speed  0.8 m/s

2025-08-09T17:38:31.646Z,1754761111.646 [DAT](INFO): DAT read: user:647>

2025-08-09T17:38:31.647Z,1754761111.647 [DAT](INFO): DAT read: Tx time:17:38:30.9842

2025-08-09T17:38:31.647Z,1754761111.647 [DAT](INFO): Ping request sent.
2025-08-09T17:38:31.647Z,1754761111.647 [DAT](INFO): transmitted an acoustic signal
2025-08-09T17:38:31.647Z,1754761111.647 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-09T17:38:31.648Z,1754761111.648 [DAT](INFO): direction in FSK: [0.982594,0.110216,0.149535]
2025-08-09T17:38:31.648Z,1754761111.648 [DAT](INFO): publishing transmit ping time
2025-08-09T17:38:31.649Z,1754761111.649 [DAT](INFO): publishing direction and range info
2025-08-09T17:38:31.660Z,1754761111.660 [DAT](INFO): publishing transmit ping time
2025-08-09T17:38:31.660Z,1754761111.660 [DAT](INFO): publishing direction and range info
2025-08-09T17:38:31.689Z,1754761111.689 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 86.500000 m,
      deltaT: 3.777498 s,
      deltaX: -2.300003 m,
      approachRate: -0.608869 m/s,
      rangeRepo size: 4

2025-08-09T17:38:31.700Z,1754761111.700 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 86.500000 m,
      bearing: 152.192753 deg,
      lat: 36.906054 deg,
      lon: -122.116013 deg,
      deltaT: 3.777498 s,
      deltaX: -2.300003 m,
      approachRate: -0.608869 m/s,
      posRepo size: 4

2025-08-09T17:38:31.701Z,1754761111.701 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 86.50 m.
2025-08-09T17:38:31.707Z,1754761111.707 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 86.500000 m,
      nav range: 86.333488 m,
      bearing: 152.192753 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.117035 deg/s,
      cmd heading: 143.717152 deg,
      new cmd heading: 143.899696 deg.

2025-08-09T17:38:32.018Z,1754761112.018 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 86.50 m.
2025-08-09T17:38:32.021Z,1754761112.021 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 86.500000 m,
      nav range: 86.124611 m,
      bearing: 152.223632 deg,
      approach rate: -0.642346 m/s,
      LOS rate: 0.095191 deg/s,
      cmd heading: 143.899696 deg,
      new cmd heading: 143.992558 deg.

2025-08-09T17:38:32.396Z,1754761112.396 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 86.50 m.
2025-08-09T17:38:32.399Z,1754761112.399 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 86.500000 m,
      nav range: 85.881165 m,
      bearing: 152.259815 deg,
      approach rate: -0.637621 m/s,
      LOS rate: 0.095037 deg/s,
      cmd heading: 143.992559 deg,
      new cmd heading: 144.101415 deg.

2025-08-09T17:38:32.800Z,1754761112.800 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 86.50 m.
2025-08-09T17:38:32.823Z,1754761112.823 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 86.500000 m,
      nav range: 85.619331 m,
      bearing: 152.294466 deg,
      approach rate: -0.647916 m/s,
      LOS rate: 0.086007 deg/s,
      cmd heading: 144.101419 deg,
      new cmd heading: 144.205689 deg.

2025-08-09T17:38:33.186Z,1754761113.186 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-09T17:38:33.188Z,1754761113.188 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 86.50 m.
2025-08-09T17:38:33.203Z,1754761113.203 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 86.500000 m,
      nav range: 85.368797 m,
      bearing: 152.327472 deg,
      approach rate: -0.645640 m/s,
      LOS rate: 0.085309 deg/s,
      cmd heading: 144.205688 deg,
      new cmd heading: 144.304998 deg.

2025-08-09T17:38:33.399Z,1754761113.399 [DAT](INFO): ****** received valid address query ******
2025-08-09T17:38:33.399Z,1754761113.399 [DAT](INFO): ****** received valid ping request ******
2025-08-09T17:38:33.399Z,1754761113.399 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-09T17:38:33.651Z,1754761113.651 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.004334
2025-08-09T17:38:33.666Z,1754761113.666 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 86.50 m.
2025-08-09T17:38:33.669Z,1754761113.669 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 86.500000 m,
      nav range: 85.057419 m,
      bearing: 152.363799 deg,
      approach rate: -0.651824 m/s,
      LOS rate: 0.076322 deg/s,
      cmd heading: 144.304999 deg,
      new cmd heading: 144.414377 deg.

2025-08-09T17:38:33.903Z,1754761113.903 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.256304
2025-08-09T17:38:34.002Z,1754761114.002 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 86.50 m.
2025-08-09T17:38:34.005Z,1754761114.005 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 86.500000 m,
      nav range: 84.838089 m,
      bearing: 152.389232 deg,
      approach rate: -0.651712 m/s,
      LOS rate: 0.075767 deg/s,
      cmd heading: 144.414378 deg,
      new cmd heading: 144.490875 deg.

2025-08-09T17:38:34.155Z,1754761114.155 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.508342
2025-08-09T17:38:34.399Z,1754761114.399 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 86.50 m.
2025-08-09T17:38:34.401Z,1754761114.401 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 86.500000 m,
      nav range: 84.579918 m,
      bearing: 152.418934 deg,
      approach rate: -0.651776 m/s,
      LOS rate: 0.075214 deg/s,
      cmd heading: 144.490876 deg,
      new cmd heading: 144.580254 deg.

2025-08-09T17:38:34.407Z,1754761114.407 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.760360
2025-08-09T17:38:34.660Z,1754761114.660 [DAT](INFO): DAT read: Rx Time:17:38:33.5007

2025-08-09T17:38:34.661Z,1754761114.661 [DAT](INFO): Rx dataTimestamp_ set to:1754761114.660348
2025-08-09T17:38:34.662Z,1754761114.662 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.014534
2025-08-09T17:38:34.828Z,1754761114.828 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 86.50 m.
2025-08-09T17:38:34.855Z,1754761114.855 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 86.500000 m,
      nav range: 84.292351 m,
      bearing: 152.446735 deg,
      approach rate: -0.670015 m/s,
      LOS rate: 0.064996 deg/s,
      cmd heading: 144.580256 deg,
      new cmd heading: 144.663944 deg.

2025-08-09T17:38:34.913Z,1754761114.913 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.265519
2025-08-09T17:38:35.169Z,1754761115.169 [DAT](INFO): DAT read: 17:38:33.5007 LVL= 25904, 27377, 29938, 27763, AGC= 68, IDX= 411,-0.16,-0.841,-2.690,-0.839,-1.208, PHS= 0.469,-1.437, 0.325, RAW= 146.1,   7.1, CAL= 145.6,   7.7, ROT=   4.4,  -7.7

2025-08-09T17:38:35.170Z,1754761115.170 [DAT](INFO): got valid direction response:
 17:38:33.5007 LVL= 25904, 27377, 29938, 27763, AGC= 68, IDX= 411,-0.16,-0.841,-2.690,-0.839,-1.208, PHS= 0.469,-1.437, 0.325, RAW= 146.1,   7.1, CAL= 145.6,   7.7, ROT=   4.4,  -7.7

2025-08-09T17:38:35.171Z,1754761115.171 [DAT](INFO): DAT read: Bearing 311.1,   4.4 (Local)

2025-08-09T17:38:35.171Z,1754761115.171 [DAT](INFO): Local bearing/azimuth received:
 Bearing 311.1,   4.4 (Local)

2025-08-09T17:38:35.173Z,1754761115.173 [DAT](INFO): DAT read: Range 11 to 50 : 84.3 m  (Round-trip  112.4 ms) speed  0.4 m/s

2025-08-09T17:38:35.174Z,1754761115.174 [DAT](INFO): DAT read: user:648>

2025-08-09T17:38:35.181Z,1754761115.181 [DAT](INFO): DAT read: Tx time:17:38:34.5842

2025-08-09T17:38:35.182Z,1754761115.182 [DAT](INFO): Ping request sent.
2025-08-09T17:38:35.182Z,1754761115.182 [DAT](INFO): transmitted an acoustic signal
2025-08-09T17:38:35.182Z,1754761115.182 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-09T17:38:35.183Z,1754761115.183 [DAT](INFO): direction in FSK: [0.988063,0.076027,0.133986]
2025-08-09T17:38:35.183Z,1754761115.183 [DAT](INFO): publishing transmit ping time
2025-08-09T17:38:35.183Z,1754761115.183 [DAT](INFO): publishing direction and range info
2025-08-09T17:38:35.208Z,1754761115.208 [DAT](INFO): publishing transmit ping time
2025-08-09T17:38:35.209Z,1754761115.209 [DAT](INFO): publishing direction and range info
2025-08-09T17:38:35.278Z,1754761115.278 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 84.300003 m,
      deltaT: 3.527872 s,
      deltaX: -2.199997 m,
      approachRate: -0.623605 m/s,
      rangeRepo size: 4

2025-08-09T17:38:35.286Z,1754761115.286 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 84.300003 m,
      bearing: 151.562455 deg,
      lat: 36.906063 deg,
      lon: -122.116002 deg,
      deltaT: 3.527872 s,
      deltaX: -2.199997 m,
      approachRate: -0.623605 m/s,
      posRepo size: 4

2025-08-09T17:38:35.298Z,1754761115.298 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 84.30 m.
2025-08-09T17:38:35.301Z,1754761115.301 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 84.300003 m,
      nav range: 83.547302 m,
      bearing: 151.562455 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.064996 deg/s,
      cmd heading: 144.663939 deg,
      new cmd heading: 144.751640 deg.

2025-08-09T17:38:35.726Z,1754761115.726 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-09T17:38:35.728Z,1754761115.728 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 84.30 m.
2025-08-09T17:38:35.731Z,1754761115.731 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 84.300003 m,
      nav range: 83.229507 m,
      bearing: 151.593395 deg,
      approach rate: -0.704673 m/s,
      LOS rate: 0.068868 deg/s,
      cmd heading: 144.751639 deg,
      new cmd heading: 144.844813 deg.

2025-08-09T17:38:35.919Z,1754761115.919 [DAT](INFO): ****** received valid address query ******
2025-08-09T17:38:35.919Z,1754761115.919 [DAT](INFO): ****** received valid ping request ******
2025-08-09T17:38:35.919Z,1754761115.919 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-09T17:38:36.064Z,1754761116.064 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 84.30 m.
2025-08-09T17:38:36.082Z,1754761116.082 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 84.300003 m,
      nav range: 83.002762 m,
      bearing: 151.615399 deg,
      approach rate: -0.676142 m/s,
      LOS rate: 0.065795 deg/s,
      cmd heading: 144.844816 deg,
      new cmd heading: 144.911010 deg.

2025-08-09T17:38:36.172Z,1754761116.172 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.990097
2025-08-09T17:38:36.423Z,1754761116.423 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.241584
2025-08-09T17:38:36.487Z,1754761116.487 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 84.30 m.
2025-08-09T17:38:36.489Z,1754761116.489 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 84.300003 m,
      nav range: 82.717079 m,
      bearing: 151.643400 deg,
      approach rate: -0.675665 m/s,
      LOS rate: 0.066453 deg/s,
      cmd heading: 144.911015 deg,
      new cmd heading: 144.995307 deg.

2025-08-09T17:38:36.675Z,1754761116.675 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.493525
2025-08-09T17:38:36.917Z,1754761116.917 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 84.30 m.
2025-08-09T17:38:36.920Z,1754761116.920 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 84.300003 m,
      nav range: 82.424416 m,
      bearing: 151.670829 deg,
      approach rate: -0.679925 m/s,
      LOS rate: 0.063949 deg/s,
      cmd heading: 144.995313 deg,
      new cmd heading: 145.077890 deg.

2025-08-09T17:38:36.928Z,1754761116.928 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.745968
2025-08-09T17:38:37.179Z,1754761117.179 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.997574
2025-08-09T17:38:37.280Z,1754761117.280 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 84.30 m.
2025-08-09T17:38:37.283Z,1754761117.283 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 84.300003 m,
      nav range: 82.177307 m,
      bearing: 151.694042 deg,
      approach rate: -0.680901 m/s,
      LOS rate: 0.064157 deg/s,
      cmd heading: 145.077890 deg,
      new cmd heading: 145.147740 deg.

2025-08-09T17:38:37.431Z,1754761117.431 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.249572
2025-08-09T17:38:37.683Z,1754761117.683 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.501661
2025-08-09T17:38:37.729Z,1754761117.729 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-09T17:38:37.732Z,1754761117.732 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 84.30 m.
2025-08-09T17:38:37.734Z,1754761117.734 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 84.300003 m,
      nav range: 81.862007 m,
      bearing: 151.720244 deg,
      approach rate: -0.698071 m/s,
      LOS rate: 0.058235 deg/s,
      cmd heading: 145.147735 deg,
      new cmd heading: 145.226644 deg.

2025-08-09T17:38:37.935Z,1754761117.935 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.753628
2025-08-09T17:38:38.087Z,1754761118.087 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 84.30 m.
2025-08-09T17:38:38.094Z,1754761118.094 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 84.300003 m,
      nav range: 81.616554 m,
      bearing: 151.740369 deg,
      approach rate: -0.692156 m/s,
      LOS rate: 0.056921 deg/s,
      cmd heading: 145.226638 deg,
      new cmd heading: 145.287194 deg.

2025-08-09T17:38:38.188Z,1754761118.188 [DAT](INFO): DAT read: Rx Time:17:38:37.0971

2025-08-09T17:38:38.188Z,1754761118.188 [DAT](INFO): Rx dataTimestamp_ set to:1754761118.188194
2025-08-09T17:38:38.189Z,1754761118.189 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.007678
2025-08-09T17:38:38.439Z,1754761118.439 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.257584
2025-08-09T17:38:38.503Z,1754761118.503 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 84.30 m.
2025-08-09T17:38:38.505Z,1754761118.505 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 84.300003 m,
      nav range: 81.325249 m,
      bearing: 151.763951 deg,
      approach rate: -0.698950 m/s,
      LOS rate: 0.056783 deg/s,
      cmd heading: 145.287194 deg,
      new cmd heading: 145.358192 deg.

2025-08-09T17:38:38.697Z,1754761118.697 [DAT](INFO): DAT read: 17:38:37.0971 LVL= 23664, 32753, 27714, 32755, AGC= 70, IDX= 406, 0.34,-2.558, 1.920,-2.511,-2.888, PHS= 0.432,-1.430, 0.334, RAW= 147.3,   7.4, CAL= 146.8,   8.0, ROT=   3.2,  -8.0

2025-08-09T17:38:38.698Z,1754761118.698 [DAT](INFO): got valid direction response:
 17:38:37.0971 LVL= 23664, 32753, 27714, 32755, AGC= 70, IDX= 406, 0.34,-2.558, 1.920,-2.511,-2.888, PHS= 0.432,-1.430, 0.334, RAW= 147.3,   7.4, CAL= 146.8,   8.0, ROT=   3.2,  -8.0

2025-08-09T17:38:38.699Z,1754761118.699 [DAT](INFO): DAT read: Bearing 311.7,   3.6 (Local)

2025-08-09T17:38:38.699Z,1754761118.699 [DAT](INFO): Local bearing/azimuth received:
 Bearing 311.7,   3.6 (Local)

2025-08-09T17:38:38.701Z,1754761118.701 [DAT](INFO): DAT read: Range 11 to 50 : 81.5 m  (Round-trip  108.7 ms) speed  0.8 m/s

2025-08-09T17:38:38.701Z,1754761118.701 [DAT](INFO): DAT read: user:649>

2025-08-09T17:38:38.704Z,1754761118.704 [DAT](INFO): DAT read: Tx time:17:38:38.1842

2025-08-09T17:38:38.704Z,1754761118.704 [DAT](INFO): Ping request sent.
2025-08-09T17:38:38.704Z,1754761118.704 [DAT](INFO): transmitted an acoustic signal
2025-08-09T17:38:38.705Z,1754761118.705 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-09T17:38:38.706Z,1754761118.706 [DAT](INFO): direction in FSK: [0.988724,0.055278,0.139173]
2025-08-09T17:38:38.706Z,1754761118.706 [DAT](INFO): publishing transmit ping time
2025-08-09T17:38:38.706Z,1754761118.706 [DAT](INFO): publishing direction and range info
2025-08-09T17:38:38.709Z,1754761118.709 [DAT](INFO): publishing transmit ping time
2025-08-09T17:38:38.709Z,1754761118.709 [DAT](INFO): publishing direction and range info
2025-08-09T17:38:38.957Z,1754761118.957 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 81.500000 m,
      deltaT: 3.527947 s,
      deltaX: -2.800003 m,
      approachRate: -0.793664 m/s,
      rangeRepo size: 4

2025-08-09T17:38:38.959Z,1754761118.959 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 81.500000 m,
      bearing: 150.494550 deg,
      lat: 36.906072 deg,
      lon: -122.115985 deg,
      deltaT: 3.527947 s,
      deltaX: -2.800003 m,
      approachRate: -0.793664 m/s,
      posRepo size: 4

2025-08-09T17:38:38.959Z,1754761118.959 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 81.50 m.
2025-08-09T17:38:38.962Z,1754761118.962 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 81.500000 m,
      nav range: 80.865578 m,
      bearing: 150.494550 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.056783 deg/s,
      cmd heading: 145.358187 deg,
      new cmd heading: 145.435351 deg.

2025-08-09T17:38:39.298Z,1754761119.298 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 81.50 m.
2025-08-09T17:38:39.300Z,1754761119.300 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 81.500000 m,
      nav range: 80.625999 m,
      bearing: 150.512779 deg,
      approach rate: -0.701177 m/s,
      LOS rate: 0.053511 deg/s,
      cmd heading: 145.435355 deg,
      new cmd heading: 145.490205 deg.

2025-08-09T17:38:39.749Z,1754761119.749 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-09T17:38:39.751Z,1754761119.751 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 81.50 m.
2025-08-09T17:38:39.754Z,1754761119.754 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 81.500000 m,
      nav range: 80.319809 m,
      bearing: 150.533912 deg,
      approach rate: -0.674735 m/s,
      LOS rate: 0.046746 deg/s,
      cmd heading: 145.490201 deg,
      new cmd heading: 145.553840 deg.

2025-08-09T17:38:39.951Z,1754761119.951 [DAT](INFO): ****** received valid address query ******
2025-08-09T17:38:39.951Z,1754761119.951 [DAT](INFO): ****** received valid ping request ******
2025-08-09T17:38:39.951Z,1754761119.951 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-09T17:38:40.124Z,1754761120.124 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 81.50 m.
2025-08-09T17:38:40.126Z,1754761120.126 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 81.500000 m,
      nav range: 80.067749 m,
      bearing: 150.550931 deg,
      approach rate: -0.676980 m/s,
      LOS rate: 0.045853 deg/s,
      cmd heading: 145.553845 deg,
      new cmd heading: 145.605062 deg.

2025-08-09T17:38:40.204Z,1754761120.204 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.499696
2025-08-09T17:38:40.457Z,1754761120.457 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.752885
2025-08-09T17:38:40.515Z,1754761120.515 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 81.50 m.
2025-08-09T17:38:40.522Z,1754761120.522 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 81.500000 m,
      nav range: 79.808464 m,
      bearing: 150.568090 deg,
      approach rate: -0.661776 m/s,
      LOS rate: 0.043937 deg/s,
      cmd heading: 145.605057 deg,
      new cmd heading: 145.656701 deg.

2025-08-09T17:38:40.709Z,1754761120.709 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.004733
2025-08-09T17:38:40.947Z,1754761120.947 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 81.50 m.
2025-08-09T17:38:40.951Z,1754761120.951 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 81.500000 m,
      nav range: 79.515663 m,
      bearing: 150.585053 deg,
      approach rate: -0.677808 m/s,
      LOS rate: 0.039412 deg/s,
      cmd heading: 145.656707 deg,
      new cmd heading: 145.707784 deg.

2025-08-09T17:38:40.959Z,1754761120.959 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.255008
2025-08-09T17:38:41.211Z,1754761121.211 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.506914
2025-08-09T17:38:41.316Z,1754761121.316 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 81.50 m.
2025-08-09T17:38:41.319Z,1754761121.319 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 81.500000 m,
      nav range: 79.270943 m,
      bearing: 150.599032 deg,
      approach rate: -0.664212 m/s,
      LOS rate: 0.038059 deg/s,
      cmd heading: 145.707784 deg,
      new cmd heading: 145.749851 deg.

2025-08-09T17:38:41.464Z,1754761121.464 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.759336
2025-08-09T17:38:41.718Z,1754761121.718 [DAT](INFO): DAT read: Rx Time:17:38:40.6938

2025-08-09T17:38:41.720Z,1754761121.720 [DAT](INFO): Rx dataTimestamp_ set to:1754761121.718977
2025-08-09T17:38:41.721Z,1754761121.721 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.016735
2025-08-09T17:38:41.801Z,1754761121.801 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-09T17:38:41.804Z,1754761121.804 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 81.50 m.
2025-08-09T17:38:41.807Z,1754761121.807 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 81.500000 m,
      nav range: 78.958939 m,
      bearing: 150.618145 deg,
      approach rate: -0.639527 m/s,
      LOS rate: 0.039331 deg/s,
      cmd heading: 145.749857 deg,
      new cmd heading: 145.807422 deg.

2025-08-09T17:38:41.967Z,1754761121.967 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.262791
2025-08-09T17:38:42.131Z,1754761122.131 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 81.50 m.
2025-08-09T17:38:42.135Z,1754761122.135 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 81.500000 m,
      nav range: 78.748772 m,
      bearing: 150.630822 deg,
      approach rate: -0.641398 m/s,
      LOS rate: 0.038792 deg/s,
      cmd heading: 145.807422 deg,
      new cmd heading: 145.845556 deg.

2025-08-09T17:38:42.222Z,1754761122.222 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.517541
2025-08-09T17:38:42.481Z,1754761122.481 [DAT](INFO): DAT read: 17:38:40.6938 LVL= 22944, 29601, 22514, 32755, AGC= 66, IDX= 404, 0.06,-1.560, 2.933,-1.472,-1.853, PHS= 0.395,-1.452, 0.337, RAW= 148.4,   8.0, CAL= 147.9,   8.6, ROT=   2.1,  -8.6

2025-08-09T17:38:42.483Z,1754761122.483 [DAT](INFO): got valid direction response:
 17:38:40.6938 LVL= 22944, 29601, 22514, 32755, AGC= 66, IDX= 404, 0.06,-1.560, 2.933,-1.472,-1.853, PHS= 0.395,-1.452, 0.337, RAW= 148.4,   8.0, CAL= 147.9,   8.6, ROT=   2.1,  -8.6

2025-08-09T17:38:42.483Z,1754761122.483 [DAT](INFO): DAT read: Bearing 313.3,   2.7 (Local)

2025-08-09T17:38:42.484Z,1754761122.484 [DAT](INFO): Local bearing/azimuth received:
 Bearing 313.3,   2.7 (Local)

2025-08-09T17:38:42.485Z,1754761122.485 [DAT](INFO): DAT read: Range 11 to 50 : 79.0 m  (Round-trip  105.4 ms) speed  0.6 m/s

2025-08-09T17:38:42.486Z,1754761122.486 [DAT](INFO): DAT read: user:650>

2025-08-09T17:38:42.487Z,1754761122.487 [DAT](INFO): DAT read: Tx time:17:38:41.7842

2025-08-09T17:38:42.487Z,1754761122.487 [DAT](INFO): Ping request sent.
2025-08-09T17:38:42.487Z,1754761122.487 [DAT](INFO): transmitted an acoustic signal
2025-08-09T17:38:42.487Z,1754761122.487 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-09T17:38:42.488Z,1754761122.488 [DAT](INFO): direction in FSK: [0.988092,0.036232,0.149535]
2025-08-09T17:38:42.489Z,1754761122.489 [DAT](INFO): publishing transmit ping time
2025-08-09T17:38:42.489Z,1754761122.489 [DAT](INFO): publishing direction and range info
2025-08-09T17:38:42.513Z,1754761122.513 [DAT](INFO): publishing transmit ping time
2025-08-09T17:38:42.513Z,1754761122.513 [DAT](INFO): publishing direction and range info
2025-08-09T17:38:42.637Z,1754761122.637 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 79.000000 m,
      deltaT: 3.780138 s,
      deltaX: -2.500000 m,
      approachRate: -0.661352 m/s,
      rangeRepo size: 4

2025-08-09T17:38:42.648Z,1754761122.648 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 79.000000 m,
      bearing: 149.518814 deg,
      lat: 36.906078 deg,
      lon: -122.115969 deg,
      deltaT: 3.780138 s,
      deltaX: -2.500000 m,
      approachRate: -0.661352 m/s,
      posRepo size: 4

2025-08-09T17:38:42.649Z,1754761122.649 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 79.00 m.
2025-08-09T17:38:42.651Z,1754761122.651 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 79.000000 m,
      nav range: 78.534264 m,
      bearing: 149.518814 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.038792 deg/s,
      cmd heading: 145.845562 deg,
      new cmd heading: 145.904359 deg.

2025-08-09T17:38:43.065Z,1754761123.065 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 79.00 m.
2025-08-09T17:38:43.081Z,1754761123.081 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 79.000000 m,
      nav range: 78.250290 m,
      bearing: 149.530678 deg,
      approach rate: -0.663222 m/s,
      LOS rate: 0.027808 deg/s,
      cmd heading: 145.904356 deg,
      new cmd heading: 145.940077 deg.

2025-08-09T17:38:43.425Z,1754761123.425 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 79.00 m.
2025-08-09T17:38:43.428Z,1754761123.428 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 79.000000 m,
      nav range: 78.006157 m,
      bearing: 149.539909 deg,
      approach rate: -0.678000 m/s,
      LOS rate: 0.025716 deg/s,
      cmd heading: 145.940078 deg,
      new cmd heading: 145.967858 deg.

2025-08-09T17:38:43.860Z,1754761123.860 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-09T17:38:43.863Z,1754761123.863 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 79.00 m.
2025-08-09T17:38:43.867Z,1754761123.867 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 79.000000 m,
      nav range: 77.728569 m,
      bearing: 149.551321 deg,
      approach rate: -0.634777 m/s,
      LOS rate: 0.026190 deg/s,
      cmd heading: 145.967863 deg,
      new cmd heading: 146.002222 deg.

2025-08-09T17:38:43.984Z,1754761123.984 [DAT](INFO): ****** received valid address query ******
2025-08-09T17:38:43.984Z,1754761123.984 [DAT](INFO): ****** received valid ping request ******
2025-08-09T17:38:43.984Z,1754761123.984 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-09T17:38:44.235Z,1754761124.235 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.747946
2025-08-09T17:38:44.252Z,1754761124.252 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 79.00 m.
2025-08-09T17:38:44.255Z,1754761124.255 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 79.000000 m,
      nav range: 77.475731 m,
      bearing: 149.561786 deg,
      approach rate: -0.649475 m/s,
      LOS rate: 0.026971 deg/s,
      cmd heading: 146.002219 deg,
      new cmd heading: 146.033718 deg.

2025-08-09T17:38:44.488Z,1754761124.488 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.000611
2025-08-09T17:38:44.637Z,1754761124.637 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 79.00 m.
2025-08-09T17:38:44.640Z,1754761124.640 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 79.000000 m,
      nav range: 77.228226 m,
      bearing: 149.571319 deg,
      approach rate: -0.641401 m/s,
      LOS rate: 0.024784 deg/s,
      cmd heading: 146.033720 deg,
      new cmd heading: 146.062411 deg.

2025-08-09T17:38:44.743Z,1754761124.743 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.255364
2025-08-09T17:38:44.991Z,1754761124.991 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.504045
2025-08-09T17:38:45.067Z,1754761125.067 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 79.00 m.
2025-08-09T17:38:45.070Z,1754761125.070 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 79.000000 m,
      nav range: 76.951462 m,
      bearing: 149.581500 deg,
      approach rate: -0.643621 m/s,
      LOS rate: 0.023759 deg/s,
      cmd heading: 146.062407 deg,
      new cmd heading: 146.093057 deg.

2025-08-09T17:38:45.243Z,1754761125.243 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.756062
2025-08-09T17:38:45.449Z,1754761125.449 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 79.00 m.
2025-08-09T17:38:45.452Z,1754761125.452 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 79.000000 m,
      nav range: 76.705688 m,
      bearing: 149.590239 deg,
      approach rate: -0.643643 m/s,
      LOS rate: 0.022960 deg/s,
      cmd heading: 146.093061 deg,
      new cmd heading: 146.119363 deg.

2025-08-09T17:38:45.496Z,1754761125.496 [DAT](INFO): DAT read: Rx Time:17:38:44.2909

2025-08-09T17:38:45.497Z,1754761125.497 [DAT](INFO): Rx dataTimestamp_ set to:1754761125.496250
2025-08-09T17:38:45.498Z,1754761125.498 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.010274
2025-08-09T17:38:45.750Z,1754761125.750 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.262321
2025-08-09T17:38:45.909Z,1754761125.909 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-09T17:38:45.927Z,1754761125.927 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 79.00 m.
2025-08-09T17:38:45.930Z,1754761125.930 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 79.000000 m,
      nav range: 76.402397 m,
      bearing: 149.604503 deg,
      approach rate: -0.634384 m/s,
      LOS rate: 0.029954 deg/s,
      cmd heading: 146.119357 deg,
      new cmd heading: 146.162319 deg.

2025-08-09T17:38:46.006Z,1754761126.006 [DAT](INFO): DAT read: 17:38:44.2909 LVL= 25520, 32577, 25298, 32755, AGC= 71, IDX= 406, 0.20, 0.728,-1.032, 0.877, 0.464, PHS= 0.366,-1.451, 0.370, RAW= 150.1,   7.9, CAL= 149.6,   8.5, ROT=   0.4,  -8.5

2025-08-09T17:38:46.008Z,1754761126.008 [DAT](INFO): got valid direction response:
 17:38:44.2909 LVL= 25520, 32577, 25298, 32755, AGC= 71, IDX= 406, 0.20, 0.728,-1.032, 0.877, 0.464, PHS= 0.366,-1.451, 0.370, RAW= 150.1,   7.9, CAL= 149.6,   8.5, ROT=   0.4,  -8.5

2025-08-09T17:38:46.009Z,1754761126.009 [DAT](INFO): DAT read: Bearing 314.6,   1.7 (Local)

2025-08-09T17:38:46.009Z,1754761126.009 [DAT](INFO): Local bearing/azimuth received:
 Bearing 314.6,   1.7 (Local)

2025-08-09T17:38:46.015Z,1754761126.015 [DAT](INFO): DAT read: Range 11 to 50 : 76.8 m  (Round-trip  102.5 ms) speed  0.5 m/s

2025-08-09T17:38:46.016Z,1754761126.016 [DAT](INFO): DAT read: user:651>

2025-08-09T17:38:46.017Z,1754761126.017 [DAT](INFO): DAT read: Tx time:17:38:45.3842

2025-08-09T17:38:46.017Z,1754761126.017 [DAT](INFO): Ping request sent.
2025-08-09T17:38:46.017Z,1754761126.017 [DAT](INFO): transmitted an acoustic signal
2025-08-09T17:38:46.017Z,1754761126.017 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-09T17:38:46.039Z,1754761126.039 [DAT](INFO): direction in FSK: [0.988992,0.006905,0.147809]
2025-08-09T17:38:46.039Z,1754761126.039 [DAT](INFO): publishing transmit ping time
2025-08-09T17:38:46.039Z,1754761126.039 [DAT](INFO): publishing direction and range info
2025-08-09T17:38:46.047Z,1754761126.047 [DAT](INFO): publishing transmit ping time
2025-08-09T17:38:46.047Z,1754761126.047 [DAT](INFO): publishing direction and range info
2025-08-09T17:38:46.269Z,1754761126.269 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 76.800003 m,
      deltaT: 3.528550 s,
      deltaX: -2.199997 m,
      approachRate: -0.623485 m/s,
      rangeRepo size: 4

2025-08-09T17:38:46.272Z,1754761126.272 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 76.800003 m,
      bearing: 148.882523 deg,
      lat: 36.906086 deg,
      lon: -122.115962 deg,
      deltaT: 3.528550 s,
      deltaX: -2.199997 m,
      approachRate: -0.623485 m/s,
      posRepo size: 4

2025-08-09T17:38:46.273Z,1754761126.273 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 76.80 m.
2025-08-09T17:38:46.280Z,1754761126.280 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 76.800003 m,
      nav range: 75.710968 m,
      bearing: 148.882523 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.029954 deg/s,
      cmd heading: 146.162319 deg,
      new cmd heading: 146.193000 deg.

2025-08-09T17:38:46.662Z,1754761126.662 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 76.80 m.
2025-08-09T17:38:46.665Z,1754761126.665 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 76.800003 m,
      nav range: 75.450005 m,
      bearing: 148.891750 deg,
      approach rate: -0.663865 m/s,
      LOS rate: 0.023553 deg/s,
      cmd heading: 146.193000 deg,
      new cmd heading: 146.220776 deg.

2025-08-09T17:38:47.116Z,1754761127.116 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 76.80 m.
2025-08-09T17:38:47.127Z,1754761127.127 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 76.800003 m,
      nav range: 75.143753 m,
      bearing: 148.904917 deg,
      approach rate: -0.674741 m/s,
      LOS rate: 0.029129 deg/s,
      cmd heading: 146.220772 deg,
      new cmd heading: 146.260435 deg.

2025-08-09T17:38:47.528Z,1754761127.528 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 76.80 m.
2025-08-09T17:38:47.535Z,1754761127.535 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 76.800003 m,
      nav range: 74.870712 m,
      bearing: 148.916527 deg,
      approach rate: -0.661896 m/s,
      LOS rate: 0.028248 deg/s,
      cmd heading: 146.260428 deg,
      new cmd heading: 146.295386 deg.

2025-08-09T17:38:47.940Z,1754761127.940 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-09T17:38:47.942Z,1754761127.942 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 76.80 m.
2025-08-09T17:38:47.944Z,1754761127.944 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 76.800003 m,
      nav range: 74.575905 m,
      bearing: 148.930652 deg,
      approach rate: -0.713315 m/s,
      LOS rate: 0.034312 deg/s,
      cmd heading: 146.295385 deg,
      new cmd heading: 146.337928 deg.

2025-08-09T17:38:48.016Z,1754761128.016 [DAT](INFO): ****** received valid address query ******
2025-08-09T17:38:48.016Z,1754761128.016 [DAT](INFO): ****** received valid ping request ******
2025-08-09T17:38:48.016Z,1754761128.016 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-09T17:38:48.271Z,1754761128.271 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.254198
2025-08-09T17:38:48.305Z,1754761128.305 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 76.80 m.
2025-08-09T17:38:48.308Z,1754761128.308 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 76.800003 m,
      nav range: 74.320877 m,
      bearing: 148.943004 deg,
      approach rate: -0.701055 m/s,
      LOS rate: 0.034071 deg/s,
      cmd heading: 146.337923 deg,
      new cmd heading: 146.375106 deg.

2025-08-09T17:38:48.524Z,1754761128.524 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.506763
2025-08-09T17:38:48.724Z,1754761128.724 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 76.80 m.
2025-08-09T17:38:48.732Z,1754761128.732 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 76.800003 m,
      nav range: 74.033363 m,
      bearing: 148.956873 deg,
      approach rate: -0.687510 m/s,
      LOS rate: 0.033293 deg/s,
      cmd heading: 146.375107 deg,
      new cmd heading: 146.416875 deg.

2025-08-09T17:38:48.778Z,1754761128.778 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.760479
2025-08-09T17:38:49.033Z,1754761129.033 [DAT](INFO): DAT read: 17:38:47.8875 LVL= 25968, 31025, 23954, 32755, AGC= 70, IDX= 404, 0.20, 1.041,-0.714, 1.205, 0.744, PHS= 0.399,-1.413, 0.417, RAW= 150.5,   6.6, CAL= 149.8,   7.0, ROT=   0.2,  -7.0

2025-08-09T17:38:49.035Z,1754761129.035 [DAT](INFO): got valid direction response:
 17:38:47.8875 LVL= 25968, 31025, 23954, 32755, AGC= 70, IDX= 404, 0.20, 1.041,-0.714, 1.205, 0.744, PHS= 0.399,-1.413, 0.417, RAW= 150.5,   6.6, CAL= 149.8,   7.0, ROT=   0.2,  -7.0

2025-08-09T17:38:49.035Z,1754761129.035 [DAT](INFO): DAT read: Rx Time:17:38:47.8875

2025-08-09T17:38:49.036Z,1754761129.036 [DAT](INFO): Rx dataTimestamp_ set to:1754761129.035653
2025-08-09T17:38:49.037Z,1754761129.037 [DAT](INFO): DAT read: $Low SNR acquisition

2025-08-09T17:38:49.037Z,1754761129.037 [DAT](INFO): Received low SNR in chirp
2025-08-09T17:38:49.051Z,1754761129.051 [DAT](INFO): #Rx 1: Read direction message, but no range.
2025-08-09T17:38:49.052Z,1754761129.052 [DAT](INFO): direction in FSK: [0.992540,0.003465,0.121869]
2025-08-09T17:38:49.064Z,1754761129.064 [DAT](INFO): ****** received valid address query ******
2025-08-09T17:38:49.064Z,1754761129.064 [DAT](INFO): ****** received valid ping request ******
2025-08-09T17:38:49.064Z,1754761129.064 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-09T17:38:49.195Z,1754761129.195 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 76.80 m.
2025-08-09T17:38:49.198Z,1754761129.198 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 76.800003 m,
      nav range: 73.699417 m,
      bearing: 148.973718 deg,
      approach rate: -0.708158 m/s,
      LOS rate: 0.035882 deg/s,
      cmd heading: 146.416880 deg,
      new cmd heading: 146.467643 deg.

2025-08-09T17:38:49.279Z,1754761129.279 [DAT](INFO): ****** received valid address query ******
2025-08-09T17:38:49.279Z,1754761129.279 [DAT](INFO): ****** received valid ping request ******
2025-08-09T17:38:49.279Z,1754761129.279 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-09T17:38:49.520Z,1754761129.520 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 76.80 m.
2025-08-09T17:38:49.523Z,1754761129.523 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 76.800003 m,
      nav range: 73.463783 m,
      bearing: 148.985503 deg,
      approach rate: -0.725711 m/s,
      LOS rate: 0.036412 deg/s,
      cmd heading: 146.467642 deg,
      new cmd heading: 146.503111 deg.

2025-08-09T17:38:49.531Z,1754761129.531 [DAT](INFO): ****** received valid address query ******
2025-08-09T17:38:49.531Z,1754761129.531 [DAT](INFO): ****** received valid ping request ******
2025-08-09T17:38:49.531Z,1754761129.531 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-09T17:38:49.783Z,1754761129.783 [DAT](INFO): ****** received valid address query ******
2025-08-09T17:38:49.783Z,1754761129.783 [DAT](INFO): ****** received valid ping request ******
2025-08-09T17:38:49.783Z,1754761129.783 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-09T17:38:49.967Z,1754761129.967 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-09T17:38:49.969Z,1754761129.969 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 76.80 m.
2025-08-09T17:38:49.976Z,1754761129.976 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 76.800003 m,
      nav range: 73.160233 m,
      bearing: 149.003457 deg,
      approach rate: -0.675057 m/s,
      LOS rate: 0.040093 deg/s,
      cmd heading: 146.503104 deg,
      new cmd heading: 146.557190 deg.

2025-08-09T17:38:50.035Z,1754761130.035 [DAT](INFO): ****** received valid address query ******
2025-08-09T17:38:50.035Z,1754761130.035 [DAT](INFO): ****** received valid ping request ******
2025-08-09T17:38:50.035Z,1754761130.035 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-09T17:38:50.287Z,1754761130.287 [DAT](INFO): ****** received valid address query ******
2025-08-09T17:38:50.287Z,1754761130.287 [DAT](INFO): ****** received valid ping request ******
2025-08-09T17:38:50.287Z,1754761130.287 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-09T17:38:50.347Z,1754761130.347 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 76.80 m.
2025-08-09T17:38:50.349Z,1754761130.349 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 76.800003 m,
      nav range: 72.894691 m,
      bearing: 149.019071 deg,
      approach rate: -0.703465 m/s,
      LOS rate: 0.041514 deg/s,
      cmd heading: 146.557186 deg,
      new cmd heading: 146.604198 deg.

2025-08-09T17:38:50.539Z,1754761130.539 [DAT](INFO): ****** received valid address query ******
2025-08-09T17:38:50.539Z,1754761130.539 [DAT](INFO): ****** received valid ping request ******
2025-08-09T17:38:50.539Z,1754761130.539 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-09T17:38:50.754Z,1754761130.754 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 76.80 m.
2025-08-09T17:38:50.757Z,1754761130.757 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 76.800003 m,
      nav range: 72.614922 m,
      bearing: 149.035499 deg,
      approach rate: -0.687750 m/s,
      LOS rate: 0.040540 deg/s,
      cmd heading: 146.604191 deg,
      new cmd heading: 146.653665 deg.

2025-08-09T17:38:50.795Z,1754761130.795 [DAT](INFO): ****** received valid address query ******
2025-08-09T17:38:50.796Z,1754761130.796 [DAT](INFO): ****** received valid ping request ******
2025-08-09T17:38:50.796Z,1754761130.796 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-09T17:38:51.043Z,1754761131.043 [DAT](INFO): ****** received valid address query ******
2025-08-09T17:38:51.043Z,1754761131.043 [DAT](INFO): ****** received valid ping request ******
2025-08-09T17:38:51.043Z,1754761131.043 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-09T17:38:51.180Z,1754761131.180 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 76.80 m.
2025-08-09T17:38:51.182Z,1754761131.182 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 76.800003 m,
      nav range: 72.317810 m,
      bearing: 149.052953 deg,
      approach rate: -0.697799 m/s,
      LOS rate: 0.041161 deg/s,
      cmd heading: 146.653669 deg,
      new cmd heading: 146.706246 deg.

2025-08-09T17:38:51.296Z,1754761131.296 [DAT](INFO): ****** received valid address query ******
2025-08-09T17:38:51.296Z,1754761131.296 [DAT](INFO): ****** received valid ping request ******
2025-08-09T17:38:51.296Z,1754761131.296 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-09T17:38:51.547Z,1754761131.547 [DAT](INFO): ****** received valid address query ******
2025-08-09T17:38:51.547Z,1754761131.547 [DAT](INFO): ****** received valid ping request ******
2025-08-09T17:38:51.547Z,1754761131.547 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-09T17:38:51.609Z,1754761131.609 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 76.80 m.
2025-08-09T17:38:51.616Z,1754761131.616 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 76.800003 m,
      nav range: 72.024551 m,
      bearing: 149.070287 deg,
      approach rate: -0.683333 m/s,
      LOS rate: 0.040556 deg/s,
      cmd heading: 146.706248 deg,
      new cmd heading: 146.758462 deg.

2025-08-09T17:38:51.799Z,1754761131.799 [DAT](INFO): ****** received valid address query ******
2025-08-09T17:38:51.799Z,1754761131.799 [DAT](INFO): ****** received valid ping request ******
2025-08-09T17:38:51.799Z,1754761131.799 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-09T17:38:52.009Z,1754761132.009 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-09T17:38:52.012Z,1754761132.012 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 76.80 m.
2025-08-09T17:38:52.015Z,1754761132.015 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 76.800003 m,
      nav range: 71.740631 m,
      bearing: 149.082225 deg,
      approach rate: -0.704360 m/s,
      LOS rate: 0.029733 deg/s,
      cmd heading: 146.758458 deg,
      new cmd heading: 146.794413 deg.

2025-08-09T17:38:52.052Z,1754761132.052 [DAT](INFO): ****** received valid address query ******
2025-08-09T17:38:52.052Z,1754761132.052 [DAT](INFO): ****** received valid ping request ******
2025-08-09T17:38:52.052Z,1754761132.052 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-09T17:38:52.303Z,1754761132.303 [DAT](INFO): ****** received valid address query ******
2025-08-09T17:38:52.303Z,1754761132.303 [DAT](INFO): ****** received valid ping request ******
2025-08-09T17:38:52.303Z,1754761132.303 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-09T17:38:52.365Z,1754761132.365 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 76.80 m.
2025-08-09T17:38:52.368Z,1754761132.368 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 76.800003 m,
      nav range: 71.496864 m,
      bearing: 149.092529 deg,
      approach rate: -0.690215 m/s,
      LOS rate: 0.029274 deg/s,
      cmd heading: 146.794412 deg,
      new cmd heading: 146.825428 deg.

2025-08-09T17:38:52.555Z,1754761132.555 [DAT](INFO): ****** received valid address query ******
2025-08-09T17:38:52.555Z,1754761132.555 [DAT](INFO): ****** received valid ping request ******
2025-08-09T17:38:52.555Z,1754761132.555 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-09T17:38:52.768Z,1754761132.768 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 76.80 m.
2025-08-09T17:38:52.771Z,1754761132.771 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 76.800003 m,
      nav range: 71.218880 m,
      bearing: 149.104301 deg,
      approach rate: -0.689602 m/s,
      LOS rate: 0.029318 deg/s,
      cmd heading: 146.825435 deg,
      new cmd heading: 146.860890 deg.

2025-08-09T17:38:52.811Z,1754761132.811 [DAT](INFO): ****** received valid address query ******
2025-08-09T17:38:52.811Z,1754761132.811 [DAT](INFO): ****** received valid ping request ******
2025-08-09T17:38:52.811Z,1754761132.811 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-09T17:38:53.060Z,1754761133.060 [DAT](INFO): ****** received valid address query ******
2025-08-09T17:38:53.060Z,1754761133.060 [DAT](INFO): ****** received valid ping request ******
2025-08-09T17:38:53.060Z,1754761133.060 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-09T17:38:53.199Z,1754761133.199 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 76.80 m.
2025-08-09T17:38:53.202Z,1754761133.202 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 76.800003 m,
      nav range: 70.932602 m,
      bearing: 149.112662 deg,
      approach rate: -0.663763 m/s,
      LOS rate: 0.019464 deg/s,
      cmd heading: 146.860883 deg,
      new cmd heading: 146.886067 deg.

2025-08-09T17:38:53.311Z,1754761133.311 [DAT](INFO): ****** received valid address query ******
2025-08-09T17:38:53.311Z,1754761133.311 [DAT](INFO): ****** received valid ping request ******
2025-08-09T17:38:53.311Z,1754761133.311 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-09T17:38:53.564Z,1754761133.564 [DAT](INFO): ****** received valid address query ******
2025-08-09T17:38:53.564Z,1754761133.564 [DAT](INFO): ****** received valid ping request ******
2025-08-09T17:38:53.564Z,1754761133.564 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-09T17:38:53.597Z,1754761133.597 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 76.80 m.
2025-08-09T17:38:53.600Z,1754761133.600 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 76.800003 m,
      nav range: 70.669754 m,
      bearing: 149.120228 deg,
      approach rate: -0.660972 m/s,
      LOS rate: 0.019096 deg/s,
      cmd heading: 146.886073 deg,
      new cmd heading: 146.908855 deg.

2025-08-09T17:38:53.815Z,1754761133.815 [DAT](INFO): ****** received valid address query ******
2025-08-09T17:38:53.815Z,1754761133.815 [DAT](INFO): ****** received valid ping request ******
2025-08-09T17:38:53.815Z,1754761133.815 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-09T17:38:54.020Z,1754761134.020 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-09T17:38:54.042Z,1754761134.042 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 76.80 m.
2025-08-09T17:38:54.045Z,1754761134.045 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 76.800003 m,
      nav range: 70.389793 m,
      bearing: 149.127026 deg,
      approach rate: -0.658455 m/s,
      LOS rate: 0.016053 deg/s,
      cmd heading: 146.908859 deg,
      new cmd heading: 146.929335 deg.

2025-08-09T17:38:54.067Z,1754761134.067 [DAT](INFO): ****** received valid address query ******
2025-08-09T17:38:54.068Z,1754761134.068 [DAT](INFO): ****** received valid ping request ******
2025-08-09T17:38:54.068Z,1754761134.068 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-09T17:38:54.319Z,1754761134.319 [DAT](INFO): ****** received valid address query ******
2025-08-09T17:38:54.319Z,1754761134.319 [DAT](INFO): ****** received valid ping request ******
2025-08-09T17:38:54.320Z,1754761134.320 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-09T17:38:54.424Z,1754761134.424 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 76.80 m.
2025-08-09T17:38:54.447Z,1754761134.447 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 76.800003 m,
      nav range: 70.125839 m,
      bearing: 149.133181 deg,
      approach rate: -0.657021 m/s,
      LOS rate: 0.015379 deg/s,
      cmd heading: 146.929336 deg,
      new cmd heading: 146.947870 deg.

2025-08-09T17:38:54.573Z,1754761134.573 [DAT](INFO): ****** received valid address query ******
2025-08-09T17:38:54.573Z,1754761134.573 [DAT](INFO): ****** received valid ping request ******
2025-08-09T17:38:54.573Z,1754761134.573 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-09T17:38:54.823Z,1754761134.823 [DAT](INFO): ****** received valid address query ******
2025-08-09T17:38:54.823Z,1754761134.823 [DAT](INFO): ****** received valid ping request ******
2025-08-09T17:38:54.823Z,1754761134.823 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-09T17:38:54.832Z,1754761134.832 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 76.80 m.
2025-08-09T17:38:54.834Z,1754761134.834 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 76.800003 m,
      nav range: 69.859467 m,
      bearing: 149.139310 deg,
      approach rate: -0.653467 m/s,
      LOS rate: 0.015092 deg/s,
      cmd heading: 146.947873 deg,
      new cmd heading: 146.966329 deg.

2025-08-09T17:38:55.078Z,1754761135.078 [DAT](INFO): ****** received valid address query ******
2025-08-09T17:38:55.078Z,1754761135.078 [DAT](INFO): ****** received valid ping request ******
2025-08-09T17:38:55.078Z,1754761135.078 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-09T17:38:55.252Z,1754761135.252 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 76.80 m.
2025-08-09T17:38:55.274Z,1754761135.274 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 76.800003 m,
      nav range: 69.589386 m,
      bearing: 149.143313 deg,
      approach rate: -0.643050 m/s,
      LOS rate: 0.009567 deg/s,
      cmd heading: 146.966328 deg,
      new cmd heading: 146.978382 deg.

2025-08-09T17:38:55.328Z,1754761135.328 [DAT](INFO): ****** received valid address query ******
2025-08-09T17:38:55.328Z,1754761135.328 [DAT](INFO): ****** received valid ping request ******
2025-08-09T17:38:55.328Z,1754761135.328 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-09T17:38:55.580Z,1754761135.580 [DAT](INFO): ****** received valid address query ******
2025-08-09T17:38:55.580Z,1754761135.580 [DAT](INFO): ****** received valid ping request ******
2025-08-09T17:38:55.580Z,1754761135.580 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-09T17:38:55.660Z,1754761135.660 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 76.80 m.
2025-08-09T17:38:55.663Z,1754761135.663 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 76.800003 m,
      nav range: 69.338760 m,
      bearing: 149.147026 deg,
      approach rate: -0.616254 m/s,
      LOS rate: 0.009164 deg/s,
      cmd heading: 146.978376 deg,
      new cmd heading: 146.989558 deg.

2025-08-09T17:38:55.831Z,1754761135.831 [DAT](INFO): ****** received valid address query ******
2025-08-09T17:38:55.831Z,1754761135.831 [DAT](INFO): ****** received valid ping request ******
2025-08-09T17:38:55.831Z,1754761135.831 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-09T17:38:56.083Z,1754761136.083 [DAT](INFO): Reached modem response timeout
2025-08-09T17:38:56.083Z,1754761136.083 [DAT](DEBUG): Acoustic response timeout
2025-08-09T17:38:56.084Z,1754761136.084 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-09T17:38:56.101Z,1754761136.101 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-09T17:38:56.103Z,1754761136.103 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 76.80 m.
2025-08-09T17:38:56.106Z,1754761136.106 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 76.800003 m,
      nav range: 69.053520 m,
      bearing: 149.151159 deg,
      approach rate: -0.640988 m/s,
      LOS rate: 0.009325 deg/s,
      cmd heading: 146.989564 deg,
      new cmd heading: 147.002013 deg.

2025-08-09T17:38:56.335Z,1754761136.335 [DAT](INFO): Reached modem response timeout
2025-08-09T17:38:56.335Z,1754761136.335 [DAT](DEBUG): Acoustic response timeout
2025-08-09T17:38:56.335Z,1754761136.335 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-09T17:38:56.464Z,1754761136.464 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 76.80 m.
2025-08-09T17:38:56.467Z,1754761136.467 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 76.800003 m,
      nav range: 68.813866 m,
      bearing: 149.154732 deg,
      approach rate: -0.698738 m/s,
      LOS rate: 0.010453 deg/s,
      cmd heading: 147.002009 deg,
      new cmd heading: 147.012764 deg.

2025-08-09T17:38:56.587Z,1754761136.587 [DAT](INFO): Reached modem response timeout
2025-08-09T17:38:56.588Z,1754761136.588 [DAT](DEBUG): Acoustic response timeout
2025-08-09T17:38:56.588Z,1754761136.588 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-09T17:38:56.839Z,1754761136.839 [DAT](INFO): Reached modem response timeout
2025-08-09T17:38:56.839Z,1754761136.839 [DAT](DEBUG): Acoustic response timeout
2025-08-09T17:38:56.840Z,1754761136.840 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-09T17:38:56.855Z,1754761136.855 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 76.80 m.
2025-08-09T17:38:56.859Z,1754761136.859 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 76.800003 m,
      nav range: 68.552864 m,
      bearing: 149.158714 deg,
      approach rate: -0.640234 m/s,
      LOS rate: 0.009805 deg/s,
      cmd heading: 147.012759 deg,
      new cmd heading: 147.024751 deg.

2025-08-09T17:38:57.091Z,1754761137.091 [DAT](INFO): Reached modem response timeout
2025-08-09T17:38:57.091Z,1754761137.091 [DAT](DEBUG): Acoustic response timeout
2025-08-09T17:38:57.091Z,1754761137.091 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-09T17:38:57.294Z,1754761137.294 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 76.80 m.
2025-08-09T17:38:57.301Z,1754761137.301 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 76.800003 m,
      nav range: 68.274818 m,
      bearing: 149.163022 deg,
      approach rate: -0.632162 m/s,
      LOS rate: 0.009836 deg/s,
      cmd heading: 147.024753 deg,
      new cmd heading: 147.037731 deg.

2025-08-09T17:38:57.344Z,1754761137.344 [DAT](INFO): Reached modem response timeout
2025-08-09T17:38:57.344Z,1754761137.344 [DAT](DEBUG): Acoustic response timeout
2025-08-09T17:38:57.345Z,1754761137.345 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-09T17:38:57.595Z,1754761137.595 [DAT](INFO): Reached modem response timeout
2025-08-09T17:38:57.595Z,1754761137.595 [DAT](DEBUG): Acoustic response timeout
2025-08-09T17:38:57.595Z,1754761137.595 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-09T17:38:57.668Z,1754761137.668 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 76.80 m.
2025-08-09T17:38:57.670Z,1754761137.670 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 76.800003 m,
      nav range: 68.017204 m,
      bearing: 149.167382 deg,
      approach rate: -0.689217 m/s,
      LOS rate: 0.011709 deg/s,
      cmd heading: 147.037731 deg,
      new cmd heading: 147.050860 deg.

2025-08-09T17:38:57.847Z,1754761137.847 [DAT](INFO): Reached modem response timeout
2025-08-09T17:38:57.848Z,1754761137.848 [DAT](DEBUG): Acoustic response timeout
2025-08-09T17:38:57.848Z,1754761137.848 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-09T17:38:58.099Z,1754761138.099 [DAT](INFO): Reached modem response timeout
2025-08-09T17:38:58.099Z,1754761138.099 [DAT](DEBUG): Acoustic response timeout
2025-08-09T17:38:58.100Z,1754761138.100 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-09T17:38:58.120Z,1754761138.120 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-09T17:38:58.122Z,1754761138.122 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 76.80 m.
2025-08-09T17:38:58.129Z,1754761138.129 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 76.800003 m,
      nav range: 67.728127 m,
      bearing: 149.177322 deg,
      approach rate: -0.636410 m/s,
      LOS rate: 0.021977 deg/s,
      cmd heading: 147.050858 deg,
      new cmd heading: 147.080806 deg.

2025-08-09T17:38:58.354Z,1754761138.354 [DAT](INFO): DAT read: Response Not Received

2025-08-09T17:38:58.355Z,1754761138.355 [DAT](INFO): response not received
2025-08-09T17:38:58.355Z,1754761138.355 [DAT](INFO): DAT read: user:653>

2025-08-09T17:38:58.356Z,1754761138.356 [DAT](INFO): DAT read: Tx time:17:38:57.8341

2025-08-09T17:38:58.356Z,1754761138.356 [DAT](INFO): Ping request sent.
2025-08-09T17:38:58.356Z,1754761138.356 [DAT](INFO): transmitted an acoustic signal
2025-08-09T17:38:58.356Z,1754761138.356 [DAT](INFO): publishing transmit ping time
2025-08-09T17:38:58.357Z,1754761138.357 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000729
2025-08-09T17:38:58.495Z,1754761138.495 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 76.80 m.
2025-08-09T17:38:58.497Z,1754761138.497 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 76.800003 m,
      nav range: 67.462715 m,
      bearing: 149.186704 deg,
      approach rate: -0.712181 m/s,
      LOS rate: 0.025271 deg/s,
      cmd heading: 147.080802 deg,
      new cmd heading: 147.109056 deg.

2025-08-09T17:38:58.604Z,1754761138.604 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.247805
2025-08-09T17:38:58.856Z,1754761138.856 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.499886
2025-08-09T17:38:58.907Z,1754761138.907 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 76.80 m.
2025-08-09T17:38:58.910Z,1754761138.910 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 76.800003 m,
      nav range: 67.186203 m,
      bearing: 149.196730 deg,
      approach rate: -0.670167 m/s,
      LOS rate: 0.024399 deg/s,
      cmd heading: 147.109051 deg,
      new cmd heading: 147.139253 deg.

2025-08-09T17:38:59.107Z,1754761139.107 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.751090
2025-08-09T17:38:59.317Z,1754761139.317 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 76.80 m.
2025-08-09T17:38:59.344Z,1754761139.344 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 76.800003 m,
      nav range: 66.902702 m,
      bearing: 149.208480 deg,
      approach rate: -0.691275 m/s,
      LOS rate: 0.028773 deg/s,
      cmd heading: 147.139255 deg,
      new cmd heading: 147.174655 deg.

2025-08-09T17:38:59.359Z,1754761139.359 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.003178
2025-08-09T17:38:59.611Z,1754761139.611 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.255056
2025-08-09T17:38:59.700Z,1754761139.700 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 76.80 m.
2025-08-09T17:38:59.718Z,1754761139.718 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 76.800003 m,
      nav range: 66.641197 m,
      bearing: 149.219395 deg,
      approach rate: -0.683734 m/s,
      LOS rate: 0.028651 deg/s,
      cmd heading: 147.174649 deg,
      new cmd heading: 147.207523 deg.

2025-08-09T17:38:59.864Z,1754761139.864 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.507894
2025-08-09T17:39:00.115Z,1754761140.115 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.759153
2025-08-09T17:39:00.133Z,1754761140.133 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-09T17:39:00.156Z,1754761140.156 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 76.80 m.
2025-08-09T17:39:00.163Z,1754761140.163 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 76.800003 m,
      nav range: 66.348793 m,
      bearing: 149.235210 deg,
      approach rate: -0.640907 m/s,
      LOS rate: 0.034817 deg/s,
      cmd heading: 147.207529 deg,
      new cmd heading: 147.255183 deg.

2025-08-09T17:39:00.368Z,1754761140.368 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.011303
2025-08-09T17:39:00.527Z,1754761140.527 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 76.80 m.
2025-08-09T17:39:00.530Z,1754761140.530 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 76.800003 m,
      nav range: 66.091743 m,
      bearing: 149.249153 deg,
      approach rate: -0.691927 m/s,
      LOS rate: 0.037676 deg/s,
      cmd heading: 147.255177 deg,
      new cmd heading: 147.297167 deg.

2025-08-09T17:39:00.620Z,1754761140.620 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.263855
2025-08-09T17:39:00.872Z,1754761140.872 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.515381
2025-08-09T17:39:00.914Z,1754761140.914 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 76.80 m.
2025-08-09T17:39:00.917Z,1754761140.917 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 76.800003 m,
      nav range: 65.813835 m,
      bearing: 149.264221 deg,
      approach rate: -0.718295 m/s,
      LOS rate: 0.039110 deg/s,
      cmd heading: 147.297169 deg,
      new cmd heading: 147.342564 deg.

2025-08-09T17:39:01.123Z,1754761141.123 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.767070
2025-08-09T17:39:01.361Z,1754761141.361 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 76.80 m.
2025-08-09T17:39:01.364Z,1754761141.364 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 76.800003 m,
      nav range: 65.525444 m,
      bearing: 149.278751 deg,
      approach rate: -0.645786 m/s,
      LOS rate: 0.032680 deg/s,
      cmd heading: 147.342562 deg,
      new cmd heading: 147.386344 deg.

2025-08-09T17:39:01.369Z,1754761141.369 [lineCaptureHoming:MicromodemComms:CheckIn:A](INFO): Timed out from 2025-08-09T17:29:01.1Z
2025-08-09T17:39:01.369Z,1754761141.369 [lineCaptureHoming:MicromodemComms:CheckIn:A] Stopped
2025-08-09T17:39:01.369Z,1754761141.369 [lineCaptureHoming:MicromodemComms:CheckIn](INFO): Completed lineCaptureHoming:MicromodemComms:CheckIn
2025-08-09T17:39:01.369Z,1754761141.369 [lineCaptureHoming:MicromodemComms:CheckIn] Stopped
2025-08-09T17:39:01.369Z,1754761141.369 [lineCaptureHoming:MicromodemComms:CheckIn](DEBUG): Aggregate::uninitialize lineCaptureHoming:MicromodemComms:CheckIn
2025-08-09T17:39:01.369Z,1754761141.369 [lineCaptureHoming:MicromodemComms](INFO): Completed lineCaptureHoming:MicromodemComms
2025-08-09T17:39:01.375Z,1754761141.375 [DAT](INFO): DAT read: Rx Time:17:39:00.3262

2025-08-09T17:39:01.376Z,1754761141.376 [DAT](INFO): Rx dataTimestamp_ set to:1754761141.375635
2025-08-09T17:39:01.376Z,1754761141.376 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.020282
2025-08-09T17:39:01.631Z,1754761141.631 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274405
2025-08-09T17:39:01.728Z,1754761141.728 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 76.80 m.
2025-08-09T17:39:01.731Z,1754761141.731 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 76.800003 m,
      nav range: 65.252914 m,
      bearing: 149.292617 deg,
      approach rate: -0.742371 m/s,
      LOS rate: 0.037929 deg/s,
      cmd heading: 147.386343 deg,
      new cmd heading: 147.428115 deg.

2025-08-09T17:39:01.735Z,1754761141.735 [lineCaptureHoming:MicromodemComms] Running Loop=1
2025-08-09T17:39:01.735Z,1754761141.735 [lineCaptureHoming:MicromodemComms](DEBUG): Aggregate::initialize lineCaptureHoming:MicromodemComms
2025-08-09T17:39:01.735Z,1754761141.735 [lineCaptureHoming:MicromodemComms:CheckIn] Running Loop=1
2025-08-09T17:39:01.735Z,1754761141.735 [lineCaptureHoming:MicromodemComms:CheckIn](DEBUG): Aggregate::initialize lineCaptureHoming:MicromodemComms:CheckIn
2025-08-09T17:39:01.735Z,1754761141.735 [lineCaptureHoming:MicromodemComms:CheckIn:A] Running Loop=1
2025-08-09T17:39:01.894Z,1754761141.894 [DAT](INFO): DAT read: 17:39:00.3262 LVL= 27376, 28657, 25666, 32755, AGC= 69, IDX= 321,-0.01,-0.402,-2.170,-0.250,-0.687, PHS= 0.386,-1.438, 0.393, RAW= 150.2,   7.3, CAL= 149.6,   7.8, ROT=   0.4,  -7.8

2025-08-09T17:39:01.895Z,1754761141.895 [DAT](INFO): got valid direction response:
 17:39:00.3262 LVL= 27376, 28657, 25666, 32755, AGC= 69, IDX= 321,-0.01,-0.402,-2.170,-0.250,-0.687, PHS= 0.386,-1.438, 0.393, RAW= 150.2,   7.3, CAL= 149.6,   7.8, ROT=   0.4,  -7.8

2025-08-09T17:39:01.896Z,1754761141.896 [DAT](INFO): DAT read: Bearing 314.5,   2.8 (Local)

2025-08-09T17:39:01.896Z,1754761141.896 [DAT](INFO): Local bearing/azimuth received:
 Bearing 314.5,   2.8 (Local)

2025-08-09T17:39:01.898Z,1754761141.898 [DAT](INFO): DAT read: Range 11 to 50 : 65.9 m  (Round-trip  87.9 ms) speed  0.7 m/s

2025-08-09T17:39:01.914Z,1754761141.914 [DAT](INFO): DAT read: user:654>

2025-08-09T17:39:01.915Z,1754761141.915 [DAT](INFO): DAT read: Tx time:17:39:01.4341

2025-08-09T17:39:01.916Z,1754761141.916 [DAT](INFO): Ping request sent.
2025-08-09T17:39:01.916Z,1754761141.916 [DAT](INFO): transmitted an acoustic signal
2025-08-09T17:39:01.916Z,1754761141.916 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-09T17:39:01.917Z,1754761141.917 [DAT](INFO): direction in FSK: [0.990724,0.006917,0.135716]
2025-08-09T17:39:01.917Z,1754761141.917 [DAT](INFO): publishing transmit ping time
2025-08-09T17:39:01.917Z,1754761141.917 [DAT](INFO): publishing direction and range info
2025-08-09T17:39:01.929Z,1754761141.929 [DAT](INFO): publishing transmit ping time
2025-08-09T17:39:01.929Z,1754761141.929 [DAT](INFO): publishing direction and range info
2025-08-09T17:39:02.506Z,1754761142.506 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 65.900002 m,
      deltaT: 15.881531 s,
      deltaX: -10.900002 m,
      approachRate: -0.686332 m/s,
      rangeRepo size: 4

2025-08-09T17:39:02.508Z,1754761142.508 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 65.900002 m,
      bearing: 149.115067 deg,
      lat: 36.906089 deg,
      lon: -122.115961 deg,
      deltaT: 15.881531 s,
      deltaX: -10.900002 m,
      approachRate: -0.686332 m/s,
      posRepo size: 4

2025-08-09T17:39:02.509Z,1754761142.509 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 65.90 m.
2025-08-09T17:39:02.516Z,1754761142.516 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 65.900002 m,
      nav range: 64.562729 m,
      bearing: 149.115067 deg,
      approach rate: 1237756.000000 m/s,
      LOS rate: 0.037929 deg/s,
      cmd heading: 147.428117 deg,
      new cmd heading: 147.513065 deg.

2025-08-09T17:39:02.890Z,1754761142.890 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-09T17:39:02.892Z,1754761142.892 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 65.90 m.
2025-08-09T17:39:02.895Z,1754761142.895 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 65.900002 m,
      nav range: 64.267441 m,
      bearing: 149.130834 deg,
      approach rate: -0.706412 m/s,
      LOS rate: 0.037893 deg/s,
      cmd heading: 147.513071 deg,
      new cmd heading: 147.560590 deg.

2025-08-09T17:39:03.139Z,1754761143.139 [DAT](INFO): ****** received valid address query ******
2025-08-09T17:39:03.139Z,1754761143.139 [DAT](INFO): ****** received valid ping request ******
2025-08-09T17:39:03.140Z,1754761143.140 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-09T17:39:03.304Z,1754761143.304 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 65.90 m.
2025-08-09T17:39:03.306Z,1754761143.306 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 65.900002 m,
      nav range: 63.991047 m,
      bearing: 149.140797 deg,
      approach rate: -0.672249 m/s,
      LOS rate: 0.024337 deg/s,
      cmd heading: 147.560595 deg,
      new cmd heading: 147.590613 deg.

2025-08-09T17:39:03.396Z,1754761143.396 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.480624
2025-08-09T17:39:03.647Z,1754761143.647 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.731683
2025-08-09T17:39:03.711Z,1754761143.711 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 65.90 m.
2025-08-09T17:39:03.714Z,1754761143.714 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 65.900002 m,
      nav range: 63.732014 m,
      bearing: 149.150170 deg,
      approach rate: -0.637205 m/s,
      LOS rate: 0.023150 deg/s,
      cmd heading: 147.590607 deg,
      new cmd heading: 147.618839 deg.

2025-08-09T17:39:03.900Z,1754761143.900 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.984301
2025-08-09T17:39:04.151Z,1754761144.151 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.235569
2025-08-09T17:39:04.202Z,1754761144.202 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 65.90 m.
2025-08-09T17:39:04.204Z,1754761144.204 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 65.900002 m,
      nav range: 63.385735 m,
      bearing: 149.155825 deg,
      approach rate: -0.704652 m/s,
      LOS rate: 0.011571 deg/s,
      cmd heading: 147.618843 deg,
      new cmd heading: 147.635902 deg.

2025-08-09T17:39:04.403Z,1754761144.403 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.487760
2025-08-09T17:39:04.616Z,1754761144.616 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 65.90 m.
2025-08-09T17:39:04.623Z,1754761144.623 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 65.900002 m,
      nav range: 63.115871 m,
      bearing: 149.160169 deg,
      approach rate: -0.651266 m/s,
      LOS rate: 0.010529 deg/s,
      cmd heading: 147.635905 deg,
      new cmd heading: 147.648994 deg.

2025-08-09T17:39:04.656Z,1754761144.656 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.739843
2025-08-09T17:39:04.908Z,1754761144.908 [DAT](INFO): DAT read: Rx Time:17:39:03.9229

2025-08-09T17:39:04.908Z,1754761144.908 [DAT](INFO): Rx dataTimestamp_ set to:1754761144.907691
2025-08-09T17:39:04.909Z,1754761144.909 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.992868
2025-08-09T17:39:05.148Z,1754761145.148 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-09T17:39:05.150Z,1754761145.150 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 65.90 m.
2025-08-09T17:39:05.157Z,1754761145.157 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 65.900002 m,
      nav range: 62.745228 m,
      bearing: 149.169682 deg,
      approach rate: -0.694092 m/s,
      LOS rate: 0.017920 deg/s,
      cmd heading: 147.648992 deg,
      new cmd heading: 147.677699 deg.

2025-08-09T17:39:05.159Z,1754761145.159 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.243777
2025-08-09T17:39:05.411Z,1754761145.411 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.495553
2025-08-09T17:39:05.524Z,1754761145.524 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 65.90 m.
2025-08-09T17:39:05.526Z,1754761145.526 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 65.900002 m,
      nav range: 62.488270 m,
      bearing: 149.176416 deg,
      approach rate: -0.687725 m/s,
      LOS rate: 0.018097 deg/s,
      cmd heading: 147.677706 deg,
      new cmd heading: 147.697990 deg.

2025-08-09T17:39:05.669Z,1754761145.669 [DAT](INFO): DAT read: 17:39:03.9229 LVL= 28080, 31025, 25938, 32755, AGC= 67, IDX= 415,-0.00,-2.375, 2.196,-2.248,-2.677, PHS= 0.404,-1.365, 0.385, RAW= 149.5,   6.6, CAL= 148.9,   7.0, ROT=   1.1,  -7.0

2025-08-09T17:39:05.670Z,1754761145.670 [DAT](INFO): got valid direction response:
 17:39:03.9229 LVL= 28080, 31025, 25938, 32755, AGC= 67, IDX= 415,-0.00,-2.375, 2.196,-2.248,-2.677, PHS= 0.404,-1.365, 0.385, RAW= 149.5,   6.6, CAL= 148.9,   7.0, ROT=   1.1,  -7.0

2025-08-09T17:39:05.671Z,1754761145.671 [DAT](INFO): DAT read: Bearing 313.9,   4.1 (Local)

2025-08-09T17:39:05.671Z,1754761145.671 [DAT](INFO): Local bearing/azimuth received:
 Bearing 313.9,   4.1 (Local)

2025-08-09T17:39:05.673Z,1754761145.673 [DAT](INFO): DAT read: Range 11 to 50 : 63.4 m  (Round-trip  84.6 ms) speed  0.7 m/s

2025-08-09T17:39:05.673Z,1754761145.673 [DAT](INFO): DAT read: user:655>

2025-08-09T17:39:05.679Z,1754761145.679 [DAT](INFO): DAT read: Tx time:17:39:05.0357

2025-08-09T17:39:05.679Z,1754761145.679 [DAT](INFO): Ping request sent.
2025-08-09T17:39:05.679Z,1754761145.679 [DAT](INFO): transmitted an acoustic signal
2025-08-09T17:39:05.680Z,1754761145.680 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-09T17:39:05.681Z,1754761145.681 [DAT](INFO): direction in FSK: [0.992363,0.019054,0.121869]
2025-08-09T17:39:05.681Z,1754761145.681 [DAT](INFO): publishing transmit ping time
2025-08-09T17:39:05.681Z,1754761145.681 [DAT](INFO): publishing direction and range info
2025-08-09T17:39:05.684Z,1754761145.684 [DAT](INFO): publishing transmit ping time
2025-08-09T17:39:05.684Z,1754761145.684 [DAT](INFO): publishing direction and range info
2025-08-09T17:39:05.933Z,1754761145.933 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 63.400002 m,
      deltaT: 3.781793 s,
      deltaX: -2.500000 m,
      approachRate: -0.661062 m/s,
      rangeRepo size: 4

2025-08-09T17:39:05.935Z,1754761145.935 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 63.400002 m,
      bearing: 149.183672 deg,
      lat: 36.906089 deg,
      lon: -122.115961 deg,
      deltaT: 3.781793 s,
      deltaX: -2.500000 m,
      approachRate: -0.661062 m/s,
      posRepo size: 4

2025-08-09T17:39:05.935Z,1754761145.935 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 63.40 m.
2025-08-09T17:39:05.938Z,1754761145.938 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 63.400002 m,
      nav range: 62.213753 m,
      bearing: 149.183672 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.018097 deg/s,
      cmd heading: 147.697991 deg,
      new cmd heading: 147.720162 deg.

2025-08-09T17:39:06.352Z,1754761146.352 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 63.40 m.
2025-08-09T17:39:06.355Z,1754761146.355 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 63.400002 m,
      nav range: 61.928413 m,
      bearing: 149.189340 deg,
      approach rate: -0.679232 m/s,
      LOS rate: 0.013555 deg/s,
      cmd heading: 147.720162 deg,
      new cmd heading: 147.737245 deg.

2025-08-09T17:39:06.725Z,1754761146.725 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 63.40 m.
2025-08-09T17:39:06.728Z,1754761146.728 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 63.400002 m,
      nav range: 61.676907 m,
      bearing: 149.194356 deg,
      approach rate: -0.674775 m/s,
      LOS rate: 0.013512 deg/s,
      cmd heading: 147.737251 deg,
      new cmd heading: 147.752360 deg.

2025-08-09T17:39:07.156Z,1754761147.156 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-09T17:39:07.159Z,1754761147.159 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 63.40 m.
2025-08-09T17:39:07.161Z,1754761147.161 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 63.400002 m,
      nav range: 61.383694 m,
      bearing: 149.210716 deg,
      approach rate: -0.676243 m/s,
      LOS rate: 0.037911 deg/s,
      cmd heading: 147.752360 deg,
      new cmd heading: 147.801673 deg.

2025-08-09T17:39:07.175Z,1754761147.175 [DAT](INFO): ****** received valid address query ******
2025-08-09T17:39:07.175Z,1754761147.175 [DAT](INFO): ****** received valid ping request ******
2025-08-09T17:39:07.175Z,1754761147.175 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-09T17:39:07.427Z,1754761147.427 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.747932
2025-08-09T17:39:07.545Z,1754761147.545 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 63.40 m.
2025-08-09T17:39:07.551Z,1754761147.551 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 63.400002 m,
      nav range: 61.126171 m,
      bearing: 149.225087 deg,
      approach rate: -0.665340 m/s,
      LOS rate: 0.037288 deg/s,
      cmd heading: 147.801674 deg,
      new cmd heading: 147.844971 deg.

2025-08-09T17:39:07.679Z,1754761147.679 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.999940
2025-08-09T17:39:07.932Z,1754761147.932 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.252182
2025-08-09T17:39:07.993Z,1754761147.993 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 63.40 m.
2025-08-09T17:39:07.996Z,1754761147.996 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 63.400002 m,
      nav range: 60.818283 m,
      bearing: 149.242272 deg,
      approach rate: -0.687907 m/s,
      LOS rate: 0.038590 deg/s,
      cmd heading: 147.844977 deg,
      new cmd heading: 147.896793 deg.

2025-08-09T17:39:08.183Z,1754761148.183 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.503877
2025-08-09T17:39:08.375Z,1754761148.375 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 63.40 m.
2025-08-09T17:39:08.377Z,1754761148.377 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 63.400002 m,
      nav range: 60.560612 m,
      bearing: 149.258084 deg,
      approach rate: -0.675227 m/s,
      LOS rate: 0.041611 deg/s,
      cmd heading: 147.896791 deg,
      new cmd heading: 147.944428 deg.

2025-08-09T17:39:08.436Z,1754761148.436 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.756483
2025-08-09T17:39:08.688Z,1754761148.688 [DAT](INFO): DAT read: Rx Time:17:39:07.5209

2025-08-09T17:39:08.688Z,1754761148.688 [DAT](INFO): Rx dataTimestamp_ set to:1754761148.687716
2025-08-09T17:39:08.689Z,1754761148.689 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.009178
2025-08-09T17:39:08.765Z,1754761148.765 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 63.40 m.
2025-08-09T17:39:08.780Z,1754761148.780 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 63.400002 m,
      nav range: 60.296738 m,
      bearing: 149.274330 deg,
      approach rate: -0.675480 m/s,
      LOS rate: 0.041768 deg/s,
      cmd heading: 147.944425 deg,
      new cmd heading: 147.993375 deg.

2025-08-09T17:39:08.939Z,1754761148.939 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.259940
2025-08-09T17:39:09.197Z,1754761149.197 [DAT](INFO): DAT read: 17:39:07.5209 LVL= 30800, 32753, 28082, 32755, AGC= 66, IDX= 411, 0.00, 1.832, 0.055, 1.985, 1.546, PHS= 0.388,-1.446, 0.395, RAW= 150.2,   7.3, CAL= 149.6,   7.8, ROT=   0.4,  -7.8

2025-08-09T17:39:09.198Z,1754761149.198 [DAT](INFO): got valid direction response:
 17:39:07.5209 LVL= 30800, 32753, 28082, 32755, AGC= 66, IDX= 411, 0.00, 1.832, 0.055, 1.985, 1.546, PHS= 0.388,-1.446, 0.395, RAW= 150.2,   7.3, CAL= 149.6,   7.8, ROT=   0.4,  -7.8

2025-08-09T17:39:09.199Z,1754761149.199 [DAT](INFO): DAT read: Bearing 314.5,   3.3 (Local)

2025-08-09T17:39:09.200Z,1754761149.200 [DAT](INFO): Local bearing/azimuth received:
 Bearing 314.5,   3.3 (Local)

2025-08-09T17:39:09.201Z,1754761149.201 [DAT](INFO): DAT read: Range 11 to 50 : 60.8 m  (Round-trip  81.1 ms) speed  0.6 m/s

2025-08-09T17:39:09.202Z,1754761149.202 [DAT](INFO): DAT read: user:656>

2025-08-09T17:39:09.202Z,1754761149.202 [DAT](INFO): DAT read: Tx time:17:39:08.6341

2025-08-09T17:39:09.203Z,1754761149.203 [DAT](INFO): Ping request sent.
2025-08-09T17:39:09.203Z,1754761149.203 [DAT](INFO): transmitted an acoustic signal
2025-08-09T17:39:09.203Z,1754761149.203 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-09T17:39:09.204Z,1754761149.204 [DAT](INFO): direction in FSK: [0.990724,0.006917,0.135716]
2025-08-09T17:39:09.204Z,1754761149.204 [DAT](INFO): publishing transmit ping time
2025-08-09T17:39:09.205Z,1754761149.205 [DAT](INFO): publishing direction and range info
2025-08-09T17:39:09.231Z,1754761149.231 [DAT](INFO): publishing transmit ping time
2025-08-09T17:39:09.231Z,1754761149.231 [DAT](INFO): publishing direction and range info
2025-08-09T17:39:09.265Z,1754761149.265 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 60.799999 m,
      deltaT: 3.528106 s,
      deltaX: -2.600002 m,
      approachRate: -0.736940 m/s,
      rangeRepo size: 4

2025-08-09T17:39:09.272Z,1754761149.272 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 60.799999 m,
      bearing: 149.118197 deg,
      lat: 36.906090 deg,
      lon: -122.115959 deg,
      deltaT: 3.528106 s,
      deltaX: -2.600002 m,
      approachRate: -0.736940 m/s,
      posRepo size: 4

2025-08-09T17:39:09.272Z,1754761149.272 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 60.80 m.
2025-08-09T17:39:09.280Z,1754761149.280 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 60.799999 m,
      nav range: 59.980343 m,
      bearing: 149.118197 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.041768 deg/s,
      cmd heading: 147.993370 deg,
      new cmd heading: 148.055953 deg.

2025-08-09T17:39:09.603Z,1754761149.603 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-09T17:39:09.605Z,1754761149.605 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 60.80 m.
2025-08-09T17:39:09.608Z,1754761149.608 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 60.799999 m,
      nav range: 59.722775 m,
      bearing: 149.137305 deg,
      approach rate: -0.755793 m/s,
      LOS rate: 0.056313 deg/s,
      cmd heading: 148.055948 deg,
      new cmd heading: 148.113521 deg.

2025-08-09T17:39:09.697Z,1754761149.697 [DAT](INFO): ****** received valid address query ******
2025-08-09T17:39:09.697Z,1754761149.697 [DAT](INFO): ****** received valid ping request ******
2025-08-09T17:39:09.698Z,1754761149.698 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-09T17:39:09.951Z,1754761149.951 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.748343
2025-08-09T17:39:10.004Z,1754761150.004 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 60.80 m.
2025-08-09T17:39:10.007Z,1754761150.007 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 60.799999 m,
      nav range: 59.446613 m,
      bearing: 149.157844 deg,
      approach rate: -0.692184 m/s,
      LOS rate: 0.051719 deg/s,
      cmd heading: 148.113526 deg,
      new cmd heading: 148.175430 deg.

2025-08-09T17:39:10.204Z,1754761150.204 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.000991
2025-08-09T17:39:10.430Z,1754761150.430 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 60.80 m.
2025-08-09T17:39:10.432Z,1754761150.432 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 60.799999 m,
      nav range: 59.159790 m,
      bearing: 149.182117 deg,
      approach rate: -0.674494 m/s,
      LOS rate: 0.057356 deg/s,
      cmd heading: 148.175435 deg,
      new cmd heading: 148.248606 deg.

2025-08-09T17:39:10.455Z,1754761150.455 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.252327
2025-08-09T17:39:10.708Z,1754761150.708 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.505038
2025-08-09T17:39:10.807Z,1754761150.807 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 60.80 m.
2025-08-09T17:39:10.810Z,1754761150.810 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 60.799999 m,
      nav range: 58.905197 m,
      bearing: 149.203741 deg,
      approach rate: -0.674722 m/s,
      LOS rate: 0.057555 deg/s,
      cmd heading: 148.248600 deg,
      new cmd heading: 148.313752 deg.

2025-08-09T17:39:10.959Z,1754761150.959 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.756374
2025-08-09T17:39:11.211Z,1754761151.211 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.008474
2025-08-09T17:39:11.236Z,1754761151.236 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 60.80 m.
2025-08-09T17:39:11.239Z,1754761151.239 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 60.799999 m,
      nav range: 58.616329 m,
      bearing: 149.227553 deg,
      approach rate: -0.673184 m/s,
      LOS rate: 0.055765 deg/s,
      cmd heading: 148.313747 deg,
      new cmd heading: 148.385534 deg.

2025-08-09T17:39:11.464Z,1754761151.464 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.260720
2025-08-09T17:39:11.620Z,1754761151.620 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-09T17:39:11.622Z,1754761151.622 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 60.80 m.
2025-08-09T17:39:11.641Z,1754761151.641 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 60.799999 m,
      nav range: 58.355972 m,
      bearing: 149.248971 deg,
      approach rate: -0.674963 m/s,
      LOS rate: 0.055774 deg/s,
      cmd heading: 148.385532 deg,
      new cmd heading: 148.450074 deg.

2025-08-09T17:39:11.716Z,1754761151.716 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.512781
2025-08-09T17:39:11.967Z,1754761151.967 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.764438
2025-08-09T17:39:12.066Z,1754761152.066 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 60.80 m.
2025-08-09T17:39:12.072Z,1754761152.072 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 60.799999 m,
      nav range: 58.070141 m,
      bearing: 149.272707 deg,
      approach rate: -0.644137 m/s,
      LOS rate: 0.053754 deg/s,
      cmd heading: 148.450077 deg,
      new cmd heading: 148.521636 deg.

2025-08-09T17:39:12.219Z,1754761152.219 [DAT](INFO): DAT read: Rx Time:17:39:11.1162

2025-08-09T17:39:12.220Z,1754761152.220 [DAT](INFO): Rx dataTimestamp_ set to:1754761152.219468
2025-08-09T17:39:12.220Z,1754761152.220 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.017410
2025-08-09T17:39:12.446Z,1754761152.446 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 60.80 m.
2025-08-09T17:39:12.449Z,1754761152.449 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 60.799999 m,
      nav range: 57.797897 m,
      bearing: 149.288128 deg,
      approach rate: -0.715558 m/s,
      LOS rate: 0.040722 deg/s,
      cmd heading: 148.521630 deg,
      new cmd heading: 148.568110 deg.

2025-08-09T17:39:12.471Z,1754761152.471 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.268434
2025-08-09T17:39:12.729Z,1754761152.729 [DAT](INFO): DAT read: 17:39:11.1162 LVL= 27728, 31873, 28002, 32755, AGC= 67, IDX= 411,-0.32, 2.107, 0.384, 2.291, 1.828, PHS= 0.381,-1.399, 0.419, RAW= 151.1,   6.7, CAL= 150.4,   7.1, ROT= 359.6,  -7.1

2025-08-09T17:39:12.735Z,1754761152.735 [DAT](INFO): got valid direction response:
 17:39:11.1162 LVL= 27728, 31873, 28002, 32755, AGC= 67, IDX= 411,-0.32, 2.107, 0.384, 2.291, 1.828, PHS= 0.381,-1.399, 0.419, RAW= 151.1,   6.7, CAL= 150.4,   7.1, ROT= 359.6,  -7.1

2025-08-09T17:39:12.736Z,1754761152.736 [DAT](INFO): DAT read: Bearing 314.0,   2.5 (Local)

2025-08-09T17:39:12.736Z,1754761152.736 [DAT](INFO): Local bearing/azimuth received:
 Bearing 314.0,   2.5 (Local)

2025-08-09T17:39:12.738Z,1754761152.738 [DAT](INFO): DAT read: Range 11 to 50 : 58.4 m  (Round-trip  77.9 ms) speed  0.5 m/s

2025-08-09T17:39:12.738Z,1754761152.738 [DAT](INFO): DAT read: user:657>

2025-08-09T17:39:12.739Z,1754761152.739 [DAT](INFO): DAT read: Tx time:17:39:12.2341

2025-08-09T17:39:12.739Z,1754761152.739 [DAT](INFO): Ping request sent.
2025-08-09T17:39:12.739Z,1754761152.740 [DAT](INFO): transmitted an acoustic signal
2025-08-09T17:39:12.740Z,1754761152.740 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-09T17:39:12.741Z,1754761152.741 [DAT](INFO): direction in FSK: [0.992308,-0.006928,0.123601]
2025-08-09T17:39:12.741Z,1754761152.741 [DAT](INFO): publishing transmit ping time
2025-08-09T17:39:12.741Z,1754761152.741 [DAT](INFO): publishing direction and range info
2025-08-09T17:39:12.781Z,1754761152.781 [DAT](INFO): publishing transmit ping time
2025-08-09T17:39:12.781Z,1754761152.781 [DAT](INFO): publishing direction and range info
2025-08-09T17:39:12.907Z,1754761152.907 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 58.400002 m,
      deltaT: 3.532166 s,
      deltaX: -2.399998 m,
      approachRate: -0.679469 m/s,
      rangeRepo size: 4

2025-08-09T17:39:12.909Z,1754761152.909 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 58.400002 m,
      bearing: 148.892324 deg,
      lat: 36.906093 deg,
      lon: -122.115957 deg,
      deltaT: 3.532166 s,
      deltaX: -2.399998 m,
      approachRate: -0.679469 m/s,
      posRepo size: 4

2025-08-09T17:39:12.910Z,1754761152.910 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 58.40 m.
2025-08-09T17:39:12.994Z,1754761152.994 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 58.40 m.
2025-08-09T17:39:12.997Z,1754761152.997 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 58.400002 m,
      nav range: 57.299294 m,
      bearing: 148.892324 deg,
      approach rate: -1069086817399360098140160.000 m/s,
      LOS rate: 0.040722 deg/s,
      cmd heading: 148.568116 deg,
      new cmd heading: 148.622421 deg.

2025-08-09T17:39:13.036Z,1754761153.036 [DockingStepper](INFO): Changing to mode: 2
2025-08-09T17:39:13.398Z,1754761153.398 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 58.40 m.
2025-08-09T17:39:13.398Z,1754761153.398 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 58.40 m.
2025-08-09T17:39:13.401Z,1754761153.401 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 58.400002 m,
      nav range: 56.937279 m,
      bearing: 148.909461 deg,
      approach rate: -0.713806 m/s,
      LOS rate: 0.034005 deg/s,
      cmd heading: 148.622416 deg,
      new cmd heading: 148.674155 deg.

2025-08-09T17:39:13.784Z,1754761153.784 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-09T17:39:13.787Z,1754761153.787 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 58.40 m.
2025-08-09T17:39:13.788Z,1754761153.788 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 58.40 m.
2025-08-09T17:39:13.791Z,1754761153.791 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 58.400002 m,
      nav range: 56.685585 m,
      bearing: 148.921876 deg,
      approach rate: -0.647567 m/s,
      LOS rate: 0.032082 deg/s,
      cmd heading: 148.674148 deg,
      new cmd heading: 148.711556 deg.

2025-08-09T17:39:13.983Z,1754761153.983 [DAT](INFO): ****** received valid address query ******
2025-08-09T17:39:13.983Z,1754761153.983 [DAT](INFO): ****** received valid ping request ******
2025-08-09T17:39:13.984Z,1754761153.984 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-09T17:39:14.235Z,1754761154.235 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.495625
2025-08-09T17:39:14.293Z,1754761154.293 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 58.40 m.
2025-08-09T17:39:14.294Z,1754761154.294 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 58.40 m.
2025-08-09T17:39:14.297Z,1754761154.297 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 58.400002 m,
      nav range: 56.357517 m,
      bearing: 148.935691 deg,
      approach rate: -0.647054 m/s,
      LOS rate: 0.027408 deg/s,
      cmd heading: 148.711550 deg,
      new cmd heading: 148.753239 deg.

2025-08-09T17:39:14.487Z,1754761154.487 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.747670
2025-08-09T17:39:14.612Z,1754761154.612 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 58.40 m.
2025-08-09T17:39:14.613Z,1754761154.613 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 58.40 m.
2025-08-09T17:39:14.616Z,1754761154.616 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 58.400002 m,
      nav range: 56.154556 m,
      bearing: 148.944592 deg,
      approach rate: -0.636822 m/s,
      LOS rate: 0.028028 deg/s,
      cmd heading: 148.753242 deg,
      new cmd heading: 148.780040 deg.

2025-08-09T17:39:14.739Z,1754761154.739 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.999781
2025-08-09T17:39:14.991Z,1754761154.991 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.251755
2025-08-09T17:39:15.022Z,1754761155.022 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 58.40 m.
2025-08-09T17:39:15.024Z,1754761155.024 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 58.40 m.
2025-08-09T17:39:15.028Z,1754761155.028 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 58.400002 m,
      nav range: 55.887646 m,
      bearing: 148.956582 deg,
      approach rate: -0.652155 m/s,
      LOS rate: 0.029436 deg/s,
      cmd heading: 148.780044 deg,
      new cmd heading: 148.816186 deg.

2025-08-09T17:39:15.244Z,1754761155.244 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.504346
2025-08-09T17:39:15.495Z,1754761155.495 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.755690
2025-08-09T17:39:15.566Z,1754761155.566 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 58.40 m.
2025-08-09T17:39:15.570Z,1754761155.570 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 58.40 m.
2025-08-09T17:39:15.573Z,1754761155.573 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 58.400002 m,
      nav range: 55.546139 m,
      bearing: 148.971358 deg,
      approach rate: -0.627590 m/s,
      LOS rate: 0.027320 deg/s,
      cmd heading: 148.816189 deg,
      new cmd heading: 148.860788 deg.

2025-08-09T17:39:15.747Z,1754761155.747 [DAT](INFO): DAT read: Rx Time:17:39:14.7131

2025-08-09T17:39:15.748Z,1754761155.748 [DAT](INFO): Rx dataTimestamp_ set to:1754761155.747510
2025-08-09T17:39:15.748Z,1754761155.748 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.008793
2025-08-09T17:39:15.885Z,1754761155.885 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-09T17:39:15.889Z,1754761155.889 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 58.40 m.
2025-08-09T17:39:15.889Z,1754761155.889 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 58.40 m.
2025-08-09T17:39:15.892Z,1754761155.892 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 58.400002 m,
      nav range: 55.315250 m,
      bearing: 148.981376 deg,
      approach rate: -0.714887 m/s,
      LOS rate: 0.031149 deg/s,
      cmd heading: 148.860790 deg,
      new cmd heading: 148.890971 deg.

2025-08-09T17:39:15.000Z,1754761156.000 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.260004
2025-08-09T17:39:16.251Z,1754761156.251 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.511558
2025-08-09T17:39:16.315Z,1754761156.315 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 58.40 m.
2025-08-09T17:39:16.316Z,1754761156.316 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 58.40 m.
2025-08-09T17:39:16.319Z,1754761156.319 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 58.400002 m,
      nav range: 55.032585 m,
      bearing: 148.993456 deg,
      approach rate: -0.662268 m/s,
      LOS rate: 0.028446 deg/s,
      cmd heading: 148.890966 deg,
      new cmd heading: 148.927390 deg.

2025-08-09T17:39:16.509Z,1754761156.509 [DAT](INFO): DAT read: 17:39:14.7131 LVL= 23472, 28065, 24178, 26851, AGC= 64, IDX= 411, 0.00,-0.882,-2.592,-0.645,-1.128, PHS= 0.348,-1.418

2025-08-09T17:39:16.511Z,1754761156.511 [DAT](INFO): unknown deviceResponse_: 17:39:14.7131 LVL= 23472, 28065, 24178, 26851, AGC= 64, IDX= 411, 0.00,-0.882,-2.592,-0.645,-1.128, PHS= 0.348,-1.418

2025-08-09T17:39:16.512Z,1754761156.512 [DAT](INFO): DAT read: $Error in header

2025-08-09T17:39:16.513Z,1754761156.513 [DAT](INFO): Received a bad header
2025-08-09T17:39:16.528Z,1754761156.528 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.787908
2025-08-09T17:39:16.763Z,1754761156.763 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.023742
2025-08-09T17:39:16.773Z,1754761156.773 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 58.40 m.
2025-08-09T17:39:16.774Z,1754761156.774 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 58.40 m.
2025-08-09T17:39:16.777Z,1754761156.777 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 58.400002 m,
      nav range: 54.740532 m,
      bearing: 149.005246 deg,
      approach rate: -0.637935 m/s,
      LOS rate: 0.025890 deg/s,
      cmd heading: 148.927384 deg,
      new cmd heading: 148.962943 deg.

2025-08-09T17:39:17.020Z,1754761157.020 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.280284
2025-08-09T17:39:17.255Z,1754761157.255 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 58.40 m.
2025-08-09T17:39:17.256Z,1754761157.256 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 58.40 m.
2025-08-09T17:39:17.267Z,1754761157.267 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.527917
2025-08-09T17:39:17.271Z,1754761157.271 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 58.400002 m,
      nav range: 54.446697 m,
      bearing: 149.017235 deg,
      approach rate: -0.609222 m/s,
      LOS rate: 0.024992 deg/s,
      cmd heading: 148.962942 deg,
      new cmd heading: 148.999105 deg.

2025-08-09T17:39:17.520Z,1754761157.520 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.780583
2025-08-09T17:39:17.714Z,1754761157.714 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 58.40 m.
2025-08-09T17:39:17.715Z,1754761157.715 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 58.40 m.
2025-08-09T17:39:17.718Z,1754761157.718 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 58.400002 m,
      nav range: 54.107605 m,
      bearing: 149.029815 deg,
      approach rate: -0.739190 m/s,
      LOS rate: 0.027594 deg/s,
      cmd heading: 148.999101 deg,
      new cmd heading: 149.037077 deg.

2025-08-09T17:39:17.772Z,1754761157.772 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.032178
2025-08-09T17:39:18.024Z,1754761158.024 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.284689
2025-08-09T17:39:18.064Z,1754761158.064 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-09T17:39:18.093Z,1754761158.093 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 58.40 m.
2025-08-09T17:39:18.094Z,1754761158.094 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 58.40 m.
2025-08-09T17:39:18.097Z,1754761158.097 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 58.400002 m,
      nav range: 53.875248 m,
      bearing: 149.037925 deg,
      approach rate: -0.660051 m/s,
      LOS rate: 0.023138 deg/s,
      cmd heading: 149.037077 deg,
      new cmd heading: 149.061513 deg.

2025-08-09T17:39:18.279Z,1754761158.279 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.537973
2025-08-09T17:39:18.484Z,1754761158.484 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 58.40 m.
2025-08-09T17:39:18.484Z,1754761158.484 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 58.40 m.
2025-08-09T17:39:18.487Z,1754761158.487 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 58.400002 m,
      nav range: 53.580978 m,
      bearing: 149.058537 deg,
      approach rate: -0.704449 m/s,
      LOS rate: 0.049613 deg/s,
      cmd heading: 149.061516 deg,
      new cmd heading: 149.123691 deg.

2025-08-09T17:39:18.528Z,1754761158.528 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.788789
2025-08-09T17:39:18.780Z,1754761158.780 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.040149
2025-08-09T17:39:18.886Z,1754761158.886 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 58.40 m.
2025-08-09T17:39:18.887Z,1754761158.887 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 58.40 m.
2025-08-09T17:39:18.887Z,1754761158.887 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Final approach. Armed for intercept at range: 58.40 m.
2025-08-09T17:39:18.887Z,1754761158.887 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Transitioning guidance mode to: FINAL_APPROACH
2025-08-09T17:39:18.891Z,1754761158.891 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 58.400002 m,
      nav range: 53.296932 m,
      bearing: 149.077513 deg,
      approach rate: -0.706103 m/s,
      LOS rate: 0.047424 deg/s,
      cmd heading: 149.123684 deg,
      new cmd heading: 149.180916 deg.

2025-08-09T17:39:19.032Z,1754761159.032 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.292329
2025-08-09T17:39:19.284Z,1754761159.284 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.544120
2025-08-09T17:39:19.331Z,1754761159.331 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 58.40 m.
2025-08-09T17:39:19.334Z,1754761159.334 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 58.400002 m,
      nav range: 52.998577 m,
      bearing: 149.094042 deg,
      approach rate: -0.670672 m/s,
      LOS rate: 0.037366 deg/s,
      cmd heading: 149.180921 deg,
      new cmd heading: 149.230789 deg.

2025-08-09T17:39:19.335Z,1754761159.335 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.604569 target range: 58.400002 and range: 58.40 m.
2025-08-09T17:39:19.537Z,1754761159.537 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.796773
2025-08-09T17:39:19.694Z,1754761159.694 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 58.40 m.
2025-08-09T17:39:19.701Z,1754761159.701 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 58.400002 m,
      nav range: 52.767876 m,
      bearing: 149.105823 deg,
      approach rate: -0.672121 m/s,
      LOS rate: 0.034471 deg/s,
      cmd heading: 149.230795 deg,
      new cmd heading: 149.266291 deg.

2025-08-09T17:39:19.707Z,1754761159.707 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.605188 target range: 58.400002 and range: 58.40 m.
2025-08-09T17:39:19.787Z,1754761159.787 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.047762
2025-08-09T17:39:20.041Z,1754761160.041 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.300882
2025-08-09T17:39:20.076Z,1754761160.076 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-09T17:39:20.079Z,1754761160.079 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 58.40 m.
2025-08-09T17:39:20.081Z,1754761160.081 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 58.400002 m,
      nav range: 52.496693 m,
      bearing: 149.118583 deg,
      approach rate: -0.670940 m/s,
      LOS rate: 0.031734 deg/s,
      cmd heading: 149.266285 deg,
      new cmd heading: 149.304764 deg.

2025-08-09T17:39:20.083Z,1754761160.083 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.605860 target range: 58.400002 and range: 58.40 m.
2025-08-09T17:39:20.294Z,1754761160.294 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.553948
2025-08-09T17:39:20.507Z,1754761160.507 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 58.40 m.
2025-08-09T17:39:20.513Z,1754761160.513 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 58.400002 m,
      nav range: 52.203869 m,
      bearing: 149.135307 deg,
      approach rate: -0.684467 m/s,
      LOS rate: 0.039310 deg/s,
      cmd heading: 149.304766 deg,
      new cmd heading: 149.355218 deg.

2025-08-09T17:39:20.515Z,1754761160.515 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.606740 target range: 58.400002 and range: 58.40 m.
2025-08-09T17:39:20.543Z,1754761160.543 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.803796
2025-08-09T17:39:20.795Z,1754761160.795 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.055898
2025-08-09T17:39:20.896Z,1754761160.896 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 58.40 m.
2025-08-09T17:39:20.899Z,1754761160.899 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 58.400002 m,
      nav range: 51.937206 m,
      bearing: 149.149815 deg,
      approach rate: -0.685031 m/s,
      LOS rate: 0.037462 deg/s,
      cmd heading: 149.355214 deg,
      new cmd heading: 149.398962 deg.

2025-08-09T17:39:20.900Z,1754761160.899 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.607504 target range: 58.400002 and range: 58.40 m.
2025-08-09T17:39:21.047Z,1754761161.047 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.307756
2025-08-09T17:39:21.302Z,1754761161.302 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.562047
2025-08-09T17:39:21.367Z,1754761161.367 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 58.40 m.
2025-08-09T17:39:21.370Z,1754761161.370 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 58.400002 m,
      nav range: 51.613388 m,
      bearing: 149.163497 deg,
      approach rate: -0.686869 m/s,
      LOS rate: 0.029204 deg/s,
      cmd heading: 149.398968 deg,
      new cmd heading: 149.440271 deg.

2025-08-09T17:39:21.372Z,1754761161.372 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.608225 target range: 58.400002 and range: 58.40 m.
2025-08-09T17:39:21.552Z,1754761161.552 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.811950
2025-08-09T17:39:21.692Z,1754761161.692 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 58.40 m.
2025-08-09T17:39:21.695Z,1754761161.695 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 58.400002 m,
      nav range: 51.390331 m,
      bearing: 149.172482 deg,
      approach rate: -0.687234 m/s,
      LOS rate: 0.027801 deg/s,
      cmd heading: 149.440277 deg,
      new cmd heading: 149.467347 deg.

2025-08-09T17:39:21.696Z,1754761161.696 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.608697 target range: 58.400002 and range: 58.40 m.
2025-08-09T17:39:21.804Z,1754761161.804 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.064433
2025-08-09T17:39:22.055Z,1754761162.055 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.315688
2025-08-09T17:39:22.108Z,1754761162.108 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-09T17:39:22.110Z,1754761162.110 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 58.40 m.
2025-08-09T17:39:22.113Z,1754761162.113 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 58.400002 m,
      nav range: 51.103184 m,
      bearing: 149.183561 deg,
      approach rate: -0.686461 m/s,
      LOS rate: 0.026635 deg/s,
      cmd heading: 149.467352 deg,
      new cmd heading: 149.500776 deg.

2025-08-09T17:39:22.114Z,1754761162.114 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.609281 target range: 58.400002 and range: 58.40 m.
2025-08-09T17:39:22.312Z,1754761162.312 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.571125
2025-08-09T17:39:22.567Z,1754761162.567 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.827795
2025-08-09T17:39:22.588Z,1754761162.588 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 58.40 m.
2025-08-09T17:39:22.591Z,1754761162.591 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 58.400002 m,
      nav range: 50.798073 m,
      bearing: 149.185220 deg,
      approach rate: -0.646023 m/s,
      LOS rate: 0.003534 deg/s,
      cmd heading: 149.500779 deg,
      new cmd heading: 149.505787 deg.

2025-08-09T17:39:22.592Z,1754761162.592 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.609368 target range: 58.400002 and range: 58.40 m.
2025-08-09T17:39:22.819Z,1754761162.819 [DAT](INFO): Reached modem response timeout
2025-08-09T17:39:22.819Z,1754761162.819 [DAT](DEBUG): Acoustic response timeout
2025-08-09T17:39:22.819Z,1754761162.819 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-09T17:39:22.910Z,1754761162.910 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 58.40 m.
2025-08-09T17:39:22.913Z,1754761162.913 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 58.400002 m,
      nav range: 50.563713 m,
      bearing: 149.186225 deg,
      approach rate: -0.715543 m/s,
      LOS rate: 0.003083 deg/s,
      cmd heading: 149.505792 deg,
      new cmd heading: 149.508822 deg.

2025-08-09T17:39:22.914Z,1754761162.914 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.609421 target range: 58.400002 and range: 58.40 m.
2025-08-09T17:39:23.071Z,1754761163.071 [DAT](INFO): Reached modem response timeout
2025-08-09T17:39:23.071Z,1754761163.071 [DAT](DEBUG): Acoustic response timeout
2025-08-09T17:39:23.071Z,1754761163.071 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-09T17:39:23.325Z,1754761163.325 [DAT](INFO): Reached modem response timeout
2025-08-09T17:39:23.326Z,1754761163.326 [DAT](DEBUG): Acoustic response timeout
2025-08-09T17:39:23.327Z,1754761163.327 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-09T17:39:23.390Z,1754761163.390 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 58.40 m.
2025-08-09T17:39:23.393Z,1754761163.393 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 58.400002 m,
      nav range: 50.252541 m,
      bearing: 149.173456 deg,
      approach rate: -0.647948 m/s,
      LOS rate: -0.026754 deg/s,
      cmd heading: 149.508825 deg,
      new cmd heading: 149.470280 deg.

2025-08-09T17:39:23.394Z,1754761163.394 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.608748 target range: 58.400002 and range: 58.40 m.
2025-08-09T17:39:23.575Z,1754761163.575 [DAT](INFO): Reached modem response timeout
2025-08-09T17:39:23.575Z,1754761163.575 [DAT](DEBUG): Acoustic response timeout
2025-08-09T17:39:23.575Z,1754761163.575 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-09T17:39:23.747Z,1754761163.747 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 58.40 m.
2025-08-09T17:39:23.749Z,1754761163.749 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 58.400002 m,
      nav range: 50.025906 m,
      bearing: 149.163741 deg,
      approach rate: -0.635601 m/s,
      LOS rate: -0.027368 deg/s,
      cmd heading: 149.470275 deg,
      new cmd heading: 149.440999 deg.

2025-08-09T17:39:23.755Z,1754761163.755 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.608238 target range: 58.400002 and range: 58.40 m.
2025-08-09T17:39:23.827Z,1754761163.827 [DAT](INFO): Reached modem response timeout
2025-08-09T17:39:23.828Z,1754761163.828 [DAT](DEBUG): Acoustic response timeout
2025-08-09T17:39:23.828Z,1754761163.828 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-09T17:39:24.079Z,1754761164.079 [DAT](INFO): Reached modem response timeout
2025-08-09T17:39:24.079Z,1754761164.079 [DAT](DEBUG): Acoustic response timeout
2025-08-09T17:39:24.079Z,1754761164.079 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-09T17:39:24.141Z,1754761164.141 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-09T17:39:24.143Z,1754761164.143 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 58.40 m.
2025-08-09T17:39:24.146Z,1754761164.146 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 58.400002 m,
      nav range: 49.763756 m,
      bearing: 149.152274 deg,
      approach rate: -0.660776 m/s,
      LOS rate: -0.029057 deg/s,
      cmd heading: 149.441001 deg,
      new cmd heading: 149.406418 deg.

2025-08-09T17:39:24.147Z,1754761164.147 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.607634 target range: 58.400002 and range: 58.40 m.
2025-08-09T17:39:24.333Z,1754761164.333 [DAT](INFO): Reached modem response timeout
2025-08-09T17:39:24.334Z,1754761164.334 [DAT](DEBUG): Acoustic response timeout
2025-08-09T17:39:24.335Z,1754761164.335 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-09T17:39:24.583Z,1754761164.583 [DAT](INFO): Reached modem response timeout
2025-08-09T17:39:24.583Z,1754761164.583 [DAT](DEBUG): Acoustic response timeout
2025-08-09T17:39:24.584Z,1754761164.584 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-09T17:39:24.593Z,1754761164.593 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 58.40 m.
2025-08-09T17:39:24.600Z,1754761164.600 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 58.400002 m,
      nav range: 49.485466 m,
      bearing: 149.126511 deg,
      approach rate: -0.618749 m/s,
      LOS rate: -0.057604 deg/s,
      cmd heading: 149.406413 deg,
      new cmd heading: 149.328689 deg.

2025-08-09T17:39:24.601Z,1754761164.601 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.606277 target range: 58.400002 and range: 58.40 m.
2025-08-09T17:39:24.835Z,1754761164.835 [DAT](INFO): Reached modem response timeout
2025-08-09T17:39:24.836Z,1754761164.836 [DAT](DEBUG): Acoustic response timeout
2025-08-09T17:39:24.836Z,1754761164.836 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-09T17:39:24.962Z,1754761164.962 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 58.40 m.
2025-08-09T17:39:24.965Z,1754761164.965 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 58.400002 m,
      nav range: 49.233620 m,
      bearing: 149.102791 deg,
      approach rate: -0.682179 m/s,
      LOS rate: -0.064580 deg/s,
      cmd heading: 149.328685 deg,
      new cmd heading: 149.257161 deg.

2025-08-09T17:39:24.966Z,1754761164.966 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.605029 target range: 58.400002 and range: 58.40 m.
2025-08-09T17:39:25.087Z,1754761165.087 [DAT](INFO): DAT read: Response Not Received

2025-08-09T17:39:25.088Z,1754761165.088 [DAT](INFO): response not received
2025-08-09T17:39:25.088Z,1754761165.088 [DAT](INFO): DAT read: user:659>

2025-08-09T17:39:25.088Z,1754761165.088 [DAT](ERROR): No response from remote modem.
2025-08-09T17:39:25.089Z,1754761165.089 [DAT](DEBUG): Acoustic response timeout
2025-08-09T17:39:25.089Z,1754761165.089 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-09T17:39:25.342Z,1754761165.342 [DAT](INFO): DAT read: Tx time:17:39:24.6840

2025-08-09T17:39:25.343Z,1754761165.343 [DAT](INFO): Ping request sent.
2025-08-09T17:39:25.344Z,1754761165.344 [DAT](INFO): transmitted an acoustic signal
2025-08-09T17:39:25.344Z,1754761165.344 [DAT](INFO): publishing transmit ping time
2025-08-09T17:39:25.346Z,1754761165.346 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.002344
2025-08-09T17:39:25.454Z,1754761165.454 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 58.40 m.
2025-08-09T17:39:25.461Z,1754761165.461 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 58.400002 m,
      nav range: 48.937122 m,
      bearing: 149.070787 deg,
      approach rate: -0.603437 m/s,
      LOS rate: -0.065530 deg/s,
      cmd heading: 149.257160 deg,
      new cmd heading: 149.160566 deg.

2025-08-09T17:39:25.462Z,1754761165.462 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.603343 target range: 58.400002 and range: 58.40 m.
2025-08-09T17:39:25.592Z,1754761165.592 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.248958
2025-08-09T17:39:25.828Z,1754761165.828 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 58.40 m.
2025-08-09T17:39:25.831Z,1754761165.831 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 58.400002 m,
      nav range: 48.703487 m,
      bearing: 149.045228 deg,
      approach rate: -0.623913 m/s,
      LOS rate: -0.068579 deg/s,
      cmd heading: 149.160567 deg,
      new cmd heading: 149.083525 deg.

2025-08-09T17:39:25.832Z,1754761165.832 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.601998 target range: 58.400002 and range: 58.40 m.
2025-08-09T17:39:25.844Z,1754761165.844 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.500927
2025-08-09T17:39:26.096Z,1754761166.096 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.752753
2025-08-09T17:39:26.228Z,1754761166.228 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-09T17:39:26.231Z,1754761166.231 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 58.40 m.
2025-08-09T17:39:26.233Z,1754761166.233 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 58.400002 m,
      nav range: 48.442787 m,
      bearing: 149.016418 deg,
      approach rate: -0.647879 m/s,
      LOS rate: -0.071985 deg/s,
      cmd heading: 149.083523 deg,
      new cmd heading: 148.996625 deg.

2025-08-09T17:39:26.234Z,1754761166.234 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.600482 target range: 58.400002 and range: 58.40 m.
2025-08-09T17:39:26.351Z,1754761166.351 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.007972
2025-08-09T17:39:26.599Z,1754761166.599 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.256268
2025-08-09T17:39:26.679Z,1754761166.679 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 58.40 m.
2025-08-09T17:39:26.681Z,1754761166.681 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 58.400002 m,
      nav range: 48.147606 m,
      bearing: 148.983333 deg,
      approach rate: -0.658753 m/s,
      LOS rate: -0.074287 deg/s,
      cmd heading: 148.996629 deg,
      new cmd heading: 148.896767 deg.

2025-08-09T17:39:26.683Z,1754761166.683 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.598739 target range: 58.400002 and range: 58.40 m.
2025-08-09T17:39:26.852Z,1754761166.852 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.508706
2025-08-09T17:39:27.044Z,1754761167.044 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 58.40 m.
2025-08-09T17:39:27.047Z,1754761167.047 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 58.400002 m,
      nav range: 47.907017 m,
      bearing: 148.955494 deg,
      approach rate: -0.658553 m/s,
      LOS rate: -0.076586 deg/s,
      cmd heading: 148.896772 deg,
      new cmd heading: 148.812834 deg.

2025-08-09T17:39:27.048Z,1754761167.048 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.597274 target range: 58.400002 and range: 58.40 m.
2025-08-09T17:39:27.104Z,1754761167.104 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.761205
2025-08-09T17:39:27.358Z,1754761167.358 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014267
2025-08-09T17:39:27.463Z,1754761167.463 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 58.40 m.
2025-08-09T17:39:27.465Z,1754761167.465 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 58.400002 m,
      nav range: 47.637730 m,
      bearing: 148.934759 deg,
      approach rate: -0.643518 m/s,
      LOS rate: -0.049829 deg/s,
      cmd heading: 148.812829 deg,
      new cmd heading: 148.750274 deg.

2025-08-09T17:39:27.467Z,1754761167.467 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.596182 target range: 58.400002 and range: 58.40 m.
2025-08-09T17:39:27.607Z,1754761167.607 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.264154
2025-08-09T17:39:27.832Z,1754761167.832 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 58.40 m.
2025-08-09T17:39:27.835Z,1754761167.835 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 58.400002 m,
      nav range: 47.400124 m,
      bearing: 148.916119 deg,
      approach rate: -0.642754 m/s,
      LOS rate: -0.050678 deg/s,
      cmd heading: 148.750278 deg,
      new cmd heading: 148.694075 deg.

2025-08-09T17:39:27.836Z,1754761167.836 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.595201 target range: 58.400002 and range: 58.40 m.
2025-08-09T17:39:27.859Z,1754761167.859 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.516244
2025-08-09T17:39:28.111Z,1754761168.111 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.768204
2025-08-09T17:39:28.232Z,1754761168.232 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-09T17:39:28.235Z,1754761168.235 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 58.40 m.
2025-08-09T17:39:28.237Z,1754761168.237 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 58.400002 m,
      nav range: 47.140926 m,
      bearing: 148.895349 deg,
      approach rate: -0.643964 m/s,
      LOS rate: -0.051885 deg/s,
      cmd heading: 148.694079 deg,
      new cmd heading: 148.631427 deg.

2025-08-09T17:39:28.239Z,1754761168.239 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.594108 target range: 58.400002 and range: 58.40 m.
2025-08-09T17:39:28.367Z,1754761168.367 [DAT](INFO): DAT read: Rx Time:17:39:27.1518

2025-08-09T17:39:28.368Z,1754761168.368 [DAT](INFO): Rx dataTimestamp_ set to:1754761168.367563
2025-08-09T17:39:28.371Z,1754761168.371 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.026986
2025-08-09T17:39:28.615Z,1754761168.615 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.272347
2025-08-09T17:39:28.737Z,1754761168.737 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 58.40 m.
2025-08-09T17:39:28.744Z,1754761168.744 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 58.400002 m,
      nav range: 46.812565 m,
      bearing: 148.880308 deg,
      approach rate: -0.653909 m/s,
      LOS rate: -0.030164 deg/s,
      cmd heading: 148.631432 deg,
      new cmd heading: 148.585991 deg.

2025-08-09T17:39:28.745Z,1754761168.745 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.593315 target range: 58.400002 and range: 58.40 m.
2025-08-09T17:39:28.875Z,1754761168.875 [DAT](INFO): DAT read: 17:39:27.1518 LVL= 28960, 32465, 25058, 32755, AGC= 65, IDX= 328, 0.18, 2.733, 1.074, 3.037, 2.557, PHS= 0.278,-1.438, 0.436, RAW= 154.4,   8.1, CAL= 153.9,   8.6, ROT= 356.1,  -8.6

2025-08-09T17:39:28.877Z,1754761168.877 [DAT](INFO): got valid direction response:
 17:39:27.1518 LVL= 28960, 32465, 25058, 32755, AGC= 65, IDX= 328, 0.18, 2.733, 1.074, 3.037, 2.557, PHS= 0.278,-1.438, 0.436, RAW= 154.4,   8.1, CAL= 153.9,   8.6, ROT= 356.1,  -8.6

2025-08-09T17:39:28.879Z,1754761168.879 [DAT](INFO): DAT read: Bearing 318.4,  -3.4 (Local)

2025-08-09T17:39:28.879Z,1754761168.879 [DAT](INFO): Local bearing/azimuth received:
 Bearing 318.4,  -3.4 (Local)

2025-08-09T17:39:28.881Z,1754761168.881 [DAT](INFO): DAT read: Range 11 to 50 : 47.7 m  (Round-trip  63.6 ms) speed  0.5 m/s

2025-08-09T17:39:28.881Z,1754761168.881 [DAT](INFO): DAT read: user:660>

2025-08-09T17:39:28.883Z,1754761168.883 [DAT](INFO): DAT read: Tx time:17:39:28.2340

2025-08-09T17:39:28.883Z,1754761168.883 [DAT](INFO): Ping request sent.
2025-08-09T17:39:28.883Z,1754761168.883 [DAT](INFO): transmitted an acoustic signal
2025-08-09T17:39:28.884Z,1754761168.884 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-09T17:39:28.884Z,1754761168.884 [DAT](INFO): direction in FSK: [0.986467,-0.067251,0.149535]
2025-08-09T17:39:28.885Z,1754761168.885 [DAT](INFO): publishing transmit ping time
2025-08-09T17:39:28.885Z,1754761168.885 [DAT](INFO): publishing direction and range info
2025-08-09T17:39:28.888Z,1754761168.888 [DAT](INFO): publishing transmit ping time
2025-08-09T17:39:28.888Z,1754761168.888 [DAT](INFO): publishing direction and range info
2025-08-09T17:39:29.129Z,1754761169.129 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 47.700001 m,
      deltaT: 16.144209 s,
      deltaX: -10.700001 m,
      approachRate: -0.662776 m/s,
      rangeRepo size: 4

2025-08-09T17:39:29.135Z,1754761169.135 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 47.700001 m,
      bearing: 148.868459 deg,
      lat: 36.906093 deg,
      lon: -122.115957 deg,
      deltaT: 16.144209 s,
      deltaX: -10.700001 m,
      approachRate: -0.662776 m/s,
      posRepo size: 4

2025-08-09T17:39:29.136Z,1754761169.136 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 47.70 m.
2025-08-09T17:39:29.143Z,1754761169.143 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 47.700001 m,
      nav range: 46.557377 m,
      bearing: 148.868459 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.030164 deg/s,
      cmd heading: 148.585998 deg,
      new cmd heading: 148.550593 deg.

2025-08-09T17:39:29.144Z,1754761169.144 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.592697 target range: 47.700001 and range: 47.70 m.
2025-08-09T17:39:29.550Z,1754761169.550 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 47.70 m.
2025-08-09T17:39:29.552Z,1754761169.552 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 47.700001 m,
      nav range: 46.262489 m,
      bearing: 148.870098 deg,
      approach rate: -0.699352 m/s,
      LOS rate: 0.003911 deg/s,
      cmd heading: 148.550590 deg,
      new cmd heading: 148.555537 deg.

2025-08-09T17:39:29.553Z,1754761169.553 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.592783 target range: 47.700001 and range: 47.70 m.
2025-08-09T17:39:29.921Z,1754761169.921 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 47.70 m.
2025-08-09T17:39:29.925Z,1754761169.925 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 47.700001 m,
      nav range: 46.021980 m,
      bearing: 148.871484 deg,
      approach rate: -0.647191 m/s,
      LOS rate: 0.003749 deg/s,
      cmd heading: 148.555535 deg,
      new cmd heading: 148.559715 deg.

2025-08-09T17:39:29.926Z,1754761169.926 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.592856 target range: 47.700001 and range: 47.70 m.
2025-08-09T17:39:30.341Z,1754761170.341 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-09T17:39:30.344Z,1754761170.344 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 47.70 m.
2025-08-09T17:39:30.347Z,1754761170.347 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 47.700001 m,
      nav range: 45.735088 m,
      bearing: 148.873156 deg,
      approach rate: -0.678994 m/s,
      LOS rate: 0.003983 deg/s,
      cmd heading: 148.559715 deg,
      new cmd heading: 148.564764 deg.

2025-08-09T17:39:30.348Z,1754761170.348 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.592944 target range: 47.700001 and range: 47.70 m.
2025-08-09T17:39:30.381Z,1754761170.381 [DAT](INFO): ****** received valid address query ******
2025-08-09T17:39:30.381Z,1754761170.381 [DAT](INFO): ****** received valid ping request ******
2025-08-09T17:39:30.381Z,1754761170.381 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-09T17:39:30.632Z,1754761170.632 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.748316
2025-08-09T17:39:30.750Z,1754761170.750 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 47.70 m.
2025-08-09T17:39:30.753Z,1754761170.753 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 47.700001 m,
      nav range: 45.457367 m,
      bearing: 148.883363 deg,
      approach rate: -0.684240 m/s,
      LOS rate: 0.025301 deg/s,
      cmd heading: 148.564770 deg,
      new cmd heading: 148.595577 deg.

2025-08-09T17:39:30.753Z,1754761170.753 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.593482 target range: 47.700001 and range: 47.70 m.
2025-08-09T17:39:30.883Z,1754761170.883 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.000099
2025-08-09T17:39:31.121Z,1754761171.121 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 47.70 m.
2025-08-09T17:39:31.124Z,1754761171.124 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 47.700001 m,
      nav range: 45.214409 m,
      bearing: 148.892116 deg,
      approach rate: -0.657336 m/s,
      LOS rate: 0.023808 deg/s,
      cmd heading: 148.595574 deg,
      new cmd heading: 148.621973 deg.

2025-08-09T17:39:31.125Z,1754761171.125 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.593943 target range: 47.700001 and range: 47.70 m.
2025-08-09T17:39:31.135Z,1754761171.135 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.252128
2025-08-09T17:39:31.387Z,1754761171.387 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.504085
2025-08-09T17:39:31.559Z,1754761171.559 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 47.70 m.
2025-08-09T17:39:31.562Z,1754761171.562 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 47.700001 m,
      nav range: 44.931118 m,
      bearing: 148.907462 deg,
      approach rate: -0.643786 m/s,
      LOS rate: 0.035094 deg/s,
      cmd heading: 148.621979 deg,
      new cmd heading: 148.668307 deg.

2025-08-09T17:39:31.563Z,1754761171.563 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.594751 target range: 47.700001 and range: 47.70 m.
2025-08-09T17:39:31.640Z,1754761171.640 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.756812
2025-08-09T17:39:31.891Z,1754761171.891 [DAT](INFO): DAT read: Rx Time:17:39:30.6987

2025-08-09T17:39:31.892Z,1754761171.892 [DAT](INFO): Rx dataTimestamp_ set to:1754761171.891408
2025-08-09T17:39:31.892Z,1754761171.892 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.009029
2025-08-09T17:39:31.949Z,1754761171.949 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 47.70 m.
2025-08-09T17:39:31.960Z,1754761171.960 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 47.700001 m,
      nav range: 44.681286 m,
      bearing: 148.920309 deg,
      approach rate: -0.641390 m/s,
      LOS rate: 0.033168 deg/s,
      cmd heading: 148.668302 deg,
      new cmd heading: 148.707061 deg.

2025-08-09T17:39:31.961Z,1754761171.961 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.595428 target range: 47.700001 and range: 47.70 m.
2025-08-09T17:39:32.144Z,1754761172.144 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.261084
2025-08-09T17:39:32.348Z,1754761172.348 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-09T17:39:32.351Z,1754761172.351 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 47.70 m.
2025-08-09T17:39:32.353Z,1754761172.353 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 47.700001 m,
      nav range: 44.424278 m,
      bearing: 148.933677 deg,
      approach rate: -0.639736 m/s,
      LOS rate: 0.033467 deg/s,
      cmd heading: 148.707056 deg,
      new cmd heading: 148.747391 deg.

2025-08-09T17:39:32.371Z,1754761172.371 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.596132 target range: 47.700001 and range: 47.70 m.
2025-08-09T17:39:32.401Z,1754761172.401 [DAT](INFO): DAT read: 17:39:30.6987 LVL= 24304, 26977, 21650, 32755, AGC= 60, IDX= 408, 0.12,-0.038,-1.665, 0.291,-0.197, PHS= 0.261,-1.423, 0.444, RAW= 155.1,   8.1, CAL= 154.7,   8.5, ROT= 355.3,  -8.5

2025-08-09T17:39:32.402Z,1754761172.402 [DAT](INFO): got valid direction response:
 17:39:30.6987 LVL= 24304, 26977, 21650, 32755, AGC= 60, IDX= 408, 0.12,-0.038,-1.665, 0.291,-0.197, PHS= 0.261,-1.423, 0.444, RAW= 155.1,   8.1, CAL= 154.7,   8.5, ROT= 355.3,  -8.5

2025-08-09T17:39:32.403Z,1754761172.403 [DAT](INFO): DAT read: Bearing 317.9,  -5.1 (Local)

2025-08-09T17:39:32.404Z,1754761172.404 [DAT](INFO): Local bearing/azimuth received:
 Bearing 317.9,  -5.1 (Local)

2025-08-09T17:39:32.406Z,1754761172.406 [DAT](INFO): DAT read: Range 11 to 50 : 45.3 m  (Round-trip  60.5 ms) speed  0.4 m/s

2025-08-09T17:39:32.409Z,1754761172.409 [DAT](INFO): DAT read: user:661>

2025-08-09T17:39:32.411Z,1754761172.411 [DAT](INFO): DAT read: Tx time:17:39:31.7840

2025-08-09T17:39:32.411Z,1754761172.411 [DAT](INFO): Ping request sent.
2025-08-09T17:39:32.411Z,1754761172.411 [DAT](INFO): transmitted an acoustic signal
2025-08-09T17:39:32.412Z,1754761172.412 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-09T17:39:32.413Z,1754761172.413 [DAT](INFO): direction in FSK: [0.985690,-0.081039,0.147809]
2025-08-09T17:39:32.413Z,1754761172.413 [DAT](INFO): publishing transmit ping time
2025-08-09T17:39:32.413Z,1754761172.413 [DAT](INFO): publishing direction and range info
2025-08-09T17:39:32.416Z,1754761172.416 [DAT](INFO): publishing transmit ping time
2025-08-09T17:39:32.416Z,1754761172.416 [DAT](INFO): publishing direction and range info
2025-08-09T17:39:32.778Z,1754761172.778 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 45.299999 m,
      deltaT: 3.527682 s,
      deltaX: -2.400002 m,
      approachRate: -0.680334 m/s,
      rangeRepo size: 4

2025-08-09T17:39:32.780Z,1754761172.780 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 45.299999 m,
      bearing: 148.323759 deg,
      lat: 36.906094 deg,
      lon: -122.115951 deg,
      deltaT: 3.527682 s,
      deltaX: -2.400002 m,
      approachRate: -0.680334 m/s,
      posRepo size: 4

2025-08-09T17:39:32.781Z,1754761172.781 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 45.30 m.
2025-08-09T17:39:32.784Z,1754761172.784 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 45.299999 m,
      nav range: 44.418812 m,
      bearing: 148.323759 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.033467 deg/s,
      cmd heading: 148.747395 deg,
      new cmd heading: 148.790227 deg.

2025-08-09T17:39:32.785Z,1754761172.785 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.596879 target range: 45.299999 and range: 45.30 m.
2025-08-09T17:39:33.160Z,1754761173.160 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 45.30 m.
2025-08-09T17:39:33.163Z,1754761173.163 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 45.299999 m,
      nav range: 44.190063 m,
      bearing: 148.333514 deg,
      approach rate: -0.597399 m/s,
      LOS rate: 0.025609 deg/s,
      cmd heading: 148.790234 deg,
      new cmd heading: 148.819652 deg.

2025-08-09T17:39:33.164Z,1754761173.164 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.597393 target range: 45.299999 and range: 45.30 m.
2025-08-09T17:39:33.573Z,1754761173.573 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 45.30 m.
2025-08-09T17:39:33.576Z,1754761173.576 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 45.299999 m,
      nav range: 43.918964 m,
      bearing: 148.347643 deg,
      approach rate: -0.656006 m/s,
      LOS rate: 0.034399 deg/s,
      cmd heading: 148.819659 deg,
      new cmd heading: 148.862306 deg.

2025-08-09T17:39:33.577Z,1754761173.577 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.598137 target range: 45.299999 and range: 45.30 m.
2025-08-09T17:39:33.954Z,1754761173.954 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 45.30 m.
2025-08-09T17:39:33.957Z,1754761173.957 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 45.299999 m,
      nav range: 43.681133 m,
      bearing: 148.360411 deg,
      approach rate: -0.624919 m/s,
      LOS rate: 0.033732 deg/s,
      cmd heading: 148.862306 deg,
      new cmd heading: 148.900819 deg.

2025-08-09T17:39:33.958Z,1754761173.958 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.598809 target range: 45.299999 and range: 45.30 m.
2025-08-09T17:39:34.352Z,1754761174.352 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-09T17:39:34.354Z,1754761174.354 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 45.30 m.
2025-08-09T17:39:34.357Z,1754761174.357 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 45.299999 m,
      nav range: 43.431435 m,
      bearing: 148.374075 deg,
      approach rate: -0.624179 m/s,
      LOS rate: 0.034353 deg/s,
      cmd heading: 148.900815 deg,
      new cmd heading: 148.942043 deg.

2025-08-09T17:39:34.358Z,1754761174.358 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.599529 target range: 45.299999 and range: 45.30 m.
2025-08-09T17:39:34.412Z,1754761174.412 [DAT](INFO): ****** received valid address query ******
2025-08-09T17:39:34.412Z,1754761174.412 [DAT](INFO): ****** received valid ping request ******
2025-08-09T17:39:34.412Z,1754761174.412 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-09T17:39:34.663Z,1754761174.663 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.251810
2025-08-09T17:39:34.785Z,1754761174.785 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 45.30 m.
2025-08-09T17:39:34.788Z,1754761174.788 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 45.299999 m,
      nav range: 43.173462 m,
      bearing: 148.378950 deg,
      approach rate: -0.598749 m/s,
      LOS rate: 0.011383 deg/s,
      cmd heading: 148.942042 deg,
      new cmd heading: 148.956755 deg.

2025-08-09T17:39:34.789Z,1754761174.789 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.599786 target range: 45.299999 and range: 45.30 m.
2025-08-09T17:39:34.915Z,1754761174.915 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.503685
2025-08-09T17:39:35.165Z,1754761175.165 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 45.30 m.
2025-08-09T17:39:35.168Z,1754761175.168 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.756141
2025-08-09T17:39:35.170Z,1754761175.170 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 45.299999 m,
      nav range: 42.946072 m,
      bearing: 148.383389 deg,
      approach rate: -0.598298 m/s,
      LOS rate: 0.011741 deg/s,
      cmd heading: 148.956754 deg,
      new cmd heading: 148.970142 deg.

2025-08-09T17:39:35.171Z,1754761175.171 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.600019 target range: 45.299999 and range: 45.30 m.
2025-08-09T17:39:35.420Z,1754761175.420 [DAT](INFO): DAT read: Rx Time:17:39:34.2458

2025-08-09T17:39:35.420Z,1754761175.420 [DAT](INFO): Rx dataTimestamp_ set to:1754761175.420113
2025-08-09T17:39:35.421Z,1754761175.421 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.009466
2025-08-09T17:39:35.605Z,1754761175.605 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 45.30 m.
2025-08-09T17:39:35.612Z,1754761175.612 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 45.299999 m,
      nav range: 42.684452 m,
      bearing: 148.380963 deg,
      approach rate: -0.593786 m/s,
      LOS rate: -0.005541 deg/s,
      cmd heading: 148.970141 deg,
      new cmd heading: 148.962818 deg.

2025-08-09T17:39:35.613Z,1754761175.613 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.599892 target range: 45.299999 and range: 45.30 m.
2025-08-09T17:39:35.672Z,1754761175.672 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.260326
2025-08-09T17:39:35.936Z,1754761175.936 [DAT](INFO): DAT read: 17:39:34.2458 LVL= 25648, 30929, 23442, 32755, AGC= 62, IDX= 410,-0.12,-1.400,-3.016,-1.033,-1.531, PHS= 0.233,-1.439, 0.455, RAW= 156.1,   8.4, CAL= 155.8,   8.9, ROT= 354.2,  -8.9

2025-08-09T17:39:35.937Z,1754761175.937 [DAT](INFO): got valid direction response:
 17:39:34.2458 LVL= 25648, 30929, 23442, 32755, AGC= 62, IDX= 410,-0.12,-1.400,-3.016,-1.033,-1.531, PHS= 0.233,-1.439, 0.455, RAW= 156.1,   8.4, CAL= 155.8,   8.9, ROT= 354.2,  -8.9

2025-08-09T17:39:35.938Z,1754761175.938 [DAT](INFO): DAT read: Bearing 317.9,  -6.6 (Local)

2025-08-09T17:39:35.938Z,1754761175.938 [DAT](INFO): Local bearing/azimuth received:
 Bearing 317.9,  -6.6 (Local)

2025-08-09T17:39:35.944Z,1754761175.944 [DAT](INFO): DAT read: Range 11 to 50 : 43.2 m  (Round-trip  57.6 ms) speed  0.5 m/s

2025-08-09T17:39:35.945Z,1754761175.945 [DAT](INFO): DAT read: user:662>

2025-08-09T17:39:35.946Z,1754761175.946 [DAT](INFO): DAT read: Tx time:17:39:35.3340

2025-08-09T17:39:35.946Z,1754761175.946 [DAT](INFO): Ping request sent.
2025-08-09T17:39:35.946Z,1754761175.946 [DAT](INFO): transmitted an acoustic signal
2025-08-09T17:39:35.946Z,1754761175.946 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-09T17:39:35.947Z,1754761175.947 [DAT](INFO): direction in FSK: [0.982902,-0.099839,0.154710]
2025-08-09T17:39:35.948Z,1754761175.948 [DAT](INFO): publishing transmit ping time
2025-08-09T17:39:35.948Z,1754761175.948 [DAT](INFO): publishing direction and range info
2025-08-09T17:39:35.975Z,1754761175.975 [DAT](INFO): publishing transmit ping time
2025-08-09T17:39:35.976Z,1754761175.976 [DAT](INFO): publishing direction and range info
2025-08-09T17:39:36.073Z,1754761176.073 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 43.200001 m,
      deltaT: 3.530214 s,
      deltaX: -2.099998 m,
      approachRate: -0.594864 m/s,
      rangeRepo size: 4

2025-08-09T17:39:36.079Z,1754761176.079 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 43.200001 m,
      bearing: 147.961691 deg,
      lat: 36.906094 deg,
      lon: -122.115947 deg,
      deltaT: 3.530214 s,
      deltaX: -2.099998 m,
      approachRate: -0.594864 m/s,
      posRepo size: 4

2025-08-09T17:39:36.080Z,1754761176.080 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 43.20 m.
2025-08-09T17:39:36.087Z,1754761176.087 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 43.200001 m,
      nav range: 42.502712 m,
      bearing: 147.961691 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.005541 deg/s,
      cmd heading: 148.962819 deg,
      new cmd heading: 148.955057 deg.

2025-08-09T17:39:36.088Z,1754761176.088 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.599756 target range: 43.200001 and range: 43.20 m.
2025-08-09T17:39:36.418Z,1754761176.418 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-09T17:39:36.422Z,1754761176.422 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 43.20 m.
2025-08-09T17:39:36.425Z,1754761176.425 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 43.200001 m,
      nav range: 42.283516 m,
      bearing: 147.957768 deg,
      approach rate: -0.626951 m/s,
      LOS rate: -0.011281 deg/s,
      cmd heading: 148.955060 deg,
      new cmd heading: 148.943228 deg.

2025-08-09T17:39:36.426Z,1754761176.426 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.599550 target range: 43.200001 and range: 43.20 m.
2025-08-09T17:39:36.427Z,1754761176.427 [DAT](INFO): ****** received valid address query ******
2025-08-09T17:39:36.427Z,1754761176.427 [DAT](INFO): ****** received valid ping request ******
2025-08-09T17:39:36.427Z,1754761176.427 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-09T17:39:36.680Z,1754761176.680 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.733544
2025-08-09T17:39:36.833Z,1754761176.833 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 43.20 m.
2025-08-09T17:39:36.862Z,1754761176.862 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 43.200001 m,
      nav range: 42.018284 m,
      bearing: 147.950365 deg,
      approach rate: -0.644657 m/s,
      LOS rate: -0.018106 deg/s,
      cmd heading: 148.943230 deg,
      new cmd heading: 148.920883 deg.

2025-08-09T17:39:36.864Z,1754761176.864 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.599160 target range: 43.200001 and range: 43.20 m.
2025-08-09T17:39:36.933Z,1754761176.933 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.986657
2025-08-09T17:39:37.183Z,1754761177.183 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.237346
2025-08-09T17:39:37.224Z,1754761177.224 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 43.20 m.
2025-08-09T17:39:37.227Z,1754761177.227 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 43.200001 m,
      nav range: 41.772430 m,
      bearing: 147.943775 deg,
      approach rate: -0.629670 m/s,
      LOS rate: -0.016978 deg/s,
      cmd heading: 148.920882 deg,
      new cmd heading: 148.900996 deg.

2025-08-09T17:39:37.228Z,1754761177.228 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.598813 target range: 43.200001 and range: 43.20 m.
2025-08-09T17:39:37.435Z,1754761177.435 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.489304
2025-08-09T17:39:37.641Z,1754761177.641 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 43.20 m.
2025-08-09T17:39:37.644Z,1754761177.644 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 43.200001 m,
      nav range: 41.512196 m,
      bearing: 147.936714 deg,
      approach rate: -0.623171 m/s,
      LOS rate: -0.017014 deg/s,
      cmd heading: 148.900993 deg,
      new cmd heading: 148.879678 deg.

2025-08-09T17:39:37.645Z,1754761177.645 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.598441 target range: 43.200001 and range: 43.20 m.
2025-08-09T17:39:37.688Z,1754761177.688 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.741851
2025-08-09T17:39:37.939Z,1754761177.939 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.993250
2025-08-09T17:39:38.034Z,1754761178.034 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 43.20 m.
2025-08-09T17:39:38.037Z,1754761178.037 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 43.200001 m,
      nav range: 41.267422 m,
      bearing: 147.930647 deg,
      approach rate: -0.623180 m/s,
      LOS rate: -0.015539 deg/s,
      cmd heading: 148.879682 deg,
      new cmd heading: 148.861372 deg.

2025-08-09T17:39:38.039Z,1754761178.039 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.598121 target range: 43.200001 and range: 43.20 m.
2025-08-09T17:39:38.191Z,1754761178.191 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.245311
2025-08-09T17:39:38.425Z,1754761178.425 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-09T17:39:38.427Z,1754761178.427 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 43.20 m.
2025-08-09T17:39:38.430Z,1754761178.430 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 43.200001 m,
      nav range: 41.022644 m,
      bearing: 147.925024 deg,
      approach rate: -0.622518 m/s,
      LOS rate: -0.014386 deg/s,
      cmd heading: 148.861377 deg,
      new cmd heading: 148.844408 deg.

2025-08-09T17:39:38.431Z,1754761178.431 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.597825 target range: 43.200001 and range: 43.20 m.
2025-08-09T17:39:38.443Z,1754761178.443 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.497443
2025-08-09T17:39:38.695Z,1754761178.695 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.749287
2025-08-09T17:39:38.861Z,1754761178.861 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 43.20 m.
2025-08-09T17:39:38.865Z,1754761178.865 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 43.200001 m,
      nav range: 40.758198 m,
      bearing: 147.906060 deg,
      approach rate: -0.610308 m/s,
      LOS rate: -0.044050 deg/s,
      cmd heading: 148.844411 deg,
      new cmd heading: 148.787151 deg.

2025-08-09T17:39:38.867Z,1754761178.867 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.596826 target range: 43.200001 and range: 43.20 m.
2025-08-09T17:39:38.949Z,1754761178.949 [DAT](INFO): DAT read: Rx Time:17:39:37.7926

2025-08-09T17:39:38.949Z,1754761178.949 [DAT](INFO): Rx dataTimestamp_ set to:1754761178.948819
2025-08-09T17:39:38.950Z,1754761178.950 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.004016
2025-08-09T17:39:39.199Z,1754761179.199 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.253313
2025-08-09T17:39:39.232Z,1754761179.232 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 43.20 m.
2025-08-09T17:39:39.235Z,1754761179.235 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 43.200001 m,
      nav range: 40.526478 m,
      bearing: 147.889636 deg,
      approach rate: -0.624051 m/s,
      LOS rate: -0.044483 deg/s,
      cmd heading: 148.787147 deg,
      new cmd heading: 148.737595 deg.

2025-08-09T17:39:39.236Z,1754761179.236 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.595961 target range: 43.200001 and range: 43.20 m.
2025-08-09T17:39:39.457Z,1754761179.457 [DAT](INFO): DAT read: 17:39:37.7926 LVL= 28544, 31665, 25346, 32755, AGC= 64, IDX= 410, 0.37,-1.652, 2.959,-1.303,-1.824, PHS= 0.274,-1.455, 0.477, RAW= 155.5,   7.7, CAL= 155.0,   8.0, ROT= 355.0,  -8.0

2025-08-09T17:39:39.458Z,1754761179.458 [DAT](INFO): got valid direction response:
 17:39:37.7926 LVL= 28544, 31665, 25346, 32755, AGC= 64, IDX= 410, 0.37,-1.652, 2.959,-1.303,-1.824, PHS= 0.274,-1.455, 0.477, RAW= 155.5,   7.7, CAL= 155.0,   8.0, ROT= 355.0,  -8.0

2025-08-09T17:39:39.459Z,1754761179.459 [DAT](INFO): DAT read: Bearing 316.5,  -5.8 (Local)

2025-08-09T17:39:39.459Z,1754761179.459 [DAT](INFO): Local bearing/azimuth received:
 Bearing 316.5,  -5.8 (Local)

2025-08-09T17:39:39.461Z,1754761179.461 [DAT](INFO): DAT read: Range 11 to 50 : 40.8 m  (Round-trip  54.4 ms) speed  0.4 m/s

2025-08-09T17:39:39.461Z,1754761179.461 [DAT](INFO): DAT read: user:663>

2025-08-09T17:39:39.462Z,1754761179.462 [DAT](INFO): DAT read: Tx time:17:39:38.8840

2025-08-09T17:39:39.463Z,1754761179.463 [DAT](INFO): Ping request sent.
2025-08-09T17:39:39.463Z,1754761179.463 [DAT](INFO): transmitted an acoustic signal
2025-08-09T17:39:39.463Z,1754761179.463 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-09T17:39:39.464Z,1754761179.464 [DAT](INFO): direction in FSK: [0.986500,-0.086307,0.139173]
2025-08-09T17:39:39.464Z,1754761179.464 [DAT](INFO): publishing transmit ping time
2025-08-09T17:39:39.465Z,1754761179.465 [DAT](INFO): publishing direction and range info
2025-08-09T17:39:39.505Z,1754761179.505 [DAT](INFO): publishing transmit ping time
2025-08-09T17:39:39.505Z,1754761179.505 [DAT](INFO): publishing direction and range info
2025-08-09T17:39:39.768Z,1754761179.768 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 40.799999 m,
      deltaT: 3.525600 s,
      deltaX: -2.400002 m,
      approachRate: -0.680736 m/s,
      rangeRepo size: 4

2025-08-09T17:39:39.775Z,1754761179.775 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 40.799999 m,
      bearing: 147.453846 deg,
      lat: 36.906095 deg,
      lon: -122.115944 deg,
      deltaT: 3.525600 s,
      deltaX: -2.400002 m,
      approachRate: -0.680736 m/s,
      posRepo size: 4

2025-08-09T17:39:39.775Z,1754761179.775 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.80 m.
2025-08-09T17:39:39.778Z,1754761179.778 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 40.799999 m,
      nav range: 40.295979 m,
      bearing: 147.453846 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.044483 deg/s,
      cmd heading: 148.737601 deg,
      new cmd heading: 148.666131 deg.

2025-08-09T17:39:39.783Z,1754761179.783 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.594713 target range: 40.799999 and range: 40.80 m.
2025-08-09T17:39:40.110Z,1754761180.110 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.80 m.
2025-08-09T17:39:40.113Z,1754761180.113 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 40.799999 m,
      nav range: 40.066078 m,
      bearing: 147.434146 deg,
      approach rate: -0.671764 m/s,
      LOS rate: -0.057891 deg/s,
      cmd heading: 148.666130 deg,
      new cmd heading: 148.606693 deg.

2025-08-09T17:39:40.114Z,1754761180.114 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.593676 target range: 40.799999 and range: 40.80 m.
2025-08-09T17:39:40.551Z,1754761180.551 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-09T17:39:40.568Z,1754761180.568 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.80 m.
2025-08-09T17:39:40.591Z,1754761180.591 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 40.799999 m,
      nav range: 39.802235 m,
      bearing: 147.411445 deg,
      approach rate: -0.582764 m/s,
      LOS rate: -0.050475 deg/s,
      cmd heading: 148.606693 deg,
      new cmd heading: 148.538137 deg.

2025-08-09T17:39:40.604Z,1754761180.604 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.592479 target range: 40.799999 and range: 40.80 m.
2025-08-09T17:39:40.711Z,1754761180.711 [DAT](INFO): ****** received valid address query ******
2025-08-09T17:39:40.711Z,1754761180.711 [DAT](INFO): ****** received valid ping request ******
2025-08-09T17:39:40.711Z,1754761180.711 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-09T17:39:40.963Z,1754761180.963 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.500667
2025-08-09T17:39:41.029Z,1754761181.029 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.80 m.
2025-08-09T17:39:41.032Z,1754761181.032 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 40.799999 m,
      nav range: 39.469074 m,
      bearing: 147.376099 deg,
      approach rate: -0.713863 m/s,
      LOS rate: -0.076374 deg/s,
      cmd heading: 148.538132 deg,
      new cmd heading: 148.431200 deg.

2025-08-09T17:39:41.033Z,1754761181.033 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.590613 target range: 40.799999 and range: 40.80 m.
2025-08-09T17:39:41.216Z,1754761181.216 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.752867
2025-08-09T17:39:41.410Z,1754761181.410 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.80 m.
2025-08-09T17:39:41.413Z,1754761181.413 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 40.799999 m,
      nav range: 39.219624 m,
      bearing: 147.349241 deg,
      approach rate: -0.655189 m/s,
      LOS rate: -0.070993 deg/s,
      cmd heading: 148.431199 deg,
      new cmd heading: 148.350111 deg.

2025-08-09T17:39:41.414Z,1754761181.414 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.589198 target range: 40.799999 and range: 40.80 m.
2025-08-09T17:39:41.468Z,1754761181.468 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.004894
2025-08-09T17:39:41.719Z,1754761181.719 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.256653
2025-08-09T17:39:41.828Z,1754761181.828 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.80 m.
2025-08-09T17:39:41.832Z,1754761181.832 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 40.799999 m,
      nav range: 38.954647 m,
      bearing: 147.321127 deg,
      approach rate: -0.633636 m/s,
      LOS rate: -0.067686 deg/s,
      cmd heading: 148.350111 deg,
      new cmd heading: 148.265195 deg.

2025-08-09T17:39:41.833Z,1754761181.833 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.587716 target range: 40.799999 and range: 40.80 m.
2025-08-09T17:39:41.972Z,1754761181.972 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.509451
2025-08-09T17:39:42.223Z,1754761182.223 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.760689
2025-08-09T17:39:42.268Z,1754761182.268 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.80 m.
2025-08-09T17:39:42.275Z,1754761182.275 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 40.799999 m,
      nav range: 38.693676 m,
      bearing: 147.293180 deg,
      approach rate: -0.593050 m/s,
      LOS rate: -0.063936 deg/s,
      cmd heading: 148.265198 deg,
      new cmd heading: 148.180792 deg.

2025-08-09T17:39:42.276Z,1754761182.276 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.586243 target range: 40.799999 and range: 40.80 m.
2025-08-09T17:39:42.477Z,1754761182.477 [DAT](INFO): DAT read: Rx Time1.3399

2025-08-09T17:39:42.478Z,1754761182.478 [DAT](INFO): unknown deviceResponse_: Rx Time1.3399

2025-08-09T17:39:42.479Z,1754761182.479 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.016506
2025-08-09T17:39:42.677Z,1754761182.677 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-09T17:39:42.680Z,1754761182.680 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.80 m.
2025-08-09T17:39:42.683Z,1754761182.683 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 40.799999 m,
      nav range: 38.404552 m,
      bearing: 147.264730 deg,
      approach rate: -0.702628 m/s,
      LOS rate: -0.069661 deg/s,
      cmd heading: 148.180790 deg,
      new cmd heading: 148.094796 deg.

2025-08-09T17:39:42.684Z,1754761182.684 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.584742 target range: 40.799999 and range: 40.80 m.
2025-08-09T17:39:42.731Z,1754761182.731 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.267833
2025-08-09T17:39:42.989Z,1754761182.989 [DAT](INFO): DAT read: 17:39:41.3399 LVL= 28016, 31089, 23378, 32755, AGC= 66, IDX= 414, 0.19,-1.883, 2.735,-1.523,-2.033, PHS= 0.252,-1.470, 0.467, RAW= 155.8,   8.2, CAL= 155.4,   8.6, ROT= 354.6,  -8.6

2025-08-09T17:39:42.991Z,1754761182.991 [DAT](INFO): got valid direction response:
 17:39:41.3399 LVL= 28016, 31089, 23378, 32755, AGC= 66, IDX= 414, 0.19,-1.883, 2.735,-1.523,-2.033, PHS= 0.252,-1.470, 0.467, RAW= 155.8,   8.2, CAL= 155.4,   8.6, ROT= 354.6,  -8.6

2025-08-09T17:39:42.993Z,1754761182.993 [DAT](INFO): DAT read: Bearing 316.6,  -6.5 (Local)

2025-08-09T17:39:42.993Z,1754761182.993 [DAT](INFO): Local bearing/azimuth received:
 Bearing 316.6,  -6.5 (Local)

2025-08-09T17:39:42.996Z,1754761182.996 [DAT](INFO): DAT read: Range 11 to 50 : 38.7 m  (Round-trip  51.7 ms) speed  0.6 m/s

2025-08-09T17:39:42.997Z,1754761182.997 [DAT](INFO): DAT read: user:664>

2025-08-09T17:39:42.999Z,1754761182.999 [DAT](INFO): DAT read: Tx time:17:39:42.4340

2025-08-09T17:39:42.999Z,1754761182.999 [DAT](INFO): Ping request sent.
2025-08-09T17:39:42.999Z,1754761182.999 [DAT](INFO): transmitted an acoustic signal
2025-08-09T17:39:42.000Z,1754761183.000 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-09T17:39:43.001Z,1754761183.001 [DAT](INFO): direction in FSK: [0.984368,-0.093050,0.149535]
2025-08-09T17:39:43.001Z,1754761183.001 [DAT](INFO): publishing transmit ping time
2025-08-09T17:39:43.001Z,1754761183.001 [DAT](INFO): publishing direction and range info
2025-08-09T17:39:43.005Z,1754761183.005 [DAT](INFO): publishing transmit ping time
2025-08-09T17:39:43.006Z,1754761183.006 [DAT](INFO): publishing direction and range info
2025-08-09T17:39:43.099Z,1754761183.099 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 38.700001 m,
      deltaT: 3.528825 s,
      deltaX: -2.099998 m,
      approachRate: -0.595098 m/s,
      rangeRepo size: 4

2025-08-09T17:39:43.101Z,1754761183.101 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 38.700001 m,
      bearing: 146.406185 deg,
      lat: 36.906097 deg,
      lon: -122.115938 deg,
      deltaT: 3.528825 s,
      deltaX: -2.099998 m,
      approachRate: -0.595098 m/s,
      posRepo size: 4

2025-08-09T17:39:43.102Z,1754761183.102 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.70 m.
2025-08-09T17:39:43.113Z,1754761183.113 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 38.700001 m,
      nav range: 38.206924 m,
      bearing: 146.406185 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.069661 deg/s,
      cmd heading: 148.094798 deg,
      new cmd heading: 148.008188 deg.

2025-08-09T17:39:43.114Z,1754761183.114 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.583230 target range: 38.700001 and range: 38.70 m.
2025-08-09T17:39:43.495Z,1754761183.495 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL] Running Loop=1
2025-08-09T17:39:43.495Z,1754761183.495 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL](DEBUG): Aggregate::initialize lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL
2025-08-09T17:39:43.496Z,1754761183.496 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL:A] Running Loop=1
2025-08-09T17:39:43.502Z,1754761183.502 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL:A](INFO): Entering USBL mode with  120.000000 count pings at  38.700001 m (mode  2.000000 count ).
2025-08-09T17:39:43.502Z,1754761183.502 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL:A] Stopped
2025-08-09T17:39:43.502Z,1754761183.502 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL:B] Running Loop=1
2025-08-09T17:39:43.505Z,1754761183.505 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.70 m.
2025-08-09T17:39:43.512Z,1754761183.512 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 38.700001 m,
      nav range: 37.944710 m,
      bearing: 146.374054 deg,
      approach rate: -0.638834 m/s,
      LOS rate: -0.078823 deg/s,
      cmd heading: 148.008191 deg,
      new cmd heading: 147.911131 deg.

2025-08-09T17:39:43.513Z,1754761183.513 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.581536 target range: 38.700001 and range: 38.70 m.
2025-08-09T17:39:43.911Z,1754761183.911 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL:B] Stopped
2025-08-09T17:39:43.912Z,1754761183.912 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL:C] Running Loop=1
2025-08-09T17:39:43.914Z,1754761183.914 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.70 m.
2025-08-09T17:39:43.917Z,1754761183.917 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 38.700001 m,
      nav range: 37.645008 m,
      bearing: 146.333605 deg,
      approach rate: -0.732685 m/s,
      LOS rate: -0.099673 deg/s,
      cmd heading: 147.911134 deg,
      new cmd heading: 147.788822 deg.

2025-08-09T17:39:43.918Z,1754761183.918 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.579401 target range: 38.700001 and range: 38.70 m.
2025-08-09T17:39:44.276Z,1754761184.276 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL:C] Stopped
2025-08-09T17:39:44.276Z,1754761184.276 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL:D] Running Loop=1
2025-08-09T17:39:44.278Z,1754761184.278 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.70 m.
2025-08-09T17:39:44.281Z,1754761184.281 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 38.700001 m,
      nav range: 37.399292 m,
      bearing: 146.299722 deg,
      approach rate: -0.674509 m/s,
      LOS rate: -0.093622 deg/s,
      cmd heading: 147.788819 deg,
      new cmd heading: 147.686502 deg.

2025-08-09T17:39:44.282Z,1754761184.282 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.577616 target range: 38.700001 and range: 38.70 m.
2025-08-09T17:39:44.716Z,1754761184.716 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL:D] Stopped
2025-08-09T17:39:44.717Z,1754761184.717 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL](INFO): Completed lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL
2025-08-09T17:39:44.717Z,1754761184.717 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL] Stopped
2025-08-09T17:39:44.717Z,1754761184.717 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL](DEBUG): Aggregate::uninitialize lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL
2025-08-09T17:39:44.717Z,1754761184.717 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-09T17:39:44.719Z,1754761184.719 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.70 m.
2025-08-09T17:39:44.722Z,1754761184.722 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 38.700001 m,
      nav range: 37.108833 m,
      bearing: 146.259217 deg,
      approach rate: -0.657874 m/s,
      LOS rate: -0.092459 deg/s,
      cmd heading: 147.686503 deg,
      new cmd heading: 147.564038 deg.

2025-08-09T17:39:44.723Z,1754761184.723 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.575478 target range: 38.700001 and range: 38.70 m.
2025-08-09T17:39:44.743Z,1754761184.743 [DAT](INFO): ****** received valid address query ******
2025-08-09T17:39:44.743Z,1754761184.743 [DAT](INFO): ****** received valid ping request ******
2025-08-09T17:39:44.743Z,1754761184.743 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode.
2025-08-09T17:39:44.997Z,1754761184.997 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.997320
2025-08-09T17:39:45.083Z,1754761185.083 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.70 m.
2025-08-09T17:39:45.085Z,1754761185.085 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 38.700001 m,
      nav range: 36.868702 m,
      bearing: 146.225359 deg,
      approach rate: -0.661798 m/s,
      LOS rate: -0.093919 deg/s,
      cmd heading: 147.564038 deg,
      new cmd heading: 147.461803 deg.

2025-08-09T17:39:45.087Z,1754761185.087 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.573694 target range: 38.700001 and range: 38.70 m.
2025-08-09T17:39:45.247Z,1754761185.247 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.247973
2025-08-09T17:39:45.499Z,1754761185.499 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.500144
2025-08-09T17:39:45.509Z,1754761185.509 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.70 m.
2025-08-09T17:39:45.512Z,1754761185.512 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 38.700001 m,
      nav range: 36.587322 m,
      bearing: 146.185119 deg,
      approach rate: -0.659185 m/s,
      LOS rate: -0.094995 deg/s,
      cmd heading: 147.461803 deg,
      new cmd heading: 147.340155 deg.

2025-08-09T17:39:45.513Z,1754761185.513 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.571571 target range: 38.700001 and range: 38.70 m.
2025-08-09T17:39:45.752Z,1754761185.752 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.752188
2025-08-09T17:39:45.940Z,1754761185.940 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.70 m.
2025-08-09T17:39:45.943Z,1754761185.943 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 38.700001 m,
      nav range: 36.309505 m,
      bearing: 146.153304 deg,
      approach rate: -0.644925 m/s,
      LOS rate: -0.074422 deg/s,
      cmd heading: 147.340158 deg,
      new cmd heading: 147.243981 deg.

2025-08-09T17:39:45.944Z,1754761185.944 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.569892 target range: 38.700001 and range: 38.70 m.
2025-08-09T17:39:46.004Z,1754761186.004 [DAT](INFO): DAT read: Rx Time:17:39:44.8867

2025-08-09T17:39:46.005Z,1754761186.005 [DAT](INFO): Rx dataTimestamp_ set to:1754761186.004430
2025-08-09T17:39:46.006Z,1754761186.006 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.006120
2025-08-09T17:39:46.255Z,1754761186.255 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.255956
2025-08-09T17:39:46.295Z,1754761186.295 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.70 m.
2025-08-09T17:39:46.310Z,1754761186.310 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 38.700001 m,
      nav range: 36.074402 m,
      bearing: 146.126369 deg,
      approach rate: -0.661362 m/s,
      LOS rate: -0.076264 deg/s,
      cmd heading: 147.243975 deg,
      new cmd heading: 147.162644 deg.

2025-08-09T17:39:46.311Z,1754761186.311 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.568473 target range: 38.700001 and range: 38.70 m.
2025-08-09T17:39:46.513Z,1754761186.513 [DAT](INFO): DAT read: 17:39:44.8867 LVL= 24816, 28721, 21794, 29907, AGC= 64, IDX= 413, 0.12, 0.492,-1.062, 0.851, 0.381, PHS= 0.213,-1.397, 0.426, RAW= 156.1,   8.8, CAL= 155.8,   9.4, ROT= 354.2,  -9.4

2025-08-09T17:39:46.514Z,1754761186.514 [DAT](INFO): got valid direction response:
 17:39:44.8867 LVL= 24816, 28721, 21794, 29907, AGC= 64, IDX= 413, 0.12, 0.492,-1.062, 0.851, 0.381, PHS= 0.213,-1.397, 0.426, RAW= 156.1,   8.8, CAL= 155.8,   9.4, ROT= 354.2,  -9.4

2025-08-09T17:39:46.515Z,1754761186.515 [DAT](INFO): DAT read: Bearing 317.1,  -7.0 (Local)

2025-08-09T17:39:46.515Z,1754761186.515 [DAT](INFO): Local bearing/azimuth received:
 Bearing 317.1,  -7.0 (Local)

2025-08-09T17:39:46.517Z,1754761186.517 [DAT](INFO): DAT read: Range 11 to 50 : 36.3 m  (Round-trip  48.5 ms) speed  0.6 m/s

2025-08-09T17:39:46.518Z,1754761186.518 [DAT](INFO): DAT read: user:665>

2025-08-09T17:39:46.519Z,1754761186.519 [DAT](INFO): DAT read: Tx time:17:39:45.9840

2025-08-09T17:39:46.519Z,1754761186.519 [DAT](INFO): Ping request sent.
2025-08-09T17:39:46.519Z,1754761186.519 [DAT](INFO): transmitted an acoustic signal
2025-08-09T17:39:46.519Z,1754761186.519 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-09T17:39:46.520Z,1754761186.520 [DAT](INFO): direction in FSK: [0.981522,-0.099699,0.163326]
2025-08-09T17:39:46.520Z,1754761186.520 [DAT](INFO): publishing transmit ping time
2025-08-09T17:39:46.521Z,1754761186.521 [DAT](INFO): publishing direction and range info
2025-08-09T17:39:46.524Z,1754761186.524 [DAT](INFO): publishing transmit ping time
2025-08-09T17:39:46.524Z,1754761186.524 [DAT](INFO): publishing direction and range info
2025-08-09T17:39:46.527Z,1754761186.527 [DAT](INFO): checking for new query: numPingsReceived=1, elapsed TxPingTime=0.008215
2025-08-09T17:39:46.759Z,1754761186.759 [DAT](INFO): checking for new query: numPingsReceived=1, elapsed TxPingTime=0.240454
2025-08-09T17:39:46.828Z,1754761186.828 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 36.299999 m,
      deltaT: 3.527214 s,
      deltaX: -2.400002 m,
      approachRate: -0.680424 m/s,
      rangeRepo size: 4

2025-08-09T17:39:46.835Z,1754761186.835 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 36.299999 m,
      bearing: 145.835534 deg,
      lat: 36.906098 deg,
      lon: -122.115936 deg,
      deltaT: 3.527214 s,
      deltaX: -2.400002 m,
      approachRate: -0.680424 m/s,
      posRepo size: 4

2025-08-09T17:39:46.835Z,1754761186.835 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 36.30 m.
2025-08-09T17:39:46.842Z,1754761186.842 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 36.299999 m,
      nav range: 35.750118 m,
      bearing: 145.835534 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.076264 deg/s,
      cmd heading: 147.162641 deg,
      new cmd heading: 147.040848 deg.

2025-08-09T17:39:46.844Z,1754761186.844 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.566347 target range: 36.299999 and range: 36.30 m.
2025-08-09T17:39:47.011Z,1754761187.011 [DAT](INFO): checking for new query: numPingsReceived=1, elapsed TxPingTime=0.492264
2025-08-09T17:39:47.175Z,1754761187.175 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-09T17:39:47.177Z,1754761187.177 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 36.30 m.
2025-08-09T17:39:47.180Z,1754761187.180 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 36.299999 m,
      nav range: 35.512360 m,
      bearing: 145.812180 deg,
      approach rate: -0.681622 m/s,
      LOS rate: -0.067401 deg/s,
      cmd heading: 147.040845 deg,
      new cmd heading: 146.970314 deg.

2025-08-09T17:39:47.180Z,1754761187.180 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.565116 target range: 36.299999 and range: 36.30 m.
2025-08-09T17:39:47.265Z,1754761187.265 [DAT](INFO): checking for new query: numPingsReceived=1, elapsed TxPingTime=0.745423
2025-08-09T17:39:47.516Z,1754761187.516 [DAT](INFO): checking for new query: numPingsReceived=1, elapsed TxPingTime=0.997094
2025-08-09T17:39:47.582Z,1754761187.582 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 36.30 m.
2025-08-09T17:39:47.585Z,1754761187.585 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 36.299999 m,
      nav range: 35.244926 m,
      bearing: 145.786080 deg,
      approach rate: -0.659181 m/s,
      LOS rate: -0.064821 deg/s,
      cmd heading: 146.970317 deg,
      new cmd heading: 146.891422 deg.

2025-08-09T17:39:47.594Z,1754761187.594 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.563739 target range: 36.299999 and range: 36.30 m.
2025-08-09T17:39:47.767Z,1754761187.767 [DAT](INFO): checking for new query: numPingsReceived=1, elapsed TxPingTime=1.248187
2025-08-09T17:39:48.019Z,1754761188.019 [DAT](INFO): checking for new query: numPingsReceived=1, elapsed TxPingTime=1.500336
2025-08-09T17:39:48.036Z,1754761188.036 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 36.30 m.
2025-08-09T17:39:48.039Z,1754761188.039 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 36.299999 m,
      nav range: 34.953777 m,
      bearing: 145.762186 deg,
      approach rate: -0.641746 m/s,
      LOS rate: -0.053104 deg/s,
      cmd heading: 146.891428 deg,
      new cmd heading: 146.819150 deg.

2025-08-09T17:39:48.040Z,1754761188.040 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.562478 target range: 36.299999 and range: 36.30 m.
2025-08-09T17:39:48.275Z,1754761188.275 [DAT](INFO): checking for new query: numPingsReceived=1, elapsed TxPingTime=1.755674
2025-08-09T17:39:48.390Z,1754761188.390 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 36.30 m.
2025-08-09T17:39:48.393Z,1754761188.393 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 36.299999 m,
      nav range: 34.726521 m,
      bearing: 145.744040 deg,
      approach rate: -0.641542 m/s,
      LOS rate: -0.051561 deg/s,
      cmd heading: 146.819151 deg,
      new cmd heading: 146.764356 deg.

2025-08-09T17:39:48.410Z,1754761188.410 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.561521 target range: 36.299999 and range: 36.30 m.
2025-08-09T17:39:48.523Z,1754761188.523 [DAT](INFO): checking for new query: numPingsReceived=1, elapsed TxPingTime=2.004261
2025-08-09T17:39:48.776Z,1754761188.776 [DAT](INFO): checking for new query: numPingsReceived=1, elapsed TxPingTime=2.256599
2025-08-09T17:39:48.822Z,1754761188.822 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 36.30 m.
2025-08-09T17:39:48.825Z,1754761188.825 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 36.299999 m,
      nav range: 34.449085 m,
      bearing: 145.724563 deg,
      approach rate: -0.642741 m/s,
      LOS rate: -0.045485 deg/s,
      cmd heading: 146.764359 deg,
      new cmd heading: 146.705459 deg.

2025-08-09T17:39:48.826Z,1754761188.826 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.560493 target range: 36.299999 and range: 36.30 m.
2025-08-09T17:39:49.027Z,1754761189.027 [DAT](INFO): checking for new query: numPingsReceived=1, elapsed TxPingTime=2.508304
2025-08-09T17:39:49.193Z,1754761189.193 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-09T17:39:49.195Z,1754761189.195 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 36.30 m.
2025-08-09T17:39:49.198Z,1754761189.198 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 36.299999 m,
      nav range: 34.209667 m,
      bearing: 145.708291 deg,
      approach rate: -0.640736 m/s,
      LOS rate: -0.043852 deg/s,
      cmd heading: 146.705456 deg,
      new cmd heading: 146.656298 deg.

2025-08-09T17:39:49.199Z,1754761189.199 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.559635 target range: 36.299999 and range: 36.30 m.
2025-08-09T17:39:49.279Z,1754761189.279 [DAT](INFO): checking for new query: numPingsReceived=1, elapsed TxPingTime=2.760404
2025-08-09T17:39:49.531Z,1754761189.531 [DAT](INFO): DAT read: Rx Time:17:39:48.4334

2025-08-09T17:39:49.532Z,1754761189.532 [DAT](INFO): Rx dataTimestamp_ set to:1754761189.531462
2025-08-09T17:39:49.533Z,1754761189.533 [DAT](INFO): checking for new query: numPingsReceived=1, elapsed TxPingTime=3.013301
2025-08-09T17:39:49.602Z,1754761189.602 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 36.30 m.
2025-08-09T17:39:49.605Z,1754761189.605 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 36.299999 m,
      nav range: 33.947582 m,
      bearing: 145.691199 deg,
      approach rate: -0.644799 m/s,
      LOS rate: -0.042376 deg/s,
      cmd heading: 146.656292 deg,
      new cmd heading: 146.604620 deg.

2025-08-09T17:39:49.606Z,1754761189.606 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.558733 target range: 36.299999 and range: 36.30 m.
2025-08-09T17:39:49.783Z,1754761189.783 [DAT](INFO): checking for new query: numPingsReceived=1, elapsed TxPingTime=3.264313
2025-08-09T17:39:50.041Z,1754761190.041 [DAT](INFO): DAT read: 17:39:48.4334 LVL= 27120, 32753, 21746, 32755, AGC= 60, IDX= 412,-0.10, 0.915,-0.704, 1.290, 0.793, PHS= 0.224,-1.452, 0.453, RAW= 156.3,   8.6, CAL= 156.0,   9.1, ROT= 354.0,  -9.1

2025-08-09T17:39:50.042Z,1754761190.042 [DAT](INFO): got valid direction response:
 17:39:48.4334 LVL= 27120, 32753, 21746, 32755, AGC= 60, IDX= 412,-0.10, 0.915,-0.704, 1.290, 0.793, PHS= 0.224,-1.452, 0.453, RAW= 156.3,   8.6, CAL= 156.0,   9.1, ROT= 354.0,  -9.1

2025-08-09T17:39:50.043Z,1754761190.043 [DAT](INFO): DAT read: Bearing 316.2,  -7.5 (Local)

2025-08-09T17:39:50.044Z,1754761190.044 [DAT](INFO): Local bearing/azimuth received:
 Bearing 316.2,  -7.5 (Local)

2025-08-09T17:39:50.045Z,1754761190.045 [DAT](INFO): DAT read: Range 11 to 50 : 33.9 m  (Round-trip  45.3 ms) speed  0.5 m/s

2025-08-09T17:39:50.046Z,1754761190.046 [DAT](INFO): DAT read: user:666>

2025-08-09T17:39:50.046Z,1754761190.046 [DAT](INFO): DAT read: Tx time:17:39:49.5340

2025-08-09T17:39:50.047Z,1754761190.047 [DAT](INFO): Ping request sent.
2025-08-09T17:39:50.047Z,1754761190.047 [DAT](INFO): transmitted an acoustic signal
2025-08-09T17:39:50.047Z,1754761190.047 [DAT](INFO): #Rx 2: Read range and direction messages.
2025-08-09T17:39:50.048Z,1754761190.048 [DAT](INFO): direction in FSK: [0.982005,-0.103213,0.158158]
2025-08-09T17:39:50.048Z,1754761190.048 [DAT](INFO): publishing transmit ping time
2025-08-09T17:39:50.049Z,1754761190.049 [DAT](INFO): publishing direction and range info
2025-08-09T17:39:50.052Z,1754761190.052 [DAT](INFO): publishing transmit ping time
2025-08-09T17:39:50.052Z,1754761190.052 [DAT](INFO): publishing direction and range info
2025-08-09T17:39:50.071Z,1754761190.071 [DAT](INFO): checking for new query: numPingsReceived=2, elapsed TxPingTime=0.024489
2025-08-09T17:39:50.118Z,1754761190.118 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 33.900002 m,
      deltaT: 3.528093 s,
      deltaX: -2.399998 m,
      approachRate: -0.680254 m/s,
      rangeRepo size: 4

2025-08-09T17:39:50.124Z,1754761190.124 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 33.900002 m,
      bearing: 145.607450 deg,
      lat: 36.906098 deg,
      lon: -122.115936 deg,
      deltaT: 3.528093 s,
      deltaX: -2.399998 m,
      approachRate: -0.680254 m/s,
      posRepo size: 4

2025-08-09T17:39:50.125Z,1754761190.125 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 33.90 m.
2025-08-09T17:39:50.136Z,1754761190.136 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 33.900002 m,
      nav range: 33.660301 m,
      bearing: 145.607450 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.042376 deg/s,
      cmd heading: 146.604615 deg,
      new cmd heading: 146.539140 deg.

2025-08-09T17:39:50.137Z,1754761190.137 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.557590 target range: 33.900002 and range: 33.90 m.
2025-08-09T17:39:50.288Z,1754761190.288 [DAT](INFO): checking for new query: numPingsReceived=2, elapsed TxPingTime=0.240692
2025-08-09T17:39:50.519Z,1754761190.519 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 33.90 m.
2025-08-09T17:39:50.522Z,1754761190.522 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 33.900002 m,
      nav range: 33.407398 m,
      bearing: 145.593299 deg,
      approach rate: -0.629164 m/s,
      LOS rate: -0.035471 deg/s,
      cmd heading: 146.539140 deg,
      new cmd heading: 146.496366 deg.

2025-08-09T17:39:50.527Z,1754761190.527 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.556844 target range: 33.900002 and range: 33.90 m.
2025-08-09T17:39:50.539Z,1754761190.539 [DAT](INFO): checking for new query: numPingsReceived=2, elapsed TxPingTime=0.492596
2025-08-09T17:39:50.792Z,1754761190.792 [DAT](INFO): checking for new query: numPingsReceived=2, elapsed TxPingTime=0.744912
2025-08-09T17:39:50.982Z,1754761190.982 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 33.90 m.
2025-08-09T17:39:50.989Z,1754761190.989 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 33.900002 m,
      nav range: 33.130207 m,
      bearing: 145.597486 deg,
      approach rate: -0.600395 m/s,
      LOS rate: 0.009146 deg/s,
      cmd heading: 146.496370 deg,
      new cmd heading: 146.509038 deg.

2025-08-09T17:39:50.990Z,1754761190.990 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.557065 target range: 33.900002 and range: 33.90 m.
2025-08-09T17:39:51.043Z,1754761191.043 [DAT](INFO): checking for new query: numPingsReceived=2, elapsed TxPingTime=0.996511
2025-08-09T17:39:51.296Z,1754761191.296 [DAT](INFO): checking for new query: numPingsReceived=2, elapsed TxPingTime=1.248874
2025-08-09T17:39:51.338Z,1754761191.338 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-09T17:39:51.340Z,1754761191.340 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 33.90 m.
2025-08-09T17:39:51.343Z,1754761191.343 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 33.900002 m,
      nav range: 32.894218 m,
      bearing: 145.602334 deg,
      approach rate: -0.655752 m/s,
      LOS rate: 0.013567 deg/s,
      cmd heading: 146.509033 deg,
      new cmd heading: 146.523680 deg.

2025-08-09T17:39:51.344Z,1754761191.344 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.557321 target range: 33.900002 and range: 33.90 m.
2025-08-09T17:39:51.548Z,1754761191.548 [DAT](INFO): checking for new query: numPingsReceived=2, elapsed TxPingTime=1.500791
2025-08-09T17:39:51.800Z,1754761191.800 [DAT](INFO): checking for new query: numPingsReceived=2, elapsed TxPingTime=1.752742
2025-08-09T17:39:51.823Z,1754761191.823 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 33.90 m.
2025-08-09T17:39:51.826Z,1754761191.826 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 33.900002 m,
      nav range: 32.609913 m,
      bearing: 145.608814 deg,
      approach rate: -0.589382 m/s,
      LOS rate: 0.013552 deg/s,
      cmd heading: 146.523677 deg,
      new cmd heading: 146.543288 deg.

2025-08-09T17:39:51.831Z,1754761191.831 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.557663 target range: 33.900002 and range: 33.90 m.
2025-08-09T17:39:52.053Z,1754761192.053 [DAT](INFO): checking for new query: numPingsReceived=2, elapsed TxPingTime=2.006077
2025-08-09T17:39:52.160Z,1754761192.160 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 33.90 m.
2025-08-09T17:39:52.163Z,1754761192.163 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 33.900002 m,
      nav range: 32.384964 m,
      bearing: 145.614218 deg,
      approach rate: -0.666401 m/s,
      LOS rate: 0.016118 deg/s,
      cmd heading: 146.543293 deg,
      new cmd heading: 146.559615 deg.

2025-08-09T17:39:52.164Z,1754761192.164 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.557948 target range: 33.900002 and range: 33.90 m.
2025-08-09T17:39:52.303Z,1754761192.303 [DAT](INFO): checking for new query: numPingsReceived=2, elapsed TxPingTime=2.256375
2025-08-09T17:39:52.556Z,1754761192.556 [DAT](INFO): checking for new query: numPingsReceived=2, elapsed TxPingTime=2.508757
2025-08-09T17:39:52.585Z,1754761192.585 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 33.90 m.
2025-08-09T17:39:52.592Z,1754761192.592 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 33.900002 m,
      nav range: 32.126205 m,
      bearing: 145.620956 deg,
      approach rate: -0.608765 m/s,
      LOS rate: 0.015981 deg/s,
      cmd heading: 146.559617 deg,
      new cmd heading: 146.579996 deg.

2025-08-09T17:39:52.593Z,1754761192.593 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.558304 target range: 33.900002 and range: 33.90 m.
2025-08-09T17:39:52.808Z,1754761192.808 [DAT](INFO): checking for new query: numPingsReceived=2, elapsed TxPingTime=2.761155
2025-08-09T17:39:53.017Z,1754761193.017 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 33.90 m.
2025-08-09T17:39:53.020Z,1754761193.020 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 33.900002 m,
      nav range: 31.860968 m,
      bearing: 145.623917 deg,
      approach rate: -0.614743 m/s,
      LOS rate: 0.006920 deg/s,
      cmd heading: 146.579999 deg,
      new cmd heading: 146.588955 deg.

2025-08-09T17:39:53.021Z,1754761193.021 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.558460 target range: 33.900002 and range: 33.90 m.
2025-08-09T17:39:53.060Z,1754761193.060 [DAT](INFO): DAT read: Rx Time:17:39:51.9806

2025-08-09T17:39:53.060Z,1754761193.060 [DAT](INFO): Rx dataTimestamp_ set to:1754761193.059756
2025-08-09T17:39:53.061Z,1754761193.061 [DAT](INFO): checking for new query: numPingsReceived=2, elapsed TxPingTime=3.014047
2025-08-09T17:39:53.311Z,1754761193.311 [DAT](INFO): checking for new query: numPingsReceived=2, elapsed TxPingTime=3.264398
2025-08-09T17:39:53.377Z,1754761193.377 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-09T17:39:53.379Z,1754761193.379 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 33.90 m.
2025-08-09T17:39:53.382Z,1754761193.382 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 33.900002 m,
      nav range: 31.642756 m,
      bearing: 145.626529 deg,
      approach rate: -0.602681 m/s,
      LOS rate: 0.007262 deg/s,
      cmd heading: 146.588960 deg,
      new cmd heading: 146.596848 deg.

2025-08-09T17:39:53.383Z,1754761193.383 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.558598 target range: 33.900002 and range: 33.90 m.
2025-08-09T17:39:53.570Z,1754761193.570 [DAT](INFO): DAT read: 17:39:51.9806 LVL= 27536, 32753, 22914, 32755, AGC= 60, IDX= 415, 0.08, 1.409,-0.260, 1.802, 1.270, PHS= 0.242,-1.485, 0.488, RAW= 156.6,   8.2, CAL= 156.2,   8.5, ROT= 353.8,  -8.5

2025-08-09T17:39:53.572Z,1754761193.572 [DAT](INFO): got valid direction response:
 17:39:51.9806 LVL= 27536, 32753, 22914, 32755, AGC= 60, IDX= 415, 0.08, 1.409,-0.260, 1.802, 1.270, PHS= 0.242,-1.485, 0.488, RAW= 156.6,   8.2, CAL= 156.2,   8.5, ROT= 353.8,  -8.5

2025-08-09T17:39:53.573Z,1754761193.573 [DAT](INFO): DAT read: Bearing 314.6,  -7.9 (Local)

2025-08-09T17:39:53.573Z,1754761193.573 [DAT](INFO): Local bearing/azimuth received:
 Bearing 314.6,  -7.9 (Local)

2025-08-09T17:39:53.577Z,1754761193.577 [DAT](INFO): DAT read: Range 11 to 50 : 31.8 m  (Round-trip  42.4 ms) speed  0.6 m/s

2025-08-09T17:39:53.577Z,1754761193.577 [DAT](INFO): DAT read: user:667>

2025-08-09T17:39:53.579Z,1754761193.579 [DAT](INFO): DAT read: Tx time:17:39:53.0840

2025-08-09T17:39:53.579Z,1754761193.579 [DAT](INFO): Ping request sent.
2025-08-09T17:39:53.579Z,1754761193.579 [DAT](INFO): transmitted an acoustic signal
2025-08-09T17:39:53.579Z,1754761193.579 [DAT](INFO): #Rx 3: Read range and direction messages.
2025-08-09T17:39:53.580Z,1754761193.580 [DAT](INFO): direction in FSK: [0.983231,-0.106813,0.147809]
2025-08-09T17:39:53.581Z,1754761193.581 [DAT](INFO): publishing transmit ping time
2025-08-09T17:39:53.581Z,1754761193.581 [DAT](INFO): publishing direction and range info
2025-08-09T17:39:53.588Z,1754761193.588 [DAT](INFO): publishing transmit ping time
2025-08-09T17:39:53.588Z,1754761193.588 [DAT](INFO): publishing direction and range info
2025-08-09T17:39:53.601Z,1754761193.601 [DAT](INFO): checking for new query: numPingsReceived=3, elapsed TxPingTime=0.021609
2025-08-09T17:39:53.815Z,1754761193.815 [DAT](INFO): checking for new query: numPingsReceived=3, elapsed TxPingTime=0.235948
2025-08-09T17:39:53.880Z,1754761193.880 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 31.799999 m,
      deltaT: 3.528877 s,
      deltaX: -2.100002 m,
      approachRate: -0.595091 m/s,
      rangeRepo size: 4

2025-08-09T17:39:53.889Z,1754761193.889 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 31.799999 m,
      bearing: 145.636696 deg,
      lat: 36.906098 deg,
      lon: -122.115936 deg,
      deltaT: 3.528877 s,
      deltaX: -2.100002 m,
      approachRate: -0.595091 m/s,
      posRepo size: 4

2025-08-09T17:39:53.890Z,1754761193.890 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 31.80 m.
2025-08-09T17:39:53.904Z,1754761193.904 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 31.799999 m,
      nav range: 31.344194 m,
      bearing: 145.636696 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.007262 deg/s,
      cmd heading: 146.596842 deg,
      new cmd heading: 146.607747 deg.

2025-08-09T17:39:53.905Z,1754761193.905 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.558788 target range: 31.799999 and range: 31.80 m.
2025-08-09T17:39:54.068Z,1754761194.068 [DAT](INFO): checking for new query: numPingsReceived=3, elapsed TxPingTime=0.488454
2025-08-09T17:39:54.211Z,1754761194.211 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 31.80 m.
2025-08-09T17:39:54.213Z,1754761194.213 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 31.799999 m,
      nav range: 31.136011 m,
      bearing: 145.644553 deg,
      approach rate: -0.629070 m/s,
      LOS rate: 0.023900 deg/s,
      cmd heading: 146.607743 deg,
      new cmd heading: 146.631471 deg.

2025-08-09T17:39:54.214Z,1754761194.214 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.559202 target range: 31.799999 and range: 31.80 m.
2025-08-09T17:39:54.320Z,1754761194.320 [DAT](INFO): checking for new query: numPingsReceived=3, elapsed TxPingTime=0.740341
2025-08-09T17:39:54.571Z,1754761194.571 [DAT](INFO): checking for new query: numPingsReceived=3, elapsed TxPingTime=0.992032
2025-08-09T17:39:54.611Z,1754761194.611 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 31.80 m.
2025-08-09T17:39:54.613Z,1754761194.613 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 31.799999 m,
      nav range: 30.892879 m,
      bearing: 145.654397 deg,
      approach rate: -0.608162 m/s,
      LOS rate: 0.024819 deg/s,
      cmd heading: 146.631471 deg,
      new cmd heading: 146.661237 deg.

2025-08-09T17:39:54.615Z,1754761194.615 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.559721 target range: 31.799999 and range: 31.80 m.
2025-08-09T17:39:54.824Z,1754761194.824 [DAT](INFO): checking for new query: numPingsReceived=3, elapsed TxPingTime=1.244438
2025-08-09T17:39:55.044Z,1754761195.044 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 31.80 m.
2025-08-09T17:39:55.047Z,1754761195.047 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 31.799999 m,
      nav range: 30.624653 m,
      bearing: 145.660206 deg,
      approach rate: -0.619086 m/s,
      LOS rate: 0.013524 deg/s,
      cmd heading: 146.661237 deg,
      new cmd heading: 146.678815 deg.

2025-08-09T17:39:55.048Z,1754761195.048 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.560028 target range: 31.799999 and range: 31.80 m.
2025-08-09T17:39:55.075Z,1754761195.075 [DAT](INFO): checking for new query: numPingsReceived=3, elapsed TxPingTime=1.496275
2025-08-09T17:39:55.327Z,1754761195.327 [DAT](INFO): checking for new query: numPingsReceived=3, elapsed TxPingTime=1.748302
2025-08-09T17:39:55.417Z,1754761195.417 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-09T17:39:55.435Z,1754761195.435 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 31.80 m.
2025-08-09T17:39:55.438Z,1754761195.438 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 31.799999 m,
      nav range: 30.392496 m,
      bearing: 145.665863 deg,
      approach rate: -0.593114 m/s,
      LOS rate: 0.014564 deg/s,
      cmd heading: 146.678818 deg,
      new cmd heading: 146.695920 deg.

2025-08-09T17:39:55.454Z,1754761195.454 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.560327 target range: 31.799999 and range: 31.80 m.
2025-08-09T17:39:55.579Z,1754761195.579 [DAT](INFO): checking for new query: numPingsReceived=3, elapsed TxPingTime=2.000224
2025-08-09T17:39:55.831Z,1754761195.831 [DAT](INFO): checking for new query: numPingsReceived=3, elapsed TxPingTime=2.252237
2025-08-09T17:39:55.895Z,1754761195.895 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 31.80 m.
2025-08-09T17:39:55.898Z,1754761195.898 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 31.799999 m,
      nav range: 30.097857 m,
      bearing: 145.670886 deg,
      approach rate: -0.640209 m/s,
      LOS rate: 0.011021 deg/s,
      cmd heading: 146.695921 deg,
      new cmd heading: 146.711136 deg.

2025-08-09T17:39:55.915Z,1754761195.915 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.560592 target range: 31.799999 and range: 31.80 m.
2025-08-09T17:39:56.083Z,1754761196.083 [DAT](INFO): checking for new query: numPingsReceived=3, elapsed TxPingTime=2.504190
2025-08-09T17:39:56.266Z,1754761196.266 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 31.80 m.
2025-08-09T17:39:56.273Z,1754761196.273 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 31.799999 m,
      nav range: 29.878496 m,
      bearing: 145.675041 deg,
      approach rate: -0.591735 m/s,
      LOS rate: 0.011290 deg/s,
      cmd heading: 146.711138 deg,
      new cmd heading: 146.723694 deg.

2025-08-09T17:39:56.274Z,1754761196.274 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.560812 target range: 31.799999 and range: 31.80 m.
2025-08-09T17:39:56.336Z,1754761196.336 [DAT](INFO): checking for new query: numPingsReceived=3, elapsed TxPingTime=2.756827
2025-08-09T17:39:56.587Z,1754761196.587 [DAT](INFO): DAT read: Rx Time:17:39:55.5280

2025-08-09T17:39:56.588Z,1754761196.588 [DAT](INFO): Rx dataTimestamp_ set to:1754761196.587525
2025-08-09T17:39:56.588Z,1754761196.588 [DAT](INFO): checking for new query: numPingsReceived=3, elapsed TxPingTime=3.009223
2025-08-09T17:39:56.672Z,1754761196.672 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 31.80 m.
2025-08-09T17:39:56.675Z,1754761196.675 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 31.799999 m,
      nav range: 29.617664 m,
      bearing: 145.680598 deg,
      approach rate: -0.642335 m/s,
      LOS rate: 0.013807 deg/s,
      cmd heading: 146.723692 deg,
      new cmd heading: 146.740512 deg.

2025-08-09T17:39:56.676Z,1754761196.676 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.561105 target range: 31.799999 and range: 31.80 m.
2025-08-09T17:39:56.842Z,1754761196.842 [DAT](INFO): checking for new query: numPingsReceived=3, elapsed TxPingTime=3.262262
2025-08-09T17:39:57.097Z,1754761197.097 [DAT](INFO): DAT read: 17:39:55.5280 LVL= 28768, 29473, 23282, 32755, AGC= 64, IDX= 420,-0.16, 2.645, 1.011, 3.022, 2.502, PHS= 0.244,-1.447, 0.476, RAW= 156.3,   8.0, CAL= 155.9,   8.4, ROT= 354.1,  -8.4

2025-08-09T17:39:57.099Z,1754761197.099 [DAT](INFO): got valid direction response:
 17:39:55.5280 LVL= 28768, 29473, 23282, 32755, AGC= 64, IDX= 420,-0.16, 2.645, 1.011, 3.022, 2.502, PHS= 0.244,-1.447, 0.476, RAW= 156.3,   8.0, CAL= 155.9,   8.4, ROT= 354.1,  -8.4

2025-08-09T17:39:57.100Z,1754761197.100 [DAT](INFO): DAT read: Bearing 314.1,  -7.5 (Local)

2025-08-09T17:39:57.100Z,1754761197.100 [DAT](INFO): Local bearing/azimuth received:
 Bearing 314.1,  -7.5 (Local)

2025-08-09T17:39:57.101Z,1754761197.101 [DAT](INFO): DAT read: Range 11 to 50 : 29.8 m  (Round-trip  39.8 ms) speed  0.6 m/s

2025-08-09T17:39:57.102Z,1754761197.102 [DAT](INFO): DAT read: user:668>

2025-08-09T17:39:57.103Z,1754761197.103 [DAT](INFO): DAT read: Tx time:17:39:56.6340

2025-08-09T17:39:57.103Z,1754761197.103 [DAT](INFO): Ping request sent.
2025-08-09T17:39:57.103Z,1754761197.103 [DAT](INFO): transmitted an acoustic signal
2025-08-09T17:39:57.104Z,1754761197.104 [DAT](INFO): #Rx 4: Read range and direction messages.
2025-08-09T17:39:57.104Z,1754761197.104 [DAT](INFO): direction in FSK: [0.984032,-0.101690,0.146083]
2025-08-09T17:39:57.105Z,1754761197.105 [DAT](INFO): publishing transmit ping time
2025-08-09T17:39:57.105Z,1754761197.105 [DAT](INFO): publishing direction and range info
2025-08-09T17:39:57.132Z,1754761197.132 [DAT](INFO): publishing transmit ping time
2025-08-09T17:39:57.132Z,1754761197.132 [DAT](INFO): publishing direction and range info
2025-08-09T17:39:57.159Z,1754761197.159 [DAT](INFO): checking for new query: numPingsReceived=4, elapsed TxPingTime=0.055504
2025-08-09T17:39:57.249Z,1754761197.249 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 29.799999 m,
      deltaT: 3.527090 s,
      deltaX: -2.000000 m,
      approachRate: -0.567040 m/s,
      rangeRepo size: 4

2025-08-09T17:39:57.256Z,1754761197.256 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 29.799999 m,
      bearing: 144.888955 deg,
      lat: 36.906101 deg,
      lon: -122.115933 deg,
      deltaT: 3.527090 s,
      deltaX: -2.000000 m,
      approachRate: -0.567040 m/s,
      posRepo size: 4

2025-08-09T17:39:57.257Z,1754761197.257 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 29.80 m.
2025-08-09T17:39:57.264Z,1754761197.264 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 29.799999 m,
      nav range: 29.119499 m,
      bearing: 144.888955 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.013807 deg/s,
      cmd heading: 146.740508 deg,
      new cmd heading: 146.764384 deg.

2025-08-09T17:39:57.265Z,1754761197.265 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.561522 target range: 29.799999 and range: 29.80 m.
2025-08-09T17:39:57.348Z,1754761197.348 [DAT](INFO): checking for new query: numPingsReceived=4, elapsed TxPingTime=0.245126
2025-08-09T17:39:57.587Z,1754761197.587 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-09T17:39:57.589Z,1754761197.589 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 29.80 m.
2025-08-09T17:39:57.599Z,1754761197.599 [DAT](INFO): checking for new query: numPingsReceived=4, elapsed TxPingTime=0.495891
2025-08-09T17:39:57.604Z,1754761197.604 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 29.799999 m,
      nav range: 28.892738 m,
      bearing: 144.876317 deg,
      approach rate: -0.666025 m/s,
      LOS rate: -0.037413 deg/s,
      cmd heading: 146.764386 deg,
      new cmd heading: 146.726173 deg.

2025-08-09T17:39:57.605Z,1754761197.605 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.560855 target range: 29.799999 and range: 29.80 m.
2025-08-09T17:39:57.852Z,1754761197.852 [DAT](INFO): checking for new query: numPingsReceived=4, elapsed TxPingTime=0.748624
2025-08-09T17:39:58.022Z,1754761198.022 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 29.80 m.
2025-08-09T17:39:58.025Z,1754761198.025 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 29.799999 m,
      nav range: 28.618736 m,
      bearing: 144.846276 deg,
      approach rate: -0.633098 m/s,
      LOS rate: -0.070075 deg/s,
      cmd heading: 146.726178 deg,
      new cmd heading: 146.635193 deg.

2025-08-09T17:39:58.026Z,1754761198.026 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.559267 target range: 29.799999 and range: 29.80 m.
2025-08-09T17:39:58.105Z,1754761198.105 [DAT](INFO): checking for new query: numPingsReceived=4, elapsed TxPingTime=1.000903
2025-08-09T17:39:58.355Z,1754761198.355 [DAT](INFO): checking for new query: numPingsReceived=4, elapsed TxPingTime=1.251944
2025-08-09T17:39:58.399Z,1754761198.399 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 29.80 m.
2025-08-09T17:39:58.402Z,1754761198.402 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 29.799999 m,
      nav range: 28.380779 m,
      bearing: 144.819750 deg,
      approach rate: -0.630654 m/s,
      LOS rate: -0.070890 deg/s,
      cmd heading: 146.635200 deg,
      new cmd heading: 146.554956 deg.

2025-08-09T17:39:58.403Z,1754761198.403 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.557867 target range: 29.799999 and range: 29.80 m.
2025-08-09T17:39:58.607Z,1754761198.607 [DAT](INFO): checking for new query: numPingsReceived=4, elapsed TxPingTime=1.504032
2025-08-09T17:39:58.809Z,1754761198.809 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 29.80 m.
2025-08-09T17:39:58.832Z,1754761198.832 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 29.799999 m,
      nav range: 28.127195 m,
      bearing: 144.791695 deg,
      approach rate: -0.618172 m/s,
      LOS rate: -0.069007 deg/s,
      cmd heading: 146.554959 deg,
      new cmd heading: 146.470035 deg.

2025-08-09T17:39:58.840Z,1754761198.840 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.556384 target range: 29.799999 and range: 29.80 m.
2025-08-09T17:39:58.863Z,1754761198.863 [DAT](INFO): checking for new query: numPingsReceived=4, elapsed TxPingTime=1.758775
2025-08-09T17:39:59.111Z,1754761199.111 [DAT](INFO): checking for new query: numPingsReceived=4, elapsed TxPingTime=2.007982
2025-08-09T17:39:59.228Z,1754761199.228 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 29.80 m.
2025-08-09T17:39:59.231Z,1754761199.231 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 29.799999 m,
      nav range: 27.846394 m,
      bearing: 144.751349 deg,
      approach rate: -0.670090 m/s,
      LOS rate: -0.097250 deg/s,
      cmd heading: 146.470033 deg,
      new cmd heading: 146.347775 deg.

2025-08-09T17:39:59.232Z,1754761199.232 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.554250 target range: 29.799999 and range: 29.80 m.
2025-08-09T17:39:59.363Z,1754761199.363 [DAT](INFO): checking for new query: numPingsReceived=4, elapsed TxPingTime=2.259983
2025-08-09T17:39:59.598Z,1754761199.598 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-09T17:39:59.600Z,1754761199.600 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 29.80 m.
2025-08-09T17:39:59.603Z,1754761199.603 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 29.799999 m,
      nav range: 27.602758 m,
      bearing: 144.716089 deg,
      approach rate: -0.654599 m/s,
      LOS rate: -0.095574 deg/s,
      cmd heading: 146.347772 deg,
      new cmd heading: 146.241058 deg.

2025-08-09T17:39:59.604Z,1754761199.604 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.552388 target range: 29.799999 and range: 29.80 m.
2025-08-09T17:39:59.615Z,1754761199.615 [DAT](INFO): checking for new query: numPingsReceived=4, elapsed TxPingTime=2.512158
2025-08-09T17:39:59.871Z,1754761199.871 [DAT](INFO): checking for new query: numPingsReceived=4, elapsed TxPingTime=2.766564
2025-08-09T17:40:00.045Z,1754761200.045 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 29.80 m.
2025-08-09T17:40:00.048Z,1754761200.048 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 29.799999 m,
      nav range: 27.317783 m,
      bearing: 144.656616 deg,
      approach rate: -0.641382 m/s,
      LOS rate: -0.135251 deg/s,
      cmd heading: 146.241057 deg,
      new cmd heading: 146.060776 deg.

2025-08-09T17:40:00.049Z,1754761200.049 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.549242 target range: 29.799999 and range: 29.80 m.
2025-08-09T17:40:00.120Z,1754761200.120 [DAT](INFO): DAT read: Rx Time:17:39:59.0749

2025-08-09T17:40:00.121Z,1754761200.121 [DAT](INFO): Rx dataTimestamp_ set to:1754761200.120328
2025-08-09T17:40:00.122Z,1754761200.122 [DAT](INFO): checking for new query: numPingsReceived=4, elapsed TxPingTime=3.018208
2025-08-09T17:40:00.371Z,1754761200.371 [DAT](INFO): checking for new query: numPingsReceived=4, elapsed TxPingTime=3.268035
2025-08-09T17:40:00.414Z,1754761200.414 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 29.80 m.
2025-08-09T17:40:00.417Z,1754761200.417 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 29.799999 m,
      nav range: 27.081091 m,
      bearing: 144.606641 deg,
      approach rate: -0.641146 m/s,
      LOS rate: -0.136552 deg/s,
      cmd heading: 146.060781 deg,
      new cmd heading: 145.909548 deg.

2025-08-09T17:40:00.419Z,1754761200.419 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.546602 target range: 29.799999 and range: 29.80 m.
2025-08-09T17:40:00.639Z,1754761200.639 [DAT](INFO): DAT read: 17:39:59.0749 LVL= 24864, 31953, 22386, 32755, AGC= 62, IDX= 404,-0.17, 1.033,-0.619, 1.402, 0.882, PHS= 0.253,-1.455, 0.477, RAW= 156.1,   8.0, CAL= 155.6,   8.3, ROT= 354.4,  -8.3

2025-08-09T17:40:00.640Z,1754761200.640 [DAT](INFO): got valid direction response:
 17:39:59.0749 LVL= 24864, 31953, 22386, 32755, AGC= 62, IDX= 404,-0.17, 1.033,-0.619, 1.402, 0.882, PHS= 0.253,-1.455, 0.477, RAW= 156.1,   8.0, CAL= 155.6,   8.3, ROT= 354.4,  -8.3

2025-08-09T17:40:00.641Z,1754761200.641 [DAT](INFO): DAT read: Bearing 313.8,  -7.0 (Local)

2025-08-09T17:40:00.642Z,1754761200.642 [DAT](INFO): Local bearing/azimuth received:
 Bearing 313.8,  -7.0 (Local)

2025-08-09T17:40:00.643Z,1754761200.643 [DAT](INFO): DAT read: Range 11 to 50 : 27.5 m  (Round-trip  36.7 ms) speed  0.8 m/s

2025-08-09T17:40:00.644Z,1754761200.644 [DAT](INFO): DAT read: user:669>

2025-08-09T17:40:00.645Z,1754761200.645 [DAT](INFO): DAT read: Tx time:17:40:00.1840

2025-08-09T17:40:00.645Z,1754761200.645 [DAT](INFO): Ping request sent.
2025-08-09T17:40:00.645Z,1754761200.645 [DAT](INFO): transmitted an acoustic signal
2025-08-09T17:40:00.645Z,1754761200.645 [DAT](INFO): #Rx 5: Read range and direction messages.
2025-08-09T17:40:00.647Z,1754761200.647 [DAT](INFO): direction in FSK: [0.984803,-0.096561,0.144356]
2025-08-09T17:40:00.647Z,1754761200.647 [DAT](INFO): publishing transmit ping time
2025-08-09T17:40:00.648Z,1754761200.648 [DAT](INFO): publishing direction and range info
2025-08-09T17:40:00.651Z,1754761200.651 [DAT](INFO): publishing transmit ping time
2025-08-09T17:40:00.652Z,1754761200.652 [DAT](INFO): publishing direction and range info
2025-08-09T17:40:00.655Z,1754761200.655 [DAT](INFO): checking for new query: numPingsReceived=5, elapsed TxPingTime=0.009922
2025-08-09T17:40:00.879Z,1754761200.879 [DAT](INFO): checking for new query: numPingsReceived=5, elapsed TxPingTime=0.233082
2025-08-09T17:40:00.912Z,1754761200.912 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 27.500000 m,
      deltaT: 3.533634 s,
      deltaX: -2.299999 m,
      approachRate: -0.650888 m/s,
      rangeRepo size: 4

2025-08-09T17:40:00.919Z,1754761200.919 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 27.500000 m,
      bearing: 143.682391 deg,
      lat: 36.906101 deg,
      lon: -122.115928 deg,
      deltaT: 3.533634 s,
      deltaX: -2.299999 m,
      approachRate: -0.650888 m/s,
      posRepo size: 4

2025-08-09T17:40:00.919Z,1754761200.919 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 27.50 m.
2025-08-09T17:40:00.922Z,1754761200.922 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 27.500000 m,
      nav range: 27.105116 m,
      bearing: 143.682391 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.136552 deg/s,
      cmd heading: 145.909547 deg,
      new cmd heading: 145.705585 deg.

2025-08-09T17:40:00.927Z,1754761200.927 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.543042 target range: 27.500000 and range: 27.50 m.
2025-08-09T17:40:01.127Z,1754761201.127 [DAT](INFO): checking for new query: numPingsReceived=5, elapsed TxPingTime=0.482325
2025-08-09T17:40:01.300Z,1754761201.300 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 27.50 m.
2025-08-09T17:40:01.307Z,1754761201.307 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 27.500000 m,
      nav range: 26.816572 m,
      bearing: 143.608654 deg,
      approach rate: -0.743238 m/s,
      LOS rate: -0.191977 deg/s,
      cmd heading: 145.705584 deg,
      new cmd heading: 145.481994 deg.

2025-08-09T17:40:01.308Z,1754761201.308 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.539140 target range: 27.500000 and range: 27.50 m.
2025-08-09T17:40:01.380Z,1754761201.380 [DAT](INFO): checking for new query: numPingsReceived=5, elapsed TxPingTime=0.734878
2025-08-09T17:40:01.635Z,1754761201.635 [DAT](INFO): checking for new query: numPingsReceived=5, elapsed TxPingTime=0.990505
2025-08-09T17:40:01.663Z,1754761201.663 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-09T17:40:01.665Z,1754761201.665 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 27.50 m.
2025-08-09T17:40:01.688Z,1754761201.688 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 27.500000 m,
      nav range: 26.566423 m,
      bearing: 143.543954 deg,
      approach rate: -0.685952 m/s,
      LOS rate: -0.179088 deg/s,
      cmd heading: 145.481991 deg,
      new cmd heading: 145.286066 deg.

2025-08-09T17:40:01.689Z,1754761201.689 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.535720 target range: 27.500000 and range: 27.50 m.
2025-08-09T17:40:01.890Z,1754761201.890 [DAT](INFO): checking for new query: numPingsReceived=5, elapsed TxPingTime=1.244664
2025-08-09T17:40:02.101Z,1754761202.101 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 27.50 m.
2025-08-09T17:40:02.104Z,1754761202.104 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 27.500000 m,
      nav range: 26.282494 m,
      bearing: 143.469941 deg,
      approach rate: -0.651326 m/s,
      LOS rate: -0.171619 deg/s,
      cmd heading: 145.286060 deg,
      new cmd heading: 145.061622 deg.

2025-08-09T17:40:02.105Z,1754761202.105 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.531803 target range: 27.500000 and range: 27.50 m.
2025-08-09T17:40:02.139Z,1754761202.139 [DAT](INFO): checking for new query: numPingsReceived=5, elapsed TxPingTime=1.494403
2025-08-09T17:40:02.391Z,1754761202.391 [DAT](INFO): checking for new query: numPingsReceived=5, elapsed TxPingTime=1.746282
2025-08-09T17:40:02.499Z,1754761202.499 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 27.50 m.
2025-08-09T17:40:02.502Z,1754761202.502 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 27.500000 m,
      nav range: 26.033316 m,
      bearing: 143.404009 deg,
      approach rate: -0.625304 m/s,
      LOS rate: -0.167037 deg/s,
      cmd heading: 145.061620 deg,
      new cmd heading: 144.861933 deg.

2025-08-09T17:40:02.503Z,1754761202.503 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.528318 target range: 27.500000 and range: 27.50 m.
2025-08-09T17:40:02.643Z,1754761202.643 [DAT](INFO): checking for new query: numPingsReceived=5, elapsed TxPingTime=1.998465
2025-08-09T17:40:02.898Z,1754761202.898 [DAT](INFO): checking for new query: numPingsReceived=5, elapsed TxPingTime=2.252454
2025-08-09T17:40:02.978Z,1754761202.978 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 27.50 m.
2025-08-09T17:40:02.981Z,1754761202.981 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 27.500000 m,
      nav range: 25.720827 m,
      bearing: 143.320082 deg,
      approach rate: -0.657979 m/s,
      LOS rate: -0.178864 deg/s,
      cmd heading: 144.861933 deg,
      new cmd heading: 144.607095 deg.

2025-08-09T17:40:02.981Z,1754761202.981 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.523870 target range: 27.500000 and range: 27.50 m.
2025-08-09T17:40:03.151Z,1754761203.151 [DAT](INFO): checking for new query: numPingsReceived=5, elapsed TxPingTime=2.505208
2025-08-09T17:40:03.311Z,1754761203.311 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 27.50 m.
2025-08-09T17:40:03.313Z,1754761203.313 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 27.500000 m,
      nav range: 25.494808 m,
      bearing: 143.268213 deg,
      approach rate: -0.671975 m/s,
      LOS rate: -0.155580 deg/s,
      cmd heading: 144.607099 deg,
      new cmd heading: 144.450111 deg.

2025-08-09T17:40:03.315Z,1754761203.315 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.521130 target range: 27.500000 and range: 27.50 m.
2025-08-09T17:40:03.399Z,1754761203.399 [DAT](INFO): checking for new query: numPingsReceived=5, elapsed TxPingTime=2.754478
2025-08-09T17:40:03.651Z,1754761203.651 [DAT](INFO): DAT read: Rx Time:17:40:02.6216

2025-08-09T17:40:03.652Z,1754761203.652 [DAT](INFO): Rx dataTimestamp_ set to:1754761203.651482
2025-08-09T17:40:03.652Z,1754761203.652 [DAT](INFO): checking for new query: numPingsReceived=5, elapsed TxPingTime=3.007354
2025-08-09T17:40:03.710Z,1754761203.710 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-09T17:40:03.716Z,1754761203.716 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 27.50 m.
2025-08-09T17:40:03.723Z,1754761203.723 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 27.500000 m,
      nav range: 25.236032 m,
      bearing: 143.207863 deg,
      approach rate: -0.638122 m/s,
      LOS rate: -0.150345 deg/s,
      cmd heading: 144.450113 deg,
      new cmd heading: 144.267207 deg.

2025-08-09T17:40:03.724Z,1754761203.724 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.517938 target range: 27.500000 and range: 27.50 m.
2025-08-09T17:40:03.906Z,1754761203.906 [DAT](INFO): checking for new query: numPingsReceived=5, elapsed TxPingTime=3.260556
2025-08-09T17:40:04.175Z,1754761204.175 [DAT](INFO): DAT read: 17:40:02.6216 LVL= 27728, 32753, 23026, 32755, AGC= 59, IDX= 403, 0.16, 1.935, 0.292, 2.319, 1.793, PHS= 0.244,-1.456, 0.482, RAW= 156.5,   8.0, CAL= 156.0,   8.4, ROT= 354.0,  -8.4

2025-08-09T17:40:04.178Z,1754761204.178 [DAT](INFO): got valid direction response:
 17:40:02.6216 LVL= 27728, 32753, 23026, 32755, AGC= 59, IDX= 403, 0.16, 1.935, 0.292, 2.319, 1.793, PHS= 0.244,-1.456, 0.482, RAW= 156.5,   8.0, CAL= 156.0,   8.4, ROT= 354.0,  -8.4

2025-08-09T17:40:04.187Z,1754761204.187 [DAT](INFO): DAT read: Bearing 313.1,  -7.2 (Local)

2025-08-09T17:40:04.187Z,1754761204.187 [DAT](INFO): Local bearing/azimuth received:
 Bearing 313.1,  -7.2 (Local)

2025-08-09T17:40:04.189Z,1754761204.189 [DAT](INFO): DAT read: Range 11 to 50 : 25.0 m  (Round-trip  33.4 ms) speed  0.6 m/s

2025-08-09T17:40:04.190Z,1754761204.190 [DAT](INFO): DAT read: user:670>

2025-08-09T17:40:04.194Z,1754761204.194 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 27.50 m.
2025-08-09T17:40:04.197Z,1754761204.197 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 27.500000 m,
      nav range: 24.963667 m,
      bearing: 143.164099 deg,
      approach rate: -0.579237 m/s,
      LOS rate: -0.094088 deg/s,
      cmd heading: 144.267201 deg,
      new cmd heading: 144.134476 deg.

2025-08-09T17:40:04.199Z,1754761204.199 [DAT](INFO): DAT read: Tx time:17:40:03.7356

2025-08-09T17:40:04.199Z,1754761204.199 [DAT](INFO): Ping request sent.
2025-08-09T17:40:04.199Z,1754761204.199 [DAT](INFO): transmitted an acoustic signal
2025-08-09T17:40:04.199Z,1754761204.199 [DAT](INFO): #Rx 6: Read range and direction messages.
2025-08-09T17:40:04.200Z,1754761204.200 [DAT](INFO): direction in FSK: [0.983853,-0.103407,0.146083]
2025-08-09T17:40:04.201Z,1754761204.201 [DAT](INFO): publishing transmit ping time
2025-08-09T17:40:04.201Z,1754761204.201 [DAT](INFO): publishing direction and range info
2025-08-09T17:40:04.206Z,1754761204.206 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.515621 target range: 27.500000 and range: 27.50 m.
2025-08-09T17:40:04.212Z,1754761204.212 [DAT](INFO): publishing transmit ping time
2025-08-09T17:40:04.212Z,1754761204.212 [DAT](INFO): publishing direction and range info
2025-08-09T17:40:04.224Z,1754761204.224 [DAT](INFO): checking for new query: numPingsReceived=6, elapsed TxPingTime=0.024529
2025-08-09T17:40:04.412Z,1754761204.412 [DAT](INFO): checking for new query: numPingsReceived=6, elapsed TxPingTime=0.212930
2025-08-09T17:40:04.577Z,1754761204.577 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 25.000000 m,
      deltaT: 3.531685 s,
      deltaX: -2.500000 m,
      approachRate: -0.707877 m/s,
      rangeRepo size: 4

2025-08-09T17:40:04.580Z,1754761204.580 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 25.000000 m,
      bearing: 142.923189 deg,
      lat: 36.906101 deg,
      lon: -122.115927 deg,
      deltaT: 3.531685 s,
      deltaX: -2.500000 m,
      approachRate: -0.707877 m/s,
      posRepo size: 4

2025-08-09T17:40:04.580Z,1754761204.580 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.00 m.
2025-08-09T17:40:04.583Z,1754761204.583 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 25.000000 m,
      nav range: 24.720545 m,
      bearing: 142.923189 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.094088 deg/s,
      cmd heading: 144.134477 deg,
      new cmd heading: 144.024204 deg.

2025-08-09T17:40:04.584Z,1754761204.584 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.513697 target range: 25.000000 and range: 25.00 m.
2025-08-09T17:40:04.660Z,1754761204.660 [DAT](INFO): checking for new query: numPingsReceived=6, elapsed TxPingTime=0.460509
2025-08-09T17:40:04.915Z,1754761204.915 [DAT](INFO): checking for new query: numPingsReceived=6, elapsed TxPingTime=0.714851
2025-08-09T17:40:05.017Z,1754761205.017 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.00 m.
2025-08-09T17:40:05.020Z,1754761205.020 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 25.000000 m,
      nav range: 24.417837 m,
      bearing: 142.878255 deg,
      approach rate: -0.687230 m/s,
      LOS rate: -0.103277 deg/s,
      cmd heading: 144.024210 deg,
      new cmd heading: 143.887738 deg.

2025-08-09T17:40:05.021Z,1754761205.021 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.511315 target range: 25.000000 and range: 25.00 m.
2025-08-09T17:40:05.163Z,1754761205.163 [DAT](INFO): checking for new query: numPingsReceived=6, elapsed TxPingTime=0.964234
2025-08-09T17:40:05.346Z,1754761205.346 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.00 m.
2025-08-09T17:40:05.349Z,1754761205.349 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 25.000000 m,
      nav range: 24.202995 m,
      bearing: 142.846558 deg,
      approach rate: -0.654228 m/s,
      LOS rate: -0.097381 deg/s,
      cmd heading: 143.887743 deg,
      new cmd heading: 143.791807 deg.

2025-08-09T17:40:05.350Z,1754761205.350 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.509640 target range: 25.000000 and range: 25.00 m.
2025-08-09T17:40:05.416Z,1754761205.416 [DAT](INFO): checking for new query: numPingsReceived=6, elapsed TxPingTime=1.216775
2025-08-09T17:40:05.667Z,1754761205.667 [DAT](INFO): checking for new query: numPingsReceived=6, elapsed TxPingTime=1.468255
2025-08-09T17:40:05.745Z,1754761205.745 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-09T17:40:05.747Z,1754761205.747 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.00 m.
2025-08-09T17:40:05.749Z,1754761205.749 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 25.000000 m,
      nav range: 23.941168 m,
      bearing: 142.808093 deg,
      approach rate: -0.653129 m/s,
      LOS rate: -0.096999 deg/s,
      cmd heading: 143.791806 deg,
      new cmd heading: 143.675151 deg.

2025-08-09T17:40:05.771Z,1754761205.771 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.507604 target range: 25.000000 and range: 25.00 m.
2025-08-09T17:40:05.922Z,1754761205.922 [DAT](INFO): checking for new query: numPingsReceived=6, elapsed TxPingTime=1.722425
2025-08-09T17:40:06.171Z,1754761206.171 [DAT](INFO): checking for new query: numPingsReceived=6, elapsed TxPingTime=1.972322
2025-08-09T17:40:06.176Z,1754761206.176 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.00 m.
2025-08-09T17:40:06.180Z,1754761206.180 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 25.000000 m,
      nav range: 23.659073 m,
      bearing: 142.784401 deg,
      approach rate: -0.657002 m/s,
      LOS rate: -0.055837 deg/s,
      cmd heading: 143.675147 deg,
      new cmd heading: 143.603223 deg.

2025-08-09T17:40:06.181Z,1754761206.181 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.506349 target range: 25.000000 and range: 25.00 m.
2025-08-09T17:40:06.424Z,1754761206.424 [DAT](INFO): checking for new query: numPingsReceived=6, elapsed TxPingTime=2.224879
2025-08-09T17:40:06.555Z,1754761206.555 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.00 m.
2025-08-09T17:40:06.557Z,1754761206.557 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 25.000000 m,
      nav range: 23.408260 m,
      bearing: 142.763963 deg,
      approach rate: -0.662678 m/s,
      LOS rate: -0.054580 deg/s,
      cmd heading: 143.603225 deg,
      new cmd heading: 143.541252 deg.

2025-08-09T17:40:06.558Z,1754761206.559 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.505267 target range: 25.000000 and range: 25.00 m.
2025-08-09T17:40:06.676Z,1754761206.676 [DAT](INFO): checking for new query: numPingsReceived=6, elapsed TxPingTime=2.476639
2025-08-09T17:40:06.928Z,1754761206.928 [DAT](INFO): checking for new query: numPingsReceived=6, elapsed TxPingTime=2.729174
2025-08-09T17:40:07.037Z,1754761207.037 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.00 m.
2025-08-09T17:40:07.040Z,1754761207.040 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 25.000000 m,
      nav range: 23.106518 m,
      bearing: 142.758171 deg,
      approach rate: -0.625233 m/s,
      LOS rate: -0.012158 deg/s,
      cmd heading: 143.541248 deg,
      new cmd heading: 143.523645 deg.

2025-08-09T17:40:07.041Z,1754761207.041 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.504960 target range: 25.000000 and range: 25.00 m.
2025-08-09T17:40:07.180Z,1754761207.180 [DAT](INFO): DAT read: Rx Time:17:40:06.1702

2025-08-09T17:40:07.180Z,1754761207.180 [DAT](INFO): Rx dataTimestamp_ set to:1754761207.179989
2025-08-09T17:40:07.181Z,1754761207.181 [DAT](INFO): checking for new query: numPingsReceived=6, elapsed TxPingTime=2.981809
2025-08-09T17:40:07.364Z,1754761207.364 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.00 m.
2025-08-09T17:40:07.367Z,1754761207.367 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 25.000000 m,
      nav range: 22.901924 m,
      bearing: 142.754948 deg,
      approach rate: -0.625801 m/s,
      LOS rate: -0.009947 deg/s,
      cmd heading: 143.523639 deg,
      new cmd heading: 143.513883 deg.

2025-08-09T17:40:07.368Z,1754761207.368 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.504790 target range: 25.000000 and range: 25.00 m.
2025-08-09T17:40:07.433Z,1754761207.433 [DAT](INFO): checking for new query: numPingsReceived=6, elapsed TxPingTime=3.233998
2025-08-09T17:40:07.690Z,1754761207.690 [DAT](INFO): checking for new query: numPingsReceived=6, elapsed TxPingTime=3.490045
2025-08-09T17:40:07.790Z,1754761207.790 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-09T17:40:07.792Z,1754761207.792 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.00 m.
2025-08-09T17:40:07.795Z,1754761207.795 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 25.000000 m,
      nav range: 22.634550 m,
      bearing: 142.750647 deg,
      approach rate: -0.624232 m/s,
      LOS rate: -0.010158 deg/s,
      cmd heading: 143.513886 deg,
      new cmd heading: 143.500833 deg.

2025-08-09T17:40:07.796Z,1754761207.796 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.504562 target range: 25.000000 and range: 25.00 m.
2025-08-09T17:40:07.967Z,1754761207.967 [DAT](INFO): DAT read: 17:40:06.1702 LVL= 24720, 32753, 20082, 32755, AGC= 57, IDX= 404, 0.11, 0.860,-0.744, 1.259, 0.736, PHS= 0.226,-1.435, 0.479, RAW= 157.0,   8.1, CAL= 156.6,   8.5, ROT= 353.4,  -8.5

2025-08-09T17:40:07.971Z,1754761207.971 [DAT](INFO): got valid direction response:
 17:40:06.1702 LVL= 24720, 32753, 20082, 32755, AGC= 57, IDX= 404, 0.11, 0.860,-0.744, 1.259, 0.736, PHS= 0.226,-1.435, 0.479, RAW= 157.0,   8.1, CAL= 156.6,   8.5, ROT= 353.4,  -8.5

2025-08-09T17:40:07.974Z,1754761207.974 [DAT](INFO): DAT read: Bearing 312.3,  -8.1 (Local)

2025-08-09T17:40:07.975Z,1754761207.975 [DAT](INFO): Local bearing/azimuth received:
 Bearing 312.3,  -8.1 (Local)

2025-08-09T17:40:07.980Z,1754761207.980 [DAT](INFO): DAT read: Range 11 to 50 : 22.8 m  (Round-trip  30.4 ms) speed  0.7 m/s

2025-08-09T17:40:07.987Z,1754761207.987 [DAT](INFO): DAT read: user:671>

2025-08-09T17:40:07.989Z,1754761207.989 [DAT](INFO): DAT read: Tx time:17:40:07.2840

2025-08-09T17:40:07.991Z,1754761207.991 [DAT](INFO): Ping request sent.
2025-08-09T17:40:07.991Z,1754761207.991 [DAT](INFO): transmitted an acoustic signal
2025-08-09T17:40:07.992Z,1754761207.992 [DAT](INFO): #Rx 7: Read range and direction messages.
2025-08-09T17:40:08.019Z,1754761208.019 [DAT](INFO): direction in FSK: [0.982461,-0.113675,0.147809]
2025-08-09T17:40:08.019Z,1754761208.019 [DAT](INFO): publishing transmit ping time
2025-08-09T17:40:08.019Z,1754761208.019 [DAT](INFO): publishing direction and range info
2025-08-09T17:40:08.031Z,1754761208.030 [DAT](INFO): publishing transmit ping time
2025-08-09T17:40:08.031Z,1754761208.031 [DAT](INFO): publishing direction and range info
2025-08-09T17:40:08.034Z,1754761208.034 [DAT](INFO): checking for new query: numPingsReceived=7, elapsed TxPingTime=0.043035
2025-08-09T17:40:08.187Z,1754761208.187 [DAT](INFO): checking for new query: numPingsReceived=7, elapsed TxPingTime=0.196499
2025-08-09T17:40:08.204Z,1754761208.204 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 22.799999 m,
      deltaT: 3.780694 s,
      deltaX: -2.200001 m,
      approachRate: -0.581904 m/s,
      rangeRepo size: 4

2025-08-09T17:40:08.223Z,1754761208.223 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 22.799999 m,
      bearing: 142.725275 deg,
      lat: 36.906101 deg,
      lon: -122.115926 deg,
      deltaT: 3.780694 s,
      deltaX: -2.200001 m,
      approachRate: -0.581904 m/s,
      posRepo size: 4

2025-08-09T17:40:08.223Z,1754761208.223 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 22.80 m.
2025-08-09T17:40:08.226Z,1754761208.226 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 22.799999 m,
      nav range: 22.392710 m,
      bearing: 142.725275 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.010158 deg/s,
      cmd heading: 143.500826 deg,
      new cmd heading: 143.488289 deg.

2025-08-09T17:40:08.231Z,1754761208.231 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.504343 target range: 22.799999 and range: 22.80 m.
2025-08-09T17:40:08.440Z,1754761208.440 [DAT](INFO): checking for new query: numPingsReceived=7, elapsed TxPingTime=0.449208
2025-08-09T17:40:08.590Z,1754761208.590 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 22.80 m.
2025-08-09T17:40:08.593Z,1754761208.593 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 22.799999 m,
      nav range: 22.165316 m,
      bearing: 142.723244 deg,
      approach rate: -0.588663 m/s,
      LOS rate: -0.005311 deg/s,
      cmd heading: 143.488286 deg,
      new cmd heading: 143.482132 deg.

2025-08-09T17:40:08.594Z,1754761208.594 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.504236 target range: 22.799999 and range: 22.80 m.
2025-08-09T17:40:08.692Z,1754761208.692 [DAT](INFO): checking for new query: numPingsReceived=7, elapsed TxPingTime=0.700871
2025-08-09T17:40:08.944Z,1754761208.944 [DAT](INFO): checking for new query: numPingsReceived=7, elapsed TxPingTime=0.952611
2025-08-09T17:40:09.061Z,1754761209.061 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 22.80 m.
2025-08-09T17:40:09.064Z,1754761209.064 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 22.799999 m,
      nav range: 21.874725 m,
      bearing: 142.717470 deg,
      approach rate: -0.617275 m/s,
      LOS rate: -0.012428 deg/s,
      cmd heading: 143.482125 deg,
      new cmd heading: 143.464574 deg.

2025-08-09T17:40:09.065Z,1754761209.065 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.503929 target range: 22.799999 and range: 22.80 m.
2025-08-09T17:40:09.195Z,1754761209.195 [DAT](INFO): checking for new query: numPingsReceived=7, elapsed TxPingTime=1.204359
2025-08-09T17:40:09.390Z,1754761209.390 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 22.80 m.
2025-08-09T17:40:09.393Z,1754761209.393 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 22.799999 m,
      nav range: 21.678167 m,
      bearing: 142.715773 deg,
      approach rate: -0.597341 m/s,
      LOS rate: -0.005205 deg/s,
      cmd heading: 143.464572 deg,
      new cmd heading: 143.459434 deg.

2025-08-09T17:40:09.394Z,1754761209.394 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.503839 target range: 22.799999 and range: 22.80 m.
2025-08-09T17:40:09.449Z,1754761209.449 [DAT](INFO): checking for new query: numPingsReceived=7, elapsed TxPingTime=1.457780
2025-08-09T17:40:09.699Z,1754761209.699 [DAT](INFO): checking for new query: numPingsReceived=7, elapsed TxPingTime=1.708420
2025-08-09T17:40:09.786Z,1754761209.786 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 22.80 m.
2025-08-09T17:40:09.789Z,1754761209.789 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 22.799999 m,
      nav range: 21.441462 m,
      bearing: 142.715033 deg,
      approach rate: -0.597080 m/s,
      LOS rate: -0.001889 deg/s,
      cmd heading: 143.459436 deg,
      new cmd heading: 143.457189 deg.

2025-08-09T17:40:09.791Z,1754761209.791 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.503800 target range: 22.799999 and range: 22.80 m.
2025-08-09T17:40:09.952Z,1754761209.952 [DAT](INFO): checking for new query: numPingsReceived=7, elapsed TxPingTime=1.960663
2025-08-09T17:40:10.203Z,1754761210.203 [DAT](INFO): checking for new query: numPingsReceived=7, elapsed TxPingTime=2.212531
2025-08-09T17:40:10.216Z,1754761210.216 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-09T17:40:10.218Z,1754761210.218 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 22.80 m.
2025-08-09T17:40:10.221Z,1754761210.221 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 22.799999 m,
      nav range: 21.180271 m,
      bearing: 142.708545 deg,
      approach rate: -0.604733 m/s,
      LOS rate: -0.015207 deg/s,
      cmd heading: 143.457195 deg,
      new cmd heading: 143.437492 deg.

2025-08-09T17:40:10.222Z,1754761210.222 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.503457 target range: 22.799999 and range: 22.80 m.
2025-08-09T17:40:10.456Z,1754761210.456 [DAT](INFO): checking for new query: numPingsReceived=7, elapsed TxPingTime=2.465481
2025-08-09T17:40:10.600Z,1754761210.600 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 22.80 m.
2025-08-09T17:40:10.603Z,1754761210.603 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 22.799999 m,
      nav range: 20.950274 m,
      bearing: 142.704428 deg,
      approach rate: -0.601918 m/s,
      LOS rate: -0.010893 deg/s,
      cmd heading: 143.437497 deg,
      new cmd heading: 143.425010 deg.

2025-08-09T17:40:10.604Z,1754761210.604 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.503239 target range: 22.799999 and range: 22.80 m.
2025-08-09T17:40:10.708Z,1754761210.708 [DAT](INFO): DAT read: Rx Time:17:40:09.7157

2025-08-09T17:40:10.709Z,1754761210.709 [DAT](INFO): Rx dataTimestamp_ set to:1754761210.708065
2025-08-09T17:40:10.709Z,1754761210.709 [DAT](INFO): checking for new query: numPingsReceived=7, elapsed TxPingTime=2.718381
2025-08-09T17:40:10.959Z,1754761210.959 [DAT](INFO): checking for new query: numPingsReceived=7, elapsed TxPingTime=2.968463
2025-08-09T17:40:11.072Z,1754761211.072 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 22.80 m.
2025-08-09T17:40:11.075Z,1754761211.075 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 22.799999 m,
      nav range: 20.668013 m,
      bearing: 142.699250 deg,
      approach rate: -0.598587 m/s,
      LOS rate: -0.011130 deg/s,
      cmd heading: 143.425011 deg,
      new cmd heading: 143.409266 deg.

2025-08-09T17:40:11.076Z,1754761211.076 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.502964 target range: 22.799999 and range: 22.80 m.
2025-08-09T17:40:11.214Z,1754761211.214 [DAT](INFO): checking for new query: numPingsReceived=7, elapsed TxPingTime=3.222648
2025-08-09T17:40:11.459Z,1754761211.459 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 22.80 m.
2025-08-09T17:40:11.462Z,1754761211.462 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 22.799999 m,
      nav range: 20.427341 m,
      bearing: 142.680907 deg,
      approach rate: -0.621292 m/s,
      LOS rate: -0.047910 deg/s,
      cmd heading: 143.409261 deg,
      new cmd heading: 143.353584 deg.

2025-08-09T17:40:11.469Z,1754761211.469 [DAT](INFO): DAT read: 17:40:09.7157 LVL= 24496, 32753, 20818, 32755, AGC= 55, IDX= 406, 0.00, 0.619,-1.015, 1.024, 0.487, PHS= 0.234,-1.456, 0.493, RAW= 157.0,   8.0, CAL= 156.6,   8.3, ROT= 353.4,  -8.3

2025-08-09T17:40:11.471Z,1754761211.471 [DAT](INFO): got valid direction response:
 17:40:09.7157 LVL= 24496, 32753, 20818, 32755, AGC= 55, IDX= 406, 0.00, 0.619,-1.015, 1.024, 0.487, PHS= 0.234,-1.456, 0.493, RAW= 157.0,   8.0, CAL= 156.6,   8.3, ROT= 353.4,  -8.3

2025-08-09T17:40:11.471Z,1754761211.471 [DAT](INFO): DAT read: Bearing 311.0,  -8.1 (Local)

2025-08-09T17:40:11.472Z,1754761211.472 [DAT](INFO): Local bearing/azimuth received:
 Bearing 311.0,  -8.1 (Local)

2025-08-09T17:40:11.473Z,1754761211.473 [DAT](INFO): DAT read: Range 11 to 50 : 20.6 m  (Round-trip  27.5 ms) speed  0.5 m/s

2025-08-09T17:40:11.474Z,1754761211.474 [DAT](INFO): DAT read: user:672>

2025-08-09T17:40:11.475Z,1754761211.475 [DAT](INFO): DAT read: Tx time:17:40:10.8340

2025-08-09T17:40:11.475Z,1754761211.475 [DAT](INFO): Ping request sent.
2025-08-09T17:40:11.475Z,1754761211.475 [DAT](INFO): transmitted an acoustic signal
2025-08-09T17:40:11.475Z,1754761211.475 [DAT](INFO): #Rx 8: Read range and direction messages.
2025-08-09T17:40:11.476Z,1754761211.476 [DAT](INFO): direction in FSK: [0.982968,-0.113733,0.144356]
2025-08-09T17:40:11.477Z,1754761211.477 [DAT](INFO): publishing transmit ping time
2025-08-09T17:40:11.477Z,1754761211.477 [DAT](INFO): publishing direction and range info
2025-08-09T17:40:11.481Z,1754761211.481 [DAT](INFO): publishing transmit ping time
2025-08-09T17:40:11.481Z,1754761211.481 [DAT](INFO): publishing direction and range info
2025-08-09T17:40:11.484Z,1754761211.484 [DAT](INFO): checking for new query: numPingsReceived=8, elapsed TxPingTime=0.008930
2025-08-09T17:40:11.503Z,1754761211.503 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.501992 target range: 22.799999 and range: 22.80 m.
2025-08-09T17:40:11.721Z,1754761211.721 [DAT](INFO): checking for new query: numPingsReceived=8, elapsed TxPingTime=0.245018
2025-08-09T17:40:11.879Z,1754761211.879 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 20.600000 m,
      deltaT: 3.526087 s,
      deltaX: -2.199999 m,
      approachRate: -0.623921 m/s,
      rangeRepo size: 4

2025-08-09T17:40:11.881Z,1754761211.881 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 20.600000 m,
      bearing: 142.570620 deg,
      lat: 36.906101 deg,
      lon: -122.115926 deg,
      deltaT: 3.526087 s,
      deltaX: -2.199999 m,
      approachRate: -0.623921 m/s,
      posRepo size: 4

2025-08-09T17:40:11.889Z,1754761211.889 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 20.60 m.
2025-08-09T17:40:11.896Z,1754761211.896 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 20.600000 m,
      nav range: 20.209620 m,
      bearing: 142.570620 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.047910 deg/s,
      cmd heading: 143.353581 deg,
      new cmd heading: 143.296221 deg.

2025-08-09T17:40:11.897Z,1754761211.897 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.500991 target range: 20.600000 and range: 20.60 m.
2025-08-09T17:40:11.970Z,1754761211.970 [DAT](INFO): checking for new query: numPingsReceived=8, elapsed TxPingTime=0.494660
2025-08-09T17:40:12.219Z,1754761212.219 [DAT](INFO): checking for new query: numPingsReceived=8, elapsed TxPingTime=0.744134
2025-08-09T17:40:12.298Z,1754761212.298 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-09T17:40:12.300Z,1754761212.300 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 20.60 m.
2025-08-09T17:40:12.303Z,1754761212.303 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 20.600000 m,
      nav range: 19.939024 m,
      bearing: 142.552312 deg,
      approach rate: -0.612605 m/s,
      LOS rate: -0.042010 deg/s,
      cmd heading: 143.296221 deg,
      new cmd heading: 143.240553 deg.

2025-08-09T17:40:12.304Z,1754761212.304 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.500019 target range: 20.600000 and range: 20.60 m.
2025-08-09T17:40:12.471Z,1754761212.471 [DAT](INFO): checking for new query: numPingsReceived=8, elapsed TxPingTime=0.996348
2025-08-09T17:40:12.673Z,1754761212.673 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 20.60 m.
2025-08-09T17:40:12.676Z,1754761212.676 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 20.600000 m,
      nav range: 19.714952 m,
      bearing: 142.538236 deg,
      approach rate: -0.600030 m/s,
      LOS rate: -0.038121 deg/s,
      cmd heading: 143.240555 deg,
      new cmd heading: 143.197849 deg.

2025-08-09T17:40:12.677Z,1754761212.677 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.499274 target range: 20.600000 and range: 20.60 m.
2025-08-09T17:40:12.724Z,1754761212.724 [DAT](INFO): checking for new query: numPingsReceived=8, elapsed TxPingTime=1.248748
2025-08-09T17:40:12.975Z,1754761212.975 [DAT](INFO): checking for new query: numPingsReceived=8, elapsed TxPingTime=1.500173
2025-08-09T17:40:13.130Z,1754761213.130 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 20.60 m.
2025-08-09T17:40:13.133Z,1754761213.133 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 20.600000 m,
      nav range: 19.431744 m,
      bearing: 142.519643 deg,
      approach rate: -0.620237 m/s,
      LOS rate: -0.041314 deg/s,
      cmd heading: 143.197853 deg,
      new cmd heading: 143.141259 deg.

2025-08-09T17:40:13.134Z,1754761213.134 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.498286 target range: 20.600000 and range: 20.60 m.
2025-08-09T17:40:13.227Z,1754761213.227 [DAT](INFO): checking for new query: numPingsReceived=8, elapsed TxPingTime=1.752387
2025-08-09T17:40:13.479Z,1754761213.479 [DAT](INFO): checking for new query: numPingsReceived=8, elapsed TxPingTime=2.004275
2025-08-09T17:40:13.486Z,1754761213.486 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 20.60 m.
2025-08-09T17:40:13.489Z,1754761213.489 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 20.600000 m,
      nav range: 19.207127 m,
      bearing: 142.505709 deg,
      approach rate: -0.630984 m/s,
      LOS rate: -0.039601 deg/s,
      cmd heading: 143.141258 deg,
      new cmd heading: 143.098967 deg.

2025-08-09T17:40:13.490Z,1754761213.490 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.497548 target range: 20.600000 and range: 20.60 m.
2025-08-09T17:40:13.732Z,1754761213.732 [DAT](INFO): checking for new query: numPingsReceived=8, elapsed TxPingTime=2.257370
2025-08-09T17:40:13.909Z,1754761213.909 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 20.60 m.
2025-08-09T17:40:13.915Z,1754761213.915 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 20.600000 m,
      nav range: 18.941515 m,
      bearing: 142.489891 deg,
      approach rate: -0.628167 m/s,
      LOS rate: -0.037933 deg/s,
      cmd heading: 143.098965 deg,
      new cmd heading: 143.050848 deg.

2025-08-09T17:40:13.917Z,1754761213.917 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.496708 target range: 20.600000 and range: 20.60 m.
2025-08-09T17:40:13.984Z,1754761213.984 [DAT](INFO): checking for new query: numPingsReceived=8, elapsed TxPingTime=2.508868
2025-08-09T17:40:14.235Z,1754761214.235 [DAT](INFO): DAT read: Rx Time:17:40:13.2627

2025-08-09T17:40:14.236Z,1754761214.236 [DAT](INFO): Rx dataTimestamp_ set to:1754761214.235408
2025-08-09T17:40:14.236Z,1754761214.236 [DAT](INFO): checking for new query: numPingsReceived=8, elapsed TxPingTime=2.761165
2025-08-09T17:40:14.392Z,1754761214.392 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-09T17:40:14.394Z,1754761214.394 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 20.60 m.
2025-08-09T17:40:14.405Z,1754761214.405 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 20.600000 m,
      nav range: 18.672531 m,
      bearing: 142.469526 deg,
      approach rate: -0.554442 m/s,
      LOS rate: -0.042583 deg/s,
      cmd heading: 143.050854 deg,
      new cmd heading: 142.988876 deg.

2025-08-09T17:40:14.436Z,1754761214.436 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.495627 target range: 20.600000 and range: 20.60 m.
2025-08-09T17:40:14.487Z,1754761214.487 [DAT](INFO): checking for new query: numPingsReceived=8, elapsed TxPingTime=3.012189
2025-08-09T17:40:14.740Z,1754761214.740 [DAT](INFO): checking for new query: numPingsReceived=8, elapsed TxPingTime=3.264790
2025-08-09T17:40:14.852Z,1754761214.852 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 20.60 m.
2025-08-09T17:40:14.872Z,1754761214.872 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 20.600000 m,
      nav range: 18.346533 m,
      bearing: 142.447023 deg,
      approach rate: -0.712572 m/s,
      LOS rate: -0.050060 deg/s,
      cmd heading: 142.988876 deg,
      new cmd heading: 142.920170 deg.

2025-08-09T17:40:14.874Z,1754761214.874 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.494427 target range: 20.600000 and range: 20.60 m.
2025-08-09T17:40:15.002Z,1754761215.002 [DAT](INFO): DAT read: 17:40:13.2627 LVL= 29168, 32753, 25010, 32755, AGC= 57, IDX= 408, 0.17, 1.229,-0.449, 1.644, 1.095, PHS= 0.237,-1.499, 0.506, RAW= 157.1,   8.1, CAL= 156.7,   8.4, ROT= 353.3,  -8.4

2025-08-09T17:40:15.008Z,1754761215.008 [DAT](INFO): got valid direction response:
 17:40:13.2627 LVL= 29168, 32753, 25010, 32755, AGC= 57, IDX= 408, 0.17, 1.229,-0.449, 1.644, 1.095, PHS= 0.237,-1.499, 0.506, RAW= 157.1,   8.1, CAL= 156.7,   8.4, ROT= 353.3,  -8.4

2025-08-09T17:40:15.009Z,1754761215.009 [DAT](INFO): DAT read: Bearing 310.3,  -8.3 (Local)

2025-08-09T17:40:15.010Z,1754761215.010 [DAT](INFO): Local bearing/azimuth received:
 Bearing 310.3,  -8.3 (Local)

2025-08-09T17:40:15.012Z,1754761215.012 [DAT](INFO): DAT read: Range 11 to 50 : 18.4 m  (Round-trip  24.6 ms) speed  0.5 m/s

2025-08-09T17:40:15.013Z,1754761215.013 [DAT](INFO): DAT read: user:673>

2025-08-09T17:40:15.014Z,1754761215.014 [DAT](INFO): DAT read: Tx time:17:40:14.3840

2025-08-09T17:40:15.031Z,1754761215.031 [DAT](INFO): Ping request sent.
2025-08-09T17:40:15.031Z,1754761215.031 [DAT](INFO): transmitted an acoustic signal
2025-08-09T17:40:15.032Z,1754761215.032 [DAT](INFO): #Rx 9: Read range and direction messages.
2025-08-09T17:40:15.033Z,1754761215.033 [DAT](INFO): direction in FSK: [0.982516,-0.115420,0.146083]
2025-08-09T17:40:15.033Z,1754761215.033 [DAT](INFO): publishing transmit ping time
2025-08-09T17:40:15.033Z,1754761215.033 [DAT](INFO): publishing direction and range info
2025-08-09T17:40:15.041Z,1754761215.041 [DAT](INFO): publishing transmit ping time
2025-08-09T17:40:15.042Z,1754761215.042 [DAT](INFO): publishing direction and range info
2025-08-09T17:40:15.110Z,1754761215.110 [DAT](INFO): checking for new query: numPingsReceived=9, elapsed TxPingTime=0.077849
2025-08-09T17:40:15.248Z,1754761215.248 [DAT](INFO): checking for new query: numPingsReceived=9, elapsed TxPingTime=0.216377
2025-08-09T17:40:15.286Z,1754761215.286 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 18.400000 m,
      deltaT: 3.532024 s,
      deltaX: -2.200001 m,
      approachRate: -0.622873 m/s,
      rangeRepo size: 4

2025-08-09T17:40:15.298Z,1754761215.298 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 18.400000 m,
      bearing: 141.221035 deg,
      lat: 36.906102 deg,
      lon: -122.115922 deg,
      deltaT: 3.532024 s,
      deltaX: -2.200001 m,
      approachRate: -0.622873 m/s,
      posRepo size: 4

2025-08-09T17:40:15.310Z,1754761215.310 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.40 m.
2025-08-09T17:40:15.313Z,1754761215.313 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 18.400000 m,
      nav range: 18.199682 m,
      bearing: 141.221035 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.050060 deg/s,
      cmd heading: 142.920165 deg,
      new cmd heading: 142.855052 deg.

2025-08-09T17:40:15.314Z,1754761215.314 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.493291 target range: 18.400000 and range: 18.40 m.
2025-08-09T17:40:15.499Z,1754761215.499 [DAT](INFO): checking for new query: numPingsReceived=9, elapsed TxPingTime=0.468081
2025-08-09T17:40:15.626Z,1754761215.626 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.40 m.
2025-08-09T17:40:15.629Z,1754761215.629 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 18.400000 m,
      nav range: 17.983519 m,
      bearing: 141.185450 deg,
      approach rate: -0.634514 m/s,
      LOS rate: -0.105710 deg/s,
      cmd heading: 142.855046 deg,
      new cmd heading: 142.747007 deg.

2025-08-09T17:40:15.630Z,1754761215.630 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.491405 target range: 18.400000 and range: 18.40 m.
2025-08-09T17:40:15.751Z,1754761215.751 [DAT](INFO): checking for new query: numPingsReceived=9, elapsed TxPingTime=0.720020
2025-08-09T17:40:16.003Z,1754761216.003 [DAT](INFO): checking for new query: numPingsReceived=9, elapsed TxPingTime=0.972036
2025-08-09T17:40:16.016Z,1754761216.016 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.40 m.
2025-08-09T17:40:16.019Z,1754761216.019 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 18.400000 m,
      nav range: 17.723322 m,
      bearing: 141.142796 deg,
      approach rate: -0.667200 m/s,
      LOS rate: -0.110979 deg/s,
      cmd heading: 142.747006 deg,
      new cmd heading: 142.617166 deg.

2025-08-09T17:40:16.020Z,1754761216.020 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.489139 target range: 18.400000 and range: 18.40 m.
2025-08-09T17:40:16.256Z,1754761216.256 [DAT](INFO): checking for new query: numPingsReceived=9, elapsed TxPingTime=1.224402
2025-08-09T17:40:16.471Z,1754761216.471 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-09T17:40:16.473Z,1754761216.473 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.40 m.
2025-08-09T17:40:16.484Z,1754761216.484 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 18.400000 m,
      nav range: 17.433334 m,
      bearing: 141.107511 deg,
      approach rate: -0.633731 m/s,
      LOS rate: -0.078394 deg/s,
      cmd heading: 142.617164 deg,
      new cmd heading: 142.509548 deg.

2025-08-09T17:40:16.485Z,1754761216.485 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.487261 target range: 18.400000 and range: 18.40 m.
2025-08-09T17:40:16.509Z,1754761216.509 [DAT](INFO): checking for new query: numPingsReceived=9, elapsed TxPingTime=1.477866
2025-08-09T17:40:16.765Z,1754761216.765 [DAT](INFO): checking for new query: numPingsReceived=9, elapsed TxPingTime=1.733504
2025-08-09T17:40:16.849Z,1754761216.849 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.40 m.
2025-08-09T17:40:16.853Z,1754761216.853 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 18.400000 m,
      nav range: 17.181643 m,
      bearing: 141.077214 deg,
      approach rate: -0.670536 m/s,
      LOS rate: -0.081898 deg/s,
      cmd heading: 142.509547 deg,
      new cmd heading: 142.417324 deg.

2025-08-09T17:40:16.859Z,1754761216.859 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.485651 target range: 18.400000 and range: 18.40 m.
2025-08-09T17:40:17.015Z,1754761217.015 [DAT](INFO): checking for new query: numPingsReceived=9, elapsed TxPingTime=1.984045
2025-08-09T17:40:17.267Z,1754761217.267 [DAT](INFO): checking for new query: numPingsReceived=9, elapsed TxPingTime=2.236109
2025-08-09T17:40:17.272Z,1754761217.272 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.40 m.
2025-08-09T17:40:17.275Z,1754761217.275 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 18.400000 m,
      nav range: 16.893829 m,
      bearing: 141.021721 deg,
      approach rate: -0.679087 m/s,
      LOS rate: -0.133164 deg/s,
      cmd heading: 142.417326 deg,
      new cmd heading: 142.248012 deg.

2025-08-09T17:40:17.276Z,1754761217.276 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.482696 target range: 18.400000 and range: 18.40 m.
2025-08-09T17:40:17.520Z,1754761217.520 [DAT](INFO): checking for new query: numPingsReceived=9, elapsed TxPingTime=2.489034
2025-08-09T17:40:17.649Z,1754761217.649 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.40 m.
2025-08-09T17:40:17.652Z,1754761217.652 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 18.400000 m,
      nav range: 16.645523 m,
      bearing: 140.973757 deg,
      approach rate: -0.658711 m/s,
      LOS rate: -0.129138 deg/s,
      cmd heading: 142.248006 deg,
      new cmd heading: 142.101968 deg.

2025-08-09T17:40:17.653Z,1754761217.653 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.480147 target range: 18.400000 and range: 18.40 m.
2025-08-09T17:40:17.771Z,1754761217.771 [DAT](INFO): checking for new query: numPingsReceived=9, elapsed TxPingTime=2.740108
2025-08-09T17:40:18.023Z,1754761218.023 [DAT](INFO): DAT read: Rx Time:17:40:16.8098

2025-08-09T17:40:18.024Z,1754761218.024 [DAT](INFO): Rx dataTimestamp_ set to:1754761218.023426
2025-08-09T17:40:18.024Z,1754761218.024 [DAT](INFO): checking for new query: numPingsReceived=9, elapsed TxPingTime=2.993045
2025-08-09T17:40:18.045Z,1754761218.045 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.40 m.
2025-08-09T17:40:18.060Z,1754761218.060 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 18.400000 m,
      nav range: 16.386253 m,
      bearing: 140.923666 deg,
      approach rate: -0.655939 m/s,
      LOS rate: -0.128733 deg/s,
      cmd heading: 142.101963 deg,
      new cmd heading: 141.949312 deg.

2025-08-09T17:40:18.061Z,1754761218.061 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.477483 target range: 18.400000 and range: 18.40 m.
2025-08-09T17:40:18.276Z,1754761218.276 [DAT](INFO): checking for new query: numPingsReceived=9, elapsed TxPingTime=3.244318
2025-08-09T17:40:18.486Z,1754761218.486 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-09T17:40:18.488Z,1754761218.488 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.40 m.
2025-08-09T17:40:18.491Z,1754761218.491 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 18.400000 m,
      nav range: 16.096375 m,
      bearing: 140.892015 deg,
      approach rate: -0.653157 m/s,
      LOS rate: -0.072602 deg/s,
      cmd heading: 141.949308 deg,
      new cmd heading: 141.852644 deg.

2025-08-09T17:40:18.492Z,1754761218.492 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.475796 target range: 18.400000 and range: 18.40 m.
2025-08-09T17:40:18.541Z,1754761218.541 [DAT](INFO): DAT read: 17:40:16.8098 LVL= 25920, 32753, 21746, 32755, AGC= 58, IDX= 410, 0.21,-0.260,-1.930, 0.195,-0.388, PHS= 0.230,-1.497, 0.539, RAW= 158.1,   7.7, CAL= 157.6,   7.9, ROT= 352.4,  -7.9

2025-08-09T17:40:18.543Z,1754761218.543 [DAT](INFO): got valid direction response:
 17:40:16.8098 LVL= 25920, 32753, 21746, 32755, AGC= 58, IDX= 410, 0.21,-0.260,-1.930, 0.195,-0.388, PHS= 0.230,-1.497, 0.539, RAW= 158.1,   7.7, CAL= 157.6,   7.9, ROT= 352.4,  -7.9

2025-08-09T17:40:18.544Z,1754761218.544 [DAT](INFO): DAT read: Bearing 308.7,  -9.3 (Local)

2025-08-09T17:40:18.545Z,1754761218.545 [DAT](INFO): Local bearing/azimuth received:
 Bearing 308.7,  -9.3 (Local)

2025-08-09T17:40:18.547Z,1754761218.547 [DAT](INFO): DAT read: Range 11 to 50 : 16.2 m  (Round-trip  21.6 ms) speed  0.7 m/s

2025-08-09T17:40:18.548Z,1754761218.548 [DAT](INFO): DAT read: user:674>

2025-08-09T17:40:18.549Z,1754761218.549 [DAT](INFO): DAT read: Tx time:17:40:17.9340

2025-08-09T17:40:18.549Z,1754761218.549 [DAT](INFO): Ping request sent.
2025-08-09T17:40:18.549Z,1754761218.549 [DAT](INFO): transmitted an acoustic signal
2025-08-09T17:40:18.550Z,1754761218.550 [DAT](INFO): #Rx 10: Read range and direction messages.
2025-08-09T17:40:18.551Z,1754761218.551 [DAT](INFO): direction in FSK: [0.981808,-0.131001,0.137445]
2025-08-09T17:40:18.551Z,1754761218.551 [DAT](INFO): publishing transmit ping time
2025-08-09T17:40:18.551Z,1754761218.551 [DAT](INFO): publishing direction and range info
2025-08-09T17:40:18.554Z,1754761218.554 [DAT](INFO): publishing transmit ping time
2025-08-09T17:40:18.563Z,1754761218.563 [DAT](INFO): publishing direction and range info
2025-08-09T17:40:18.566Z,1754761218.566 [DAT](INFO): checking for new query: numPingsReceived=10, elapsed TxPingTime=0.016487
2025-08-09T17:40:18.787Z,1754761218.787 [DAT](INFO): checking for new query: numPingsReceived=10, elapsed TxPingTime=0.238057
2025-08-09T17:40:18.869Z,1754761218.869 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 16.200001 m,
      deltaT: 3.538419 s,
      deltaX: -2.199999 m,
      approachRate: -0.621746 m/s,
      rangeRepo size: 4

2025-08-09T17:40:18.872Z,1754761218.872 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 16.200001 m,
      bearing: 139.232133 deg,
      lat: 36.906105 deg,
      lon: -122.115917 deg,
      deltaT: 3.538419 s,
      deltaX: -2.199999 m,
      approachRate: -0.621746 m/s,
      posRepo size: 4

2025-08-09T17:40:18.873Z,1754761218.873 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.20 m.
2025-08-09T17:40:18.877Z,1754761218.877 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 16.200001 m,
      nav range: 15.908036 m,
      bearing: 139.232133 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.072602 deg/s,
      cmd heading: 141.852647 deg,
      new cmd heading: 141.769981 deg.

2025-08-09T17:40:18.881Z,1754761218.881 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.474353 target range: 16.200001 and range: 16.20 m.
2025-08-09T17:40:19.040Z,1754761219.040 [DAT](INFO): checking for new query: numPingsReceived=10, elapsed TxPingTime=0.490435
2025-08-09T17:40:19.291Z,1754761219.291 [DAT](INFO): checking for new query: numPingsReceived=10, elapsed TxPingTime=0.742136
2025-08-09T17:40:19.300Z,1754761219.300 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.20 m.
2025-08-09T17:40:19.304Z,1754761219.304 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 16.200001 m,
      nav range: 15.644241 m,
      bearing: 139.172146 deg,
      approach rate: -0.610745 m/s,
      LOS rate: -0.141225 deg/s,
      cmd heading: 141.769975 deg,
      new cmd heading: 141.586980 deg.

2025-08-09T17:40:19.305Z,1754761219.305 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.471159 target range: 16.200001 and range: 16.20 m.
2025-08-09T17:40:19.544Z,1754761219.544 [DAT](INFO): checking for new query: numPingsReceived=10, elapsed TxPingTime=0.994983
2025-08-09T17:40:19.681Z,1754761219.681 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.20 m.
2025-08-09T17:40:19.684Z,1754761219.684 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 16.200001 m,
      nav range: 15.393887 m,
      bearing: 139.115716 deg,
      approach rate: -0.656968 m/s,
      LOS rate: -0.150491 deg/s,
      cmd heading: 141.586980 deg,
      new cmd heading: 141.414936 deg.

2025-08-09T17:40:19.685Z,1754761219.685 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.468156 target range: 16.200001 and range: 16.20 m.
2025-08-09T17:40:19.796Z,1754761219.796 [DAT](INFO): checking for new query: numPingsReceived=10, elapsed TxPingTime=1.246248
2025-08-09T17:40:20.047Z,1754761220.047 [DAT](INFO): checking for new query: numPingsReceived=10, elapsed TxPingTime=1.498158
2025-08-09T17:40:20.078Z,1754761220.078 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.20 m.
2025-08-09T17:40:20.081Z,1754761220.081 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 16.200001 m,
      nav range: 15.141056 m,
      bearing: 139.059385 deg,
      approach rate: -0.636769 m/s,
      LOS rate: -0.144241 deg/s,
      cmd heading: 141.414941 deg,
      new cmd heading: 141.243128 deg.

2025-08-09T17:40:20.082Z,1754761220.082 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.465158 target range: 16.200001 and range: 16.20 m.
2025-08-09T17:40:20.299Z,1754761220.299 [DAT](INFO): checking for new query: numPingsReceived=10, elapsed TxPingTime=1.750124
2025-08-09T17:40:20.511Z,1754761220.511 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-09T17:40:20.513Z,1754761220.513 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.20 m.
2025-08-09T17:40:20.516Z,1754761220.516 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 16.200001 m,
      nav range: 14.871767 m,
      bearing: 139.009982 deg,
      approach rate: -0.619755 m/s,
      LOS rate: -0.115758 deg/s,
      cmd heading: 141.243135 deg,
      new cmd heading: 141.092242 deg.

2025-08-09T17:40:20.517Z,1754761220.517 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.462524 target range: 16.200001 and range: 16.20 m.
2025-08-09T17:40:20.552Z,1754761220.552 [DAT](INFO): checking for new query: numPingsReceived=10, elapsed TxPingTime=2.002769
2025-08-09T17:40:20.804Z,1754761220.804 [DAT](INFO): checking for new query: numPingsReceived=10, elapsed TxPingTime=2.254258
2025-08-09T17:40:20.900Z,1754761220.900 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.20 m.
2025-08-09T17:40:20.906Z,1754761220.906 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 16.200001 m,
      nav range: 14.634845 m,
      bearing: 138.967155 deg,
      approach rate: -0.613329 m/s,
      LOS rate: -0.112661 deg/s,
      cmd heading: 141.092242 deg,
      new cmd heading: 140.961683 deg.

2025-08-09T17:40:20.908Z,1754761220.908 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.460246 target range: 16.200001 and range: 16.20 m.
2025-08-09T17:40:21.055Z,1754761221.055 [DAT](INFO): checking for new query: numPingsReceived=10, elapsed TxPingTime=2.505935
2025-08-09T17:40:21.308Z,1754761221.308 [DAT](INFO): checking for new query: numPingsReceived=10, elapsed TxPingTime=2.758281
2025-08-09T17:40:21.317Z,1754761221.317 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.20 m.
2025-08-09T17:40:21.320Z,1754761221.320 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 16.200001 m,
      nav range: 14.368613 m,
      bearing: 138.907031 deg,
      approach rate: -0.637164 m/s,
      LOS rate: -0.146559 deg/s,
      cmd heading: 140.961690 deg,
      new cmd heading: 140.777977 deg.

2025-08-09T17:40:21.321Z,1754761221.321 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.457039 target range: 16.200001 and range: 16.20 m.
2025-08-09T17:40:21.560Z,1754761221.560 [DAT](INFO): DAT read: Rx Time:17:40:20.3566

2025-08-09T17:40:21.561Z,1754761221.561 [DAT](INFO): Rx dataTimestamp_ set to:1754761221.560927
2025-08-09T17:40:21.562Z,1754761221.562 [DAT](INFO): checking for new query: numPingsReceived=10, elapsed TxPingTime=3.012836
2025-08-09T17:40:21.696Z,1754761221.696 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.20 m.
2025-08-09T17:40:21.700Z,1754761221.700 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 16.200001 m,
      nav range: 14.131622 m,
      bearing: 138.853344 deg,
      approach rate: -0.625029 m/s,
      LOS rate: -0.143967 deg/s,
      cmd heading: 140.777972 deg,
      new cmd heading: 140.614209 deg.

2025-08-09T17:40:21.700Z,1754761221.700 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.454181 target range: 16.200001 and range: 16.20 m.
2025-08-09T17:40:21.812Z,1754761221.812 [DAT](INFO): checking for new query: numPingsReceived=10, elapsed TxPingTime=3.262505
2025-08-09T17:40:22.069Z,1754761222.069 [DAT](INFO): DAT read: 17:40:20.3566 LVL= 25008, 30961, 20882, 32755, AGC= 55, IDX= 410,-0.12, 2.778, 1.170,-3.030, 2.677, PHS= 0.202,-1.462, 0.532, RAW= 158.9,   7.9, CAL= 158.5,   8.1, ROT= 351.5,  -8.1

2025-08-09T17:40:22.070Z,1754761222.070 [DAT](INFO): got valid direction response:
 17:40:20.3566 LVL= 25008, 30961, 20882, 32755, AGC= 55, IDX= 410,-0.12, 2.778, 1.170,-3.030, 2.677, PHS= 0.202,-1.462, 0.532, RAW= 158.9,   7.9, CAL= 158.5,   8.1, ROT= 351.5,  -8.1

2025-08-09T17:40:22.071Z,1754761222.071 [DAT](INFO): DAT read: Bearing 307.7, -10.2 (Local)

2025-08-09T17:40:22.072Z,1754761222.072 [DAT](INFO): Local bearing/azimuth received:
 Bearing 307.7, -10.2 (Local)

2025-08-09T17:40:22.073Z,1754761222.073 [DAT](INFO): DAT read: Range 11 to 50 : 13.8 m  (Round-trip  18.5 ms) speed  0.8 m/s

2025-08-09T17:40:22.074Z,1754761222.074 [DAT](INFO): DAT read: user:675>

2025-08-09T17:40:22.074Z,1754761222.074 [DAT](INFO): DAT read: Tx time:17:40:21.4839

2025-08-09T17:40:22.075Z,1754761222.075 [DAT](INFO): Ping request sent.
2025-08-09T17:40:22.075Z,1754761222.075 [DAT](INFO): transmitted an acoustic signal
2025-08-09T17:40:22.075Z,1754761222.075 [DAT](INFO): #Rx 11: Read range and direction messages.
2025-08-09T17:40:22.076Z,1754761222.076 [DAT](INFO): direction in FSK: [0.979149,-0.146335,0.140901]
2025-08-09T17:40:22.076Z,1754761222.076 [DAT](INFO): publishing transmit ping time
2025-08-09T17:40:22.077Z,1754761222.077 [DAT](INFO): publishing direction and range info
2025-08-09T17:40:22.080Z,1754761222.080 [DAT](INFO): publishing transmit ping time
2025-08-09T17:40:22.080Z,1754761222.080 [DAT](INFO): publishing direction and range info
2025-08-09T17:40:22.099Z,1754761222.099 [DAT](INFO): checking for new query: numPingsReceived=11, elapsed TxPingTime=0.023575
2025-08-09T17:40:22.229Z,1754761222.229 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 13.800000 m,
      deltaT: 3.529612 s,
      deltaX: -2.400001 m,
      approachRate: -0.679962 m/s,
      rangeRepo size: 4

2025-08-09T17:40:22.239Z,1754761222.239 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 13.800000 m,
      bearing: 138.081842 deg,
      lat: 36.906106 deg,
      lon: -122.115916 deg,
      deltaT: 3.529612 s,
      deltaX: -2.400001 m,
      approachRate: -0.679962 m/s,
      posRepo size: 4

2025-08-09T17:40:22.240Z,1754761222.240 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 13.80 m.
2025-08-09T17:40:22.243Z,1754761222.243 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 13.800000 m,
      nav range: 13.804960 m,
      bearing: 138.081842 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.143967 deg/s,
      cmd heading: 140.614211 deg,
      new cmd heading: 140.384404 deg.

2025-08-09T17:40:22.244Z,1754761222.244 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.450170 target range: 13.800000 and range: 13.80 m.
2025-08-09T17:40:22.315Z,1754761222.315 [DAT](INFO): checking for new query: numPingsReceived=11, elapsed TxPingTime=0.240471
2025-08-09T17:40:22.567Z,1754761222.567 [DAT](INFO): checking for new query: numPingsReceived=11, elapsed TxPingTime=0.492406
2025-08-09T17:40:22.624Z,1754761222.624 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-09T17:40:22.630Z,1754761222.630 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 13.80 m.
2025-08-09T17:40:22.633Z,1754761222.633 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 13.800000 m,
      nav range: 13.514757 m,
      bearing: 138.022897 deg,
      approach rate: -0.728630 m/s,
      LOS rate: -0.151174 deg/s,
      cmd heading: 140.384402 deg,
      new cmd heading: 140.203772 deg.

2025-08-09T17:40:22.638Z,1754761222.638 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.447017 target range: 13.800000 and range: 13.80 m.
2025-08-09T17:40:22.820Z,1754761222.820 [DAT](INFO): checking for new query: numPingsReceived=11, elapsed TxPingTime=0.744780
2025-08-09T17:40:22.990Z,1754761222.990 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 13.80 m.
2025-08-09T17:40:22.993Z,1754761222.993 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 13.800000 m,
      nav range: 13.288527 m,
      bearing: 137.976909 deg,
      approach rate: -0.622644 m/s,
      LOS rate: -0.128726 deg/s,
      cmd heading: 140.203771 deg,
      new cmd heading: 140.063459 deg.

2025-08-09T17:40:22.993Z,1754761222.993 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.444568 target range: 13.800000 and range: 13.80 m.
2025-08-09T17:40:23.072Z,1754761223.072 [DAT](INFO): checking for new query: numPingsReceived=11, elapsed TxPingTime=0.997111
2025-08-09T17:40:23.323Z,1754761223.323 [DAT](INFO): checking for new query: numPingsReceived=11, elapsed TxPingTime=1.248415
2025-08-09T17:40:23.394Z,1754761223.394 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 13.80 m.
2025-08-09T17:40:23.404Z,1754761223.404 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 13.800000 m,
      nav range: 13.054846 m,
      bearing: 137.942001 deg,
      approach rate: -0.579385 m/s,
      LOS rate: -0.088100 deg/s,
      cmd heading: 140.063452 deg,
      new cmd heading: 139.956853 deg.

2025-08-09T17:40:23.405Z,1754761223.405 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.442708 target range: 13.800000 and range: 13.80 m.
2025-08-09T17:40:23.576Z,1754761223.576 [DAT](INFO): checking for new query: numPingsReceived=11, elapsed TxPingTime=1.501173
2025-08-09T17:40:23.763Z,1754761223.763 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 13.80 m.
2025-08-09T17:40:23.766Z,1754761223.766 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 13.800000 m,
      nav range: 12.821900 m,
      bearing: 137.907387 deg,
      approach rate: -0.629115 m/s,
      LOS rate: -0.095179 deg/s,
      cmd heading: 139.956860 deg,
      new cmd heading: 139.851132 deg.

2025-08-09T17:40:23.767Z,1754761223.767 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.440863 target range: 13.800000 and range: 13.80 m.
2025-08-09T17:40:23.827Z,1754761223.827 [DAT](INFO): checking for new query: numPingsReceived=11, elapsed TxPingTime=1.752567
2025-08-09T17:40:24.079Z,1754761224.079 [DAT](INFO): checking for new query: numPingsReceived=11, elapsed TxPingTime=2.004330
2025-08-09T17:40:24.154Z,1754761224.154 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 13.80 m.
2025-08-09T17:40:24.161Z,1754761224.161 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 13.800000 m,
      nav range: 12.586333 m,
      bearing: 137.872485 deg,
      approach rate: -0.602500 m/s,
      LOS rate: -0.090938 deg/s,
      cmd heading: 139.851129 deg,
      new cmd heading: 139.744463 deg.

2025-08-09T17:40:24.163Z,1754761224.163 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.439001 target range: 13.800000 and range: 13.80 m.
2025-08-09T17:40:24.331Z,1754761224.331 [DAT](INFO): checking for new query: numPingsReceived=11, elapsed TxPingTime=2.256448
2025-08-09T17:40:24.583Z,1754761224.583 [DAT](INFO): checking for new query: numPingsReceived=11, elapsed TxPingTime=2.508502
2025-08-09T17:40:24.585Z,1754761224.585 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 13.80 m.
2025-08-09T17:40:24.588Z,1754761224.588 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 13.800000 m,
      nav range: 12.326423 m,
      bearing: 137.827648 deg,
      approach rate: -0.603123 m/s,
      LOS rate: -0.106240 deg/s,
      cmd heading: 139.744468 deg,
      new cmd heading: 139.607119 deg.

2025-08-09T17:40:24.589Z,1754761224.589 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.436604 target range: 13.800000 and range: 13.80 m.
2025-08-09T17:40:24.835Z,1754761224.835 [DAT](INFO): checking for new query: numPingsReceived=11, elapsed TxPingTime=2.760345
2025-08-09T17:40:24.968Z,1754761224.968 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-09T17:40:24.971Z,1754761224.971 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 13.80 m.
2025-08-09T17:40:24.973Z,1754761224.973 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 13.800000 m,
      nav range: 12.092569 m,
      bearing: 137.786243 deg,
      approach rate: -0.606975 m/s,
      LOS rate: -0.109545 deg/s,
      cmd heading: 139.607113 deg,
      new cmd heading: 139.480498 deg.

2025-08-09T17:40:24.975Z,1754761224.975 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.434394 target range: 13.800000 and range: 13.80 m.
2025-08-09T17:40:25.088Z,1754761225.088 [DAT](INFO): DAT read: Rx Time:17:40:23.9037

2025-08-09T17:40:25.088Z,1754761225.088 [DAT](INFO): Rx dataTimestamp_ set to:1754761225.087742
2025-08-09T17:40:25.089Z,1754761225.089 [DAT](INFO): checking for new query: numPingsReceived=11, elapsed TxPingTime=3.013688
2025-08-09T17:40:25.339Z,1754761225.339 [DAT](INFO): checking for new query: numPingsReceived=11, elapsed TxPingTime=3.264506
2025-08-09T17:40:25.450Z,1754761225.450 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 13.80 m.
2025-08-09T17:40:25.466Z,1754761225.466 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 13.800000 m,
      nav range: 11.821247 m,
      bearing: 137.777335 deg,
      approach rate: -0.567678 m/s,
      LOS rate: -0.019065 deg/s,
      cmd heading: 139.480495 deg,
      new cmd heading: 139.453158 deg.

2025-08-09T17:40:25.471Z,1754761225.471 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.433917 target range: 13.800000 and range: 13.80 m.
2025-08-09T17:40:25.597Z,1754761225.597 [DAT](INFO): DAT read: 17:40:23.9037 LVL= 25072, 32753, 19378, 32755, AGC= 53, IDX= 412, 0.04,-1.340,-2.928,-0.831,-1.414, PHS= 0.177,-1.469, 0.539, RAW= 159.7,   8.2, CAL= 159.4,   8.4, ROT= 350.6,  -8.4

2025-08-09T17:40:25.598Z,1754761225.598 [DAT](INFO): got valid direction response:
 17:40:23.9037 LVL= 25072, 32753, 19378, 32755, AGC= 53, IDX= 412, 0.04,-1.340,-2.928,-0.831,-1.414, PHS= 0.177,-1.469, 0.539, RAW= 159.7,   8.2, CAL= 159.4,   8.4, ROT= 350.6,  -8.4

2025-08-09T17:40:25.599Z,1754761225.599 [DAT](INFO): DAT read: Bearing 307.4, -10.9 (Local)

2025-08-09T17:40:25.600Z,1754761225.600 [DAT](INFO): Local bearing/azimuth received:
 Bearing 307.4, -10.9 (Local)

2025-08-09T17:40:25.601Z,1754761225.601 [DAT](INFO): DAT read: Range 11 to 50 : 11.7 m  (Round-trip  15.6 ms) speed  0.4 m/s

2025-08-09T17:40:25.602Z,1754761225.602 [DAT](INFO): DAT read: user:676>

2025-08-09T17:40:25.603Z,1754761225.603 [DAT](INFO): DAT read: Tx time:17:40:25.0339

2025-08-09T17:40:25.603Z,1754761225.603 [DAT](INFO): Ping request sent.
2025-08-09T17:40:25.603Z,1754761225.603 [DAT](INFO): transmitted an acoustic signal
2025-08-09T17:40:25.604Z,1754761225.604 [DAT](INFO): #Rx 12: Read range and direction messages.
2025-08-09T17:40:25.605Z,1754761225.605 [DAT](INFO): direction in FSK: [0.975989,-0.161574,0.146083]
2025-08-09T17:40:25.605Z,1754761225.605 [DAT](INFO): publishing transmit ping time
2025-08-09T17:40:25.605Z,1754761225.605 [DAT](INFO): publishing direction and range info
2025-08-09T17:40:25.608Z,1754761225.608 [DAT](INFO): publishing transmit ping time
2025-08-09T17:40:25.608Z,1754761225.608 [DAT](INFO): publishing direction and range info
2025-08-09T17:40:25.612Z,1754761225.612 [DAT](INFO): checking for new query: numPingsReceived=12, elapsed TxPingTime=0.008300
2025-08-09T17:40:25.793Z,1754761225.793 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 11.700000 m,
      deltaT: 3.528232 s,
      deltaX: -2.100000 m,
      approachRate: -0.595199 m/s,
      rangeRepo size: 4

2025-08-09T17:40:25.809Z,1754761225.809 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 11.700000 m,
      bearing: 136.334387 deg,
      lat: 36.906107 deg,
      lon: -122.115913 deg,
      deltaT: 3.528232 s,
      deltaX: -2.100000 m,
      approachRate: -0.595199 m/s,
      posRepo size: 4

2025-08-09T17:40:25.810Z,1754761225.810 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.70 m.
2025-08-09T17:40:25.817Z,1754761225.817 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 11.700000 m,
      nav range: 11.756681 m,
      bearing: 136.334387 deg,
      approach rate: 2146376738857992323072.000000 m/s,
      LOS rate: -0.019065 deg/s,
      cmd heading: 139.453161 deg,
      new cmd heading: 139.433482 deg.

2025-08-09T17:40:25.818Z,1754761225.818 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.433573 target range: 11.700000 and range: 11.70 m.
2025-08-09T17:40:25.844Z,1754761225.844 [DAT](INFO): checking for new query: numPingsReceived=12, elapsed TxPingTime=0.240625
2025-08-09T17:40:26.095Z,1754761226.095 [DAT](INFO): checking for new query: numPingsReceived=12, elapsed TxPingTime=0.491978
2025-08-09T17:40:26.177Z,1754761226.177 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.70 m.
2025-08-09T17:40:26.180Z,1754761226.180 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 11.700000 m,
      nav range: 11.507962 m,
      bearing: 136.296898 deg,
      approach rate: -0.647428 m/s,
      LOS rate: -0.099696 deg/s,
      cmd heading: 139.433476 deg,
      new cmd heading: 139.318577 deg.

2025-08-09T17:40:26.180Z,1754761226.180 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.431568 target range: 11.700000 and range: 11.70 m.
2025-08-09T17:40:26.348Z,1754761226.348 [DAT](INFO): checking for new query: numPingsReceived=12, elapsed TxPingTime=0.744220
2025-08-09T17:40:26.599Z,1754761226.599 [DAT](INFO): checking for new query: numPingsReceived=12, elapsed TxPingTime=0.996044
2025-08-09T17:40:26.605Z,1754761226.605 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.70 m.
2025-08-09T17:40:26.608Z,1754761226.608 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 11.700000 m,
      nav range: 11.240453 m,
      bearing: 136.268412 deg,
      approach rate: -0.624799 m/s,
      LOS rate: -0.068114 deg/s,
      cmd heading: 139.318579 deg,
      new cmd heading: 139.231089 deg.

2025-08-09T17:40:26.609Z,1754761226.609 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.430041 target range: 11.700000 and range: 11.70 m.
2025-08-09T17:40:26.852Z,1754761226.852 [DAT](INFO): checking for new query: numPingsReceived=12, elapsed TxPingTime=1.249050
2025-08-09T17:40:26.985Z,1754761226.985 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-09T17:40:26.987Z,1754761226.987 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.70 m.
2025-08-09T17:40:26.990Z,1754761226.990 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 11.700000 m,
      nav range: 11.000453 m,
      bearing: 136.242330 deg,
      approach rate: -0.627598 m/s,
      LOS rate: -0.069692 deg/s,
      cmd heading: 139.231084 deg,
      new cmd heading: 139.151131 deg.

2025-08-09T17:40:26.991Z,1754761226.991 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.428645 target range: 11.700000 and range: 11.70 m.
2025-08-09T17:40:27.103Z,1754761227.103 [DAT](INFO): checking for new query: numPingsReceived=12, elapsed TxPingTime=1.499942
2025-08-09T17:40:27.355Z,1754761227.355 [DAT](INFO): checking for new query: numPingsReceived=12, elapsed TxPingTime=1.751962
2025-08-09T17:40:27.459Z,1754761227.459 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.70 m.
2025-08-09T17:40:27.462Z,1754761227.462 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 11.700000 m,
      nav range: 10.715343 m,
      bearing: 136.166230 deg,
      approach rate: -0.609960 m/s,
      LOS rate: -0.167140 deg/s,
      cmd heading: 139.151130 deg,
      new cmd heading: 138.916756 deg.

2025-08-09T17:40:27.463Z,1754761227.463 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.424555 target range: 11.700000 and range: 11.70 m.
2025-08-09T17:40:27.607Z,1754761227.607 [DAT](INFO): checking for new query: numPingsReceived=12, elapsed TxPingTime=2.003934
2025-08-09T17:40:27.801Z,1754761227.801 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.70 m.
2025-08-09T17:40:27.804Z,1754761227.804 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 11.700000 m,
      nav range: 10.486508 m,
      bearing: 136.103096 deg,
      approach rate: -0.660609 m/s,
      LOS rate: -0.186234 deg/s,
      cmd heading: 138.916759 deg,
      new cmd heading: 138.723225 deg.

2025-08-09T17:40:27.805Z,1754761227.805 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.421177 target range: 11.700000 and range: 11.70 m.
2025-08-09T17:40:27.860Z,1754761227.860 [DAT](INFO): checking for new query: numPingsReceived=12, elapsed TxPingTime=2.256840
2025-08-09T17:40:28.111Z,1754761228.111 [DAT](INFO): checking for new query: numPingsReceived=12, elapsed TxPingTime=2.507926
2025-08-09T17:40:28.220Z,1754761228.220 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.70 m.
2025-08-09T17:40:28.223Z,1754761228.223 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 11.700000 m,
      nav range: 10.235338 m,
      bearing: 136.032370 deg,
      approach rate: -0.600483 m/s,
      LOS rate: -0.173237 deg/s,
      cmd heading: 138.723232 deg,
      new cmd heading: 138.505848 deg.

2025-08-09T17:40:28.224Z,1754761228.224 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.417383 target range: 11.700000 and range: 11.70 m.
2025-08-09T17:40:28.365Z,1754761228.365 [DAT](INFO): checking for new query: numPingsReceived=12, elapsed TxPingTime=2.761382
2025-08-09T17:40:28.615Z,1754761228.615 [DAT](INFO): DAT read: Rx Time:17:40:27.4509

2025-08-09T17:40:28.616Z,1754761228.616 [DAT](INFO): Rx dataTimestamp_ set to:1754761228.615547
2025-08-09T17:40:28.616Z,1754761228.616 [DAT](INFO): checking for new query: numPingsReceived=12, elapsed TxPingTime=3.013068
2025-08-09T17:40:28.633Z,1754761228.633 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.70 m.
2025-08-09T17:40:28.637Z,1754761228.637 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 11.700000 m,
      nav range: 9.960343 m,
      bearing: 135.954037 deg,
      approach rate: -0.664974 m/s,
      LOS rate: -0.194651 deg/s,
      cmd heading: 138.505854 deg,
      new cmd heading: 138.264367 deg.

2025-08-09T17:40:28.639Z,1754761228.639 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.413168 target range: 11.700000 and range: 11.70 m.
2025-08-09T17:40:28.869Z,1754761228.869 [DAT](INFO): checking for new query: numPingsReceived=12, elapsed TxPingTime=3.265968
2025-08-09T17:40:29.032Z,1754761229.032 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-09T17:40:29.034Z,1754761229.034 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.70 m.
2025-08-09T17:40:29.037Z,1754761229.037 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 11.700000 m,
      nav range: 9.706053 m,
      bearing: 135.880265 deg,
      approach rate: -0.633482 m/s,
      LOS rate: -0.188593 deg/s,
      cmd heading: 138.264366 deg,
      new cmd heading: 138.037254 deg.

2025-08-09T17:40:29.038Z,1754761229.038 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.409204 target range: 11.700000 and range: 11.70 m.
2025-08-09T17:40:29.126Z,1754761229.126 [DAT](INFO): DAT read: 17:40:27.4509 LVL= 24816, 32753, 21618, 32755, AGC= 52, IDX= 416,-0.05,-2.322, 2.401,-1.740,-2.358, PHS= 0.138,-1.479, 0.574, RAW= 161.6,   8.2, CAL= 161.3,   8.5, ROT= 348.7,  -8.5

2025-08-09T17:40:29.128Z,1754761229.128 [DAT](INFO): got valid direction response:
 17:40:27.4509 LVL= 24816, 32753, 21618, 32755, AGC= 52, IDX= 416,-0.05,-2.322, 2.401,-1.740,-2.358, PHS= 0.138,-1.479, 0.574, RAW= 161.6,   8.2, CAL= 161.3,   8.5, ROT= 348.7,  -8.5

2025-08-09T17:40:29.129Z,1754761229.129 [DAT](INFO): DAT read: Bearing 306.7, -12.7 (Local)

2025-08-09T17:40:29.129Z,1754761229.129 [DAT](INFO): Local bearing/azimuth received:
 Bearing 306.7, -12.7 (Local)

2025-08-09T17:40:29.134Z,1754761229.134 [DAT](INFO): DAT read: Range 11 to 50 : 9.6 m  (Round-trip  12.8 ms) speed  0.5 m/s

2025-08-09T17:40:29.140Z,1754761229.140 [DAT](INFO): DAT read: user:677>

2025-08-09T17:40:29.140Z,1754761229.140 [DAT](INFO): DAT read: Tx time:17:40:28.5339

2025-08-09T17:40:29.141Z,1754761229.141 [DAT](INFO): Ping request sent.
2025-08-09T17:40:29.141Z,1754761229.141 [DAT](INFO): transmitted an acoustic signal
2025-08-09T17:40:29.141Z,1754761229.141 [DAT](INFO): #Rx 13: Read range and direction messages.
2025-08-09T17:40:29.147Z,1754761229.147 [DAT](INFO): direction in FSK: [0.969843,-0.193794,0.147809]
2025-08-09T17:40:29.147Z,1754761229.147 [DAT](INFO): publishing transmit ping time
2025-08-09T17:40:29.148Z,1754761229.148 [DAT](INFO): publishing direction and range info
2025-08-09T17:40:29.157Z,1754761229.157 [DAT](INFO): publishing transmit ping time
2025-08-09T17:40:29.157Z,1754761229.157 [DAT](INFO): publishing direction and range info
2025-08-09T17:40:29.161Z,1754761229.161 [DAT](INFO): checking for new query: numPingsReceived=13, elapsed TxPingTime=0.019740
2025-08-09T17:40:29.371Z,1754761229.371 [DAT](INFO): checking for new query: numPingsReceived=13, elapsed TxPingTime=0.230399
2025-08-09T17:40:29.488Z,1754761229.488 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 9.600000 m,
      deltaT: 3.528232 s,
      deltaX: -2.099999 m,
      approachRate: -0.595199 m/s,
      rangeRepo size: 4

2025-08-09T17:40:29.491Z,1754761229.491 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 9.600000 m,
      bearing: 133.746299 deg,
      lat: 36.906111 deg,
      lon: -122.115912 deg,
      deltaT: 3.528232 s,
      deltaX: -2.099999 m,
      approachRate: -0.595199 m/s,
      posRepo size: 4

2025-08-09T17:40:29.491Z,1754761229.491 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 9.60 m.
2025-08-09T17:40:29.492Z,1754761229.492 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Short final. Range: 9.60 m.
2025-08-09T17:40:29.492Z,1754761229.492 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Transitioning guidance mode to: SHORT_FINAL
2025-08-09T17:40:29.495Z,1754761229.495 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 9.600000 m,
      nav range: 9.143316 m,
      bearing: 133.746299 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.188593 deg/s,
      cmd heading: 138.037249 deg,
      new cmd heading: 137.780619 deg.

2025-08-09T17:40:29.496Z,1754761229.496 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.404726 target range: 9.600000 and range: 9.60 m.
2025-08-09T17:40:29.623Z,1754761229.623 [DAT](INFO): checking for new query: numPingsReceived=13, elapsed TxPingTime=0.482533
2025-08-09T17:40:29.861Z,1754761229.861 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 9.60 m. 9.60 m.
2025-08-09T17:40:29.865Z,1754761229.865 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 9.600000 m,
      nav range: 8.907780 m,
      bearing: 133.567452 deg,
      approach rate: -0.672284 m/s,
      LOS rate: -0.523973 deg/s,
      cmd heading: 137.780625 deg,
      new cmd heading: 137.229916 deg.

2025-08-09T17:40:29.866Z,1754761229.866 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.395114 target range: 9.600000 and range: 9.60 m.
2025-08-09T17:40:29.876Z,1754761229.876 [DAT](INFO): checking for new query: numPingsReceived=13, elapsed TxPingTime=0.735271
2025-08-09T17:40:30.127Z,1754761230.127 [DAT](INFO): checking for new query: numPingsReceived=13, elapsed TxPingTime=0.986347
2025-08-09T17:40:30.223Z,1754761230.223 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 9.60 m. 9.60 m.
2025-08-09T17:40:30.226Z,1754761230.226 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 9.600000 m,
      nav range: 8.664797 m,
      bearing: 133.381619 deg,
      approach rate: -0.631983 m/s,
      LOS rate: -0.496894 deg/s,
      cmd heading: 137.229921 deg,
      new cmd heading: 136.656807 deg.

2025-08-09T17:40:30.227Z,1754761230.227 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.385111 target range: 9.600000 and range: 9.60 m.
2025-08-09T17:40:30.381Z,1754761230.381 [DAT](INFO): checking for new query: numPingsReceived=13, elapsed TxPingTime=1.239368
2025-08-09T17:40:30.631Z,1754761230.631 [DAT](INFO): checking for new query: numPingsReceived=13, elapsed TxPingTime=1.490509
2025-08-09T17:40:30.650Z,1754761230.650 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 9.60 m. 9.60 m.
2025-08-09T17:40:30.652Z,1754761230.652 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 9.600000 m,
      nav range: 8.389250 m,
      bearing: 133.116616 deg,
      approach rate: -0.645672 m/s,
      LOS rate: -0.641359 deg/s,
      cmd heading: 136.656813 deg,
      new cmd heading: 135.835750 deg.

2025-08-09T17:40:30.653Z,1754761230.653 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.370781 target range: 9.600000 and range: 9.60 m.
2025-08-09T17:40:30.885Z,1754761230.885 [DAT](INFO): checking for new query: numPingsReceived=13, elapsed TxPingTime=1.743548
2025-08-09T17:40:31.033Z,1754761231.033 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-09T17:40:31.035Z,1754761231.035 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 9.60 m. 9.60 m.
2025-08-09T17:40:31.038Z,1754761231.038 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 9.600000 m,
      nav range: 8.140568 m,
      bearing: 132.868897 deg,
      approach rate: -0.645592 m/s,
      LOS rate: -0.662734 deg/s,
      cmd heading: 135.835756 deg,
      new cmd heading: 135.069946 deg.

2025-08-09T17:40:31.039Z,1754761231.039 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.357415 target range: 9.600000 and range: 9.60 m.
2025-08-09T17:40:31.136Z,1754761231.136 [DAT](INFO): checking for new query: numPingsReceived=13, elapsed TxPingTime=1.994629
2025-08-09T17:40:31.388Z,1754761231.388 [DAT](INFO): checking for new query: numPingsReceived=13, elapsed TxPingTime=2.247215
2025-08-09T17:40:31.468Z,1754761231.468 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 9.60 m. 9.60 m.
2025-08-09T17:40:31.471Z,1754761231.471 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 9.600000 m,
      nav range: 7.864495 m,
      bearing: 132.557642 deg,
      approach rate: -0.637650 m/s,
      LOS rate: -0.744144 deg/s,
      cmd heading: 135.069941 deg,
      new cmd heading: 134.103493 deg.

2025-08-09T17:40:31.472Z,1754761231.472 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.340548 target range: 9.600000 and range: 9.60 m.
2025-08-09T17:40:31.639Z,1754761231.639 [DAT](INFO): checking for new query: numPingsReceived=13, elapsed TxPingTime=2.498310
2025-08-09T17:40:31.835Z,1754761231.835 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 9.60 m. 9.60 m.
2025-08-09T17:40:31.838Z,1754761231.838 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 9.600000 m,
      nav range: 7.628542 m,
      bearing: 132.280502 deg,
      approach rate: -0.641911 m/s,
      LOS rate: -0.777278 deg/s,
      cmd heading: 134.103497 deg,
      new cmd heading: 133.246430 deg.

2025-08-09T17:40:31.839Z,1754761231.839 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.325589 target range: 9.600000 and range: 9.60 m.
2025-08-09T17:40:31.893Z,1754761231.893 [DAT](INFO): checking for new query: numPingsReceived=13, elapsed TxPingTime=2.751926
2025-08-09T17:40:32.143Z,1754761232.143 [DAT](INFO): DAT read: Rx Time:17:40:30.9479

2025-08-09T17:40:32.144Z,1754761232.144 [DAT](INFO): Rx dataTimestamp_ set to:1754761232.143464
2025-08-09T17:40:32.144Z,1754761232.144 [DAT](INFO): checking for new query: numPingsReceived=13, elapsed TxPingTime=3.003433
2025-08-09T17:40:32.259Z,1754761232.259 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 9.60 m. 9.60 m.
2025-08-09T17:40:32.262Z,1754761232.262 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 9.600000 m,
      nav range: 7.356978 m,
      bearing: 131.939233 deg,
      approach rate: -0.640708 m/s,
      LOS rate: -0.834881 deg/s,
      cmd heading: 133.246431 deg,
      new cmd heading: 132.184959 deg.

2025-08-09T17:40:32.263Z,1754761232.263 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.307063 target range: 9.600000 and range: 9.60 m.
2025-08-09T17:40:32.396Z,1754761232.396 [DAT](INFO): checking for new query: numPingsReceived=13, elapsed TxPingTime=3.255321
2025-08-09T17:40:32.653Z,1754761232.653 [DAT](INFO): DAT read: 17:40:30.9479 LVL= 23840, 32753, 20274, 32755, AGC= 50, IDX= 417,-0.00,-0.952,-2.481,-0.275,-0.937, PHS= 0.087,-1.499, 0.618, RAW= 163.9,   8.4, CAL= 163.6,   8.7, ROT= 346.4,  -8.7

2025-08-09T17:40:32.654Z,1754761232.654 [DAT](INFO): got valid direction response:
 17:40:30.9479 LVL= 23840, 32753, 20274, 32755, AGC= 50, IDX= 417,-0.00,-0.952,-2.481,-0.275,-0.937, PHS= 0.087,-1.499, 0.618, RAW= 163.9,   8.4, CAL= 163.6,   8.7, ROT= 346.4,  -8.7

2025-08-09T17:40:32.655Z,1754761232.655 [DAT](INFO): DAT read: Bearing 305.1, -15.0 (Local)

2025-08-09T17:40:32.655Z,1754761232.655 [DAT](INFO): Local bearing/azimuth received:
 Bearing 305.1, -15.0 (Local)

2025-08-09T17:40:32.657Z,1754761232.657 [DAT](INFO): DAT read: Range 11 to 50 : 7.3 m  (Round-trip  9.8 ms) speed  0.6 m/s

2025-08-09T17:40:32.658Z,1754761232.658 [DAT](INFO): DAT read: user:678>

2025-08-09T17:40:32.658Z,1754761232.658 [DAT](INFO): DAT read: Tx time:17:40:32.0339

2025-08-09T17:40:32.659Z,1754761232.659 [DAT](INFO): Ping request sent.
2025-08-09T17:40:32.659Z,1754761232.659 [DAT](INFO): transmitted an acoustic signal
2025-08-09T17:40:32.659Z,1754761232.659 [DAT](INFO): #Rx 14: Read range and direction messages.
2025-08-09T17:40:32.660Z,1754761232.660 [DAT](INFO): direction in FSK: [0.960777,-0.232437,0.151261]
2025-08-09T17:40:32.660Z,1754761232.660 [DAT](INFO): publishing transmit ping time
2025-08-09T17:40:32.660Z,1754761232.660 [DAT](INFO): publishing direction and range info
2025-08-09T17:40:32.668Z,1754761232.668 [DAT](INFO): publishing transmit ping time
2025-08-09T17:40:32.668Z,1754761232.668 [DAT](INFO): publishing direction and range info
2025-08-09T17:40:32.711Z,1754761232.711 [DAT](INFO): checking for new query: numPingsReceived=14, elapsed TxPingTime=0.052675
2025-08-09T17:40:32.758Z,1754761232.758 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 7.300000 m,
      deltaT: 3.527391 s,
      deltaX: -2.300000 m,
      approachRate: -0.652040 m/s,
      rangeRepo size: 4

2025-08-09T17:40:32.760Z,1754761232.760 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 7.300000 m,
      bearing: 130.624600 deg,
      lat: 36.906111 deg,
      lon: -122.115911 deg,
      deltaT: 3.527391 s,
      deltaX: -2.300000 m,
      approachRate: -0.652040 m/s,
      posRepo size: 4

2025-08-09T17:40:32.761Z,1754761232.761 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 7.30 m. 9.60 m.
2025-08-09T17:40:32.769Z,1754761232.769 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 9.600000 m,
      nav range: 7.054567 m,
      bearing: 131.593366 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.188593 deg/s,
      cmd heading: 132.184965 deg,
      new cmd heading: 131.905169 deg.

2025-08-09T17:40:32.770Z,1754761232.770 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.302180 target range: 9.600000 and range: 9.60 m.
2025-08-09T17:40:32.900Z,1754761232.900 [DAT](INFO): checking for new query: numPingsReceived=14, elapsed TxPingTime=0.241396
2025-08-09T17:40:33.057Z,1754761233.057 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-09T17:40:33.063Z,1754761233.063 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 9.60 m. 9.60 m.
2025-08-09T17:40:33.066Z,1754761233.066 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 9.600000 m,
      nav range: 6.845685 m,
      bearing: 131.345172 deg,
      approach rate: -0.675164 m/s,
      LOS rate: -0.826705 deg/s,
      cmd heading: 131.905173 deg,
      new cmd heading: 131.137919 deg.

2025-08-09T17:40:33.071Z,1754761233.071 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.288789 target range: 9.600000 and range: 9.60 m.
2025-08-09T17:40:33.152Z,1754761233.152 [DAT](INFO): checking for new query: numPingsReceived=14, elapsed TxPingTime=0.492743
2025-08-09T17:40:33.404Z,1754761233.404 [DAT](INFO): checking for new query: numPingsReceived=14, elapsed TxPingTime=0.745414
2025-08-09T17:40:33.482Z,1754761233.482 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 9.60 m. 9.60 m.
2025-08-09T17:40:33.484Z,1754761233.484 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 9.600000 m,
      nav range: 6.577014 m,
      bearing: 130.986663 deg,
      approach rate: -0.642005 m/s,
      LOS rate: -0.891669 deg/s,
      cmd heading: 131.137925 deg,
      new cmd heading: 130.018611 deg.

2025-08-09T17:40:33.485Z,1754761233.485 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.269253 target range: 9.600000 and range: 9.60 m.
2025-08-09T17:40:33.656Z,1754761233.656 [DAT](INFO): checking for new query: numPingsReceived=14, elapsed TxPingTime=0.996813
2025-08-09T17:40:33.862Z,1754761233.862 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 9.60 m. 9.60 m.
2025-08-09T17:40:33.883Z,1754761233.883 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 9.600000 m,
      nav range: 6.342391 m,
      bearing: 130.660474 deg,
      approach rate: -0.617132 m/s,
      LOS rate: -0.889716 deg/s,
      cmd heading: 130.018607 deg,
      new cmd heading: 129.003951 deg.

2025-08-09T17:40:33.884Z,1754761233.884 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.251544 target range: 9.600000 and range: 9.60 m.
2025-08-09T17:40:33.907Z,1754761233.907 [DAT](INFO): checking for new query: numPingsReceived=14, elapsed TxPingTime=1.248589
2025-08-09T17:40:34.159Z,1754761234.159 [DAT](INFO): checking for new query: numPingsReceived=14, elapsed TxPingTime=1.500509
2025-08-09T17:40:34.271Z,1754761234.271 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 9.60 m. 9.60 m.
2025-08-09T17:40:34.273Z,1754761234.273 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 9.600000 m,
      nav range: 6.085086 m,
      bearing: 130.288091 deg,
      approach rate: -0.629467 m/s,
      LOS rate: -0.949505 deg/s,
      cmd heading: 129.003955 deg,
      new cmd heading: 127.839736 deg.

2025-08-09T17:40:34.274Z,1754761234.274 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.231224 target range: 9.600000 and range: 9.60 m.
2025-08-09T17:40:34.412Z,1754761234.412 [DAT](INFO): checking for new query: numPingsReceived=14, elapsed TxPingTime=1.752817
2025-08-09T17:40:34.663Z,1754761234.663 [DAT](INFO): checking for new query: numPingsReceived=14, elapsed TxPingTime=2.004558
2025-08-09T17:40:34.717Z,1754761234.717 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 9.60 m. 9.60 m.
2025-08-09T17:40:34.719Z,1754761234.719 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 9.600000 m,
      nav range: 5.816557 m,
      bearing: 129.917545 deg,
      approach rate: -0.602026 m/s,
      LOS rate: -0.869087 deg/s,
      cmd heading: 127.839735 deg,
      new cmd heading: 126.676947 deg.

2025-08-09T17:40:34.720Z,1754761234.720 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.210930 target range: 9.600000 and range: 9.60 m.
2025-08-09T17:40:34.916Z,1754761234.916 [DAT](INFO): checking for new query: numPingsReceived=14, elapsed TxPingTime=2.257158
2025-08-09T17:40:35.073Z,1754761235.073 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-09T17:40:35.076Z,1754761235.076 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 9.60 m. 9.60 m.
2025-08-09T17:40:35.078Z,1754761235.078 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 9.600000 m,
      nav range: 5.596140 m,
      bearing: 129.615661 deg,
      approach rate: -0.613819 m/s,
      LOS rate: -0.873800 deg/s,
      cmd heading: 126.676950 deg,
      new cmd heading: 125.735714 deg.

2025-08-09T17:40:35.079Z,1754761235.079 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.194502 target range: 9.600000 and range: 9.60 m.
2025-08-09T17:40:35.169Z,1754761235.169 [DAT](INFO): checking for new query: numPingsReceived=14, elapsed TxPingTime=2.509515
2025-08-09T17:40:35.419Z,1754761235.419 [DAT](INFO): checking for new query: numPingsReceived=14, elapsed TxPingTime=2.760554
2025-08-09T17:40:35.547Z,1754761235.547 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 9.60 m. 9.60 m.
2025-08-09T17:40:35.549Z,1754761235.549 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 9.600000 m,
      nav range: 5.324725 m,
      bearing: 129.294893 deg,
      approach rate: -0.635820 m/s,
      LOS rate: -0.789730 deg/s,
      cmd heading: 125.735709 deg,
      new cmd heading: 124.724466 deg.

2025-08-09T17:40:35.558Z,1754761235.558 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.176853 target range: 9.600000 and range: 9.60 m.
2025-08-09T17:40:35.671Z,1754761235.671 [DAT](INFO): DAT read: Rx Time:17:40:34.4449

2025-08-09T17:40:35.672Z,1754761235.672 [DAT](INFO): Rx dataTimestamp_ set to:1754761235.671523
2025-08-09T17:40:35.673Z,1754761235.673 [DAT](INFO): checking for new query: numPingsReceived=14, elapsed TxPingTime=3.013628
2025-08-09T17:40:35.893Z,1754761235.893 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 9.60 m. 9.60 m.
2025-08-09T17:40:35.901Z,1754761235.901 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 9.600000 m,
      nav range: 5.088655 m,
      bearing: 129.007738 deg,
      approach rate: -0.624131 m/s,
      LOS rate: -0.794409 deg/s,
      cmd heading: 124.724473 deg,
      new cmd heading: 123.823120 deg.

2025-08-09T17:40:35.907Z,1754761235.907 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.161121 target range: 9.600000 and range: 9.60 m.
2025-08-09T17:40:35.923Z,1754761235.923 [DAT](INFO): checking for new query: numPingsReceived=14, elapsed TxPingTime=3.264663
2025-08-09T17:40:36.182Z,1754761236.182 [DAT](INFO): DAT read: 17:40:34.4449 LVL= 27264, 32753, 21266, 32755, AGC= 45, IDX= 418,-0.14,-3.101, 1.825,-2.139,-2.857, PHS=-0.142,-1.557, 0.674, RAW= 171.2,  10.5, CAL= 171.2,  12.0, ROT= 338.8, -12.0

2025-08-09T17:40:36.183Z,1754761236.183 [DAT](INFO): got valid direction response:
 17:40:34.4449 LVL= 27264, 32753, 21266, 32755, AGC= 45, IDX= 418,-0.14,-3.101, 1.825,-2.139,-2.857, PHS=-0.142,-1.557, 0.674, RAW= 171.2,  10.5, CAL= 171.2,  12.0, ROT= 338.8, -12.0

2025-08-09T17:40:36.184Z,1754761236.184 [DAT](INFO): DAT read: Bearing 304.7, -22.9 (Local)

2025-08-09T17:40:36.185Z,1754761236.185 [DAT](INFO): Local bearing/azimuth received:
 Bearing 304.7, -22.9 (Local)

2025-08-09T17:40:36.186Z,1754761236.186 [DAT](INFO): DAT read: Range 11 to 50 : 5.1 m  (Round-trip  6.8 ms) speed  0.5 m/s

2025-08-09T17:40:36.187Z,1754761236.187 [DAT](INFO): DAT read: user:679>

2025-08-09T17:40:36.187Z,1754761236.187 [DAT](INFO): DAT read: Tx time:17:40:35.5339

2025-08-09T17:40:36.188Z,1754761236.188 [DAT](INFO): Ping request sent.
2025-08-09T17:40:36.188Z,1754761236.188 [DAT](INFO): transmitted an acoustic signal
2025-08-09T17:40:36.188Z,1754761236.188 [DAT](INFO): #Rx 15: Read range and direction messages.
2025-08-09T17:40:36.189Z,1754761236.189 [DAT](INFO): direction in FSK: [0.911950,-0.353723,0.207912]
2025-08-09T17:40:36.189Z,1754761236.189 [DAT](INFO): publishing transmit ping time
2025-08-09T17:40:36.190Z,1754761236.190 [DAT](INFO): publishing direction and range info
2025-08-09T17:40:36.193Z,1754761236.193 [DAT](INFO): publishing transmit ping time
2025-08-09T17:40:36.193Z,1754761236.193 [DAT](INFO): publishing direction and range info
2025-08-09T17:40:36.196Z,1754761236.196 [DAT](INFO): checking for new query: numPingsReceived=15, elapsed TxPingTime=0.008241
2025-08-09T17:40:36.342Z,1754761236.342 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 5.100000 m,
      deltaT: 3.527965 s,
      deltaX: -2.200000 m,
      approachRate: -0.623589 m/s,
      rangeRepo size: 4

2025-08-09T17:40:36.344Z,1754761236.344 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 5.100000 m,
      bearing: 125.678408 deg,
      lat: 36.906111 deg,
      lon: -122.115908 deg,
      deltaT: 7.055356 s,
      deltaX: -4.500000 m,
      approachRate: -0.637813 m/s,
      posRepo size: 4

2025-08-09T17:40:36.345Z,1754761236.345 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 5.10 m. 9.60 m.
2025-08-09T17:40:36.348Z,1754761236.348 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 9.600000 m,
      nav range: 4.814488 m,
      bearing: 128.664578 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.188593 deg/s,
      cmd heading: 123.823120 deg,
      new cmd heading: 123.562657 deg.

2025-08-09T17:40:36.349Z,1754761236.349 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.156575 target range: 9.600000 and range: 9.60 m.
2025-08-09T17:40:36.428Z,1754761236.428 [DAT](INFO): checking for new query: numPingsReceived=15, elapsed TxPingTime=0.239870
2025-08-09T17:40:36.679Z,1754761236.679 [DAT](INFO): checking for new query: numPingsReceived=15, elapsed TxPingTime=0.491630
2025-08-09T17:40:36.714Z,1754761236.714 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 9.60 m. 9.60 m.
2025-08-09T17:40:36.716Z,1754761236.716 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 9.600000 m,
      nav range: 4.561741 m,
      bearing: 128.363263 deg,
      approach rate: -0.678453 m/s,
      LOS rate: -0.853633 deg/s,
      cmd heading: 123.562657 deg,
      new cmd heading: 122.608721 deg.

2025-08-09T17:40:36.717Z,1754761236.717 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.139926 target range: 9.600000 and range: 9.60 m.
2025-08-09T17:40:36.932Z,1754761236.932 [DAT](INFO): checking for new query: numPingsReceived=15, elapsed TxPingTime=0.744027
2025-08-09T17:40:37.104Z,1754761237.104 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-09T17:40:37.107Z,1754761237.107 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 9.60 m. 9.60 m.
2025-08-09T17:40:37.109Z,1754761237.109 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 9.600000 m,
      nav range: 4.317447 m,
      bearing: 128.038320 deg,
      approach rate: -0.621614 m/s,
      LOS rate: -0.873607 deg/s,
      cmd heading: 122.608726 deg,
      new cmd heading: 121.578854 deg.

2025-08-09T17:40:37.111Z,1754761237.111 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.121951 target range: 9.600000 and range: 9.60 m.
2025-08-09T17:40:37.185Z,1754761237.185 [DAT](INFO): checking for new query: numPingsReceived=15, elapsed TxPingTime=0.996911
2025-08-09T17:40:37.438Z,1754761237.438 [DAT](INFO): checking for new query: numPingsReceived=15, elapsed TxPingTime=1.249461
2025-08-09T17:40:37.527Z,1754761237.527 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 9.60 m. 9.60 m.
2025-08-09T17:40:37.529Z,1754761237.529 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 9.600000 m,
      nav range: 4.052109 m,
      bearing: 127.787667 deg,
      approach rate: -0.631903 m/s,
      LOS rate: -0.636018 deg/s,
      cmd heading: 121.578856 deg,
      new cmd heading: 120.777713 deg.

2025-08-09T17:40:37.531Z,1754761237.531 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.107969 target range: 9.600000 and range: 9.60 m.
2025-08-09T17:40:37.687Z,1754761237.687 [DAT](INFO): checking for new query: numPingsReceived=15, elapsed TxPingTime=1.499485
2025-08-09T17:40:37.931Z,1754761237.931 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 9.60 m. 9.60 m.
2025-08-09T17:40:37.934Z,1754761237.934 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 9.600000 m,
      nav range: 3.798750 m,
      bearing: 127.626739 deg,
      approach rate: -0.626159 m/s,
      LOS rate: -0.424247 deg/s,
      cmd heading: 120.777716 deg,
      new cmd heading: 120.262746 deg.

2025-08-09T17:40:37.940Z,1754761237.940 [DAT](INFO): checking for new query: numPingsReceived=15, elapsed TxPingTime=1.751864
2025-08-09T17:40:37.941Z,1754761237.941 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.098981 target range: 9.600000 and range: 9.60 m.
2025-08-09T17:40:38.191Z,1754761238.191 [DAT](INFO): checking for new query: numPingsReceived=15, elapsed TxPingTime=2.003540
2025-08-09T17:40:38.335Z,1754761238.335 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 9.60 m. 9.60 m.
2025-08-09T17:40:38.340Z,1754761238.340 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 9.600000 m,
      nav range: 3.553956 m,
      bearing: 127.449433 deg,
      approach rate: -0.638988 m/s,
      LOS rate: -0.494700 deg/s,
      cmd heading: 120.262747 deg,
      new cmd heading: 119.694213 deg.

2025-08-09T17:40:38.341Z,1754761238.341 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.089058 target range: 9.600000 and range: 9.60 m.
2025-08-09T17:40:38.448Z,1754761238.448 [DAT](INFO): checking for new query: numPingsReceived=15, elapsed TxPingTime=2.259382
2025-08-09T17:40:38.695Z,1754761238.695 [DAT](INFO): checking for new query: numPingsReceived=15, elapsed TxPingTime=2.507655
2025-08-09T17:40:38.728Z,1754761238.728 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 9.60 m. 9.60 m.
2025-08-09T17:40:38.731Z,1754761238.731 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 9.600000 m,
      nav range: 3.301622 m,
      bearing: 127.389817 deg,
      approach rate: -0.610227 m/s,
      LOS rate: -0.155191 deg/s,
      cmd heading: 119.694216 deg,
      new cmd heading: 119.501698 deg.

2025-08-09T17:40:38.732Z,1754761238.732 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.085698 target range: 9.600000 and range: 9.60 m.
2025-08-09T17:40:38.948Z,1754761238.948 [DAT](INFO): DAT read: Rx Time:17:40:37.9421

2025-08-09T17:40:38.948Z,1754761238.948 [DAT](INFO): Rx dataTimestamp_ set to:1754761238.947985
2025-08-09T17:40:38.949Z,1754761238.949 [DAT](INFO): checking for new query: numPingsReceived=15, elapsed TxPingTime=2.761197
2025-08-09T17:40:39.105Z,1754761239.105 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-09T17:40:39.107Z,1754761239.107 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 9.60 m. 9.60 m.
2025-08-09T17:40:39.110Z,1754761239.110 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 9.600000 m,
      nav range: 3.070234 m,
      bearing: 127.377045 deg,
      approach rate: -0.609821 m/s,
      LOS rate: -0.036197 deg/s,
      cmd heading: 119.501700 deg,
      new cmd heading: 119.460496 deg.

2025-08-09T17:40:39.111Z,1754761239.111 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.084979 target range: 9.600000 and range: 9.60 m.
2025-08-09T17:40:39.200Z,1754761239.200 [DAT](INFO): checking for new query: numPingsReceived=15, elapsed TxPingTime=3.011741
2025-08-09T17:40:39.456Z,1754761239.456 [DAT](INFO): checking for new query: numPingsReceived=15, elapsed TxPingTime=3.267195
2025-08-09T17:40:39.553Z,1754761239.553 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 9.60 m. 9.60 m.
2025-08-09T17:40:39.555Z,1754761239.555 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 9.600000 m,
      nav range: 2.802250 m,
      bearing: 127.382055 deg,
      approach rate: -0.601759 m/s,
      LOS rate: 0.012326 deg/s,
      cmd heading: 119.460500 deg,
      new cmd heading: 119.476968 deg.

2025-08-09T17:40:39.556Z,1754761239.556 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.085266 target range: 9.600000 and range: 9.60 m.
2025-08-09T17:40:39.709Z,1754761239.709 [DAT](INFO): DAT read: 17:40:37.9421 LVL= 28000, 32753, 17842, 30899, AGC= 43, IDX= 406,-0.02, 0.515,-1.029, 0.987, 0.763, PHS=-0.146,-1.747, 0.180, RAW= 159.1,  18.7, CAL= 160.7,  23.9, ROT= 349.3, -23.9

2025-08-09T17:40:39.710Z,1754761239.710 [DAT](INFO): got valid direction response:
 17:40:37.9421 LVL= 28000, 32753, 17842, 30899, AGC= 43, IDX= 406,-0.02, 0.515,-1.029, 0.987, 0.763, PHS=-0.146,-1.747, 0.180, RAW= 159.1,  18.7, CAL= 160.7,  23.9, ROT= 349.3, -23.9

2025-08-09T17:40:39.711Z,1754761239.711 [DAT](INFO): DAT read: Bearing 313.3, -14.3 (Local)

2025-08-09T17:40:39.711Z,1754761239.711 [DAT](INFO): Local bearing/azimuth received:
 Bearing 313.3, -14.3 (Local)

2025-08-09T17:40:39.713Z,1754761239.713 [DAT](INFO): DAT read: Range 11 to 50 : 3.0 m  (Round-trip  4.1 ms) speed  0.5 m/s

2025-08-09T17:40:39.713Z,1754761239.713 [DAT](INFO): DAT read: user:680>

2025-08-09T17:40:39.714Z,1754761239.714 [DAT](INFO): DAT read: Tx time:17:40:39.0339

2025-08-09T17:40:39.714Z,1754761239.714 [DAT](INFO): Ping request sent.
2025-08-09T17:40:39.714Z,1754761239.714 [DAT](INFO): transmitted an acoustic signal
2025-08-09T17:40:39.715Z,1754761239.715 [DAT](INFO): #Rx 16: Read range and direction messages.
2025-08-09T17:40:39.716Z,1754761239.716 [DAT](INFO): direction in FSK: [0.898358,-0.169746,0.405142]
2025-08-09T17:40:39.716Z,1754761239.716 [DAT](INFO): publishing transmit ping time
2025-08-09T17:40:39.716Z,1754761239.716 [DAT](INFO): publishing direction and range info
2025-08-09T17:40:39.719Z,1754761239.719 [DAT](INFO): publishing transmit ping time
2025-08-09T17:40:39.720Z,1754761239.720 [DAT](INFO): publishing direction and range info
2025-08-09T17:40:39.728Z,1754761239.728 [DAT](INFO): checking for new query: numPingsReceived=16, elapsed TxPingTime=0.013473
2025-08-09T17:40:39.955Z,1754761239.955 [DAT](INFO): checking for new query: numPingsReceived=16, elapsed TxPingTime=0.240958
2025-08-09T17:40:39.957Z,1754761239.957 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 3.000000 m,
      deltaT: 3.527925 s,
      deltaX: -2.100000 m,
      approachRate: -0.595251 m/s,
      rangeRepo size: 4

2025-08-09T17:40:39.977Z,1754761239.977 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 3.000000 m,
      bearing: 122.263243 deg,
      lat: 36.906111 deg,
      lon: -122.115908 deg,
      deltaT: 10.583281 s,
      deltaX: -6.600000 m,
      approachRate: -0.623625 m/s,
      posRepo size: 4

2025-08-09T17:40:39.978Z,1754761239.978 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Intercept lockout. Range: 3.00 m.
2025-08-09T17:40:39.978Z,1754761239.978 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Transitioning guidance mode to: INTERCEPT_LOCKOUT
2025-08-09T17:40:40.207Z,1754761240.207 [DAT](INFO): checking for new query: numPingsReceived=16, elapsed TxPingTime=0.492825
2025-08-09T17:40:40.462Z,1754761240.462 [DAT](INFO): checking for new query: numPingsReceived=16, elapsed TxPingTime=0.746961
2025-08-09T17:40:40.711Z,1754761240.711 [DAT](INFO): checking for new query: numPingsReceived=16, elapsed TxPingTime=0.996800
2025-08-09T17:40:40.963Z,1754761240.963 [DAT](INFO): checking for new query: numPingsReceived=16, elapsed TxPingTime=1.248822
2025-08-09T17:40:41.125Z,1754761241.125 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-09T17:40:41.217Z,1754761241.217 [DAT](INFO): checking for new query: numPingsReceived=16, elapsed TxPingTime=1.502406
2025-08-09T17:40:41.470Z,1754761241.470 [DAT](INFO): checking for new query: numPingsReceived=16, elapsed TxPingTime=1.754896
2025-08-09T17:40:41.720Z,1754761241.720 [DAT](INFO): checking for new query: numPingsReceived=16, elapsed TxPingTime=2.005428
2025-08-09T17:40:41.977Z,1754761241.977 [DAT](INFO): checking for new query: numPingsReceived=16, elapsed TxPingTime=2.262613
2025-08-09T17:40:42.227Z,1754761242.227 [DAT](INFO): checking for new query: numPingsReceived=16, elapsed TxPingTime=2.512753
2025-08-09T17:40:42.482Z,1754761242.482 [DAT](INFO): DAT read: Rx Time:17:40:41.4402

2025-08-09T17:40:42.484Z,1754761242.484 [DAT](INFO): Rx dataTimestamp_ set to:1754761242.482965
2025-08-09T17:40:42.486Z,1754761242.486 [DAT](INFO): checking for new query: numPingsReceived=16, elapsed TxPingTime=2.770721
2025-08-09T17:40:42.731Z,1754761242.731 [DAT](INFO): checking for new query: numPingsReceived=16, elapsed TxPingTime=3.016949
2025-08-09T17:40:42.999Z,1754761242.999 [DAT](INFO): DAT read: 17:40:41.4402 LVL= 32752, 32753, 20754, 32755, AGC= 41, IDX= 418, 0.43, 2.237, 2.797, 1.566,-2.898, PHS=-1.046,-0.544,-1.864, RAW=   7.8,  46.6, CAL=   6.5,  51.2, ROT= 143.5, -51.2

2025-08-09T17:40:43.008Z,1754761243.008 [DAT](INFO): got valid direction response:
 17:40:41.4402 LVL= 32752, 32753, 20754, 32755, AGC= 41, IDX= 418, 0.43, 2.237, 2.797, 1.566,-2.898, PHS=-1.046,-0.544,-1.864, RAW=   7.8,  46.6, CAL=   6.5,  51.2, ROT= 143.5, -51.2

2025-08-09T17:40:43.009Z,1754761243.009 [DAT](INFO): DAT read: Bearing  44.6,  13.5 (Local)

2025-08-09T17:40:43.009Z,1754761243.009 [DAT](INFO): Local bearing/azimuth received:
 Bearing  44.6,  13.5 (Local)

2025-08-09T17:40:43.014Z,1754761243.014 [DAT](INFO): DAT read: Range 11 to 50 : 1.5 m  (Round-trip  2.1 ms) speed  0.0 m/s

2025-08-09T17:40:43.017Z,1754761243.017 [DAT](INFO): DAT read: user:681>

2025-08-09T17:40:43.027Z,1754761243.027 [DAT](INFO): DAT read: Tx time:17:40:42.5339

2025-08-09T17:40:43.028Z,1754761243.028 [DAT](INFO): Ping request sent.
2025-08-09T17:40:43.028Z,1754761243.028 [DAT](INFO): transmitted an acoustic signal
2025-08-09T17:40:43.028Z,1754761243.028 [DAT](INFO): #Rx 17: Read range and direction messages.
2025-08-09T17:40:43.030Z,1754761243.030 [DAT](INFO): direction in FSK: [-0.503700,0.372718,0.779338]
2025-08-09T17:40:43.030Z,1754761243.030 [DAT](INFO): publishing transmit ping time
2025-08-09T17:40:43.036Z,1754761243.036 [DAT](INFO): publishing direction and range info
2025-08-09T17:40:43.057Z,1754761243.057 [DAT](INFO): publishing transmit ping time
2025-08-09T17:40:43.057Z,1754761243.057 [DAT](INFO): publishing direction and range info
2025-08-09T17:40:43.069Z,1754761243.069 [DAT](INFO): checking for new query: numPingsReceived=17, elapsed TxPingTime=0.040989
2025-08-09T17:40:43.177Z,1754761243.177 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 1.500000 m,
      deltaT: 3.281206 s,
      deltaX: -1.500000 m,
      approachRate: -0.457149 m/s,
      rangeRepo size: 4

2025-08-09T17:40:43.196Z,1754761243.196 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 1.500000 m,
      bearing: 110.340673 deg,
      lat: 36.906113 deg,
      lon: -122.115908 deg,
      deltaT: 3.281206 s,
      deltaX: -1.500000 m,
      approachRate: -0.457149 m/s,
      posRepo size: 4

2025-08-09T17:40:43.196Z,1754761243.196 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Starting intercept timer at range: 1.50 m.
2025-08-09T17:40:43.197Z,1754761243.197 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Starting latch delay timer at range: 1.50 m.
2025-08-09T17:40:43.197Z,1754761243.197 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Cable is present.
2025-08-09T17:40:43.237Z,1754761243.237 [DAT](INFO): checking for new query: numPingsReceived=17, elapsed TxPingTime=0.209598
2025-08-09T17:40:43.490Z,1754761243.490 [DAT](INFO): checking for new query: numPingsReceived=17, elapsed TxPingTime=0.461936
2025-08-09T17:40:43.608Z,1754761243.608 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-09T17:40:43.645Z,1754761243.645 [DockingStepper](INFO): Changing to mode: 1
2025-08-09T17:40:43.740Z,1754761243.740 [DAT](INFO): checking for new query: numPingsReceived=17, elapsed TxPingTime=0.712824
2025-08-09T17:40:43.992Z,1754761243.992 [DAT](INFO): checking for new query: numPingsReceived=17, elapsed TxPingTime=0.964118
2025-08-09T17:40:44.243Z,1754761244.243 [DAT](INFO): checking for new query: numPingsReceived=17, elapsed TxPingTime=1.215757
2025-08-09T17:40:44.498Z,1754761244.498 [DAT](INFO): checking for new query: numPingsReceived=17, elapsed TxPingTime=1.469744
2025-08-09T17:40:44.747Z,1754761244.747 [DAT](INFO): checking for new query: numPingsReceived=17, elapsed TxPingTime=1.719843
2025-08-09T17:40:44.999Z,1754761244.999 [DAT](INFO): checking for new query: numPingsReceived=17, elapsed TxPingTime=1.971688
2025-08-09T17:40:45.251Z,1754761245.251 [DAT](INFO): checking for new query: numPingsReceived=17, elapsed TxPingTime=2.223655
2025-08-09T17:40:45.506Z,1754761245.506 [DAT](INFO): checking for new query: numPingsReceived=17, elapsed TxPingTime=2.477991
2025-08-09T17:40:45.613Z,1754761245.613 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-09T17:40:45.756Z,1754761245.756 [DAT](INFO): checking for new query: numPingsReceived=17, elapsed TxPingTime=2.728878
2025-08-09T17:40:46.007Z,1754761246.007 [DAT](INFO): DAT read: Rx Time:17:40:44.9396

2025-08-09T17:40:46.008Z,1754761246.008 [DAT](INFO): Rx dataTimestamp_ set to:1754761246.007469
2025-08-09T17:40:46.008Z,1754761246.008 [DAT](INFO): checking for new query: numPingsReceived=17, elapsed TxPingTime=2.980771
2025-08-09T17:40:46.259Z,1754761246.259 [DAT](INFO): checking for new query: numPingsReceived=17, elapsed TxPingTime=3.231705
2025-08-09T17:40:46.532Z,1754761246.532 [DAT](INFO): DAT read: 17:40:44.9396 LVL= 30128, 21073, 26290, 27763, AGC= 39, IDX= 428, 0.22, 1.906, 1.722, 0.603, 2.783, PHS=-0.775,-1.016,-2.224, RAW=  38.9,  46.5, CAL=  37.0,  51.6, ROT= 113.0, -51.6

2025-08-09T17:40:46.547Z,1754761246.547 [DAT](INFO): got valid direction response:
 17:40:44.9396 LVL= 30128, 21073, 26290, 27763, AGC= 39, IDX= 428, 0.22, 1.906, 1.722, 0.603, 2.783, PHS=-0.775,-1.016,-2.224, RAW=  38.9,  46.5, CAL=  37.0,  51.6, ROT= 113.0, -51.6

2025-08-09T17:40:46.556Z,1754761246.556 [DAT](INFO): DAT read: Bearing  30.2,  35.4 (Local)

2025-08-09T17:40:46.558Z,1754761246.558 [DAT](INFO): Local bearing/azimuth received:
 Bearing  30.2,  35.4 (Local)

2025-08-09T17:40:46.571Z,1754761246.571 [DAT](INFO): DAT read: Range 11 to 50 : 1.1 m  (Round-trip  1.5 ms) speed  0.0 m/s

2025-08-09T17:40:46.572Z,1754761246.572 [DAT](INFO): DAT read: user:682>

2025-08-09T17:40:46.573Z,1754761246.573 [DAT](INFO): DAT read: Tx time:17:40:46.0339

2025-08-09T17:40:46.574Z,1754761246.574 [DAT](INFO): Ping request sent.
2025-08-09T17:40:46.574Z,1754761246.574 [DAT](INFO): transmitted an acoustic signal
2025-08-09T17:40:46.579Z,1754761246.579 [DAT](INFO): #Rx 18: Read range and direction messages.
2025-08-09T17:40:46.580Z,1754761246.580 [DAT](INFO): direction in FSK: [-0.242702,0.571770,0.783693]
2025-08-09T17:40:46.581Z,1754761246.581 [DAT](INFO): publishing transmit ping time
2025-08-09T17:40:46.581Z,1754761246.581 [DAT](INFO): publishing direction and range info
2025-08-09T17:40:46.601Z,1754761246.601 [DAT](INFO): publishing transmit ping time
2025-08-09T17:40:46.601Z,1754761246.601 [DAT](INFO): publishing direction and range info
2025-08-09T17:40:46.612Z,1754761246.612 [DAT](INFO): checking for new query: numPingsReceived=18, elapsed TxPingTime=0.038483
2025-08-09T17:40:46.763Z,1754761246.763 [DAT](INFO): checking for new query: numPingsReceived=18, elapsed TxPingTime=0.189287
2025-08-09T17:40:46.836Z,1754761246.836 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 1.100000 m,
      deltaT: 3.528192 s,
      deltaX: -0.400000 m,
      approachRate: -0.113373 m/s,
      rangeRepo size: 4

2025-08-09T17:40:46.838Z,1754761246.838 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 1.100000 m,
      bearing: 323.072639 deg,
      lat: 36.906113 deg,
      lon: -122.115910 deg,
      deltaT: 3.528192 s,
      deltaX: -0.400000 m,
      approachRate: -0.113373 m/s,
      posRepo size: 4

2025-08-09T17:40:47.015Z,1754761247.015 [DAT](INFO): checking for new query: numPingsReceived=18, elapsed TxPingTime=0.441395
2025-08-09T17:40:47.268Z,1754761247.268 [DAT](INFO): checking for new query: numPingsReceived=18, elapsed TxPingTime=0.694467
2025-08-09T17:40:47.520Z,1754761247.520 [DAT](INFO): checking for new query: numPingsReceived=18, elapsed TxPingTime=0.946475
2025-08-09T17:40:47.648Z,1754761247.648 [RDI_Pathfinder](ERROR): only read 2 of 4 data items for water velocity. Device response is::WS,-2768,-32768,V
2025-08-09T17:40:47.682Z,1754761247.682 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-09T17:40:47.771Z,1754761247.771 [DAT](INFO): checking for new query: numPingsReceived=18, elapsed TxPingTime=1.197441
2025-08-09T17:40:48.023Z,1754761248.023 [DAT](INFO): checking for new query: numPingsReceived=18, elapsed TxPingTime=1.449446
2025-08-09T17:40:48.275Z,1754761248.275 [DAT](INFO): checking for new query: numPingsReceived=18, elapsed TxPingTime=1.701411
2025-08-09T17:40:48.527Z,1754761248.527 [DAT](INFO): checking for new query: numPingsReceived=18, elapsed TxPingTime=1.953515
2025-08-09T17:40:48.779Z,1754761248.779 [DAT](INFO): checking for new query: numPingsReceived=18, elapsed TxPingTime=2.205490
2025-08-09T17:40:49.031Z,1754761249.031 [DAT](INFO): checking for new query: numPingsReceived=18, elapsed TxPingTime=2.457391
2025-08-09T17:40:49.284Z,1754761249.284 [DAT](INFO): checking for new query: numPingsReceived=18, elapsed TxPingTime=2.709694
2025-08-09T17:40:49.482Z,1754761249.482 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](IMPORTANT): Docking sequence complete at range 1.10 m. Lat: 36.906113 Lon: -122.115910 Cable present.
2025-08-09T17:40:49.482Z,1754761249.482 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture] Stopped
2025-08-09T17:40:49.482Z,1754761249.482 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Transitioning guidance mode to: UNINITIALIZED
2025-08-09T17:40:49.483Z,1754761249.483 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:H] Running Loop=1
2025-08-09T17:40:49.537Z,1754761249.537 [DAT](INFO): DAT read: Rx Time:17:40:48.4396

2025-08-09T17:40:49.537Z,1754761249.537 [DAT](INFO): Rx dataTimestamp_ set to:1754761249.536825
2025-08-09T17:40:49.538Z,1754761249.538 [DAT](INFO): checking for new query: numPingsReceived=18, elapsed TxPingTime=2.964156
2025-08-09T17:40:49.787Z,1754761249.787 [DAT](INFO): checking for new query: numPingsReceived=18, elapsed TxPingTime=3.213445
2025-08-09T17:40:49.913Z,1754761249.913 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-09T17:40:49.915Z,1754761249.915 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:H](INFO): Docked. Homing sequence complete.
2025-08-09T17:40:49.915Z,1754761249.915 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:H] Stopped
2025-08-09T17:40:49.915Z,1754761249.915 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:I] Running Loop=1
2025-08-09T17:40:50.045Z,1754761250.045 [DAT](INFO): DAT read: 17:40:48.4396 LVL= 20416, 21265, 19954, 23347, AGC= 40, IDX= 444,-0.11,-2.130,-2.533, 2.741,-1.239, PHS=-0.789,-1.250,-2.347, RAW=  46.7,  48.2, CAL=  44.4,  53.1, ROT= 105.6, -53.1

2025-08-09T17:40:50.046Z,1754761250.046 [DAT](INFO): got valid direction response:
 17:40:48.4396 LVL= 20416, 21265, 19954, 23347, AGC= 40, IDX= 444,-0.11,-2.130,-2.533, 2.741,-1.239, PHS=-0.789,-1.250,-2.347, RAW=  46.7,  48.2, CAL=  44.4,  53.1, ROT= 105.6, -53.1

2025-08-09T17:40:50.051Z,1754761250.051 [DAT](INFO): DAT read: Bearing  21.9,  34.9 (Local)

2025-08-09T17:40:50.052Z,1754761250.052 [DAT](INFO): Local bearing/azimuth received:
 Bearing  21.9,  34.9 (Local)

2025-08-09T17:40:50.053Z,1754761250.053 [DAT](INFO): DAT read: Range 11 to 50 : 1.1 m  (Round-trip  1.5 ms) speed  0.0 m/s

2025-08-09T17:40:50.054Z,1754761250.054 [DAT](INFO): DAT read: user:683>

2025-08-09T17:40:50.059Z,1754761250.059 [DAT](INFO): DAT read: Tx time:17:40:49.5339

2025-08-09T17:40:50.059Z,1754761250.059 [DAT](INFO): Ping request sent.
2025-08-09T17:40:50.059Z,1754761250.059 [DAT](INFO): transmitted an acoustic signal
2025-08-09T17:40:50.060Z,1754761250.060 [DAT](INFO): #Rx 19: Read range and direction messages.
2025-08-09T17:40:50.061Z,1754761250.061 [DAT](INFO): direction in FSK: [-0.161465,0.578302,0.799685]
2025-08-09T17:40:50.062Z,1754761250.062 [DAT](INFO): publishing transmit ping time
2025-08-09T17:40:50.062Z,1754761250.062 [DAT](INFO): publishing direction and range info
2025-08-09T17:40:50.075Z,1754761250.075 [DAT](INFO): publishing transmit ping time
2025-08-09T17:40:50.075Z,1754761250.075 [DAT](INFO): publishing direction and range info
2025-08-09T17:40:50.084Z,1754761250.084 [DAT](INFO): checking for new query: numPingsReceived=19, elapsed TxPingTime=0.024032
2025-08-09T17:40:50.291Z,1754761250.291 [DAT](INFO): checking for new query: numPingsReceived=19, elapsed TxPingTime=0.231805
2025-08-09T17:40:50.397Z,1754761250.397 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:I] Stopped
2025-08-09T17:40:50.398Z,1754761250.398 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide](INFO): Completed lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide
2025-08-09T17:40:50.398Z,1754761250.398 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide] Stopped
2025-08-09T17:40:50.398Z,1754761250.398 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide](DEBUG): Aggregate::uninitialize lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide
2025-08-09T17:40:50.398Z,1754761250.398 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:altitudeControl] Stopped
2025-08-09T17:40:50.398Z,1754761250.398 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:altitudeControl](DEBUG): Aggregate::uninitialize lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:altitudeControl
2025-08-09T17:40:50.398Z,1754761250.398 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:altitudeControl:A.AltitudeServo] Stopped
2025-08-09T17:40:50.399Z,1754761250.399 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:altitudeControl:A.AltitudeServo](DEBUG): Uninitialize.
2025-08-09T17:40:50.399Z,1754761250.399 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:E] Stopped
2025-08-09T17:40:50.399Z,1754761250.399 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:F] Stopped
2025-08-09T17:40:50.399Z,1754761250.399 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance](INFO): Completed lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance
2025-08-09T17:40:50.543Z,1754761250.543 [DAT](INFO): checking for new query: numPingsReceived=19, elapsed TxPingTime=0.483771
2025-08-09T17:40:50.776Z,1754761250.776 [lineCaptureHoming:UpdateNumPings_Terminal] Stopped
2025-08-09T17:40:50.776Z,1754761250.776 [lineCaptureHoming:UpdateNumPings_Terminal](DEBUG): Aggregate::uninitialize lineCaptureHoming:UpdateNumPings_Terminal
2025-08-09T17:40:50.776Z,1754761250.776 [lineCaptureHoming:UpdateNumPings_NotTerminal] Running Loop=1
2025-08-09T17:40:50.776Z,1754761250.776 [lineCaptureHoming:UpdateNumPings_NotTerminal](DEBUG): Aggregate::initialize lineCaptureHoming:UpdateNumPings_NotTerminal
2025-08-09T17:40:50.776Z,1754761250.776 [lineCaptureHoming:UpdateNumPings_NotTerminal:A] Running Loop=1
2025-08-09T17:40:50.777Z,1754761250.777 [lineCaptureHoming:UpdateNumPings_NotTerminal] Running Loop=1
2025-08-09T17:40:50.777Z,1754761250.777 [lineCaptureHoming:UpdateNumPings_NotTerminal:A](INFO): No longer in Terminal. Resuming normal ranging with  1.000000 count pings.
2025-08-09T17:40:50.777Z,1754761250.777 [lineCaptureHoming:UpdateNumPings_NotTerminal:A] Stopped
2025-08-09T17:40:50.777Z,1754761250.777 [lineCaptureHoming:UpdateNumPings_NotTerminal:B] Running Loop=1
2025-08-09T17:40:50.778Z,1754761250.778 [lineCaptureHoming:LineCapture:HomingSequence] Stopped
2025-08-09T17:40:50.778Z,1754761250.778 [lineCaptureHoming:LineCapture:HomingSequence](DEBUG): Aggregate::uninitialize lineCaptureHoming:LineCapture:HomingSequence
2025-08-09T17:40:50.779Z,1754761250.779 [lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock] Stopped
2025-08-09T17:40:50.779Z,1754761250.779 [lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock](DEBUG): Aggregate::uninitialize lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock
2025-08-09T17:40:50.779Z,1754761250.779 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance] Stopped
2025-08-09T17:40:50.779Z,1754761250.779 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance](DEBUG): Aggregate::uninitialize lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance
2025-08-09T17:40:50.779Z,1754761250.779 [lineCaptureHoming:LineCapture:L.Wait] Running Loop=1
2025-08-09T17:40:50.779Z,1754761250.779 [lineCaptureHoming:LineCapture:L.Wait](DEBUG): Initialize Wait Component.
2025-08-09T17:40:50.798Z,1754761250.798 [DAT](INFO): checking for new query: numPingsReceived=19, elapsed TxPingTime=0.738098
2025-08-09T17:40:51.051Z,1754761251.051 [DAT](INFO): checking for new query: numPingsReceived=19, elapsed TxPingTime=0.991833
2025-08-09T17:40:51.160Z,1754761251.160 [lineCaptureHoming:UpdateNumPings_NotTerminal:B] Stopped
2025-08-09T17:40:51.160Z,1754761251.160 [lineCaptureHoming:UpdateNumPings_NotTerminal:C] Running Loop=1
2025-08-09T17:40:51.303Z,1754761251.303 [DAT](INFO): checking for new query: numPingsReceived=19, elapsed TxPingTime=1.243794
2025-08-09T17:40:51.555Z,1754761251.555 [DAT](INFO): checking for new query: numPingsReceived=19, elapsed TxPingTime=1.495730
2025-08-09T17:40:51.569Z,1754761251.569 [lineCaptureHoming:UpdateNumPings_NotTerminal] Stopped
2025-08-09T17:40:51.569Z,1754761251.569 [lineCaptureHoming:UpdateNumPings_NotTerminal](DEBUG): Aggregate::uninitialize lineCaptureHoming:UpdateNumPings_NotTerminal
2025-08-09T17:40:51.569Z,1754761251.569 [lineCaptureHoming:UpdateNumPings_NotTerminal:C] Stopped
2025-08-09T17:40:51.807Z,1754761251.807 [DAT](INFO): checking for new query: numPingsReceived=19, elapsed TxPingTime=1.747840
2025-08-09T17:40:51.997Z,1754761251.997 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-09T17:40:52.059Z,1754761252.059 [DAT](INFO): checking for new query: numPingsReceived=19, elapsed TxPingTime=1.999743
2025-08-09T17:40:52.311Z,1754761252.311 [DAT](INFO): checking for new query: numPingsReceived=19, elapsed TxPingTime=2.252016
2025-08-09T17:40:52.565Z,1754761252.565 [DAT](INFO): checking for new query: numPingsReceived=19, elapsed TxPingTime=2.505978
2025-08-09T17:40:52.815Z,1754761252.815 [DAT](INFO): checking for new query: numPingsReceived=19, elapsed TxPingTime=2.755886
2025-08-09T17:40:53.068Z,1754761253.068 [DAT](INFO): DAT read: Rx Time:17:40:51.9396

2025-08-09T17:40:53.068Z,1754761253.068 [DAT](INFO): Rx dataTimestamp_ set to:1754761253.067733
2025-08-09T17:40:53.069Z,1754761253.069 [DAT](INFO): checking for new query: numPingsReceived=19, elapsed TxPingTime=3.009111
2025-08-09T17:40:53.319Z,1754761253.319 [DAT](INFO): checking for new query: numPingsReceived=19, elapsed TxPingTime=3.259861
2025-08-09T17:40:53.577Z,1754761253.577 [DAT](INFO): DAT read: 17:40:51.9396 LVL= 18448,  7265, 22930, 24515, AGC= 36, IDX= 444, 0.19, 1.871, 2.555, 0.836, 2.732, PHS=-0.759,-0.132,-1.941, RAW=  10.0,  32.2, CAL=   8.5,  37.9, ROT= 141.5, -37.9

2025-08-09T17:40:53.578Z,1754761253.578 [DAT](INFO): got valid direction response:
 17:40:51.9396 LVL= 18448,  7265, 22930, 24515, AGC= 36, IDX= 444, 0.19, 1.871, 2.555, 0.836, 2.732, PHS=-0.759,-0.132,-1.941, RAW=  10.0,  32.2, CAL=   8.5,  37.9, ROT= 141.5, -37.9

2025-08-09T17:40:53.579Z,1754761253.579 [DAT](INFO): DAT read: Bearing  57.0,  29.5 (Local)

2025-08-09T17:40:53.579Z,1754761253.579 [DAT](INFO): Local bearing/azimuth received:
 Bearing  57.0,  29.5 (Local)

2025-08-09T17:40:53.581Z,1754761253.581 [DAT](INFO): DAT read: Range 11 to 50 : 1.1 m  (Round-trip  1.5 ms) speed  0.0 m/s

2025-08-09T17:40:53.581Z,1754761253.581 [DAT](INFO): DAT read: user:684>

2025-08-09T17:40:53.582Z,1754761253.582 [DAT](INFO): DAT read: Tx time:17:40:53.0339

2025-08-09T17:40:53.582Z,1754761253.582 [DAT](INFO): Ping request sent.
2025-08-09T17:40:53.583Z,1754761253.583 [DAT](INFO): transmitted an acoustic signal
2025-08-09T17:40:53.583Z,1754761253.583 [DAT](INFO): #Rx 20: Read range and direction messages.
2025-08-09T17:40:53.584Z,1754761253.584 [DAT](INFO): direction in FSK: [-0.617544,0.491216,0.614285]
2025-08-09T17:40:53.584Z,1754761253.584 [DAT](INFO): publishing transmit ping time
2025-08-09T17:40:53.584Z,1754761253.584 [DAT](INFO): publishing direction and range info
2025-08-09T17:40:53.592Z,1754761253.592 [DAT](INFO): publishing transmit ping time
2025-08-09T17:40:53.592Z,1754761253.592 [DAT](INFO): publishing direction and range info
2025-08-09T17:40:53.656Z,1754761253.656 [DAT](INFO): checking for new query: numPingsReceived=20, elapsed TxPingTime=0.072511
2025-08-09T17:40:53.823Z,1754761253.823 [DAT](INFO): checking for new query: numPingsReceived=20, elapsed TxPingTime=0.240773
2025-08-09T17:40:54.043Z,1754761254.043 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-09T17:40:54.075Z,1754761254.075 [DAT](INFO): checking for new query: numPingsReceived=20, elapsed TxPingTime=0.492848
2025-08-09T17:40:54.327Z,1754761254.327 [DAT](INFO): checking for new query: numPingsReceived=20, elapsed TxPingTime=0.744694
2025-08-09T17:40:54.409Z,1754761254.409 [lineCaptureHoming:LineCapture:L.Wait](INFO): Done Waiting.
2025-08-09T17:40:54.409Z,1754761254.409 [lineCaptureHoming:LineCapture:L.Wait] Stopped
2025-08-09T17:40:54.409Z,1754761254.409 [lineCaptureHoming:LineCapture:L.Wait](DEBUG): Uninitialize Wait Component.
2025-08-09T17:40:54.409Z,1754761254.409 [lineCaptureHoming:LineCapture:M] Running Loop=1
2025-08-09T17:40:54.579Z,1754761254.579 [DAT](INFO): checking for new query: numPingsReceived=20, elapsed TxPingTime=0.996689
2025-08-09T17:40:54.824Z,1754761254.824 [lineCaptureHoming:LineCapture:M](INFO): GuidanceMode 0.000000 count 
2025-08-09T17:40:54.824Z,1754761254.824 [lineCaptureHoming:LineCapture:M] Stopped
2025-08-09T17:40:54.827Z,1754761254.827 [lineCaptureHoming:LineCapture](INFO): Completed lineCaptureHoming:LineCapture
2025-08-09T17:40:54.827Z,1754761254.827 [lineCaptureHoming:LineCapture] Stopped
2025-08-09T17:40:54.827Z,1754761254.827 [lineCaptureHoming:LineCapture](DEBUG): Aggregate::uninitialize lineCaptureHoming:LineCapture
2025-08-09T17:40:54.827Z,1754761254.827 [lineCaptureHoming:LineCapture:StandardEnvelopes] Stopped
2025-08-09T17:40:54.827Z,1754761254.827 [lineCaptureHoming:LineCapture:StandardEnvelopes](DEBUG): Aggregate::uninitialize lineCaptureHoming:LineCapture:StandardEnvelopes
2025-08-09T17:40:54.827Z,1754761254.827 [lineCaptureHoming:LineCapture:StandardEnvelopes:A.AltitudeEnvelope] Stopped
2025-08-09T17:40:54.827Z,1754761254.827 [lineCaptureHoming:LineCapture:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Uninitialize AltitudeEnvelopeComponent.
2025-08-09T17:40:54.827Z,1754761254.827 [lineCaptureHoming:LineCapture:StandardEnvelopes:B.DepthEnvelope] Stopped
2025-08-09T17:40:54.827Z,1754761254.827 [lineCaptureHoming:LineCapture:StandardEnvelopes:B.DepthEnvelope](DEBUG): Uninitialize.
2025-08-09T17:40:54.827Z,1754761254.827 [lineCaptureHoming:LineCapture:StandardEnvelopes:C.OffshoreEnvelope] Stopped
2025-08-09T17:40:54.827Z,1754761254.827 [lineCaptureHoming:LineCapture:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Uninitialize OffshoreEnvelopeComponent.
2025-08-09T17:40:54.828Z,1754761254.828 [lineCaptureHoming:LineCapture:G] Stopped
2025-08-09T17:40:54.828Z,1754761254.828 [lineCaptureHoming:LineCapture:H] Stopped
2025-08-09T17:40:54.828Z,1754761254.828 [lineCaptureHoming:LineCapture:HoldMass] Stopped
2025-08-09T17:40:54.828Z,1754761254.828 [lineCaptureHoming:LineCapture:HoldMass](DEBUG): Aggregate::uninitialize lineCaptureHoming:LineCapture:HoldMass
2025-08-09T17:40:54.828Z,1754761254.828 [lineCaptureHoming:LineCapture:HoldMass:A] Stopped
2025-08-09T17:40:54.828Z,1754761254.828 [lineCaptureHoming:LineCapture:HoldMass:B.Mass] Stopped
2025-08-09T17:40:54.828Z,1754761254.828 [lineCaptureHoming:LineCapture:HoldMass:B.Mass](DEBUG): Uninitialize.
2025-08-09T17:40:54.828Z,1754761254.828 [lineCaptureHoming:LineCapture:HoldBuoyancy] Stopped
2025-08-09T17:40:54.828Z,1754761254.828 [lineCaptureHoming:LineCapture:HoldBuoyancy](DEBUG): Aggregate::uninitialize lineCaptureHoming:LineCapture:HoldBuoyancy
2025-08-09T17:40:54.828Z,1754761254.828 [lineCaptureHoming:LineCapture:HoldBuoyancy:A.Buoyancy] Stopped
2025-08-09T17:40:54.828Z,1754761254.828 [lineCaptureHoming:LineCapture:HoldBuoyancy:A.Buoyancy](DEBUG): Uninitialize Buoyancy Component.
2025-08-09T17:40:54.831Z,1754761254.831 [DAT](INFO): checking for new query: numPingsReceived=20, elapsed TxPingTime=1.248854
2025-08-09T17:40:55.083Z,1754761255.083 [DAT](INFO): checking for new query: numPingsReceived=20, elapsed TxPingTime=1.500859
2025-08-09T17:40:55.209Z,1754761255.209 [lineCaptureHoming:Lap:B](INFO): Completed lineCaptureHoming:Lap:B
2025-08-09T17:40:55.210Z,1754761255.210 [lineCaptureHoming:Lap:B] Stopped
2025-08-09T17:40:55.210Z,1754761255.210 [lineCaptureHoming:Lap:B](DEBUG): Aggregate::uninitialize lineCaptureHoming:Lap:B
2025-08-09T17:40:55.210Z,1754761255.210 [lineCaptureHoming:Lap:C] Running Loop=1
2025-08-09T17:40:55.337Z,1754761255.337 [DAT](INFO): checking for new query: numPingsReceived=20, elapsed TxPingTime=1.753915
2025-08-09T17:40:55.587Z,1754761255.587 [DAT](INFO): checking for new query: numPingsReceived=20, elapsed TxPingTime=2.004867
2025-08-09T17:40:55.608Z,1754761255.608 [lineCaptureHoming:Lap:C] Stopped
2025-08-09T17:40:55.609Z,1754761255.609 [lineCaptureHoming:Lap:D] Running Loop=1
2025-08-09T17:40:55.840Z,1754761255.840 [DAT](INFO): checking for new query: numPingsReceived=20, elapsed TxPingTime=2.257434
2025-08-09T17:40:56.042Z,1754761256.042 [lineCaptureHoming:Lap:D](INFO): Mode 0.000000 count 
2025-08-09T17:40:56.043Z,1754761256.043 [lineCaptureHoming:Lap:D] Stopped
2025-08-09T17:40:56.043Z,1754761256.043 [lineCaptureHoming:Lap:E] Running Loop=1
2025-08-09T17:40:56.043Z,1754761256.043 [lineCaptureHoming:Lap:E](DEBUG): Aggregate::initialize lineCaptureHoming:Lap:E
2025-08-09T17:40:56.043Z,1754761256.043 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-09T17:40:56.092Z,1754761256.092 [DAT](INFO): checking for new query: numPingsReceived=20, elapsed TxPingTime=2.508920
2025-08-09T17:40:56.344Z,1754761256.344 [DAT](INFO): checking for new query: numPingsReceived=20, elapsed TxPingTime=2.761060
2025-08-09T17:40:56.432Z,1754761256.432 [lineCaptureHoming:restartDHCP] Running Loop=1
2025-08-09T17:40:56.432Z,1754761256.432 [lineCaptureHoming:restartDHCP](DEBUG): Aggregate::initialize lineCaptureHoming:restartDHCP
2025-08-09T17:40:56.432Z,1754761256.432 [lineCaptureHoming:restartDHCP:A] Running Loop=1
2025-08-09T17:40:56.433Z,1754761256.433 [lineCaptureHoming:restartDHCP:A](INFO): Restarting DHCP...
2025-08-09T17:40:56.433Z,1754761256.433 [lineCaptureHoming:restartDHCP:A] Stopped
2025-08-09T17:40:56.433Z,1754761256.433 [lineCaptureHoming:restartDHCP:B.Execute] Running Loop=1
2025-08-09T17:40:56.595Z,1754761256.595 [DAT](INFO): DAT read: Rx Time:17:40:55.4396

2025-08-09T17:40:56.596Z,1754761256.596 [DAT](INFO): Rx dataTimestamp_ set to:1754761256.595460
2025-08-09T17:40:56.596Z,1754761256.596 [DAT](INFO): checking for new query: numPingsReceived=20, elapsed TxPingTime=3.013734
2025-08-09T17:40:56.848Z,1754761256.848 [DAT](INFO): checking for new query: numPingsReceived=20, elapsed TxPingTime=3.265354
2025-08-09T17:40:56.868Z,1754761256.868 [lineCaptureHoming:restartDHCP:B.Execute](INFO): Executing command ! /mnt/mmc/LRAUV/Tools/dhcp.sh
2025-08-09T17:40:56.868Z,1754761256.868 [lineCaptureHoming:restartDHCP:B.Execute] Stopped
2025-08-09T17:40:56.868Z,1754761256.868 [lineCaptureHoming:restartDHCP](INFO): Completed lineCaptureHoming:restartDHCP
2025-08-09T17:40:56.869Z,1754761256.869 [lineCaptureHoming:restartDHCP] Stopped
2025-08-09T17:40:56.869Z,1754761256.869 [lineCaptureHoming:restartDHCP](DEBUG): Aggregate::uninitialize lineCaptureHoming:restartDHCP
2025-08-09T17:40:56.959Z,1754761256.959 [CommandExec](IMPORTANT): got command ! /mnt/mmc/LRAUV/Tools/dhcp.sh
2025-08-09T17:40:57.106Z,1754761257.106 [DAT](INFO): DAT read: 17:40:55.4396 LVL= 16512,  8177, 21714, 22755, AGC= 36, IDX= 444, 0.03, 2.371, 1.398, 1.234,-3.118, PHS=-0.692,-1.722,-1.975, RAW=  79.3,  52.8, CAL=  77.0,  58.3, ROT=  73.0, -58.3

2025-08-09T17:40:57.107Z,1754761257.107 [DAT](INFO): got valid direction response:
 17:40:55.4396 LVL= 16512,  8177, 21714, 22755, AGC= 36, IDX= 444, 0.03, 2.371, 1.398, 1.234,-3.118, PHS=-0.692,-1.722,-1.975, RAW=  79.3,  52.8, CAL=  77.0,  58.3, ROT=  73.0, -58.3

2025-08-09T17:40:57.108Z,1754761257.108 [DAT](INFO): DAT read: Bearing   1.2,  30.7 (Local)

2025-08-09T17:40:57.109Z,1754761257.109 [DAT](INFO): Local bearing/azimuth received:
 Bearing   1.2,  30.7 (Local)

2025-08-09T17:40:57.110Z,1754761257.110 [DAT](INFO): DAT read: Range 11 to 50 : 1.1 m  (Round-trip  1.5 ms) speed  0.0 m/s

2025-08-09T17:40:57.111Z,1754761257.111 [DAT](INFO): DAT read: user:685>

2025-08-09T17:40:57.112Z,1754761257.112 [DAT](INFO): DAT read: Tx time:17:40:56.5339

2025-08-09T17:40:57.112Z,1754761257.112 [DAT](INFO): Ping request sent.
2025-08-09T17:40:57.112Z,1754761257.112 [DAT](INFO): transmitted an acoustic signal
2025-08-09T17:40:57.113Z,1754761257.113 [DAT](INFO): #Rx 21: Read range and direction messages.
2025-08-09T17:40:57.114Z,1754761257.114 [DAT](INFO): direction in FSK: [0.153633,0.502511,0.850811]
2025-08-09T17:40:57.114Z,1754761257.114 [DAT](INFO): publishing transmit ping time
2025-08-09T17:40:57.115Z,1754761257.115 [DAT](INFO): publishing direction and range info
2025-08-09T17:40:57.123Z,1754761257.123 [DAT](INFO): publishing transmit ping time
2025-08-09T17:40:57.123Z,1754761257.123 [DAT](INFO): publishing direction and range info
2025-08-09T17:40:57.132Z,1754761257.132 [DAT](INFO): checking for new query: numPingsReceived=21, elapsed TxPingTime=0.019454
2025-08-09T17:40:57.279Z,1754761257.279 [lineCaptureHoming:Lap:E](INFO): Completed lineCaptureHoming:Lap:E
2025-08-09T17:40:57.279Z,1754761257.279 [lineCaptureHoming:Lap:E] Stopped
2025-08-09T17:40:57.279Z,1754761257.279 [lineCaptureHoming:Lap:E](DEBUG): Aggregate::uninitialize lineCaptureHoming:Lap:E
2025-08-09T17:40:57.280Z,1754761257.280 [lineCaptureHoming:Lap:Docked] Running Loop=1
2025-08-09T17:40:57.280Z,1754761257.280 [lineCaptureHoming:Lap:Docked](DEBUG): Aggregate::initialize lineCaptureHoming:Lap:Docked
2025-08-09T17:40:57.280Z,1754761257.280 [lineCaptureHoming:Lap:Docked:A] Running Loop=1
2025-08-09T17:40:57.352Z,1754761257.352 [DAT](INFO): checking for new query: numPingsReceived=21, elapsed TxPingTime=0.239324
2025-08-09T17:40:57.604Z,1754761257.604 [DAT](INFO): checking for new query: numPingsReceived=21, elapsed TxPingTime=0.491903
2025-08-09T17:40:57.712Z,1754761257.712 [lineCaptureHoming:Lap:Docked:A](INFO): Waiting on dock for  5.000000 min 
2025-08-09T17:40:57.713Z,1754761257.713 [lineCaptureHoming:Lap:Docked:A] Stopped
2025-08-09T17:40:57.713Z,1754761257.713 [lineCaptureHoming:Lap:Docked:C] Running Loop=1
2025-08-09T17:40:57.740Z,1754761257.740 [CommandExec](IMPORTANT): /mnt/mmc/started/2025-08-09UTC174057_sh
  
2025-08-09T17:40:57.857Z,1754761257.857 [DAT](INFO): checking for new query: numPingsReceived=21, elapsed TxPingTime=0.744324
2025-08-09T17:40:58.107Z,1754761258.107 [DAT](INFO): checking for new query: numPingsReceived=21, elapsed TxPingTime=0.995215
2025-08-09T17:40:58.148Z,1754761258.148 [lineCaptureHoming:Lap:Docked:C] Stopped
2025-08-09T17:40:58.148Z,1754761258.148 [lineCaptureHoming:Lap:Docked:D] Running Loop=1
2025-08-09T17:40:58.361Z,1754761258.361 [DAT](INFO): checking for new query: numPingsReceived=21, elapsed TxPingTime=1.248071
2025-08-09T17:40:58.441Z,1754761258.441 [lineCaptureHoming:Lap:Docked:D] Stopped
2025-08-09T17:40:58.441Z,1754761258.441 [lineCaptureHoming:Lap:Docked:Docked.Docked] Running Loop=1
2025-08-09T17:40:58.441Z,1754761258.441 [lineCaptureHoming:Lap:Docked:Docked.Docked](DEBUG): Initialize.
2025-08-09T17:40:58.441Z,1754761258.441 [lineCaptureHoming:Lap:Docked:Docked.Docked](DEBUG): Initializing internal variables to default values.
2025-08-09T17:40:58.611Z,1754761258.611 [DAT](INFO): checking for new query: numPingsReceived=21, elapsed TxPingTime=1.499068
2025-08-09T17:40:58.872Z,1754761258.872 [DAT](INFO): checking for new query: numPingsReceived=21, elapsed TxPingTime=1.759560
2025-08-09T17:40:58.899Z,1754761258.899 [lineCaptureHoming:Lap:Docked:Docked.Docked](IMPORTANT): Slide state transition from 3 to 1
2025-08-09T17:40:58.900Z,1754761258.900 [lineCaptureHoming:Lap:Docked:Docked.Docked](INFO): No local IP found
2025-08-09T17:40:59.124Z,1754761259.124 [DAT](INFO): checking for new query: numPingsReceived=21, elapsed TxPingTime=2.011300
2025-08-09T17:40:59.375Z,1754761259.375 [DAT](INFO): checking for new query: numPingsReceived=21, elapsed TxPingTime=2.263161
2025-08-09T17:40:59.376Z,1754761259.376 [DAT](IMPORTANT): Requesting device enable set for address 50.
2025-08-09T17:40:59.627Z,1754761259.627 [DAT](INFO): checking for new query: numPingsReceived=21, elapsed TxPingTime=2.515100
2025-08-09T17:40:59.628Z,1754761259.628 [DAT](IMPORTANT): Requesting device enable set for address 50.
2025-08-09T17:40:59.676Z,1754761259.676 [DockingStepper](DEBUG): Initializing EZServoServo.
2025-08-09T17:40:59.799Z,1754761259.799 [DockingStepper](DEBUG): Initializing DockingStepper.
2025-08-09T17:40:59.880Z,1754761259.880 [DAT](INFO): checking for new query: numPingsReceived=21, elapsed TxPingTime=2.767338
2025-08-09T17:40:59.880Z,1754761259.880 [DAT](IMPORTANT): Requesting device enable set for address 50.
2025-08-09T17:41:00.131Z,1754761260.131 [DAT](INFO): DAT read: Rx Time:17:40:58.9395

2025-08-09T17:41:00.132Z,1754761260.132 [DAT](INFO): Rx dataTimestamp_ set to:1754761260.131542
2025-08-09T17:41:00.132Z,1754761260.132 [DAT](INFO): checking for new query: numPingsReceived=21, elapsed TxPingTime=3.020157
2025-08-09T17:41:00.383Z,1754761260.383 [DAT](INFO): checking for new query: numPingsReceived=21, elapsed TxPingTime=3.271044
2025-08-09T17:41:00.641Z,1754761260.641 [DAT](INFO): DAT read: 17:40:58.9395 LVL= 21488, 14033, 25826, 23411, AGC= 38, IDX= 443,-0.04,-0.614,-1.203,-1.751, 0.314, PHS=-0.826,-1.472,-2.109, RAW=  60.2,  54.5, CAL=  57.4,  58.7, ROT=  92.6, -58.7

2025-08-09T17:41:00.642Z,1754761260.642 [DAT](INFO): got valid direction response:
 17:40:58.9395 LVL= 21488, 14033, 25826, 23411, AGC= 38, IDX= 443,-0.04,-0.614,-1.203,-1.751, 0.314, PHS=-0.826,-1.472,-2.109, RAW=  60.2,  54.5, CAL=  57.4,  58.7, ROT=  92.6, -58.7

2025-08-09T17:41:00.643Z,1754761260.643 [DAT](INFO): DAT read: Bearing   8.3,  30.8 (Local)

2025-08-09T17:41:00.644Z,1754761260.644 [DAT](INFO): Local bearing/azimuth received:
 Bearing   8.3,  30.8 (Local)

2025-08-09T17:41:00.645Z,1754761260.645 [DAT](INFO): DAT read: Range 11 to 50 : 1.0 m  (Round-trip  1.4 ms) speed  0.0 m/s

2025-08-09T17:41:00.646Z,1754761260.646 [DAT](INFO): DAT read: user:686>

2025-08-09T17:41:00.647Z,1754761260.647 [DAT](INFO): DAT read: Tx time:17:41:00.0339

2025-08-09T17:41:00.647Z,1754761260.647 [DAT](INFO): Ping request sent.
2025-08-09T17:41:00.647Z,1754761260.647 [DAT](INFO): transmitted an acoustic signal
2025-08-09T17:41:00.647Z,1754761260.647 [DAT](INFO): #Rx 22: Read range and direction messages.
2025-08-09T17:41:00.648Z,1754761260.648 [DAT](INFO): direction in FSK: [-0.023567,0.518984,0.854459]
2025-08-09T17:41:00.649Z,1754761260.649 [DAT](INFO): publishing transmit ping time
2025-08-09T17:41:00.649Z,1754761260.649 [DAT](INFO): publishing direction and range info
2025-08-09T17:41:00.652Z,1754761260.652 [DAT](INFO): publishing transmit ping time
2025-08-09T17:41:00.652Z,1754761260.652 [DAT](INFO): publishing direction and range info
2025-08-09T17:41:00.666Z,1754761260.666 [DAT](INFO): checking for new query: numPingsReceived=22, elapsed TxPingTime=0.018809
2025-08-09T17:41:00.887Z,1754761260.887 [DAT](INFO): checking for new query: numPingsReceived=22, elapsed TxPingTime=0.240343
2025-08-09T17:41:01.139Z,1754761261.139 [DAT](INFO): checking for new query: numPingsReceived=22, elapsed TxPingTime=0.492306
2025-08-09T17:41:01.391Z,1754761261.391 [DAT](INFO): checking for new query: numPingsReceived=22, elapsed TxPingTime=0.744173
2025-08-09T17:41:01.643Z,1754761261.643 [DAT](INFO): checking for new query: numPingsReceived=22, elapsed TxPingTime=0.996255
2025-08-09T17:41:01.895Z,1754761261.895 [DAT](INFO): checking for new query: numPingsReceived=22, elapsed TxPingTime=1.248157
2025-08-09T17:41:02.148Z,1754761262.148 [DAT](INFO): checking for new query: numPingsReceived=22, elapsed TxPingTime=1.501211
2025-08-09T17:41:02.399Z,1754761262.399 [DAT](INFO): checking for new query: numPingsReceived=22, elapsed TxPingTime=1.752234
2025-08-09T17:41:02.651Z,1754761262.651 [DAT](INFO): checking for new query: numPingsReceived=22, elapsed TxPingTime=2.004168
2025-08-09T17:41:02.903Z,1754761262.903 [DAT](INFO): checking for new query: numPingsReceived=22, elapsed TxPingTime=2.256229
2025-08-09T17:41:03.156Z,1754761263.156 [DAT](INFO): checking for new query: numPingsReceived=22, elapsed TxPingTime=2.508527
2025-08-09T17:41:03.292Z,1754761263.292 [DockingStepper](INFO): Changing to mode: 1
2025-08-09T17:41:03.407Z,1754761263.407 [DAT](INFO): checking for new query: numPingsReceived=22, elapsed TxPingTime=2.760183
2025-08-09T17:41:03.659Z,1754761263.659 [DAT](INFO): DAT read: Rx Time:17:41:02.4395

2025-08-09T17:41:03.660Z,1754761263.660 [DAT](INFO): Rx dataTimestamp_ set to:1754761263.659574
2025-08-09T17:41:03.660Z,1754761263.660 [DAT](INFO): checking for new query: numPingsReceived=22, elapsed TxPingTime=3.013354
2025-08-09T17:41:03.911Z,1754761263.911 [DAT](INFO): checking for new query: numPingsReceived=22, elapsed TxPingTime=3.264247
2025-08-09T17:41:04.171Z,1754761264.171 [DAT](INFO): DAT read: 17:41:02.4395 LVL= 22256, 14753, 22514, 19411, AGC= 37, IDX= 444,-0.07,-0.215,-0.678,-1.425, 0.722, PHS=-0.835,-1.355,-2.191, RAW=  52.4,  52.6, CAL=  49.9,  56.8, ROT= 100.1, -56.8

2025-08-09T17:41:04.172Z,1754761264.172 [DAT](INFO): got valid direction response:
 17:41:02.4395 LVL= 22256, 14753, 22514, 19411, AGC= 37, IDX= 444,-0.07,-0.215,-0.678,-1.425, 0.722, PHS=-0.835,-1.355,-2.191, RAW=  52.4,  52.6, CAL=  49.9,  56.8, ROT= 100.1, -56.8

2025-08-09T17:41:04.174Z,1754761264.174 [DAT](INFO): DAT read: Bearing  12.6,  32.4 (Local)

2025-08-09T17:41:04.174Z,1754761264.174 [DAT](INFO): Local bearing/azimuth received:
 Bearing  12.6,  32.4 (Local)

2025-08-09T17:41:04.176Z,1754761264.176 [DAT](INFO): DAT read: Range 11 to 50 : 1.1 m  (Round-trip  1.5 ms) speed  0.0 m/s

2025-08-09T17:41:04.177Z,1754761264.177 [DAT](INFO): DAT read: user:687>

2025-08-09T17:41:04.179Z,1754761264.179 [DAT](INFO): DAT read: Tx time:17:41:03.5338

2025-08-09T17:41:04.180Z,1754761264.180 [DAT](INFO): Ping request sent.
2025-08-09T17:41:04.180Z,1754761264.180 [DAT](INFO): transmitted an acoustic signal
2025-08-09T17:41:04.180Z,1754761264.180 [DAT](INFO): #Rx 23: Read range and direction messages.
2025-08-09T17:41:04.182Z,1754761264.182 [DAT](INFO): direction in FSK: [-0.096024,0.539078,0.836764]
2025-08-09T17:41:04.183Z,1754761264.183 [DAT](INFO): publishing transmit ping time
2025-08-09T17:41:04.183Z,1754761264.183 [DAT](INFO): publishing direction and range info
2025-08-09T17:41:04.188Z,1754761264.188 [DAT](INFO): publishing transmit ping time
2025-08-09T17:41:04.188Z,1754761264.188 [DAT](INFO): publishing direction and range info
2025-08-09T17:41:04.194Z,1754761264.194 [DAT](INFO): checking for new query: numPingsReceived=23, elapsed TxPingTime=0.013496
2025-08-09T17:41:04.416Z,1754761264.416 [DAT](INFO): checking for new query: numPingsReceived=23, elapsed TxPingTime=0.235651
2025-08-09T17:41:04.667Z,1754761264.667 [DAT](INFO): checking for new query: numPingsReceived=23, elapsed TxPingTime=0.487211
2025-08-09T17:41:04.919Z,1754761264.919 [DAT](INFO): checking for new query: numPingsReceived=23, elapsed TxPingTime=0.739270
2025-08-09T17:41:05.171Z,1754761265.171 [DAT](INFO): checking for new query: numPingsReceived=23, elapsed TxPingTime=0.991122
2025-08-09T17:41:05.423Z,1754761265.423 [DAT](INFO): checking for new query: numPingsReceived=23, elapsed TxPingTime=1.243212
2025-08-09T17:41:05.678Z,1754761265.678 [DAT](INFO): checking for new query: numPingsReceived=23, elapsed TxPingTime=1.497410
2025-08-09T17:41:05.931Z,1754761265.931 [DAT](INFO): checking for new query: numPingsReceived=23, elapsed TxPingTime=1.751152
2025-08-09T17:41:06.184Z,1754761266.184 [DAT](INFO): checking for new query: numPingsReceived=23, elapsed TxPingTime=2.004086
2025-08-09T17:41:06.435Z,1754761266.435 [DAT](INFO): checking for new query: numPingsReceived=23, elapsed TxPingTime=2.255152
2025-08-09T17:41:06.688Z,1754761266.688 [DAT](INFO): checking for new query: numPingsReceived=23, elapsed TxPingTime=2.507834
2025-08-09T17:41:06.940Z,1754761266.940 [DAT](INFO): DAT read: Rx Time:17:41:05.9395

2025-08-09T17:41:06.940Z,1754761266.940 [DAT](INFO): Rx dataTimestamp_ set to:1754761266.939728
2025-08-09T17:41:06.941Z,1754761266.941 [DAT](INFO): checking for new query: numPingsReceived=23, elapsed TxPingTime=2.760476
2025-08-09T17:41:07.191Z,1754761267.191 [DAT](INFO): checking for new query: numPingsReceived=23, elapsed TxPingTime=3.011161
2025-08-09T17:41:07.458Z,1754761267.458 [DAT](INFO): checking for new query: numPingsReceived=23, elapsed TxPingTime=3.277027
2025-08-09T17:41:07.705Z,1754761267.705 [DAT](INFO): DAT read: 17:41:05.9395 LVL= 19120, 13761, 22850, 21747, AGC= 37, IDX= 444,-0.04,-1.877,-2.471,-3.069,-0.989, PHS=-0.785,-1.437,-2.124, RAW=  59.1,  53.0, CAL=  56.3,  57.3, ROT=  93.7, -57.3

2025-08-09T17:41:07.706Z,1754761267.706 [DAT](INFO): got valid direction response:
 17:41:05.9395 LVL= 19120, 13761, 22850, 21747, AGC= 37, IDX= 444,-0.04,-1.877,-2.471,-3.069,-0.989, PHS=-0.785,-1.437,-2.124, RAW=  59.1,  53.0, CAL=  56.3,  57.3, ROT=  93.7, -57.3

2025-08-09T17:41:07.707Z,1754761267.707 [DAT](INFO): DAT read: Bearing  15.9,  32.2 (Local)

2025-08-09T17:41:07.708Z,1754761267.708 [DAT](INFO): Local bearing/azimuth received:
 Bearing  15.9,  32.2 (Local)

2025-08-09T17:41:07.709Z,1754761267.709 [DAT](INFO): DAT read: Range 11 to 50 : 1.1 m  (Round-trip  1.5 ms) speed  0.0 m/s

2025-08-09T17:41:07.710Z,1754761267.710 [DAT](INFO): DAT read: user:688>

2025-08-09T17:41:07.710Z,1754761267.710 [DAT](INFO): DAT read: Tx time:17:41:07.0338

2025-08-09T17:41:07.711Z,1754761267.711 [DAT](INFO): Ping request sent.
2025-08-09T17:41:07.711Z,1754761267.711 [DAT](INFO): transmitted an acoustic signal
2025-08-09T17:41:07.711Z,1754761267.711 [DAT](INFO): #Rx 24: Read range and direction messages.
2025-08-09T17:41:07.712Z,1754761267.712 [DAT](INFO): direction in FSK: [-0.034863,0.539114,0.841511]
2025-08-09T17:41:07.712Z,1754761267.712 [DAT](INFO): publishing transmit ping time
2025-08-09T17:41:07.713Z,1754761267.713 [DAT](INFO): publishing direction and range info
2025-08-09T17:41:07.722Z,1754761267.722 [DAT](INFO): publishing transmit ping time
2025-08-09T17:41:07.722Z,1754761267.722 [DAT](INFO): publishing direction and range info
2025-08-09T17:41:07.725Z,1754761267.725 [DAT](INFO): checking for new query: numPingsReceived=24, elapsed TxPingTime=0.014579
2025-08-09T17:41:07.951Z,1754761267.951 [DAT](INFO): checking for new query: numPingsReceived=24, elapsed TxPingTime=0.240546
2025-08-09T17:41:08.204Z,1754761268.204 [DAT](INFO): checking for new query: numPingsReceived=24, elapsed TxPingTime=0.492943
2025-08-09T17:41:08.455Z,1754761268.455 [DAT](INFO): checking for new query: numPingsReceived=24, elapsed TxPingTime=0.744510
2025-08-09T17:41:08.707Z,1754761268.707 [DAT](INFO): checking for new query: numPingsReceived=24, elapsed TxPingTime=0.996457
2025-08-09T17:41:08.959Z,1754761268.959 [DAT](INFO): checking for new query: numPingsReceived=24, elapsed TxPingTime=1.248589
2025-08-09T17:41:09.214Z,1754761269.214 [DAT](INFO): checking for new query: numPingsReceived=24, elapsed TxPingTime=1.503031
2025-08-09T17:41:09.463Z,1754761269.463 [DAT](INFO): checking for new query: numPingsReceived=24, elapsed TxPingTime=1.752455
2025-08-09T17:41:09.719Z,1754761269.719 [DAT](INFO): checking for new query: numPingsReceived=24, elapsed TxPingTime=2.008467
2025-08-09T17:41:09.971Z,1754761269.971 [DAT](INFO): checking for new query: numPingsReceived=24, elapsed TxPingTime=2.260513
2025-08-09T17:41:10.223Z,1754761270.223 [DAT](INFO): checking for new query: numPingsReceived=24, elapsed TxPingTime=2.512572
2025-08-09T17:41:10.475Z,1754761270.475 [DAT](INFO): DAT read: Rx Time:17:41:09.4395

2025-08-09T17:41:10.476Z,1754761270.476 [DAT](INFO): Rx dataTimestamp_ set to:1754761270.475465
2025-08-09T17:41:10.476Z,1754761270.476 [DAT](INFO): checking for new query: numPingsReceived=24, elapsed TxPingTime=2.765525
2025-08-09T17:41:10.727Z,1754761270.727 [DAT](INFO): checking for new query: numPingsReceived=24, elapsed TxPingTime=3.016521
2025-08-09T17:41:11.012Z,1754761271.012 [DAT](INFO): DAT read: 17:41:09.4395 LVL= 18928,  9057, 21042, 23539, AGC= 37, IDX= 444, 0.02,-2.539, 2.780, 2.574,-1.744, PHS=-0.693,-1.714,-2.009, RAW=  77.7,  52.5, CAL=  75.1,  57.9, ROT=  74.9, -57.9

2025-08-09T17:41:11.013Z,1754761271.013 [DAT](INFO): got valid direction response:
 17:41:09.4395 LVL= 18928,  9057, 21042, 23539, AGC= 37, IDX= 444, 0.02,-2.539, 2.780, 2.574,-1.744, PHS=-0.693,-1.714,-2.009, RAW=  77.7,  52.5, CAL=  75.1,  57.9, ROT=  74.9, -57.9

2025-08-09T17:41:11.014Z,1754761271.014 [DAT](INFO): DAT read: Bearing  13.1,  30.7 (Local)

2025-08-09T17:41:11.018Z,1754761271.018 [DAT](INFO): Local bearing/azimuth received:
 Bearing  13.1,  30.7 (Local)

2025-08-09T17:41:11.020Z,1754761271.020 [DAT](INFO): DAT read: Range 11 to 50 : 1.1 m  (Round-trip  1.5 ms) speed  0.0 m/s

2025-08-09T17:41:11.021Z,1754761271.021 [DAT](INFO): DAT read: user:689>

2025-08-09T17:41:11.021Z,1754761271.021 [DAT](INFO): DAT read: Tx time:17:41:10.5338

2025-08-09T17:41:11.022Z,1754761271.022 [DAT](INFO): Ping request sent.
2025-08-09T17:41:11.022Z,1754761271.022 [DAT](INFO): transmitted an acoustic signal
2025-08-09T17:41:11.022Z,1754761271.022 [DAT](INFO): #Rx 25: Read range and direction messages.
2025-08-09T17:41:11.028Z,1754761271.028 [DAT](INFO): direction in FSK: [0.138432,0.513051,0.847122]
2025-08-09T17:41:11.028Z,1754761271.028 [DAT](INFO): publishing transmit ping time
2025-08-09T17:41:11.028Z,1754761271.028 [DAT](INFO): publishing direction and range info
2025-08-09T17:41:11.071Z,1754761271.071 [DAT](INFO): publishing transmit ping time
2025-08-09T17:41:11.072Z,1754761271.072 [DAT](INFO): publishing direction and range info
2025-08-09T17:41:11.099Z,1754761271.099 [DAT](INFO): checking for new query: numPingsReceived=25, elapsed TxPingTime=0.077169
2025-08-09T17:41:11.231Z,1754761271.231 [DAT](INFO): checking for new query: numPingsReceived=25, elapsed TxPingTime=0.209579
2025-08-09T17:41:11.483Z,1754761271.483 [DAT](INFO): checking for new query: numPingsReceived=25, elapsed TxPingTime=0.461661
2025-08-09T17:41:11.738Z,1754761271.738 [DAT](INFO): checking for new query: numPingsReceived=25, elapsed TxPingTime=0.716279
2025-08-09T17:41:11.991Z,1754761271.991 [DAT](INFO): checking for new query: numPingsReceived=25, elapsed TxPingTime=0.969742
2025-08-09T17:41:12.243Z,1754761272.243 [DAT](INFO): checking for new query: numPingsReceived=25, elapsed TxPingTime=1.221626
2025-08-09T17:41:12.495Z,1754761272.495 [DAT](INFO): checking for new query: numPingsReceived=25, elapsed TxPingTime=1.473685
2025-08-09T17:41:12.751Z,1754761272.751 [DAT](INFO): checking for new query: numPingsReceived=25, elapsed TxPingTime=1.728780
2025-08-09T17:41:12.000Z,1754761273.000 [DAT](INFO): checking for new query: numPingsReceived=25, elapsed TxPingTime=1.977874
2025-08-09T17:41:13.251Z,1754761273.251 [DAT](INFO): checking for new query: numPingsReceived=25, elapsed TxPingTime=2.229549
2025-08-09T17:41:13.503Z,1754761273.503 [DAT](INFO): checking for new query: numPingsReceived=25, elapsed TxPingTime=2.481600
2025-08-09T17:41:13.759Z,1754761273.759 [DAT](INFO): checking for new query: numPingsReceived=25, elapsed TxPingTime=2.737523
2025-08-09T17:41:14.012Z,1754761274.012 [DAT](INFO): DAT read: Rx Time:17:41:12.9395

2025-08-09T17:41:14.013Z,1754761274.013 [DAT](INFO): Rx dataTimestamp_ set to:1754761274.012077
2025-08-09T17:41:14.016Z,1754761274.016 [DAT](INFO): checking for new query: numPingsReceived=25, elapsed TxPingTime=2.993698
2025-08-09T17:41:14.264Z,1754761274.264 [DAT](INFO): checking for new query: numPingsReceived=25, elapsed TxPingTime=3.242186
2025-08-09T17:41:14.521Z,1754761274.521 [DAT](INFO): DAT read: 17:41:12.9395 LVL= 17904,  8145, 23474, 21571, AGC= 36, IDX= 444, 0.08, 2.098, 0.932, 0.959, 2.856, PHS=-0.656,-1.879,-1.942, RAW=  87.5,  51.6, CAL=  86.2,  57.2, ROT=  63.8, -57.2

2025-08-09T17:41:14.522Z,1754761274.522 [DAT](INFO): got valid direction response:
 17:41:12.9395 LVL= 17904,  8145, 23474, 21571, AGC= 36, IDX= 444, 0.08, 2.098, 0.932, 0.959, 2.856, PHS=-0.656,-1.879,-1.942, RAW=  87.5,  51.6, CAL=  86.2,  57.2, ROT=  63.8, -57.2

2025-08-09T17:41:14.523Z,1754761274.523 [DAT](INFO): DAT read: Bearing   6.3,  30.5 (Local)

2025-08-09T17:41:14.523Z,1754761274.523 [DAT](INFO): Local bearing/azimuth received:
 Bearing   6.3,  30.5 (Local)

2025-08-09T17:41:14.525Z,1754761274.525 [DAT](INFO): DAT read: Range 11 to 50 : 1.1 m  (Round-trip  1.5 ms) speed  0.0 m/s

2025-08-09T17:41:14.525Z,1754761274.525 [DAT](INFO): DAT read: user:690>

2025-08-09T17:41:14.526Z,1754761274.526 [DAT](INFO): DAT read: Tx time:17:41:14.0338

2025-08-09T17:41:14.527Z,1754761274.527 [DAT](INFO): Ping request sent.
2025-08-09T17:41:14.527Z,1754761274.527 [DAT](INFO): transmitted an acoustic signal
2025-08-09T17:41:14.527Z,1754761274.527 [DAT](INFO): #Rx 26: Read range and direction messages.
2025-08-09T17:41:14.528Z,1754761274.528 [DAT](INFO): direction in FSK: [0.239167,0.486052,0.840567]
2025-08-09T17:41:14.528Z,1754761274.528 [DAT](INFO): publishing transmit ping time
2025-08-09T17:41:14.529Z,1754761274.529 [DAT](INFO): publishing direction and range info
2025-08-09T17:41:14.532Z,1754761274.532 [DAT](INFO): publishing transmit ping time
2025-08-09T17:41:14.532Z,1754761274.532 [DAT](INFO): publishing direction and range info
2025-08-09T17:41:14.535Z,1754761274.535 [DAT](INFO): checking for new query: numPingsReceived=26, elapsed TxPingTime=0.008688
2025-08-09T17:41:14.767Z,1754761274.767 [DAT](INFO): checking for new query: numPingsReceived=26, elapsed TxPingTime=0.240600
2025-08-09T17:41:15.020Z,1754761275.020 [DAT](INFO): checking for new query: numPingsReceived=26, elapsed TxPingTime=0.492803
2025-08-09T17:41:15.271Z,1754761275.271 [DAT](INFO): checking for new query: numPingsReceived=26, elapsed TxPingTime=0.744585
2025-08-09T17:41:15.523Z,1754761275.523 [DAT](INFO): checking for new query: numPingsReceived=26, elapsed TxPingTime=0.996528
2025-08-09T17:41:15.775Z,1754761275.775 [DAT](INFO): checking for new query: numPingsReceived=26, elapsed TxPingTime=1.248613
2025-08-09T17:41:16.027Z,1754761276.027 [DAT](INFO): checking for new query: numPingsReceived=26, elapsed TxPingTime=1.500623
2025-08-09T17:41:16.280Z,1754761276.280 [DAT](INFO): checking for new query: numPingsReceived=26, elapsed TxPingTime=1.753021
2025-08-09T17:41:16.531Z,1754761276.531 [DAT](INFO): checking for new query: numPingsReceived=26, elapsed TxPingTime=2.004574
2025-08-09T17:41:16.783Z,1754761276.783 [DAT](INFO): checking for new query: numPingsReceived=26, elapsed TxPingTime=2.256595
2025-08-09T17:41:17.035Z,1754761277.035 [DAT](INFO): checking for new query: numPingsReceived=26, elapsed TxPingTime=2.508600
2025-08-09T17:41:17.287Z,1754761277.287 [DAT](INFO): checking for new query: numPingsReceived=26, elapsed TxPingTime=2.760541
2025-08-09T17:41:17.539Z,1754761277.539 [DAT](INFO): DAT read: Rx Time:17:41:16.4395

2025-08-09T17:41:17.540Z,1754761277.540 [DAT](INFO): Rx dataTimestamp_ set to:1754761277.539570
2025-08-09T17:41:17.540Z,1754761277.540 [DAT](INFO): checking for new query: numPingsReceived=26, elapsed TxPingTime=3.013695
2025-08-09T17:41:17.792Z,1754761277.792 [DAT](INFO): checking for new query: numPingsReceived=26, elapsed TxPingTime=3.264917
2025-08-09T17:41:18.054Z,1754761278.054 [DAT](INFO): DAT read: 17:41:16.4395 LVL= 17776, 10641, 22626, 23859, AGC= 37, IDX= 444,-0.04, 0.731,-0.063,-0.426, 1.594, PHS=-0.761,-1.612,-2.064, RAW=  70.0,  53.9, CAL=  67.0,  58.7, ROT=  83.0, -58.7

2025-08-09T17:41:18.056Z,1754761278.056 [DAT](INFO): got valid direction response:
 17:41:16.4395 LVL= 17776, 10641, 22626, 23859, AGC= 37, IDX= 444,-0.04, 0.731,-0.063,-0.426, 1.594, PHS=-0.761,-1.612,-2.064, RAW=  70.0,  53.9, CAL=  67.0,  58.7, ROT=  83.0, -58.7

2025-08-09T17:41:18.057Z,1754761278.057 [DAT](INFO): DAT read: Bearing   7.1,  29.5 (Local)

2025-08-09T17:41:18.058Z,1754761278.058 [DAT](INFO): Local bearing/azimuth received:
 Bearing   7.1,  29.5 (Local)

2025-08-09T17:41:18.060Z,1754761278.060 [DAT](INFO): DAT read: Range 11 to 50 : 1.1 m  (Round-trip  1.5 ms) speed  0.0 m/s

2025-08-09T17:41:18.060Z,1754761278.060 [DAT](INFO): DAT read: user:691>

2025-08-09T17:41:18.061Z,1754761278.061 [DAT](INFO): DAT read: Tx time:17:41:17.5338

2025-08-09T17:41:18.061Z,1754761278.061 [DAT](INFO): Ping request sent.
2025-08-09T17:41:18.062Z,1754761278.062 [DAT](INFO): transmitted an acoustic signal
2025-08-09T17:41:18.062Z,1754761278.062 [DAT](INFO): #Rx 27: Read range and direction messages.
2025-08-09T17:41:18.063Z,1754761278.063 [DAT](INFO): direction in FSK: [0.063313,0.515647,0.854459]
2025-08-09T17:41:18.063Z,1754761278.063 [DAT](INFO): publishing transmit ping time
2025-08-09T17:41:18.063Z,1754761278.063 [DAT](INFO): publishing direction and range info
2025-08-09T17:41:18.070Z,1754761278.070 [DAT](INFO): publishing transmit ping time
2025-08-09T17:41:18.072Z,1754761278.072 [DAT](INFO): publishing direction and range info
2025-08-09T17:41:18.075Z,1754761278.075 [DAT](INFO): checking for new query: numPingsReceived=27, elapsed TxPingTime=0.013611
2025-08-09T17:41:18.297Z,1754761278.297 [DAT](INFO): checking for new query: numPingsReceived=27, elapsed TxPingTime=0.235449
2025-08-09T17:41:18.548Z,1754761278.548 [DAT](INFO): checking for new query: numPingsReceived=27, elapsed TxPingTime=0.486094
2025-08-09T17:41:18.801Z,1754761278.801 [DAT](INFO): checking for new query: numPingsReceived=27, elapsed TxPingTime=0.739016
2025-08-09T17:41:19.051Z,1754761279.051 [DAT](INFO): checking for new query: numPingsReceived=27, elapsed TxPingTime=0.989905
2025-08-09T17:41:19.304Z,1754761279.304 [DAT](INFO): checking for new query: numPingsReceived=27, elapsed TxPingTime=1.242483
2025-08-09T17:41:19.555Z,1754761279.555 [DAT](INFO): checking for new query: numPingsReceived=27, elapsed TxPingTime=1.493778
2025-08-09T17:41:19.808Z,1754761279.808 [DAT](INFO): checking for new query: numPingsReceived=27, elapsed TxPingTime=1.746467
2025-08-09T17:41:20.062Z,1754761280.062 [DAT](INFO): checking for new query: numPingsReceived=27, elapsed TxPingTime=2.000060
2025-08-09T17:41:20.312Z,1754761280.312 [DAT](INFO): checking for new query: numPingsReceived=27, elapsed TxPingTime=2.250794
2025-08-09T17:41:20.563Z,1754761280.563 [DAT](INFO): checking for new query: numPingsReceived=27, elapsed TxPingTime=2.501771
2025-08-09T17:41:20.816Z,1754761280.816 [DAT](INFO): checking for new query: numPingsReceived=27, elapsed TxPingTime=2.754319
2025-08-09T17:41:21.070Z,1754761281.070 [DAT](INFO): DAT read: Rx Time:17:41:19.9395

2025-08-09T17:41:21.072Z,1754761281.072 [DAT](INFO): Rx dataTimestamp_ set to:1754761281.071154
2025-08-09T17:41:21.074Z,1754761281.074 [DAT](INFO): checking for new query: numPingsReceived=27, elapsed TxPingTime=3.012014
2025-08-09T17:41:21.321Z,1754761281.321 [DAT](INFO): checking for new query: numPingsReceived=27, elapsed TxPingTime=3.258784
2025-08-09T17:41:21.577Z,1754761281.577 [DAT](INFO): DAT read: 17:41:19.9395 LVL= 22624, 16049, 22162, 21859, AGC= 38, IDX= 444,-0.11,-0.388,-0.888,-1.641, 0.510, PHS=-0.796,-1.353,-2.195, RAW=  53.3,  51.5, CAL=  50.7,  55.9, ROT=  99.3, -55.9

2025-08-09T17:41:21.578Z,1754761281.578 [DAT](INFO): got valid direction response:
 17:41:19.9395 LVL= 22624, 16049, 22162, 21859, AGC= 38, IDX= 444,-0.11,-0.388,-0.888,-1.641, 0.510, PHS=-0.796,-1.353,-2.195, RAW=  53.3,  51.5, CAL=  50.7,  55.9, ROT=  99.3, -55.9

2025-08-09T17:41:21.579Z,1754761281.579 [DAT](INFO): DAT read: Bearing  16.6,  33.1 (Local)

2025-08-09T17:41:21.579Z,1754761281.579 [DAT](INFO): Local bearing/azimuth received:
 Bearing  16.6,  33.1 (Local)

2025-08-09T17:41:21.581Z,1754761281.581 [DAT](INFO): DAT read: Range 11 to 50 : 1.1 m  (Round-trip  1.5 ms) speed  0.0 m/s

2025-08-09T17:41:21.581Z,1754761281.581 [DAT](INFO): DAT read: user:692>

2025-08-09T17:41:21.591Z,1754761281.591 [DAT](INFO): DAT read: Tx time:17:41:21.0338

2025-08-09T17:41:21.593Z,1754761281.593 [DAT](INFO): Ping request sent.
2025-08-09T17:41:21.594Z,1754761281.593 [DAT](INFO): transmitted an acoustic signal
2025-08-09T17:41:21.594Z,1754761281.594 [DAT](INFO): #Rx 28: Read range and direction messages.
2025-08-09T17:41:21.595Z,1754761281.595 [DAT](INFO): direction in FSK: [-0.090601,0.553270,0.828060]
2025-08-09T17:41:21.595Z,1754761281.595 [DAT](INFO): publishing transmit ping time
2025-08-09T17:41:21.596Z,1754761281.596 [DAT](INFO): publishing direction and range info
2025-08-09T17:41:21.602Z,1754761281.602 [DAT](INFO): publishing transmit ping time
2025-08-09T17:41:21.603Z,1754761281.603 [DAT](INFO): publishing direction and range info
2025-08-09T17:41:21.633Z,1754761281.633 [DAT](INFO): checking for new query: numPingsReceived=28, elapsed TxPingTime=0.041277
2025-08-09T17:41:21.823Z,1754761281.823 [DAT](INFO): checking for new query: numPingsReceived=28, elapsed TxPingTime=0.231550
2025-08-09T17:41:22.078Z,1754761282.078 [DAT](INFO): checking for new query: numPingsReceived=28, elapsed TxPingTime=0.485692
2025-08-09T17:41:22.335Z,1754761282.335 [DAT](INFO): checking for new query: numPingsReceived=28, elapsed TxPingTime=0.743501
2025-08-09T17:41:22.588Z,1754761282.588 [DAT](INFO): checking for new query: numPingsReceived=28, elapsed TxPingTime=0.996661
2025-08-09T17:41:22.840Z,1754761282.840 [DAT](INFO): checking for new query: numPingsReceived=28, elapsed TxPingTime=1.247935
2025-08-09T17:41:23.094Z,1754761283.094 [DAT](INFO): checking for new query: numPingsReceived=28, elapsed TxPingTime=1.501640
2025-08-09T17:41:23.343Z,1754761283.343 [DAT](INFO): checking for new query: numPingsReceived=28, elapsed TxPingTime=1.751424
2025-08-09T17:41:23.595Z,1754761283.595 [DAT](INFO): checking for new query: numPingsReceived=28, elapsed TxPingTime=2.003586
2025-08-09T17:41:23.849Z,1754761283.849 [DAT](INFO): checking for new query: numPingsReceived=28, elapsed TxPingTime=2.257108
2025-08-09T17:41:24.102Z,1754761284.102 [DAT](INFO): checking for new query: numPingsReceived=28, elapsed TxPingTime=2.509640
2025-08-09T17:41:24.351Z,1754761284.351 [DAT](INFO): checking for new query: numPingsReceived=28, elapsed TxPingTime=2.759631
2025-08-09T17:41:24.603Z,1754761284.603 [DAT](INFO): DAT read: Rx Time:17:41:23.4395

2025-08-09T17:41:24.604Z,1754761284.604 [DAT](INFO): Rx dataTimestamp_ set to:1754761284.603445
2025-08-09T17:41:24.604Z,1754761284.604 [DAT](INFO): checking for new query: numPingsReceived=28, elapsed TxPingTime=3.012517
2025-08-09T17:41:24.856Z,1754761284.856 [DAT](INFO): checking for new query: numPingsReceived=28, elapsed TxPingTime=3.264186
2025-08-09T17:41:25.137Z,1754761285.137 [DAT](INFO): DAT read: 17:41:23.4395 LVL= 17456, 12017, 23538, 22499, AGC= 37, IDX= 444,-0.12,-1.893,-2.690,-3.056,-1.034, PHS=-0.757,-1.611,-2.066, RAW=  70.0,  53.7, CAL=  66.9,  58.5, ROT=  83.1, -58.5

2025-08-09T17:41:25.138Z,1754761285.138 [DAT](INFO): got valid direction response:
 17:41:23.4395 LVL= 17456, 12017, 23538, 22499, AGC= 37, IDX= 444,-0.12,-1.893,-2.690,-3.056,-1.034, PHS=-0.757,-1.611,-2.066, RAW=  70.0,  53.7, CAL=  66.9,  58.5, ROT=  83.1, -58.5

2025-08-09T17:41:25.148Z,1754761285.148 [DAT](INFO): DAT read: Bearing  18.4,  30.0 (Local)

2025-08-09T17:41:25.148Z,1754761285.148 [DAT](INFO): Local bearing/azimuth received:
 Bearing  18.4,  30.0 (Local)

2025-08-09T17:41:25.149Z,1754761285.149 [DAT](INFO): DAT read: Range 11 to 50 : 1.1 m  (Round-trip  1.5 ms) speed  0.0 m/s

2025-08-09T17:41:25.178Z,1754761285.178 [DAT](INFO): DAT read: user:693>

2025-08-09T17:41:25.179Z,1754761285.179 [DAT](INFO): DAT read: Tx time:17:41:24.5338

2025-08-09T17:41:25.179Z,1754761285.179 [DAT](INFO): Ping request sent.
2025-08-09T17:41:25.179Z,1754761285.179 [DAT](INFO): transmitted an acoustic signal
2025-08-09T17:41:25.180Z,1754761285.180 [DAT](INFO): #Rx 29: Read range and direction messages.
2025-08-09T17:41:25.181Z,1754761285.181 [DAT](INFO): direction in FSK: [0.062771,0.518714,0.852640]
2025-08-09T17:41:25.181Z,1754761285.181 [DAT](INFO): publishing transmit ping time
2025-08-09T17:41:25.181Z,1754761285.181 [DAT](INFO): publishing direction and range info
2025-08-09T17:41:25.196Z,1754761285.196 [DAT](INFO): publishing transmit ping time
2025-08-09T17:41:25.197Z,1754761285.197 [DAT](INFO): publishing direction and range info
2025-08-09T17:41:25.212Z,1754761285.212 [DAT](INFO): checking for new query: numPingsReceived=29, elapsed TxPingTime=0.032638
2025-08-09T17:41:25.360Z,1754761285.360 [DAT](INFO): checking for new query: numPingsReceived=29, elapsed TxPingTime=0.180619
2025-08-09T17:41:25.611Z,1754761285.611 [DAT](INFO): checking for new query: numPingsReceived=29, elapsed TxPingTime=0.431810
2025-08-09T17:41:25.864Z,1754761285.864 [DAT](INFO): checking for new query: numPingsReceived=29, elapsed TxPingTime=0.684488
2025-08-09T17:41:26.118Z,1754761286.118 [DAT](INFO): checking for new query: numPingsReceived=29, elapsed TxPingTime=0.938209
2025-08-09T17:41:26.367Z,1754761286.367 [DAT](INFO): checking for new query: numPingsReceived=29, elapsed TxPingTime=1.187767
2025-08-09T17:41:26.619Z,1754761286.619 [DAT](INFO): checking for new query: numPingsReceived=29, elapsed TxPingTime=1.439854
2025-08-09T17:41:26.872Z,1754761286.872 [DAT](INFO): checking for new query: numPingsReceived=29, elapsed TxPingTime=1.692184
2025-08-09T17:41:27.126Z,1754761287.126 [DAT](INFO): checking for new query: numPingsReceived=29, elapsed TxPingTime=1.945911
2025-08-09T17:41:27.375Z,1754761287.375 [DAT](INFO): checking for new query: numPingsReceived=29, elapsed TxPingTime=2.195894
2025-08-09T17:41:27.631Z,1754761287.631 [DAT](INFO): checking for new query: numPingsReceived=29, elapsed TxPingTime=2.451639
2025-08-09T17:41:27.880Z,1754761287.880 [DAT](INFO): checking for new query: numPingsReceived=29, elapsed TxPingTime=2.700284
2025-08-09T17:41:28.134Z,1754761288.134 [DAT](INFO): DAT read: Rx Time:17:41:26.9395

2025-08-09T17:41:28.136Z,1754761288.136 [DAT](INFO): Rx dataTimestamp_ set to:1754761288.134622
2025-08-09T17:41:28.137Z,1754761288.137 [DAT](INFO): checking for new query: numPingsReceived=29, elapsed TxPingTime=2.957402
2025-08-09T17:41:28.383Z,1754761288.383 [DAT](INFO): checking for new query: numPingsReceived=29, elapsed TxPingTime=3.203845
2025-08-09T17:41:28.642Z,1754761288.642 [DAT](INFO): DAT read: 17:41:26.9395 LVL= 23216,  8289, 24050, 26195, AGC= 36, IDX= 444,-0.03, 2.751, 1.880, 1.640,-2.772, PHS=-0.658,-1.586,-1.915, RAW=  75.4,  52.5, CAL=  72.5,  57.8, ROT=  77.5, -57.8

2025-08-09T17:41:28.643Z,1754761288.643 [DAT](INFO): got valid direction response:
 17:41:26.9395 LVL= 23216,  8289, 24050, 26195, AGC= 36, IDX= 444,-0.03, 2.751, 1.880, 1.640,-2.772, PHS=-0.658,-1.586,-1.915, RAW=  75.4,  52.5, CAL=  72.5,  57.8, ROT=  77.5, -57.8

2025-08-09T17:41:28.644Z,1754761288.644 [DAT](INFO): DAT read: Bearing  22.1,  31.9 (Local)

2025-08-09T17:41:28.644Z,1754761288.644 [DAT](INFO): Local bearing/azimuth received:
 Bearing  22.1,  31.9 (Local)

2025-08-09T17:41:28.646Z,1754761288.646 [DAT](INFO): DAT read: Range 11 to 50 : 1.1 m  (Round-trip  1.5 ms) speed  0.0 m/s

2025-08-09T17:41:28.647Z,1754761288.647 [DAT](INFO): DAT read: user:694>

2025-08-09T17:41:28.647Z,1754761288.647 [DAT](INFO): DAT read: Tx time:17:41:28.0338

2025-08-09T17:41:28.648Z,1754761288.648 [DAT](INFO): Ping request sent.
2025-08-09T17:41:28.648Z,1754761288.648 [DAT](INFO): transmitted an acoustic signal
2025-08-09T17:41:28.648Z,1754761288.648 [DAT](INFO): #Rx 30: Read range and direction messages.
2025-08-09T17:41:28.649Z,1754761288.649 [DAT](INFO): direction in FSK: [0.115336,0.520245,0.846193]
2025-08-09T17:41:28.649Z,1754761288.649 [DAT](INFO): publishing transmit ping time
2025-08-09T17:41:28.650Z,1754761288.650 [DAT](INFO): publishing direction and range info
2025-08-09T17:41:28.653Z,1754761288.653 [DAT](INFO): publishing transmit ping time
2025-08-09T17:41:28.653Z,1754761288.653 [DAT](INFO): publishing direction and range info
2025-08-09T17:41:28.656Z,1754761288.656 [DAT](INFO): checking for new query: numPingsReceived=30, elapsed TxPingTime=0.008355
2025-08-09T17:41:28.887Z,1754761288.887 [DAT](INFO): checking for new query: numPingsReceived=30, elapsed TxPingTime=0.239456
2025-08-09T17:41:29.142Z,1754761289.142 [DAT](INFO): checking for new query: numPingsReceived=30, elapsed TxPingTime=0.493546
2025-08-09T17:41:29.391Z,1754761289.391 [DAT](INFO): checking for new query: numPingsReceived=30, elapsed TxPingTime=0.743542
2025-08-09T17:41:29.643Z,1754761289.643 [DAT](INFO): checking for new query: numPingsReceived=30, elapsed TxPingTime=0.995471
2025-08-09T17:41:29.895Z,1754761289.895 [DAT](INFO): checking for new query: numPingsReceived=30, elapsed TxPingTime=1.247444
2025-08-09T17:41:30.149Z,1754761290.149 [DAT](INFO): checking for new query: numPingsReceived=30, elapsed TxPingTime=1.501535
2025-08-09T17:41:30.399Z,1754761290.399 [DAT](INFO): checking for new query: numPingsReceived=30, elapsed TxPingTime=1.751523
2025-08-09T17:41:30.653Z,1754761290.653 [DAT](INFO): checking for new query: numPingsReceived=30, elapsed TxPingTime=2.005232
2025-08-09T17:41:30.904Z,1754761290.904 [DAT](INFO): checking for new query: numPingsReceived=30, elapsed TxPingTime=2.255726
2025-08-09T17:41:31.155Z,1754761291.155 [DAT](INFO): checking for new query: numPingsReceived=30, elapsed TxPingTime=2.507529
2025-08-09T17:41:31.407Z,1754761291.407 [DAT](INFO): checking for new query: numPingsReceived=30, elapsed TxPingTime=2.759493
2025-08-09T17:41:31.659Z,1754761291.659 [DAT](INFO): DAT read: Rx Time:17:41:30.4395

2025-08-09T17:41:31.660Z,1754761291.660 [DAT](INFO): Rx dataTimestamp_ set to:1754761291.659467
2025-08-09T17:41:31.660Z,1754761291.660 [DAT](INFO): checking for new query: numPingsReceived=30, elapsed TxPingTime=3.012513
2025-08-09T17:41:31.911Z,1754761291.911 [DAT](INFO): checking for new query: numPingsReceived=30, elapsed TxPingTime=3.263495
2025-08-09T17:41:32.169Z,1754761292.169 [DAT](INFO): DAT read: 17:41:30.4395 LVL= 18368,  9121, 23378, 24051, AGC= 37, IDX= 444,-0.08, 1.991, 0.924, 0.839, 2.778, PHS=-0.685,-1.809,-1.983, RAW=  82.9,  52.4, CAL=  81.1,  58.0, ROT=  68.9, -58.0

2025-08-09T17:41:32.175Z,1754761292.175 [DAT](INFO): got valid direction response:
 17:41:30.4395 LVL= 18368,  9121, 23378, 24051, AGC= 37, IDX= 444,-0.08, 1.991, 0.924, 0.839, 2.778, PHS=-0.685,-1.809,-1.983, RAW=  82.9,  52.4, CAL=  81.1,  58.0, ROT=  68.9, -58.0

2025-08-09T17:41:32.179Z,1754761292.179 [DAT](INFO): DAT read: Bearing  15.4,  29.7 (Local)

2025-08-09T17:41:32.180Z,1754761292.180 [DAT](INFO): Local bearing/azimuth received:
 Bearing  15.4,  29.7 (Local)

2025-08-09T17:41:32.181Z,1754761292.181 [DAT](INFO): DAT read: Range 11 to 50 : 1.1 m  (Round-trip  1.5 ms) speed  0.0 m/s

2025-08-09T17:41:32.182Z,1754761292.182 [DAT](INFO): DAT read: user:695>

2025-08-09T17:41:32.183Z,1754761292.183 [DAT](INFO): DAT read: Tx time:17:41:31.5338

2025-08-09T17:41:32.183Z,1754761292.183 [DAT](INFO): Ping request sent.
2025-08-09T17:41:32.183Z,1754761292.183 [DAT](INFO): transmitted an acoustic signal
2025-08-09T17:41:32.183Z,1754761292.183 [DAT](INFO): #Rx 31: Read range and direction messages.
2025-08-09T17:41:32.184Z,1754761292.184 [DAT](INFO): direction in FSK: [0.190769,0.494390,0.848048]
2025-08-09T17:41:32.185Z,1754761292.185 [DAT](INFO): publishing transmit ping time
2025-08-09T17:41:32.185Z,1754761292.185 [DAT](INFO): publishing direction and range info
2025-08-09T17:41:32.215Z,1754761292.215 [DAT](INFO): publishing transmit ping time
2025-08-09T17:41:32.216Z,1754761292.216 [DAT](INFO): publishing direction and range info
2025-08-09T17:41:32.260Z,1754761292.260 [DAT](INFO): checking for new query: numPingsReceived=31, elapsed TxPingTime=0.076413
2025-08-09T17:41:32.416Z,1754761292.416 [DAT](INFO): checking for new query: numPingsReceived=31, elapsed TxPingTime=0.232542
2025-08-09T17:41:32.667Z,1754761292.667 [DAT](INFO): checking for new query: numPingsReceived=31, elapsed TxPingTime=0.484304
2025-08-09T17:41:32.919Z,1754761292.919 [DAT](INFO): checking for new query: numPingsReceived=31, elapsed TxPingTime=0.736186
2025-08-09T17:41:33.171Z,1754761293.171 [DAT](INFO): checking for new query: numPingsReceived=31, elapsed TxPingTime=0.988166
2025-08-09T17:41:33.423Z,1754761293.423 [DAT](INFO): checking for new query: numPingsReceived=31, elapsed TxPingTime=1.240289
2025-08-09T17:41:33.675Z,1754761293.675 [DAT](INFO): checking for new query: numPingsReceived=31, elapsed TxPingTime=1.492164
2025-08-09T17:41:33.927Z,1754761293.927 [DAT](INFO): checking for new query: numPingsReceived=31, elapsed TxPingTime=1.744121
2025-08-09T17:41:34.179Z,1754761294.179 [DAT](INFO): checking for new query: numPingsReceived=31, elapsed TxPingTime=1.996352
2025-08-09T17:41:34.431Z,1754761294.431 [DAT](INFO): checking for new query: numPingsReceived=31, elapsed TxPingTime=2.248125
2025-08-09T17:41:34.685Z,1754761294.685 [DAT](INFO): checking for new query: numPingsReceived=31, elapsed TxPingTime=2.501164
2025-08-09T17:41:34.935Z,1754761294.935 [DAT](INFO): DAT read: Rx Time:17:41:33.9395

2025-08-09T17:41:34.936Z,1754761294.936 [DAT](INFO): Rx dataTimestamp_ set to:1754761294.935629
2025-08-09T17:41:34.936Z,1754761294.936 [DAT](INFO): checking for new query: numPingsReceived=31, elapsed TxPingTime=2.753395
2025-08-09T17:41:35.188Z,1754761295.188 [DAT](INFO): checking for new query: numPingsReceived=31, elapsed TxPingTime=3.004912
2025-08-09T17:41:35.443Z,1754761295.443 [DAT](INFO): checking for new query: numPingsReceived=31, elapsed TxPingTime=3.258493
2025-08-09T17:41:35.697Z,1754761295.697 [DAT](INFO): DAT read: 17:41:33.9395 LVL= 18912, 10769, 23154, 24819, AGC= 37, IDX= 444,-0.11, 0.612,-0.047,-0.554, 1.473, PHS=-0.759,-1.475,-2.071, RAW=  63.0,  53.2, CAL=  60.0,  57.7, ROT=  90.0, -57.7

2025-08-09T17:41:35.698Z,1754761295.698 [DAT](INFO): got valid direction response:
 17:41:33.9395 LVL= 18912, 10769, 23154, 24819, AGC= 37, IDX= 444,-0.11, 0.612,-0.047,-0.554, 1.473, PHS=-0.759,-1.475,-2.071, RAW=  63.0,  53.2, CAL=  60.0,  57.7, ROT=  90.0, -57.7

2025-08-09T17:41:35.699Z,1754761295.699 [DAT](INFO): DAT read: Bearing  23.7,  31.9 (Local)

2025-08-09T17:41:35.699Z,1754761295.699 [DAT](INFO): Local bearing/azimuth received:
 Bearing  23.7,  31.9 (Local)

2025-08-09T17:41:35.701Z,1754761295.701 [DAT](INFO): DAT read: Range 11 to 50 : 1.1 m  (Round-trip  1.5 ms) speed  0.0 m/s

2025-08-09T17:41:35.701Z,1754761295.701 [DAT](INFO): DAT read: user:696>

2025-08-09T17:41:35.702Z,1754761295.702 [DAT](INFO): DAT read: Tx time:17:41:35.0338

2025-08-09T17:41:35.702Z,1754761295.702 [DAT](INFO): Ping request sent.
2025-08-09T17:41:35.702Z,1754761295.702 [DAT](INFO): transmitted an acoustic signal
2025-08-09T17:41:35.703Z,1754761295.703 [DAT](INFO): #Rx 32: Read range and direction messages.
2025-08-09T17:41:35.704Z,1754761295.704 [DAT](INFO): direction in FSK: [-0.000000,0.534352,0.845262]
2025-08-09T17:41:35.704Z,1754761295.704 [DAT](INFO): publishing transmit ping time
2025-08-09T17:41:35.704Z,1754761295.704 [DAT](INFO): publishing direction and range info
2025-08-09T17:41:35.707Z,1754761295.707 [DAT](INFO): publishing transmit ping time
2025-08-09T17:41:35.708Z,1754761295.708 [DAT](INFO): publishing direction and range info
2025-08-09T17:41:35.743Z,1754761295.743 [DAT](INFO): checking for new query: numPingsReceived=32, elapsed TxPingTime=0.040604
2025-08-09T17:41:35.944Z,1754761295.944 [DAT](INFO): checking for new query: numPingsReceived=32, elapsed TxPingTime=0.241933
2025-08-09T17:41:36.195Z,1754761296.195 [DAT](INFO): checking for new query: numPingsReceived=32, elapsed TxPingTime=0.492939
2025-08-09T17:41:36.447Z,1754761296.447 [DAT](INFO): checking for new query: numPingsReceived=32, elapsed TxPingTime=0.744878
2025-08-09T17:41:36.699Z,1754761296.699 [DAT](INFO): checking for new query: numPingsReceived=32, elapsed TxPingTime=0.996897
2025-08-09T17:41:36.951Z,1754761296.951 [DAT](INFO): checking for new query: numPingsReceived=32, elapsed TxPingTime=1.249011
2025-08-09T17:41:37.203Z,1754761297.203 [DAT](INFO): checking for new query: numPingsReceived=32, elapsed TxPingTime=1.500870
2025-08-09T17:41:37.455Z,1754761297.455 [DAT](INFO): checking for new query: numPingsReceived=32, elapsed TxPingTime=1.752923
2025-08-09T17:41:37.707Z,1754761297.707 [DAT](INFO): checking for new query: numPingsReceived=32, elapsed TxPingTime=2.004807
2025-08-09T17:41:37.959Z,1754761297.959 [DAT](INFO): checking for new query: numPingsReceived=32, elapsed TxPingTime=2.257016
2025-08-09T17:41:38.211Z,1754761298.211 [DAT](INFO): checking for new query: numPingsReceived=32, elapsed TxPingTime=2.508944
2025-08-09T17:41:38.464Z,1754761298.464 [DAT](INFO): DAT read: Rx Time:17:41:37.4395

2025-08-09T17:41:38.464Z,1754761298.464 [DAT](INFO): Rx dataTimestamp_ set to:1754761298.463748
2025-08-09T17:41:38.465Z,1754761298.465 [DAT](INFO): checking for new query: numPingsReceived=32, elapsed TxPingTime=2.762141
2025-08-09T17:41:38.716Z,1754761298.716 [DAT](INFO): checking for new query: numPingsReceived=32, elapsed TxPingTime=3.013578
2025-08-09T17:41:38.987Z,1754761298.987 [DAT](INFO): checking for new query: numPingsReceived=32, elapsed TxPingTime=3.267199
2025-08-09T17:41:39.225Z,1754761299.225 [DAT](INFO): DAT read: 17:41:37.4395 LVL= 19104, 13505, 23170, 22867, AGC= 37, IDX= 444,-0.17,-0.418,-1.009,-1.610, 0.462, PHS=-0.778,-1.426,-2.116, RAW=  59.0,  52.8, CAL=  56.1,  57.2, ROT=  93.9, -57.2

2025-08-09T17:41:39.226Z,1754761299.226 [DAT](INFO): got valid direction response:
 17:41:37.4395 LVL= 19104, 13505, 23170, 22867, AGC= 37, IDX= 444,-0.17,-0.418,-1.009,-1.610, 0.462, PHS=-0.778,-1.426,-2.116, RAW=  59.0,  52.8, CAL=  56.1,  57.2, ROT=  93.9, -57.2

2025-08-09T17:41:39.227Z,1754761299.227 [DAT](INFO): DAT read: Bearing  26.1,  32.5 (Local)

2025-08-09T17:41:39.227Z,1754761299.227 [DAT](INFO): Local bearing/azimuth received:
 Bearing  26.1,  32.5 (Local)

2025-08-09T17:41:39.229Z,1754761299.229 [DAT](INFO): DAT read: Range 11 to 50 : 1.1 m  (Round-trip  1.5 ms) speed  0.0 m/s

2025-08-09T17:41:39.229Z,1754761299.229 [DAT](INFO): DAT read: user:697>

2025-08-09T17:41:39.230Z,1754761299.230 [DAT](INFO): DAT read: Tx time:17:41:38.5338

2025-08-09T17:41:39.230Z,1754761299.230 [DAT](INFO): Ping request sent.
2025-08-09T17:41:39.231Z,1754761299.231 [DAT](INFO): transmitted an acoustic signal
2025-08-09T17:41:39.231Z,1754761299.231 [DAT](INFO): #Rx 33: Read range and direction messages.
2025-08-09T17:41:39.232Z,1754761299.232 [DAT](INFO): direction in FSK: [-0.036844,0.540454,0.840567]
2025-08-09T17:41:39.232Z,1754761299.232 [DAT](INFO): publishing transmit ping time
2025-08-09T17:41:39.232Z,1754761299.232 [DAT](INFO): publishing direction and range info
2025-08-09T17:41:39.252Z,1754761299.252 [DAT](INFO): publishing transmit ping time
2025-08-09T17:41:39.252Z,1754761299.252 [DAT](INFO): publishing direction and range info
2025-08-09T17:41:39.261Z,1754761299.261 [DAT](INFO): checking for new query: numPingsReceived=33, elapsed TxPingTime=0.030117
2025-08-09T17:41:39.471Z,1754761299.471 [DAT](INFO): checking for new query: numPingsReceived=33, elapsed TxPingTime=0.240804
2025-08-09T17:41:39.723Z,1754761299.723 [DAT](INFO): checking for new query: numPingsReceived=33, elapsed TxPingTime=0.492624
2025-08-09T17:41:39.975Z,1754761299.975 [DAT](INFO): checking for new query: numPingsReceived=33, elapsed TxPingTime=0.744639
2025-08-09T17:41:40.227Z,1754761300.227 [DAT](INFO): checking for new query: numPingsReceived=33, elapsed TxPingTime=0.996787
2025-08-09T17:41:40.479Z,1754761300.479 [DAT](INFO): checking for new query: numPingsReceived=33, elapsed TxPingTime=1.248649
2025-08-09T17:41:40.733Z,1754761300.733 [DAT](INFO): checking for new query: numPingsReceived=33, elapsed TxPingTime=1.501918
2025-08-09T17:41:40.983Z,1754761300.983 [DAT](INFO): checking for new query: numPingsReceived=33, elapsed TxPingTime=1.752698
2025-08-09T17:41:41.235Z,1754761301.235 [DAT](INFO): checking for new query: numPingsReceived=33, elapsed TxPingTime=2.004640
2025-08-09T17:41:41.487Z,1754761301.487 [DAT](INFO): checking for new query: numPingsReceived=33, elapsed TxPingTime=2.256737
2025-08-09T17:41:41.739Z,1754761301.739 [DAT](INFO): checking for new query: numPingsReceived=33, elapsed TxPingTime=2.508688
2025-08-09T17:41:41.991Z,1754761301.991 [DAT](INFO): DAT read: Rx Time:17:41:40.9393

2025-08-09T17:41:41.992Z,1754761301.992 [DAT](INFO): Rx dataTimestamp_ set to:1754761301.991395
2025-08-09T17:41:41.992Z,1754761301.992 [DAT](INFO): checking for new query: numPingsReceived=33, elapsed TxPingTime=2.761636
2025-08-09T17:41:42.243Z,1754761302.243 [DAT](INFO): checking for new query: numPingsReceived=33, elapsed TxPingTime=3.012624
2025-08-09T17:41:42.513Z,1754761302.513 [DAT](INFO): DAT read: 17:41:40.9393 LVL= 18096,  9745, 22306, 23987, AGC= 37, IDX= 444,-0.14,-1.463,-2.425,-2.632,-0.656, PHS=-0.705,-1.725,-2.020, RAW=  77.6,  52.8, CAL=  75.1,  58.1, ROT=  74.9, -58.1

2025-08-09T17:41:42.526Z,1754761302.526 [DAT](INFO): got valid direction response:
 17:41:40.9393 LVL= 18096,  9745, 22306, 23987, AGC= 37, IDX= 444,-0.14,-1.463,-2.425,-2.632,-0.656, PHS=-0.705,-1.725,-2.020, RAW=  77.6,  52.8, CAL=  75.1,  58.1, ROT=  74.9, -58.1

2025-08-09T17:41:42.527Z,1754761302.527 [DAT](INFO): DAT read: Bearing  18.8,  29.4 (Local)

2025-08-09T17:41:42.527Z,1754761302.527 [DAT](INFO): Local bearing/azimuth received:
 Bearing  18.8,  29.4 (Local)

2025-08-09T17:41:42.529Z,1754761302.529 [DAT](INFO): DAT read: Range 11 to 50 : 1.0 m  (Round-trip  1.4 ms) speed  0.0 m/s

2025-08-09T17:41:42.529Z,1754761302.529 [DAT](INFO): DAT read: user:698>

2025-08-09T17:41:42.530Z,1754761302.530 [DAT](INFO): DAT read: Tx time:17:41:42.0337

2025-08-09T17:41:42.531Z,1754761302.531 [DAT](INFO): Ping request sent.
2025-08-09T17:41:42.531Z,1754761302.531 [DAT](INFO): transmitted an acoustic signal
2025-08-09T17:41:42.531Z,1754761302.531 [DAT](INFO): #Rx 34: Read range and direction messages.
2025-08-09T17:41:42.532Z,1754761302.532 [DAT](INFO): direction in FSK: [0.137661,0.510193,0.848972]
2025-08-09T17:41:42.532Z,1754761302.532 [DAT](INFO): publishing transmit ping time
2025-08-09T17:41:42.533Z,1754761302.533 [DAT](INFO): publishing direction and range info
2025-08-09T17:41:42.536Z,1754761302.536 [DAT](INFO): publishing transmit ping time
2025-08-09T17:41:42.536Z,1754761302.536 [DAT](INFO): publishing direction and range info
2025-08-09T17:41:42.539Z,1754761302.539 [DAT](INFO): checking for new query: numPingsReceived=34, elapsed TxPingTime=0.008510
2025-08-09T17:41:42.747Z,1754761302.747 [DAT](INFO): checking for new query: numPingsReceived=34, elapsed TxPingTime=0.216481
2025-08-09T17:41:42.000Z,1754761303.000 [DAT](INFO): checking for new query: numPingsReceived=34, elapsed TxPingTime=0.468684
2025-08-09T17:41:43.253Z,1754761303.253 [DAT](INFO): checking for new query: numPingsReceived=34, elapsed TxPingTime=0.721818
2025-08-09T17:41:43.503Z,1754761303.503 [DAT](INFO): checking for new query: numPingsReceived=34, elapsed TxPingTime=0.972489
2025-08-09T17:41:43.756Z,1754761303.756 [DAT](INFO): checking for new query: numPingsReceived=34, elapsed TxPingTime=1.225256
2025-08-09T17:41:44.008Z,1754761304.008 [DAT](INFO): checking for new query: numPingsReceived=34, elapsed TxPingTime=1.476984
2025-08-09T17:41:44.260Z,1754761304.260 [DAT](INFO): checking for new query: numPingsReceived=34, elapsed TxPingTime=1.728785
2025-08-09T17:41:44.511Z,1754761304.511 [DAT](INFO): checking for new query: numPingsReceived=34, elapsed TxPingTime=1.980401
2025-08-09T17:41:44.764Z,1754761304.764 [DAT](INFO): checking for new query: numPingsReceived=34, elapsed TxPingTime=2.233545
2025-08-09T17:41:45.015Z,1754761305.015 [DAT](INFO): checking for new query: numPingsReceived=34, elapsed TxPingTime=2.484359
2025-08-09T17:41:45.268Z,1754761305.268 [DAT](INFO): checking for new query: numPingsReceived=34, elapsed TxPingTime=2.737042
2025-08-09T17:41:45.519Z,1754761305.519 [DAT](INFO): DAT read: Rx Time:17:41:44.4393

2025-08-09T17:41:45.520Z,1754761305.520 [DAT](INFO): Rx dataTimestamp_ set to:1754761305.519654
2025-08-09T17:41:45.520Z,1754761305.520 [DAT](INFO): checking for new query: numPingsReceived=34, elapsed TxPingTime=2.989620
2025-08-09T17:41:45.773Z,1754761305.773 [DAT](INFO): checking for new query: numPingsReceived=34, elapsed TxPingTime=3.241723
2025-08-09T17:41:46.029Z,1754761306.029 [DAT](INFO): DAT read: 17:41:44.4393 LVL= 16688,  8161, 21666, 22051, AGC= 36, IDX= 444,-0.13,-2.608, 2.668, 2.545,-1.804, PHS=-0.702,-1.765,-1.978, RAW=  81.1,  53.0, CAL=  79.0,  58.5, ROT=  71.0, -58.5

2025-08-09T17:41:46.030Z,1754761306.030 [DAT](INFO): got valid direction response:
 17:41:44.4393 LVL= 16688,  8161, 21666, 22051, AGC= 36, IDX= 444,-0.13,-2.608, 2.668, 2.545,-1.804, PHS=-0.702,-1.765,-1.978, RAW=  81.1,  53.0, CAL=  79.0,  58.5, ROT=  71.0, -58.5

2025-08-09T17:41:46.031Z,1754761306.031 [DAT](INFO): DAT read: Bearing  20.7,  29.1 (Local)

2025-08-09T17:41:46.031Z,1754761306.031 [DAT](INFO): Local bearing/azimuth received:
 Bearing  20.7,  29.1 (Local)

2025-08-09T17:41:46.033Z,1754761306.033 [DAT](INFO): DAT read: Range 11 to 50 : 1.0 m  (Round-trip  1.4 ms) speed  0.0 m/s

2025-08-09T17:41:46.033Z,1754761306.033 [DAT](INFO): DAT read: user:699>

2025-08-09T17:41:46.034Z,1754761306.034 [DAT](INFO): DAT read: Tx time:17:41:45.5337

2025-08-09T17:41:46.035Z,1754761306.035 [DAT](INFO): Ping request sent.
2025-08-09T17:41:46.035Z,1754761306.035 [DAT](INFO): transmitted an acoustic signal
2025-08-09T17:41:46.035Z,1754761306.035 [DAT](INFO): #Rx 35: Read range and direction messages.
2025-08-09T17:41:46.036Z,1754761306.036 [DAT](INFO): direction in FSK: [0.170109,0.494032,0.852640]
2025-08-09T17:41:46.036Z,1754761306.036 [DAT](INFO): publishing transmit ping time
2025-08-09T17:41:46.036Z,1754761306.036 [DAT](INFO): publishing direction and range info
2025-08-09T17:41:46.040Z,1754761306.040 [DAT](INFO): publishing transmit ping time
2025-08-09T17:41:46.040Z,1754761306.040 [DAT](INFO): publishing direction and range info
2025-08-09T17:41:46.046Z,1754761306.046 [DAT](INFO): checking for new query: numPingsReceived=35, elapsed TxPingTime=0.010515
2025-08-09T17:41:46.276Z,1754761306.276 [DAT](INFO): checking for new query: numPingsReceived=35, elapsed TxPingTime=0.241162
2025-08-09T17:41:46.527Z,1754761306.527 [DAT](INFO): checking for new query: numPingsReceived=35, elapsed TxPingTime=0.492612
2025-08-09T17:41:46.791Z,1754761306.791 [DAT](INFO): checking for new query: numPingsReceived=35, elapsed TxPingTime=0.756159
2025-08-09T17:41:47.031Z,1754761307.031 [DAT](INFO): checking for new query: numPingsReceived=35, elapsed TxPingTime=0.996666
2025-08-09T17:41:47.283Z,1754761307.283 [DAT](INFO): checking for new query: numPingsReceived=35, elapsed TxPingTime=1.248627
2025-08-09T17:41:47.535Z,1754761307.535 [DAT](INFO): checking for new query: numPingsReceived=35, elapsed TxPingTime=1.500760
2025-08-09T17:41:47.787Z,1754761307.787 [DAT](INFO): checking for new query: numPingsReceived=35, elapsed TxPingTime=1.752720
2025-08-09T17:41:48.040Z,1754761308.040 [DAT](INFO): checking for new query: numPingsReceived=35, elapsed TxPingTime=2.005245
2025-08-09T17:41:48.291Z,1754761308.291 [DAT](INFO): checking for new query: numPingsReceived=35, elapsed TxPingTime=2.256659
2025-08-09T17:41:48.543Z,1754761308.543 [DAT](INFO): checking for new query: numPingsReceived=35, elapsed TxPingTime=2.508672
2025-08-09T17:41:48.795Z,1754761308.795 [DAT](INFO): checking for new query: numPingsReceived=35, elapsed TxPingTime=2.760738
2025-08-09T17:41:49.047Z,1754761309.047 [DAT](INFO): DAT read: Rx Time:17:41:47.9393

2025-08-09T17:41:49.048Z,1754761309.048 [DAT](INFO): Rx dataTimestamp_ set to:1754761309.047496
2025-08-09T17:41:49.048Z,1754761309.048 [DAT](INFO): checking for new query: numPingsReceived=35, elapsed TxPingTime=3.013699
2025-08-09T17:41:49.299Z,1754761309.299 [DAT](INFO): checking for new query: numPingsReceived=35, elapsed TxPingTime=3.264677
2025-08-09T17:41:49.557Z,1754761309.557 [DAT](INFO): DAT read: 17:41:47.9393 LVL= 20768, 10033, 22946, 26483, AGC= 36, IDX= 444,-0.11, 2.072, 1.022, 0.924, 2.857, PHS=-0.683,-1.790,-1.977, RAW=  82.3,  52.4, CAL=  80.4,  58.1, ROT=  69.6, -58.1

2025-08-09T17:41:49.558Z,1754761309.558 [DAT](INFO): got valid direction response:
 17:41:47.9393 LVL= 20768, 10033, 22946, 26483, AGC= 36, IDX= 444,-0.11, 2.072, 1.022, 0.924, 2.857, PHS=-0.683,-1.790,-1.977, RAW=  82.3,  52.4, CAL=  80.4,  58.1, ROT=  69.6, -58.1

2025-08-09T17:41:49.560Z,1754761309.560 [DAT](INFO): DAT read: Bearing  23.8,  29.3 (Local)

2025-08-09T17:41:49.560Z,1754761309.560 [DAT](INFO): Local bearing/azimuth received:
 Bearing  23.8,  29.3 (Local)

2025-08-09T17:41:49.561Z,1754761309.561 [DAT](INFO): DAT read: Range 11 to 50 : 1.0 m  (Round-trip  1.4 ms) speed  0.0 m/s

2025-08-09T17:41:49.562Z,1754761309.562 [DAT](INFO): DAT read: user:700>

2025-08-09T17:41:49.563Z,1754761309.563 [DAT](INFO): DAT read: Tx time:17:41:49.0337

2025-08-09T17:41:49.563Z,1754761309.563 [DAT](INFO): Ping request sent.
2025-08-09T17:41:49.563Z,1754761309.563 [DAT](INFO): transmitted an acoustic signal
2025-08-09T17:41:49.564Z,1754761309.564 [DAT](INFO): #Rx 36: Read range and direction messages.
2025-08-09T17:41:49.565Z,1754761309.565 [DAT](INFO): direction in FSK: [0.184199,0.495296,0.848972]
2025-08-09T17:41:49.565Z,1754761309.565 [DAT](INFO): publishing transmit ping time
2025-08-09T17:41:49.565Z,1754761309.565 [DAT](INFO): publishing direction and range info
2025-08-09T17:41:49.573Z,1754761309.573 [DAT](INFO): publishing transmit ping time
2025-08-09T17:41:49.573Z,1754761309.573 [DAT](INFO): publishing direction and range info
2025-08-09T17:41:49.576Z,1754761309.576 [DAT](INFO): checking for new query: numPingsReceived=36, elapsed TxPingTime=0.012895
2025-08-09T17:41:49.808Z,1754761309.808 [DAT](INFO): checking for new query: numPingsReceived=36, elapsed TxPingTime=0.244946
2025-08-09T17:41:50.059Z,1754761310.059 [DAT](INFO): checking for new query: numPingsReceived=36, elapsed TxPingTime=0.495876
2025-08-09T17:41:50.311Z,1754761310.311 [DAT](INFO): checking for new query: numPingsReceived=36, elapsed TxPingTime=0.747876
2025-08-09T17:41:50.563Z,1754761310.563 [DAT](INFO): checking for new query: numPingsReceived=36, elapsed TxPingTime=0.999761
2025-08-09T17:41:50.816Z,1754761310.816 [DAT](INFO): checking for new query: numPingsReceived=36, elapsed TxPingTime=1.252129
2025-08-09T17:41:51.067Z,1754761311.067 [DAT](INFO): checking for new query: numPingsReceived=36, elapsed TxPingTime=1.503735
2025-08-09T17:41:51.320Z,1754761311.320 [DAT](INFO): checking for new query: numPingsReceived=36, elapsed TxPingTime=1.756087
2025-08-09T17:41:51.571Z,1754761311.571 [DAT](INFO): checking for new query: numPingsReceived=36, elapsed TxPingTime=2.007985
2025-08-09T17:41:51.823Z,1754761311.823 [DAT](INFO): checking for new query: numPingsReceived=36, elapsed TxPingTime=2.259812
2025-08-09T17:41:52.075Z,1754761312.075 [DAT](INFO): checking for new query: numPingsReceived=36, elapsed TxPingTime=2.511905
2025-08-09T17:41:52.327Z,1754761312.327 [DAT](INFO): checking for new query: numPingsReceived=36, elapsed TxPingTime=2.763837
2025-08-09T17:41:52.579Z,1754761312.579 [DAT](INFO): DAT read: Rx Time:17:41:51.4393

2025-08-09T17:41:52.580Z,1754761312.580 [DAT](INFO): Rx dataTimestamp_ set to:1754761312.579414
2025-08-09T17:41:52.580Z,1754761312.580 [DAT](INFO): checking for new query: numPingsReceived=36, elapsed TxPingTime=3.016829
2025-08-09T17:41:52.831Z,1754761312.831 [DAT](INFO): checking for new query: numPingsReceived=36, elapsed TxPingTime=3.267911
2025-08-09T17:41:53.089Z,1754761313.089 [DAT](INFO): DAT read: 17:41:51.4393 LVL= 21808,  8977, 23026, 26691, AGC= 37, IDX= 444,-0.09, 1.038,-0.046,-0.113, 1.809, PHS=-0.669,-1.809,-1.966, RAW=  83.6,  52.0, CAL=  81.9,  57.7, ROT=  68.1, -57.7

2025-08-09T17:41:53.090Z,1754761313.090 [DAT](INFO): got valid direction response:
 17:41:51.4393 LVL= 21808,  8977, 23026, 26691, AGC= 37, IDX= 444,-0.09, 1.038,-0.046,-0.113, 1.809, PHS=-0.669,-1.809,-1.966, RAW=  83.6,  52.0, CAL=  81.9,  57.7, ROT=  68.1, -57.7

2025-08-09T17:41:53.091Z,1754761313.091 [DAT](INFO): DAT read: Bearing  24.3,  30.0 (Local)

2025-08-09T17:41:53.092Z,1754761313.092 [DAT](INFO): Local bearing/azimuth received:
 Bearing  24.3,  30.0 (Local)

2025-08-09T17:41:53.093Z,1754761313.093 [DAT](INFO): DAT read: Range 11 to 50 : 1.0 m  (Round-trip  1.4 ms) speed  0.0 m/s

2025-08-09T17:41:53.094Z,1754761313.094 [DAT](INFO): DAT read: user:701>

2025-08-09T17:41:53.105Z,1754761313.105 [DAT](INFO): DAT read: Tx time:17:41:52.5337

2025-08-09T17:41:53.105Z,1754761313.105 [DAT](INFO): Ping request sent.
2025-08-09T17:41:53.105Z,1754761313.105 [DAT](INFO): transmitted an acoustic signal
2025-08-09T17:41:53.106Z,1754761313.106 [DAT](INFO): #Rx 37: Read range and direction messages.
2025-08-09T17:41:53.107Z,1754761313.107 [DAT](INFO): direction in FSK: [0.199307,0.495791,0.845262]
2025-08-09T17:41:53.107Z,1754761313.107 [DAT](INFO): publishing transmit ping time
2025-08-09T17:41:53.107Z,1754761313.107 [DAT](INFO): publishing direction and range info
2025-08-09T17:41:53.131Z,1754761313.131 [DAT](INFO): publishing transmit ping time
2025-08-09T17:41:53.131Z,1754761313.131 [DAT](INFO): publishing direction and range info
2025-08-09T17:41:53.155Z,1754761313.155 [DAT](INFO): checking for new query: numPingsReceived=37, elapsed TxPingTime=0.049152
2025-08-09T17:41:53.336Z,1754761313.336 [DAT](INFO): checking for new query: numPingsReceived=37, elapsed TxPingTime=0.230502
2025-08-09T17:41:53.588Z,1754761313.588 [DAT](INFO): checking for new query: numPingsReceived=37, elapsed TxPingTime=0.482117
2025-08-09T17:41:53.840Z,1754761313.840 [DAT](INFO): checking for new query: numPingsReceived=37, elapsed TxPingTime=0.734219
2025-08-09T17:41:54.091Z,1754761314.091 [DAT](INFO): checking for new query: numPingsReceived=37, elapsed TxPingTime=0.985909
2025-08-09T17:41:54.343Z,1754761314.343 [DAT](INFO): checking for new query: numPingsReceived=37, elapsed TxPingTime=1.237774
2025-08-09T17:41:54.595Z,1754761314.595 [DAT](INFO): checking for new query: numPingsReceived=37, elapsed TxPingTime=1.489839
2025-08-09T17:41:54.848Z,1754761314.848 [DAT](INFO): checking for new query: numPingsReceived=37, elapsed TxPingTime=1.742201
2025-08-09T17:41:55.099Z,1754761315.099 [DAT](INFO): checking for new query: numPingsReceived=37, elapsed TxPingTime=1.993991
2025-08-09T17:41:55.385Z,1754761315.385 [DAT](INFO): checking for new query: numPingsReceived=37, elapsed TxPingTime=2.278635
2025-08-09T17:41:55.603Z,1754761315.603 [DAT](INFO): checking for new query: numPingsReceived=37, elapsed TxPingTime=2.497828
2025-08-09T17:41:55.856Z,1754761315.856 [DAT](INFO): checking for new query: numPingsReceived=37, elapsed TxPingTime=2.750099
2025-08-09T17:41:56.108Z,1754761316.108 [DAT](INFO): DAT read: Rx Time:17:41:54.9394

2025-08-09T17:41:56.109Z,1754761316.109 [DAT](INFO): Rx dataTimestamp_ set to:1754761316.108466
2025-08-09T17:41:56.109Z,1754761316.109 [DAT](INFO): checking for new query: numPingsReceived=37, elapsed TxPingTime=3.003820
2025-08-09T17:41:56.359Z,1754761316.359 [DAT](INFO): checking for new query: numPingsReceived=37, elapsed TxPingTime=3.253840
2025-08-09T17:41:56.621Z,1754761316.621 [DAT](INFO): DAT read: 17:41:54.9394 LVL= 20960,  9057, 23266, 26963, AGC= 37, IDX= 444,-0.10,-0.165,-1.187,-1.304, 0.625, PHS=-0.688,-1.767,-1.973, RAW=  81.4,  52.6, CAL=  79.4,  58.2, ROT=  70.6, -58.2

2025-08-09T17:41:56.622Z,1754761316.622 [DAT](INFO): got valid direction response:
 17:41:54.9394 LVL= 20960,  9057, 23266, 26963, AGC= 37, IDX= 444,-0.10,-0.165,-1.187,-1.304, 0.625, PHS=-0.688,-1.767,-1.973, RAW=  81.4,  52.6, CAL=  79.4,  58.2, ROT=  70.6, -58.2

2025-08-09T17:41:56.623Z,1754761316.623 [DAT](INFO): DAT read: Bearing  22.9,  29.8 (Local)

2025-08-09T17:41:56.623Z,1754761316.623 [DAT](INFO): Local bearing/azimuth received:
 Bearing  22.9,  29.8 (Local)

2025-08-09T17:41:56.625Z,1754761316.625 [DAT](INFO): DAT read: Range 11 to 50 : 1.1 m  (Round-trip  1.5 ms) speed  0.0 m/s

2025-08-09T17:41:56.626Z,1754761316.626 [DAT](INFO): DAT read: user:702>

2025-08-09T17:41:56.627Z,1754761316.627 [DAT](INFO): DAT read: Tx time:17:41:56.0337

2025-08-09T17:41:56.627Z,1754761316.627 [DAT](INFO): Ping request sent.
2025-08-09T17:41:56.627Z,1754761316.627 [DAT](INFO): transmitted an acoustic signal
2025-08-09T17:41:56.627Z,1754761316.627 [DAT](INFO): #Rx 38: Read range and direction messages.
2025-08-09T17:41:56.628Z,1754761316.628 [DAT](INFO): direction in FSK: [0.175034,0.497037,0.849893]
2025-08-09T17:41:56.628Z,1754761316.628 [DAT](INFO): publishing transmit ping time
2025-08-09T17:41:56.629Z,1754761316.629 [DAT](INFO): publishing direction and range info
2025-08-09T17:41:56.632Z,1754761316.632 [DAT](INFO): publishing transmit ping time
2025-08-09T17:41:56.632Z,1754761316.632 [DAT](INFO): publishing direction and range info
2025-08-09T17:41:56.635Z,1754761316.635 [DAT](INFO): checking for new query: numPingsReceived=38, elapsed TxPingTime=0.008383
2025-08-09T17:41:56.864Z,1754761316.864 [DAT](INFO): checking for new query: numPingsReceived=38, elapsed TxPingTime=0.236855
2025-08-09T17:41:57.115Z,1754761317.115 [DAT](INFO): checking for new query: numPingsReceived=38, elapsed TxPingTime=0.488392
2025-08-09T17:41:57.367Z,1754761317.367 [DAT](INFO): checking for new query: numPingsReceived=38, elapsed TxPingTime=0.740315
2025-08-09T17:41:57.620Z,1754761317.620 [DAT](INFO): checking for new query: numPingsReceived=38, elapsed TxPingTime=0.992652
2025-08-09T17:41:57.675Z,1754761317.675 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for altitude. Device response is::BD,     -226.02328.39,7.67,  0.00
2025-08-09T17:41:57.872Z,1754761317.872 [DAT](INFO): checking for new query: numPingsReceived=38, elapsed TxPingTime=1.244700
2025-08-09T17:41:58.123Z,1754761318.123 [DAT](INFO): checking for new query: numPingsReceived=38, elapsed TxPingTime=1.496354
2025-08-09T17:41:58.376Z,1754761318.376 [DAT](INFO): checking for new query: numPingsReceived=38, elapsed TxPingTime=1.748625
2025-08-09T17:41:58.630Z,1754761318.630 [DAT](INFO): checking for new query: numPingsReceived=38, elapsed TxPingTime=2.002776
2025-08-09T17:41:58.880Z,1754761318.880 [DAT](INFO): checking for new query: numPingsReceived=38, elapsed TxPingTime=2.253042
2025-08-09T17:41:59.132Z,1754761319.132 [DAT](INFO): DAT read: Rx Time:17:41:58.1644 

2025-08-09T17:41:59.132Z,1754761319.132 [DAT](INFO): Rx dataTimestamp_ set to:1754761319.132033
2025-08-09T17:41:59.134Z,1754761319.134 [DAT](INFO): DAT read: Bearing  35.4,  32.9 (Local)

2025-08-09T17:41:59.134Z,1754761319.134 [DAT](INFO): Local bearing/azimuth received:
 Bearing  35.4,  32.9 (Local)

2025-08-09T17:41:59.136Z,1754761319.136 [DAT](INFO): DAT read: Range 11 to 50 :     1.1 m (trip time 0.7 ms) speed 0.0

2025-08-09T17:41:59.141Z,1754761319.141 [DAT](INFO): DAT read: 17:41:58.1644 LVL= 17824, 13105, 21426, 22867, AGC= 39, IDX= 188,-0.23,-1.425,-1.978,-2.607,-0.541, PHS=-0.782,-1.392,-2.110, RAW=  57.3,  52.7, CAL=  54.6,  57.1, ROT=  95.4, -57.1

2025-08-09T17:41:59.142Z,1754761319.142 [DAT](INFO): got valid direction response:
 17:41:58.1644 LVL= 17824, 13105, 21426, 22867, AGC= 39, IDX= 188,-0.23,-1.425,-1.978,-2.607,-0.541, PHS=-0.782,-1.392,-2.110, RAW=  57.3,  52.7, CAL=  54.6,  57.1, ROT=  95.4, -57.1

2025-08-09T17:41:59.142Z,1754761319.142 [DAT](INFO): #Rx 39: Read range and direction messages.
2025-08-09T17:41:59.143Z,1754761319.143 [DAT](INFO): direction in FSK: [-0.051117,0.540764,0.839620]
2025-08-09T17:41:59.143Z,1754761319.143 [DAT](INFO): publishing direction and range info
2025-08-09T17:41:59.147Z,1754761319.147 [DAT](INFO): checking for new query: numPingsReceived=39, elapsed TxPingTime=2.520083
2025-08-09T17:41:59.383Z,1754761319.383 [DAT](INFO): checking for new query: numPingsReceived=39, elapsed TxPingTime=2.756390
2025-08-09T17:41:59.640Z,1754761319.640 [DAT](INFO): DAT read: Rx Time:17:41:58.6644 

2025-08-09T17:41:59.642Z,1754761319.642 [DAT](INFO): Rx dataTimestamp_ set to:1754761319.640768
2025-08-09T17:41:59.646Z,1754761319.646 [DAT](INFO): DAT read: Bearing  36.0,  32.6 (Local)

2025-08-09T17:41:59.646Z,1754761319.646 [DAT](INFO): Local bearing/azimuth received:
 Bearing  36.0,  32.6 (Local)

2025-08-09T17:41:59.648Z,1754761319.648 [DAT](INFO): DAT read: Range 11 to 50 :     1.1 m (trip time 0.7 ms) speed 0.0

2025-08-09T17:41:59.681Z,1754761319.681 [DAT](INFO): DAT read: 17:41:58.6644 LVL= 18160, 12385, 20130, 18083, AGC= 35, IDX= 508,-0.12,-1.340,-1.874,-2.519,-0.438, PHS=-0.800,-1.391,-2.125, RAW=  56.4,  53.0, CAL=  53.8,  57.3, ROT=  96.2, -57.3

2025-08-09T17:41:59.695Z,1754761319.695 [DAT](INFO): got valid direction response:
 17:41:58.6644 LVL= 18160, 12385, 20130, 18083, AGC= 35, IDX= 508,-0.12,-1.340,-1.874,-2.519,-0.438, PHS=-0.800,-1.391,-2.125, RAW=  56.4,  53.0, CAL=  53.8,  57.3, ROT=  96.2, -57.3

2025-08-09T17:41:59.695Z,1754761319.695 [DAT](INFO): #Rx 40: Read range and direction messages.
2025-08-09T17:41:59.696Z,1754761319.696 [DAT](INFO): direction in FSK: [-0.058346,0.537080,0.841511]
2025-08-09T17:41:59.696Z,1754761319.696 [DAT](INFO): publishing direction and range info
2025-08-09T17:41:59.708Z,1754761319.708 [DAT](INFO): checking for new query: numPingsReceived=40, elapsed TxPingTime=3.081044
2025-08-09T17:41:59.887Z,1754761319.887 [DAT](INFO): checking for new query: numPingsReceived=40, elapsed TxPingTime=3.260460
2025-08-09T17:42:00.140Z,1754761320.140 [DAT](INFO): DAT read: Rx Time:17:41:59.1643 

2025-08-09T17:42:00.141Z,1754761320.141 [DAT](INFO): Rx dataTimestamp_ set to:1754761320.140231
2025-08-09T17:42:00.142Z,1754761320.142 [DAT](INFO): DAT read: Bearing  37.2,  32.8 (Local)

2025-08-09T17:42:00.142Z,1754761320.142 [DAT](INFO): Local bearing/azimuth received:
 Bearing  37.2,  32.8 (Local)

2025-08-09T17:42:00.144Z,1754761320.144 [DAT](INFO): DAT read: Range 11 to 50 :     0.9 m (trip time 0.6 ms) speed 0.0

2025-08-09T17:42:00.149Z,1754761320.149 [DAT](INFO): DAT read: 17:41:59.1643 LVL= 18624, 13041, 19186, 17795, AGC= 35, IDX= 507,-0.04,-1.730,-2.241,-2.925,-0.821, PHS=-0.806,-1.375,-2.148, RAW=  55.0,  52.7, CAL=  52.4,  57.0, ROT=  97.6, -57.0

2025-08-09T17:42:00.150Z,1754761320.150 [DAT](INFO): got valid direction response:
 17:41:59.1643 LVL= 18624, 13041, 19186, 17795, AGC= 35, IDX= 507,-0.04,-1.730,-2.241,-2.925,-0.821, PHS=-0.806,-1.375,-2.148, RAW=  55.0,  52.7, CAL=  52.4,  57.0, ROT=  97.6, -57.0

2025-08-09T17:42:00.151Z,1754761320.151 [DAT](INFO): #Rx 41: Read range and direction messages.
2025-08-09T17:42:00.152Z,1754761320.152 [DAT](INFO): direction in FSK: [-0.072032,0.539855,0.838671]
2025-08-09T17:42:00.152Z,1754761320.152 [DAT](INFO): publishing direction and range info
2025-08-09T17:42:00.155Z,1754761320.155 [DAT](INFO): checking for new query: numPingsReceived=41, elapsed TxPingTime=3.528468
2025-08-09T17:42:00.391Z,1754761320.391 [DAT](INFO): checking for new query: numPingsReceived=41, elapsed TxPingTime=3.764334
2025-08-09T17:42:00.648Z,1754761320.648 [DAT](INFO): DAT read: Rx Time:17:41:59.6643 

2025-08-09T17:42:00.650Z,1754761320.650 [DAT](INFO): Rx dataTimestamp_ set to:1754761320.648659
2025-08-09T17:42:00.654Z,1754761320.654 [DAT](INFO): DAT read: Bearing  38.2,  33.8 (Local)

2025-08-09T17:42:00.655Z,1754761320.655 [DAT](INFO): Local bearing/azimuth received:
 Bearing  38.2,  33.8 (Local)

2025-08-09T17:42:00.670Z,1754761320.670 [DAT](INFO): DAT read: Range 11 to 50 :     0.9 m (trip time 0.6 ms) speed 0.0

2025-08-09T17:42:00.687Z,1754761320.687 [DAT](INFO): DAT read: 17:41:59.6643 LVL= 19072, 14945, 18418, 19555, AGC= 36, IDX= 507, 0.05,-0.199,-0.717,-1.447, 0.692, PHS=-0.789,-1.364,-2.183, RAW=  54.2,  51.6, CAL=  51.6,  56.0, ROT=  98.4, -56.0

2025-08-09T17:42:00.688Z,1754761320.688 [DAT](INFO): got valid direction response:
 17:41:59.6643 LVL= 19072, 14945, 18418, 19555, AGC= 36, IDX= 507, 0.05,-0.199,-0.717,-1.447, 0.692, PHS=-0.789,-1.364,-2.183, RAW=  54.2,  51.6, CAL=  51.6,  56.0, ROT=  98.4, -56.0

2025-08-09T17:42:00.689Z,1754761320.689 [DAT](INFO): #Rx 42: Read range and direction messages.
2025-08-09T17:42:00.690Z,1754761320.690 [DAT](INFO): direction in FSK: [-0.081689,0.553194,0.829038]
2025-08-09T17:42:00.690Z,1754761320.690 [DAT](INFO): publishing direction and range info
2025-08-09T17:42:00.697Z,1754761320.697 [DAT](INFO): checking for new query: numPingsReceived=42, elapsed TxPingTime=4.070517
2025-08-09T17:42:00.896Z,1754761320.896 [DAT](INFO): checking for new query: numPingsReceived=42, elapsed TxPingTime=4.269199
2025-08-09T17:42:01.148Z,1754761321.148 [DAT](INFO): DAT read: Rx Time:17:42:00.1642 

2025-08-09T17:42:01.148Z,1754761321.148 [DAT](INFO): Rx dataTimestamp_ set to:1754761321.148082
2025-08-09T17:42:01.150Z,1754761321.150 [DAT](INFO): DAT read: Bearing  39.2,  33.7 (Local)

2025-08-09T17:42:01.150Z,1754761321.150 [DAT](INFO): Local bearing/azimuth received:
 Bearing  39.2,  33.7 (Local)

2025-08-09T17:42:01.152Z,1754761321.152 [DAT](INFO): DAT read: Range 11 to 50 :     0.8 m (trip time 0.5 ms) speed 0.0

2025-08-09T17:42:01.158Z,1754761321.158 [DAT](INFO): DAT read: 17:42:00.1642 LVL= 21552, 14833, 20514, 19379, AGC= 36, IDX= 506, 0.17,-1.245,-1.750,-2.488,-0.346, PHS=-0.797,-1.360,-2.187, RAW=  53.7,  51.7, CAL=  51.2,  56.1, ROT=  98.8, -56.1

2025-08-09T17:42:01.160Z,1754761321.160 [DAT](INFO): got valid direction response:
 17:42:00.1642 LVL= 21552, 14833, 20514, 19379, AGC= 36, IDX= 506, 0.17,-1.245,-1.750,-2.488,-0.346, PHS=-0.797,-1.360,-2.187, RAW=  53.7,  51.7, CAL=  51.2,  56.1, ROT=  98.8, -56.1

2025-08-09T17:42:01.160Z,1754761321.160 [DAT](INFO): #Rx 43: Read range and direction messages.
2025-08-09T17:42:01.162Z,1754761321.162 [DAT](INFO): direction in FSK: [-0.085327,0.551180,0.830012]
2025-08-09T17:42:01.162Z,1754761321.162 [DAT](INFO): publishing direction and range info
2025-08-09T17:42:01.167Z,1754761321.167 [DAT](INFO): checking for new query: numPingsReceived=43, elapsed TxPingTime=4.540264
2025-08-09T17:42:01.401Z,1754761321.401 [DAT](INFO): checking for new query: numPingsReceived=43, elapsed TxPingTime=4.773299
2025-08-09T17:42:01.655Z,1754761321.655 [DAT](INFO): DAT read: Rx Time:17:42:00.6643 

2025-08-09T17:42:01.657Z,1754761321.657 [DAT](INFO): Rx dataTimestamp_ set to:1754761321.655903
2025-08-09T17:42:01.665Z,1754761321.665 [DAT](INFO): DAT read: Bearing  39.6,  34.0 (Local)

2025-08-09T17:42:01.666Z,1754761321.666 [DAT](INFO): Local bearing/azimuth received:
 Bearing  39.6,  34.0 (Local)

2025-08-09T17:42:01.672Z,1754761321.672 [DAT](INFO): DAT read: Range 11 to 50 :     0.9 m (trip time 0.6 ms) speed 0.0

2025-08-09T17:42:01.679Z,1754761321.679 [DAT](INFO): DAT read: 17:42:00.6643 LVL= 18992, 14545, 18738, 19635, AGC= 36, IDX= 507, 0.30, 0.077,-0.449,-1.174, 0.964, PHS=-0.785,-1.368,-2.182, RAW=  54.5,  51.6, CAL=  51.9,  56.0, ROT=  98.1, -56.0

2025-08-09T17:42:01.680Z,1754761321.680 [DAT](INFO): got valid direction response:
 17:42:00.6643 LVL= 18992, 14545, 18738, 19635, AGC= 36, IDX= 507, 0.30, 0.077,-0.449,-1.174, 0.964, PHS=-0.785,-1.368,-2.182, RAW=  54.5,  51.6, CAL=  51.9,  56.0, ROT=  98.1, -56.0

2025-08-09T17:42:01.680Z,1754761321.680 [DAT](INFO): #Rx 44: Read range and direction messages.
2025-08-09T17:42:01.681Z,1754761321.681 [DAT](INFO): direction in FSK: [-0.078791,0.553614,0.829038]
2025-08-09T17:42:01.682Z,1754761321.682 [DAT](INFO): publishing direction and range info
2025-08-09T17:42:01.685Z,1754761321.685 [DAT](INFO): checking for new query: numPingsReceived=44, elapsed TxPingTime=5.058239
2025-08-09T17:42:01.904Z,1754761321.904 [DAT](INFO): checking for new query: numPingsReceived=44, elapsed TxPingTime=5.277055
2025-08-09T17:42:02.159Z,1754761322.159 [DAT](INFO): DAT read: Rx Time:17:42:01.1642 

2025-08-09T17:42:02.159Z,1754761322.159 [DAT](INFO): Rx dataTimestamp_ set to:1754761322.159217
2025-08-09T17:42:02.161Z,1754761322.161 [DAT](INFO): DAT read: Bearing  40.0,  32.5 (Local)

2025-08-09T17:42:02.161Z,1754761322.161 [DAT](INFO): Local bearing/azimuth received:
 Bearing  40.0,  32.5 (Local)

2025-08-09T17:42:02.163Z,1754761322.163 [DAT](INFO): DAT read: Range 11 to 50 :     0.8 m (trip time 0.5 ms) speed 0.0

2025-08-09T17:42:02.168Z,1754761322.168 [DAT](INFO): DAT read: 17:42:01.1642 LVL= 20624, 12641, 21922, 20147, AGC= 35, IDX= 507,-0.46,-3.061, 2.720, 2.053,-2.133, PHS=-0.826,-1.385,-2.141, RAW=  55.0,  53.4, CAL=  52.5,  57.6, ROT=  97.5, -57.6

2025-08-09T17:42:02.170Z,1754761322.170 [DAT](INFO): got valid direction response:
 17:42:01.1642 LVL= 20624, 12641, 21922, 20147, AGC= 35, IDX= 507,-0.46,-3.061, 2.720, 2.053,-2.133, PHS=-0.826,-1.385,-2.141, RAW=  55.0,  53.4, CAL=  52.5,  57.6, ROT=  97.5, -57.6

2025-08-09T17:42:02.171Z,1754761322.171 [DAT](INFO): #Rx 45: Read range and direction messages.
2025-08-09T17:42:02.172Z,1754761322.172 [DAT](INFO): direction in FSK: [-0.069939,0.531243,0.844328]
2025-08-09T17:42:02.172Z,1754761322.172 [DAT](INFO): publishing direction and range info
2025-08-09T17:42:02.194Z,1754761322.194 [DAT](INFO): checking for new query: numPingsReceived=45, elapsed TxPingTime=5.567137
2025-08-09T17:42:02.407Z,1754761322.407 [DAT](INFO): checking for new query: numPingsReceived=45, elapsed TxPingTime=5.780451
2025-08-09T17:42:02.664Z,1754761322.664 [DAT](INFO): DAT read: Rx Time:17:42:01.6644 

2025-08-09T17:42:02.665Z,1754761322.665 [DAT](INFO): Rx dataTimestamp_ set to:1754761322.664264
2025-08-09T17:42:02.672Z,1754761322.672 [DAT](INFO): DAT read: Bearing  40.0,  32.8 (Local)

2025-08-09T17:42:02.673Z,1754761322.673 [DAT](INFO): Local bearing/azimuth received:
 Bearing  40.0,  32.8 (Local)

2025-08-09T17:42:02.700Z,1754761322.700 [DAT](INFO): DAT read: Range 11 to 50 :     1.1 m (trip time 0.7 ms) speed 0.0

2025-08-09T17:42:02.718Z,1754761322.718 [DAT](INFO): DAT read: 17:42:01.6644 LVL= 17696, 11713, 20610, 18739, AGC= 35, IDX= 508,-0.27,-2.390,-2.934, 2.720,-1.493, PHS=-0.795,-1.395,-2.114, RAW=  57.1,  53.1, CAL=  54.3,  57.4, ROT=  95.7, -57.4

2025-08-09T17:42:02.724Z,1754761322.724 [DAT](INFO): got valid direction response:
 17:42:01.6644 LVL= 17696, 11713, 20610, 18739, AGC= 35, IDX= 508,-0.27,-2.390,-2.934, 2.720,-1.493, PHS=-0.795,-1.395,-2.114, RAW=  57.1,  53.1, CAL=  54.3,  57.4, ROT=  95.7, -57.4

2025-08-09T17:42:02.724Z,1754761322.724 [DAT](INFO): #Rx 46: Read range and direction messages.
2025-08-09T17:42:02.726Z,1754761322.726 [DAT](INFO): direction in FSK: [-0.053511,0.536107,0.842452]
2025-08-09T17:42:02.731Z,1754761322.731 [DAT](INFO): publishing direction and range info
2025-08-09T17:42:02.741Z,1754761322.741 [DAT](INFO): checking for new query: numPingsReceived=46, elapsed TxPingTime=6.113960
2025-08-09T17:42:02.911Z,1754761322.911 [DAT](INFO): checking for new query: numPingsReceived=46, elapsed TxPingTime=6.284197
2025-08-09T17:42:03.164Z,1754761323.164 [DAT](INFO): DAT read: Rx Time:17:42:02.1643 

2025-08-09T17:42:03.164Z,1754761323.164 [DAT](INFO): Rx dataTimestamp_ set to:1754761323.164064
2025-08-09T17:42:03.166Z,1754761323.166 [DAT](INFO): DAT read: Bearing  41.1,  32.9 (Local)

2025-08-09T17:42:03.166Z,1754761323.166 [DAT](INFO): Local bearing/azimuth received:
 Bearing  41.1,  32.9 (Local)

2025-08-09T17:42:03.168Z,1754761323.168 [DAT](INFO): DAT read: Range 11 to 50 :     0.9 m (trip time 0.6 ms) speed 0.0

2025-08-09T17:42:03.173Z,1754761323.173 [DAT](INFO): DAT read: 17:42:02.1643 LVL= 16544, 10849, 21842, 19283, AGC= 35, IDX= 507,-0.13, 2.895, 2.353, 1.731,-2.497, PHS=-0.789,-1.388,-2.100, RAW=  57.2,  53.1, CAL=  54.4,  57.4, ROT=  95.6, -57.4

2025-08-09T17:42:03.174Z,1754761323.174 [DAT](INFO): got valid direction response:
 17:42:02.1643 LVL= 16544, 10849, 21842, 19283, AGC= 35, IDX= 507,-0.13, 2.895, 2.353, 1.731,-2.497, PHS=-0.789,-1.388,-2.100, RAW=  57.2,  53.1, CAL=  54.4,  57.4, ROT=  95.6, -57.4

2025-08-09T17:42:03.174Z,1754761323.174 [DAT](INFO): #Rx 47: Read range and direction messages.
2025-08-09T17:42:03.175Z,1754761323.175 [DAT](INFO): direction in FSK: [-0.052575,0.536199,0.842452]
2025-08-09T17:42:03.175Z,1754761323.175 [DAT](INFO): publishing direction and range info
2025-08-09T17:42:03.179Z,1754761323.179 [DAT](INFO): checking for new query: numPingsReceived=47, elapsed TxPingTime=6.551920
2025-08-09T17:42:03.416Z,1754761323.416 [DAT](INFO): checking for new query: numPingsReceived=47, elapsed TxPingTime=6.788845
2025-08-09T17:42:03.672Z,1754761323.672 [DAT](INFO): DAT read: Rx Time:17:42:02.6644 

2025-08-09T17:42:03.673Z,1754761323.673 [DAT](INFO): Rx dataTimestamp_ set to:1754761323.672431
2025-08-09T17:42:03.677Z,1754761323.677 [DAT](INFO): DAT read: Bearing  42.2,  32.9 (Local)

2025-08-09T17:42:03.679Z,1754761323.679 [DAT](INFO): Local bearing/azimuth received:
 Bearing  42.2,  32.9 (Local)

2025-08-09T17:42:03.690Z,1754761323.690 [DAT](INFO): DAT read: Range 11 to 50 :     1.1 m (trip time 0.7 ms) speed 0.0

2025-08-09T17:42:03.714Z,1754761323.714 [DAT](INFO): DAT read: 17:42:02.6644 LVL= 18976, 10865, 24626, 24659, AGC= 37, IDX= 508,-0.02,-1.958,-2.492,-3.108,-1.071, PHS=-0.784,-1.376,-2.081, RAW=  57.1,  53.1, CAL=  54.4,  57.4, ROT=  95.6, -57.4

2025-08-09T17:42:03.721Z,1754761323.721 [DAT](INFO): got valid direction response:
 17:42:02.6644 LVL= 18976, 10865, 24626, 24659, AGC= 37, IDX= 508,-0.02,-1.958,-2.492,-3.108,-1.071, PHS=-0.784,-1.376,-2.081, RAW=  57.1,  53.1, CAL=  54.4,  57.4, ROT=  95.6, -57.4

2025-08-09T17:42:03.721Z,1754761323.721 [DAT](INFO): #Rx 48: Read range and direction messages.
2025-08-09T17:42:03.751Z,1754761323.751 [DAT](INFO): direction in FSK: [-0.052575,0.536199,0.842452]
2025-08-09T17:42:03.751Z,1754761323.751 [DAT](INFO): publishing direction and range info
2025-08-09T17:42:03.767Z,1754761323.767 [DAT](INFO): checking for new query: numPingsReceived=48, elapsed TxPingTime=7.139728
2025-08-09T17:42:03.919Z,1754761323.919 [DAT](INFO): checking for new query: numPingsReceived=48, elapsed TxPingTime=7.292517
2025-08-09T17:42:04.172Z,1754761324.172 [DAT](INFO): DAT read: Rx Time:17:42:03.1643 

2025-08-09T17:42:04.172Z,1754761324.172 [DAT](INFO): Rx dataTimestamp_ set to:1754761324.172113
2025-08-09T17:42:04.174Z,1754761324.174 [DAT](INFO): DAT read: Bearing  41.5,  32.9 (Local)

2025-08-09T17:42:04.174Z,1754761324.174 [DAT](INFO): Local bearing/azimuth received:
 Bearing  41.5,  32.9 (Local)

2025-08-09T17:42:04.176Z,1754761324.176 [DAT](INFO): DAT read: Range 11 to 50 :     0.9 m (trip time 0.6 ms) speed 0.0

2025-08-09T17:42:04.181Z,1754761324.181 [DAT](INFO): DAT read: 17:42:03.1643 LVL= 18672,  9505, 23442, 24243, AGC= 37, IDX= 507, 0.09,-2.231,-2.824, 2.903,-1.368, PHS=-0.762,-1.411,-2.057, RAW=  60.1,  53.1, CAL=  57.2,  57.5, ROT=  92.8, -57.5

2025-08-09T17:42:04.182Z,1754761324.182 [DAT](INFO): got valid direction response:
 17:42:03.1643 LVL= 18672,  9505, 23442, 24243, AGC= 37, IDX= 507, 0.09,-2.231,-2.824, 2.903,-1.368, PHS=-0.762,-1.411,-2.057, RAW=  60.1,  53.1, CAL=  57.2,  57.5, ROT=  92.8, -57.5

2025-08-09T17:42:04.182Z,1754761324.182 [DAT](INFO): #Rx 49: Read range and direction messages.
2025-08-09T17:42:04.183Z,1754761324.183 [DAT](INFO): direction in FSK: [-0.026247,0.536658,0.843391]
2025-08-09T17:42:04.183Z,1754761324.183 [DAT](INFO): publishing direction and range info
2025-08-09T17:42:04.195Z,1754761324.195 [DAT](INFO): checking for new query: numPingsReceived=49, elapsed TxPingTime=7.568094
2025-08-09T17:42:04.423Z,1754761324.423 [DAT](INFO): checking for new query: numPingsReceived=49, elapsed TxPingTime=7.796528
2025-08-09T17:42:04.683Z,1754761324.683 [DAT](INFO): DAT read: Rx Time:17:42:03.6643 

2025-08-09T17:42:04.685Z,1754761324.685 [DAT](INFO): Rx dataTimestamp_ set to:1754761324.684026
2025-08-09T17:42:04.701Z,1754761324.701 [DAT](INFO): DAT read: Bearing  38.6,  32.5 (Local)

2025-08-09T17:42:04.703Z,1754761324.703 [DAT](INFO): Local bearing/azimuth received:
 Bearing  38.6,  32.5 (Local)

2025-08-09T17:42:04.731Z,1754761324.731 [DAT](INFO): DAT read: Range 11 to 50 :     0.9 m (trip time 0.6 ms) speed 0.0

2025-08-09T17:42:04.751Z,1754761324.751 [DAT](INFO): DAT read: 17:42:03.6643 LVL= 18576,  9073, 20978, 24115, AGC= 37, IDX= 507, 0.22,-1.934,-2.655,-3.093,-1.107, PHS=-0.725,-1.503,-2.030, RAW=  66.4,  52.9, CAL=  63.2,  57.6, ROT=  86.8, -57.6

2025-08-09T17:42:04.752Z,1754761324.752 [DAT](INFO): got valid direction response:
 17:42:03.6643 LVL= 18576,  9073, 20978, 24115, AGC= 37, IDX= 507, 0.22,-1.934,-2.655,-3.093,-1.107, PHS=-0.725,-1.503,-2.030, RAW=  66.4,  52.9, CAL=  63.2,  57.6, ROT=  86.8, -57.6

2025-08-09T17:42:04.753Z,1754761324.753 [DAT](INFO): #Rx 50: Read range and direction messages.
2025-08-09T17:42:04.754Z,1754761324.754 [DAT](INFO): direction in FSK: [0.029911,0.534991,0.844328]
2025-08-09T17:42:04.754Z,1754761324.754 [DAT](INFO): publishing direction and range info
2025-08-09T17:42:04.757Z,1754761324.757 [DAT](INFO): checking for new query: numPingsReceived=50, elapsed TxPingTime=8.130492
2025-08-09T17:42:04.927Z,1754761324.927 [DAT](INFO): checking for new query: numPingsReceived=50, elapsed TxPingTime=8.300331
2025-08-09T17:42:05.180Z,1754761325.180 [DAT](INFO): DAT read: Rx Time:17:42:04.1642 

2025-08-09T17:42:05.180Z,1754761325.180 [DAT](INFO): Rx dataTimestamp_ set to:1754761325.180025
2025-08-09T17:42:05.182Z,1754761325.182 [DAT](INFO): DAT read: Bearing  32.7,  31.2 (Local)

2025-08-09T17:42:05.182Z,1754761325.182 [DAT](INFO): Local bearing/azimuth received:
 Bearing  32.7,  31.2 (Local)

2025-08-09T17:42:05.184Z,1754761325.184 [DAT](INFO): DAT read: Range 11 to 50 :     0.8 m (trip time 0.5 ms) speed 0.0

2025-08-09T17:42:05.200Z,1754761325.200 [DAT](INFO): DAT read: 17:42:04.1642 LVL= 18672,  8993, 22722, 23475, AGC= 37, IDX= 506, 0.39, 2.680, 1.731, 1.504,-2.816, PHS=-0.685,-1.691,-2.007, RAW=  76.8,  52.4, CAL=  74.1,  57.7, ROT=  75.9, -57.7

2025-08-09T17:42:05.201Z,1754761325.201 [DAT](INFO): got valid direction response:
 17:42:04.1642 LVL= 18672,  8993, 22722, 23475, AGC= 37, IDX= 506, 0.39, 2.680, 1.731, 1.504,-2.816, PHS=-0.685,-1.691,-2.007, RAW=  76.8,  52.4, CAL=  74.1,  57.7, ROT=  75.9, -57.7

2025-08-09T17:42:05.202Z,1754761325.202 [DAT](INFO): #Rx 51: Read range and direction messages.
2025-08-09T17:42:05.209Z,1754761325.209 [DAT](INFO): direction in FSK: [0.130176,0.518253,0.845262]
2025-08-09T17:42:05.215Z,1754761325.215 [DAT](INFO): publishing direction and range info
2025-08-09T17:42:05.225Z,1754761325.225 [DAT](INFO): checking for new query: numPingsReceived=51, elapsed TxPingTime=8.598176
2025-08-09T17:42:05.432Z,1754761325.432 [DAT](INFO): checking for new query: numPingsReceived=51, elapsed TxPingTime=8.804614
2025-08-09T17:42:05.688Z,1754761325.688 [DAT](INFO): DAT read: Rx Time:17:42:04.6643 

2025-08-09T17:42:05.689Z,1754761325.689 [DAT](INFO): Rx dataTimestamp_ set to:1754761325.688106
2025-08-09T17:42:05.694Z,1754761325.694 [DAT](INFO): DAT read: Bearing  27.9,  29.6 (Local)

2025-08-09T17:42:05.695Z,1754761325.695 [DAT](INFO): Local bearing/azimuth received:
 Bearing  27.9,  29.6 (Local)

2025-08-09T17:42:05.750Z,1754761325.750 [DAT](INFO): DAT read: Range 11 to 50 :     0.9 m (trip time 0.6 ms) speed 0.0

2025-08-09T17:42:05.771Z,1754761325.771 [DAT](INFO): DAT read: 17:42:04.6643 LVL= 18928,  8977, 20978, 23859, AGC= 37, IDX= 508,-0.38, 2.749, 1.624, 1.590,-2.754, PHS=-0.678,-1.860,-1.983, RAW=  85.1,  52.0, CAL=  83.5,  57.6, ROT=  66.5, -57.6

2025-08-09T17:42:05.772Z,1754761325.772 [DAT](INFO): got valid direction response:
 17:42:04.6643 LVL= 18928,  8977, 20978, 23859, AGC= 37, IDX= 508,-0.38, 2.749, 1.624, 1.590,-2.754, PHS=-0.678,-1.860,-1.983, RAW=  85.1,  52.0, CAL=  83.5,  57.6, ROT=  66.5, -57.6

2025-08-09T17:42:05.773Z,1754761325.773 [DAT](INFO): #Rx 52: Read range and direction messages.
2025-08-09T17:42:05.773Z,1754761325.773 [DAT](INFO): direction in FSK: [0.213660,0.491385,0.844328]
2025-08-09T17:42:05.774Z,1754761325.774 [DAT](INFO): publishing direction and range info
2025-08-09T17:42:05.791Z,1754761325.791 [DAT](INFO): checking for new query: numPingsReceived=52, elapsed TxPingTime=9.164244
2025-08-09T17:42:05.936Z,1754761325.936 [DAT](INFO): checking for new query: numPingsReceived=52, elapsed TxPingTime=9.308609
2025-08-09T17:42:06.189Z,1754761326.189 [DAT](INFO): DAT read: Rx Time:17:42:05.1642 

2025-08-09T17:42:06.189Z,1754761326.189 [DAT](INFO): Rx dataTimestamp_ set to:1754761326.189157
2025-08-09T17:42:06.191Z,1754761326.191 [DAT](INFO): DAT read: Bearing  31.2,  30.3 (Local)

2025-08-09T17:42:06.191Z,1754761326.191 [DAT](INFO): Local bearing/azimuth received:
 Bearing  31.2,  30.3 (Local)

2025-08-09T17:42:06.193Z,1754761326.193 [DAT](INFO): DAT read: Range 11 to 50 :     0.8 m (trip time 0.5 ms) speed 0.0

2025-08-09T17:42:06.198Z,1754761326.198 [DAT](INFO): DAT read: 17:42:05.1642 LVL= 17440,  7809, 21554, 21491, AGC= 36, IDX= 507,-0.20, 1.078, 0.072,-0.049, 1.871, PHS=-0.691,-1.754,-1.964, RAW=  81.1,  52.8, CAL=  79.1,  58.4, ROT=  70.9, -58.4

2025-08-09T17:42:06.199Z,1754761326.199 [DAT](INFO): got valid direction response:
 17:42:05.1642 LVL= 17440,  7809, 21554, 21491, AGC= 36, IDX= 507,-0.20, 1.078, 0.072,-0.049, 1.871, PHS=-0.691,-1.754,-1.964, RAW=  81.1,  52.8, CAL=  79.1,  58.4, ROT=  70.9, -58.4

2025-08-09T17:42:06.199Z,1754761326.199 [DAT](INFO): #Rx 53: Read range and direction messages.
2025-08-09T17:42:06.200Z,1754761326.200 [DAT](INFO): direction in FSK: [0.171458,0.495140,0.851727]
2025-08-09T17:42:06.200Z,1754761326.200 [DAT](INFO): publishing direction and range info
2025-08-09T17:42:06.226Z,1754761326.226 [DAT](INFO): checking for new query: numPingsReceived=53, elapsed TxPingTime=9.599129
2025-08-09T17:42:06.440Z,1754761326.440 [DAT](INFO): checking for new query: numPingsReceived=53, elapsed TxPingTime=9.812729
2025-08-09T17:42:06.692Z,1754761326.692 [DAT](INFO): DAT read: Rx Time:17:42:05.6643 

2025-08-09T17:42:06.693Z,1754761326.693 [DAT](INFO): Rx dataTimestamp_ set to:1754761326.692447
2025-08-09T17:42:06.694Z,1754761326.694 [DAT](INFO): DAT read: Bearing  32.1,  30.8 (Local)

2025-08-09T17:42:06.694Z,1754761326.694 [DAT](INFO): Local bearing/azimuth received:
 Bearing  32.1,  30.8 (Local)

2025-08-09T17:42:06.696Z,1754761326.696 [DAT](INFO): DAT read: Range 11 to 50 :     0.9 m (trip time 0.6 ms) speed 0.0

2025-08-09T17:42:06.711Z,1754761326.711 [DAT](INFO): DAT read: 17:42:05.6643 LVL= 21664,  7953, 23218, 26579, AGC= 35, IDX= 508,-0.10, 2.364, 1.395, 1.257,-3.140, PHS=-0.677,-1.703,-1.930, RAW=  80.2,  52.8, CAL=  78.0,  58.3, ROT=  72.0, -58.3

2025-08-09T17:42:06.715Z,1754761326.715 [DAT](INFO): got valid direction response:
 17:42:05.6643 LVL= 21664,  7953, 23218, 26579, AGC= 35, IDX= 508,-0.10, 2.364, 1.395, 1.257,-3.140, PHS=-0.677,-1.703,-1.930, RAW=  80.2,  52.8, CAL=  78.0,  58.3, ROT=  72.0, -58.3

2025-08-09T17:42:06.716Z,1754761326.716 [DAT](INFO): #Rx 54: Read range and direction messages.
2025-08-09T17:42:06.733Z,1754761326.733 [DAT](INFO): direction in FSK: [0.162380,0.499753,0.850811]
2025-08-09T17:42:06.734Z,1754761326.734 [DAT](INFO): publishing direction and range info
2025-08-09T17:42:06.768Z,1754761326.768 [DAT](INFO): checking for new query: numPingsReceived=54, elapsed TxPingTime=10.141336
2025-08-09T17:42:06.944Z,1754761326.944 [DAT](INFO): checking for new query: numPingsReceived=54, elapsed TxPingTime=10.317399
2025-08-09T17:42:07.196Z,1754761327.196 [DAT](INFO): DAT read: Rx Time:17:42:06.1643 

2025-08-09T17:42:07.196Z,1754761327.196 [DAT](INFO): Rx dataTimestamp_ set to:1754761327.196025
2025-08-09T17:42:07.198Z,1754761327.198 [DAT](INFO): DAT read: Bearing  31.4,  30.7 (Local)

2025-08-09T17:42:07.198Z,1754761327.198 [DAT](INFO): Local bearing/azimuth received:
 Bearing  31.4,  30.7 (Local)

2025-08-09T17:42:07.200Z,1754761327.200 [DAT](INFO): DAT read: Range 11 to 50 :     0.9 m (trip time 0.6 ms) speed 0.0

2025-08-09T17:42:07.206Z,1754761327.206 [DAT](INFO): DAT read: 17:42:06.1643 LVL= 21856,  7873, 23618, 26723, AGC= 35, IDX= 507, 0.01, 2.052, 1.036, 0.925, 2.820, PHS=-0.666,-1.738,-1.939, RAW=  81.6,  52.3, CAL=  79.6,  58.0, ROT=  70.4, -58.0

2025-08-09T17:42:07.208Z,1754761327.208 [DAT](INFO): got valid direction response:
 17:42:06.1643 LVL= 21856,  7873, 23618, 26723, AGC= 35, IDX= 507, 0.01, 2.052, 1.036, 0.925, 2.820, PHS=-0.666,-1.738,-1.939, RAW=  81.6,  52.3, CAL=  79.6,  58.0, ROT=  70.4, -58.0

2025-08-09T17:42:07.209Z,1754761327.209 [DAT](INFO): #Rx 55: Read range and direction messages.
2025-08-09T17:42:07.212Z,1754761327.212 [DAT](INFO): direction in FSK: [0.177762,0.499214,0.848048]
2025-08-09T17:42:07.212Z,1754761327.212 [DAT](INFO): publishing direction and range info
2025-08-09T17:42:07.218Z,1754761327.218 [DAT](INFO): checking for new query: numPingsReceived=55, elapsed TxPingTime=10.590779
2025-08-09T17:42:07.448Z,1754761327.448 [DAT](INFO): checking for new query: numPingsReceived=55, elapsed TxPingTime=10.820575
2025-08-09T17:42:07.703Z,1754761327.703 [DAT](INFO): DAT read: Rx Time:17:42:06.6644 

2025-08-09T17:42:07.705Z,1754761327.705 [DAT](INFO): Rx dataTimestamp_ set to:1754761327.704027
2025-08-09T17:42:07.710Z,1754761327.710 [DAT](INFO): DAT read: Bearing  31.4,  31.1 (Local)

2025-08-09T17:42:07.712Z,1754761327.712 [DAT](INFO): Local bearing/azimuth received:
 Bearing  31.4,  31.1 (Local)

2025-08-09T17:42:07.723Z,1754761327.723 [DAT](INFO): DAT read: Range 11 to 50 :     1.1 m (trip time 0.7 ms) speed 0.0

2025-08-09T17:42:07.774Z,1754761327.774 [DAT](INFO): DAT read: 17:42:06.6644 LVL= 17776,  7905, 21106, 21395, AGC= 36, IDX= 508, 0.12,-2.290, 2.955, 2.840,-1.531, PHS=-0.657,-1.753,-1.956, RAW=  81.6,  51.9, CAL=  79.6,  57.6, ROT=  70.4, -57.6

2025-08-09T17:42:07.783Z,1754761327.783 [DAT](INFO): got valid direction response:
 17:42:06.6644 LVL= 17776,  7905, 21106, 21395, AGC= 36, IDX= 508, 0.12,-2.290, 2.955, 2.840,-1.531, PHS=-0.657,-1.753,-1.956, RAW=  81.6,  51.9, CAL=  79.6,  57.6, ROT=  70.4, -57.6

2025-08-09T17:42:07.783Z,1754761327.783 [DAT](INFO): #Rx 56: Read range and direction messages.
2025-08-09T17:42:07.784Z,1754761327.784 [DAT](INFO): direction in FSK: [0.179744,0.504780,0.844328]
2025-08-09T17:42:07.784Z,1754761327.784 [DAT](INFO): publishing direction and range info
2025-08-09T17:42:07.804Z,1754761327.804 [DAT](INFO): checking for new query: numPingsReceived=56, elapsed TxPingTime=11.177225
2025-08-09T17:42:07.951Z,1754761327.951 [DAT](INFO): checking for new query: numPingsReceived=56, elapsed TxPingTime=11.324439
2025-08-09T17:42:08.206Z,1754761328.206 [DAT](INFO): DAT read: Rx Time:17:42:07.1643 

2025-08-09T17:42:08.207Z,1754761328.207 [DAT](INFO): Rx dataTimestamp_ set to:1754761328.205960
2025-08-09T17:42:08.209Z,1754761328.209 [DAT](INFO): DAT read: Bearing  32.0,  31.3 (Local)

2025-08-09T17:42:08.210Z,1754761328.210 [DAT](INFO): Local bearing/azimuth received:
 Bearing  32.0,  31.3 (Local)

2025-08-09T17:42:08.213Z,1754761328.213 [DAT](INFO): DAT read: Range 11 to 50 :     0.9 m (trip time 0.6 ms) speed 0.0

2025-08-09T17:42:08.222Z,1754761328.222 [DAT](INFO): DAT read: 17:42:07.1643 LVL= 17616,  7825, 21154, 21491, AGC= 36, IDX= 507, 0.24, 2.929, 1.910, 1.770,-2.595, PHS=-0.657,-1.733,-1.962, RAW=  80.6,  51.9, CAL=  78.4,  57.5, ROT=  71.6, -57.5

2025-08-09T17:42:08.224Z,1754761328.224 [DAT](INFO): got valid direction response:
 17:42:07.1643 LVL= 17616,  7825, 21154, 21491, AGC= 36, IDX= 507, 0.24, 2.929, 1.910, 1.770,-2.595, PHS=-0.657,-1.733,-1.962, RAW=  80.6,  51.9, CAL=  78.4,  57.5, ROT=  71.6, -57.5

2025-08-09T17:42:08.224Z,1754761328.224 [DAT](INFO): #Rx 57: Read range and direction messages.
2025-08-09T17:42:08.226Z,1754761328.226 [DAT](INFO): direction in FSK: [0.169598,0.509831,0.843391]
2025-08-09T17:42:08.226Z,1754761328.226 [DAT](INFO): publishing direction and range info
2025-08-09T17:42:08.233Z,1754761328.233 [DAT](INFO): checking for new query: numPingsReceived=57, elapsed TxPingTime=11.605713
2025-08-09T17:42:08.455Z,1754761328.455 [DAT](INFO): checking for new query: numPingsReceived=57, elapsed TxPingTime=11.828352
2025-08-09T17:42:08.710Z,1754761328.710 [DAT](INFO): DAT read: Rx Time:17:42:07.6643 

2025-08-09T17:42:08.711Z,1754761328.711 [DAT](INFO): Rx dataTimestamp_ set to:1754761328.709983
2025-08-09T17:42:08.712Z,1754761328.712 [DAT](INFO): DAT read: Bearing  30.7,  30.7 (Local)

2025-08-09T17:42:08.713Z,1754761328.713 [DAT](INFO): Local bearing/azimuth received:
 Bearing  30.7,  30.7 (Local)

2025-08-09T17:42:08.725Z,1754761328.725 [DAT](INFO): DAT read: Range 11 to 50 :     0.9 m (trip time 0.6 ms) speed 0.0

2025-08-09T17:42:08.761Z,1754761328.761 [DAT](INFO): DAT read: 17:42:07.6643 LVL= 19344,  8833, 21090, 23923, AGC= 37, IDX= 507, 0.37, 3.010, 1.941, 1.843,-2.514, PHS=-0.658,-1.784,-1.971, RAW=  82.4,  51.7, CAL=  80.5,  57.5, ROT=  69.5, -57.5

2025-08-09T17:42:08.777Z,1754761328.777 [DAT](INFO): got valid direction response:
 17:42:07.6643 LVL= 19344,  8833, 21090, 23923, AGC= 37, IDX= 507, 0.37, 3.010, 1.941, 1.843,-2.514, PHS=-0.658,-1.784,-1.971, RAW=  82.4,  51.7, CAL=  80.5,  57.5, ROT=  69.5, -57.5

2025-08-09T17:42:08.780Z,1754761328.780 [DAT](INFO): #Rx 58: Read range and direction messages.
2025-08-09T17:42:08.789Z,1754761328.789 [DAT](INFO): direction in FSK: [0.188166,0.503274,0.843391]
2025-08-09T17:42:08.799Z,1754761328.799 [DAT](INFO): publishing direction and range info
2025-08-09T17:42:08.814Z,1754761328.814 [DAT](INFO): checking for new query: numPingsReceived=58, elapsed TxPingTime=12.175215
2025-08-09T17:42:08.959Z,1754761328.959 [DAT](INFO): checking for new query: numPingsReceived=58, elapsed TxPingTime=12.332397
2025-08-09T17:42:09.213Z,1754761329.213 [DAT](INFO): DAT read: Rx Time:17:42:08.1642 

2025-08-09T17:42:09.214Z,1754761329.214 [DAT](INFO): Rx dataTimestamp_ set to:1754761329.213582
2025-08-09T17:42:09.216Z,1754761329.216 [DAT](INFO): DAT read: Bearing  33.2,  30.3 (Local)

2025-08-09T17:42:09.217Z,1754761329.217 [DAT](INFO): Local bearing/azimuth received:
 Bearing  33.2,  30.3 (Local)

2025-08-09T17:42:09.220Z,1754761329.220 [DAT](INFO): DAT read: Range 11 to 50 :     0.8 m (trip time 0.5 ms) speed 0.0

2025-08-09T17:42:09.228Z,1754761329.228 [DAT](INFO): DAT read: 17:42:08.1642 LVL= 17088,  8049, 22082, 21283, AGC= 36, IDX= 507,-0.42,-0.230,-1.182,-1.350, 0.572, PHS=-0.700,-1.709,-1.966, RAW=  78.9,  53.2, CAL=  76.6,  58.5, ROT=  73.4, -58.5

2025-08-09T17:42:09.240Z,1754761329.240 [DAT](INFO): got valid direction response:
 17:42:08.1642 LVL= 17088,  8049, 22082, 21283, AGC= 36, IDX= 507,-0.42,-0.230,-1.182,-1.350, 0.572, PHS=-0.700,-1.709,-1.966, RAW=  78.9,  53.2, CAL=  76.6,  58.5, ROT=  73.4, -58.5

2025-08-09T17:42:09.240Z,1754761329.240 [DAT](INFO): #Rx 59: Read range and direction messages.
2025-08-09T17:42:09.241Z,1754761329.241 [DAT](INFO): direction in FSK: [0.149272,0.500722,0.852640]
2025-08-09T17:42:09.241Z,1754761329.241 [DAT](INFO): publishing direction and range info
2025-08-09T17:42:09.253Z,1754761329.253 [DAT](INFO): checking for new query: numPingsReceived=59, elapsed TxPingTime=12.626125
2025-08-09T17:42:09.463Z,1754761329.463 [DAT](INFO): checking for new query: numPingsReceived=59, elapsed TxPingTime=12.836278
2025-08-09T17:42:09.719Z,1754761329.719 [DAT](INFO): DAT read: Rx Time:17:42:08.6643 

2025-08-09T17:42:09.720Z,1754761329.720 [DAT](INFO): Rx dataTimestamp_ set to:1754761329.719527
2025-08-09T17:42:09.722Z,1754761329.722 [DAT](INFO): DAT read: Bearing  34.2,  30.6 (Local)

2025-08-09T17:42:09.723Z,1754761329.723 [DAT](INFO): Local bearing/azimuth received:
 Bearing  34.2,  30.6 (Local)

2025-08-09T17:42:09.726Z,1754761329.726 [DAT](INFO): DAT read: Range 11 to 50 :     0.9 m (trip time 0.6 ms) speed 0.0

2025-08-09T17:42:09.738Z,1754761329.738 [DAT](INFO): DAT read: 17:42:08.6643 LVL= 20976,  8145, 22994, 26899, AGC= 35, IDX= 508,-0.29, 1.019, 0.107,-0.099, 1.816, PHS=-0.695,-1.664,-1.959, RAW=  77.1,  53.1, CAL=  74.5,  58.4, ROT=  75.5, -58.4

2025-08-09T17:42:09.742Z,1754761329.742 [DAT](INFO): got valid direction response:
 17:42:08.6643 LVL= 20976,  8145, 22994, 26899, AGC= 35, IDX= 508,-0.29, 1.019, 0.107,-0.099, 1.816, PHS=-0.695,-1.664,-1.959, RAW=  77.1,  53.1, CAL=  74.5,  58.4, ROT=  75.5, -58.4

2025-08-09T17:42:09.743Z,1754761329.743 [DAT](INFO): #Rx 60: Read range and direction messages.
2025-08-09T17:42:09.746Z,1754761329.746 [DAT](INFO): direction in FSK: [0.131196,0.507296,0.851727]
2025-08-09T17:42:09.747Z,1754761329.747 [DAT](INFO): publishing direction and range info
2025-08-09T17:42:09.808Z,1754761329.808 [DAT](INFO): checking for new query: numPingsReceived=60, elapsed TxPingTime=13.181088
2025-08-09T17:42:09.967Z,1754761329.967 [DAT](INFO): checking for new query: numPingsReceived=60, elapsed TxPingTime=13.340470
2025-08-09T17:42:10.221Z,1754761330.221 [DAT](INFO): DAT read: Rx Time:17:42:09.1642 

2025-08-09T17:42:10.222Z,1754761330.222 [DAT](INFO): Rx dataTimestamp_ set to:1754761330.221248
2025-08-09T17:42:10.224Z,1754761330.224 [DAT](INFO): DAT read: Bearing  33.5,  30.3 (Local)

2025-08-09T17:42:10.224Z,1754761330.224 [DAT](INFO): Local bearing/azimuth received:
 Bearing  33.5,  30.3 (Local)

2025-08-09T17:42:10.228Z,1754761330.228 [DAT](INFO): DAT read: Range 11 to 50 :     0.8 m (trip time 0.5 ms) speed 0.0

2025-08-09T17:42:10.234Z,1754761330.234 [DAT](INFO): DAT read: 17:42:09.1642 LVL= 20448,  9089, 23170, 26867, AGC= 36, IDX= 507,-0.19,-0.269,-1.218,-1.407, 0.530, PHS=-0.697,-1.702,-1.981, RAW=  78.1,  52.9, CAL=  75.7,  58.3, ROT=  74.3, -58.3

2025-08-09T17:42:10.235Z,1754761330.235 [DAT](INFO): got valid direction response:
 17:42:09.1642 LVL= 20448,  9089, 23170, 26867, AGC= 36, IDX= 507,-0.19,-0.269,-1.218,-1.407, 0.530, PHS=-0.697,-1.702,-1.981, RAW=  78.1,  52.9, CAL=  75.7,  58.3, ROT=  74.3, -58.3

2025-08-09T17:42:10.236Z,1754761330.236 [DAT](INFO): #Rx 61: Read range and direction messages.
2025-08-09T17:42:10.237Z,1754761330.237 [DAT](INFO): direction in FSK: [0.142193,0.505867,0.850811]
2025-08-09T17:42:10.237Z,1754761330.237 [DAT](INFO): publishing direction and range info
2025-08-09T17:42:10.252Z,1754761330.252 [DAT](INFO): checking for new query: numPingsReceived=61, elapsed TxPingTime=13.624925
2025-08-09T17:42:10.474Z,1754761330.474 [DAT](INFO): checking for new query: numPingsReceived=61, elapsed TxPingTime=13.847104
2025-08-09T17:42:10.725Z,1754761330.725 [DAT](INFO): DAT read: Rx Time:17:42:09.6644 

2025-08-09T17:42:10.727Z,1754761330.727 [DAT](INFO): Rx dataTimestamp_ set to:1754761330.725775
2025-08-09T17:42:10.728Z,1754761330.728 [DAT](INFO): DAT read: Bearing  36.1,  30.9 (Local)

2025-08-09T17:42:10.729Z,1754761330.729 [DAT](INFO): Local bearing/azimuth received:
 Bearing  36.1,  30.9 (Local)

2025-08-09T17:42:10.732Z,1754761330.732 [DAT](INFO): DAT read: Range 11 to 50 :     1.1 m (trip time 0.7 ms) speed 0.0

2025-08-09T17:42:10.751Z,1754761330.751 [DAT](INFO): DAT read: 17:42:09.6644 LVL= 18368,  9073, 23394, 24435, AGC= 37, IDX= 508,-0.07, 1.663, 0.782, 0.501, 2.474, PHS=-0.709,-1.647,-2.017, RAW=  74.1,  52.9, CAL=  71.1,  58.1, ROT=  78.9, -58.1

2025-08-09T17:42:10.753Z,1754761330.753 [DAT](INFO): got valid direction response:
 17:42:09.6644 LVL= 18368,  9073, 23394, 24435, AGC= 37, IDX= 508,-0.07, 1.663, 0.782, 0.501, 2.474, PHS=-0.709,-1.647,-2.017, RAW=  74.1,  52.9, CAL=  71.1,  58.1, ROT=  78.9, -58.1

2025-08-09T17:42:10.753Z,1754761330.753 [DAT](INFO): #Rx 62: Read range and direction messages.
2025-08-09T17:42:10.754Z,1754761330.754 [DAT](INFO): direction in FSK: [0.101736,0.518553,0.848972]
2025-08-09T17:42:10.763Z,1754761330.763 [DAT](INFO): publishing direction and range info
2025-08-09T17:42:10.821Z,1754761330.821 [DAT](INFO): checking for new query: numPingsReceived=62, elapsed TxPingTime=14.193611
2025-08-09T17:42:10.977Z,1754761330.977 [DAT](INFO): DAT read: Rx Time:17:42:10.1643 

2025-08-09T17:42:10.977Z,1754761330.977 [DAT](INFO): Rx dataTimestamp_ set to:1754761330.976782
2025-08-09T17:42:10.979Z,1754761330.979 [DAT](INFO): checking for new query: numPingsReceived=62, elapsed TxPingTime=14.351478
2025-08-09T17:42:11.229Z,1754761331.229 [DAT](INFO): DAT read: Bearing  41.2,  31.5 (Local)

2025-08-09T17:42:11.230Z,1754761331.230 [DAT](INFO): Local bearing/azimuth received:
 Bearing  41.2,  31.5 (Local)

2025-08-09T17:42:11.232Z,1754761331.232 [DAT](INFO): DAT read: Range 11 to 50 :     0.9 m (trip time 0.6 ms) speed 0.0

2025-08-09T17:42:11.248Z,1754761331.248 [DAT](INFO): DAT read: 17:42:10.1643 LVL= 18736,  9137, 23410, 24387, AGC= 37, IDX= 507, 0.01, 1.223, 0.514, 0.066, 2.074, PHS=-0.749,-1.514,-2.052, RAW=  65.8,  53.4, CAL=  62.7,  58.0, ROT=  87.3, -58.0

2025-08-09T17:42:11.249Z,1754761331.249 [DAT](INFO): got valid direction response:
 17:42:10.1643 LVL= 18736,  9137, 23410, 24387, AGC= 37, IDX= 507, 0.01, 1.223, 0.514, 0.066, 2.074, PHS=-0.749,-1.514,-2.052, RAW=  65.8,  53.4, CAL=  62.7,  58.0, ROT=  87.3, -58.0

2025-08-09T17:42:11.249Z,1754761331.249 [DAT](INFO): #Rx 63: Read range and direction messages.
2025-08-09T17:42:11.276Z,1754761331.276 [DAT](INFO): direction in FSK: [0.024963,0.529331,0.848048]
2025-08-09T17:42:11.276Z,1754761331.276 [DAT](INFO): publishing direction and range info
2025-08-09T17:42:11.304Z,1754761331.304 [DAT](INFO): checking for new query: numPingsReceived=63, elapsed TxPingTime=14.677079
2025-08-09T17:42:11.482Z,1754761331.482 [DAT](INFO): DAT read: Rx Time:17:42:10.6644 

2025-08-09T17:42:11.484Z,1754761331.484 [DAT](INFO): Rx dataTimestamp_ set to:1754761331.482644
2025-08-09T17:42:11.486Z,1754761331.486 [DAT](INFO): DAT read: Bearing  44.5,  32.3 (Local)

2025-08-09T17:42:11.487Z,1754761331.487 [DAT](INFO): Local bearing/azimuth received:
 Bearing  44.5,  32.3 (Local)

2025-08-09T17:42:11.489Z,1754761331.489 [DAT](INFO): checking for new query: numPingsReceived=63, elapsed TxPingTime=14.861903
2025-08-09T17:42:11.733Z,1754761331.733 [DAT](INFO): DAT read: Range 11 to 50 :     1.1 m (trip time 0.7 ms) speed 0.0

2025-08-09T17:42:11.737Z,1754761331.737 [DAT](INFO): DAT read: 17:42:10.6644 LVL= 19184,  9697, 22866, 24707, AGC= 37, IDX= 508, 0.11,-3.078, 2.601, 2.041,-2.218, PHS=-0.759,-1.420,-2.068, RAW=  60.3,  52.9, CAL=  57.4,  57.4, ROT=  92.6, -57.4

2025-08-09T17:42:11.739Z,1754761331.739 [DAT](INFO): got valid direction response:
 17:42:10.6644 LVL= 19184,  9697, 22866, 24707, AGC= 37, IDX= 508, 0.11,-3.078, 2.601, 2.041,-2.218, PHS=-0.759,-1.420,-2.068, RAW=  60.3,  52.9, CAL=  57.4,  57.4, ROT=  92.6, -57.4

2025-08-09T17:42:11.739Z,1754761331.739 [DAT](INFO): #Rx 64: Read range and direction messages.
2025-08-09T17:42:11.740Z,1754761331.740 [DAT](INFO): direction in FSK: [-0.024440,0.538216,0.842452]
2025-08-09T17:42:11.740Z,1754761331.740 [DAT](INFO): publishing direction and range info
2025-08-09T17:42:11.746Z,1754761331.746 [DAT](INFO): checking for new query: numPingsReceived=64, elapsed TxPingTime=15.118434
2025-08-09T17:42:11.997Z,1754761331.997 [DAT](INFO): DAT read: Rx Time:17:42:11.1643 

2025-08-09T17:42:11.999Z,1754761331.999 [DAT](INFO): Rx dataTimestamp_ set to:1754761331.997788
2025-08-09T17:42:12.011Z,1754761332.011 [DAT](INFO): DAT read: Bearing  46.0,  33.2 (Local)

2025-08-09T17:42:12.012Z,1754761332.012 [DAT](INFO): Local bearing/azimuth received:
 Bearing  46.0,  33.2 (Local)

2025-08-09T17:42:12.027Z,1754761332.027 [DAT](INFO): DAT read: Range 11 to 50 :     0.9 m (trip time 0.6 ms) speed 0.0

2025-08-09T17:42:12.034Z,1754761332.034 [DAT](ERROR): #Rx 65: Read range message, but no direction.
2025-08-09T17:42:12.035Z,1754761332.035 [DAT](INFO): checking for new query: numPingsReceived=65, elapsed TxPingTime=15.408219
2025-08-09T17:42:12.239Z,1754761332.239 [DAT](INFO): DAT read: 17:42:11.1643 LVL= 19280,  9825, 23218, 24563, AGC= 37, IDX= 507, 0.23, 2.070, 1.501, 0.884, 2.921, PHS=-0.750,-1.375,-2.082, RAW=  58.0,  52.2, CAL=  55.2,  56.6, ROT=  94.8, -56.6

2025-08-09T17:42:12.240Z,1754761332.240 [DAT](INFO): got valid direction response:
 17:42:11.1643 LVL= 19280,  9825, 23218, 24563, AGC= 37, IDX= 507, 0.23, 2.070, 1.501, 0.884, 2.921, PHS=-0.750,-1.375,-2.082, RAW=  58.0,  52.2, CAL=  55.2,  56.6, ROT=  94.8, -56.6

2025-08-09T17:42:12.240Z,1754761332.240 [DAT](INFO): #Rx 66: Read direction message, but no range.
2025-08-09T17:42:12.241Z,1754761332.241 [DAT](INFO): direction in FSK: [-0.046063,0.548550,0.834848]
2025-08-09T17:42:12.245Z,1754761332.245 [DAT](INFO): checking for new query: numPingsReceived=66, elapsed TxPingTime=15.617730
2025-08-09T17:42:12.491Z,1754761332.491 [DAT](INFO): DAT read: Rx Time:17:42:11.6643 

2025-08-09T17:42:12.493Z,1754761332.493 [DAT](INFO): Rx dataTimestamp_ set to:1754761332.491648
2025-08-09T17:42:12.496Z,1754761332.496 [DAT](INFO): DAT read: Bearing  47.0,  32.6 (Local)

2025-08-09T17:42:12.497Z,1754761332.497 [DAT](INFO): Local bearing/azimuth received:
 Bearing  47.0,  32.6 (Local)

2025-08-09T17:42:12.508Z,1754761332.508 [DAT](INFO): DAT read: Range 11 to 50 :     0.9 m (trip time 0.6 ms) speed 0.0

2025-08-09T17:42:12.511Z,1754761332.511 [DAT](ERROR): #Rx 67: Read range message, but no direction.
2025-08-09T17:42:12.529Z,1754761332.529 [DAT](INFO): checking for new query: numPingsReceived=67, elapsed TxPingTime=15.887171
2025-08-09T17:42:12.744Z,1754761332.744 [DAT](INFO): DAT read: 17:42:11.6643 LVL= 17024,  9345, 23026, 21939, AGC= 36, IDX= 507, 0.38, 1.480, 0.955, 0.321, 2.365, PHS=-0.783,-1.365,-2.088, RAW=  56.4,  52.9, CAL=  53.8,  57.2, ROT=  96.2, -57.2

2025-08-09T17:42:12.745Z,1754761332.745 [DAT](INFO): got valid direction response:
 17:42:11.6643 LVL= 17024,  9345, 23026, 21939, AGC= 36, IDX= 507, 0.38, 1.480, 0.955, 0.321, 2.365, PHS=-0.783,-1.365,-2.088, RAW=  56.4,  52.9, CAL=  53.8,  57.2, ROT=  96.2, -57.2

2025-08-09T17:42:12.746Z,1754761332.746 [DAT](INFO): #Rx 68: Read direction message, but no range.
2025-08-09T17:42:12.747Z,1754761332.747 [DAT](INFO): direction in FSK: [-0.058504,0.538540,0.840567]
2025-08-09T17:42:12.750Z,1754761332.750 [DAT](INFO): checking for new query: numPingsReceived=68, elapsed TxPingTime=16.123240
2025-08-09T17:42:12.995Z,1754761332.995 [DAT](INFO): DAT read: Rx Time:17:42:12.1642 

2025-08-09T17:42:12.997Z,1754761332.997 [DAT](INFO): Rx dataTimestamp_ set to:1754761332.996069
2025-08-09T17:42:13.001Z,1754761333.001 [DAT](INFO): DAT read: Bearing  46.9,  32.4 (Local)

2025-08-09T17:42:13.002Z,1754761333.002 [DAT](INFO): Local bearing/azimuth received:
 Bearing  46.9,  32.4 (Local)

2025-08-09T17:42:13.008Z,1754761333.008 [DAT](INFO): DAT read: Range 11 to 50 :     0.8 m (trip time 0.5 ms) speed 0.0

2025-08-09T17:42:13.013Z,1754761333.013 [DAT](ERROR): #Rx 69: Read range message, but no direction.
2025-08-09T17:42:13.017Z,1754761333.017 [DAT](INFO): checking for new query: numPingsReceived=69, elapsed TxPingTime=16.388927
2025-08-09T17:42:13.247Z,1754761333.247 [DAT](INFO): DAT read: 17:42:12.1642 LVL= 19312, 10945, 24690, 24195, AGC= 37, IDX= 507,-0.44,-0.416,-0.951,-1.572, 0.473, PHS=-0.787,-1.378,-2.089, RAW=  57.0,  53.1, CAL=  54.3,  57.4, ROT=  95.7, -57.4

2025-08-09T17:42:13.248Z,1754761333.248 [DAT](INFO): got valid direction response:
 17:42:12.1642 LVL= 19312, 10945, 24690, 24195, AGC= 37, IDX= 507,-0.44,-0.416,-0.951,-1.572, 0.473, PHS=-0.787,-1.378,-2.089, RAW=  57.0,  53.1, CAL=  54.3,  57.4, ROT=  95.7, -57.4

2025-08-09T17:42:13.248Z,1754761333.248 [DAT](INFO): #Rx 70: Read direction message, but no range.
2025-08-09T17:42:13.249Z,1754761333.249 [DAT](INFO): direction in FSK: [-0.053511,0.536107,0.842452]
2025-08-09T17:42:13.253Z,1754761333.253 [DAT](INFO): checking for new query: numPingsReceived=70, elapsed TxPingTime=16.626425
2025-08-09T17:42:13.499Z,1754761333.499 [DAT](INFO): DAT read: Rx Time:17:42:12.6643 

2025-08-09T17:42:13.500Z,1754761333.500 [DAT](INFO): Rx dataTimestamp_ set to:1754761333.499288
2025-08-09T17:42:13.504Z,1754761333.504 [DAT](INFO): DAT read: Bearing  46.0,  32.6 (Local)

2025-08-09T17:42:13.505Z,1754761333.505 [DAT](INFO): Local bearing/azimuth received:
 Bearing  46.0,  32.6 (Local)

2025-08-09T17:42:13.510Z,1754761333.510 [DAT](INFO): DAT read: Range 11 to 50 :     0.9 m (trip time 0.6 ms) speed 0.0

2025-08-09T17:42:13.512Z,1754761333.512 [DAT](ERROR): #Rx 71: Read range message, but no direction.
2025-08-09T17:42:13.528Z,1754761333.528 [DAT](INFO): checking for new query: numPingsReceived=71, elapsed TxPingTime=16.900455
2025-08-09T17:42:13.751Z,1754761333.751 [DAT](INFO): DAT read: 17:42:12.6643 LVL= 17696, 11377, 22354, 21907, AGC= 37, IDX= 508,-0.28, 0.117,-0.467,-1.056, 0.990, PHS=-0.772,-1.412,-2.091, RAW=  59.1,  52.9, CAL=  56.2,  57.3, ROT=  93.8, -57.3

2025-08-09T17:42:13.752Z,1754761333.752 [DAT](INFO): got valid direction response:
 17:42:12.6643 LVL= 17696, 11377, 22354, 21907, AGC= 37, IDX= 508,-0.28, 0.117,-0.467,-1.056, 0.990, PHS=-0.772,-1.412,-2.091, RAW=  59.1,  52.9, CAL=  56.2,  57.3, ROT=  93.8, -57.3

2025-08-09T17:42:13.752Z,1754761333.752 [DAT](INFO): #Rx 72: Read direction message, but no range.
2025-08-09T17:42:13.753Z,1754761333.753 [DAT](INFO): direction in FSK: [-0.035804,0.539053,0.841511]
2025-08-09T17:42:13.757Z,1754761333.757 [DAT](INFO): checking for new query: numPingsReceived=72, elapsed TxPingTime=17.129713
2025-08-09T17:42:14.003Z,1754761334.003 [DAT](INFO): DAT read: Rx Time:17:42:13.1643 

2025-08-09T17:42:14.005Z,1754761334.005 [DAT](INFO): Rx dataTimestamp_ set to:1754761334.003830
2025-08-09T17:42:14.009Z,1754761334.009 [DAT](INFO): DAT read: Bearing  47.1,  32.4 (Local)

2025-08-09T17:42:14.010Z,1754761334.010 [DAT](INFO): Local bearing/azimuth received:
 Bearing  47.1,  32.4 (Local)

2025-08-09T17:42:14.024Z,1754761334.024 [DAT](INFO): DAT read: Range 11 to 50 :     0.9 m (trip time 0.6 ms) speed 0.0

2025-08-09T17:42:14.050Z,1754761334.050 [DAT](ERROR): #Rx 73: Read range message, but no direction.
2025-08-09T17:42:14.051Z,1754761334.051 [DAT](INFO): checking for new query: numPingsReceived=73, elapsed TxPingTime=17.424238
2025-08-09T17:42:14.255Z,1754761334.255 [DAT](INFO): DAT read: 17:42:13.1643 LVL= 18928, 12433, 24178, 23779, AGC= 37, IDX= 507,-0.17,-1.095,-1.644,-2.251,-0.199, PHS=-0.793,-1.400,-2.096, RAW=  57.7,  53.3, CAL=  55.0,  57.6, ROT=  95.0, -57.6

2025-08-09T17:42:14.256Z,1754761334.256 [DAT](INFO): got valid direction response:
 17:42:13.1643 LVL= 18928, 12433, 24178, 23779, AGC= 37, IDX= 507,-0.17,-1.095,-1.644,-2.251,-0.199, PHS=-0.793,-1.400,-2.096, RAW=  57.7,  53.3, CAL=  55.0,  57.6, ROT=  95.0, -57.6

2025-08-09T17:42:14.256Z,1754761334.256 [DAT](INFO): #Rx 74: Read direction message, but no range.
2025-08-09T17:42:14.257Z,1754761334.257 [DAT](INFO): direction in FSK: [-0.046700,0.533788,0.844328]
2025-08-09T17:42:14.260Z,1754761334.260 [DAT](INFO): checking for new query: numPingsReceived=74, elapsed TxPingTime=17.633511
2025-08-09T17:42:14.507Z,1754761334.507 [DAT](INFO): DAT read: Rx Time:17:42:13.6644 

2025-08-09T17:42:14.509Z,1754761334.509 [DAT](INFO): Rx dataTimestamp_ set to:1754761334.507520
2025-08-09T17:42:14.512Z,1754761334.512 [DAT](INFO): DAT read: Bearing  47.8,  32.5 (Local)

2025-08-09T17:42:14.513Z,1754761334.513 [DAT](INFO): Local bearing/azimuth received:
 Bearing  47.8,  32.5 (Local)

2025-08-09T17:42:14.519Z,1754761334.519 [DAT](INFO): DAT read: Range 11 to 50 :     1.1 m (trip time 0.7 ms) speed 0.0

2025-08-09T17:42:14.521Z,1754761334.521 [DAT](ERROR): #Rx 75: Read range message, but no direction.
2025-08-09T17:42:14.532Z,1754761334.532 [DAT](INFO): checking for new query: numPingsReceived=75, elapsed TxPingTime=17.904596
2025-08-09T17:42:14.759Z,1754761334.759 [DAT](INFO): DAT read: 17:42:13.6644 LVL= 19136, 12369, 24114, 23971, AGC= 37, IDX= 508,-0.07, 0.851, 0.302,-0.321, 1.748, PHS=-0.795,-1.401,-2.114, RAW=  57.3,  53.1, CAL=  54.6,  57.4, ROT=  95.4, -57.4

2025-08-09T17:42:14.760Z,1754761334.760 [DAT](INFO): got valid direction response:
 17:42:13.6644 LVL= 19136, 12369, 24114, 23971, AGC= 37, IDX= 508,-0.07, 0.851, 0.302,-0.321, 1.748, PHS=-0.795,-1.401,-2.114, RAW=  57.3,  53.1, CAL=  54.6,  57.4, ROT=  95.4, -57.4

2025-08-09T17:42:14.760Z,1754761334.760 [DAT](INFO): #Rx 76: Read direction message, but no range.
2025-08-09T17:42:14.761Z,1754761334.761 [DAT](INFO): direction in FSK: [-0.050703,0.536380,0.842452]
2025-08-09T17:42:14.765Z,1754761334.765 [DAT](INFO): checking for new query: numPingsReceived=76, elapsed TxPingTime=18.137642
2025-08-09T17:42:15.024Z,1754761335.024 [DAT](INFO): DAT read: Rx Time:17:42:14.1643 

2025-08-09T17:42:15.025Z,1754761335.025 [DAT](INFO): Rx dataTimestamp_ set to:1754761335.024227
2025-08-09T17:42:15.029Z,1754761335.029 [DAT](INFO): DAT read: Bearing  48.7,  32.6 (Local)

2025-08-09T17:42:15.032Z,1754761335.032 [DAT](INFO): Local bearing/azimuth received:
 Bearing  48.7,  32.6 (Local)

2025-08-09T17:42:15.034Z,1754761335.034 [DAT](INFO): DAT read: Range 11 to 50 :     0.9 m (trip time 0.6 ms) speed 0.0

2025-08-09T17:42:15.041Z,1754761335.041 [DAT](INFO): DAT read: 17:42:14.1643 LVL= 16960, 10721, 21906, 19379, AGC= 35, IDX= 507, 0.03, 0.502,-0.033,-0.667, 1.402, PHS=-0.799,-1.390,-2.114, RAW=  56.7,  53.1, CAL=  54.0,  57.4, ROT=  96.0, -57.4

2025-08-09T17:42:15.042Z,1754761335.042 [DAT](INFO): got valid direction response:
 17:42:14.1643 LVL= 16960, 10721, 21906, 19379, AGC= 35, IDX= 507, 0.03, 0.502,-0.033,-0.667, 1.402, PHS=-0.799,-1.390,-2.114, RAW=  56.7,  53.1, CAL=  54.0,  57.4, ROT=  96.0, -57.4

2025-08-09T17:42:15.060Z,1754761335.060 [DAT](INFO): #Rx 77: Read range and direction messages.
2025-08-09T17:42:15.061Z,1754761335.061 [DAT](INFO): direction in FSK: [-0.056317,0.535819,0.842452]
2025-08-09T17:42:15.061Z,1754761335.061 [DAT](INFO): publishing direction and range info
2025-08-09T17:42:15.077Z,1754761335.077 [DAT](INFO): checking for new query: numPingsReceived=77, elapsed TxPingTime=18.449961
2025-08-09T17:42:15.276Z,1754761335.276 [DAT](INFO): checking for new query: numPingsReceived=77, elapsed TxPingTime=18.648531
2025-08-09T17:42:15.528Z,1754761335.528 [DAT](INFO): DAT read: Rx Time:17:42:14.6643 

2025-08-09T17:42:15.529Z,1754761335.529 [DAT](INFO): Rx dataTimestamp_ set to:1754761335.528279
2025-08-09T17:42:15.532Z,1754761335.532 [DAT](INFO): DAT read: Bearing  49.3,  32.6 (Local)

2025-08-09T17:42:15.532Z,1754761335.532 [DAT](INFO): Local bearing/azimuth received:
 Bearing  49.3,  32.6 (Local)

2025-08-09T17:42:15.534Z,1754761335.534 [DAT](INFO): DAT read: Range 11 to 50 :     0.9 m (trip time 0.6 ms) speed 0.0

2025-08-09T17:42:15.539Z,1754761335.539 [DAT](INFO): DAT read: 17:42:14.6643 LVL= 16368, 10225, 22498, 19539, AGC= 35, IDX= 507, 0.14, 0.539, 0.008,-0.625, 1.437, PHS=-0.796,-1.384,-2.106, RAW=  56.6,  53.1, CAL=  54.0,  57.4, ROT=  96.0, -57.4

2025-08-09T17:42:15.540Z,1754761335.540 [DAT](INFO): got valid direction response:
 17:42:14.6643 LVL= 16368, 10225, 22498, 19539, AGC= 35, IDX= 507, 0.14, 0.539, 0.008,-0.625, 1.437, PHS=-0.796,-1.384,-2.106, RAW=  56.6,  53.1, CAL=  54.0,  57.4, ROT=  96.0, -57.4

2025-08-09T17:42:15.541Z,1754761335.541 [DAT](INFO): #Rx 78: Read range and direction messages.
2025-08-09T17:42:15.542Z,1754761335.542 [DAT](INFO): direction in FSK: [-0.056317,0.535819,0.842452]
2025-08-09T17:42:15.542Z,1754761335.542 [DAT](INFO): publishing direction and range info
2025-08-09T17:42:15.545Z,1754761335.545 [DAT](INFO): checking for new query: numPingsReceived=78, elapsed TxPingTime=18.918377
2025-08-09T17:42:15.775Z,1754761335.775 [DAT](INFO): checking for new query: numPingsReceived=78, elapsed TxPingTime=19.148306
2025-08-09T17:42:16.032Z,1754761336.032 [DAT](INFO): DAT read: Rx Time:17:42:15.1642 

2025-08-09T17:42:16.032Z,1754761336.032 [DAT](INFO): Rx dataTimestamp_ set to:1754761336.031711
2025-08-09T17:42:16.033Z,1754761336.033 [DAT](INFO): DAT read: Bearing  49.5,  33.1 (Local)

2025-08-09T17:42:16.034Z,1754761336.034 [DAT](INFO): Local bearing/azimuth received:
 Bearing  49.5,  33.1 (Local)

2025-08-09T17:42:16.036Z,1754761336.036 [DAT](INFO): DAT read: Range 11 to 50 :     0.8 m (trip time 0.5 ms) speed 0.0

2025-08-09T17:42:16.040Z,1754761336.040 [DAT](INFO): DAT read: 17:42:15.1642 LVL= 19328, 11217, 24530, 24467, AGC= 37, IDX= 506, 0.27,-0.508,-1.061,-1.691, 0.361, PHS=-0.768,-1.377,-2.096, RAW=  57.3,  52.5, CAL=  54.5,  56.8, ROT=  95.5, -56.8

2025-08-09T17:42:16.041Z,1754761336.041 [DAT](INFO): got valid direction response:
 17:42:15.1642 LVL= 19328, 11217, 24530, 24467, AGC= 37, IDX= 506, 0.27,-0.508,-1.061,-1.691, 0.361, PHS=-0.768,-1.377,-2.096, RAW=  57.3,  52.5, CAL=  54.5,  56.8, ROT=  95.5, -56.8

2025-08-09T17:42:16.042Z,1754761336.042 [DAT](INFO): #Rx 79: Read range and direction messages.
2025-08-09T17:42:16.047Z,1754761336.047 [DAT](INFO): direction in FSK: [-0.052482,0.545042,0.836764]
2025-08-09T17:42:16.047Z,1754761336.047 [DAT](INFO): publishing direction and range info
2025-08-09T17:42:16.055Z,1754761336.055 [DAT](INFO): checking for new query: numPingsReceived=79, elapsed TxPingTime=19.427837
2025-08-09T17:42:16.279Z,1754761336.279 [DAT](INFO): checking for new query: numPingsReceived=79, elapsed TxPingTime=19.652382
2025-08-09T17:42:16.533Z,1754761336.533 [DAT](INFO): DAT read: Rx Time:17:42:15.6643 

2025-08-09T17:42:16.534Z,1754761336.534 [DAT](INFO): Rx dataTimestamp_ set to:1754761336.533929
2025-08-09T17:42:16.536Z,1754761336.536 [DAT](INFO): DAT read: Bearing  49.4,  33.1 (Local)

2025-08-09T17:42:16.536Z,1754761336.536 [DAT](INFO): Local bearing/azimuth received:
 Bearing  49.4,  33.1 (Local)

2025-08-09T17:42:16.540Z,1754761336.540 [DAT](INFO): DAT read: Range 11 to 50 :     0.9 m (trip time 0.6 ms) speed 0.0

2025-08-09T17:42:16.565Z,1754761336.565 [DAT](INFO): DAT read: 17:42:15.6643 LVL= 19184, 10385, 23074, 24403, AGC= 37, IDX= 507, 0.44, 0.022,-0.552,-1.155, 0.882, PHS=-0.758,-1.389,-2.082, RAW=  58.5,  52.5, CAL=  55.6,  56.9, ROT=  94.4, -56.9

2025-08-09T17:42:16.566Z,1754761336.566 [DAT](INFO): got valid direction response:
 17:42:15.6643 LVL= 19184, 10385, 23074, 24403, AGC= 37, IDX= 507, 0.44, 0.022,-0.552,-1.155, 0.882, PHS=-0.758,-1.389,-2.082, RAW=  58.5,  52.5, CAL=  55.6,  56.9, ROT=  94.4, -56.9

2025-08-09T17:42:16.567Z,1754761336.567 [DAT](INFO): #Rx 80: Read range and direction messages.
2025-08-09T17:42:16.568Z,1754761336.568 [DAT](INFO): direction in FSK: [-0.041896,0.544492,0.837719]
2025-08-09T17:42:16.568Z,1754761336.568 [DAT](INFO): publishing direction and range info
2025-08-09T17:42:16.596Z,1754761336.596 [DAT](INFO): checking for new query: numPingsReceived=80, elapsed TxPingTime=19.968700
2025-08-09T17:42:16.783Z,1754761336.783 [DAT](INFO): checking for new query: numPingsReceived=80, elapsed TxPingTime=20.156374
2025-08-09T17:42:17.036Z,1754761337.036 [DAT](INFO): DAT read: Rx Time:17:42:16.1642 

2025-08-09T17:42:17.036Z,1754761337.036 [DAT](INFO): Rx dataTimestamp_ set to:1754761337.036080
2025-08-09T17:42:17.038Z,1754761337.038 [DAT](INFO): DAT read: Bearing  50.8,  32.5 (Local)

2025-08-09T17:42:17.038Z,1754761337.038 [DAT](INFO): Local bearing/azimuth received:
 Bearing  50.8,  32.5 (Local)

2025-08-09T17:42:17.040Z,1754761337.040 [DAT](INFO): DAT read: Range 11 to 50 :     0.8 m (trip time 0.5 ms) speed 0.0

2025-08-09T17:42:17.045Z,1754761337.045 [DAT](INFO): DAT read: 17:42:16.1642 LVL= 19232, 10161, 23954, 24275, AGC= 37, IDX= 507,-0.37,-2.439,-2.965, 2.705,-1.562, PHS=-0.775,-1.358,-2.061, RAW=  56.9,  53.1, CAL=  54.2,  57.4, ROT=  95.8, -57.4

2025-08-09T17:42:17.046Z,1754761337.046 [DAT](INFO): got valid direction response:
 17:42:16.1642 LVL= 19232, 10161, 23954, 24275, AGC= 37, IDX= 507,-0.37,-2.439,-2.965, 2.705,-1.562, PHS=-0.775,-1.358,-2.061, RAW=  56.9,  53.1, CAL=  54.2,  57.4, ROT=  95.8, -57.4

2025-08-09T17:42:17.046Z,1754761337.046 [DAT](INFO): #Rx 81: Read range and direction messages.
2025-08-09T17:42:17.047Z,1754761337.047 [DAT](INFO): direction in FSK: [-0.054446,0.536013,0.842452]
2025-08-09T17:42:17.047Z,1754761337.047 [DAT](INFO): publishing direction and range info
2025-08-09T17:42:17.051Z,1754761337.051 [DAT](INFO): checking for new query: numPingsReceived=81, elapsed TxPingTime=20.424517
2025-08-09T17:42:17.287Z,1754761337.287 [DAT](INFO): checking for new query: numPingsReceived=81, elapsed TxPingTime=20.660231
2025-08-09T17:42:17.540Z,1754761337.540 [DAT](INFO): DAT read: Rx Time:17:42:16.6643 

2025-08-09T17:42:17.541Z,1754761337.541 [DAT](INFO): Rx dataTimestamp_ set to:1754761337.540676
2025-08-09T17:42:17.542Z,1754761337.542 [DAT](INFO): DAT read: Bearing  49.9,  31.9 (Local)

2025-08-09T17:42:17.543Z,1754761337.543 [DAT](INFO): Local bearing/azimuth received:
 Bearing  49.9,  31.9 (Local)

2025-08-09T17:42:17.545Z,1754761337.545 [DAT](INFO): DAT read: Range 11 to 50 :     0.9 m (trip time 0.6 ms) speed 0.0

2025-08-09T17:42:17.549Z,1754761337.549 [DAT](INFO): DAT read: 17:42:16.6643 LVL= 18064,  9441, 22850, 22515, AGC= 37, IDX= 508,-0.23,-1.227,-1.789,-2.352,-0.344, PHS=-0.780,-1.400,-2.052, RAW=  59.1,  53.6, CAL=  56.3,  57.9, ROT=  93.7, -57.9

2025-08-09T17:42:17.551Z,1754761337.551 [DAT](INFO): got valid direction response:
 17:42:16.6643 LVL= 18064,  9441, 22850, 22515, AGC= 37, IDX= 508,-0.23,-1.227,-1.789,-2.352,-0.344, PHS=-0.780,-1.400,-2.052, RAW=  59.1,  53.6, CAL=  56.3,  57.9, ROT=  93.7, -57.9

2025-08-09T17:42:17.552Z,1754761337.552 [DAT](INFO): #Rx 82: Read range and direction messages.
2025-08-09T17:42:17.552Z,1754761337.552 [DAT](INFO): direction in FSK: [-0.034292,0.530291,0.847122]
2025-08-09T17:42:17.553Z,1754761337.553 [DAT](INFO): publishing direction and range info
2025-08-09T17:42:17.556Z,1754761337.556 [DAT](INFO): checking for new query: numPingsReceived=82, elapsed TxPingTime=20.929220
2025-08-09T17:42:17.793Z,1754761337.793 [DAT](INFO): checking for new query: numPingsReceived=82, elapsed TxPingTime=21.165640
2025-08-09T17:42:18.044Z,1754761338.044 [DAT](INFO): DAT read: Rx Time:17:42:17.1643 

2025-08-09T17:42:18.044Z,1754761338.044 [DAT](INFO): Rx dataTimestamp_ set to:1754761338.044055
2025-08-09T17:42:18.046Z,1754761338.046 [DAT](INFO): DAT read: Bearing  47.1,  31.6 (Local)

2025-08-09T17:42:18.046Z,1754761338.046 [DAT](INFO): Local bearing/azimuth received:
 Bearing  47.1,  31.6 (Local)

2025-08-09T17:42:18.048Z,1754761338.048 [DAT](INFO): DAT read: Range 11 to 50 :     0.9 m (trip time 0.6 ms) speed 0.0

2025-08-09T17:42:18.053Z,1754761338.053 [DAT](INFO): DAT read: 17:42:17.1643 LVL= 19040,  9201, 23234, 24227, AGC= 37, IDX= 507,-0.11,-2.257,-2.934, 2.886,-1.404, PHS=-0.751,-1.485,-2.038, RAW=  64.6,  53.5, CAL=  61.6,  58.0, ROT=  88.4, -58.0

2025-08-09T17:42:18.054Z,1754761338.054 [DAT](INFO): got valid direction response:
 17:42:17.1643 LVL= 19040,  9201, 23234, 24227, AGC= 37, IDX= 507,-0.11,-2.257,-2.934, 2.886,-1.404, PHS=-0.751,-1.485,-2.038, RAW=  64.6,  53.5, CAL=  61.6,  58.0, ROT=  88.4, -58.0

2025-08-09T17:42:18.054Z,1754761338.054 [DAT](INFO): #Rx 83: Read range and direction messages.
2025-08-09T17:42:18.059Z,1754761338.059 [DAT](INFO): direction in FSK: [0.014796,0.529713,0.848048]
2025-08-09T17:42:18.059Z,1754761338.059 [DAT](INFO): publishing direction and range info
2025-08-09T17:42:18.067Z,1754761338.067 [DAT](INFO): checking for new query: numPingsReceived=83, elapsed TxPingTime=21.440117
2025-08-09T17:42:18.300Z,1754761338.300 [DAT](INFO): checking for new query: numPingsReceived=83, elapsed TxPingTime=21.672197
2025-08-09T17:42:18.552Z,1754761338.552 [DAT](INFO): DAT read: Rx Time:17:42:17.6644 

2025-08-09T17:42:18.552Z,1754761338.552 [DAT](INFO): Rx dataTimestamp_ set to:1754761338.552080
2025-08-09T17:42:18.554Z,1754761338.554 [DAT](INFO): DAT read: Bearing  44.0,  31.0 (Local)

2025-08-09T17:42:18.554Z,1754761338.554 [DAT](INFO): Local bearing/azimuth received:
 Bearing  44.0,  31.0 (Local)

2025-08-09T17:42:18.556Z,1754761338.556 [DAT](INFO): DAT read: Range 11 to 50 :     1.1 m (trip time 0.7 ms) speed 0.0

2025-08-09T17:42:18.583Z,1754761338.583 [DAT](INFO): DAT read: 17:42:17.6644 LVL= 18752,  9137, 21154, 23795, AGC= 37, IDX= 508,-0.01,-0.283,-1.086,-1.446, 0.551, PHS=-0.732,-1.593,-2.042, RAW=  70.3,  53.3, CAL=  67.2,  58.1, ROT=  82.8, -58.1

2025-08-09T17:42:18.584Z,1754761338.584 [DAT](INFO): got valid direction response:
 17:42:17.6644 LVL= 18752,  9137, 21154, 23795, AGC= 37, IDX= 508,-0.01,-0.283,-1.086,-1.446, 0.551, PHS=-0.732,-1.593,-2.042, RAW=  70.3,  53.3, CAL=  67.2,  58.1, ROT=  82.8, -58.1

2025-08-09T17:42:18.584Z,1754761338.584 [DAT](INFO): #Rx 84: Read range and direction messages.
2025-08-09T17:42:18.585Z,1754761338.585 [DAT](INFO): direction in FSK: [0.066231,0.524271,0.848972]
2025-08-09T17:42:18.586Z,1754761338.586 [DAT](INFO): publishing direction and range info
2025-08-09T17:42:18.594Z,1754761338.594 [DAT](INFO): checking for new query: numPingsReceived=84, elapsed TxPingTime=21.967007
2025-08-09T17:42:18.803Z,1754761338.803 [DAT](INFO): checking for new query: numPingsReceived=84, elapsed TxPingTime=22.176411
2025-08-09T17:42:19.056Z,1754761339.056 [DAT](INFO): DAT read: Rx Time:17:42:18.1643 

2025-08-09T17:42:19.056Z,1754761339.056 [DAT](INFO): Rx dataTimestamp_ set to:1754761339.056098
2025-08-09T17:42:19.058Z,1754761339.058 [DAT](INFO): DAT read: Bearing  42.0,  31.3 (Local)

2025-08-09T17:42:19.058Z,1754761339.058 [DAT](INFO): Local bearing/azimuth received:
 Bearing  42.0,  31.3 (Local)

2025-08-09T17:42:19.060Z,1754761339.060 [DAT](INFO): DAT read: Range 11 to 50 :     0.9 m (trip time 0.6 ms) speed 0.0

2025-08-09T17:42:19.065Z,1754761339.065 [DAT](INFO): DAT read: 17:42:18.1643 LVL= 20784, 10145, 23906, 26675, AGC= 35, IDX= 507, 0.09,-0.625,-1.509,-1.804, 0.165, PHS=-0.688,-1.629,-2.013, RAW=  73.7,  52.4, CAL=  70.6,  57.6, ROT=  79.4, -57.6

2025-08-09T17:42:19.066Z,1754761339.066 [DAT](INFO): got valid direction response:
 17:42:18.1643 LVL= 20784, 10145, 23906, 26675, AGC= 35, IDX= 507, 0.09,-0.625,-1.509,-1.804, 0.165, PHS=-0.688,-1.629,-2.013, RAW=  73.7,  52.4, CAL=  70.6,  57.6, ROT=  79.4, -57.6

2025-08-09T17:42:19.066Z,1754761339.066 [DAT](INFO): #Rx 85: Read range and direction messages.
2025-08-09T17:42:19.067Z,1754761339.067 [DAT](INFO): direction in FSK: [0.098566,0.526683,0.844328]
2025-08-09T17:42:19.068Z,1754761339.068 [DAT](INFO): publishing direction and range info
2025-08-09T17:42:19.072Z,1754761339.072 [DAT](INFO): checking for new query: numPingsReceived=85, elapsed TxPingTime=22.444866
2025-08-09T17:42:19.307Z,1754761339.307 [DAT](INFO): checking for new query: numPingsReceived=85, elapsed TxPingTime=22.680384
2025-08-09T17:42:19.560Z,1754761339.560 [DAT](INFO): DAT read: Rx Time:17:42:18.6643 

2025-08-09T17:42:19.560Z,1754761339.560 [DAT](INFO): Rx dataTimestamp_ set to:1754761339.560035
2025-08-09T17:42:19.562Z,1754761339.562 [DAT](INFO): DAT read: Bearing  43.3,  31.3 (Local)

2025-08-09T17:42:19.562Z,1754761339.562 [DAT](INFO): Local bearing/azimuth received:
 Bearing  43.3,  31.3 (Local)

2025-08-09T17:42:19.564Z,1754761339.564 [DAT](INFO): DAT read: Range 11 to 50 :     0.9 m (trip time 0.6 ms) speed 0.0

2025-08-09T17:42:19.569Z,1754761339.569 [DAT](INFO): DAT read: 17:42:18.6643 LVL= 18816,  8945, 21474, 23795, AGC= 37, IDX= 507, 0.21,-0.403,-1.250,-1.575, 0.411, PHS=-0.712,-1.616,-2.030, RAW=  72.1,  52.9, CAL=  69.0,  57.9, ROT=  81.0, -57.9

2025-08-09T17:42:19.570Z,1754761339.570 [DAT](INFO): got valid direction response:
 17:42:18.6643 LVL= 18816,  8945, 21474, 23795, AGC= 37, IDX= 507, 0.21,-0.403,-1.250,-1.575, 0.411, PHS=-0.712,-1.616,-2.030, RAW=  72.1,  52.9, CAL=  69.0,  57.9, ROT=  81.0, -57.9

2025-08-09T17:42:19.570Z,1754761339.570 [DAT](INFO): #Rx 86: Read range and direction messages.
2025-08-09T17:42:19.585Z,1754761339.585 [DAT](INFO): direction in FSK: [0.083129,0.524856,0.847122]
2025-08-09T17:42:19.586Z,1754761339.586 [DAT](INFO): publishing direction and range info
2025-08-09T17:42:19.589Z,1754761339.589 [DAT](INFO): checking for new query: numPingsReceived=86, elapsed TxPingTime=22.962025
2025-08-09T17:42:19.812Z,1754761339.812 [DAT](INFO): checking for new query: numPingsReceived=86, elapsed TxPingTime=23.184748
2025-08-09T17:42:20.064Z,1754761340.064 [DAT](INFO): DAT read: Rx Time:17:42:19.1642 

2025-08-09T17:42:20.064Z,1754761340.064 [DAT](INFO): Rx dataTimestamp_ set to:1754761340.064111
2025-08-09T17:42:20.066Z,1754761340.066 [DAT](INFO): DAT read: Bearing  41.4,  31.3 (Local)

2025-08-09T17:42:20.066Z,1754761340.066 [DAT](INFO): Local bearing/azimuth received:
 Bearing  41.4,  31.3 (Local)

2025-08-09T17:42:20.068Z,1754761340.068 [DAT](INFO): DAT read: Range 11 to 50 :     0.8 m (trip time 0.5 ms) speed 0.0

2025-08-09T17:42:20.073Z,1754761340.073 [DAT](INFO): DAT read: 17:42:19.1642 LVL= 18864,  8929, 22258, 23891, AGC= 37, IDX= 506, 0.38,-2.183,-3.092, 2.928,-1.392, PHS=-0.688,-1.655,-2.007, RAW=  75.1,  52.4, CAL=  72.2,  57.7, ROT=  77.8, -57.7

2025-08-09T17:42:20.074Z,1754761340.074 [DAT](INFO): got valid direction response:
 17:42:19.1642 LVL= 18864,  8929, 22258, 23891, AGC= 37, IDX= 506, 0.38,-2.183,-3.092, 2.928,-1.392, PHS=-0.688,-1.655,-2.007, RAW=  75.1,  52.4, CAL=  72.2,  57.7, ROT=  77.8, -57.7

2025-08-09T17:42:20.074Z,1754761340.074 [DAT](INFO): #Rx 87: Read range and direction messages.
2025-08-09T17:42:20.078Z,1754761340.078 [DAT](INFO): direction in FSK: [0.112922,0.522284,0.845262]
2025-08-09T17:42:20.082Z,1754761340.082 [DAT](INFO): publishing direction and range info
2025-08-09T17:42:20.086Z,1754761340.086 [DAT](INFO): checking for new query: numPingsReceived=87, elapsed TxPingTime=23.458845
2025-08-09T17:42:20.315Z,1754761340.315 [DAT](INFO): checking for new query: numPingsReceived=87, elapsed TxPingTime=23.688314
2025-08-09T17:42:20.569Z,1754761340.569 [DAT](INFO): DAT read: Rx Time:17:42:19.6643 

2025-08-09T17:42:20.569Z,1754761340.569 [DAT](INFO): Rx dataTimestamp_ set to:1754761340.568913
2025-08-09T17:42:20.571Z,1754761340.571 [DAT](INFO): DAT read: Bearing  40.4,  30.7 (Local)

2025-08-09T17:42:20.572Z,1754761340.572 [DAT](INFO): Local bearing/azimuth received:
 Bearing  40.4,  30.7 (Local)

2025-08-09T17:42:20.575Z,1754761340.575 [DAT](INFO): DAT read: Range 11 to 50 :     0.9 m (trip time 0.6 ms) speed 0.0

2025-08-09T17:42:20.588Z,1754761340.588 [DAT](INFO): DAT read: 17:42:19.6643 LVL= 19056,  8913, 22322, 24307, AGC= 37, IDX= 508,-0.42,-2.280, 3.077, 2.855,-1.479, PHS=-0.699,-1.683,-1.993, RAW=  76.7,  52.9, CAL=  74.1,  58.2, ROT=  75.9, -58.2

2025-08-09T17:42:20.590Z,1754761340.590 [DAT](INFO): got valid direction response:
 17:42:19.6643 LVL= 19056,  8913, 22322, 24307, AGC= 37, IDX= 508,-0.42,-2.280, 3.077, 2.855,-1.479, PHS=-0.699,-1.683,-1.993, RAW=  76.7,  52.9, CAL=  74.1,  58.2, ROT=  75.9, -58.2

2025-08-09T17:42:20.590Z,1754761340.590 [DAT](INFO): #Rx 88: Read range and direction messages.
2025-08-09T17:42:20.620Z,1754761340.620 [DAT](INFO): direction in FSK: [0.128374,0.511080,0.849893]
2025-08-09T17:42:20.620Z,1754761340.620 [DAT](INFO): publishing direction and range info
2025-08-09T17:42:20.632Z,1754761340.632 [DAT](INFO): checking for new query: numPingsReceived=88, elapsed TxPingTime=24.004978
2025-08-09T17:42:20.819Z,1754761340.819 [DAT](INFO): checking for new query: numPingsReceived=88, elapsed TxPingTime=24.192310
2025-08-09T17:42:21.072Z,1754761341.072 [DAT](INFO): DAT read: Rx Time:17:42:20.1642 

2025-08-09T17:42:21.072Z,1754761341.072 [DAT](INFO): Rx dataTimestamp_ set to:1754761341.072117
2025-08-09T17:42:21.074Z,1754761341.074 [DAT](INFO): DAT read: Bearing  37.5,  30.1 (Local)

2025-08-09T17:42:21.074Z,1754761341.074 [DAT](INFO): Local bearing/azimuth received:
 Bearing  37.5,  30.1 (Local)

2025-08-09T17:42:21.076Z,1754761341.076 [DAT](INFO): DAT read: Range 11 to 50 :     0.8 m (trip time 0.5 ms) speed 0.0

2025-08-09T17:42:21.081Z,1754761341.081 [DAT](INFO): DAT read: 17:42:20.1642 LVL= 21488,  8945, 22978, 27379, AGC= 36, IDX= 507,-0.26, 2.992, 1.969, 1.839,-2.512, PHS=-0.677,-1.757,-1.976, RAW=  80.9,  52.3, CAL=  78.8,  57.9, ROT=  71.2, -57.9

2025-08-09T17:42:21.082Z,1754761341.082 [DAT](INFO): got valid direction response:
 17:42:20.1642 LVL= 21488,  8945, 22978, 27379, AGC= 36, IDX= 507,-0.26, 2.992, 1.969, 1.839,-2.512, PHS=-0.677,-1.757,-1.976, RAW=  80.9,  52.3, CAL=  78.8,  57.9, ROT=  71.2, -57.9

2025-08-09T17:42:21.082Z,1754761341.082 [DAT](INFO): #Rx 89: Read range and direction messages.
2025-08-09T17:42:21.083Z,1754761341.083 [DAT](INFO): direction in FSK: [0.171252,0.503048,0.847122]
2025-08-09T17:42:21.084Z,1754761341.084 [DAT](INFO): publishing direction and range info
2025-08-09T17:42:21.087Z,1754761341.087 [DAT](INFO): checking for new query: numPingsReceived=89, elapsed TxPingTime=24.460161
2025-08-09T17:42:21.337Z,1754761341.337 [DAT](INFO): checking for new query: numPingsReceived=89, elapsed TxPingTime=24.709690
2025-08-09T17:42:21.588Z,1754761341.588 [DAT](INFO): DAT read: Rx Time:17:42:20.6643 

2025-08-09T17:42:21.588Z,1754761341.588 [DAT](INFO): Rx dataTimestamp_ set to:1754761341.587966
2025-08-09T17:42:21.590Z,1754761341.590 [DAT](INFO): DAT read: Bearing  37.8,  29.8 (Local)

2025-08-09T17:42:21.590Z,1754761341.590 [DAT](INFO): Local bearing/azimuth received:
 Bearing  37.8,  29.8 (Local)

2025-08-09T17:42:21.592Z,1754761341.592 [DAT](INFO): DAT read: Range 11 to 50 :     0.9 m (trip time 0.6 ms) speed 0.0

2025-08-09T17:42:21.596Z,1754761341.596 [DAT](INFO): DAT read: 17:42:20.6643 LVL= 16880,  7937, 22306, 21667, AGC= 36, IDX= 508,-0.13,-2.028,-3.030, 3.117,-1.231, PHS=-0.696,-1.755,-1.980, RAW=  80.5,  52.8, CAL=  78.4,  58.3, ROT=  71.6, -58.3

2025-08-09T17:42:21.597Z,1754761341.597 [DAT](INFO): got valid direction response:
 17:42:20.6643 LVL= 16880,  7937, 22306, 21667, AGC= 36, IDX= 508,-0.13,-2.028,-3.030, 3.117,-1.231, PHS=-0.696,-1.755,-1.980, RAW=  80.5,  52.8, CAL=  78.4,  58.3, ROT=  71.6, -58.3

2025-08-09T17:42:21.598Z,1754761341.598 [DAT](INFO): #Rx 90: Read range and direction messages.
2025-08-09T17:42:21.599Z,1754761341.599 [DAT](INFO): direction in FSK: [0.165865,0.498607,0.850811]
2025-08-09T17:42:21.599Z,1754761341.599 [DAT](INFO): publishing direction and range info
2025-08-09T17:42:21.603Z,1754761341.603 [DAT](INFO): checking for new query: numPingsReceived=90, elapsed TxPingTime=24.975622
2025-08-09T17:42:21.840Z,1754761341.840 [DAT](INFO): checking for new query: numPingsReceived=90, elapsed TxPingTime=25.212784
2025-08-09T17:42:22.092Z,1754761342.092 [DAT](INFO): DAT read: Rx Time:17:42:21.1643 

2025-08-09T17:42:22.092Z,1754761342.092 [DAT](INFO): Rx dataTimestamp_ set to:1754761342.092139
2025-08-09T17:42:22.094Z,1754761342.094 [DAT](INFO): DAT read: Bearing  36.9,  29.8 (Local)

2025-08-09T17:42:22.094Z,1754761342.094 [DAT](INFO): Local bearing/azimuth received:
 Bearing  36.9,  29.8 (Local)

2025-08-09T17:42:22.096Z,1754761342.096 [DAT](INFO): DAT read: Range 11 to 50 :     0.9 m (trip time 0.6 ms) speed 0.0

2025-08-09T17:42:22.101Z,1754761342.101 [DAT](INFO): DAT read: 17:42:21.1643 LVL= 16704,  7969, 22098, 21635, AGC= 36, IDX= 507,-0.03,-3.106, 2.153, 2.037,-2.315, PHS=-0.688,-1.770,-1.975, RAW=  81.5,  52.6, CAL=  79.5,  58.2, ROT=  70.5, -58.2

2025-08-09T17:42:22.102Z,1754761342.102 [DAT](INFO): got valid direction response:
 17:42:21.1643 LVL= 16704,  7969, 22098, 21635, AGC= 36, IDX= 507,-0.03,-3.106, 2.153, 2.037,-2.315, PHS=-0.688,-1.770,-1.975, RAW=  81.5,  52.6, CAL=  79.5,  58.2, ROT=  70.5, -58.2

2025-08-09T17:42:22.102Z,1754761342.102 [DAT](INFO): #Rx 91: Read range and direction messages.
2025-08-09T17:42:22.103Z,1754761342.103 [DAT](INFO): direction in FSK: [0.175901,0.496730,0.849893]
2025-08-09T17:42:22.104Z,1754761342.104 [DAT](INFO): publishing direction and range info
2025-08-09T17:42:22.111Z,1754761342.111 [DAT](INFO): checking for new query: numPingsReceived=91, elapsed TxPingTime=25.484121
2025-08-09T17:42:22.343Z,1754761342.343 [DAT](INFO): checking for new query: numPingsReceived=91, elapsed TxPingTime=25.716410
2025-08-09T17:42:22.597Z,1754761342.597 [DAT](INFO): DAT read: Rx Time:17:42:21.6644 

2025-08-09T17:42:22.598Z,1754761342.598 [DAT](INFO): Rx dataTimestamp_ set to:1754761342.597226
2025-08-09T17:42:22.599Z,1754761342.599 [DAT](INFO): DAT read: Bearing  37.3,  30.1 (Local)

2025-08-09T17:42:22.600Z,1754761342.600 [DAT](INFO): Local bearing/azimuth received:
 Bearing  37.3,  30.1 (Local)

2025-08-09T17:42:22.604Z,1754761342.604 [DAT](INFO): DAT read: Range 11 to 50 :     1.1 m (trip time 0.7 ms) speed 0.0

2025-08-09T17:42:22.614Z,1754761342.614 [DAT](INFO): DAT read: 17:42:21.6644 LVL= 16864,  7873, 21746, 22003, AGC= 36, IDX= 508, 0.07,-1.142,-2.145,-2.284,-0.352, PHS=-0.687,-1.748,-1.975, RAW=  80.5,  52.6, CAL=  78.3,  58.2, ROT=  71.7, -58.2

2025-08-09T17:42:22.615Z,1754761342.615 [DAT](INFO): got valid direction response:
 17:42:21.6644 LVL= 16864,  7873, 21746, 22003, AGC= 36, IDX= 508, 0.07,-1.142,-2.145,-2.284,-0.352, PHS=-0.687,-1.748,-1.975, RAW=  80.5,  52.6, CAL=  78.3,  58.2, ROT=  71.7, -58.2

2025-08-09T17:42:22.615Z,1754761342.615 [DAT](INFO): #Rx 92: Read range and direction messages.
2025-08-09T17:42:22.616Z,1754761342.616 [DAT](INFO): direction in FSK: [0.165460,0.500305,0.849893]
2025-08-09T17:42:22.617Z,1754761342.617 [DAT](INFO): publishing direction and range info
2025-08-09T17:42:22.620Z,1754761342.620 [DAT](INFO): checking for new query: numPingsReceived=92, elapsed TxPingTime=25.993240
2025-08-09T17:42:22.848Z,1754761342.848 [DAT](INFO): checking for new query: numPingsReceived=92, elapsed TxPingTime=26.220955
2025-08-09T17:42:23.100Z,1754761343.100 [DAT](INFO): DAT read: Rx Time:17:42:22.1643 

2025-08-09T17:42:23.100Z,1754761343.100 [DAT](INFO): Rx dataTimestamp_ set to:1754761343.100030
2025-08-09T17:42:23.102Z,1754761343.102 [DAT](INFO): DAT read: Bearing  38.1,  30.6 (Local)

2025-08-09T17:42:23.102Z,1754761343.102 [DAT](INFO): Local bearing/azimuth received:
 Bearing  38.1,  30.6 (Local)

2025-08-09T17:42:23.104Z,1754761343.104 [DAT](INFO): DAT read: Range 11 to 50 :     0.9 m (trip time 0.6 ms) speed 0.0

2025-08-09T17:42:23.109Z,1754761343.109 [DAT](INFO): DAT read: 17:42:22.1643 LVL= 16816,  7745, 21074, 21747, AGC= 36, IDX= 507, 0.17,-1.517,-2.485,-2.665,-0.728, PHS=-0.687,-1.712,-1.980, RAW=  78.7,  52.6, CAL=  76.3,  58.1, ROT=  73.7, -58.1

2025-08-09T17:42:23.110Z,1754761343.110 [DAT](INFO): got valid direction response:
 17:42:22.1643 LVL= 16816,  7745, 21074, 21747, AGC= 36, IDX= 507, 0.17,-1.517,-2.485,-2.665,-0.728, PHS=-0.687,-1.712,-1.980, RAW=  78.7,  52.6, CAL=  76.3,  58.1, ROT=  73.7, -58.1

2025-08-09T17:42:23.111Z,1754761343.111 [DAT](INFO): #Rx 93: Read range and direction messages.
2025-08-09T17:42:23.112Z,1754761343.112 [DAT](INFO): direction in FSK: [0.148315,0.507198,0.848972]
2025-08-09T17:42:23.112Z,1754761343.112 [DAT](INFO): publishing direction and range info
2025-08-09T17:42:23.115Z,1754761343.115 [DAT](INFO): checking for new query: numPingsReceived=93, elapsed TxPingTime=26.488464
2025-08-09T17:42:23.351Z,1754761343.351 [DAT](INFO): checking for new query: numPingsReceived=93, elapsed TxPingTime=26.724434
2025-08-09T17:42:23.604Z,1754761343.604 [DAT](INFO): DAT read: Rx Time:17:42:22.6643 

2025-08-09T17:42:23.604Z,1754761343.604 [DAT](INFO): Rx dataTimestamp_ set to:1754761343.604063
2025-08-09T17:42:23.606Z,1754761343.606 [DAT](INFO): DAT read: Bearing  37.5,  30.6 (Local)

2025-08-09T17:42:23.606Z,1754761343.606 [DAT](INFO): Local bearing/azimuth received:
 Bearing  37.5,  30.6 (Local)

2025-08-09T17:42:23.608Z,1754761343.608 [DAT](INFO): DAT read: Range 11 to 50 :     0.9 m (trip time 0.6 ms) speed 0.0

2025-08-09T17:42:23.613Z,1754761343.613 [DAT](INFO): DAT read: 17:42:22.6643 LVL= 16928,  7873, 22258, 21795, AGC= 36, IDX= 507, 0.31,-1.394,-2.371,-2.545,-0.610, PHS=-0.683,-1.716,-1.979, RAW=  79.0,  52.5, CAL=  76.6,  58.0, ROT=  73.4, -58.0

2025-08-09T17:42:23.614Z,1754761343.614 [DAT](INFO): got valid direction response:
 17:42:22.6643 LVL= 16928,  7873, 22258, 21795, AGC= 36, IDX= 507, 0.31,-1.394,-2.371,-2.545,-0.610, PHS=-0.683,-1.716,-1.979, RAW=  79.0,  52.5, CAL=  76.6,  58.0, ROT=  73.4, -58.0

2025-08-09T17:42:23.614Z,1754761343.614 [DAT](INFO): #Rx 94: Read range and direction messages.
2025-08-09T17:42:23.616Z,1754761343.616 [DAT](INFO): direction in FSK: [0.151392,0.507834,0.848048]
2025-08-09T17:42:23.616Z,1754761343.616 [DAT](INFO): publishing direction and range info
2025-08-09T17:42:23.620Z,1754761343.620 [DAT](INFO): checking for new query: numPingsReceived=94, elapsed TxPingTime=26.992559
2025-08-09T17:42:23.856Z,1754761343.856 [DAT](INFO): checking for new query: numPingsReceived=94, elapsed TxPingTime=27.229113
2025-08-09T17:42:24.108Z,1754761344.108 [DAT](INFO): DAT read: Rx Time:17:42:23.1642 

2025-08-09T17:42:24.108Z,1754761344.108 [DAT](INFO): Rx dataTimestamp_ set to:1754761344.108105
2025-08-09T17:42:24.110Z,1754761344.110 [DAT](INFO): DAT read: Bearing  36.5,  29.8 (Local)

2025-08-09T17:42:24.110Z,1754761344.110 [DAT](INFO): Local bearing/azimuth received:
 Bearing  36.5,  29.8 (Local)

2025-08-09T17:42:24.112Z,1754761344.112 [DAT](INFO): DAT read: Range 11 to 50 :     0.8 m (trip time 0.5 ms) speed 0.0

2025-08-09T17:42:24.117Z,1754761344.117 [DAT](INFO): DAT read: 17:42:23.1642 LVL= 16800,  7985, 22226, 21923, AGC= 36, IDX= 507,-0.49, 1.767, 0.785, 0.640, 2.569, PHS=-0.700,-1.739,-1.973, RAW=  80.1,  53.0, CAL=  77.9,  58.5, ROT=  72.1, -58.5

2025-08-09T17:42:24.118Z,1754761344.118 [DAT](INFO): got valid direction response:
 17:42:23.1642 LVL= 16800,  7985, 22226, 21923, AGC= 36, IDX= 507,-0.49, 1.767, 0.785, 0.640, 2.569, PHS=-0.700,-1.739,-1.973, RAW=  80.1,  53.0, CAL=  77.9,  58.5, ROT=  72.1, -58.5

2025-08-09T17:42:24.118Z,1754761344.118 [DAT](INFO): #Rx 95: Read range and direction messages.
2025-08-09T17:42:24.119Z,1754761344.119 [DAT](INFO): direction in FSK: [0.160593,0.497207,0.852640]
2025-08-09T17:42:24.119Z,1754761344.119 [DAT](INFO): publishing direction and range info
2025-08-09T17:42:24.155Z,1754761344.155 [DAT](INFO): checking for new query: numPingsReceived=95, elapsed TxPingTime=27.528513
2025-08-09T17:42:24.359Z,1754761344.359 [DAT](INFO): checking for new query: numPingsReceived=95, elapsed TxPingTime=27.732380
2025-08-09T17:42:24.612Z,1754761344.612 [DAT](INFO): DAT read: Rx Time:17:42:23.6643 

2025-08-09T17:42:24.612Z,1754761344.612 [DAT](INFO): Rx dataTimestamp_ set to:1754761344.612108
2025-08-09T17:42:24.614Z,1754761344.614 [DAT](INFO): DAT read: Bearing  36.5,  29.6 (Local)

2025-08-09T17:42:24.614Z,1754761344.614 [DAT](INFO): Local bearing/azimuth received:
 Bearing  36.5,  29.6 (Local)

2025-08-09T17:42:24.616Z,1754761344.616 [DAT](INFO): DAT read: Range 11 to 50 :     0.9 m (trip time 0.6 ms) speed 0.0

2025-08-09T17:42:24.621Z,1754761344.621 [DAT](INFO): DAT read: 17:42:23.6643 LVL= 16608,  7857, 21394, 21587, AGC= 36, IDX= 508,-0.30, 2.353, 1.387, 1.237,-3.122, PHS=-0.707,-1.730,-1.968, RAW=  79.7,  53.3, CAL=  77.5,  58.7, ROT=  72.5, -58.7

2025-08-09T17:42:24.622Z,1754761344.622 [DAT](INFO): got valid direction response:
 17:42:23.6643 LVL= 16608,  7857, 21394, 21587, AGC= 36, IDX= 508,-0.30, 2.353, 1.387, 1.237,-3.122, PHS=-0.707,-1.730,-1.968, RAW=  79.7,  53.3, CAL=  77.5,  58.7, ROT=  72.5, -58.7

2025-08-09T17:42:24.624Z,1754761344.624 [DAT](INFO): #Rx 96: Read range and direction messages.
2025-08-09T17:42:24.625Z,1754761344.625 [DAT](INFO): direction in FSK: [0.156222,0.495474,0.854459]
2025-08-09T17:42:24.625Z,1754761344.625 [DAT](INFO): publishing direction and range info
2025-08-09T17:42:24.629Z,1754761344.629 [DAT](INFO): checking for new query: numPingsReceived=96, elapsed TxPingTime=28.001616
2025-08-09T17:42:24.864Z,1754761344.864 [DAT](INFO): checking for new query: numPingsReceived=96, elapsed TxPingTime=28.236649
2025-08-09T17:42:25.116Z,1754761345.116 [DAT](INFO): DAT read: Rx Time:17:42:24.1642 

2025-08-09T17:42:25.116Z,1754761345.116 [DAT](INFO): Rx dataTimestamp_ set to:1754761345.116092
2025-08-09T17:42:25.118Z,1754761345.118 [DAT](INFO): DAT read: Bearing  36.8,  29.6 (Local)

2025-08-09T17:42:25.118Z,1754761345.118 [DAT](INFO): Local bearing/azimuth received:
 Bearing  36.8,  29.6 (Local)

2025-08-09T17:42:25.120Z,1754761345.120 [DAT](INFO): DAT read: Range 11 to 50 :     0.8 m (trip time 0.5 ms) speed 0.0

2025-08-09T17:42:25.125Z,1754761345.125 [DAT](INFO): DAT read: 17:42:24.1642 LVL= 16544,  8001, 21522, 21635, AGC= 36, IDX= 507,-0.18, 1.237, 0.284, 0.114, 2.050, PHS=-0.711,-1.720,-1.980, RAW=  78.8,  53.3, CAL=  76.5,  58.7, ROT=  73.5, -58.7

2025-08-09T17:42:25.126Z,1754761345.126 [DAT](INFO): got valid direction response:
 17:42:24.1642 LVL= 16544,  8001, 21522, 21635, AGC= 36, IDX= 507,-0.18, 1.237, 0.284, 0.114, 2.050, PHS=-0.711,-1.720,-1.980, RAW=  78.8,  53.3, CAL=  76.5,  58.7, ROT=  73.5, -58.7

2025-08-09T17:42:25.126Z,1754761345.126 [DAT](INFO): #Rx 97: Read range and direction messages.
2025-08-09T17:42:25.127Z,1754761345.127 [DAT](INFO): direction in FSK: [0.147551,0.498125,0.854459]
2025-08-09T17:42:25.127Z,1754761345.127 [DAT](INFO): publishing direction and range info
2025-08-09T17:42:25.141Z,1754761345.141 [DAT](INFO): checking for new query: numPingsReceived=97, elapsed TxPingTime=28.513756
2025-08-09T17:42:25.367Z,1754761345.367 [DAT](INFO): checking for new query: numPingsReceived=97, elapsed TxPingTime=28.740454
2025-08-09T17:42:25.620Z,1754761345.620 [DAT](INFO): DAT read: Rx Time:17:42:24.6644 

2025-08-09T17:42:25.620Z,1754761345.620 [DAT](INFO): Rx dataTimestamp_ set to:1754761345.620023
2025-08-09T17:42:25.622Z,1754761345.622 [DAT](INFO): DAT read: Bearing  37.3,  30.0 (Local)

2025-08-09T17:42:25.622Z,1754761345.622 [DAT](INFO): Local bearing/azimuth received:
 Bearing  37.3,  30.0 (Local)

2025-08-09T17:42:25.624Z,1754761345.624 [DAT](INFO): DAT read: Range 11 to 50 :     1.1 m (trip time 0.7 ms) speed 0.0

2025-08-09T17:42:25.629Z,1754761345.629 [DAT](INFO): DAT read: 17:42:24.6644 LVL= 18400,  9153, 22322, 24467, AGC= 37, IDX= 508,-0.08,-3.013, 2.329, 2.130,-2.210, PHS=-0.701,-1.699,-1.987, RAW=  77.7,  53.0, CAL=  75.2,  58.3, ROT=  74.8, -58.3

2025-08-09T17:42:25.630Z,1754761345.630 [DAT](INFO): got valid direction response:
 17:42:24.6644 LVL= 18400,  9153, 22322, 24467, AGC= 37, IDX= 508,-0.08,-3.013, 2.329, 2.130,-2.210, PHS=-0.701,-1.699,-1.987, RAW=  77.7,  53.0, CAL=  75.2,  58.3, ROT=  74.8, -58.3

2025-08-09T17:42:25.630Z,1754761345.630 [DAT](INFO): #Rx 98: Read range and direction messages.
2025-08-09T17:42:25.631Z,1754761345.631 [DAT](INFO): direction in FSK: [0.137773,0.507089,0.850811]
2025-08-09T17:42:25.631Z,1754761345.631 [DAT](INFO): publishing direction and range info
2025-08-09T17:42:25.635Z,1754761345.635 [DAT](INFO): checking for new query: numPingsReceived=98, elapsed TxPingTime=29.007956
2025-08-09T17:42:25.872Z,1754761345.872 [DAT](INFO): checking for new query: numPingsReceived=98, elapsed TxPingTime=29.244913
2025-08-09T17:42:26.124Z,1754761346.124 [DAT](INFO): DAT read: Rx Time:17:42:25.1643 

2025-08-09T17:42:26.124Z,1754761346.124 [DAT](INFO): Rx dataTimestamp_ set to:1754761346.123903
2025-08-09T17:42:26.125Z,1754761346.125 [DAT](INFO): DAT read: Bearing  39.6,  30.5 (Local)

2025-08-09T17:42:26.126Z,1754761346.126 [DAT](INFO): Local bearing/azimuth received:
 Bearing  39.6,  30.5 (Local)

2025-08-09T17:42:26.128Z,1754761346.128 [DAT](INFO): DAT read: Range 11 to 50 :     0.9 m (trip time 0.6 ms) speed 0.0

2025-08-09T17:42:26.132Z,1754761346.132 [DAT](INFO): DAT read: 17:42:25.1643 LVL= 16336,  8001, 22562, 21875, AGC= 36, IDX= 507, 0.03, 2.919, 2.049, 1.771,-2.554, PHS=-0.709,-1.636,-2.002, RAW=  74.1,  53.1, CAL=  71.1,  58.2, ROT=  78.9, -58.2

2025-08-09T17:42:26.133Z,1754761346.133 [DAT](INFO): got valid direction response:
 17:42:25.1643 LVL= 16336,  8001, 22562, 21875, AGC= 36, IDX= 507, 0.03, 2.919, 2.049, 1.771,-2.554, PHS=-0.709,-1.636,-2.002, RAW=  74.1,  53.1, CAL=  71.1,  58.2, ROT=  78.9, -58.2

2025-08-09T17:42:26.134Z,1754761346.134 [DAT](INFO): #Rx 99: Read range and direction messages.
2025-08-09T17:42:26.135Z,1754761346.135 [DAT](INFO): direction in FSK: [0.101451,0.517098,0.849893]
2025-08-09T17:42:26.136Z,1754761346.136 [DAT](INFO): publishing direction and range info
2025-08-09T17:42:26.139Z,1754761346.139 [DAT](INFO): checking for new query: numPingsReceived=99, elapsed TxPingTime=29.512054
2025-08-09T17:42:26.377Z,1754761346.377 [DAT](INFO): checking for new query: numPingsReceived=99, elapsed TxPingTime=29.749329
2025-08-09T17:42:26.629Z,1754761346.629 [DAT](INFO): DAT read: Rx Time:17:42:25.6644 

2025-08-09T17:42:26.629Z,1754761346.629 [DAT](INFO): Rx dataTimestamp_ set to:1754761346.628999
2025-08-09T17:42:26.631Z,1754761346.631 [DAT](INFO): DAT read: Bearing  40.0,  31.0 (Local)

2025-08-09T17:42:26.631Z,1754761346.631 [DAT](INFO): Local bearing/azimuth received:
 Bearing  40.0,  31.0 (Local)

2025-08-09T17:42:26.633Z,1754761346.633 [DAT](INFO): DAT read: Range 11 to 50 :     1.1 m (trip time 0.7 ms) speed 0.0

2025-08-09T17:42:26.638Z,1754761346.638 [DAT](INFO): DAT read: 17:42:25.6644 LVL= 18160,  9057, 23346, 24371, AGC= 37, IDX= 508, 0.13,-2.038,-2.902, 3.085,-1.237, PHS=-0.699,-1.621,-2.005, RAW=  73.4,  52.8, CAL=  70.3,  57.9, ROT=  79.7, -57.9

2025-08-09T17:42:26.639Z,1754761346.639 [DAT](INFO): got valid direction response:
 17:42:25.6644 LVL= 18160,  9057, 23346, 24371, AGC= 37, IDX= 508, 0.13,-2.038,-2.902, 3.085,-1.237, PHS=-0.699,-1.621,-2.005, RAW=  73.4,  52.8, CAL=  70.3,  57.9, ROT=  79.7, -57.9

2025-08-09T17:42:26.640Z,1754761346.640 [DAT](INFO): #Rx 100: Read range and direction messages.
2025-08-09T17:42:26.641Z,1754761346.641 [DAT](INFO): direction in FSK: [0.095015,0.522835,0.847122]
2025-08-09T17:42:26.641Z,1754761346.641 [DAT](INFO): publishing direction and range info
2025-08-09T17:42:26.655Z,1754761346.655 [DAT](INFO): checking for new query: numPingsReceived=100, elapsed TxPingTime=30.028330
2025-08-09T17:42:26.880Z,1754761346.880 [DAT](INFO): checking for new query: numPingsReceived=100, elapsed TxPingTime=30.252703
2025-08-09T17:42:27.132Z,1754761347.132 [DAT](INFO): DAT read: Rx Time:17:42:26.1643 

2025-08-09T17:42:27.133Z,1754761347.133 [DAT](INFO): Rx dataTimestamp_ set to:1754761347.132671
2025-08-09T17:42:27.135Z,1754761347.135 [DAT](INFO): DAT read: Bearing  42.2,  31.4 (Local)

2025-08-09T17:42:27.135Z,1754761347.135 [DAT](INFO): Local bearing/azimuth received:
 Bearing  42.2,  31.4 (Local)

2025-08-09T17:42:27.137Z,1754761347.137 [DAT](INFO): DAT read: Range 11 to 50 :     0.9 m (trip time 0.6 ms) speed 0.0

2025-08-09T17:42:27.141Z,1754761347.141 [DAT](INFO): DAT read: 17:42:26.1643 LVL= 18480,  8865, 23650, 24499, AGC= 37, IDX= 507, 0.27,-3.074, 2.411, 2.048,-2.261, PHS=-0.711,-1.566,-2.018, RAW=  70.1,  52.9, CAL=  67.0,  57.8, ROT=  83.0, -57.8

2025-08-09T17:42:27.155Z,1754761347.155 [DAT](INFO): got valid direction response:
 17:42:26.1643 LVL= 18480,  8865, 23650, 24499, AGC= 37, IDX= 507, 0.27,-3.074, 2.411, 2.048,-2.261, PHS=-0.711,-1.566,-2.018, RAW=  70.1,  52.9, CAL=  67.0,  57.8, ROT=  83.0, -57.8

2025-08-09T17:42:27.156Z,1754761347.156 [DAT](INFO): #Rx 101: Read range and direction messages.
2025-08-09T17:42:27.157Z,1754761347.157 [DAT](INFO): direction in FSK: [0.064941,0.528904,0.846193]
2025-08-09T17:42:27.157Z,1754761347.157 [DAT](INFO): publishing direction and range info
2025-08-09T17:42:27.161Z,1754761347.161 [DAT](INFO): checking for new query: numPingsReceived=101, elapsed TxPingTime=30.533760
2025-08-09T17:42:27.383Z,1754761347.383 [DAT](INFO): checking for new query: numPingsReceived=101, elapsed TxPingTime=30.756496
2025-08-09T17:42:27.636Z,1754761347.636 [DAT](INFO): DAT read: Rx Time:17:42:26.6643 

2025-08-09T17:42:27.636Z,1754761347.636 [DAT](INFO): Rx dataTimestamp_ set to:1754761347.636020
2025-08-09T17:42:27.638Z,1754761347.638 [DAT](INFO): DAT read: Bearing  44.4,  31.7 (Local)

2025-08-09T17:42:27.638Z,1754761347.638 [DAT](INFO): Local bearing/azimuth received:
 Bearing  44.4,  31.7 (Local)

2025-08-09T17:42:27.640Z,1754761347.640 [DAT](INFO): DAT read: Range 11 to 50 :     0.9 m (trip time 0.6 ms) speed 0.0

2025-08-09T17:42:27.660Z,1754761347.660 [DAT](INFO): DAT read: 17:42:26.6643 LVL= 18672,  9009, 23394, 24787, AGC= 37, IDX= 507, 0.46, 2.719, 1.980, 1.557,-2.740, PHS=-0.722,-1.518,-2.031, RAW=  67.1,  52.9, CAL=  64.0,  57.6, ROT=  86.0, -57.6

2025-08-09T17:42:27.671Z,1754761347.671 [DAT](INFO): got valid direction response:
 17:42:26.6643 LVL= 18672,  9009, 23394, 24787, AGC= 37, IDX= 507, 0.46, 2.719, 1.980, 1.557,-2.740, PHS=-0.722,-1.518,-2.031, RAW=  67.1,  52.9, CAL=  64.0,  57.6, ROT=  86.0, -57.6

2025-08-09T17:42:27.672Z,1754761347.672 [DAT](INFO): #Rx 102: Read range and direction messages.
2025-08-09T17:42:27.674Z,1754761347.674 [DAT](INFO): direction in FSK: [0.037377,0.534522,0.844328]
2025-08-09T17:42:27.699Z,1754761347.699 [DAT](INFO): publishing direction and range info
2025-08-09T17:42:27.720Z,1754761347.720 [DAT](INFO): checking for new query: numPingsReceived=102, elapsed TxPingTime=31.092838
2025-08-09T17:42:27.888Z,1754761347.888 [DAT](INFO): checking for new query: numPingsReceived=102, elapsed TxPingTime=31.260643
2025-08-09T17:42:28.140Z,1754761348.140 [DAT](INFO): DAT read: Rx Time:17:42:27.1642 

2025-08-09T17:42:28.140Z,1754761348.140 [DAT](INFO): Rx dataTimestamp_ set to:1754761348.140007
2025-08-09T17:42:28.142Z,1754761348.142 [DAT](INFO): DAT read: Bearing  47.4,  31.5 (Local)

2025-08-09T17:42:28.142Z,1754761348.142 [DAT](INFO): Local bearing/azimuth received:
 Bearing  47.4,  31.5 (Local)

2025-08-09T17:42:28.159Z,1754761348.159 [DAT](INFO): DAT read: Range 11 to 50 :     0.8 m (trip time 0.5 ms) speed 0.0

2025-08-09T17:42:28.178Z,1754761348.178 [DAT](INFO): DAT read: 17:42:27.1642 LVL= 19008,  8865, 23090, 24963, AGC= 37, IDX= 507,-0.35, 0.239,-0.407,-0.902, 1.094, PHS=-0.752,-1.455,-2.040, RAW=  63.0,  53.4, CAL=  60.0,  57.8, ROT=  90.0, -57.8

2025-08-09T17:42:28.188Z,1754761348.188 [DAT](INFO): got valid direction response:
 17:42:27.1642 LVL= 19008,  8865, 23090, 24963, AGC= 37, IDX= 507,-0.35, 0.239,-0.407,-0.902, 1.094, PHS=-0.752,-1.455,-2.040, RAW=  63.0,  53.4, CAL=  60.0,  57.8, ROT=  90.0, -57.8

2025-08-09T17:42:28.189Z,1754761348.189 [DAT](INFO): #Rx 103: Read range and direction messages.
2025-08-09T17:42:28.190Z,1754761348.190 [DAT](INFO): direction in FSK: [-0.000000,0.532876,0.846193]
2025-08-09T17:42:28.203Z,1754761348.203 [DAT](INFO): publishing direction and range info
2025-08-09T17:42:28.215Z,1754761348.215 [DAT](INFO): checking for new query: numPingsReceived=103, elapsed TxPingTime=31.587700
2025-08-09T17:42:28.392Z,1754761348.392 [DAT](INFO): checking for new query: numPingsReceived=103, elapsed TxPingTime=31.764618
2025-08-09T17:42:28.649Z,1754761348.649 [DAT](INFO): DAT read: Rx Time:17:42:27.6643 

2025-08-09T17:42:28.650Z,1754761348.650 [DAT](INFO): Rx dataTimestamp_ set to:1754761348.649351
2025-08-09T17:42:28.652Z,1754761348.652 [DAT](INFO): DAT read: Bearing  48.7,  32.1 (Local)

2025-08-09T17:42:28.652Z,1754761348.652 [DAT](INFO): Local bearing/azimuth received:
 Bearing  48.7,  32.1 (Local)

2025-08-09T17:42:28.655Z,1754761348.655 [DAT](INFO): DAT read: Range 11 to 50 :     0.9 m (trip time 0.6 ms) speed 0.0

2025-08-09T17:42:28.661Z,1754761348.661 [DAT](INFO): DAT read: 17:42:27.6643 LVL= 19296,  9057, 23106, 24707, AGC= 37, IDX= 508,-0.23, 1.510, 0.878, 0.349, 2.353, PHS=-0.740,-1.430,-2.048, RAW=  61.8,  52.8, CAL=  58.8,  57.3, ROT=  91.2, -57.3

2025-08-09T17:42:28.664Z,1754761348.664 [DAT](INFO): got valid direction response:
 17:42:27.6643 LVL= 19296,  9057, 23106, 24707, AGC= 37, IDX= 508,-0.23, 1.510, 0.878, 0.349, 2.353, PHS=-0.740,-1.430,-2.048, RAW=  61.8,  52.8, CAL=  58.8,  57.3, ROT=  91.2, -57.3

2025-08-09T17:42:28.664Z,1754761348.664 [DAT](INFO): #Rx 104: Read range and direction messages.
2025-08-09T17:42:28.666Z,1754761348.666 [DAT](INFO): direction in FSK: [-0.011314,0.540122,0.841511]
2025-08-09T17:42:28.671Z,1754761348.671 [DAT](INFO): publishing direction and range info
2025-08-09T17:42:28.686Z,1754761348.686 [DAT](INFO): checking for new query: numPingsReceived=104, elapsed TxPingTime=32.058960
2025-08-09T17:42:28.899Z,1754761348.899 [DAT](INFO): checking for new query: numPingsReceived=104, elapsed TxPingTime=32.272392
2025-08-09T17:42:29.058Z,1754761349.058 [lineCaptureHoming:Lap:Docked:Docked.Docked](IMPORTANT): Slide check interval over, but still charging. Extending check until no longer charging.
2025-08-09T17:42:29.153Z,1754761349.153 [DAT](INFO): DAT read: Rx Time:17:42:28.1643 

2025-08-09T17:42:29.153Z,1754761349.153 [DAT](INFO): Rx dataTimestamp_ set to:1754761349.153013
2025-08-09T17:42:29.155Z,1754761349.155 [DAT](INFO): DAT read: Bearing  52.0,  32.2 (Local)

2025-08-09T17:42:29.156Z,1754761349.156 [DAT](INFO): Local bearing/azimuth received:
 Bearing  52.0,  32.2 (Local)

2025-08-09T17:42:29.159Z,1754761349.159 [DAT](INFO): DAT read: Range 11 to 50 :     0.9 m (trip time 0.6 ms) speed 0.0

2025-08-09T17:42:29.166Z,1754761349.166 [DAT](INFO): DAT read: 17:42:28.1643 LVL= 19376,  9137, 24194, 24563, AGC= 37, IDX= 507,-0.11, 0.345,-0.197,-0.806, 1.209, PHS=-0.762,-1.362,-2.059, RAW=  57.5,  52.8, CAL=  54.7,  57.1, ROT=  95.3, -57.1

2025-08-09T17:42:29.169Z,1754761349.169 [DAT](INFO): got valid direction response:
 17:42:28.1643 LVL= 19376,  9137, 24194, 24563, AGC= 37, IDX= 507,-0.11, 0.345,-0.197,-0.806, 1.209, PHS=-0.762,-1.362,-2.059, RAW=  57.5,  52.8, CAL=  54.7,  57.1, ROT=  95.3, -57.1

2025-08-09T17:42:29.170Z,1754761349.170 [DAT](INFO): #Rx 105: Read range and direction messages.
2025-08-09T17:42:29.203Z,1754761349.203 [DAT](INFO): direction in FSK: [-0.050173,0.540852,0.839620]
2025-08-09T17:42:29.203Z,1754761349.203 [DAT](INFO): publishing direction and range info
2025-08-09T17:42:29.211Z,1754761349.211 [DAT](INFO): checking for new query: numPingsReceived=105, elapsed TxPingTime=32.579239
2025-08-09T17:42:29.212Z,1754761349.212 [DAT](IMPORTANT): Requesting device enable clr for address 50.
2025-08-09T17:42:29.407Z,1754761349.407 [DAT](INFO): checking for new query: numPingsReceived=105, elapsed TxPingTime=32.780502
2025-08-09T17:42:29.408Z,1754761349.408 [DAT](IMPORTANT): Requesting device enable clr for address 50.
2025-08-09T17:42:29.660Z,1754761349.660 [DAT](INFO): DAT read: Rx Time:17:42:28.6644 

2025-08-09T17:42:29.661Z,1754761349.661 [DAT](INFO): Rx dataTimestamp_ set to:1754761349.660983
2025-08-09T17:42:29.663Z,1754761349.663 [DAT](INFO): DAT read: Bearing  54.1,  32.6 (Local)

2025-08-09T17:42:29.663Z,1754761349.663 [DAT](INFO): Local bearing/azimuth received:
 Bearing  54.1,  32.6 (Local)

2025-08-09T17:42:29.667Z,1754761349.667 [DAT](INFO): DAT read: Range 11 to 50 :     1.1 m (trip time 0.7 ms) speed 0.0

2025-08-09T17:42:29.675Z,1754761349.675 [DAT](INFO): DAT read: 17:42:28.6644 LVL= 19328,  9681, 24690, 24403, AGC= 37, IDX= 508,-0.01, 2.353, 1.853, 1.205,-3.057, PHS=-0.771,-1.328,-2.065, RAW=  55.4,  52.6, CAL=  52.8,  56.9, ROT=  97.2, -56.9

2025-08-09T17:42:29.677Z,1754761349.677 [DAT](INFO): got valid direction response:
 17:42:28.6644 LVL= 19328,  9681, 24690, 24403, AGC= 37, IDX= 508,-0.01, 2.353, 1.853, 1.205,-3.057, PHS=-0.771,-1.328,-2.065, RAW=  55.4,  52.6, CAL=  52.8,  56.9, ROT=  97.2, -56.9

2025-08-09T17:42:29.677Z,1754761349.677 [DAT](INFO): #Rx 106: Read range and direction messages.
2025-08-09T17:42:29.680Z,1754761349.680 [DAT](INFO): direction in FSK: [-0.068445,0.541796,0.837719]
2025-08-09T17:42:29.680Z,1754761349.680 [DAT](INFO): publishing direction and range info
2025-08-09T17:42:29.696Z,1754761349.696 [DAT](INFO): checking for new query: numPingsReceived=106, elapsed TxPingTime=33.068230
2025-08-09T17:42:29.696Z,1754761349.696 [DAT](IMPORTANT): Requesting device enable clr for address 50.
2025-08-09T17:42:29.912Z,1754761349.912 [DAT](INFO): checking for new query: numPingsReceived=106, elapsed TxPingTime=33.285057
2025-08-09T17:42:30.166Z,1754761350.166 [DAT](INFO): DAT read: Rx Time:17:42:29.1643 

2025-08-09T17:42:30.167Z,1754761350.167 [DAT](INFO): Rx dataTimestamp_ set to:1754761350.165956
2025-08-09T17:42:30.169Z,1754761350.169 [DAT](INFO): DAT read: Bearing  54.5,  32.7 (Local)

2025-08-09T17:42:30.170Z,1754761350.170 [DAT](INFO): Local bearing/azimuth received:
 Bearing  54.5,  32.7 (Local)

2025-08-09T17:42:30.173Z,1754761350.173 [DAT](INFO): DAT read: Range 11 to 50 :     0.9 m (trip time 0.6 ms) speed 0.0

2025-08-09T17:42:30.198Z,1754761350.198 [DAT](INFO): DAT read: 17:42:29.1643 LVL= 19296,  9937, 24610, 24611, AGC= 37, IDX= 507, 0.09, 1.995, 1.472, 0.827, 2.862, PHS=-0.765,-1.345,-2.079, RAW=  56.1,  52.4, CAL=  53.4,  56.8, ROT=  96.6, -56.8

2025-08-09T17:42:30.220Z,1754761350.220 [DAT](INFO): got valid direction response:
 17:42:29.1643 LVL= 19296,  9937, 24610, 24611, AGC= 37, IDX= 507, 0.09, 1.995, 1.472, 0.827, 2.862, PHS=-0.765,-1.345,-2.079, RAW=  56.1,  52.4, CAL=  53.4,  56.8, ROT=  96.6, -56.8

2025-08-09T17:42:30.220Z,1754761350.220 [DAT](INFO): #Rx 107: Read range and direction messages.
2025-08-09T17:42:30.221Z,1754761350.221 [DAT](INFO): direction in FSK: [-0.062935,0.543934,0.836764]
2025-08-09T17:42:30.221Z,1754761350.221 [DAT](INFO): publishing direction and range info
2025-08-09T17:42:30.245Z,1754761350.245 [DAT](INFO): checking for new query: numPingsReceived=107, elapsed TxPingTime=33.617985
2025-08-09T17:42:30.416Z,1754761350.416 [DAT](INFO): checking for new query: numPingsReceived=107, elapsed TxPingTime=33.788609
2025-08-09T17:42:30.669Z,1754761350.669 [DAT](INFO): DAT read: Rx Time:17:42:29.6644 

2025-08-09T17:42:30.671Z,1754761350.671 [DAT](INFO): Rx dataTimestamp_ set to:1754761350.669958
2025-08-09T17:42:30.672Z,1754761350.672 [DAT](INFO): DAT read: Bearing  55.0,  33.0 (Local)

2025-08-09T17:42:30.673Z,1754761350.673 [DAT](INFO): Local bearing/azimuth received:
 Bearing  55.0,  33.0 (Local)

2025-08-09T17:42:30.681Z,1754761350.681 [DAT](INFO): DAT read: Range 11 to 50 :     1.1 m (trip time 0.7 ms) speed 0.0

2025-08-09T17:42:30.701Z,1754761350.701 [DAT](INFO): DAT read: 17:42:29.6644 LVL= 19472, 10177, 24402, 24403, AGC= 37, IDX= 508, 0.20,-2.947, 2.794, 2.158,-2.091, PHS=-0.755,-1.353,-2.079, RAW=  56.8,  52.2, CAL=  54.1,  56.6, ROT=  95.9, -56.6

2025-08-09T17:42:30.707Z,1754761350.707 [DAT](INFO): got valid direction response:
 17:42:29.6644 LVL= 19472, 10177, 24402, 24403, AGC= 37, IDX= 508, 0.20,-2.947, 2.794, 2.158,-2.091, PHS=-0.755,-1.353,-2.079, RAW=  56.8,  52.2, CAL=  54.1,  56.6, ROT=  95.9, -56.6

2025-08-09T17:42:30.707Z,1754761350.707 [DAT](INFO): #Rx 108: Read range and direction messages.
2025-08-09T17:42:30.709Z,1754761350.709 [DAT](INFO): direction in FSK: [-0.056585,0.547565,0.834848]
2025-08-09T17:42:30.709Z,1754761350.709 [DAT](INFO): publishing direction and range info
2025-08-09T17:42:30.724Z,1754761350.724 [DAT](INFO): checking for new query: numPingsReceived=108, elapsed TxPingTime=34.096600
2025-08-09T17:42:30.920Z,1754761350.920 [DAT](INFO): checking for new query: numPingsReceived=108, elapsed TxPingTime=34.292744
2025-08-09T17:42:31.174Z,1754761351.174 [DAT](INFO): DAT read: Rx Time:17:42:30.1643 

2025-08-09T17:42:31.174Z,1754761351.174 [DAT](INFO): Rx dataTimestamp_ set to:1754761351.173758
2025-08-09T17:42:31.177Z,1754761351.177 [DAT](INFO): DAT read: Bearing  55.4,  33.1 (Local)

2025-08-09T17:42:31.177Z,1754761351.177 [DAT](INFO): Local bearing/azimuth received:
 Bearing  55.4,  33.1 (Local)

2025-08-09T17:42:31.181Z,1754761351.181 [DAT](INFO): DAT read: Range 11 to 50 :     0.9 m (trip time 0.6 ms) speed 0.0

2025-08-09T17:42:31.189Z,1754761351.189 [DAT](INFO): DAT read: 17:42:30.1643 LVL= 19344, 10449, 22770, 24115, AGC= 37, IDX= 507, 0.34, 2.288, 1.724, 1.100,-3.140, PHS=-0.753,-1.375,-2.087, RAW=  57.7,  52.2, CAL=  54.9,  56.6, ROT=  95.1, -56.6

2025-08-09T17:42:31.192Z,1754761351.192 [DAT](INFO): got valid direction response:
 17:42:30.1643 LVL= 19344, 10449, 22770, 24115, AGC= 37, IDX= 507, 0.34, 2.288, 1.724, 1.100,-3.140, PHS=-0.753,-1.375,-2.087, RAW=  57.7,  52.2, CAL=  54.9,  56.6, ROT=  95.1, -56.6

2025-08-09T17:42:31.193Z,1754761351.193 [DAT](INFO): #Rx 109: Read range and direction messages.
2025-08-09T17:42:31.203Z,1754761351.203 [DAT](INFO): direction in FSK: [-0.048935,0.548301,0.834848]
2025-08-09T17:42:31.203Z,1754761351.203 [DAT](INFO): publishing direction and range info
2025-08-09T17:42:31.212Z,1754761351.212 [DAT](INFO): checking for new query: numPingsReceived=109, elapsed TxPingTime=34.583950
2025-08-09T17:42:31.423Z,1754761351.423 [DAT](INFO): checking for new query: numPingsReceived=109, elapsed TxPingTime=34.796219
2025-08-09T17:42:31.678Z,1754761351.678 [DAT](INFO): DAT read: Rx Time:17:42:30.6643 

2025-08-09T17:42:31.679Z,1754761351.679 [DAT](INFO): Rx dataTimestamp_ set to:1754761351.678853
2025-08-09T17:42:31.681Z,1754761351.681 [DAT](INFO): DAT read: Bearing  56.8,  32.1 (Local)

2025-08-09T17:42:31.682Z,1754761351.682 [DAT](INFO): Local bearing/azimuth received:
 Bearing  56.8,  32.1 (Local)

2025-08-09T17:42:31.685Z,1754761351.685 [DAT](INFO): DAT read: Range 11 to 50 :     0.9 m (trip time 0.6 ms) speed 0.0

2025-08-09T17:42:31.701Z,1754761351.701 [DAT](INFO): DAT read: 17:42:30.6643 LVL= 15824,  9937, 22610, 19667, AGC= 35, IDX= 508,-0.43, 0.302,-0.216,-0.833, 1.197, PHS=-0.793,-1.368,-2.074, RAW=  56.6,  53.4, CAL=  54.0,  57.7, ROT=  96.0, -57.7

2025-08-09T17:42:31.702Z,1754761351.702 [DAT](INFO): got valid direction response:
 17:42:30.6643 LVL= 15824,  9937, 22610, 19667, AGC= 35, IDX= 508,-0.43, 0.302,-0.216,-0.833, 1.197, PHS=-0.793,-1.368,-2.074, RAW=  56.6,  53.4, CAL=  54.0,  57.7, ROT=  96.0, -57.7

2025-08-09T17:42:31.702Z,1754761351.702 [DAT](INFO): #Rx 110: Read range and direction messages.
2025-08-09T17:42:31.703Z,1754761351.703 [DAT](INFO): direction in FSK: [-0.055855,0.531425,0.845262]
2025-08-09T17:42:31.703Z,1754761351.703 [DAT](INFO): publishing direction and range info
2025-08-09T17:42:31.707Z,1754761351.707 [DAT](INFO): checking for new query: numPingsReceived=110, elapsed TxPingTime=35.080486
2025-08-09T17:42:31.928Z,1754761351.928 [DAT](INFO): checking for new query: numPingsReceived=110, elapsed TxPingTime=35.300846
2025-08-09T17:42:32.181Z,1754761352.181 [DAT](INFO): DAT read: Rx Time:17:42:31.1641 

2025-08-09T17:42:32.182Z,1754761352.182 [DAT](INFO): Rx dataTimestamp_ set to:1754761352.181064
2025-08-09T17:42:32.184Z,1754761352.184 [DAT](INFO): DAT read: Bearing  56.8,  32.8 (Local)

2025-08-09T17:42:32.184Z,1754761352.184 [DAT](INFO): Local bearing/azimuth received:
 Bearing  56.8,  32.8 (Local)

2025-08-09T17:42:32.188Z,1754761352.188 [DAT](INFO): DAT read: Range 11 to 50 :     0.6 m (trip time 0.4 ms) speed 0.0

2025-08-09T17:42:32.194Z,1754761352.194 [DAT](INFO): DAT read: 17:42:31.1641 LVL= 17840, 10433, 22706, 22195, AGC= 37, IDX= 507,-0.26,-0.610,-1.174,-1.771, 0.256, PHS=-0.764,-1.385,-2.071, RAW=  58.4,  52.8, CAL=  55.6,  57.2, ROT=  94.4, -57.2

2025-08-09T17:42:32.195Z,1754761352.195 [DAT](INFO): got valid direction response:
 17:42:31.1641 LVL= 17840, 10433, 22706, 22195, AGC= 37, IDX= 507,-0.26,-0.610,-1.174,-1.771, 0.256, PHS=-0.764,-1.385,-2.071, RAW=  58.4,  52.8, CAL=  55.6,  57.2, ROT=  94.4, -57.2

2025-08-09T17:42:32.195Z,1754761352.195 [DAT](INFO): #Rx 111: Read range and direction messages.
2025-08-09T17:42:32.196Z,1754761352.196 [DAT](INFO): direction in FSK: [-0.041559,0.540112,0.840567]
2025-08-09T17:42:32.197Z,1754761352.197 [DAT](INFO): publishing direction and range info
2025-08-09T17:42:32.210Z,1754761352.210 [DAT](INFO): checking for new query: numPingsReceived=111, elapsed TxPingTime=35.583473
2025-08-09T17:42:32.432Z,1754761352.432 [DAT](INFO): checking for new query: numPingsReceived=111, elapsed TxPingTime=35.805260
2025-08-09T17:42:32.685Z,1754761352.685 [DAT](INFO): DAT read: Rx Time:17:42:31.6643 

2025-08-09T17:42:32.686Z,1754761352.686 [DAT](INFO): Rx dataTimestamp_ set to:1754761352.685088
2025-08-09T17:42:32.688Z,1754761352.688 [DAT](INFO): DAT read: Bearing  59.0,  32.7 (Local)

2025-08-09T17:42:32.688Z,1754761352.688 [DAT](INFO): Local bearing/azimuth received:
 Bearing  59.0,  32.7 (Local)

2025-08-09T17:42:32.692Z,1754761352.692 [DAT](INFO): DAT read: Range 11 to 50 :     0.9 m (trip time 0.6 ms) speed 0.0

2025-08-09T17:42:32.696Z,1754761352.696 [DAT](INFO): DAT read: 17:42:31.6643 LVL= 19680, 10193, 24866, 24371, AGC= 37, IDX= 508,-0.14, 0.680, 0.161,-0.470, 1.561, PHS=-0.780,-1.355,-2.076, RAW=  56.3,  52.9, CAL=  53.6,  57.2, ROT=  96.4, -57.2

2025-08-09T17:42:32.697Z,1754761352.697 [DAT](INFO): got valid direction response:
 17:42:31.6643 LVL= 19680, 10193, 24866, 24371, AGC= 37, IDX= 508,-0.14, 0.680, 0.161,-0.470, 1.561, PHS=-0.780,-1.355,-2.076, RAW=  56.3,  52.9, CAL=  53.6,  57.2, ROT=  96.4, -57.2

2025-08-09T17:42:32.698Z,1754761352.698 [DAT](INFO): #Rx 112: Read range and direction messages.
2025-08-09T17:42:32.709Z,1754761352.709 [DAT](INFO): direction in FSK: [-0.060384,0.538332,0.840567]
2025-08-09T17:42:32.709Z,1754761352.709 [DAT](INFO): publishing direction and range info
2025-08-09T17:42:32.712Z,1754761352.712 [DAT](INFO): checking for new query: numPingsReceived=112, elapsed TxPingTime=36.085346
2025-08-09T17:42:32.935Z,1754761352.935 [DAT](INFO): checking for new query: numPingsReceived=112, elapsed TxPingTime=36.308323
2025-08-09T17:42:33.190Z,1754761353.190 [DAT](INFO): DAT read: Rx Time:17:42:32.1642 

2025-08-09T17:42:33.191Z,1754761353.191 [DAT](INFO): Rx dataTimestamp_ set to:1754761353.189774
2025-08-09T17:42:33.192Z,1754761353.192 [DAT](INFO): DAT read: Bearing  59.2,  33.1 (Local)

2025-08-09T17:42:33.192Z,1754761353.192 [DAT](INFO): Local bearing/azimuth received:
 Bearing  59.2,  33.1 (Local)

2025-08-09T17:42:33.195Z,1754761353.195 [DAT](INFO): DAT read: Range 11 to 50 :     0.8 m (trip time 0.5 ms) speed 0.0

2025-08-09T17:42:33.201Z,1754761353.201 [DAT](INFO): DAT read: 17:42:32.1642 LVL= 19424, 10033, 23058, 24259, AGC= 37, IDX= 507,-0.03,-0.286,-0.838,-1.450, 0.574, PHS=-0.758,-1.368,-2.069, RAW=  57.7,  52.6, CAL=  54.9,  56.9, ROT=  95.1, -56.9

2025-08-09T17:42:33.214Z,1754761353.214 [DAT](INFO): got valid direction response:
 17:42:32.1642 LVL= 19424, 10033, 23058, 24259, AGC= 37, IDX= 507,-0.03,-0.286,-0.838,-1.450, 0.574, PHS=-0.758,-1.368,-2.069, RAW=  57.7,  52.6, CAL=  54.9,  56.9, ROT=  95.1, -56.9

2025-08-09T17:42:33.214Z,1754761353.214 [DAT](INFO): #Rx 113: Read range and direction messages.
2025-08-09T17:42:33.220Z,1754761353.220 [DAT](INFO): direction in FSK: [-0.048545,0.543940,0.837719]
2025-08-09T17:42:33.220Z,1754761353.220 [DAT](INFO): publishing direction and range info
2025-08-09T17:42:33.231Z,1754761353.231 [DAT](INFO): checking for new query: numPingsReceived=113, elapsed TxPingTime=36.600842
2025-08-09T17:42:33.439Z,1754761353.439 [DAT](INFO): checking for new query: numPingsReceived=113, elapsed TxPingTime=36.812412
2025-08-09T17:42:33.694Z,1754761353.694 [DAT](INFO): DAT read: Rx Time:17:42:32.6643 

2025-08-09T17:42:33.695Z,1754761353.695 [DAT](INFO): Rx dataTimestamp_ set to:1754761353.694588
2025-08-09T17:42:33.696Z,1754761353.696 [DAT](INFO): DAT read: Bearing  61.5,  33.3 (Local)

2025-08-09T17:42:33.696Z,1754761353.696 [DAT](INFO): Local bearing/azimuth received:
 Bearing  61.5,  33.3 (Local)

2025-08-09T17:42:33.699Z,1754761353.699 [DAT](INFO): DAT read: Range 11 to 50 :     0.9 m (trip time 0.6 ms) speed 0.0

2025-08-09T17:42:33.703Z,1754761353.703 [DAT](INFO): DAT read: 17:42:32.6643 LVL= 19584,  9441, 24722, 24627, AGC= 37, IDX= 508, 0.07, 1.743, 1.237, 0.581, 2.612, PHS=-0.766,-1.330,-2.074, RAW=  55.4,  52.4, CAL=  52.8,  56.7, ROT=  97.2, -56.7

2025-08-09T17:42:33.704Z,1754761353.704 [DAT](INFO): got valid direction response:
 17:42:32.6643 LVL= 19584,  9441, 24722, 24627, AGC= 37, IDX= 508, 0.07, 1.743, 1.237, 0.581, 2.612, PHS=-0.766,-1.330,-2.074, RAW=  55.4,  52.4, CAL=  52.8,  56.7, ROT=  97.2, -56.7

2025-08-09T17:42:33.705Z,1754761353.705 [DAT](INFO): #Rx 114: Read range and direction messages.
2025-08-09T17:42:33.706Z,1754761353.706 [DAT](INFO): direction in FSK: [-0.068811,0.544694,0.835807]
2025-08-09T17:42:33.706Z,1754761353.706 [DAT](INFO): publishing direction and range info
2025-08-09T17:42:33.709Z,1754761353.709 [DAT](INFO): checking for new query: numPingsReceived=114, elapsed TxPingTime=37.082474
2025-08-09T17:42:33.944Z,1754761353.944 [DAT](INFO): checking for new query: numPingsReceived=114, elapsed TxPingTime=37.317051
2025-08-09T17:42:34.196Z,1754761354.196 [DAT](INFO): DAT read: Rx Time:17:42:33.1642 

2025-08-09T17:42:34.196Z,1754761354.196 [DAT](INFO): Rx dataTimestamp_ set to:1754761354.196112
2025-08-09T17:42:34.198Z,1754761354.198 [DAT](INFO): DAT read: Bearing  62.2,  33.5 (Local)

2025-08-09T17:42:34.198Z,1754761354.198 [DAT](INFO): Local bearing/azimuth received:
 Bearing  62.2,  33.5 (Local)

2025-08-09T17:42:34.200Z,1754761354.200 [DAT](INFO): DAT read: Range 11 to 50 :     0.8 m (trip time 0.5 ms) speed 0.0

2025-08-09T17:42:34.205Z,1754761354.205 [DAT](INFO): DAT read: 17:42:33.1642 LVL= 19600,  9137, 24674, 24691, AGC= 37, IDX= 507, 0.18, 1.446, 0.932, 0.273, 2.305, PHS=-0.757,-1.329,-2.077, RAW=  55.6,  52.1, CAL=  52.9,  56.5, ROT=  97.1, -56.5

2025-08-09T17:42:34.206Z,1754761354.206 [DAT](INFO): got valid direction response:
 17:42:33.1642 LVL= 19600,  9137, 24674, 24691, AGC= 37, IDX= 507, 0.18, 1.446, 0.932, 0.273, 2.305, PHS=-0.757,-1.329,-2.077, RAW=  55.6,  52.1, CAL=  52.9,  56.5, ROT=  97.1, -56.5

2025-08-09T17:42:34.206Z,1754761354.206 [DAT](INFO): #Rx 115: Read range and direction messages.
2025-08-09T17:42:34.207Z,1754761354.207 [DAT](INFO): direction in FSK: [-0.068220,0.547705,0.833886]
2025-08-09T17:42:34.207Z,1754761354.207 [DAT](INFO): publishing direction and range info
2025-08-09T17:42:34.211Z,1754761354.211 [DAT](INFO): checking for new query: numPingsReceived=115, elapsed TxPingTime=37.584087
2025-08-09T17:42:34.452Z,1754761354.452 [DAT](INFO): checking for new query: numPingsReceived=115, elapsed TxPingTime=37.825260
2025-08-09T17:42:34.700Z,1754761354.700 [DAT](INFO): DAT read: Rx Time:17:42:33.6643 

2025-08-09T17:42:34.700Z,1754761354.700 [DAT](INFO): Rx dataTimestamp_ set to:1754761354.700154
2025-08-09T17:42:34.702Z,1754761354.702 [DAT](INFO): DAT read: Bearing  62.4,  33.3 (Local)

2025-08-09T17:42:34.702Z,1754761354.702 [DAT](INFO): Local bearing/azimuth received:
 Bearing  62.4,  33.3 (Local)

2025-08-09T17:42:34.704Z,1754761354.704 [DAT](INFO): DAT read: Range 11 to 50 :     0.9 m (trip time 0.6 ms) speed 0.0

2025-08-09T17:42:34.710Z,1754761354.710 [DAT](INFO): DAT read: 17:42:33.6643 LVL= 17392,  8609, 23138, 22003, AGC= 36, IDX= 508, 0.32, 2.046, 1.529, 0.890, 2.905, PHS=-0.757,-1.331,-2.059, RAW=  56.1,  52.4, CAL=  53.4,  56.7, ROT=  96.6, -56.7

2025-08-09T17:42:34.711Z,1754761354.711 [DAT](INFO): got valid direction response:
 17:42:33.6643 LVL= 17392,  8609, 23138, 22003, AGC= 36, IDX= 508, 0.32, 2.046, 1.529, 0.890, 2.905, PHS=-0.757,-1.331,-2.059, RAW=  56.1,  52.4, CAL=  53.4,  56.7, ROT=  96.6, -56.7

2025-08-09T17:42:34.711Z,1754761354.711 [DAT](INFO): #Rx 116: Read range and direction messages.
2025-08-09T17:42:34.712Z,1754761354.712 [DAT](INFO): direction in FSK: [-0.063103,0.545384,0.835807]
2025-08-09T17:42:34.712Z,1754761354.712 [DAT](INFO): publishing direction and range info
2025-08-09T17:42:34.728Z,1754761354.728 [DAT](INFO): checking for new query: numPingsReceived=116, elapsed TxPingTime=38.101379
2025-08-09T17:42:34.951Z,1754761354.951 [DAT](INFO): checking for new query: numPingsReceived=116, elapsed TxPingTime=38.324409
2025-08-09T17:42:35.204Z,1754761355.204 [DAT](INFO): DAT read: Rx Time:17:42:34.1642 

2025-08-09T17:42:35.204Z,1754761355.204 [DAT](INFO): Rx dataTimestamp_ set to:1754761355.204154
2025-08-09T17:42:35.206Z,1754761355.206 [DAT](INFO): DAT read: Bearing  60.8,  32.8 (Local)

2025-08-09T17:42:35.206Z,1754761355.206 [DAT](INFO): Local bearing/azimuth received:
 Bearing  60.8,  32.8 (Local)

2025-08-09T17:42:35.208Z,1754761355.208 [DAT](INFO): DAT read: Range 11 to 50 :     0.8 m (trip time 0.5 ms) speed 0.0

2025-08-09T17:42:35.215Z,1754761355.215 [DAT](INFO): DAT read: 17:42:34.1642 LVL= 19568,  8625, 21602, 24147, AGC= 37, IDX= 508,-0.48,-0.383,-0.959,-1.528, 0.467, PHS=-0.748,-1.381,-2.039, RAW=  59.4,  52.8, CAL=  56.5,  57.2, ROT=  93.5, -57.2

2025-08-09T17:42:35.216Z,1754761355.216 [DAT](INFO): got valid direction response:
 17:42:34.1642 LVL= 19568,  8625, 21602, 24147, AGC= 37, IDX= 508,-0.48,-0.383,-0.959,-1.528, 0.467, PHS=-0.748,-1.381,-2.039, RAW=  59.4,  52.8, CAL=  56.5,  57.2, ROT=  93.5, -57.2

2025-08-09T17:42:35.217Z,1754761355.217 [DAT](INFO): #Rx 117: Read range and direction messages.
2025-08-09T17:42:35.218Z,1754761355.218 [DAT](INFO): direction in FSK: [-0.033071,0.540698,0.840567]
2025-08-09T17:42:35.225Z,1754761355.225 [DAT](INFO): publishing direction and range info
2025-08-09T17:42:35.247Z,1754761355.247 [DAT](INFO): checking for new query: numPingsReceived=117, elapsed TxPingTime=38.607227
2025-08-09T17:42:35.456Z,1754761355.456 [DAT](INFO): checking for new query: numPingsReceived=117, elapsed TxPingTime=38.828583
2025-08-09T17:42:35.709Z,1754761355.709 [DAT](INFO): DAT read: Rx Time:17:42:34.6642 

2025-08-09T17:42:35.709Z,1754761355.709 [DAT](INFO): Rx dataTimestamp_ set to:1754761355.708908
2025-08-09T17:42:35.711Z,1754761355.711 [DAT](INFO): DAT read: Bearing  55.8,  32.5 (Local)

2025-08-09T17:42:35.712Z,1754761355.712 [DAT](INFO): Local bearing/azimuth received:
 Bearing  55.8,  32.5 (Local)

2025-08-09T17:42:35.715Z,1754761355.715 [DAT](INFO): DAT read: Range 11 to 50 :     0.8 m (trip time 0.5 ms) speed 0.0

2025-08-09T17:42:35.741Z,1754761355.741 [DAT](INFO): DAT read: 17:42:34.6642 LVL= 21488,  9441, 23218, 26611, AGC= 36, IDX= 508,-0.29,-0.744,-1.498,-1.910, 0.052, PHS=-0.693,-1.505,-2.006, RAW=  67.8,  52.3, CAL=  64.6,  57.2, ROT=  85.4, -57.2

2025-08-09T17:42:35.748Z,1754761355.748 [DAT](INFO): got valid direction response:
 17:42:34.6642 LVL= 21488,  9441, 23218, 26611, AGC= 36, IDX= 508,-0.29,-0.744,-1.498,-1.910, 0.052, PHS=-0.693,-1.505,-2.006, RAW=  67.8,  52.3, CAL=  64.6,  57.2, ROT=  85.4, -57.2

2025-08-09T17:42:35.748Z,1754761355.748 [DAT](INFO): #Rx 118: Read range and direction messages.
2025-08-09T17:42:35.750Z,1754761355.750 [DAT](INFO): direction in FSK: [0.043444,0.539963,0.840567]
2025-08-09T17:42:35.763Z,1754761355.763 [DAT](INFO): publishing direction and range info
2025-08-09T17:42:35.771Z,1754761355.771 [DAT](INFO): checking for new query: numPingsReceived=118, elapsed TxPingTime=39.139034
2025-08-09T17:42:35.961Z,1754761355.961 [DAT](INFO): checking for new query: numPingsReceived=118, elapsed TxPingTime=39.334343
2025-08-09T17:42:36.212Z,1754761356.212 [DAT](INFO): DAT read: Rx Time:17:42:35.1641 

2025-08-09T17:42:36.212Z,1754761356.212 [DAT](INFO): Rx dataTimestamp_ set to:1754761356.212023
2025-08-09T17:42:36.214Z,1754761356.214 [DAT](INFO): DAT read: Bearing  54.3,  31.9 (Local)

2025-08-09T17:42:36.214Z,1754761356.214 [DAT](INFO): Local bearing/azimuth received:
 Bearing  54.3,  31.9 (Local)

2025-08-09T17:42:36.216Z,1754761356.216 [DAT](INFO): DAT read: Range 11 to 50 :     0.6 m (trip time 0.4 ms) speed 0.0

2025-08-09T17:42:36.221Z,1754761356.221 [DAT](INFO): DAT read: 17:42:35.1641 LVL= 19408,  8689, 20658, 23939, AGC= 37, IDX= 507,-0.14,-1.760,-2.565,-2.923,-0.959, PHS=-0.698,-1.561,-2.008, RAW=  70.4,  52.6, CAL=  67.2,  57.6, ROT=  82.8, -57.6

2025-08-09T17:42:36.222Z,1754761356.222 [DAT](INFO): got valid direction response:
 17:42:35.1641 LVL= 19408,  8689, 20658, 23939, AGC= 37, IDX= 507,-0.14,-1.760,-2.565,-2.923,-0.959, PHS=-0.698,-1.561,-2.008, RAW=  70.4,  52.6, CAL=  67.2,  57.6, ROT=  82.8, -57.6

2025-08-09T17:42:36.222Z,1754761356.222 [DAT](INFO): #Rx 119: Read range and direction messages.
2025-08-09T17:42:36.223Z,1754761356.223 [DAT](INFO): direction in FSK: [0.067157,0.531602,0.844328]
2025-08-09T17:42:36.223Z,1754761356.223 [DAT](INFO): publishing direction and range info
2025-08-09T17:42:36.227Z,1754761356.227 [DAT](INFO): checking for new query: numPingsReceived=119, elapsed TxPingTime=39.599949
2025-08-09T17:42:36.468Z,1754761356.468 [DAT](INFO): checking for new query: numPingsReceived=119, elapsed TxPingTime=39.841415
2025-08-09T17:42:36.720Z,1754761356.720 [DAT](INFO): DAT read: Rx Time:17:42:35.6643 

2025-08-09T17:42:36.720Z,1754761356.720 [DAT](INFO): Rx dataTimestamp_ set to:1754761356.720095
2025-08-09T17:42:36.722Z,1754761356.722 [DAT](INFO): DAT read: Bearing  50.7,  31.5 (Local)

2025-08-09T17:42:36.722Z,1754761356.722 [DAT](INFO): Local bearing/azimuth received:
 Bearing  50.7,  31.5 (Local)

2025-08-09T17:42:36.740Z,1754761356.740 [DAT](INFO): DAT read: Range 11 to 50 :     0.9 m (trip time 0.6 ms) speed 0.0

2025-08-09T17:42:36.753Z,1754761356.753 [DAT](INFO): DAT read: 17:42:35.6643 LVL= 21808,  9105, 23058, 26355, AGC= 36, IDX= 508,-0.03,-0.275,-1.193,-1.441, 0.500, PHS=-0.673,-1.648,-1.985, RAW=  75.7,  52.2, CAL=  72.8,  57.5, ROT=  77.2, -57.5

2025-08-09T17:42:36.754Z,1754761356.754 [DAT](INFO): got valid direction response:
 17:42:35.6643 LVL= 21808,  9105, 23058, 26355, AGC= 36, IDX= 508,-0.03,-0.275,-1.193,-1.441, 0.500, PHS=-0.673,-1.648,-1.985, RAW=  75.7,  52.2, CAL=  72.8,  57.5, ROT=  77.2, -57.5

2025-08-09T17:42:36.758Z,1754761356.758 [DAT](INFO): #Rx 120: Read range and direction messages.
2025-08-09T17:42:36.759Z,1754761356.759 [DAT](INFO): direction in FSK: [0.119038,0.523947,0.843391]
2025-08-09T17:42:36.759Z,1754761356.759 [DAT](INFO): publishing direction and range info
2025-08-09T17:42:37.228Z,1754761357.228 [DAT](INFO): DAT read: Rx Time:17:42:36.1642 

2025-08-09T17:42:37.229Z,1754761357.229 [DAT](INFO): Rx dataTimestamp_ set to:1754761357.228495
2025-08-09T17:42:37.230Z,1754761357.230 [DAT](INFO): DAT read: Bearing  51.1,  31.7 (Local)

2025-08-09T17:42:37.231Z,1754761357.231 [DAT](INFO): Local bearing/azimuth received:
 Bearing  51.1,  31.7 (Local)

2025-08-09T17:42:37.233Z,1754761357.233 [DAT](INFO): DAT read: Range 11 to 50 :     0.8 m (trip time 0.5 ms) speed 0.0

2025-08-09T17:42:37.238Z,1754761357.238 [DAT](INFO): DAT read: 17:42:36.1642 LVL= 17744,  7921, 22834, 21107, AGC= 36, IDX= 507, 0.09,-0.499,-1.393,-1.656, 0.282, PHS=-0.680,-1.630,-1.983, RAW=  74.8,  52.4, CAL=  71.9,  57.7, ROT=  78.1, -57.7

2025-08-09T17:42:37.244Z,1754761357.244 [DAT](INFO): got valid direction response:
 17:42:36.1642 LVL= 17744,  7921, 22834, 21107, AGC= 36, IDX= 507, 0.09,-0.499,-1.393,-1.656, 0.282, PHS=-0.680,-1.630,-1.983, RAW=  74.8,  52.4, CAL=  71.9,  57.7, ROT=  78.1, -57.7

2025-08-09T17:42:37.245Z,1754761357.245 [DAT](INFO): #Rx 121: Read range and direction messages.
2025-08-09T17:42:37.246Z,1754761357.246 [DAT](INFO): direction in FSK: [0.110186,0.522869,0.845262]
2025-08-09T17:42:37.251Z,1754761357.251 [DAT](INFO): publishing direction and range info
2025-08-09T17:42:37.482Z,1754761357.482 [DAT](INFO): DAT read: Rx Time:17:42:36.6643 

2025-08-09T17:42:37.484Z,1754761357.484 [DAT](INFO): Rx dataTimestamp_ set to:1754761357.483057
2025-08-09T17:42:37.732Z,1754761357.732 [DAT](INFO): DAT read: Bearing  48.0,  31.7 (Local)

2025-08-09T17:42:37.732Z,1754761357.732 [DAT](INFO): Local bearing/azimuth received:
 Bearing  48.0,  31.7 (Local)

2025-08-09T17:42:37.735Z,1754761357.735 [DAT](INFO): DAT read: Range 11 to 50 :     0.9 m (trip time 0.6 ms) speed 0.0

2025-08-09T17:42:37.743Z,1754761357.743 [DAT](INFO): DAT read: 17:42:36.6643 LVL= 19952,  8641, 21074, 23539, AGC= 37, IDX= 508, 0.23, 0.913,-0.069,-0.255, 1.669, PHS=-0.654,-1.693,-1.968, RAW=  78.6,  51.8, CAL=  76.1,  57.4, ROT=  73.9, -57.4

2025-08-09T17:42:37.744Z,1754761357.744 [DAT](INFO): got valid direction response:
 17:42:36.6643 LVL= 19952,  8641, 21074, 23539, AGC= 37, IDX= 508, 0.23, 0.913,-0.069,-0.255, 1.669, PHS=-0.654,-1.693,-1.968, RAW=  78.6,  51.8, CAL=  76.1,  57.4, ROT=  73.9, -57.4

2025-08-09T17:42:37.745Z,1754761357.745 [DAT](INFO): #Rx 122: Read range and direction messages.
2025-08-09T17:42:37.746Z,1754761357.746 [DAT](INFO): direction in FSK: [0.149409,0.517640,0.842452]
2025-08-09T17:42:37.746Z,1754761357.746 [DAT](INFO): publishing direction and range info
2025-08-09T17:42:37.988Z,1754761357.988 [DAT](INFO): DAT read: Rx Time:17:42:37.1642 

2025-08-09T17:42:37.989Z,1754761357.989 [DAT](INFO): Rx dataTimestamp_ set to:1754761357.988567
2025-08-09T17:42:37.992Z,1754761357.992 [DAT](INFO): DAT read: Bearing  51.6,  32.7 (Local)

2025-08-09T17:42:37.993Z,1754761357.993 [DAT](INFO): Local bearing/azimuth received:
 Bearing  51.6,  32.7 (Local)

2025-08-09T17:42:38.237Z,1754761358.237 [DAT](INFO): DAT read: Range 11 to 50 :     0.8 m (trip time 0.5 ms) speed 0.0

2025-08-09T17:42:38.241Z,1754761358.241 [DAT](INFO): DAT read: 17:42:37.1642 LVL= 18400,  7905, 21474, 21443, AGC= 36, IDX= 507, 0.42,-0.829,-1.667,-1.968,-0.066, PHS=-0.661,-1.555,-1.946, RAW=  72.8,  52.2, CAL=  69.6,  57.4, ROT=  80.4, -57.4

2025-08-09T17:42:38.243Z,1754761358.243 [DAT](INFO): got valid direction response:
 17:42:37.1642 LVL= 18400,  7905, 21474, 21443, AGC= 36, IDX= 507, 0.42,-0.829,-1.667,-1.968,-0.066, PHS=-0.661,-1.555,-1.946, RAW=  72.8,  52.2, CAL=  69.6,  57.4, ROT=  80.4, -57.4

2025-08-09T17:42:38.243Z,1754761358.243 [DAT](INFO): #Rx 123: Read range and direction messages.
2025-08-09T17:42:38.244Z,1754761358.244 [DAT](INFO): direction in FSK: [0.089850,0.531226,0.842452]
2025-08-09T17:42:38.244Z,1754761358.244 [DAT](INFO): publishing direction and range info
2025-08-09T17:42:38.492Z,1754761358.492 [DAT](INFO): DAT read: Rx Time:17:42:37.6642 

2025-08-09T17:42:38.494Z,1754761358.494 [DAT](INFO): Rx dataTimestamp_ set to:1754761358.492816
2025-08-09T17:42:38.498Z,1754761358.498 [DAT](INFO): DAT read: Bearing  61.1,  33.8 (Local)

2025-08-09T17:42:38.500Z,1754761358.500 [DAT](INFO): Local bearing/azimuth received:
 Bearing  61.1,  33.8 (Local)

2025-08-09T17:42:38.504Z,1754761358.504 [DAT](INFO): DAT read: Range 11 to 50 :     0.8 m (trip time 0.5 ms) speed 0.0

2025-08-09T17:42:38.509Z,1754761358.509 [DAT](ERROR): #Rx 124: Read range message, but no direction.
2025-08-09T17:42:38.743Z,1754761358.743 [DAT](INFO): DAT read: 17:42:37.6642 LVL= 18784,  7953, 20898, 21091, AGC= 36, IDX= 508,-0.35,-2.762, 3.012, 2.423,-1.981, PHS=-0.679,-1.245,-1.924, RAW=  57.0,  51.6, CAL=  54.2,  56.0, ROT=  95.8, -56.0

2025-08-09T17:42:38.744Z,1754761358.744 [DAT](INFO): got valid direction response:
 17:42:37.6642 LVL= 18784,  7953, 20898, 21091, AGC= 36, IDX= 508,-0.35,-2.762, 3.012, 2.423,-1.981, PHS=-0.679,-1.245,-1.924, RAW=  57.0,  51.6, CAL=  54.2,  56.0, ROT=  95.8, -56.0

2025-08-09T17:42:38.745Z,1754761358.745 [DAT](INFO): #Rx 125: Read direction message, but no range.
2025-08-09T17:42:38.745Z,1754761358.745 [DAT](INFO): direction in FSK: [-0.056510,0.556330,0.829038]
2025-08-09T17:42:38.996Z,1754761358.996 [DAT](INFO): DAT read: Rx Time:17:42:38.1641 

2025-08-09T17:42:38.998Z,1754761358.998 [DAT](INFO): Rx dataTimestamp_ set to:1754761358.997193
2025-08-09T17:42:39.001Z,1754761359.001 [DAT](INFO): DAT read: Bearing  58.8,  33.5 (Local)

2025-08-09T17:42:39.002Z,1754761359.002 [DAT](INFO): Local bearing/azimuth received:
 Bearing  58.8,  33.5 (Local)

2025-08-09T17:42:39.007Z,1754761359.007 [DAT](INFO): DAT read: Range 11 to 50 :     0.6 m (trip time 0.4 ms) speed 0.0

2025-08-09T17:42:39.009Z,1754761359.009 [DAT](ERROR): #Rx 126: Read range message, but no direction.
2025-08-09T17:42:39.251Z,1754761359.251 [DAT](INFO): DAT read: 17:42:38.1641 LVL= 23024,  8161, 23522, 26403, AGC= 36, IDX= 507,-0.23, 2.431, 1.883, 1.343,-3.075, PHS=-0.675,-1.280,-1.909, RAW=  59.4,  52.0, CAL=  56.5,  56.5, ROT=  93.5, -56.5

2025-08-09T17:42:39.252Z,1754761359.252 [DAT](INFO): got valid direction response:
 17:42:38.1641 LVL= 23024,  8161, 23522, 26403, AGC= 36, IDX= 507,-0.23, 2.431, 1.883, 1.343,-3.075, PHS=-0.675,-1.280,-1.909, RAW=  59.4,  52.0, CAL=  56.5,  56.5, ROT=  93.5, -56.5

2025-08-09T17:42:39.253Z,1754761359.253 [DAT](INFO): #Rx 127: Read direction message, but no range.
2025-08-09T17:42:39.254Z,1754761359.254 [DAT](INFO): direction in FSK: [-0.033695,0.550907,0.833886]
2025-08-09T17:42:39.500Z,1754761359.500 [DAT](INFO): DAT read: Rx Time:17:42:38.6642 

2025-08-09T17:42:39.502Z,1754761359.502 [DAT](INFO): Rx dataTimestamp_ set to:1754761359.500803
2025-08-09T17:42:39.505Z,1754761359.505 [DAT](INFO): DAT read: Bearing  55.1,  33.3 (Local)

2025-08-09T17:42:39.515Z,1754761359.515 [DAT](INFO): Local bearing/azimuth received:
 Bearing  55.1,  33.3 (Local)

2025-08-09T17:42:39.520Z,1754761359.520 [DAT](INFO): DAT read: Range 11 to 50 :     0.8 m (trip time 0.5 ms) speed 0.0

2025-08-09T17:42:39.538Z,1754761359.538 [DAT](ERROR): #Rx 128: Read range message, but no direction.
2025-08-09T17:42:39.753Z,1754761359.753 [DAT](INFO): DAT read: 17:42:38.6642 LVL= 18416,  7969, 21586, 21235, AGC= 36, IDX= 508,-0.10,-2.543, 3.100, 2.636,-1.769, PHS=-0.672,-1.369,-1.922, RAW=  63.8,  52.3, CAL=  60.7,  56.9, ROT=  89.3, -56.9

2025-08-09T17:42:39.754Z,1754761359.754 [DAT](INFO): got valid direction response:
 17:42:38.6642 LVL= 18416,  7969, 21586, 21235, AGC= 36, IDX= 508,-0.10,-2.543, 3.100, 2.636,-1.769, PHS=-0.672,-1.369,-1.922, RAW=  63.8,  52.3, CAL=  60.7,  56.9, ROT=  89.3, -56.9

2025-08-09T17:42:39.755Z,1754761359.755 [DAT](INFO): #Rx 129: Read direction message, but no range.
2025-08-09T17:42:39.756Z,1754761359.756 [DAT](INFO): direction in FSK: [0.006672,0.546061,0.837719]
2025-08-09T17:42:40.004Z,1754761360.004 [DAT](INFO): DAT read: Rx Time:17:42:39.1642 

2025-08-09T17:42:40.006Z,1754761360.006 [DAT](INFO): Rx dataTimestamp_ set to:1754761360.004626
2025-08-09T17:42:40.009Z,1754761360.009 [DAT](INFO): DAT read: Bearing  48.9,  32.2 (Local)

2025-08-09T17:42:40.010Z,1754761360.010 [DAT](INFO): Local bearing/azimuth received:
 Bearing  48.9,  32.2 (Local)

2025-08-09T17:42:40.020Z,1754761360.020 [DAT](INFO): DAT read: Range 11 to 50 :     0.8 m (trip time 0.5 ms) speed 0.0

2025-08-09T17:42:40.027Z,1754761360.027 [DAT](ERROR): #Rx 130: Read range message, but no direction.
2025-08-09T17:42:40.255Z,1754761360.255 [DAT](INFO): DAT read: 17:42:39.1642 LVL= 18256,  7905, 20850, 21491, AGC= 36, IDX= 507,-0.01,-2.903, 2.567, 2.258,-2.134, PHS=-0.667,-1.536,-1.935, RAW=  72.1,  52.5, CAL=  68.9,  57.6, ROT=  81.1, -57.6

2025-08-09T17:42:40.256Z,1754761360.256 [DAT](INFO): got valid direction response:
 17:42:39.1642 LVL= 18256,  7905, 20850, 21491, AGC= 36, IDX= 507,-0.01,-2.903, 2.567, 2.258,-2.134, PHS=-0.667,-1.536,-1.935, RAW=  72.1,  52.5, CAL=  68.9,  57.6, ROT=  81.1, -57.6

2025-08-09T17:42:40.256Z,1754761360.256 [DAT](INFO): #Rx 131: Read direction message, but no range.
2025-08-09T17:42:40.257Z,1754761360.257 [DAT](INFO): direction in FSK: [0.082898,0.529375,0.844328]
2025-08-09T17:42:40.508Z,1754761360.508 [DAT](INFO): DAT read: Rx Time:17:42:39.6643 

2025-08-09T17:42:40.510Z,1754761360.510 [DAT](INFO): Rx dataTimestamp_ set to:1754761360.508823
2025-08-09T17:42:40.518Z,1754761360.518 [DAT](INFO): DAT read: Bearing  45.9,  31.5 (Local)

2025-08-09T17:42:40.519Z,1754761360.519 [DAT](INFO): Local bearing/azimuth received:
 Bearing  45.9,  31.5 (Local)

2025-08-09T17:42:40.541Z,1754761360.541 [DAT](INFO): DAT read: Range 11 to 50 :     0.9 m (trip time 0.6 ms) speed 0.0

2025-08-09T17:42:40.550Z,1754761360.550 [DAT](INFO): DAT read: 17:42:39.6643 LVL= 17904,  8081, 20562, 21139, AGC= 36, IDX= 508, 0.08,-0.973,-1.856,-2.105,-0.197, PHS=-0.674,-1.614,-1.952, RAW=  75.2,  52.6, CAL=  72.4,  57.8, ROT=  77.6, -57.8

2025-08-09T17:42:40.555Z,1754761360.555 [DAT](INFO): got valid direction response:
 17:42:39.6643 LVL= 17904,  8081, 20562, 21139, AGC= 36, IDX= 508, 0.08,-0.973,-1.856,-2.105,-0.197, PHS=-0.674,-1.614,-1.952, RAW=  75.2,  52.6, CAL=  72.4,  57.8, ROT=  77.6, -57.8

2025-08-09T17:42:40.556Z,1754761360.556 [DAT](INFO): #Rx 132: Read range and direction messages.
2025-08-09T17:42:40.557Z,1754761360.557 [DAT](INFO): direction in FSK: [0.114427,0.520446,0.846193]
2025-08-09T17:42:40.558Z,1754761360.558 [DAT](INFO): publishing direction and range info
2025-08-09T17:42:41.011Z,1754761361.011 [DAT](INFO): DAT read: Rx Time:17:42:40.1642 

2025-08-09T17:42:41.012Z,1754761361.012 [DAT](INFO): Rx dataTimestamp_ set to:1754761361.011216
2025-08-09T17:42:41.015Z,1754761361.015 [DAT](INFO): DAT read: Bearing  46.0,  31.4 (Local)

2025-08-09T17:42:41.016Z,1754761361.016 [DAT](INFO): Local bearing/azimuth received:
 Bearing  46.0,  31.4 (Local)

2025-08-09T17:42:41.021Z,1754761361.021 [DAT](INFO): DAT read: Range 11 to 50 :     0.8 m (trip time 0.5 ms) speed 0.0

2025-08-09T17:42:41.025Z,1754761361.025 [DAT](ERROR): #Rx 133: Read range message, but no direction.
2025-08-09T17:42:41.275Z,1754761361.275 [DAT](INFO): DAT read: 17:42:40.1642 LVL= 17520,  7665, 21138, 21235, AGC= 36, IDX= 507, 0.17,-1.398,-2.254,-2.535,-0.612, PHS=-0.685,-1.597,-1.968, RAW=  73.7,  52.7, CAL=  70.7,  57.9, ROT=  79.3, -57.9

2025-08-09T17:42:41.277Z,1754761361.277 [DAT](INFO): got valid direction response:
 17:42:40.1642 LVL= 17520,  7665, 21138, 21235, AGC= 36, IDX= 507, 0.17,-1.398,-2.254,-2.535,-0.612, PHS=-0.685,-1.597,-1.968, RAW=  73.7,  52.7, CAL=  70.7,  57.9, ROT=  79.3, -57.9

2025-08-09T17:42:41.277Z,1754761361.277 [DAT](INFO): #Rx 134: Read direction message, but no range.
2025-08-09T17:42:41.278Z,1754761361.278 [DAT](INFO): direction in FSK: [0.098663,0.522159,0.847122]
2025-08-09T17:42:41.516Z,1754761361.516 [DAT](INFO): DAT read: Rx Time:17:42:40.6643 

2025-08-09T17:42:41.518Z,1754761361.518 [DAT](INFO): Rx dataTimestamp_ set to:1754761361.516764
2025-08-09T17:42:41.521Z,1754761361.521 [DAT](INFO): DAT read: Bearing  45.1,  30.8 (Local)

2025-08-09T17:42:41.546Z,1754761361.546 [DAT](INFO): Local bearing/azimuth received:
 Bearing  45.1,  30.8 (Local)

2025-08-09T17:42:41.548Z,1754761361.548 [DAT](INFO): DAT read: Range 11 to 50 :     0.9 m (trip time 0.6 ms) speed 0.0

2025-08-09T17:42:41.553Z,1754761361.553 [DAT](INFO): DAT read: 17:42:40.6643 LVL= 16960,  7729, 23330, 21891, AGC= 36, IDX= 508, 0.29,-0.159,-1.036,-1.314, 0.637, PHS=-0.694,-1.628,-1.996, RAW=  74.1,  52.7, CAL=  71.1,  57.9, ROT=  78.9, -57.9

2025-08-09T17:42:41.554Z,1754761361.554 [DAT](INFO): got valid direction response:
 17:42:40.6643 LVL= 16960,  7729, 23330, 21891, AGC= 36, IDX= 508, 0.29,-0.159,-1.036,-1.314, 0.637, PHS=-0.694,-1.628,-1.996, RAW=  74.1,  52.7, CAL=  71.1,  57.9, ROT=  78.9, -57.9

2025-08-09T17:42:41.562Z,1754761361.562 [DAT](INFO): #Rx 135: Read range and direction messages.
2025-08-09T17:42:41.563Z,1754761361.563 [DAT](INFO): direction in FSK: [0.102306,0.521458,0.847122]
2025-08-09T17:42:41.564Z,1754761361.564 [DAT](INFO): publishing direction and range info
2025-08-09T17:42:42.020Z,1754761362.020 [DAT](INFO): DAT read: Rx Time:17:42:41.1642 

2025-08-09T17:42:42.022Z,1754761362.022 [DAT](INFO): Rx dataTimestamp_ set to:1754761362.020732
2025-08-09T17:42:42.025Z,1754761362.025 [DAT](INFO): DAT read: Bearing  45.4,  30.6 (Local)

2025-08-09T17:42:42.027Z,1754761362.027 [DAT](INFO): Local bearing/azimuth received:
 Bearing  45.4,  30.6 (Local)

2025-08-09T17:42:42.034Z,1754761362.034 [DAT](INFO): DAT read: Range 11 to 50 :     0.8 m (trip time 0.5 ms) speed 0.0

2025-08-09T17:42:42.037Z,1754761362.037 [DAT](ERROR): #Rx 136: Read range message, but no direction.
2025-08-09T17:42:42.277Z,1754761362.277 [DAT](INFO): DAT read: 17:42:41.1642 LVL= 18736,  8945, 23362, 24467, AGC= 37, IDX= 507, 0.42,-1.316,-2.173,-2.483,-0.509, PHS=-0.705,-1.618,-2.018, RAW=  72.7,  52.8, CAL=  69.6,  57.9, ROT=  80.4, -57.9

2025-08-09T17:42:42.279Z,1754761362.279 [DAT](INFO): got valid direction response:
 17:42:41.1642 LVL= 18736,  8945, 23362, 24467, AGC= 37, IDX= 507, 0.42,-1.316,-2.173,-2.483,-0.509, PHS=-0.705,-1.618,-2.018, RAW=  72.7,  52.8, CAL=  69.6,  57.9, ROT=  80.4, -57.9

2025-08-09T17:42:42.279Z,1754761362.279 [DAT](INFO): #Rx 137: Read direction message, but no range.
2025-08-09T17:42:42.280Z,1754761362.280 [DAT](INFO): direction in FSK: [0.088621,0.523957,0.847122]
2025-08-09T17:42:42.529Z,1754761362.529 [DAT](INFO): DAT read: Rx Time:17:42:41.6642 

2025-08-09T17:42:42.531Z,1754761362.531 [DAT](INFO): Rx dataTimestamp_ set to:1754761362.529214
2025-08-09T17:42:42.536Z,1754761362.536 [DAT](INFO): DAT read: Bearing  49.0,  30.7 (Local)

2025-08-09T17:42:42.537Z,1754761362.537 [DAT](INFO): Local bearing/azimuth received:
 Bearing  49.0,  30.7 (Local)

2025-08-09T17:42:42.539Z,1754761362.539 [DAT](INFO): DAT read: Range 11 to 50 :     0.8 m (trip time 0.5 ms) speed 0.0

2025-08-09T17:42:42.546Z,1754761362.546 [DAT](INFO): DAT read: 17:42:41.6642 LVL= 18672,  9409, 22770, 24627, AGC= 37, IDX= 508,-0.38,-2.714, 2.862, 2.421,-1.859, PHS=-0.754,-1.518,-2.048, RAW=  66.0,  53.6, CAL=  62.9,  58.2, ROT=  87.1, -58.2

2025-08-09T17:42:42.547Z,1754761362.547 [DAT](INFO): got valid direction response:
 17:42:41.6642 LVL= 18672,  9409, 22770, 24627, AGC= 37, IDX= 508,-0.38,-2.714, 2.862, 2.421,-1.859, PHS=-0.754,-1.518,-2.048, RAW=  66.0,  53.6, CAL=  62.9,  58.2, ROT=  87.1, -58.2

2025-08-09T17:42:42.548Z,1754761362.548 [DAT](INFO): #Rx 138: Read range and direction messages.
2025-08-09T17:42:42.549Z,1754761362.549 [DAT](INFO): direction in FSK: [0.026660,0.526281,0.849893]
2025-08-09T17:42:42.549Z,1754761362.549 [DAT](INFO): publishing direction and range info
2025-08-09T17:42:43.033Z,1754761363.033 [DAT](INFO): DAT read: Rx Time:17:42:42.1641 

2025-08-09T17:42:43.035Z,1754761363.035 [DAT](INFO): Rx dataTimestamp_ set to:1754761363.034318
2025-08-09T17:42:43.038Z,1754761363.038 [DAT](INFO): DAT read: Bearing  52.3,  31.6 (Local)

2025-08-09T17:42:43.043Z,1754761363.043 [DAT](INFO): Local bearing/azimuth received:
 Bearing  52.3,  31.6 (Local)

2025-08-09T17:42:43.045Z,1754761363.045 [DAT](INFO): DAT read: Range 11 to 50 :     0.6 m (trip time 0.4 ms) speed 0.0

2025-08-09T17:42:43.052Z,1754761363.052 [DAT](INFO): DAT read: 17:42:42.1641 LVL= 18800, 10209, 24226, 24435, AGC= 37, IDX= 507,-0.25, 1.719, 1.123, 0.564, 2.588, PHS=-0.768,-1.420,-2.069, RAW=  60.1,  53.2, CAL=  57.2,  57.6, ROT=  92.8, -57.6

2025-08-09T17:42:43.053Z,1754761363.053 [DAT](INFO): got valid direction response:
 17:42:42.1641 LVL= 18800, 10209, 24226, 24435, AGC= 37, IDX= 507,-0.25, 1.719, 1.123, 0.564, 2.588, PHS=-0.768,-1.420,-2.069, RAW=  60.1,  53.2, CAL=  57.2,  57.6, ROT=  92.8, -57.6

2025-08-09T17:42:43.053Z,1754761363.053 [DAT](INFO): #Rx 139: Read range and direction messages.
2025-08-09T17:42:43.055Z,1754761363.055 [DAT](INFO): direction in FSK: [-0.026175,0.535187,0.844328]
2025-08-09T17:42:43.055Z,1754761363.055 [DAT](INFO): publishing direction and range info
2025-08-09T17:42:43.536Z,1754761363.536 [DAT](INFO): DAT read: Rx Time:17:42:42.6643 

2025-08-09T17:42:43.538Z,1754761363.538 [DAT](INFO): Rx dataTimestamp_ set to:1754761363.537043
2025-08-09T17:42:43.539Z,1754761363.539 [DAT](INFO): DAT read: Bearing  54.7,  32.4 (Local)

2025-08-09T17:42:43.540Z,1754761363.540 [DAT](INFO): Local bearing/azimuth received:
 Bearing  54.7,  32.4 (Local)

2025-08-09T17:42:43.542Z,1754761363.542 [DAT](INFO): DAT read: Range 11 to 50 :     0.9 m (trip time 0.6 ms) speed 0.0

2025-08-09T17:42:43.587Z,1754761363.587 [DAT](INFO): DAT read: 17:42:42.6643 LVL= 19104, 10641, 24562, 24211, AGC= 37, IDX= 508,-0.13,-2.638, 3.135, 2.500,-1.753, PHS=-0.783,-1.350,-2.074, RAW=  56.0,  53.0, CAL=  53.4,  57.3, ROT=  96.6, -57.3

2025-08-09T17:42:43.588Z,1754761363.588 [DAT](INFO): got valid direction response:
 17:42:42.6643 LVL= 19104, 10641, 24562, 24211, AGC= 37, IDX= 508,-0.13,-2.638, 3.135, 2.500,-1.753, PHS=-0.783,-1.350,-2.074, RAW=  56.0,  53.0, CAL=  53.4,  57.3, ROT=  96.6, -57.3

2025-08-09T17:42:43.588Z,1754761363.588 [DAT](INFO): #Rx 140: Read range and direction messages.
2025-08-09T17:42:43.589Z,1754761363.589 [DAT](INFO): direction in FSK: [-0.062094,0.536660,0.841511]
2025-08-09T17:42:43.589Z,1754761363.589 [DAT](INFO): publishing direction and range info
2025-08-09T17:42:44.039Z,1754761364.039 [DAT](INFO): DAT read: Rx Time:17:42:43.1642 

2025-08-09T17:42:44.039Z,1754761364.039 [DAT](INFO): Rx dataTimestamp_ set to:1754761364.038862
2025-08-09T17:42:44.040Z,1754761364.040 [DAT](INFO): DAT read: Bearing  53.8,  32.6 (Local)

2025-08-09T17:42:44.041Z,1754761364.041 [DAT](INFO): Local bearing/azimuth received:
 Bearing  53.8,  32.6 (Local)

2025-08-09T17:42:44.043Z,1754761364.043 [DAT](INFO): DAT read: Range 11 to 50 :     0.8 m (trip time 0.5 ms) speed 0.0

2025-08-09T17:42:44.048Z,1754761364.048 [DAT](INFO): DAT read: 17:42:43.1642 LVL= 18160, 11297, 22610, 23011, AGC= 37, IDX= 507,-0.04, 2.567, 2.006, 1.389,-2.846, PHS=-0.768,-1.386,-2.092, RAW=  57.8,  52.6, CAL=  55.0,  57.0, ROT=  95.0, -57.0

2025-08-09T17:42:44.049Z,1754761364.049 [DAT](INFO): got valid direction response:
 17:42:43.1642 LVL= 18160, 11297, 22610, 23011, AGC= 37, IDX= 507,-0.04, 2.567, 2.006, 1.389,-2.846, PHS=-0.768,-1.386,-2.092, RAW=  57.8,  52.6, CAL=  55.0,  57.0, ROT=  95.0, -57.0

2025-08-09T17:42:44.049Z,1754761364.049 [DAT](INFO): #Rx 141: Read range and direction messages.
2025-08-09T17:42:44.050Z,1754761364.050 [DAT](INFO): direction in FSK: [-0.047468,0.542566,0.838671]
2025-08-09T17:42:44.050Z,1754761364.050 [DAT](INFO): publishing direction and range info
2025-08-09T17:42:44.541Z,1754761364.541 [DAT](INFO): DAT read: Rx Time:17:42:43.6643 

2025-08-09T17:42:44.541Z,1754761364.541 [DAT](INFO): Rx dataTimestamp_ set to:1754761364.540763
2025-08-09T17:42:44.542Z,1754761364.542 [DAT](INFO): DAT read: Bearing  55.5,  32.5 (Local)

2025-08-09T17:42:44.543Z,1754761364.543 [DAT](INFO): Local bearing/azimuth received:
 Bearing  55.5,  32.5 (Local)

2025-08-09T17:42:44.545Z,1754761364.545 [DAT](INFO): DAT read: Range 11 to 50 :     0.9 m (trip time 0.6 ms) speed 0.0

2025-08-09T17:42:44.554Z,1754761364.554 [DAT](INFO): DAT read: 17:42:43.6643 LVL= 19008, 11633, 24274, 24179, AGC= 37, IDX= 508, 0.07,-1.706,-2.220,-2.875,-0.814, PHS=-0.789,-1.360,-2.105, RAW=  55.6,  52.8, CAL=  53.0,  57.1, ROT=  97.0, -57.1

2025-08-09T17:42:44.559Z,1754761364.559 [DAT](INFO): got valid direction response:
 17:42:43.6643 LVL= 19008, 11633, 24274, 24179, AGC= 37, IDX= 508, 0.07,-1.706,-2.220,-2.875,-0.814, PHS=-0.789,-1.360,-2.105, RAW=  55.6,  52.8, CAL=  53.0,  57.1, ROT=  97.0, -57.1

2025-08-09T17:42:44.560Z,1754761364.560 [DAT](INFO): #Rx 142: Read range and direction messages.
2025-08-09T17:42:44.561Z,1754761364.561 [DAT](INFO): direction in FSK: [-0.066196,0.539126,0.839620]
2025-08-09T17:42:44.561Z,1754761364.561 [DAT](INFO): publishing direction and range info
2025-08-09T17:42:45.044Z,1754761365.044 [DAT](INFO): DAT read: Rx Time:17:42:44.1642 

2025-08-09T17:42:45.044Z,1754761365.044 [DAT](INFO): Rx dataTimestamp_ set to:1754761365.044093
2025-08-09T17:42:45.046Z,1754761365.046 [DAT](INFO): DAT read: Bearing  56.5,  32.6 (Local)

2025-08-09T17:42:45.046Z,1754761365.046 [DAT](INFO): Local bearing/azimuth received:
 Bearing  56.5,  32.6 (Local)

2025-08-09T17:42:45.048Z,1754761365.048 [DAT](INFO): DAT read: Range 11 to 50 :     0.8 m (trip time 0.5 ms) speed 0.0

2025-08-09T17:42:45.054Z,1754761365.054 [DAT](INFO): DAT read: 17:42:44.1642 LVL= 16784, 10785, 22226, 19571, AGC= 35, IDX= 507, 0.18,-2.066,-2.570, 3.045,-1.168, PHS=-0.796,-1.356,-2.114, RAW=  55.1,  52.8, CAL=  52.5,  57.1, ROT=  97.5, -57.1

2025-08-09T17:42:45.056Z,1754761365.056 [DAT](INFO): got valid direction response:
 17:42:44.1642 LVL= 16784, 10785, 22226, 19571, AGC= 35, IDX= 507, 0.18,-2.066,-2.570, 3.045,-1.168, PHS=-0.796,-1.356,-2.114, RAW=  55.1,  52.8, CAL=  52.5,  57.1, ROT=  97.5, -57.1

2025-08-09T17:42:45.056Z,1754761365.056 [DAT](INFO): #Rx 143: Read range and direction messages.
2025-08-09T17:42:45.058Z,1754761365.058 [DAT](INFO): direction in FSK: [-0.070899,0.538528,0.839620]
2025-08-09T17:42:45.058Z,1754761365.058 [DAT](INFO): publishing direction and range info
2025-08-09T17:42:45.552Z,1754761365.552 [DAT](INFO): DAT read: Rx Time:17:42:44.6644 

2025-08-09T17:42:45.552Z,1754761365.552 [DAT](INFO): Rx dataTimestamp_ set to:1754761365.552093
2025-08-09T17:42:45.554Z,1754761365.554 [DAT](INFO): DAT read: Bearing  57.2,  32.4 (Local)

2025-08-09T17:42:45.554Z,1754761365.554 [DAT](INFO): Local bearing/azimuth received:
 Bearing  57.2,  32.4 (Local)

2025-08-09T17:42:45.556Z,1754761365.556 [DAT](INFO): DAT read: Range 11 to 50 :     1.1 m (trip time 0.7 ms) speed 0.0

2025-08-09T17:42:45.583Z,1754761365.583 [DAT](INFO): DAT read: 17:42:44.6644 LVL= 16880, 11041, 21906, 19747, AGC= 35, IDX= 509, 0.31,-0.227,-0.736,-1.396, 0.678, PHS=-0.804,-1.370,-2.118, RAW=  55.4,  53.0, CAL=  52.8,  57.3, ROT=  97.2, -57.3

2025-08-09T17:42:45.584Z,1754761365.584 [DAT](INFO): got valid direction response:
 17:42:44.6644 LVL= 16880, 11041, 21906, 19747, AGC= 35, IDX= 509, 0.31,-0.227,-0.736,-1.396, 0.678, PHS=-0.804,-1.370,-2.118, RAW=  55.4,  53.0, CAL=  52.8,  57.3, ROT=  97.2, -57.3

2025-08-09T17:42:45.584Z,1754761365.584 [DAT](INFO): #Rx 144: Read range and direction messages.
2025-08-09T17:42:45.585Z,1754761365.585 [DAT](INFO): direction in FSK: [-0.067710,0.535980,0.841511]
2025-08-09T17:42:45.585Z,1754761365.585 [DAT](INFO): publishing direction and range info
2025-08-09T17:42:46.056Z,1754761366.056 [DAT](INFO): DAT read: Rx Time:17:42:45.1643 

2025-08-09T17:42:46.057Z,1754761366.057 [DAT](INFO): Rx dataTimestamp_ set to:1754761366.056407
2025-08-09T17:42:46.058Z,1754761366.058 [DAT](INFO): DAT read: Bearing  57.7,  32.6 (Local)

2025-08-09T17:42:46.058Z,1754761366.058 [DAT](INFO): Local bearing/azimuth received:
 Bearing  57.7,  32.6 (Local)

2025-08-09T17:42:46.060Z,1754761366.060 [DAT](INFO): DAT read: Range 11 to 50 :     0.9 m (trip time 0.6 ms) speed 0.0

2025-08-09T17:42:46.066Z,1754761366.066 [DAT](INFO): DAT read: 17:42:45.1643 LVL= 19424, 11953, 24114, 24339, AGC= 37, IDX= 509,-0.47,-2.636, 3.120, 2.480,-1.746, PHS=-0.788,-1.372,-2.101, RAW=  56.4,  52.9, CAL=  53.7,  57.2, ROT=  96.3, -57.2

2025-08-09T17:42:46.067Z,1754761366.067 [DAT](INFO): got valid direction response:
 17:42:45.1643 LVL= 19424, 11953, 24114, 24339, AGC= 37, IDX= 509,-0.47,-2.636, 3.120, 2.480,-1.746, PHS=-0.788,-1.372,-2.101, RAW=  56.4,  52.9, CAL=  53.7,  57.2, ROT=  96.3, -57.2

2025-08-09T17:42:46.067Z,1754761366.067 [DAT](INFO): #Rx 145: Read range and direction messages.
2025-08-09T17:42:46.068Z,1754761366.068 [DAT](INFO): direction in FSK: [-0.059444,0.538437,0.840567]
2025-08-09T17:42:46.068Z,1754761366.068 [DAT](INFO): publishing direction and range info
2025-08-09T17:42:46.560Z,1754761366.560 [DAT](INFO): DAT read: Rx Time:17:42:45.6644 

2025-08-09T17:42:46.560Z,1754761366.560 [DAT](INFO): Rx dataTimestamp_ set to:1754761366.559979
2025-08-09T17:42:46.562Z,1754761366.562 [DAT](INFO): DAT read: Bearing  58.7,  32.6 (Local)

2025-08-09T17:42:46.562Z,1754761366.562 [DAT](INFO): Local bearing/azimuth received:
 Bearing  58.7,  32.6 (Local)

2025-08-09T17:42:46.564Z,1754761366.564 [DAT](INFO): DAT read: Range 11 to 50 :     1.1 m (trip time 0.7 ms) speed 0.0

2025-08-09T17:42:46.569Z,1754761366.569 [DAT](INFO): DAT read: 17:42:45.6644 LVL= 19216, 11441, 24178, 24403, AGC= 37, IDX= 510,-0.27,-2.096,-2.625, 3.030,-1.210, PHS=-0.784,-1.370,-2.087, RAW=  56.7,  53.0, CAL=  54.0,  57.3, ROT=  96.0, -57.3

2025-08-09T17:42:46.570Z,1754761366.570 [DAT](INFO): got valid direction response:
 17:42:45.6644 LVL= 19216, 11441, 24178, 24403, AGC= 37, IDX= 510,-0.27,-2.096,-2.625, 3.030,-1.210, PHS=-0.784,-1.370,-2.087, RAW=  56.7,  53.0, CAL=  54.0,  57.3, ROT=  96.0, -57.3

2025-08-09T17:42:46.570Z,1754761366.570 [DAT](INFO): #Rx 146: Read range and direction messages.
2025-08-09T17:42:46.571Z,1754761366.571 [DAT](INFO): direction in FSK: [-0.056471,0.537281,0.841511]
2025-08-09T17:42:46.571Z,1754761366.571 [DAT](INFO): publishing direction and range info
2025-08-09T17:42:47.064Z,1754761367.064 [DAT](INFO): DAT read: Rx Time:17:42:46.1644 

2025-08-09T17:42:47.064Z,1754761367.064 [DAT](INFO): Rx dataTimestamp_ set to:1754761367.064067
2025-08-09T17:42:47.066Z,1754761367.066 [DAT](INFO): DAT read: Bearing  59.2,  32.9 (Local)

2025-08-09T17:42:47.066Z,1754761367.066 [DAT](INFO): Local bearing/azimuth received:
 Bearing  59.2,  32.9 (Local)

2025-08-09T17:42:47.068Z,1754761367.068 [DAT](INFO): DAT read: Range 11 to 50 :     1.1 m (trip time 0.7 ms) speed 0.0

2025-08-09T17:42:47.073Z,1754761367.073 [DAT](INFO): DAT read: 17:42:46.1644 LVL= 18720, 11073, 22914, 23027, AGC= 37, IDX= 509,-0.16,-3.027, 2.696, 2.089,-2.167, PHS=-0.759,-1.375,-2.072, RAW=  58.0,  52.6, CAL=  55.2,  57.0, ROT=  94.8, -57.0

2025-08-09T17:42:47.074Z,1754761367.074 [DAT](INFO): got valid direction response:
 17:42:46.1644 LVL= 18720, 11073, 22914, 23027, AGC= 37, IDX= 509,-0.16,-3.027, 2.696, 2.089,-2.167, PHS=-0.759,-1.375,-2.072, RAW=  58.0,  52.6, CAL=  55.2,  57.0, ROT=  94.8, -57.0

2025-08-09T17:42:47.074Z,1754761367.074 [DAT](INFO): #Rx 147: Read range and direction messages.
2025-08-09T17:42:47.075Z,1754761367.075 [DAT](INFO): direction in FSK: [-0.045574,0.542729,0.838671]
2025-08-09T17:42:47.075Z,1754761367.075 [DAT](INFO): publishing direction and range info
2025-08-09T17:42:47.568Z,1754761367.568 [DAT](INFO): DAT read: Rx Time:17:42:46.6644 

2025-08-09T17:42:47.568Z,1754761367.568 [DAT](INFO): Rx dataTimestamp_ set to:1754761367.568020
2025-08-09T17:42:47.570Z,1754761367.570 [DAT](INFO): DAT read: Bearing  61.9,  33.0 (Local)

2025-08-09T17:42:47.570Z,1754761367.570 [DAT](INFO): Local bearing/azimuth received:
 Bearing  61.9,  33.0 (Local)

2025-08-09T17:42:47.572Z,1754761367.572 [DAT](INFO): DAT read: Range 11 to 50 :     1.1 m (trip time 0.7 ms) speed 0.0

2025-08-09T17:42:47.577Z,1754761367.577 [DAT](INFO): DAT read: 17:42:46.6644 LVL= 19600, 10129, 25010, 24243, AGC= 37, IDX= 509,-0.04,-2.881, 2.895, 2.250,-2.011, PHS=-0.768,-1.333,-2.067, RAW=  55.7,  52.6, CAL=  53.0,  56.9, ROT=  97.0, -56.9

2025-08-09T17:42:47.578Z,1754761367.578 [DAT](INFO): got valid direction response:
 17:42:46.6644 LVL= 19600, 10129, 25010, 24243, AGC= 37, IDX= 509,-0.04,-2.881, 2.895, 2.250,-2.011, PHS=-0.768,-1.333,-2.067, RAW=  55.7,  52.6, CAL=  53.0,  56.9, ROT=  97.0, -56.9

2025-08-09T17:42:47.578Z,1754761367.578 [DAT](INFO): #Rx 148: Read range and direction messages.
2025-08-09T17:42:47.579Z,1754761367.579 [DAT](INFO): direction in FSK: [-0.066553,0.542031,0.837719]
2025-08-09T17:42:47.579Z,1754761367.579 [DAT](INFO): publishing direction and range info
2025-08-09T17:42:48.072Z,1754761368.072 [DAT](INFO): DAT read: Rx Time:17:42:47.1643 

2025-08-09T17:42:48.072Z,1754761368.072 [DAT](INFO): Rx dataTimestamp_ set to:1754761368.072062
2025-08-09T17:42:48.074Z,1754761368.074 [DAT](INFO): DAT read: Bearing  63.4,  33.4 (Local)

2025-08-09T17:42:48.082Z,1754761368.082 [DAT](INFO): Local bearing/azimuth received:
 Bearing  63.4,  33.4 (Local)

2025-08-09T17:42:48.085Z,1754761368.085 [DAT](INFO): DAT read: Range 11 to 50 :     0.9 m (trip time 0.6 ms) speed 0.0

2025-08-09T17:42:48.120Z,1754761368.120 [DAT](INFO): DAT read: 17:42:47.1643 LVL= 19568,  9441, 24370, 24563, AGC= 37, IDX= 508, 0.05,-2.414,-2.917, 2.704,-1.555, PHS=-0.757,-1.317,-2.068, RAW=  55.2,  52.1, CAL=  52.5,  56.5, ROT=  97.5, -56.5

2025-08-09T17:42:48.121Z,1754761368.121 [DAT](INFO): got valid direction response:
 17:42:47.1643 LVL= 19568,  9441, 24370, 24563, AGC= 37, IDX= 508, 0.05,-2.414,-2.917, 2.704,-1.555, PHS=-0.757,-1.317,-2.068, RAW=  55.2,  52.1, CAL=  52.5,  56.5, ROT=  97.5, -56.5

2025-08-09T17:42:48.122Z,1754761368.122 [DAT](INFO): #Rx 149: Read range and direction messages.
2025-08-09T17:42:48.131Z,1754761368.131 [DAT](INFO): direction in FSK: [-0.072042,0.547215,0.833886]
2025-08-09T17:42:48.132Z,1754761368.132 [DAT](INFO): publishing direction and range info
2025-08-09T17:42:48.576Z,1754761368.576 [DAT](INFO): DAT read: Rx Time:17:42:47.6644 

2025-08-09T17:42:48.576Z,1754761368.576 [DAT](INFO): Rx dataTimestamp_ set to:1754761368.576127
2025-08-09T17:42:48.578Z,1754761368.578 [DAT](INFO): DAT read: Bearing  64.7,  33.2 (Local)

2025-08-09T17:42:48.578Z,1754761368.578 [DAT](INFO): Local bearing/azimuth received:
 Bearing  64.7,  33.2 (Local)

2025-08-09T17:42:48.580Z,1754761368.580 [DAT](INFO): DAT read: Range 11 to 50 :     1.1 m (trip time 0.7 ms) speed 0.0

2025-08-09T17:42:48.590Z,1754761368.590 [DAT](INFO): DAT read: 17:42:47.6644 LVL= 19440,  8993, 24898, 24563, AGC= 37, IDX= 509, 0.15,-1.125,-1.614,-2.282,-0.257, PHS=-0.766,-1.313,-2.069, RAW=  54.7,  52.3, CAL=  52.1,  56.6, ROT=  97.9, -56.6

2025-08-09T17:42:48.591Z,1754761368.591 [DAT](INFO): got valid direction response:
 17:42:47.6644 LVL= 19440,  8993, 24898, 24563, AGC= 37, IDX= 509, 0.15,-1.125,-1.614,-2.282,-0.257, PHS=-0.766,-1.313,-2.069, RAW=  54.7,  52.3, CAL=  52.1,  56.6, ROT=  97.9, -56.6

2025-08-09T17:42:48.591Z,1754761368.591 [DAT](INFO): #Rx 150: Read range and direction messages.
2025-08-09T17:42:48.592Z,1754761368.592 [DAT](INFO): direction in FSK: [-0.075661,0.545256,0.834848]
2025-08-09T17:42:48.592Z,1754761368.592 [DAT](INFO): publishing direction and range info
2025-08-09T17:42:49.080Z,1754761369.080 [DAT](INFO): DAT read: Rx Time:17:42:48.1643 

2025-08-09T17:42:49.080Z,1754761369.080 [DAT](INFO): Rx dataTimestamp_ set to:1754761369.080016
2025-08-09T17:42:49.082Z,1754761369.082 [DAT](INFO): DAT read: Bearing  64.1,  33.5 (Local)

2025-08-09T17:42:49.082Z,1754761369.082 [DAT](INFO): Local bearing/azimuth received:
 Bearing  64.1,  33.5 (Local)

2025-08-09T17:42:49.084Z,1754761369.084 [DAT](INFO): DAT read: Range 11 to 50 :     0.9 m (trip time 0.6 ms) speed 0.0

2025-08-09T17:42:49.089Z,1754761369.089 [DAT](INFO): DAT read: 17:42:48.1643 LVL= 19520,  8721, 23154, 24787, AGC= 37, IDX= 508, 0.30,-2.032,-2.580, 3.079,-1.192, PHS=-0.738,-1.343,-2.056, RAW=  57.3,  52.0, CAL=  54.5,  56.4, ROT=  95.5, -56.4

2025-08-09T17:42:49.090Z,1754761369.090 [DAT](INFO): got valid direction response:
 17:42:48.1643 LVL= 19520,  8721, 23154, 24787, AGC= 37, IDX= 508, 0.30,-2.032,-2.580, 3.079,-1.192, PHS=-0.738,-1.343,-2.056, RAW=  57.3,  52.0, CAL=  54.5,  56.4, ROT=  95.5, -56.4

2025-08-09T17:42:49.090Z,1754761369.090 [DAT](INFO): #Rx 151: Read range and direction messages.
2025-08-09T17:42:49.092Z,1754761369.092 [DAT](INFO): direction in FSK: [-0.053040,0.550844,0.832921]
2025-08-09T17:42:49.092Z,1754761369.092 [DAT](INFO): publishing direction and range info
2025-08-09T17:42:49.584Z,1754761369.584 [DAT](INFO): DAT read: Rx Time:17:42:48.6644 

2025-08-09T17:42:49.584Z,1754761369.584 [DAT](INFO): Rx dataTimestamp_ set to:1754761369.584020
2025-08-09T17:42:49.586Z,1754761369.586 [DAT](INFO): DAT read: Bearing  62.5,  32.5 (Local)

2025-08-09T17:42:49.586Z,1754761369.586 [DAT](INFO): Local bearing/azimuth received:
 Bearing  62.5,  32.5 (Local)

2025-08-09T17:42:49.588Z,1754761369.588 [DAT](INFO): DAT read: Range 11 to 50 :     1.1 m (trip time 0.7 ms) speed 0.0

2025-08-09T17:42:49.593Z,1754761369.593 [DAT](INFO): DAT read: 17:42:48.6644 LVL= 19104,  8625, 22610, 23875, AGC= 37, IDX= 509, 0.49,-1.456,-2.068,-2.616,-0.608, PHS=-0.746,-1.415,-2.051, RAW=  60.8,  52.8, CAL=  57.8,  57.2, ROT=  92.2, -57.2

2025-08-09T17:42:49.594Z,1754761369.594 [DAT](INFO): got valid direction response:
 17:42:48.6644 LVL= 19104,  8625, 22610, 23875, AGC= 37, IDX= 509, 0.49,-1.456,-2.068,-2.616,-0.608, PHS=-0.746,-1.415,-2.051, RAW=  60.8,  52.8, CAL=  57.8,  57.2, ROT=  92.2, -57.2

2025-08-09T17:42:49.594Z,1754761369.594 [DAT](INFO): #Rx 152: Read range and direction messages.
2025-08-09T17:42:49.595Z,1754761369.595 [DAT](INFO): direction in FSK: [-0.020795,0.541309,0.840567]
2025-08-09T17:42:49.595Z,1754761369.595 [DAT](INFO): publishing direction and range info
2025-08-09T17:42:50.089Z,1754761370.089 [DAT](INFO): DAT read: Rx Time:17:42:49.1643 

2025-08-09T17:42:50.090Z,1754761370.090 [DAT](INFO): Rx dataTimestamp_ set to:1754761370.089616
2025-08-09T17:42:50.091Z,1754761370.091 [DAT](INFO): DAT read: Bearing  59.8,  31.6 (Local)

2025-08-09T17:42:50.092Z,1754761370.092 [DAT](INFO): Local bearing/azimuth received:
 Bearing  59.8,  31.6 (Local)

2025-08-09T17:42:50.094Z,1754761370.094 [DAT](INFO): DAT read: Range 11 to 50 :     0.9 m (trip time 0.6 ms) speed 0.0

2025-08-09T17:42:50.099Z,1754761370.099 [DAT](INFO): DAT read: 17:42:49.1643 LVL= 19280,  9041, 22962, 24275, AGC= 37, IDX= 509,-0.31, 1.702, 0.987, 0.542, 2.542, PHS=-0.738,-1.510,-2.044, RAW=  66.0,  53.1, CAL=  62.9,  57.8, ROT=  87.1, -57.8

2025-08-09T17:42:50.101Z,1754761370.101 [DAT](INFO): got valid direction response:
 17:42:49.1643 LVL= 19280,  9041, 22962, 24275, AGC= 37, IDX= 509,-0.31, 1.702, 0.987, 0.542, 2.542, PHS=-0.738,-1.510,-2.044, RAW=  66.0,  53.1, CAL=  62.9,  57.8, ROT=  87.1, -57.8

2025-08-09T17:42:50.101Z,1754761370.101 [DAT](INFO): #Rx 153: Read range and direction messages.
2025-08-09T17:42:50.111Z,1754761370.111 [DAT](INFO): direction in FSK: [0.026960,0.532194,0.846193]
2025-08-09T17:42:50.111Z,1754761370.111 [DAT](INFO): publishing direction and range info
2025-08-09T17:42:50.593Z,1754761370.593 [DAT](INFO): DAT read: Rx Time:17:42:49.6644 

2025-08-09T17:42:50.594Z,1754761370.594 [DAT](INFO): Rx dataTimestamp_ set to:1754761370.593054
2025-08-09T17:42:50.595Z,1754761370.595 [DAT](INFO): DAT read: Bearing  61.1,  31.6 (Local)

2025-08-09T17:42:50.596Z,1754761370.596 [DAT](INFO): Local bearing/azimuth received:
 Bearing  61.1,  31.6 (Local)

2025-08-09T17:42:50.598Z,1754761370.598 [DAT](INFO): DAT read: Range 11 to 50 :     1.1 m (trip time 0.7 ms) speed 0.0

2025-08-09T17:42:50.616Z,1754761370.616 [DAT](INFO): DAT read: 17:42:49.6644 LVL= 19184,  9073, 22946, 24131, AGC= 37, IDX= 510,-0.18, 3.007, 2.334, 1.860,-2.423, PHS=-0.751,-1.481,-2.044, RAW=  64.3,  53.4, CAL=  61.2,  57.9, ROT=  88.8, -57.9

2025-08-09T17:42:50.618Z,1754761370.618 [DAT](INFO): got valid direction response:
 17:42:49.6644 LVL= 19184,  9073, 22946, 24131, AGC= 37, IDX= 510,-0.18, 3.007, 2.334, 1.860,-2.423, PHS=-0.751,-1.481,-2.044, RAW=  64.3,  53.4, CAL=  61.2,  57.9, ROT=  88.8, -57.9

2025-08-09T17:42:50.627Z,1754761370.627 [DAT](INFO): #Rx 154: Read range and direction messages.
2025-08-09T17:42:50.630Z,1754761370.630 [DAT](INFO): direction in FSK: [0.011129,0.531282,0.847122]
2025-08-09T17:42:50.639Z,1754761370.639 [DAT](INFO): publishing direction and range info
2025-08-09T17:42:51.097Z,1754761371.097 [DAT](INFO): DAT read: Rx Time:17:42:50.1644 

2025-08-09T17:42:51.098Z,1754761371.098 [DAT](INFO): Rx dataTimestamp_ set to:1754761371.097415
2025-08-09T17:42:51.100Z,1754761371.100 [DAT](INFO): DAT read: Bearing  62.3,  32.0 (Local)

2025-08-09T17:42:51.100Z,1754761371.100 [DAT](INFO): Local bearing/azimuth received:
 Bearing  62.3,  32.0 (Local)

2025-08-09T17:42:51.102Z,1754761371.102 [DAT](INFO): DAT read: Range 11 to 50 :     1.1 m (trip time 0.7 ms) speed 0.0

2025-08-09T17:42:51.107Z,1754761371.107 [DAT](INFO): DAT read: 17:42:50.1644 LVL= 19360,  9169, 22770, 24275, AGC= 37, IDX= 509,-0.09, 2.563, 1.917, 1.406,-2.864, PHS=-0.755,-1.458,-2.057, RAW=  62.6,  53.2, CAL=  59.6,  57.7, ROT=  90.4, -57.7

2025-08-09T17:42:51.108Z,1754761371.108 [DAT](INFO): got valid direction response:
 17:42:50.1644 LVL= 19360,  9169, 22770, 24275, AGC= 37, IDX= 509,-0.09, 2.563, 1.917, 1.406,-2.864, PHS=-0.755,-1.458,-2.057, RAW=  62.6,  53.2, CAL=  59.6,  57.7, ROT=  90.4, -57.7

2025-08-09T17:42:51.108Z,1754761371.108 [DAT](INFO): #Rx 155: Read range and direction messages.
2025-08-09T17:42:51.109Z,1754761371.109 [DAT](INFO): direction in FSK: [-0.003730,0.534339,0.845262]
2025-08-09T17:42:51.109Z,1754761371.109 [DAT](INFO): publishing direction and range info
2025-08-09T17:42:51.600Z,1754761371.600 [DAT](INFO): DAT read: Rx Time:17:42:50.6644 

2025-08-09T17:42:51.600Z,1754761371.600 [DAT](INFO): Rx dataTimestamp_ set to:1754761371.599985
2025-08-09T17:42:51.602Z,1754761371.602 [DAT](INFO): DAT read: Bearing  64.1,  32.5 (Local)

2025-08-09T17:42:51.602Z,1754761371.602 [DAT](INFO): Local bearing/azimuth received:
 Bearing  64.1,  32.5 (Local)

2025-08-09T17:42:51.604Z,1754761371.604 [DAT](INFO): DAT read: Range 11 to 50 :     1.1 m (trip time 0.7 ms) speed 0.0

2025-08-09T17:42:51.608Z,1754761371.608 [DAT](INFO): DAT read: 17:42:50.6644 LVL= 19424,  9265, 23266, 24019, AGC= 37, IDX= 509, 0.02,-2.879, 2.817, 2.242,-2.026, PHS=-0.751,-1.396,-2.060, RAW=  59.5,  52.7, CAL=  56.6,  57.1, ROT=  93.4, -57.1

2025-08-09T17:42:51.609Z,1754761371.609 [DAT](INFO): got valid direction response:
 17:42:50.6644 LVL= 19424,  9265, 23266, 24019, AGC= 37, IDX= 509, 0.02,-2.879, 2.817, 2.242,-2.026, PHS=-0.751,-1.396,-2.060, RAW=  59.5,  52.7, CAL=  56.6,  57.1, ROT=  93.4, -57.1

2025-08-09T17:42:51.610Z,1754761371.610 [DAT](INFO): #Rx 156: Read range and direction messages.
2025-08-09T17:42:51.611Z,1754761371.611 [DAT](INFO): direction in FSK: [-0.032214,0.542218,0.839620]
2025-08-09T17:42:51.611Z,1754761371.611 [DAT](INFO): publishing direction and range info
2025-08-09T17:42:52.108Z,1754761372.108 [DAT](INFO): DAT read: Rx Time:17:42:51.1643 

2025-08-09T17:42:52.110Z,1754761372.110 [DAT](INFO): Rx dataTimestamp_ set to:1754761372.108691
2025-08-09T17:42:52.112Z,1754761372.112 [DAT](INFO): DAT read: Bearing  65.8,  33.2 (Local)

2025-08-09T17:42:52.113Z,1754761372.113 [DAT](INFO): Local bearing/azimuth received:
 Bearing  65.8,  33.2 (Local)

2025-08-09T17:42:52.115Z,1754761372.115 [DAT](INFO): DAT read: Range 11 to 50 :     0.9 m (trip time 0.6 ms) speed 0.0

2025-08-09T17:42:52.119Z,1754761372.119 [DAT](INFO): DAT read: 17:42:51.1643 LVL= 19568,  8945, 23730, 24051, AGC= 37, IDX= 508, 0.12, 3.015, 2.481, 1.846,-2.419, PHS=-0.746,-1.337,-2.062, RAW=  56.6,  52.1, CAL=  53.9,  56.5, ROT=  96.1, -56.5

2025-08-09T17:42:52.120Z,1754761372.120 [DAT](INFO): got valid direction response:
 17:42:51.1643 LVL= 19568,  8945, 23730, 24051, AGC= 37, IDX= 508, 0.12, 3.015, 2.481, 1.846,-2.419, PHS=-0.746,-1.337,-2.062, RAW=  56.6,  52.1, CAL=  53.9,  56.5, ROT=  96.1, -56.5

2025-08-09T17:42:52.121Z,1754761372.121 [DAT](INFO): #Rx 157: Read range and direction messages.
2025-08-09T17:42:52.122Z,1754761372.122 [DAT](INFO): direction in FSK: [-0.058651,0.548812,0.833886]
2025-08-09T17:42:52.134Z,1754761372.134 [DAT](INFO): publishing direction and range info
2025-08-09T17:42:52.609Z,1754761372.609 [DAT](INFO): DAT read: Rx Time:17:42:51.6644 

2025-08-09T17:42:52.609Z,1754761372.609 [DAT](INFO): Rx dataTimestamp_ set to:1754761372.608834
2025-08-09T17:42:52.611Z,1754761372.611 [DAT](INFO): DAT read: Bearing  65.1,  33.7 (Local)

2025-08-09T17:42:52.611Z,1754761372.611 [DAT](INFO): Local bearing/azimuth received:
 Bearing  65.1,  33.7 (Local)

2025-08-09T17:42:52.614Z,1754761372.614 [DAT](INFO): DAT read: Range 11 to 50 :     1.1 m (trip time 0.7 ms) speed 0.0

2025-08-09T17:42:52.621Z,1754761372.621 [DAT](INFO): DAT read: 17:42:51.6644 LVL= 19376,  9073, 22898, 24355, AGC= 37, IDX= 509, 0.25,-2.638, 3.093, 2.472,-1.806, PHS=-0.730,-1.340,-2.050, RAW=  57.5,  51.9, CAL=  54.7,  56.3, ROT=  95.3, -56.3

2025-08-09T17:42:52.624Z,1754761372.624 [DAT](INFO): got valid direction response:
 17:42:51.6644 LVL= 19376,  9073, 22898, 24355, AGC= 37, IDX= 509, 0.25,-2.638, 3.093, 2.472,-1.806, PHS=-0.730,-1.340,-2.050, RAW=  57.5,  51.9, CAL=  54.7,  56.3, ROT=  95.3, -56.3

2025-08-09T17:42:52.625Z,1754761372.625 [DAT](INFO): #Rx 158: Read range and direction messages.
2025-08-09T17:42:52.627Z,1754761372.627 [DAT](INFO): direction in FSK: [-0.051251,0.552472,0.831954]
2025-08-09T17:42:52.628Z,1754761372.628 [DAT](INFO): publishing direction and range info
2025-08-09T17:42:53.112Z,1754761373.112 [DAT](INFO): DAT read: Rx Time:17:42:52.1643 

2025-08-09T17:42:53.112Z,1754761373.112 [DAT](INFO): Rx dataTimestamp_ set to:1754761373.112057
2025-08-09T17:42:53.114Z,1754761373.114 [DAT](INFO): DAT read: Bearing  65.7,  33.4 (Local)

2025-08-09T17:42:53.114Z,1754761373.114 [DAT](INFO): Local bearing/azimuth received:
 Bearing  65.7,  33.4 (Local)

2025-08-09T17:42:53.116Z,1754761373.116 [DAT](INFO): DAT read: Range 11 to 50 :     0.9 m (trip time 0.6 ms) speed 0.0

2025-08-09T17:42:53.121Z,1754761373.121 [DAT](INFO): DAT read: 17:42:52.1643 LVL= 18928,  8881, 23762, 22515, AGC= 37, IDX= 508, 0.42, 2.555, 2.033, 1.389,-2.882, PHS=-0.744,-1.323,-2.056, RAW=  56.1,  52.0, CAL=  53.4,  56.4, ROT=  96.6, -56.4

2025-08-09T17:42:53.123Z,1754761373.123 [DAT](INFO): got valid direction response:
 17:42:52.1643 LVL= 18928,  8881, 23762, 22515, AGC= 37, IDX= 508, 0.42, 2.555, 2.033, 1.389,-2.882, PHS=-0.744,-1.323,-2.056, RAW=  56.1,  52.0, CAL=  53.4,  56.4, ROT=  96.6, -56.4

2025-08-09T17:42:53.124Z,1754761373.124 [DAT](INFO): #Rx 159: Read range and direction messages.
2025-08-09T17:42:53.126Z,1754761373.126 [DAT](INFO): direction in FSK: [-0.063605,0.549724,0.832921]
2025-08-09T17:42:53.144Z,1754761373.144 [DAT](INFO): publishing direction and range info
2025-08-09T17:42:53.274Z,1754761373.274 [lineCaptureHoming:Lap:Docked:Docked.Docked](IMPORTANT): Done checking for power/comms, continuing with slide
2025-08-09T17:42:53.274Z,1754761373.274 [lineCaptureHoming:Lap:Docked:Docked.Docked](IMPORTANT): Slide state transition from 1 to 2
2025-08-09T17:42:53.318Z,1754761373.318 [DockingStepper](INFO): Changing to mode: 4
2025-08-09T17:42:53.616Z,1754761373.616 [DAT](INFO): DAT read: Rx Time:17:42:52.6644 

2025-08-09T17:42:53.616Z,1754761373.616 [DAT](INFO): Rx dataTimestamp_ set to:1754761373.616010
2025-08-09T17:42:53.618Z,1754761373.618 [DAT](INFO): DAT read: Bearing  66.2,  33.1 (Local)

2025-08-09T17:42:53.618Z,1754761373.618 [DAT](INFO): Local bearing/azimuth received:
 Bearing  66.2,  33.1 (Local)

2025-08-09T17:42:53.620Z,1754761373.620 [DAT](INFO): DAT read: Range 11 to 50 :     1.1 m (trip time 0.7 ms) speed 0.0

2025-08-09T17:42:53.629Z,1754761373.629 [DAT](INFO): DAT read: 17:42:52.6644 LVL= 19328,  9121, 23794, 24051, AGC= 37, IDX= 510,-0.37, 1.744, 1.261, 0.605, 2.606, PHS=-0.760,-1.301,-2.045, RAW=  54.8,  52.4, CAL=  52.2,  56.7, ROT=  97.8, -56.7

2025-08-09T17:42:53.630Z,1754761373.630 [DAT](INFO): got valid direction response:
 17:42:52.6644 LVL= 19328,  9121, 23794, 24051, AGC= 37, IDX= 510,-0.37, 1.744, 1.261, 0.605, 2.606, PHS=-0.760,-1.301,-2.045, RAW=  54.8,  52.4, CAL=  52.2,  56.7, ROT=  97.8, -56.7

2025-08-09T17:42:53.631Z,1754761373.631 [DAT](INFO): #Rx 160: Read range and direction messages.
2025-08-09T17:42:53.633Z,1754761373.633 [DAT](INFO): direction in FSK: [-0.074511,0.543943,0.835807]
2025-08-09T17:42:53.633Z,1754761373.633 [DAT](INFO): publishing direction and range info
2025-08-09T17:42:54.135Z,1754761374.135 [DAT](INFO): DAT read: Rx Time:17:42:53.1643 

2025-08-09T17:42:54.136Z,1754761374.136 [DAT](INFO): Rx dataTimestamp_ set to:1754761374.135785
2025-08-09T17:42:54.139Z,1754761374.139 [DAT](INFO): DAT read: Bearing  65.9,  32.6 (Local)

2025-08-09T17:42:54.139Z,1754761374.139 [DAT](INFO): Local bearing/azimuth received:
 Bearing  65.9,  32.6 (Local)

2025-08-09T17:42:54.143Z,1754761374.143 [DAT](INFO): DAT read: Range 11 to 50 :     0.9 m (trip time 0.6 ms) speed 0.0

2025-08-09T17:42:54.157Z,1754761374.157 [DAT](INFO): DAT read: 17:42:53.1643 LVL= 19184,  9681, 24306, 22947, AGC= 37, IDX= 509,-0.22, 0.671, 0.196,-0.450, 1.555, PHS=-0.781,-1.313,-2.049, RAW=  54.7,  53.0, CAL=  52.1,  57.3, ROT=  97.9, -57.3

2025-08-09T17:42:54.163Z,1754761374.163 [DAT](INFO): got valid direction response:
 17:42:53.1643 LVL= 19184,  9681, 24306, 22947, AGC= 37, IDX= 509,-0.22, 0.671, 0.196,-0.450, 1.555, PHS=-0.781,-1.313,-2.049, RAW=  54.7,  53.0, CAL=  52.1,  57.3, ROT=  97.9, -57.3

2025-08-09T17:42:54.163Z,1754761374.163 [DAT](INFO): #Rx 161: Read range and direction messages.
2025-08-09T17:42:54.164Z,1754761374.164 [DAT](INFO): direction in FSK: [-0.074253,0.535113,0.841511]
2025-08-09T17:42:54.165Z,1754761374.165 [DAT](INFO): publishing direction and range info
2025-08-09T17:42:54.627Z,1754761374.627 [DAT](INFO): DAT read: Rx Time:17:42:53.6645 

2025-08-09T17:42:54.628Z,1754761374.628 [DAT](INFO): Rx dataTimestamp_ set to:1754761374.627265
2025-08-09T17:42:54.630Z,1754761374.630 [DAT](INFO): DAT read: Bearing  65.3,  31.7 (Local)

2025-08-09T17:42:54.631Z,1754761374.631 [DAT](INFO): Local bearing/azimuth received:
 Bearing  65.3,  31.7 (Local)

2025-08-09T17:42:54.634Z,1754761374.634 [DAT](INFO): DAT read: Range 11 to 50 :     1.2 m (trip time 0.8 ms) speed 0.0

2025-08-09T17:42:54.653Z,1754761374.653 [DAT](INFO): DAT read: 17:42:53.6645 LVL= 19312,  9041, 24018, 21747, AGC= 36, IDX= 510,-0.13, 2.609, 2.115, 1.477,-2.773, PHS=-0.799,-1.349,-2.076, RAW=  55.4,  53.4, CAL=  52.9,  57.6, ROT=  97.1, -57.6

2025-08-09T17:42:54.655Z,1754761374.655 [DAT](INFO): got valid direction response:
 17:42:53.6645 LVL= 19312,  9041, 24018, 21747, AGC= 36, IDX= 510,-0.13, 2.609, 2.115, 1.477,-2.773, PHS=-0.799,-1.349,-2.076, RAW=  55.4,  53.4, CAL=  52.9,  57.6, ROT=  97.1, -57.6

2025-08-09T17:42:54.656Z,1754761374.656 [DAT](INFO): #Rx 162: Read range and direction messages.
2025-08-09T17:42:54.657Z,1754761374.657 [DAT](INFO): direction in FSK: [-0.066229,0.531718,0.844328]
2025-08-09T17:42:54.657Z,1754761374.657 [DAT](INFO): publishing direction and range info
2025-08-09T17:42:55.129Z,1754761375.129 [DAT](INFO): DAT read: Rx Time:17:42:54.1644 

2025-08-09T17:42:55.130Z,1754761375.130 [DAT](INFO): Rx dataTimestamp_ set to:1754761375.129136
2025-08-09T17:42:55.132Z,1754761375.132 [DAT](INFO): DAT read: Bearing  67.9,  31.1 (Local)

2025-08-09T17:42:55.132Z,1754761375.132 [DAT](INFO): Local bearing/azimuth received:
 Bearing  67.9,  31.1 (Local)

2025-08-09T17:42:55.135Z,1754761375.135 [DAT](INFO): DAT read: Range 11 to 50 :     1.1 m (trip time 0.7 ms) speed 0.0

2025-08-09T17:42:55.143Z,1754761375.143 [DAT](INFO): DAT read: 17:42:54.1644 LVL= 22144,  7601, 22482, 22995, AGC= 36, IDX= 509, 0.00, 1.560, 1.146, 0.416, 2.461, PHS=-0.799,-1.270,-2.089, RAW=  51.1,  52.4, CAL=  48.7,  56.7, ROT= 101.3, -56.7

2025-08-09T17:42:55.144Z,1754761375.144 [DAT](INFO): got valid direction response:
 17:42:54.1644 LVL= 22144,  7601, 22482, 22995, AGC= 36, IDX= 509, 0.00, 1.560, 1.146, 0.416, 2.461, PHS=-0.799,-1.270,-2.089, RAW=  51.1,  52.4, CAL=  48.7,  56.7, ROT= 101.3, -56.7

2025-08-09T17:42:55.145Z,1754761375.145 [DAT](INFO): #Rx 163: Read range and direction messages.
2025-08-09T17:42:55.148Z,1754761375.148 [DAT](INFO): direction in FSK: [-0.107579,0.538380,0.835807]
2025-08-09T17:42:55.149Z,1754761375.149 [DAT](INFO): publishing direction and range info
2025-08-09T17:42:55.633Z,1754761375.633 [DAT](INFO): DAT read: Rx Time:17:42:54.6644 

2025-08-09T17:42:55.634Z,1754761375.634 [DAT](INFO): Rx dataTimestamp_ set to:1754761375.633443
2025-08-09T17:42:55.636Z,1754761375.636 [DAT](INFO): DAT read: Bearing  70.6,  31.0 (Local)

2025-08-09T17:42:55.636Z,1754761375.636 [DAT](INFO): Local bearing/azimuth received:
 Bearing  70.6,  31.0 (Local)

2025-08-09T17:42:55.640Z,1754761375.640 [DAT](INFO): DAT read: Range 11 to 50 :     1.1 m (trip time 0.7 ms) speed 0.0

2025-08-09T17:42:55.659Z,1754761375.659 [DAT](INFO): DAT read: 17:42:54.6644 LVL= 22928,  7585, 22258, 23331, AGC= 36, IDX= 509, 0.14, 1.620, 1.299, 0.486, 2.506, PHS=-0.784,-1.162,-2.064, RAW=  46.7,  51.2, CAL=  44.5,  55.7, ROT= 105.5, -55.7

2025-08-09T17:42:55.660Z,1754761375.660 [DAT](INFO): got valid direction response:
 17:42:54.6644 LVL= 22928,  7585, 22258, 23331, AGC= 36, IDX= 509, 0.14, 1.620, 1.299, 0.486, 2.506, PHS=-0.784,-1.162,-2.064, RAW=  46.7,  51.2, CAL=  44.5,  55.7, ROT= 105.5, -55.7

2025-08-09T17:42:55.660Z,1754761375.660 [DAT](INFO): #Rx 164: Read range and direction messages.
2025-08-09T17:42:55.661Z,1754761375.661 [DAT](INFO): direction in FSK: [-0.150596,0.543031,0.826098]
2025-08-09T17:42:55.661Z,1754761375.661 [DAT](INFO): publishing direction and range info
2025-08-09T17:42:56.115Z,1754761376.115 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-09T17:42:56.139Z,1754761376.139 [DAT](INFO): DAT read: Rx Time:17:42:55.1643 

2025-08-09T17:42:56.140Z,1754761376.140 [DAT](INFO): Rx dataTimestamp_ set to:1754761376.139264
2025-08-09T17:42:56.142Z,1754761376.142 [DAT](INFO): DAT read: Bearing  75.2,  32.0 (Local)

2025-08-09T17:42:56.167Z,1754761376.167 [DAT](INFO): Local bearing/azimuth received:
 Bearing  75.2,  32.0 (Local)

2025-08-09T17:42:56.170Z,1754761376.170 [DAT](INFO): DAT read: Range 11 to 50 :     0.9 m (trip time 0.6 ms) speed 0.0

2025-08-09T17:42:56.196Z,1754761376.196 [DAT](INFO): DAT read: 17:42:55.1643 LVL= 19824,  7489, 22002, 24803, AGC= 36, IDX= 508, 0.30, 0.507, 0.321,-0.622, 1.370, PHS=-0.762,-1.004,-2.036, RAW=  40.3,  48.9, CAL=  38.4,  53.7, ROT= 111.6, -53.7

2025-08-09T17:42:56.197Z,1754761376.197 [DAT](INFO): got valid direction response:
 17:42:55.1643 LVL= 19824,  7489, 22002, 24803, AGC= 36, IDX= 508, 0.30, 0.507, 0.321,-0.622, 1.370, PHS=-0.762,-1.004,-2.036, RAW=  40.3,  48.9, CAL=  38.4,  53.7, ROT= 111.6, -53.7

2025-08-09T17:42:56.198Z,1754761376.198 [DAT](INFO): #Rx 165: Read range and direction messages.
2025-08-09T17:42:56.203Z,1754761376.203 [DAT](INFO): direction in FSK: [-0.217935,0.550440,0.805928]
2025-08-09T17:42:56.204Z,1754761376.204 [DAT](INFO): publishing direction and range info
2025-08-09T17:42:56.213Z,1754761376.213 [DAT](INFO): ****** received valid address query ******
2025-08-09T17:42:56.213Z,1754761376.213 [DAT](INFO): ****** received valid ping request ******
2025-08-09T17:42:56.213Z,1754761376.213 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-09T17:42:56.387Z,1754761376.387 [DAT](INFO): Reached modem response timeout
2025-08-09T17:42:56.387Z,1754761376.387 [DAT](DEBUG): Acoustic response timeout
2025-08-09T17:42:56.387Z,1754761376.387 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-09T17:42:56.641Z,1754761376.641 [DAT](INFO): DAT read: Rx Time:17:42:55.6644 

2025-08-09T17:42:56.642Z,1754761376.642 [DAT](INFO): Rx dataTimestamp_ set to:1754761376.641576
2025-08-09T17:42:56.644Z,1754761376.644 [DAT](INFO): DAT read: Bearing  81.4,  32.9 (Local)

2025-08-09T17:42:56.645Z,1754761376.645 [DAT](INFO): Local bearing/azimuth received:
 Bearing  81.4,  32.9 (Local)

2025-08-09T17:42:56.648Z,1754761376.648 [DAT](INFO): DAT read: Range 11 to 50 :     1.1 m (trip time 0.7 ms) speed 0.0

2025-08-09T17:42:56.653Z,1754761376.653 [DAT](INFO): DAT read: 17:42:55.6644 LVL= 22256,  9441, 24818, 30899, AGC= 38, IDX= 509, 0.49, 0.939, 0.936,-0.154, 1.802, PHS=-0.761,-0.821,-1.999, RAW=  32.5,  46.3, CAL=  30.7,  51.2, ROT= 119.3, -51.2

2025-08-09T17:42:56.658Z,1754761376.658 [DAT](INFO): got valid direction response:
 17:42:55.6644 LVL= 22256,  9441, 24818, 30899, AGC= 38, IDX= 509, 0.49, 0.939, 0.936,-0.154, 1.802, PHS=-0.761,-0.821,-1.999, RAW=  32.5,  46.3, CAL=  30.7,  51.2, ROT= 119.3, -51.2

2025-08-09T17:42:56.663Z,1754761376.663 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-09T17:42:56.664Z,1754761376.664 [DAT](INFO): direction in FSK: [-0.306649,0.546442,0.779338]
2025-08-09T17:42:56.664Z,1754761376.664 [DAT](INFO): publishing direction and range info
2025-08-09T17:42:56.673Z,1754761376.673 [DAT](DEBUG): Acoustic response timeout
2025-08-09T17:42:56.673Z,1754761376.673 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-09T17:42:56.891Z,1754761376.891 [DAT](INFO): Reached modem response timeout
2025-08-09T17:42:56.891Z,1754761376.891 [DAT](DEBUG): Acoustic response timeout
2025-08-09T17:42:56.891Z,1754761376.891 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-09T17:42:57.145Z,1754761377.145 [DAT](INFO): DAT read: Rx Time:17:42:56.1643 

2025-08-09T17:42:57.146Z,1754761377.146 [DAT](INFO): Rx dataTimestamp_ set to:1754761377.145282
2025-08-09T17:42:57.148Z,1754761377.148 [DAT](INFO): DAT read: Bearing  84.6,  33.0 (Local)

2025-08-09T17:42:57.148Z,1754761377.148 [DAT](INFO): Local bearing/azimuth received:
 Bearing  84.6,  33.0 (Local)

2025-08-09T17:42:57.151Z,1754761377.151 [DAT](INFO): DAT read: Range 11 to 50 :     0.9 m (trip time 0.6 ms) speed 0.0

2025-08-09T17:42:57.155Z,1754761377.155 [DAT](INFO): DAT read: 17:42:56.1643 LVL= 19856,  8721, 23602, 28227, AGC= 37, IDX= 509,-0.31,-2.396,-2.294, 2.851,-1.540, PHS=-0.754,-0.709,-1.936, RAW=  28.1,  44.9, CAL=  26.4,  49.9, ROT= 123.6, -49.9

2025-08-09T17:42:57.156Z,1754761377.156 [DAT](INFO): got valid direction response:
 17:42:56.1643 LVL= 19856,  8721, 23602, 28227, AGC= 37, IDX= 509,-0.31,-2.396,-2.294, 2.851,-1.540, PHS=-0.754,-0.709,-1.936, RAW=  28.1,  44.9, CAL=  26.4,  49.9, ROT= 123.6, -49.9

2025-08-09T17:42:57.156Z,1754761377.156 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-09T17:42:57.157Z,1754761377.157 [DAT](INFO): direction in FSK: [-0.356453,0.536504,0.764921]
2025-08-09T17:42:57.158Z,1754761377.158 [DAT](INFO): publishing direction and range info
2025-08-09T17:42:57.175Z,1754761377.175 [DAT](DEBUG): Acoustic response timeout
2025-08-09T17:42:57.175Z,1754761377.175 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-09T17:42:57.396Z,1754761377.396 [DAT](INFO): Reached modem response timeout
2025-08-09T17:42:57.396Z,1754761377.396 [DAT](DEBUG): Acoustic response timeout
2025-08-09T17:42:57.397Z,1754761377.397 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-09T17:42:57.648Z,1754761377.648 [DAT](INFO): DAT read: Rx Time:17:42:56.6644 

2025-08-09T17:42:57.649Z,1754761377.649 [DAT](INFO): Rx dataTimestamp_ set to:1754761377.648605
2025-08-09T17:42:57.650Z,1754761377.650 [DAT](INFO): DAT read: Bearing  83.3,  32.9 (Local)

2025-08-09T17:42:57.651Z,1754761377.651 [DAT](INFO): Local bearing/azimuth received:
 Bearing  83.3,  32.9 (Local)

2025-08-09T17:42:57.653Z,1754761377.653 [DAT](INFO): DAT read: Range 11 to 50 :     1.1 m (trip time 0.7 ms) speed 0.0

2025-08-09T17:42:57.657Z,1754761377.657 [DAT](INFO): DAT read: 17:42:56.6644 LVL= 20896, 10113, 23330, 28147, AGC= 37, IDX= 510,-0.18,-1.187,-1.105,-2.215,-0.325, PHS=-0.759,-0.735,-1.933, RAW=  29.0,  45.6, CAL=  27.3,  50.5, ROT= 122.7, -50.5

2025-08-09T17:42:57.658Z,1754761377.658 [DAT](INFO): got valid direction response:
 17:42:56.6644 LVL= 20896, 10113, 23330, 28147, AGC= 37, IDX= 510,-0.18,-1.187,-1.105,-2.215,-0.325, PHS=-0.759,-0.735,-1.933, RAW=  29.0,  45.6, CAL=  27.3,  50.5, ROT= 122.7, -50.5

2025-08-09T17:42:57.659Z,1754761377.659 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-09T17:42:57.660Z,1754761377.660 [DAT](INFO): direction in FSK: [-0.343635,0.535267,0.771625]
2025-08-09T17:42:57.660Z,1754761377.660 [DAT](INFO): publishing direction and range info
2025-08-09T17:42:57.664Z,1754761377.664 [DAT](DEBUG): Acoustic response timeout
2025-08-09T17:42:57.664Z,1754761377.664 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-09T17:42:57.900Z,1754761377.900 [DAT](INFO): Reached modem response timeout
2025-08-09T17:42:57.900Z,1754761377.900 [DAT](DEBUG): Acoustic response timeout
2025-08-09T17:42:57.900Z,1754761377.900 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-09T17:42:58.152Z,1754761378.152 [DAT](INFO): DAT read: Rx Time:17:42:57.1643 

2025-08-09T17:42:58.152Z,1754761378.152 [DAT](INFO): Rx dataTimestamp_ set to:1754761378.152138
2025-08-09T17:42:58.154Z,1754761378.154 [DAT](INFO): DAT read: Bearing  82.1,  33.6 (Local)

2025-08-09T17:42:58.154Z,1754761378.154 [DAT](INFO): Local bearing/azimuth received:
 Bearing  82.1,  33.6 (Local)

2025-08-09T17:42:58.156Z,1754761378.156 [DAT](INFO): DAT read: Range 11 to 50 :     0.9 m (trip time 0.6 ms) speed 0.0

2025-08-09T17:42:58.161Z,1754761378.161 [DAT](INFO): DAT read: 17:42:57.1643 LVL= 20752,  9761, 22914, 28019, AGC= 37, IDX= 509,-0.06,-2.136,-2.099, 3.084,-1.305, PHS=-0.729,-0.750,-1.939, RAW=  30.8,  45.2, CAL=  29.1,  50.2, ROT= 120.9, -50.2

2025-08-09T17:42:58.162Z,1754761378.162 [DAT](INFO): got valid direction response:
 17:42:57.1643 LVL= 20752,  9761, 22914, 28019, AGC= 37, IDX= 509,-0.06,-2.136,-2.099, 3.084,-1.305, PHS=-0.729,-0.750,-1.939, RAW=  30.8,  45.2, CAL=  29.1,  50.2, ROT= 120.9, -50.2

2025-08-09T17:42:58.163Z,1754761378.163 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-09T17:42:58.164Z,1754761378.164 [DAT](INFO): direction in FSK: [-0.328723,0.549256,0.768284]
2025-08-09T17:42:58.164Z,1754761378.164 [DAT](INFO): publishing direction and range info
2025-08-09T17:42:58.169Z,1754761378.169 [DAT](DEBUG): Acoustic response timeout
2025-08-09T17:42:58.169Z,1754761378.169 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-09T17:42:58.403Z,1754761378.403 [DAT](INFO): Reached modem response timeout
2025-08-09T17:42:58.403Z,1754761378.403 [DAT](DEBUG): Acoustic response timeout
2025-08-09T17:42:58.403Z,1754761378.403 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-09T17:42:58.656Z,1754761378.656 [DAT](INFO): DAT read: Rx Time:17:42:57.6645 

2025-08-09T17:42:58.656Z,1754761378.656 [DAT](INFO): Rx dataTimestamp_ set to:1754761378.656053
2025-08-09T17:42:58.658Z,1754761378.658 [DAT](INFO): DAT read: Bearing  78.8,  33.1 (Local)

2025-08-09T17:42:58.658Z,1754761378.658 [DAT](INFO): Local bearing/azimuth received:
 Bearing  78.8,  33.1 (Local)

2025-08-09T17:42:58.661Z,1754761378.661 [DAT](INFO): DAT read: Range 11 to 50 :     1.2 m (trip time 0.8 ms) speed 0.0

2025-08-09T17:42:58.667Z,1754761378.667 [DAT](INFO): DAT read: 17:42:57.6645 LVL= 24640, 12465, 24130, 27971, AGC= 37, IDX= 510, 0.05, 0.501, 0.461,-0.586, 1.344, PHS=-0.741,-0.838,-1.975, RAW=  34.0,  46.6, CAL=  32.2,  51.5, ROT= 117.8, -51.5

2025-08-09T17:42:58.668Z,1754761378.668 [DAT](INFO): got valid direction response:
 17:42:57.6645 LVL= 24640, 12465, 24130, 27971, AGC= 37, IDX= 510, 0.05, 0.501, 0.461,-0.586, 1.344, PHS=-0.741,-0.838,-1.975, RAW=  34.0,  46.6, CAL=  32.2,  51.5, ROT= 117.8, -51.5

2025-08-09T17:42:58.669Z,1754761378.669 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-09T17:42:58.671Z,1754761378.671 [DAT](INFO): direction in FSK: [-0.290333,0.550665,0.782608]
2025-08-09T17:42:58.671Z,1754761378.671 [DAT](INFO): publishing direction and range info
2025-08-09T17:42:58.676Z,1754761378.676 [DAT](DEBUG): Acoustic response timeout
2025-08-09T17:42:58.676Z,1754761378.676 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-09T17:42:58.907Z,1754761378.907 [DAT](INFO): Reached modem response timeout
2025-08-09T17:42:58.907Z,1754761378.907 [DAT](DEBUG): Acoustic response timeout
2025-08-09T17:42:58.907Z,1754761378.907 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-09T17:42:59.159Z,1754761379.159 [DAT](INFO): DAT read: user:703>

2025-08-09T17:42:59.160Z,1754761379.160 [DAT](INFO): DAT read: 50

2025-08-09T17:42:59.160Z,1754761379.160 [DAT](INFO): unknown deviceResponse_: 50

2025-08-09T17:42:59.160Z,1754761379.160 [DAT](INFO): DAT read: Ok

2025-08-09T17:42:59.160Z,1754761379.160 [DAT](INFO): unknown deviceResponse_: Ok

2025-08-09T17:42:59.161Z,1754761379.161 [DAT](INFO): DAT read: user:704>

2025-08-09T17:42:59.162Z,1754761379.162 [DAT](INFO): DAT read: Tx time:17:42:58.6336

2025-08-09T17:42:59.162Z,1754761379.162 [DAT](INFO): Ping request sent.
2025-08-09T17:42:59.162Z,1754761379.162 [DAT](INFO): transmitted an acoustic signal
2025-08-09T17:42:59.162Z,1754761379.162 [DAT](INFO): publishing transmit ping time
2025-08-09T17:42:59.163Z,1754761379.163 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000856
2025-08-09T17:42:59.411Z,1754761379.411 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.249469
2025-08-09T17:42:59.663Z,1754761379.663 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.501265
2025-08-09T17:42:59.916Z,1754761379.916 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754052
2025-08-09T17:43:00.167Z,1754761380.167 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.005472
2025-08-09T17:43:00.419Z,1754761380.419 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.257279
2025-08-09T17:43:00.671Z,1754761380.671 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.509420
2025-08-09T17:43:00.923Z,1754761380.923 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.761387
2025-08-09T17:43:01.175Z,1754761381.175 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.013420
2025-08-09T17:43:01.428Z,1754761381.428 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.265924
2025-08-09T17:43:01.679Z,1754761381.679 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.517316
2025-08-09T17:43:01.931Z,1754761381.931 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.769369
2025-08-09T17:43:02.183Z,1754761382.183 [DAT](INFO): DAT read: Rx Time:17:43:01.0392

2025-08-09T17:43:02.184Z,1754761382.184 [DAT](INFO): Rx dataTimestamp_ set to:1754761382.183612
2025-08-09T17:43:02.184Z,1754761382.184 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.022499
2025-08-09T17:43:02.435Z,1754761382.435 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.273339
2025-08-09T17:43:02.693Z,1754761382.693 [DAT](INFO): DAT read: 17:43:01.0392 LVL= 22960,  8433, 23538, 25587, AGC= 40, IDX= 220,-0.23, 2.494, 2.235, 1.333,-2.994, PHS=-0.693,-1.009,-2.000, RAW=  43.4,  47.9, CAL=  41.3,  52.9, ROT= 108.7, -52.9

2025-08-09T17:43:02.694Z,1754761382.694 [DAT](INFO): got valid direction response:
 17:43:01.0392 LVL= 22960,  8433, 23538, 25587, AGC= 40, IDX= 220,-0.23, 2.494, 2.235, 1.333,-2.994, PHS=-0.693,-1.009,-2.000, RAW=  43.4,  47.9, CAL=  41.3,  52.9, ROT= 108.7, -52.9

2025-08-09T17:43:02.695Z,1754761382.695 [DAT](INFO): DAT read: Bearing  70.7,  33.0 (Local)

2025-08-09T17:43:02.696Z,1754761382.696 [DAT](INFO): Local bearing/azimuth received:
 Bearing  70.7,  33.0 (Local)

2025-08-09T17:43:02.697Z,1754761382.697 [DAT](INFO): DAT read: Range 11 to 50 : 1.0 m  (Round-trip  1.4 ms) speed  0.0 m/s

2025-08-09T17:43:02.698Z,1754761382.698 [DAT](INFO): DAT read: user:705>

2025-08-09T17:43:02.699Z,1754761382.699 [DAT](INFO): DAT read: Tx time:17:43:02.1336

2025-08-09T17:43:02.699Z,1754761382.699 [DAT](INFO): Ping request sent.
2025-08-09T17:43:02.699Z,1754761382.699 [DAT](INFO): transmitted an acoustic signal
2025-08-09T17:43:02.699Z,1754761382.699 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-09T17:43:02.700Z,1754761382.700 [DAT](INFO): direction in FSK: [-0.193396,0.571365,0.797584]
2025-08-09T17:43:02.700Z,1754761382.700 [DAT](INFO): publishing transmit ping time
2025-08-09T17:43:02.701Z,1754761382.701 [DAT](INFO): publishing direction and range info
2025-08-09T17:43:02.704Z,1754761382.704 [DAT](INFO): publishing transmit ping time
2025-08-09T17:43:02.705Z,1754761382.705 [DAT](INFO): publishing direction and range info
2025-08-09T17:43:05.711Z,1754761385.711 [DAT](INFO): DAT read: Rx Time:17:43:04.5390

2025-08-09T17:43:05.712Z,1754761385.712 [DAT](INFO): Rx dataTimestamp_ set to:1754761385.711455
2025-08-09T17:43:06.221Z,1754761386.221 [DAT](INFO): DAT read: 17:43:04.5390 LVL= 21712, 14993, 21490, 24819, AGC= 37, IDX= 442, 0.18,-1.847,-2.117,-3.131,-1.005, PHS=-0.739,-1.067,-2.170, RAW=  42.6,  47.3, CAL=  40.6,  52.3, ROT= 109.4, -52.3

2025-08-09T17:43:06.222Z,1754761386.222 [DAT](INFO): got valid direction response:
 17:43:04.5390 LVL= 21712, 14993, 21490, 24819, AGC= 37, IDX= 442, 0.18,-1.847,-2.117,-3.131,-1.005, PHS=-0.739,-1.067,-2.170, RAW=  42.6,  47.3, CAL=  40.6,  52.3, ROT= 109.4, -52.3

2025-08-09T17:43:06.223Z,1754761386.223 [DAT](INFO): DAT read: Bearing  73.2,  32.6 (Local)

2025-08-09T17:43:06.224Z,1754761386.224 [DAT](INFO): Local bearing/azimuth received:
 Bearing  73.2,  32.6 (Local)

2025-08-09T17:43:06.225Z,1754761386.225 [DAT](INFO): DAT read: Range 11 to 50 : 0.9 m  (Round-trip  1.3 ms) speed  0.0 m/s

2025-08-09T17:43:06.226Z,1754761386.226 [DAT](INFO): DAT read: user:706>

2025-08-09T17:43:06.226Z,1754761386.226 [DAT](INFO): DAT read: Tx time:17:43:05.6335

2025-08-09T17:43:06.227Z,1754761386.227 [DAT](INFO): Ping request sent.
2025-08-09T17:43:06.227Z,1754761386.227 [DAT](INFO): transmitted an acoustic signal
2025-08-09T17:43:06.227Z,1754761386.227 [DAT](INFO): #Rx 2: Read range and direction messages.
2025-08-09T17:43:06.228Z,1754761386.228 [DAT](INFO): direction in FSK: [-0.203126,0.576806,0.791224]
2025-08-09T17:43:06.228Z,1754761386.228 [DAT](INFO): publishing transmit ping time
2025-08-09T17:43:06.229Z,1754761386.229 [DAT](INFO): publishing direction and range info
2025-08-09T17:43:06.240Z,1754761386.240 [DAT](INFO): publishing transmit ping time
2025-08-09T17:43:06.240Z,1754761386.240 [DAT](INFO): publishing direction and range info
2025-08-09T17:43:09.243Z,1754761389.243 [DAT](INFO): DAT read: Rx Time:17:43:08.0390

2025-08-09T17:43:09.244Z,1754761389.244 [DAT](INFO): Rx dataTimestamp_ set to:1754761389.243515
2025-08-09T17:43:09.753Z,1754761389.753 [DAT](INFO): DAT read: 17:43:08.0390 LVL= 21296, 16673, 21490, 26611, AGC= 38, IDX= 442, 0.11,-3.005,-3.039, 2.025,-2.076, PHS=-0.827,-0.919,-2.227, RAW=  33.4,  46.0, CAL=  31.5,  50.9, ROT= 118.5, -50.9

2025-08-09T17:43:09.754Z,1754761389.754 [DAT](INFO): got valid direction response:
 17:43:08.0390 LVL= 21296, 16673, 21490, 26611, AGC= 38, IDX= 442, 0.11,-3.005,-3.039, 2.025,-2.076, PHS=-0.827,-0.919,-2.227, RAW=  33.4,  46.0, CAL=  31.5,  50.9, ROT= 118.5, -50.9

2025-08-09T17:43:09.755Z,1754761389.755 [DAT](INFO): DAT read: Bearing  82.7,  33.2 (Local)

2025-08-09T17:43:09.756Z,1754761389.756 [DAT](INFO): Local bearing/azimuth received:
 Bearing  82.7,  33.2 (Local)

2025-08-09T17:43:09.757Z,1754761389.757 [DAT](INFO): DAT read: Range 11 to 50 : 0.9 m  (Round-trip  1.3 ms) speed  0.0 m/s

2025-08-09T17:43:09.758Z,1754761389.758 [DAT](INFO): DAT read: user:707>

2025-08-09T17:43:09.758Z,1754761389.758 [DAT](INFO): DAT read: Tx time:17:43:09.1335

2025-08-09T17:43:09.759Z,1754761389.759 [DAT](INFO): Ping request sent.
2025-08-09T17:43:09.759Z,1754761389.759 [DAT](INFO): transmitted an acoustic signal
2025-08-09T17:43:09.759Z,1754761389.759 [DAT](INFO): #Rx 3: Read range and direction messages.
2025-08-09T17:43:09.760Z,1754761389.760 [DAT](INFO): direction in FSK: [-0.300932,0.554249,0.776046]
2025-08-09T17:43:09.760Z,1754761389.760 [DAT](INFO): publishing transmit ping time
2025-08-09T17:43:09.761Z,1754761389.761 [DAT](INFO): publishing direction and range info
2025-08-09T17:43:09.764Z,1754761389.764 [DAT](INFO): publishing transmit ping time
2025-08-09T17:43:09.764Z,1754761389.764 [DAT](INFO): publishing direction and range info
2025-08-09T17:43:12.531Z,1754761392.531 [DAT](INFO): DAT read: Rx Time:17:43:11.5390

2025-08-09T17:43:12.532Z,1754761392.532 [DAT](INFO): Rx dataTimestamp_ set to:1754761392.531241
2025-08-09T17:43:13.289Z,1754761393.289 [DAT](INFO): DAT read: 17:43:11.5390 LVL= 19248, 12161, 24098, 22051, AGC= 37, IDX= 442, 0.08,-0.242,-0.170,-1.399, 0.636, PHS=-0.776,-0.760,-2.079, RAW=  29.4,  44.3, CAL=  27.6,  49.3, ROT= 122.4, -49.3

2025-08-09T17:43:13.290Z,1754761393.290 [DAT](INFO): got valid direction response:
 17:43:11.5390 LVL= 19248, 12161, 24098, 22051, AGC= 37, IDX= 442, 0.08,-0.242,-0.170,-1.399, 0.636, PHS=-0.776,-0.760,-2.079, RAW=  29.4,  44.3, CAL=  27.6,  49.3, ROT= 122.4, -49.3

2025-08-09T17:43:13.291Z,1754761393.291 [DAT](INFO): DAT read: Bearing  87.0,  32.3 (Local)

2025-08-09T17:43:13.291Z,1754761393.291 [DAT](INFO): Local bearing/azimuth received:
 Bearing  87.0,  32.3 (Local)

2025-08-09T17:43:13.293Z,1754761393.293 [DAT](INFO): DAT read: Range 11 to 50 : 0.9 m  (Round-trip  1.3 ms) speed  0.0 m/s

2025-08-09T17:43:13.293Z,1754761393.293 [DAT](INFO): DAT read: user:708>

2025-08-09T17:43:13.294Z,1754761393.294 [DAT](INFO): DAT read: Tx time:17:43:12.6335

2025-08-09T17:43:13.294Z,1754761393.294 [DAT](INFO): Ping request sent.
2025-08-09T17:43:13.294Z,1754761393.294 [DAT](INFO): transmitted an acoustic signal
2025-08-09T17:43:13.295Z,1754761393.295 [DAT](INFO): #Rx 4: Read range and direction messages.
2025-08-09T17:43:13.296Z,1754761393.296 [DAT](INFO): direction in FSK: [-0.349412,0.550585,0.758134]
2025-08-09T17:43:13.296Z,1754761393.296 [DAT](INFO): publishing transmit ping time
2025-08-09T17:43:13.296Z,1754761393.296 [DAT](INFO): publishing direction and range info
2025-08-09T17:43:13.300Z,1754761393.300 [DAT](INFO): publishing transmit ping time
2025-08-09T17:43:13.300Z,1754761393.300 [DAT](INFO): publishing direction and range info
2025-08-09T17:43:16.055Z,1754761396.055 [DAT](INFO): DAT read: Rx Time:17:43:15.0390

2025-08-09T17:43:16.056Z,1754761396.056 [DAT](INFO): Rx dataTimestamp_ set to:1754761396.055480
2025-08-09T17:43:16.817Z,1754761396.817 [DAT](INFO): DAT read: 17:43:15.0390 LVL= 18592, 12481, 28146, 29299, AGC= 40, IDX= 442, 0.12,-1.584,-1.374,-2.572,-0.662, PHS=-0.820,-0.667,-1.954, RAW=  23.8,  45.0, CAL=  22.2,  50.0, ROT= 127.8, -50.0

2025-08-09T17:43:16.818Z,1754761396.818 [DAT](INFO): got valid direction response:
 17:43:15.0390 LVL= 18592, 12481, 28146, 29299, AGC= 40, IDX= 442, 0.12,-1.584,-1.374,-2.572,-0.662, PHS=-0.820,-0.667,-1.954, RAW=  23.8,  45.0, CAL=  22.2,  50.0, ROT= 127.8, -50.0

2025-08-09T17:43:16.819Z,1754761396.819 [DAT](INFO): DAT read: Bearing  91.5,  33.1 (Local)

2025-08-09T17:43:16.820Z,1754761396.820 [DAT](INFO): Local bearing/azimuth received:
 Bearing  91.5,  33.1 (Local)

2025-08-09T17:43:16.821Z,1754761396.821 [DAT](INFO): DAT read: Range 11 to 50 : 0.9 m  (Round-trip  1.3 ms) speed  0.0 m/s

2025-08-09T17:43:16.822Z,1754761396.822 [DAT](INFO): DAT read: user:709>

2025-08-09T17:43:16.823Z,1754761396.823 [DAT](INFO): DAT read: Tx time:17:43:16.1335

2025-08-09T17:43:16.823Z,1754761396.823 [DAT](INFO): Ping request sent.
2025-08-09T17:43:16.823Z,1754761396.823 [DAT](INFO): transmitted an acoustic signal
2025-08-09T17:43:16.824Z,1754761396.824 [DAT](INFO): #Rx 5: Read range and direction messages.
2025-08-09T17:43:16.824Z,1754761396.824 [DAT](INFO): direction in FSK: [-0.393969,0.507902,0.766044]
2025-08-09T17:43:16.825Z,1754761396.825 [DAT](INFO): publishing transmit ping time
2025-08-09T17:43:16.825Z,1754761396.825 [DAT](INFO): publishing direction and range info
2025-08-09T17:43:16.828Z,1754761396.828 [DAT](INFO): publishing transmit ping time
2025-08-09T17:43:16.828Z,1754761396.828 [DAT](INFO): publishing direction and range info
2025-08-09T17:43:19.584Z,1754761399.584 [DAT](INFO): DAT read: Rx Time:17:43:18.5390

2025-08-09T17:43:19.585Z,1754761399.585 [DAT](INFO): Rx dataTimestamp_ set to:1754761399.584775
2025-08-09T17:43:20.103Z,1754761400.103 [DAT](INFO): DAT read: 17:43:18.5390 LVL= 21424, 16369, 24914, 20275, AGC= 36, IDX= 442, 0.18, 2.712, 3.095, 1.846,-2.543, PHS=-0.927,-0.600,-1.938, RAW=  16.5,  45.4, CAL=  15.0,  50.3, ROT= 135.0, -50.3

2025-08-09T17:43:20.105Z,1754761400.105 [DAT](INFO): got valid direction response:
 17:43:18.5390 LVL= 21424, 16369, 24914, 20275, AGC= 36, IDX= 442, 0.18, 2.712, 3.095, 1.846,-2.543, PHS=-0.927,-0.600,-1.938, RAW=  16.5,  45.4, CAL=  15.0,  50.3, ROT= 135.0, -50.3

2025-08-09T17:43:20.110Z,1754761400.110 [DAT](INFO): DAT read: Bearing  98.7,  30.2 (Local)

2025-08-09T17:43:20.139Z,1754761400.139 [DAT](INFO): Local bearing/azimuth received:
 Bearing  98.7,  30.2 (Local)

2025-08-09T17:43:20.140Z,1754761400.140 [DAT](INFO): DAT read: Range 11 to 50 : 0.9 m  (Round-trip  1.3 ms) speed  0.0 m/s

2025-08-09T17:43:20.141Z,1754761400.141 [DAT](INFO): DAT read: user:710>

2025-08-09T17:43:20.142Z,1754761400.142 [DAT](INFO): DAT read: Tx time:17:43:19.6335

2025-08-09T17:43:20.142Z,1754761400.142 [DAT](INFO): Ping request sent.
2025-08-09T17:43:20.142Z,1754761400.142 [DAT](INFO): transmitted an acoustic signal
2025-08-09T17:43:20.143Z,1754761400.143 [DAT](INFO): #Rx 6: Read range and direction messages.
2025-08-09T17:43:20.144Z,1754761400.144 [DAT](INFO): direction in FSK: [-0.451677,0.451677,0.769400]
2025-08-09T17:43:20.144Z,1754761400.144 [DAT](INFO): publishing transmit ping time
2025-08-09T17:43:20.144Z,1754761400.144 [DAT](INFO): publishing direction and range info
2025-08-09T17:43:20.154Z,1754761400.154 [DAT](INFO): publishing transmit ping time
2025-08-09T17:43:20.154Z,1754761400.154 [DAT](INFO): publishing direction and range info
2025-08-09T17:43:23.111Z,1754761403.111 [DAT](INFO): DAT read: Rx Time:17:43:22.0390

2025-08-09T17:43:23.112Z,1754761403.112 [DAT](INFO): Rx dataTimestamp_ set to:1754761403.111482
2025-08-09T17:43:23.623Z,1754761403.623 [DAT](INFO): DAT read: 17:43:22.0390 LVL= 16848, 12849, 21394, 23795, AGC= 36, IDX= 442, 0.10, 0.976, 1.201, 0.073, 1.971, PHS=-0.893,-0.725,-1.942, RAW=  22.7,  47.8, CAL=  21.3,  52.4, ROT= 128.7, -52.4

2025-08-09T17:43:23.631Z,1754761403.631 [DAT](INFO): got valid direction response:
 17:43:22.0390 LVL= 16848, 12849, 21394, 23795, AGC= 36, IDX= 442, 0.10, 0.976, 1.201, 0.073, 1.971, PHS=-0.893,-0.725,-1.942, RAW=  22.7,  47.8, CAL=  21.3,  52.4, ROT= 128.7, -52.4

2025-08-09T17:43:23.632Z,1754761403.632 [DAT](INFO): DAT read: Bearing  92.1,  29.1 (Local)

2025-08-09T17:43:23.632Z,1754761403.632 [DAT](INFO): Local bearing/azimuth received:
 Bearing  92.1,  29.1 (Local)

2025-08-09T17:43:23.634Z,1754761403.634 [DAT](INFO): DAT read: Range 11 to 50 : 0.9 m  (Round-trip  1.3 ms) speed  0.0 m/s

2025-08-09T17:43:23.634Z,1754761403.634 [DAT](INFO): #Rx 7: Read range and direction messages.
2025-08-09T17:43:23.635Z,1754761403.635 [DAT](INFO): direction in FSK: [-0.381489,0.476176,0.792290]
2025-08-09T17:43:23.636Z,1754761403.636 [DAT](INFO): publishing direction and range info
2025-08-09T17:44:23.427Z,1754761463.427 [lineCaptureHoming:Lap:Docked:Docked.Docked](IMPORTANT): Done sinking
2025-08-09T17:44:23.428Z,1754761463.428 [lineCaptureHoming:Lap:Docked:Docked.Docked](IMPORTANT): Slide state transition from 2 to 1
2025-08-09T17:44:23.438Z,1754761463.438 [DockingStepper](INFO): Changing to mode: 1
2025-08-09T17:44:23.900Z,1754761463.900 [DAT](IMPORTANT): Requesting device enable set for address 50.
2025-08-09T17:44:24.151Z,1754761464.151 [DAT](INFO): DAT read: user:711>

2025-08-09T17:44:24.152Z,1754761464.152 [DAT](INFO): DAT read: Tx time:17:44:23.5324

2025-08-09T17:44:24.152Z,1754761464.152 [DAT](INFO): Ping request sent.
2025-08-09T17:44:24.152Z,1754761464.152 [DAT](INFO): transmitted an acoustic signal
2025-08-09T17:44:24.153Z,1754761464.153 [DAT](INFO): publishing transmit ping time
2025-08-09T17:44:24.153Z,1754761464.153 [DAT](IMPORTANT): Requesting device enable set for address 50.
2025-08-09T17:44:24.403Z,1754761464.403 [DAT](IMPORTANT): Requesting device enable set for address 50.
2025-08-09T17:44:26.419Z,1754761466.419 [DAT](INFO): DAT read: Rx Time:17:44:25.3895

2025-08-09T17:44:26.420Z,1754761466.420 [DAT](INFO): Rx dataTimestamp_ set to:1754761466.419511
2025-08-09T17:44:26.923Z,1754761466.923 [DAT](INFO): DAT read: OK

2025-08-09T17:44:26.924Z,1754761466.924 [DAT](INFO): unknown deviceResponse_: OK

2025-08-09T17:44:26.924Z,1754761466.924 [DAT](INFO): DAT read: user:712>

2025-08-09T17:44:27.175Z,1754761467.175 [DAT](INFO): DAT read: Tx time:17:44:26.4824

2025-08-09T17:44:27.176Z,1754761467.176 [DAT](INFO): Ping request sent.
2025-08-09T17:44:27.176Z,1754761467.176 [DAT](INFO): transmitted an acoustic signal
2025-08-09T17:44:27.176Z,1754761467.176 [DAT](INFO): publishing transmit ping time
2025-08-09T17:44:29.443Z,1754761469.443 [DAT](INFO): DAT read: Rx Time:17:44:28.3396

2025-08-09T17:44:29.444Z,1754761469.444 [DAT](INFO): Rx dataTimestamp_ set to:1754761469.443525
2025-08-09T17:44:29.948Z,1754761469.948 [DAT](INFO): DAT read: OK

2025-08-09T17:44:29.949Z,1754761469.949 [DAT](INFO): unknown deviceResponse_: OK

2025-08-09T17:44:29.950Z,1754761469.950 [DAT](INFO): DAT read: user:713>

2025-08-09T17:44:29.952Z,1754761469.952 [DAT](INFO): DAT read: Tx time:17:44:29.4324

2025-08-09T17:44:29.952Z,1754761469.952 [DAT](INFO): Ping request sent.
2025-08-09T17:44:29.952Z,1754761469.952 [DAT](INFO): transmitted an acoustic signal
2025-08-09T17:44:29.953Z,1754761469.953 [DAT](INFO): publishing transmit ping time
2025-08-09T17:44:32.468Z,1754761472.468 [DAT](INFO): DAT read: Rx Time:17:44:31.2897

2025-08-09T17:44:32.469Z,1754761472.469 [DAT](INFO): Rx dataTimestamp_ set to:1754761472.468856
2025-08-09T17:44:32.972Z,1754761472.972 [DAT](INFO): DAT read: OK

2025-08-09T17:44:32.973Z,1754761472.973 [DAT](INFO): unknown deviceResponse_: OK

2025-08-09T17:44:33.251Z,1754761473.251 [DockingStepper](FAULT): Timed out moving from: 12399 to: 14700 response: ÿ
2025-08-09T17:44:33.251Z,1754761473.251 [DockingStepper] Hardware Fault, FailCount= 1
2025-08-09T17:44:33.251Z,1754761473.251 [DockingStepper](ERROR): Hardware Fault
2025-08-09T17:44:33.283Z,1754761473.283 [CBIT](ERROR): Hardware Fault in component: DockingStepper
2025-08-09T17:44:33.537Z,1754761473.537 [DockingStepper](DEBUG): Uninitialize Docking Stepper.
2025-08-09T17:44:33.537Z,1754761473.537 [DockingStepper](INFO): Powering down
2025-08-09T17:44:37.610Z,1754761477.610 [BPC1](ERROR): BPC1B failed to parse battery data due to unrecognized msg size.
2025-08-09T17:44:38.834Z,1754761478.834 [BPC1](ERROR): BPC1A failed to parse battery data due to unrecognized msg size.
2025-08-09T17:44:46.073Z,1754761486.073 [BPC1](ERROR): BPC1B got IPBS message with 2 sticks (min is 7).
2025-08-09T17:44:46.074Z,1754761486.074 [BPC1](ERROR): BPC1B failed to parse battery stick message.
2025-08-09T17:44:50.564Z,1754761490.564 [BPC1](ERROR): BPC1A failed to parse battery data due to unrecognized msg size.
2025-08-09T17:44:54.202Z,1754761494.202 [CBIT](INFO): Clearing failed state for component DockingStepper
2025-08-09T17:44:54.203Z,1754761494.203 [DockingStepper] No Fault, FailCount= 1
2025-08-09T17:44:54.590Z,1754761494.590 [DockingStepper](DEBUG): Initializing EZServoServo.
2025-08-09T17:44:54.703Z,1754761494.703 [DockingStepper](DEBUG): Initializing DockingStepper.
2025-08-09T17:44:56.179Z,1754761496.179 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-09T17:44:56.415Z,1754761496.415 [DAT](DEBUG): Acoustic response timeout
2025-08-09T17:44:56.416Z,1754761496.416 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-09T17:44:56.667Z,1754761496.667 [DAT](INFO): DAT read: user:714>

2025-08-09T17:44:56.668Z,1754761496.668 [DAT](INFO): DAT read: Tx time:17:44:56.0333

2025-08-09T17:44:56.668Z,1754761496.668 [DAT](INFO): Ping request sent.
2025-08-09T17:44:56.668Z,1754761496.668 [DAT](INFO): transmitted an acoustic signal
2025-08-09T17:44:56.668Z,1754761496.668 [DAT](INFO): publishing transmit ping time
2025-08-09T17:44:56.669Z,1754761496.669 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000738
2025-08-09T17:44:56.921Z,1754761496.921 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.252271
2025-08-09T17:44:57.171Z,1754761497.171 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502935
2025-08-09T17:44:57.427Z,1754761497.427 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.757366
2025-08-09T17:44:57.675Z,1754761497.675 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.007012
2025-08-09T17:44:57.931Z,1754761497.931 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.262349
2025-08-09T17:44:58.180Z,1754761498.180 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.511317
2025-08-09T17:44:58.193Z,1754761498.193 [DockingStepper](INFO): Changing to mode: 1
2025-08-09T17:44:58.431Z,1754761498.431 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.763056
2025-08-09T17:44:58.685Z,1754761498.685 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.016431
2025-08-09T17:44:58.935Z,1754761498.935 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266962
2025-08-09T17:44:59.187Z,1754761499.187 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518997
2025-08-09T17:44:59.439Z,1754761499.439 [DAT](INFO): DAT read: Rx Time:17:44:58.4383

2025-08-09T17:44:59.440Z,1754761499.440 [DAT](INFO): Rx dataTimestamp_ set to:1754761499.439633
2025-08-09T17:44:59.440Z,1754761499.440 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.772182
2025-08-09T17:44:59.692Z,1754761499.692 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.023264
2025-08-09T17:44:59.946Z,1754761499.946 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.277323
2025-08-09T17:45:00.196Z,1754761500.196 [DAT](INFO): DAT read: Range 11 to 50 : 0.6 m  (Round-trip  0.9 ms) speed  0.0 m/s

2025-08-09T17:45:00.197Z,1754761500.197 [DAT](ERROR): #Rx 1: Read range message, but no direction.
2025-08-09T17:45:02.678Z,1754761502.678 [BPC1](ERROR): BPC1A failed to parse battery data due to unrecognized msg size.
2025-08-09T17:45:07.819Z,1754761507.819 [DockingStepper](FAULT): Timed out moving from: 12449 to: 14700 response: ÿ
2025-08-09T17:45:07.819Z,1754761507.819 [DockingStepper] Hardware Fault, FailCount= 2
2025-08-09T17:45:07.819Z,1754761507.819 [DockingStepper](ERROR): Hardware Fault
2025-08-09T17:45:07.860Z,1754761507.860 [CBIT](ERROR): Hardware Fault in component: DockingStepper
2025-08-09T17:45:08.099Z,1754761508.099 [DockingStepper](DEBUG): Uninitialize Docking Stepper.
2025-08-09T17:45:08.099Z,1754761508.099 [DockingStepper](INFO): Powering down
2025-08-09T17:45:29.071Z,1754761529.071 [CBIT](INFO): Clearing failed state for component DockingStepper
2025-08-09T17:45:29.071Z,1754761529.071 [DockingStepper] No Fault, FailCount= 2
2025-08-09T17:45:29.243Z,1754761529.243 [DockingStepper](DEBUG): Initializing EZServoServo.
2025-08-09T17:45:29.371Z,1754761529.371 [DockingStepper](DEBUG): Initializing DockingStepper.
2025-08-09T17:45:33.185Z,1754761533.185 [DockingStepper](INFO): Changing to mode: 1
2025-08-09T17:45:36.009Z,1754761536.009 [BPC1](ERROR): BPC1A failed to parse battery data due to unrecognized msg size.
2025-08-09T17:45:38.001Z,1754761538.001 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error. Device response is::TS,000232,35.0,  +9.9,   0.0,1489.5,A,  0.00,  70.56,  69.21,  74.97
2025-08-09T17:45:43.051Z,1754761543.051 [DockingStepper](FAULT): Timed out moving from: 12527 to: 14700 response: ÿ
2025-08-09T17:45:43.051Z,1754761543.051 [DockingStepper] Hardware Fault, FailCount= 3
2025-08-09T17:45:43.051Z,1754761543.051 [DockingStepper](ERROR): Hardware Fault
2025-08-09T17:45:43.084Z,1754761543.084 [CBIT](ERROR): Hardware Fault in component: DockingStepper
2025-08-09T17:45:43.435Z,1754761543.435 [DockingStepper](DEBUG): Uninitialize Docking Stepper.
2025-08-09T17:45:43.435Z,1754761543.435 [DockingStepper](INFO): Powering down
2025-08-09T17:45:53.747Z,1754761553.747 [lineCaptureHoming:Lap:Docked:Docked.Docked](IMPORTANT): Slide check interval over, but still charging. Extending check until no longer charging.
2025-08-09T17:45:53.884Z,1754761553.884 [DAT](IMPORTANT): Requesting device enable clr for address 50.
2025-08-09T17:45:54.135Z,1754761554.135 [DAT](INFO): DAT read: user:715>

2025-08-09T17:45:54.136Z,1754761554.136 [DAT](INFO): DAT read: Tx time:17:45:53.4822

2025-08-09T17:45:54.136Z,1754761554.136 [DAT](INFO): Ping request sent.
2025-08-09T17:45:54.136Z,1754761554.136 [DAT](INFO): transmitted an acoustic signal
2025-08-09T17:45:54.136Z,1754761554.136 [DAT](INFO): publishing transmit ping time
2025-08-09T17:45:54.137Z,1754761554.137 [DAT](IMPORTANT): Requesting device enable clr for address 50.
2025-08-09T17:45:54.387Z,1754761554.387 [DAT](IMPORTANT): Requesting device enable clr for address 50.
2025-08-09T17:45:56.403Z,1754761556.403 [DAT](INFO): DAT read: Rx Time:17:45:55.3421

2025-08-09T17:45:56.404Z,1754761556.404 [DAT](INFO): Rx dataTimestamp_ set to:1754761556.403485
2025-08-09T17:45:56.907Z,1754761556.907 [DAT](INFO): DAT read: OK

2025-08-09T17:45:56.907Z,1754761556.907 [DAT](INFO): unknown deviceResponse_: OK

2025-08-09T17:45:56.908Z,1754761556.908 [DAT](INFO): DAT read: user:716>

2025-08-09T17:45:56.909Z,1754761556.909 [DAT](INFO): DAT read: Tx time:17:45:56.4322

2025-08-09T17:45:56.909Z,1754761556.909 [DAT](INFO): Ping request sent.
2025-08-09T17:45:56.909Z,1754761556.909 [DAT](INFO): transmitted an acoustic signal
2025-08-09T17:45:56.909Z,1754761556.909 [DAT](INFO): publishing transmit ping time
2025-08-09T17:45:58.601Z,1754761558.601 [lineCaptureHoming:Lap:Docked:Docked.Docked](INFO): Timed out from 2025-08-09T17:40:58.4Z
2025-08-09T17:45:58.601Z,1754761558.601 [lineCaptureHoming:Lap:Docked:Docked.Docked] Stopped
2025-08-09T17:45:58.602Z,1754761558.602 [lineCaptureHoming:Lap:Docked:setCompletion] Running Loop=1
2025-08-09T17:45:58.602Z,1754761558.602 [lineCaptureHoming:Lap:Docked:setCompletion](DEBUG): Aggregate::initialize lineCaptureHoming:Lap:Docked:setCompletion
2025-08-09T17:45:58.602Z,1754761558.602 [lineCaptureHoming:Lap:Docked:setCompletion:A] Running Loop=1
2025-08-09T17:45:59.008Z,1754761559.008 [lineCaptureHoming:Lap:Docked:setCompletion] Stopped
2025-08-09T17:45:59.008Z,1754761559.008 [lineCaptureHoming:Lap:Docked:setCompletion](DEBUG): Aggregate::uninitialize lineCaptureHoming:Lap:Docked:setCompletion
2025-08-09T17:45:59.009Z,1754761559.009 [lineCaptureHoming:Lap:Docked:setCompletion:A] Stopped
2025-08-09T17:45:59.009Z,1754761559.009 [lineCaptureHoming:Lap:Docked:Detach] Running Loop=1
2025-08-09T17:45:59.009Z,1754761559.009 [lineCaptureHoming:Lap:Docked:Detach](DEBUG): Aggregate::initialize lineCaptureHoming:Lap:Docked:Detach
2025-08-09T17:45:59.009Z,1754761559.009 [lineCaptureHoming:Lap:Docked:Detach:A] Running Loop=1
2025-08-09T17:45:59.427Z,1754761559.427 [DAT](INFO): DAT read: Rx Time:17:45:58.2922

2025-08-09T17:45:59.428Z,1754761559.428 [DAT](INFO): Rx dataTimestamp_ set to:1754761559.427524
2025-08-09T17:45:59.456Z,1754761559.456 [lineCaptureHoming:Lap:Docked:Detach] Stopped
2025-08-09T17:45:59.456Z,1754761559.456 [lineCaptureHoming:Lap:Docked:Detach](DEBUG): Aggregate::uninitialize lineCaptureHoming:Lap:Docked:Detach
2025-08-09T17:45:59.456Z,1754761559.456 [lineCaptureHoming:Lap:Docked:Detach:A] Stopped
2025-08-09T17:45:59.456Z,1754761559.456 [lineCaptureHoming:Lap:Docked:Wpt1] Running Loop=1
2025-08-09T17:45:59.456Z,1754761559.456 [lineCaptureHoming:Lap:Docked:Wpt1](DEBUG): Aggregate::initialize lineCaptureHoming:Lap:Docked:Wpt1
2025-08-09T17:45:59.456Z,1754761559.456 [lineCaptureHoming:Lap:Docked:Wpt1:B.Pitch] Running Loop=1
2025-08-09T17:45:59.456Z,1754761559.456 [lineCaptureHoming:Lap:Docked:Wpt1:B.Pitch](DEBUG): Initialize.
2025-08-09T17:45:59.457Z,1754761559.457 [lineCaptureHoming:Lap:Docked:Wpt1:C.SetSpeed] Running Loop=1
2025-08-09T17:45:59.457Z,1754761559.457 [lineCaptureHoming:Lap:Docked:Wpt1:C.SetSpeed](DEBUG): Initialize.
2025-08-09T17:45:59.457Z,1754761559.457 [lineCaptureHoming:Lap:Docked:Wpt1:A] Running Loop=1
2025-08-09T17:45:59.840Z,1754761559.840 [lineCaptureHoming:Lap:Docked:Wpt1] Stopped
2025-08-09T17:45:59.841Z,1754761559.841 [lineCaptureHoming:Lap:Docked:Wpt1](DEBUG): Aggregate::uninitialize lineCaptureHoming:Lap:Docked:Wpt1
2025-08-09T17:45:59.841Z,1754761559.841 [lineCaptureHoming:Lap:Docked:Wpt1:A] Stopped
2025-08-09T17:45:59.841Z,1754761559.841 [lineCaptureHoming:Lap:Docked:Wpt1:B.Pitch] Stopped
2025-08-09T17:45:59.841Z,1754761559.841 [lineCaptureHoming:Lap:Docked:Wpt1:C.SetSpeed] Stopped
2025-08-09T17:45:59.841Z,1754761559.841 [lineCaptureHoming:Lap:Docked:Wpt1:C.SetSpeed](DEBUG): Uninitialize.
2025-08-09T17:45:59.841Z,1754761559.841 [lineCaptureHoming:Lap:Docked:Drift] Running Loop=1
2025-08-09T17:45:59.841Z,1754761559.841 [lineCaptureHoming:Lap:Docked:Drift](DEBUG): Aggregate::initialize lineCaptureHoming:Lap:Docked:Drift
2025-08-09T17:45:59.841Z,1754761559.841 [lineCaptureHoming:Lap:Docked:Drift:B.Buoyancy] Running Loop=1
2025-08-09T17:45:59.841Z,1754761559.841 [lineCaptureHoming:Lap:Docked:Drift:B.Buoyancy](DEBUG): Initialize Buoyancy Component.
2025-08-09T17:45:59.841Z,1754761559.841 [lineCaptureHoming:Lap:Docked:Drift:C.Pitch] Running Loop=1
2025-08-09T17:45:59.841Z,1754761559.841 [lineCaptureHoming:Lap:Docked:Drift:C.Pitch](DEBUG): Initialize.
2025-08-09T17:45:59.842Z,1754761559.842 [lineCaptureHoming:Lap:Docked:Drift:D.Point] Running Loop=1
2025-08-09T17:45:59.842Z,1754761559.842 [lineCaptureHoming:Lap:Docked:Drift:D.Point](DEBUG): Initialize.
2025-08-09T17:45:59.842Z,1754761559.842 [lineCaptureHoming:Lap:Docked:Drift:E.SetSpeed] Running Loop=1
2025-08-09T17:45:59.842Z,1754761559.842 [lineCaptureHoming:Lap:Docked:Drift:E.SetSpeed](DEBUG): Initialize.
2025-08-09T17:45:59.846Z,1754761559.846 [lineCaptureHoming:Lap:Docked:Drift:A] Running Loop=1
2025-08-09T17:45:59.931Z,1754761559.931 [DAT](INFO): DAT read: OK

2025-08-09T17:45:59.931Z,1754761559.931 [DAT](INFO): unknown deviceResponse_: OK

2025-08-09T17:45:59.932Z,1754761559.932 [DAT](INFO): DAT read: user:717>

2025-08-09T17:45:59.933Z,1754761559.933 [DAT](INFO): DAT read: Tx time:17:45:59.3822

2025-08-09T17:45:59.933Z,1754761559.933 [DAT](INFO): Ping request sent.
2025-08-09T17:45:59.933Z,1754761559.933 [DAT](INFO): transmitted an acoustic signal
2025-08-09T17:45:59.933Z,1754761559.933 [DAT](INFO): publishing transmit ping time
2025-08-09T17:46:00.263Z,1754761560.263 [lineCaptureHoming:Lap:Docked:Drift] Stopped
2025-08-09T17:46:00.263Z,1754761560.263 [lineCaptureHoming:Lap:Docked:Drift](DEBUG): Aggregate::uninitialize lineCaptureHoming:Lap:Docked:Drift
2025-08-09T17:46:00.263Z,1754761560.263 [lineCaptureHoming:Lap:Docked:Drift:A] Stopped
2025-08-09T17:46:00.263Z,1754761560.263 [lineCaptureHoming:Lap:Docked:Drift:B.Buoyancy] Stopped
2025-08-09T17:46:00.263Z,1754761560.263 [lineCaptureHoming:Lap:Docked:Drift:B.Buoyancy](DEBUG): Uninitialize Buoyancy Component.
2025-08-09T17:46:00.264Z,1754761560.264 [lineCaptureHoming:Lap:Docked:Drift:C.Pitch] Stopped
2025-08-09T17:46:00.264Z,1754761560.264 [lineCaptureHoming:Lap:Docked:Drift:D.Point] Stopped
2025-08-09T17:46:00.264Z,1754761560.264 [lineCaptureHoming:Lap:Docked:Drift:E.SetSpeed] Stopped
2025-08-09T17:46:00.264Z,1754761560.264 [lineCaptureHoming:Lap:Docked:Drift:E.SetSpeed](DEBUG): Uninitialize.
2025-08-09T17:46:00.264Z,1754761560.264 [lineCaptureHoming:Lap:Docked](INFO): Completed lineCaptureHoming:Lap:Docked
2025-08-09T17:46:00.264Z,1754761560.264 [lineCaptureHoming:Lap:Docked] Stopped
2025-08-09T17:46:00.264Z,1754761560.264 [lineCaptureHoming:Lap:Docked](DEBUG): Aggregate::uninitialize lineCaptureHoming:Lap:Docked
2025-08-09T17:46:00.264Z,1754761560.264 [lineCaptureHoming:Lap](INFO): Completed lineCaptureHoming:Lap
2025-08-09T17:46:00.265Z,1754761560.265 [lineCaptureHoming:Lap] Stopped
2025-08-09T17:46:00.265Z,1754761560.265 [lineCaptureHoming:Lap](DEBUG): Aggregate::uninitialize lineCaptureHoming:Lap
2025-08-09T17:46:00.269Z,1754761560.269 [lineCaptureHoming](INFO): Completed lineCaptureHoming
2025-08-09T17:46:00.269Z,1754761560.269 [MissionManager](INFO): lineCaptureHoming is completed.
2025-08-09T17:46:00.269Z,1754761560.269 [MissionManager](INFO): Uninitializing Mission lineCaptureHoming
2025-08-09T17:46:00.269Z,1754761560.269 [lineCaptureHoming] Stopped
2025-08-09T17:46:00.270Z,1754761560.270 [lineCaptureHoming](DEBUG): Aggregate::uninitialize lineCaptureHoming
2025-08-09T17:46:00.270Z,1754761560.270 [lineCaptureHoming:Science] Stopped
2025-08-09T17:46:00.270Z,1754761560.270 [lineCaptureHoming:Science](DEBUG): Aggregate::uninitialize lineCaptureHoming:Science
2025-08-09T17:46:00.270Z,1754761560.270 [lineCaptureHoming:Science:B] Stopped
2025-08-09T17:46:00.270Z,1754761560.270 [lineCaptureHoming:Science:C] Stopped
2025-08-09T17:46:00.270Z,1754761560.270 [lineCaptureHoming:Science:E] Stopped
2025-08-09T17:46:00.270Z,1754761560.270 [lineCaptureHoming:Science:OceanCurrent] Stopped
2025-08-09T17:46:00.270Z,1754761560.270 [lineCaptureHoming:Science:OceanCurrent](DEBUG): Aggregate::uninitialize lineCaptureHoming:Science:OceanCurrent
2025-08-09T17:46:00.270Z,1754761560.270 [lineCaptureHoming:Science:OceanCurrent:A.] Stopped
2025-08-09T17:46:00.271Z,1754761560.271 [lineCaptureHoming:StandardEnvelopes] Stopped
2025-08-09T17:46:00.271Z,1754761560.271 [lineCaptureHoming:StandardEnvelopes](DEBUG): Aggregate::uninitialize lineCaptureHoming:StandardEnvelopes
2025-08-09T17:46:00.271Z,1754761560.271 [lineCaptureHoming:StandardEnvelopes:A.AltitudeEnvelope] Stopped
2025-08-09T17:46:00.271Z,1754761560.271 [lineCaptureHoming:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Uninitialize AltitudeEnvelopeComponent.
2025-08-09T17:46:00.271Z,1754761560.271 [lineCaptureHoming:StandardEnvelopes:B.DepthEnvelope] Stopped
2025-08-09T17:46:00.271Z,1754761560.271 [lineCaptureHoming:StandardEnvelopes:B.DepthEnvelope](DEBUG): Uninitialize.
2025-08-09T17:46:00.271Z,1754761560.271 [lineCaptureHoming:StandardEnvelopes:C.OffshoreEnvelope] Stopped
2025-08-09T17:46:00.271Z,1754761560.271 [lineCaptureHoming:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Uninitialize OffshoreEnvelopeComponent.
2025-08-09T17:46:00.272Z,1754761560.272 [lineCaptureHoming:MicromodemComms] Stopped
2025-08-09T17:46:00.272Z,1754761560.272 [lineCaptureHoming:MicromodemComms](DEBUG): Aggregate::uninitialize lineCaptureHoming:MicromodemComms
2025-08-09T17:46:00.272Z,1754761560.272 [lineCaptureHoming:MicromodemComms:CheckIn] Stopped
2025-08-09T17:46:00.272Z,1754761560.272 [lineCaptureHoming:MicromodemComms:CheckIn](DEBUG): Aggregate::uninitialize lineCaptureHoming:MicromodemComms:CheckIn
2025-08-09T17:46:00.272Z,1754761560.272 [lineCaptureHoming:MicromodemComms:CheckIn:A] Stopped
2025-08-09T17:46:00.272Z,1754761560.272 [lineCaptureHoming:TrackAC.] Stopped
2025-08-09T17:46:00.272Z,1754761560.272 [lineCaptureHoming:TrackAC.](DEBUG): Uninitializing TrackAcousticContact.
2025-08-09T17:46:00.401Z,1754761560.401 [CommandExec](IMPORTANT): got command run ./Missions/Engineering/OnDock.tl
2025-08-09T17:46:00.563Z,1754761560.563 [WetLabsBB2FL](INFO): Powering down
2025-08-09T17:46:00.631Z,1754761560.631 [MissionManager](INFO): Loading Mission from file: ./Missions/Engineering/OnDock.tl
2025-08-09T17:46:00.631Z,1754761560.631 [MissionManager](DEBUG): TethyslAPI: loading: ./Missions/Engineering/OnDock.tl
2025-08-09T17:46:00.639Z,1754761560.639 [MissionManager](DEBUG): TethyslAPI: mission file loaded: ./Missions/Engineering/OnDock.tl
2025-08-09T17:46:02.459Z,1754761562.459 [DAT](INFO): DAT read: Rx Time:17:46:01.2422

2025-08-09T17:46:02.460Z,1754761562.460 [DAT](INFO): Rx dataTimestamp_ set to:1754761562.459485
2025-08-09T17:46:02.963Z,1754761562.963 [DAT](INFO): DAT read: OK

2025-08-09T17:46:02.963Z,1754761562.963 [DAT](INFO): unknown deviceResponse_: OK

2025-08-09T17:46:04.180Z,1754761564.180 [CBIT](INFO): Clearing failed state for component DockingStepper
2025-08-09T17:46:04.180Z,1754761564.180 [DockingStepper] No Fault, FailCount= 3
2025-08-09T17:46:04.455Z,1754761564.455 [DockingStepper](DEBUG): Initializing EZServoServo.
2025-08-09T17:46:04.575Z,1754761564.575 [DockingStepper](DEBUG): Initializing DockingStepper.
2025-08-09T17:46:05.304Z,1754761565.304 [MissionManager](DEBUG): TethyslAPI: ./Missions/Engineering/OnDock.tl translated into:
<?xml version="1.0" encoding="UTF-8" ?>
<!--generated by tl2xml-->
<Mission Id="OnDock">
    <DefineArg Name="DockedTime">
        <Units:hour />
        <Value>8</Value>
    </DefineArg>
    <DefineArg Name="DetachedTimeout">
        <Dock:Docked.detachTimeout />
    </DefineArg>
    <DefineArg Name="RangeTimeout">
        <Dock:Docked.rangeTimeout />
    </DefineArg>
    <DefineArg Name="TrackingUpdatePeriod">
        <Units:minute />
        <Value>2</Value>
    </DefineArg>
    <DefineArg Name="NumberOfPings">
        <Units:count />
        <Value>1</Value>
    </DefineArg>
    <DefineArg Name="TransponderCode">
        <Dock:Dock.transponderCode />
    </DefineArg>
    <DefineArg Name="MaxDepth">
        <BIT:CBIT.stopDepth />
    </DefineArg>
    <DefineArg Name="MinAltitude">
        <Units:meter />
        <Value>5</Value>
    </DefineArg>
    <DefineArg Name="MinOffshore">
        <Units:kilometer />
        <Value>2</Value>
    </DefineArg>
    <DefineArg Name="StayOnDock">
        <False />
    </DefineArg>
    <DefineArg Name="IfconfigInterval">
        <Units:hour />
        <Value>2</Value>
    </DefineArg>
    <DefineArg Name="RunScience">
        <False />
    </DefineArg>
    <DefineArg Name="MissionTimeout">
        <Arg Name="DockedTime" />
    </DefineArg>
    <Timeout Duration="MissionTimeout" />
    <Insert Filename="Insert/StandardEnvelopes.tl" />
    <Assign>
        <Sequence />
        <Arg Name="StandardEnvelopes:MinAltitude" />
        <Arg Name="MinAltitude" />
    </Assign>
    <Assign>
        <Sequence />
        <Arg Name="StandardEnvelopes:MaxDepth" />
        <Arg Name="MaxDepth" />
    </Assign>
    <Assign>
        <Sequence />
        <Arg Name="StandardEnvelopes:MinOffshore" />
        <Arg Name="MinOffshore" />
    </Assign>
    <Assign>
        <Sequence />
        <Arg Name="MissionTimeout" />
        <Arg Name="DockedTime" />
        <Add>
            <Units:minute />
            <Value>5</Value>
        </Add>
    </Assign>
    <Insert Filename="Insert/BackseatDriver.tl" />
    <Insert Filename="Insert/PowerOnly.tl" />
    <Aggregate Id="dataRead">
        <While>
            <True />
        </While>
        <ReadDatum>
            <Universal:platform_communications />
        </ReadDatum>
        <Guidance:Wait>
            <Sequence />
            <Setting>
                <Guidance:Wait.duration />
                <Units:minute />
                <Value>5</Value>
            </Setting>
        </Guidance:Wait>
    </Aggregate>
    <Aggregate Id="science">
        <Parallel />
        <Break>
            <Not>
                <Arg Name="RunScience" />
            </Not>
        </Break>
        <Insert Filename="Insert/Science.tl" />
    </Aggregate>
    <Estimation:TrackAcousticContact>
        <Parallel />
        <Setting>
            <Estimation:TrackAcousticContact.contactLabelSetting />
            <Arg Name="TransponderCode" />
        </Setting>
        <Setting>
            <Estimation:TrackAcousticContact.numberOfSamplesSetting />
            <Arg Name="NumberOfPings" />
        </Setting>
        <Setting>
            <Estimation:TrackAcousticContact.updatePeriodSetting />
            <Arg Name="TrackingUpdatePeriod" />
        </Setting>
    </Estimation:TrackAcousticContact>
    <Syslog Severity="Important">Restarting logs</Syslog>
    <Guidance:Execute>
        <Sequence />
        <Setting>
            <Guidance:Execute.command />
            <String>restart logs</String>
        </Setting>
    </Guidance:Execute>
    <Aggregate Id="PeriodicCheck">
        <Parallel />
        <Aggregate Id="CheckIP">
            <Sequence />
            <Guidance:Execute>
                <Sequence />
                <Setting>
                    <Guidance:Execute.command />
                    <String>! ifconfig</String>
                </Setting>
            </Guidance:Execute>
            <Guidance:Wait>
                <Sequence />
                <Setting>
                    <Guidance:Wait.duration />
                    <Arg Name="IfconfigInterval" />
                </Setting>
            </Guidance:Wait>
        </Aggregate>
    </Aggregate>
    <Dock:Docked>
        <Sequence />
        <Timeout Duration="DockedTime" />
        <Setting>
            <Dock:Docked.detachTimeout />
            <Arg Name="DetachedTimeout" />
        </Setting>
        <Setting>
            <Dock:Docked.rangeTimeout />
            <Arg Name="RangeTimeout" />
        </Setting>
    </Dock:Docked>
    <Aggregate Id="Detach">
        <Sequence />
        <Break>
            <Arg Name="StayOnDock" />
            <Eq>
                <True />
            </Eq>
        </Break>
        <Syslog Severity="Important">
            Mission ending, breaking off. Range: 
            <Estimation:TrackAcousticContact.range_to_contact />
            <Units:meter />
            .
        </Syslog>
        <Dock:Undock>
            <Sequence />
        </Dock:Undock>
    </Aggregate>
</Mission>

2025-08-09T17:46:05.311Z,1754761565.311 [MissionManager](INFO): DefineArg OnDock.DockedTime = 8.000000 h
2025-08-09T17:46:05.316Z,1754761565.316 [MissionManager](INFO): DefineArg OnDock.DetachedTimeout = 30.000000 s
2025-08-09T17:46:05.323Z,1754761565.323 [MissionManager](INFO): DefineArg OnDock.RangeTimeout = 600.000000 s
2025-08-09T17:46:05.335Z,1754761565.335 [MissionManager](INFO): DefineArg OnDock.TrackingUpdatePeriod = 2.000000 min
2025-08-09T17:46:05.342Z,1754761565.342 [MissionManager](INFO): DefineArg OnDock.NumberOfPings = 1.000000 count
2025-08-09T17:46:05.354Z,1754761565.354 [MissionManager](INFO): DefineArg OnDock.TransponderCode = 50 count
2025-08-09T17:46:05.367Z,1754761565.367 [MissionManager](INFO): DefineArg OnDock.MaxDepth = 275.000000 m
2025-08-09T17:46:05.375Z,1754761565.375 [MissionManager](INFO): DefineArg OnDock.MinAltitude = 5.000000 m
2025-08-09T17:46:05.383Z,1754761565.383 [MissionManager](INFO): DefineArg OnDock.MinOffshore = 2.000000 km
2025-08-09T17:46:05.391Z,1754761565.391 [MissionManager](INFO): DefineArg OnDock.StayOnDock = 0 bool
2025-08-09T17:46:05.399Z,1754761565.399 [MissionManager](INFO): DefineArg OnDock.IfconfigInterval = 2.000000 h
2025-08-09T17:46:05.407Z,1754761565.407 [MissionManager](INFO): DefineArg OnDock.RunScience = 0 bool
2025-08-09T17:46:05.415Z,1754761565.415 [MissionManager](INFO): DefineArg OnDock.MissionTimeout = 8.000000 h
2025-08-09T17:46:05.415Z,1754761565.415 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/StandardEnvelopes.tl
2025-08-09T17:46:05.416Z,1754761565.416 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Insert/StandardEnvelopes.tl
2025-08-09T17:46:05.417Z,1754761565.417 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Insert/StandardEnvelopes.tl
2025-08-09T17:46:05.607Z,1754761565.607 [MissionManager](DEBUG): TethyslAPI: Missions/Insert/StandardEnvelopes.tl translated into:
<?xml version="1.0" encoding="UTF-8" ?>
<!--generated by tl2xml-->
<Aggregate Id="StandardEnvelopes">
    <DefineArg Name="MinAltitude">
        <Units:meter />
        <Value>5</Value>
    </DefineArg>
    <DefineArg Name="MaxDepthIgnore">
        <Units:meter />
        <Value>1.5</Value>
    </DefineArg>
    <DefineArg Name="MaxDepth">
        <Units:meter />
        <Value>200</Value>
    </DefineArg>
    <DefineArg Name="MinOffshore">
        <Units:meter />
        <Value>2000</Value>
    </DefineArg>
    <Parallel />
    <Guidance:AltitudeEnvelope>
        <Parallel />
        <Setting>
            <Guidance:AltitudeEnvelope.minAltitude />
            <Arg Name="MinAltitude" />
        </Setting>
        <Setting>
            <Guidance:AltitudeEnvelope.maxDepthIgnore />
            <Arg Name="MaxDepthIgnore" />
        </Setting>
    </Guidance:AltitudeEnvelope>
    <Guidance:DepthEnvelope>
        <Parallel />
        <Setting>
            <Guidance:DepthEnvelope.maxDepth />
            <Arg Name="MaxDepth" />
        </Setting>
    </Guidance:DepthEnvelope>
    <Guidance:OffshoreEnvelope>
        <Parallel />
        <Setting>
            <Guidance:OffshoreEnvelope.minOffshore />
            <Arg Name="MinOffshore" />
        </Setting>
    </Guidance:OffshoreEnvelope>
</Aggregate>

2025-08-09T17:46:05.621Z,1754761565.621 [MissionManager](INFO): DefineArg OnDock:StandardEnvelopes.MinAltitude = 5.000000 m
2025-08-09T17:46:05.643Z,1754761565.643 [MissionManager](INFO): DefineArg OnDock:StandardEnvelopes.MaxDepthIgnore = 1.500000 m
2025-08-09T17:46:05.648Z,1754761565.648 [MissionManager](INFO): DefineArg OnDock:StandardEnvelopes.MaxDepth = 200.000000 m
2025-08-09T17:46:05.663Z,1754761565.663 [MissionManager](INFO): DefineArg OnDock:StandardEnvelopes.MinOffshore = 2000.000000 m
2025-08-09T17:46:05.664Z,1754761565.664 [OnDock:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Construct AltitudeEnvelope.
2025-08-09T17:46:05.688Z,1754761565.688 [OnDock:StandardEnvelopes:B.DepthEnvelope](DEBUG): Construct DepthEnvelope.
2025-08-09T17:46:05.733Z,1754761565.733 [OnDock:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Construct OffshoreEnvelope.
2025-08-09T17:46:05.811Z,1754761565.811 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/BackseatDriver.tl
2025-08-09T17:46:05.811Z,1754761565.811 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Insert/BackseatDriver.tl
2025-08-09T17:46:05.812Z,1754761565.812 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Insert/BackseatDriver.tl
2025-08-09T17:46:05.863Z,1754761565.863 [MissionManager](DEBUG): TethyslAPI: Missions/Insert/BackseatDriver.tl translated into:
<?xml version="1.0" encoding="UTF-8" ?>
<!--generated by tl2xml-->
<Aggregate Id="BackseatDriver">
    <DefineArg Name="EnableBackseat">
        <False />
    </DefineArg>
    <Parallel />
    <Guidance:BackseatDriver>
        <Sequence />
        <Setting>
            <Guidance:BackseatDriver.powerBackseat />
            <Arg Name="EnableBackseat" />
        </Setting>
    </Guidance:BackseatDriver>
</Aggregate>

2025-08-09T17:46:05.872Z,1754761565.872 [MissionManager](INFO): DefineArg OnDock:BackseatDriver.EnableBackseat = 0 bool
2025-08-09T17:46:05.879Z,1754761565.879 [OnDock:BackseatDriver:A.BackseatDriver](DEBUG): Construct BackseatDriver.
2025-08-09T17:46:05.882Z,1754761565.882 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/PowerOnly.tl
2025-08-09T17:46:05.882Z,1754761565.882 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Insert/PowerOnly.tl
2025-08-09T17:46:05.887Z,1754761565.887 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Insert/PowerOnly.tl
2025-08-09T17:46:06.165Z,1754761566.165 [MissionManager](DEBUG): TethyslAPI: Missions/Insert/PowerOnly.tl translated into:
<?xml version="1.0" encoding="UTF-8" ?>
<!--generated by tl2xml-->
<Aggregate Id="PowerOnly">
    <DefineArg Name="SampleAll">
        <False />
    </DefineArg>
    <DefineArg Name="SampleLoad1">
        <False />
    </DefineArg>
    <DefineArg Name="SampleLoad2">
        <False />
    </DefineArg>
    <DefineArg Name="SampleLoad3">
        <False />
    </DefineArg>
    <DefineArg Name="EnabledPowerOnly">
        <Sensor:PowerOnly.loadAtStartup />
    </DefineArg>
    <Parallel />
    <ReadData Strategy="MinError">
        <While>
            <Arg Name="SampleAll" />
            <And>
                <Arg Name="EnabledPowerOnly" />
            </And>
        </While>
        <Sensor:PowerOnly.samplePowerOnly />
    </ReadData>
    <ReadData Strategy="MinError">
        <While>
            <Arg Name="SampleLoad1" />
            <And>
                <Arg Name="EnabledPowerOnly" />
            </And>
        </While>
        <Sensor:PowerOnly.sampleLoad1 />
    </ReadData>
    <ReadData Strategy="MinError">
        <While>
            <Arg Name="SampleLoad2" />
            <And>
                <Arg Name="EnabledPowerOnly" />
            </And>
        </While>
        <Sensor:PowerOnly.sampleLoad2 />
    </ReadData>
    <ReadData Strategy="MinError">
        <While>
            <Arg Name="SampleLoad3" />
            <And>
                <Arg Name="EnabledPowerOnly" />
            </And>
        </While>
        <Sensor:PowerOnly.sampleLoad3 />
    </ReadData>
    <Guidance:Wait>
        <Sequence />
        <Setting>
            <Guidance:Wait.duration />
            <Units:hour />
            <Value>99999</Value>
        </Setting>
    </Guidance:Wait>
</Aggregate>

2025-08-09T17:46:06.175Z,1754761566.175 [MissionManager](INFO): DefineArg OnDock:PowerOnly.SampleAll = 0 bool
2025-08-09T17:46:06.187Z,1754761566.187 [MissionManager](INFO): DefineArg OnDock:PowerOnly.SampleLoad1 = 0 bool
2025-08-09T17:46:06.195Z,1754761566.195 [MissionManager](INFO): DefineArg OnDock:PowerOnly.SampleLoad2 = 0 bool
2025-08-09T17:46:06.207Z,1754761566.207 [MissionManager](INFO): DefineArg OnDock:PowerOnly.SampleLoad3 = 0 bool
2025-08-09T17:46:06.212Z,1754761566.212 [MissionManager](INFO): DefineArg OnDock:PowerOnly.EnabledPowerOnly = 0 bool
2025-08-09T17:46:06.236Z,1754761566.236 [OnDock:PowerOnly:E.Wait](DEBUG): Construct Wait.
2025-08-09T17:46:06.274Z,1754761566.274 [OnDock:dataRead:B.Wait](DEBUG): Construct Wait.
2025-08-09T17:46:06.291Z,1754761566.291 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/Science.tl
2025-08-09T17:46:06.292Z,1754761566.292 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Insert/Science.tl
2025-08-09T17:46:06.309Z,1754761566.309 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Insert/Science.tl
2025-08-09T17:46:08.080Z,1754761568.080 [DockingStepper](INFO): Changing to mode: 1
2025-08-09T17:46:10.613Z,1754761570.613 [MissionManager](DEBUG): TethyslAPI: Missions/Insert/Science.tl translated into:
<?xml version="1.0" encoding="UTF-8" ?>
<!--generated by tl2xml-->
<Aggregate Id="Science">
    <DefineArg Name="PeakDetectChlActive">
        <False />
    </DefineArg>
    <DefineArg Name="EdgeDetectChlActive">
        <False />
    </DefineArg>
    <DefineArg Name="TimeWindowPeakReport">
        <Units:minute />
        <Value>NaN</Value>
    </DefineArg>
    <DefineArg Name="HighestChlPeakReportActive">
        <False />
    </DefineArg>
    <DefineArg Name="HighestSaltPeakReportActive">
        <False />
    </DefineArg>
    <DefineArg Name="HighestOilPeakReportActive">
        <False />
    </DefineArg>
    <DefineArg Name="PatchTracking">
        <False />
    </DefineArg>
    <DefineArg Name="FilterWidthHorizontal">
        <Units:count />
        <Value>3</Value>
    </DefineArg>
    <DefineArg Name="NumProfilesSlidingwindow">
        <Units:count />
        <Value>100</Value>
    </DefineArg>
    <DefineArg Name="OffPeakFractionHorizontal">
        <Units:percent />
        <Value>80</Value>
    </DefineArg>
    <DefineArg Name="PeakDetectNO3Active">
        <False />
    </DefineArg>
    <DefineArg Name="PeakDetectOilActive">
        <False />
    </DefineArg>
    <DefineArg Name="PeakDetectFDOMActive">
        <False />
    </DefineArg>
    <DefineArg Name="PeakDetectSalinityActive">
        <False />
    </DefineArg>
    <DefineArg Name="PeakDetectPlanktivoreLMavgROIActive">
        <False />
    </DefineArg>
    <DefineArg Name="EdgeDetectPlanktivoreLMavgROIActive">
        <False />
    </DefineArg>
    <DefineArg Name="PeakDetectPlanktivoreHMavgROIActive">
        <False />
    </DefineArg>
    <DefineArg Name="EdgeDetectPlanktivoreHMavgROIActive">
        <False />
    </DefineArg>
    <DefineArg Name="PeakDetectPlanktivoreDiatomsActive">
        <False />
    </DefineArg>
    <DefineArg Name="EdgeDetectPlanktivoreDiatomsActive">
        <False />
    </DefineArg>
    <DefineArg Name="PeakDetectPlanktivoreDinoflagellatesActive">
        <False />
    </DefineArg>
    <DefineArg Name="EdgeDetectPlanktivoreDinoflagellatesActive">
        <False />
    </DefineArg>
    <DefineArg Name="UpwardDerivativeOfTemperatureActive">
        <False />
    </DefineArg>
    <DefineArg Name="EnabledAanderaaO2">
        <Science:Aanderaa_O2.loadAtStartup />
    </DefineArg>
    <DefineArg Name="EnabledNeilBrown">
        <Science:CTD_NeilBrown.loadAtStartup />
    </DefineArg>
    <DefineArg Name="EnabledRBRTridente">
        <Science:RBRTridente.loadAtStartup />
    </DefineArg>
    <DefineArg Name="EnabledSeabird">
        <Science:CTD_Seabird.loadAtStartup />
    </DefineArg>
    <DefineArg Name="EnabledWetLabsBB2FL">
        <Science:WetLabsBB2FL.loadAtStartup />
    </DefineArg>
    <DefineArg Name="EnabledWetLabsSeaOWL_UV_A">
        <Science:WetLabsSeaOWL_UV_A.loadAtStartup />
    </DefineArg>
    <DefineArg Name="EnabledWetLabsUBAT">
        <Science:WetLabsUBAT.loadAtStartup />
    </DefineArg>
    <DefineArg Name="LowPassWindowLength">
        <Units:count />
        <Value>20</Value>
    </DefineArg>
    <DefineArg Name="MedianFilterLen">
        <Units:count />
        <Value>5</Value>
    </DefineArg>
    <DefineArg Name="ShallowBound">
        <Units:meter />
        <Value>NaN</Value>
    </DefineArg>
    <DefineArg Name="DeepBound">
        <Units:meter />
        <Value>NaN</Value>
    </DefineArg>
    <DefineArg Name="DepChangeThreshForAttitudeFlip">
        <Units:meter />
        <Value>2.0</Value>
    </DefineArg>
    <DefineArg Name="OffPeakFractionVerticalAscent">
        <Units:percent />
        <Value>NaN</Value>
    </DefineArg>
    <DefineArg Name="OffPeakFractionVerticalDescent">
        <Units:percent />
        <Value>NaN</Value>
    </DefineArg>
    <DefineArg Name="ChlPeakThresh">
        <Units:microgram_per_liter />
        <Value>0</Value>
    </DefineArg>
    <DefineArg Name="NumberOfLayers">
        <Units:count />
        <Value>1</Value>
    </DefineArg>
    <DefineArg Name="ChlThreshTriggerActive">
        <False />
    </DefineArg>
    <DefineArg Name="ChlLowerThresh">
        <Units:microgram_per_liter />
        <Value>NaN</Value>
    </DefineArg>
    <DefineArg Name="ChlUpperThresh">
        <Units:microgram_per_liter />
        <Value>NaN</Value>
    </DefineArg>
    <DefineArg Name="NumProfilesThresh">
        <Units:count />
        <Value>5</Value>
    </DefineArg>
    <DefineArg Name="PlanktivoreLMavgROIPeakThresh">
        <Units:count_per_second />
        <Value>0</Value>
    </DefineArg>
    <DefineArg Name="PlanktivoreHMavgROIPeakThresh">
        <Units:count_per_second />
        <Value>0</Value>
    </DefineArg>
    <DefineArg Name="PlanktivoreDiatomsPeakThresh">
        <Units:count_per_milliliter />
        <Value>0</Value>
    </DefineArg>
    <DefineArg Name="PlanktivoreDinoflagellatesPeakThresh">
        <Units:count_per_milliliter />
        <Value>0</Value>
    </DefineArg>
    <DefineOutput Name="GoDown">
        <True />
    </DefineOutput>
    <DefineOutput Name="PeakChl">
        <Units:microgram_per_liter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakChlDepth">
        <Units:meter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakChlTemperature">
        <Units:celsius />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakChlLatitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakChlLongitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="EdgeChl">
        <Units:microgram_per_liter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="EdgeChlDepth">
        <Units:meter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="EdgeChlTemperature">
        <Units:celsius />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="EdgeChlLatitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="EdgeChlLongitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakNO3">
        <Units:micromole_per_liter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakNO3Depth">
        <Units:meter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakNO3Latitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakNO3Longitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakOil">
        <Units:kilogram_per_cubic_meter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakOilDepth">
        <Units:meter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakOilLatitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakOilLongitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakFDOM">
        <Units:part_per_billion />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakFDOMDepth">
        <Units:meter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakFDOMTemperature">
        <Units:celsius />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakFDOMLatitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakFDOMLongitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakSalt">
        <Units:practical_salinity_unit />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakSaltDepth">
        <Units:meter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakSaltTemperature">
        <Units:celsius />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakSaltLatitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakSaltLongitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakPlanktivoreLMavgROI">
        <Units:count_per_second />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakPlanktivoreLMavgROIDepth">
        <Units:meter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakPlanktivoreLMavgROITemperature">
        <Units:celsius />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakPlanktivoreLMavgROILatitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakPlanktivoreLMavgROILongitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="EdgePlanktivoreLMavgROI">
        <Units:count_per_second />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="EdgePlanktivoreLMavgROIDepth">
        <Units:meter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="EdgePlanktivoreLMavgROITemperature">
        <Units:celsius />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="EdgePlanktivoreLMavgROILatitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="EdgePlanktivoreLMavgROILongitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakPlanktivoreHMavgROI">
        <Units:count_per_second />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakPlanktivoreHMavgROIDepth">
        <Units:meter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakPlanktivoreHMavgROITemperature">
        <Units:celsius />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakPlanktivoreHMavgROILatitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakPlanktivoreHMavgROILongitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="EdgePlanktivoreHMavgROI">
        <Units:count_per_second />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="EdgePlanktivoreHMavgROIDepth">
        <Units:meter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="EdgePlanktivoreHMavgROITemperature">
        <Units:celsius />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="EdgePlanktivoreHMavgROILatitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="EdgePlanktivoreHMavgROILongitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakPlanktivoreDiatoms">
        <Units:count_per_milliliter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakPlanktivoreDiatomsDepth">
        <Units:meter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakPlanktivoreDiatomsTemperature">
        <Units:celsius />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakPlanktivoreDiatomsLatitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakPlanktivoreDiatomsLongitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="EdgePlanktivoreDiatoms">
        <Units:count_per_milliliter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="EdgePlanktivoreDiatomsDepth">
        <Units:meter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="EdgePlanktivoreDiatomsTemperature">
        <Units:celsius />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="EdgePlanktivoreDiatomsLatitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="EdgePlanktivoreDiatomsLongitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakPlanktivoreDinoflagellates">
        <Units:count_per_milliliter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakPlanktivoreDinoflagellatesDepth">
        <Units:meter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakPlanktivoreDinoflagellatesTemperature">
        <Units:celsius />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakPlanktivoreDinoflagellatesLatitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakPlanktivoreDinoflagellatesLongitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="EdgePlanktivoreDinoflagellates">
        <Units:count_per_milliliter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="EdgePlanktivoreDinoflagellatesDepth">
        <Units:meter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="EdgePlanktivoreDinoflagellatesTemperature">
        <Units:celsius />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="EdgePlanktivoreDinoflagellatesLatitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="EdgePlanktivoreDinoflagellatesLongitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PatchChl">
        <Units:microgram_per_liter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PatchChlDepth">
        <Units:meter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PatchChlLatitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PatchChlLongitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PatchChlDistance">
        <Units:meter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PatchSalt">
        <Units:practical_salinity_unit />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PatchSaltDepth">
        <Units:meter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PatchSaltLatitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PatchSaltLongitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PatchSaltDistance">
        <Units:meter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PatchOil">
        <Units:practical_salinity_unit />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PatchOilDepth">
        <Units:meter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PatchOilLatitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PatchOilLongitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PatchOilDistance">
        <Units:meter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="TriggeredOnChl">
        <False />
    </DefineOutput>
    <DefineOutput Name="ChlTriggering">
        <Units:microgram_per_liter />
        <Value>NaN</Value>
    </DefineOutput>
    <Parallel />
    <ReadData Strategy="MinError">
        <While>
            <Arg Name="EnabledAanderaaO2" />
        </While>
        <Universal:mass_concentration_of_oxygen_in_sea_water />
    </ReadData>
    <ReadData Strategy="MinError">
        <While>
            <Arg Name="EnabledNeilBrown" />
            <Or>
                <Arg Name="EnabledSeabird" />
            </Or>
        </While>
        <Universal:sea_water_temperature />
        <Universal:sea_water_salinity />
    </ReadData>
    <ReadData Strategy="MinError">
        <While>
            <Arg Name="EnabledSeabird" />
        </While>
        <Science:CTD_Seabird.sea_water_temperature />
        <Science:CTD_Seabird.sea_water_salinity />
    </ReadData>
    <ReadData Strategy="MinError">
        <While>
            <Arg Name="EnabledNeilBrown" />
            <Or>
                <Arg Name="EnabledSeabird" />
            </Or>
            <And>
                <Arg Name="UpwardDerivativeOfTemperatureActive" />
            </And>
        </While>
        <Universal:upward_derivative_of_sea_water_temperature />
    </ReadData>
    <ReadData Strategy="MinError">
        <While>
            <Arg Name="EnabledWetLabsBB2FL" />
            <Or>
                <Arg Name="EnabledRBRTridente" />
            </Or>
            <Or>
                <Arg Name="PeakDetectChlActive" />
            </Or>
        </While>
        <Universal:mass_concentration_of_chlorophyll_in_sea_water />
    </ReadData>
    <ReadData Strategy="MinError">
        <While>
            <Arg Name="EnabledWetLabsUBAT" />
        </While>
        <Science:WetLabsUBAT.average_bioluminescence />
    </ReadData>
    <ReadData Id="Read_Oil" Strategy="MinError">
        <While>
            <Arg Name="EnabledWetLabsSeaOWL_UV_A" />
            <Or>
                <Arg Name="PeakDetectOilActive" />
            </Or>
        </While>
        <Universal:mass_concentration_of_petroleum_hydrocarbons_in_sea_water />
    </ReadData>
    <Aggregate Id="OceanCurrent">
        <Sequence />
        <Estimation:CurrentEstimator>
            <Parallel />
        </Estimation:CurrentEstimator>
    </Aggregate>
    <Aggregate Id="PeakDetectChl">
        <While>
            <Arg Name="PeakDetectChlActive" />
        </While>
        <Syslog Severity="Debug">PeakDetectVsDepth</Syslog>
        <Trigger:PeakDetectVsDepth>
            <Sequence />
            <Setting>
                <Trigger:PeakDetectVsDepth.detect />
                <Universal:mass_concentration_of_chlorophyll_in_sea_water />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.timeWindowPeakReport />
                <Arg Name="TimeWindowPeakReport" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.windowLength />
                <Arg Name="LowPassWindowLength" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.medianFilterLength />
                <Arg Name="MedianFilterLen" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.shallowBound />
                <Arg Name="ShallowBound" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.deepBound />
                <Arg Name="DeepBound" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.depthChangeThresh />
                <Arg Name="DepChangeThreshForAttitudeFlip" />
            </Setting>
            <OutputArg Name="PeakChl">
                <Trigger:PeakDetectVsDepth.peakDetect />
            </OutputArg>
            <OutputArg Name="PeakChlDepth">
                <Trigger:PeakDetectVsDepth.peakDepth />
            </OutputArg>
            <OutputArg Name="PeakChlTemperature">
                <Trigger:PeakDetectVsDepth.peakTemperature />
            </OutputArg>
            <OutputArg Name="PeakChlLatitude">
                <Trigger:PeakDetectVsDepth.peakLatitude />
            </OutputArg>
            <OutputArg Name="PeakChlLongitude">
                <Trigger:PeakDetectVsDepth.peakLongitude />
            </OutputArg>
        </Trigger:PeakDetectVsDepth>
        <SendData Service="Express">
            <Arg Name="PeakChl" />
            <Arg Name="PeakChlDepth" />
        </SendData>
    </Aggregate>
    <Aggregate Id="EdgeDetectChl">
        <While>
            <Arg Name="EdgeDetectChlActive" />
        </While>
        <Syslog Severity="Debug">EdgeDetectVsDepth</Syslog>
        <Trigger:EdgeDetectVsDepth>
            <Sequence />
            <Setting>
                <Trigger:EdgeDetectVsDepth.detect />
                <Universal:mass_concentration_of_chlorophyll_in_sea_water />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.windowLength />
                <Arg Name="LowPassWindowLength" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.medianFilterLength />
                <Arg Name="MedianFilterLen" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.shallowBound />
                <Arg Name="ShallowBound" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.deepBound />
                <Arg Name="DeepBound" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.offpeakFractionAscent />
                <Arg Name="OffPeakFractionVerticalAscent" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.offpeakFractionDescent />
                <Arg Name="OffPeakFractionVerticalDescent" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.depthChangeThresh />
                <Arg Name="DepChangeThreshForAttitudeFlip" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.peakThresh />
                <Arg Name="ChlPeakThresh" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.numLayers />
                <Arg Name="NumberOfLayers" />
            </Setting>
            <OutputArg Name="GoDown">
                <Trigger:EdgeDetectVsDepth.goDown />
            </OutputArg>
            <OutputArg Name="PeakChl">
                <Trigger:EdgeDetectVsDepth.peakDetect />
            </OutputArg>
            <OutputArg Name="PeakChlDepth">
                <Trigger:EdgeDetectVsDepth.peakDepth />
            </OutputArg>
            <OutputArg Name="PeakChlTemperature">
                <Trigger:EdgeDetectVsDepth.peakTemperature />
            </OutputArg>
            <OutputArg Name="PeakChlLatitude">
                <Trigger:EdgeDetectVsDepth.peakLatitude />
            </OutputArg>
            <OutputArg Name="PeakChlLongitude">
                <Trigger:EdgeDetectVsDepth.peakLongitude />
            </OutputArg>
            <OutputArg Name="EdgeChl">
                <Trigger:EdgeDetectVsDepth.edgeDetect />
            </OutputArg>
            <OutputArg Name="EdgeChlDepth">
                <Trigger:EdgeDetectVsDepth.edgeDepth />
            </OutputArg>
            <OutputArg Name="EdgeChlTemperature">
                <Trigger:EdgeDetectVsDepth.edgeTemperature />
            </OutputArg>
            <OutputArg Name="EdgeChlLatitude">
                <Trigger:EdgeDetectVsDepth.edgeLatitude />
            </OutputArg>
            <OutputArg Name="EdgeChlLongitude">
                <Trigger:EdgeDetectVsDepth.edgeLongitude />
            </OutputArg>
        </Trigger:EdgeDetectVsDepth>
        <Syslog Severity="Info">
            GoDown, ChlPeakThresh, PeakChl, PeakChlDepth, EdgeChl, EdgeChlDepth = 
            <Arg Name="GoDown" />
            <Units:bool />
            , 
            <Arg Name="ChlPeakThresh" />
            <Units:microgram_per_liter />
            , 
            <Arg Name="PeakChl" />
            <Units:microgram_per_liter />
            , 
            <Arg Name="PeakChlDepth" />
            <Units:meter />
            , 
            <Arg Name="EdgeChl" />
            <Units:microgram_per_liter />
            , 
            <Arg Name="EdgeChlDepth" />
            <Units:meter />
        </Syslog>
        <SendData Service="Express">
            <Arg Name="PeakChl" />
            <Arg Name="PeakChlDepth" />
            <Arg Name="EdgeChl" />
            <Arg Name="EdgeChlDepth" />
        </SendData>
    </Aggregate>
    <Aggregate Id="HighestChlPeakReport">
        <While>
            <Arg Name="HighestChlPeakReportActive" />
        </While>
        <Trigger:PeakDetectHorizontal>
            <Sequence />
            <Setting>
                <Trigger:PeakDetectHorizontal.detectFrom />
                <Arg Name="PeakChl" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectHorizontal.depthFrom />
                <Arg Name="PeakChlDepth" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectHorizontal.latitudeFrom />
                <Arg Name="PeakChlLatitude" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectHorizontal.longitudeFrom />
                <Arg Name="PeakChlLongitude" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectHorizontal.patchTracking />
                <Arg Name="PatchTracking" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectHorizontal.filterWidth />
                <Arg Name="FilterWidthHorizontal" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectHorizontal.numProfilesSlidingwindow />
                <Arg Name="NumProfilesSlidingwindow" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectHorizontal.offPeakFraction />
                <Arg Name="OffPeakFractionHorizontal" />
            </Setting>
            <OutputArg Name="PatchChl">
                <Trigger:PeakDetectHorizontal.peakDetect />
            </OutputArg>
            <OutputArg Name="PatchChlDepth">
                <Trigger:PeakDetectHorizontal.peakDepth />
            </OutputArg>
            <OutputArg Name="PatchChlLatitude">
                <Trigger:PeakDetectHorizontal.peakLatitude />
            </OutputArg>
            <OutputArg Name="PatchChlLongitude">
                <Trigger:PeakDetectHorizontal.peakLongitude />
            </OutputArg>
            <OutputArg Name="PatchChlDistance">
                <Trigger:PeakDetectHorizontal.peakDistance />
            </OutputArg>
        </Trigger:PeakDetectHorizontal>
    </Aggregate>
    <Aggregate Id="PeakDetectNO3">
        <While>
            <Arg Name="PeakDetectNO3Active" />
        </While>
        <Syslog Severity="Debug">PeakDetectVsDepth</Syslog>
        <Trigger:PeakDetectVsDepth>
            <Sequence />
            <Setting>
                <Trigger:PeakDetectVsDepth.detect />
                <Universal:mole_concentration_of_nitrate_in_sea_water />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.timeWindowPeakReport />
                <Arg Name="TimeWindowPeakReport" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.windowLength />
                <Arg Name="LowPassWindowLength" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.shallowBound />
                <Arg Name="ShallowBound" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.deepBound />
                <Arg Name="DeepBound" />
            </Setting>
            <OutputArg Name="PeakNO3">
                <Trigger:PeakDetectVsDepth.peakDetect />
            </OutputArg>
            <OutputArg Name="PeakNO3Depth">
                <Trigger:PeakDetectVsDepth.peakDepth />
            </OutputArg>
            <OutputArg Name="PeakNO3Latitude">
                <Trigger:PeakDetectVsDepth.peakLatitude />
            </OutputArg>
            <OutputArg Name="PeakNO3Longitude">
                <Trigger:PeakDetectVsDepth.peakLongitude />
            </OutputArg>
        </Trigger:PeakDetectVsDepth>
        <SendData Service="Express">
            <Arg Name="PeakNO3" />
            <Arg Name="PeakNO3Depth" />
        </SendData>
    </Aggregate>
    <Aggregate Id="PeakDetectOil">
        <While>
            <Arg Name="PeakDetectOilActive" />
        </While>
        <Syslog Severity="Debug">PeakDetectVsDepth</Syslog>
        <Trigger:PeakDetectVsDepth>
            <Sequence />
            <Setting>
                <Trigger:PeakDetectVsDepth.detect />
                <Universal:mass_concentration_of_petroleum_hydrocarbons_in_sea_water />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.timeWindowPeakReport />
                <Arg Name="TimeWindowPeakReport" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.windowLength />
                <Arg Name="LowPassWindowLength" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.shallowBound />
                <Arg Name="ShallowBound" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.deepBound />
                <Arg Name="DeepBound" />
            </Setting>
            <OutputArg Name="PeakOil">
                <Trigger:PeakDetectVsDepth.peakDetect />
            </OutputArg>
            <OutputArg Name="PeakOilDepth">
                <Trigger:PeakDetectVsDepth.peakDepth />
            </OutputArg>
            <OutputArg Name="PeakOilLatitude">
                <Trigger:PeakDetectVsDepth.peakLatitude />
            </OutputArg>
            <OutputArg Name="PeakOilLongitude">
                <Trigger:PeakDetectVsDepth.peakLongitude />
            </OutputArg>
        </Trigger:PeakDetectVsDepth>
        <SendData Service="Express">
            <Arg Name="PeakOil" />
            <Arg Name="PeakOilDepth" />
        </SendData>
    </Aggregate>
    <Aggregate Id="HighestOilPeakReport">
        <While>
            <Arg Name="HighestOilPeakReportActive" />
        </While>
        <Trigger:PeakDetectHorizontal>
            <Sequence />
            <Setting>
                <Trigger:PeakDetectHorizontal.detectFrom />
                <Arg Name="PeakOil" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectHorizontal.depthFrom />
                <Arg Name="PeakOilDepth" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectHorizontal.latitudeFrom />
                <Arg Name="PeakOilLatitude" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectHorizontal.longitudeFrom />
                <Arg Name="PeakOilLongitude" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectHorizontal.patchTracking />
                <Arg Name="PatchTracking" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectHorizontal.filterWidth />
                <Arg Name="FilterWidthHorizontal" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectHorizontal.numProfilesSlidingwindow />
                <Arg Name="NumProfilesSlidingwindow" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectHorizontal.offPeakFraction />
                <Arg Name="OffPeakFractionHorizontal" />
            </Setting>
            <OutputArg Name="PatchOil">
                <Trigger:PeakDetectHorizontal.peakDetect />
            </OutputArg>
            <OutputArg Name="PatchOilDepth">
                <Trigger:PeakDetectHorizontal.peakDepth />
            </OutputArg>
            <OutputArg Name="PatchOilLatitude">
                <Trigger:PeakDetectHorizontal.peakLatitude />
            </OutputArg>
            <OutputArg Name="PatchOilLongitude">
                <Trigger:PeakDetectHorizontal.peakLongitude />
            </OutputArg>
            <OutputArg Name="PatchOilDistance">
                <Trigger:PeakDetectHorizontal.peakDistance />
            </OutputArg>
        </Trigger:PeakDetectHorizontal>
    </Aggregate>
    <Aggregate Id="PeakDetectFDOM">
        <While>
            <Arg Name="PeakDetectFDOMActive" />
        </While>
        <Syslog Severity="Debug">PeakDetectVsDepth</Syslog>
        <Trigger:PeakDetectVsDepth>
            <Sequence />
            <Setting>
                <Trigger:PeakDetectVsDepth.detect />
                <Universal:concentration_of_colored_dissolved_organic_matter_in_sea_water />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.timeWindowPeakReport />
                <Arg Name="TimeWindowPeakReport" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.windowLength />
                <Arg Name="LowPassWindowLength" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.shallowBound />
                <Arg Name="ShallowBound" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.deepBound />
                <Arg Name="DeepBound" />
            </Setting>
            <OutputArg Name="PeakFDOM">
                <Trigger:PeakDetectVsDepth.peakDetect />
            </OutputArg>
            <OutputArg Name="PeakFDOMDepth">
                <Trigger:PeakDetectVsDepth.peakDepth />
            </OutputArg>
            <OutputArg Name="PeakFDOMTemperature">
                <Trigger:PeakDetectVsDepth.peakTemperature />
            </OutputArg>
            <OutputArg Name="PeakFDOMLatitude">
                <Trigger:PeakDetectVsDepth.peakLatitude />
            </OutputArg>
            <OutputArg Name="PeakFDOMLongitude">
                <Trigger:PeakDetectVsDepth.peakLongitude />
            </OutputArg>
        </Trigger:PeakDetectVsDepth>
        <SendData Service="Express">
            <Arg Name="PeakFDOM" />
            <Arg Name="PeakFDOMDepth" />
        </SendData>
    </Aggregate>
    <Aggregate Id="PeakDetectSalinity">
        <While>
            <Arg Name="PeakDetectSalinityActive" />
        </While>
        <Syslog Severity="Debug">PeakDetectVsDepth</Syslog>
        <Trigger:PeakDetectVsDepth>
            <Sequence />
            <Setting>
                <Trigger:PeakDetectVsDepth.detect />
                <Universal:sea_water_salinity />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.timeWindowPeakReport />
                <Arg Name="TimeWindowPeakReport" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.windowLength />
                <Arg Name="LowPassWindowLength" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.medianFilterLength />
                <Arg Name="MedianFilterLen" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.shallowBound />
                <Arg Name="ShallowBound" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.deepBound />
                <Arg Name="DeepBound" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.depthChangeThresh />
                <Arg Name="DepChangeThreshForAttitudeFlip" />
            </Setting>
            <OutputArg Name="PeakSalt">
                <Trigger:PeakDetectVsDepth.peakDetect />
            </OutputArg>
            <OutputArg Name="PeakSaltDepth">
                <Trigger:PeakDetectVsDepth.peakDepth />
            </OutputArg>
            <OutputArg Name="PeakSaltTemperature">
                <Trigger:PeakDetectVsDepth.peakTemperature />
            </OutputArg>
            <OutputArg Name="PeakSaltLatitude">
                <Trigger:PeakDetectVsDepth.peakLatitude />
            </OutputArg>
            <OutputArg Name="PeakSaltLongitude">
                <Trigger:PeakDetectVsDepth.peakLongitude />
            </OutputArg>
        </Trigger:PeakDetectVsDepth>
        <SendData Service="Express">
            <Arg Name="PeakSalt" />
            <Arg Name="PeakSaltDepth" />
        </SendData>
    </Aggregate>
    <Aggregate Id="HighestSaltPeakReport">
        <While>
            <Arg Name="HighestSaltPeakReportActive" />
        </While>
        <Trigger:PeakDetectHorizontal>
            <Sequence />
            <Setting>
                <Trigger:PeakDetectHorizontal.detectFrom />
                <Arg Name="PeakSalt" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectHorizontal.depthFrom />
                <Arg Name="PeakSaltDepth" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectHorizontal.latitudeFrom />
                <Arg Name="PeakSaltLatitude" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectHorizontal.longitudeFrom />
                <Arg Name="PeakSaltLongitude" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectHorizontal.patchTracking />
                <Arg Name="PatchTracking" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectHorizontal.filterWidth />
                <Arg Name="FilterWidthHorizontal" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectHorizontal.numProfilesSlidingwindow />
                <Arg Name="NumProfilesSlidingwindow" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectHorizontal.offPeakFraction />
                <Arg Name="OffPeakFractionHorizontal" />
            </Setting>
            <OutputArg Name="PatchSalt">
                <Trigger:PeakDetectHorizontal.peakDetect />
            </OutputArg>
            <OutputArg Name="PatchSaltDepth">
                <Trigger:PeakDetectHorizontal.peakDepth />
            </OutputArg>
            <OutputArg Name="PatchSaltLatitude">
                <Trigger:PeakDetectHorizontal.peakLatitude />
            </OutputArg>
            <OutputArg Name="PatchSaltLongitude">
                <Trigger:PeakDetectHorizontal.peakLongitude />
            </OutputArg>
            <OutputArg Name="PatchSaltDistance">
                <Trigger:PeakDetectHorizontal.peakDistance />
            </OutputArg>
        </Trigger:PeakDetectHorizontal>
    </Aggregate>
    <Aggregate Id="PeakDetectPlanktivoreLMavgROI">
        <While>
            <Arg Name="PeakDetectPlanktivoreLMavgROIActive" />
        </While>
        <Syslog Severity="Debug">PeakDetectVsDepth</Syslog>
        <Trigger:PeakDetectVsDepth>
            <Sequence />
            <Setting>
                <Trigger:PeakDetectVsDepth.detect />
                <String>_.planktivore_LM_AvgRois</String>
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.timeWindowPeakReport />
                <Arg Name="TimeWindowPeakReport" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.windowLength />
                <Arg Name="LowPassWindowLength" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.medianFilterLength />
                <Arg Name="MedianFilterLen" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.shallowBound />
                <Arg Name="ShallowBound" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.deepBound />
                <Arg Name="DeepBound" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.depthChangeThresh />
                <Arg Name="DepChangeThreshForAttitudeFlip" />
            </Setting>
            <OutputArg Name="PeakPlanktivoreLMavgROI">
                <Trigger:PeakDetectVsDepth.peakDetect />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreLMavgROIDepth">
                <Trigger:PeakDetectVsDepth.peakDepth />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreLMavgROITemperature">
                <Trigger:PeakDetectVsDepth.peakTemperature />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreLMavgROILatitude">
                <Trigger:PeakDetectVsDepth.peakLatitude />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreLMavgROILongitude">
                <Trigger:PeakDetectVsDepth.peakLongitude />
            </OutputArg>
        </Trigger:PeakDetectVsDepth>
        <SendData Service="Express">
            <Arg Name="PeakPlanktivoreLMavgROI" />
            <Arg Name="PeakPlanktivoreLMavgROIDepth" />
        </SendData>
    </Aggregate>
    <Aggregate Id="EdgeDetectPlanktivoreLMavgROI">
        <While>
            <Arg Name="EdgeDetectPlanktivoreLMavgROIActive" />
        </While>
        <Syslog Severity="Debug">EdgeDetectVsDepth</Syslog>
        <Trigger:EdgeDetectVsDepth>
            <Sequence />
            <Setting>
                <Trigger:EdgeDetectVsDepth.detect />
                <String>_.planktivore_LM_AvgRois</String>
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.windowLength />
                <Arg Name="LowPassWindowLength" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.medianFilterLength />
                <Arg Name="MedianFilterLen" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.shallowBound />
                <Arg Name="ShallowBound" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.deepBound />
                <Arg Name="DeepBound" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.offpeakFractionAscent />
                <Arg Name="OffPeakFractionVerticalAscent" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.offpeakFractionDescent />
                <Arg Name="OffPeakFractionVerticalDescent" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.depthChangeThresh />
                <Arg Name="DepChangeThreshForAttitudeFlip" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.peakThresh />
                <Arg Name="PlanktivoreLMavgROIPeakThresh" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.numLayers />
                <Arg Name="NumberOfLayers" />
            </Setting>
            <OutputArg Name="GoDown">
                <Trigger:EdgeDetectVsDepth.goDown />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreLMavgROI">
                <Trigger:EdgeDetectVsDepth.peakDetect />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreLMavgROIDepth">
                <Trigger:EdgeDetectVsDepth.peakDepth />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreLMavgROITemperature">
                <Trigger:EdgeDetectVsDepth.peakTemperature />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreLMavgROILatitude">
                <Trigger:EdgeDetectVsDepth.peakLatitude />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreLMavgROILongitude">
                <Trigger:EdgeDetectVsDepth.peakLongitude />
            </OutputArg>
            <OutputArg Name="EdgePlanktivoreLMavgROI">
                <Trigger:EdgeDetectVsDepth.edgeDetect />
            </OutputArg>
            <OutputArg Name="EdgePlanktivoreLMavgROIDepth">
                <Trigger:EdgeDetectVsDepth.edgeDepth />
            </OutputArg>
            <OutputArg Name="EdgePlanktivoreLMavgROITemperature">
                <Trigger:EdgeDetectVsDepth.edgeTemperature />
            </OutputArg>
            <OutputArg Name="EdgePlanktivoreLMavgROILatitude">
                <Trigger:EdgeDetectVsDepth.edgeLatitude />
            </OutputArg>
            <OutputArg Name="EdgePlanktivoreLMavgROILongitude">
                <Trigger:EdgeDetectVsDepth.edgeLongitude />
            </OutputArg>
        </Trigger:EdgeDetectVsDepth>
        <Syslog Severity="Info">
            GoDown, PlanktivoreLMavgROIPeakThresh, PeakPlanktivoreLMavgROI, PeakPlanktivoreLMavgROIDepth, EdgePlanktivoreLMavgROI, EdgePlanktivoreLMavgROIDepth = 
            <Arg Name="GoDown" />
            <Units:bool />
            , 
            <Arg Name="PlanktivoreLMavgROIPeakThresh" />
            <Units:count_per_second />
            , 
            <Arg Name="PeakPlanktivoreLMavgROI" />
            <Units:count_per_second />
            , 
            <Arg Name="PeakPlanktivoreLMavgROIDepth" />
            <Units:meter />
            , 
            <Arg Name="EdgePlanktivoreLMavgROI" />
            <Units:count_per_second />
            , 
            <Arg Name="EdgePlanktivoreLMavgROIDepth" />
            <Units:meter />
        </Syslog>
        <SendData Service="Express">
            <Arg Name="PeakPlanktivoreLMavgROI" />
            <Arg Name="PeakPlanktivoreLMavgROIDepth" />
            <Arg Name="EdgePlanktivoreLMavgROI" />
            <Arg Name="EdgePlanktivoreLMavgROIDepth" />
        </SendData>
    </Aggregate>
    <Aggregate Id="PeakDetectPlanktivoreHMavgROI">
        <While>
            <Arg Name="PeakDetectPlanktivoreHMavgROIActive" />
        </While>
        <Syslog Severity="Debug">PeakDetectVsDepth</Syslog>
        <Trigger:PeakDetectVsDepth>
            <Sequence />
            <Setting>
                <Trigger:PeakDetectVsDepth.detect />
                <String>_.planktivore_HM_AvgRois</String>
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.timeWindowPeakReport />
                <Arg Name="TimeWindowPeakReport" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.windowLength />
                <Arg Name="LowPassWindowLength" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.medianFilterLength />
                <Arg Name="MedianFilterLen" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.shallowBound />
                <Arg Name="ShallowBound" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.deepBound />
                <Arg Name="DeepBound" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.depthChangeThresh />
                <Arg Name="DepChangeThreshForAttitudeFlip" />
            </Setting>
            <OutputArg Name="PeakPlanktivoreHMavgROI">
                <Trigger:PeakDetectVsDepth.peakDetect />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreHMavgROIDepth">
                <Trigger:PeakDetectVsDepth.peakDepth />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreHMavgROITemperature">
                <Trigger:PeakDetectVsDepth.peakTemperature />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreHMavgROILatitude">
                <Trigger:PeakDetectVsDepth.peakLatitude />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreHMavgROILongitude">
                <Trigger:PeakDetectVsDepth.peakLongitude />
            </OutputArg>
        </Trigger:PeakDetectVsDepth>
        <SendData Service="Express">
            <Arg Name="PeakPlanktivoreHMavgROI" />
            <Arg Name="PeakPlanktivoreHMavgROIDepth" />
        </SendData>
    </Aggregate>
    <Aggregate Id="EdgeDetectPlanktivoreHMavgROI">
        <While>
            <Arg Name="EdgeDetectPlanktivoreHMavgROIActive" />
        </While>
        <Syslog Severity="Debug">EdgeDetectVsDepth</Syslog>
        <Trigger:EdgeDetectVsDepth>
            <Sequence />
            <Setting>
                <Trigger:EdgeDetectVsDepth.detect />
                <String>_.planktivore_HM_AvgRois</String>
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.windowLength />
                <Arg Name="LowPassWindowLength" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.medianFilterLength />
                <Arg Name="MedianFilterLen" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.shallowBound />
                <Arg Name="ShallowBound" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.deepBound />
                <Arg Name="DeepBound" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.offpeakFractionAscent />
                <Arg Name="OffPeakFractionVerticalAscent" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.offpeakFractionDescent />
                <Arg Name="OffPeakFractionVerticalDescent" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.depthChangeThresh />
                <Arg Name="DepChangeThreshForAttitudeFlip" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.peakThresh />
                <Arg Name="PlanktivoreHMavgROIPeakThresh" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.numLayers />
                <Arg Name="NumberOfLayers" />
            </Setting>
            <OutputArg Name="GoDown">
                <Trigger:EdgeDetectVsDepth.goDown />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreHMavgROI">
                <Trigger:EdgeDetectVsDepth.peakDetect />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreHMavgROIDepth">
                <Trigger:EdgeDetectVsDepth.peakDepth />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreHMavgROITemperature">
                <Trigger:EdgeDetectVsDepth.peakTemperature />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreHMavgROILatitude">
                <Trigger:EdgeDetectVsDepth.peakLatitude />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreHMavgROILongitude">
                <Trigger:EdgeDetectVsDepth.peakLongitude />
            </OutputArg>
            <OutputArg Name="EdgePlanktivoreHMavgROI">
                <Trigger:EdgeDetectVsDepth.edgeDetect />
            </OutputArg>
            <OutputArg Name="EdgePlanktivoreHMavgROIDepth">
                <Trigger:EdgeDetectVsDepth.edgeDepth />
            </OutputArg>
            <OutputArg Name="EdgePlanktivoreHMavgROITemperature">
                <Trigger:EdgeDetectVsDepth.edgeTemperature />
            </OutputArg>
            <OutputArg Name="EdgePlanktivoreHMavgROILatitude">
                <Trigger:EdgeDetectVsDepth.edgeLatitude />
            </OutputArg>
            <OutputArg Name="EdgePlanktivoreHMavgROILongitude">
                <Trigger:EdgeDetectVsDepth.edgeLongitude />
            </OutputArg>
        </Trigger:EdgeDetectVsDepth>
        <Syslog Severity="Info">
            GoDown, PlanktivoreHMavgROIPeakThresh, PeakPlanktivoreHMavgROI, PeakPlanktivoreHMavgROIDepth, EdgePlanktivoreHMavgROI, EdgePlanktivoreHMavgROIDepth = 
            <Arg Name="GoDown" />
            <Units:bool />
            , 
            <Arg Name="PlanktivoreHMavgROIPeakThresh" />
            <Units:count_per_second />
            , 
            <Arg Name="PeakPlanktivoreHMavgROI" />
            <Units:count_per_second />
            , 
            <Arg Name="PeakPlanktivoreHMavgROIDepth" />
            <Units:meter />
            , 
            <Arg Name="EdgePlanktivoreHMavgROI" />
            <Units:count_per_second />
            , 
            <Arg Name="EdgePlanktivoreHMavgROIDepth" />
            <Units:meter />
        </Syslog>
        <SendData Service="Express">
            <Arg Name="PeakPlanktivoreHMavgROI" />
            <Arg Name="PeakPlanktivoreHMavgROIDepth" />
            <Arg Name="EdgePlanktivoreHMavgROI" />
            <Arg Name="EdgePlanktivoreHMavgROIDepth" />
        </SendData>
    </Aggregate>
    <Aggregate Id="PeakDetectPlanktivoreDiatoms">
        <While>
            <Arg Name="PeakDetectPlanktivoreDiatomsActive" />
        </While>
        <Syslog Severity="Debug">PeakDetectVsDepth</Syslog>
        <Trigger:PeakDetectVsDepth>
            <Sequence />
            <Setting>
                <Trigger:PeakDetectVsDepth.detect />
                <String>_.planktivore_diatoms</String>
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.timeWindowPeakReport />
                <Arg Name="TimeWindowPeakReport" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.windowLength />
                <Arg Name="LowPassWindowLength" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.medianFilterLength />
                <Arg Name="MedianFilterLen" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.shallowBound />
                <Arg Name="ShallowBound" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.deepBound />
                <Arg Name="DeepBound" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.depthChangeThresh />
                <Arg Name="DepChangeThreshForAttitudeFlip" />
            </Setting>
            <OutputArg Name="PeakPlanktivoreDiatoms">
                <Trigger:PeakDetectVsDepth.peakDetect />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreDiatomsDepth">
                <Trigger:PeakDetectVsDepth.peakDepth />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreDiatomsTemperature">
                <Trigger:PeakDetectVsDepth.peakTemperature />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreDiatomsLatitude">
                <Trigger:PeakDetectVsDepth.peakLatitude />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreDiatomsLongitude">
                <Trigger:PeakDetectVsDepth.peakLongitude />
            </OutputArg>
        </Trigger:PeakDetectVsDepth>
        <SendData Service="Express">
            <Arg Name="PeakPlanktivoreDiatoms" />
            <Arg Name="PeakPlanktivoreDiatomsDepth" />
        </SendData>
    </Aggregate>
    <Aggregate Id="EdgeDetectPlanktivoreDiatoms">
        <While>
            <Arg Name="EdgeDetectPlanktivoreDiatomsActive" />
        </While>
        <Syslog Severity="Debug">EdgeDetectVsDepth</Syslog>
        <Trigger:EdgeDetectVsDepth>
            <Sequence />
            <Setting>
                <Trigger:EdgeDetectVsDepth.detect />
                <String>_.planktivore_diatoms</String>
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.windowLength />
                <Arg Name="LowPassWindowLength" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.medianFilterLength />
                <Arg Name="MedianFilterLen" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.shallowBound />
                <Arg Name="ShallowBound" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.deepBound />
                <Arg Name="DeepBound" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.offpeakFractionAscent />
                <Arg Name="OffPeakFractionVerticalAscent" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.offpeakFractionDescent />
                <Arg Name="OffPeakFractionVerticalDescent" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.depthChangeThresh />
                <Arg Name="DepChangeThreshForAttitudeFlip" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.peakThresh />
                <Arg Name="PlanktivoreDiatomsPeakThresh" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.numLayers />
                <Arg Name="NumberOfLayers" />
            </Setting>
            <OutputArg Name="GoDown">
                <Trigger:EdgeDetectVsDepth.goDown />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreDiatoms">
                <Trigger:EdgeDetectVsDepth.peakDetect />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreDiatomsDepth">
                <Trigger:EdgeDetectVsDepth.peakDepth />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreDiatomsTemperature">
                <Trigger:EdgeDetectVsDepth.peakTemperature />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreDiatomsLatitude">
                <Trigger:EdgeDetectVsDepth.peakLatitude />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreDiatomsLongitude">
                <Trigger:EdgeDetectVsDepth.peakLongitude />
            </OutputArg>
            <OutputArg Name="EdgePlanktivoreDiatoms">
                <Trigger:EdgeDetectVsDepth.edgeDetect />
            </OutputArg>
            <OutputArg Name="EdgePlanktivoreDiatomsDepth">
                <Trigger:EdgeDetectVsDepth.edgeDepth />
            </OutputArg>
            <OutputArg Name="EdgePlanktivoreDiatomsTemperature">
                <Trigger:EdgeDetectVsDepth.edgeTemperature />
            </OutputArg>
            <OutputArg Name="EdgePlanktivoreDiatomsLatitude">
                <Trigger:EdgeDetectVsDepth.edgeLatitude />
            </OutputArg>
            <OutputArg Name="EdgePlanktivoreDiatomsLongitude">
                <Trigger:EdgeDetectVsDepth.edgeLongitude />
            </OutputArg>
        </Trigger:EdgeDetectVsDepth>
        <Syslog Severity="Info">
            GoDown, PlanktivoreDiatomsPeakThresh, PeakPlanktivoreDiatoms, PeakPlanktivoreDiatomsDepth, EdgePlanktivoreDiatoms, EdgePlanktivoreDiatomsDepth = 
            <Arg Name="GoDown" />
            <Units:bool />
            , 
            <Arg Name="PlanktivoreDiatomsPeakThresh" />
            <Units:count_per_milliliter />
            , 
            <Arg Name="PeakPlanktivoreDiatoms" />
            <Units:count_per_milliliter />
            , 
            <Arg Name="PeakPlanktivoreDiatomsDepth" />
            <Units:meter />
            , 
            <Arg Name="EdgePlanktivoreDiatoms" />
            <Units:count_per_milliliter />
            , 
            <Arg Name="EdgePlanktivoreDiatomsDepth" />
            <Units:meter />
        </Syslog>
        <SendData Service="Express">
            <Arg Name="PeakPlanktivoreDiatoms" />
            <Arg Name="PeakPlanktivoreDiatomsDepth" />
            <Arg Name="EdgePlanktivoreDiatoms" />
            <Arg Name="EdgePlanktivoreDiatomsDepth" />
        </SendData>
    </Aggregate>
    <Aggregate Id="PeakDetectPlanktivoreDinoflagellates">
        <While>
            <Arg Name="PeakDetectPlanktivoreDinoflagellatesActive" />
        </While>
        <Syslog Severity="Debug">PeakDetectVsDepth</Syslog>
        <Trigger:PeakDetectVsDepth>
            <Sequence />
            <Setting>
                <Trigger:PeakDetectVsDepth.detect />
                <String>_.planktivore_dinoflagellates</String>
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.timeWindowPeakReport />
                <Arg Name="TimeWindowPeakReport" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.windowLength />
                <Arg Name="LowPassWindowLength" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.medianFilterLength />
                <Arg Name="MedianFilterLen" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.shallowBound />
                <Arg Name="ShallowBound" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.deepBound />
                <Arg Name="DeepBound" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.depthChangeThresh />
                <Arg Name="DepChangeThreshForAttitudeFlip" />
            </Setting>
            <OutputArg Name="PeakPlanktivoreDinoflagellates">
                <Trigger:PeakDetectVsDepth.peakDetect />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreDinoflagellatesDepth">
                <Trigger:PeakDetectVsDepth.peakDepth />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreDinoflagellatesTemperature">
                <Trigger:PeakDetectVsDepth.peakTemperature />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreDinoflagellatesLatitude">
                <Trigger:PeakDetectVsDepth.peakLatitude />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreDinoflagellatesLongitude">
                <Trigger:PeakDetectVsDepth.peakLongitude />
            </OutputArg>
        </Trigger:PeakDetectVsDepth>
        <SendData Service="Express">
            <Arg Name="PeakPlanktivoreDinoflagellates" />
            <Arg Name="PeakPlanktivoreDinoflagellatesDepth" />
        </SendData>
    </Aggregate>
    <Aggregate Id="EdgeDetectPlanktivoreDinoflagellates">
        <While>
            <Arg Name="EdgeDetectPlanktivoreDinoflagellatesActive" />
        </While>
        <Syslog Severity="Debug">EdgeDetectVsDepth</Syslog>
        <Trigger:EdgeDetectVsDepth>
            <Sequence />
            <Setting>
                <Trigger:EdgeDetectVsDepth.detect />
                <String>_.planktivore_dinoflagellates</String>
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.windowLength />
                <Arg Name="LowPassWindowLength" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.medianFilterLength />
                <Arg Name="MedianFilterLen" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.shallowBound />
                <Arg Name="ShallowBound" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.deepBound />
                <Arg Name="DeepBound" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.offpeakFractionAscent />
                <Arg Name="OffPeakFractionVerticalAscent" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.offpeakFractionDescent />
                <Arg Name="OffPeakFractionVerticalDescent" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.depthChangeThresh />
                <Arg Name="DepChangeThreshForAttitudeFlip" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.peakThresh />
                <Arg Name="PlanktivoreDinoflagellatesPeakThresh" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.numLayers />
                <Arg Name="NumberOfLayers" />
            </Setting>
            <OutputArg Name="GoDown">
                <Trigger:EdgeDetectVsDepth.goDown />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreDinoflagellates">
                <Trigger:EdgeDetectVsDepth.peakDetect />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreDinoflagellatesDepth">
                <Trigger:EdgeDetectVsDepth.peakDepth />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreDinoflagellatesTemperature">
                <Trigger:EdgeDetectVsDepth.peakTemperature />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreDinoflagellatesLatitude">
                <Trigger:EdgeDetectVsDepth.peakLatitude />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreDinoflagellatesLongitude">
                <Trigger:EdgeDetectVsDepth.peakLongitude />
            </OutputArg>
            <OutputArg Name="EdgePlanktivoreDinoflagellates">
                <Trigger:EdgeDetectVsDepth.edgeDetect />
            </OutputArg>
            <OutputArg Name="EdgePlanktivoreDinoflagellatesDepth">
                <Trigger:EdgeDetectVsDepth.edgeDepth />
            </OutputArg>
            <OutputArg Name="EdgePlanktivoreDinoflagellatesTemperature">
                <Trigger:EdgeDetectVsDepth.edgeTemperature />
            </OutputArg>
            <OutputArg Name="EdgePlanktivoreDinoflagellatesLatitude">
                <Trigger:EdgeDetectVsDepth.edgeLatitude />
            </OutputArg>
            <OutputArg Name="EdgePlanktivoreDinoflagellatesLongitude">
                <Trigger:EdgeDetectVsDepth.edgeLongitude />
            </OutputArg>
        </Trigger:EdgeDetectVsDepth>
        <Syslog Severity="Info">
            GoDown, PlanktivoreDinoflagellatesPeakThresh, PeakPlanktivoreDinoflagellates, PeakPlanktivoreDinoflagellatesDepth, EdgePlanktivoreDinoflagellates, EdgePlanktivoreDinoflagellatesDepth = 
            <Arg Name="GoDown" />
            <Units:bool />
            , 
            <Arg Name="PlanktivoreDinoflagellatesPeakThresh" />
            <Units:count_per_milliliter />
            , 
            <Arg Name="PeakPlanktivoreDinoflagellates" />
            <Units:count_per_milliliter />
            , 
            <Arg Name="PeakPlanktivoreDinoflagellatesDepth" />
            <Units:meter />
            , 
            <Arg Name="EdgePlanktivoreDinoflagellates" />
            <Units:count_per_milliliter />
            , 
            <Arg Name="EdgePlanktivoreDinoflagellatesDepth" />
            <Units:meter />
        </Syslog>
        <SendData Service="Express">
            <Arg Name="PeakPlanktivoreDinoflagellates" />
            <Arg Name="PeakPlanktivoreDinoflagellatesDepth" />
            <Arg Name="EdgePlanktivoreDinoflagellates" />
            <Arg Name="EdgePlanktivoreDinoflagellatesDepth" />
        </SendData>
    </Aggregate>
    <Aggregate Id="ChlThreshTrigger">
        <While>
            <Arg Name="ChlThreshTriggerActive" />
        </While>
        <Trigger:ValueDetect>
            <Sequence />
            <Setting>
                <Trigger:ValueDetect.detect />
                <Arg Name="PeakChl" />
            </Setting>
            <Setting>
                <Trigger:ValueDetect.lowerThreshold />
                <Arg Name="ChlLowerThresh" />
            </Setting>
            <Setting>
                <Trigger:ValueDetect.upperThreshold />
                <Arg Name="ChlUpperThresh" />
            </Setting>
            <Setting>
                <Trigger:ValueDetect.numProfilesThreshold />
                <Arg Name="NumProfilesThresh" />
            </Setting>
            <OutputArg Name="ChlTriggering">
                <Trigger:ValueDetect.outputValue />
            </OutputArg>
        </Trigger:ValueDetect>
        <Assign>
            <Sequence />
            <Arg Name="TriggeredOnChl" />
            <True />
        </Assign>
        <Syslog Severity="Important">
            Triggered. PeakChl values on 
            <Arg Name="NumProfilesThresh" />
            <Units:count />
             consecutive yo-yo profiles fall in [
            <Arg Name="ChlLowerThresh" />
            <Units:microgram_per_liter />
            <Arg Name="ChlUpperThresh" />
            <Units:microgram_per_liter />
            ] (NaN bound is ignored).
        </Syslog>
    </Aggregate>
</Aggregate>

2025-08-09T17:46:10.667Z,1754761570.667 [MissionManager](INFO): DefineArg OnDock:science:Science.PeakDetectChlActive = 0 bool
2025-08-09T17:46:10.671Z,1754761570.671 [MissionManager](INFO): DefineArg OnDock:science:Science.EdgeDetectChlActive = 0 bool
2025-08-09T17:46:10.675Z,1754761570.675 [MissionManager](INFO): DefineArg OnDock:science:Science.TimeWindowPeakReport = nan min
2025-08-09T17:46:10.679Z,1754761570.679 [MissionManager](INFO): DefineArg OnDock:science:Science.HighestChlPeakReportActive = 0 bool
2025-08-09T17:46:10.682Z,1754761570.682 [MissionManager](INFO): DefineArg OnDock:science:Science.HighestSaltPeakReportActive = 0 bool
2025-08-09T17:46:10.686Z,1754761570.686 [MissionManager](INFO): DefineArg OnDock:science:Science.HighestOilPeakReportActive = 0 bool
2025-08-09T17:46:10.690Z,1754761570.690 [MissionManager](INFO): DefineArg OnDock:science:Science.PatchTracking = 0 bool
2025-08-09T17:46:10.710Z,1754761570.710 [MissionManager](INFO): DefineArg OnDock:science:Science.FilterWidthHorizontal = 3.000000 count
2025-08-09T17:46:10.718Z,1754761570.718 [MissionManager](INFO): DefineArg OnDock:science:Science.NumProfilesSlidingwindow = 100.000000 count
2025-08-09T17:46:10.730Z,1754761570.730 [MissionManager](INFO): DefineArg OnDock:science:Science.OffPeakFractionHorizontal = 80.000000 %
2025-08-09T17:46:10.734Z,1754761570.734 [MissionManager](INFO): DefineArg OnDock:science:Science.PeakDetectNO3Active = 0 bool
2025-08-09T17:46:10.742Z,1754761570.742 [MissionManager](INFO): DefineArg OnDock:science:Science.PeakDetectOilActive = 0 bool
2025-08-09T17:46:10.750Z,1754761570.750 [MissionManager](INFO): DefineArg OnDock:science:Science.PeakDetectFDOMActive = 0 bool
2025-08-09T17:46:10.758Z,1754761570.758 [MissionManager](INFO): DefineArg OnDock:science:Science.PeakDetectSalinityActive = 0 bool
2025-08-09T17:46:10.766Z,1754761570.766 [MissionManager](INFO): DefineArg OnDock:science:Science.PeakDetectPlanktivoreLMavgROIActive = 0 bool
2025-08-09T17:46:10.773Z,1754761570.773 [MissionManager](INFO): DefineArg OnDock:science:Science.EdgeDetectPlanktivoreLMavgROIActive = 0 bool
2025-08-09T17:46:10.788Z,1754761570.788 [MissionManager](INFO): DefineArg OnDock:science:Science.PeakDetectPlanktivoreHMavgROIActive = 0 bool
2025-08-09T17:46:10.793Z,1754761570.793 [MissionManager](INFO): DefineArg OnDock:science:Science.EdgeDetectPlanktivoreHMavgROIActive = 0 bool
2025-08-09T17:46:10.833Z,1754761570.833 [MissionManager](INFO): DefineArg OnDock:science:Science.PeakDetectPlanktivoreDiatomsActive = 0 bool
2025-08-09T17:46:10.841Z,1754761570.841 [MissionManager](INFO): DefineArg OnDock:science:Science.EdgeDetectPlanktivoreDiatomsActive = 0 bool
2025-08-09T17:46:10.861Z,1754761570.861 [MissionManager](INFO): DefineArg OnDock:science:Science.PeakDetectPlanktivoreDinoflagellatesActive = 0 bool
2025-08-09T17:46:10.876Z,1754761570.876 [MissionManager](INFO): DefineArg OnDock:science:Science.EdgeDetectPlanktivoreDinoflagellatesActive = 0 bool
2025-08-09T17:46:10.886Z,1754761570.886 [MissionManager](INFO): DefineArg OnDock:science:Science.UpwardDerivativeOfTemperatureActive = 0 bool
2025-08-09T17:46:10.906Z,1754761570.906 [MissionManager](INFO): DefineArg OnDock:science:Science.EnabledAanderaaO2 = 0 bool
2025-08-09T17:46:10.925Z,1754761570.925 [MissionManager](INFO): DefineArg OnDock:science:Science.EnabledNeilBrown = 0 bool
2025-08-09T17:46:10.938Z,1754761570.938 [MissionManager](INFO): DefineArg OnDock:science:Science.EnabledRBRTridente = 0 bool
2025-08-09T17:46:10.955Z,1754761570.955 [MissionManager](INFO): DefineArg OnDock:science:Science.EnabledSeabird = 1 bool
2025-08-09T17:46:10.980Z,1754761570.980 [MissionManager](INFO): DefineArg OnDock:science:Science.EnabledWetLabsBB2FL = 1 bool
2025-08-09T17:46:10.985Z,1754761570.985 [MissionManager](INFO): DefineArg OnDock:science:Science.EnabledWetLabsSeaOWL_UV_A = 0 bool
2025-08-09T17:46:11.002Z,1754761571.002 [MissionManager](INFO): DefineArg OnDock:science:Science.EnabledWetLabsUBAT = 0 bool
2025-08-09T17:46:11.010Z,1754761571.010 [MissionManager](INFO): DefineArg OnDock:science:Science.LowPassWindowLength = 20.000000 count
2025-08-09T17:46:11.021Z,1754761571.021 [MissionManager](INFO): DefineArg OnDock:science:Science.MedianFilterLen = 5.000000 count
2025-08-09T17:46:11.025Z,1754761571.025 [MissionManager](INFO): DefineArg OnDock:science:Science.ShallowBound = nan m
2025-08-09T17:46:11.044Z,1754761571.044 [MissionManager](INFO): DefineArg OnDock:science:Science.DeepBound = nan m
2025-08-09T17:46:11.053Z,1754761571.053 [MissionManager](INFO): DefineArg OnDock:science:Science.DepChangeThreshForAttitudeFlip = 2.000000 m
2025-08-09T17:46:11.072Z,1754761571.072 [MissionManager](INFO): DefineArg OnDock:science:Science.OffPeakFractionVerticalAscent = nan %
2025-08-09T17:46:11.077Z,1754761571.077 [MissionManager](INFO): DefineArg OnDock:science:Science.OffPeakFractionVerticalDescent = nan %
2025-08-09T17:46:11.099Z,1754761571.099 [MissionManager](INFO): DefineArg OnDock:science:Science.ChlPeakThresh = 0.000000 ug/l
2025-08-09T17:46:11.104Z,1754761571.104 [MissionManager](INFO): DefineArg OnDock:science:Science.NumberOfLayers = 1.000000 count
2025-08-09T17:46:11.116Z,1754761571.116 [MissionManager](INFO): DefineArg OnDock:science:Science.ChlThreshTriggerActive = 0 bool
2025-08-09T17:46:11.121Z,1754761571.121 [MissionManager](INFO): DefineArg OnDock:science:Science.ChlLowerThresh = nan ug/l
2025-08-09T17:46:11.133Z,1754761571.133 [MissionManager](INFO): DefineArg OnDock:science:Science.ChlUpperThresh = nan ug/l
2025-08-09T17:46:11.137Z,1754761571.137 [MissionManager](INFO): DefineArg OnDock:science:Science.NumProfilesThresh = 5.000000 count
2025-08-09T17:46:11.150Z,1754761571.150 [MissionManager](INFO): DefineArg OnDock:science:Science.PlanktivoreLMavgROIPeakThresh = 0.000000 count/s
2025-08-09T17:46:11.158Z,1754761571.158 [MissionManager](INFO): DefineArg OnDock:science:Science.PlanktivoreHMavgROIPeakThresh = 0.000000 count/s
2025-08-09T17:46:11.172Z,1754761571.172 [MissionManager](INFO): DefineArg OnDock:science:Science.PlanktivoreDiatomsPeakThresh = 0.000000 count/ml
2025-08-09T17:46:11.180Z,1754761571.180 [MissionManager](INFO): DefineArg OnDock:science:Science.PlanktivoreDinoflagellatesPeakThresh = 0.000000 count/ml
2025-08-09T17:46:11.184Z,1754761571.184 [MissionManager](INFO): DefineOutput OnDock:science:Science.GoDown = 1 bool
2025-08-09T17:46:11.196Z,1754761571.196 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakChl = nan ug/l
2025-08-09T17:46:11.248Z,1754761571.248 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakChlDepth = nan m
2025-08-09T17:46:11.260Z,1754761571.260 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakChlTemperature = nan degC
2025-08-09T17:46:11.280Z,1754761571.280 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakChlLatitude = nan arcdeg
2025-08-09T17:46:11.297Z,1754761571.297 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakChlLongitude = nan arcdeg
2025-08-09T17:46:11.346Z,1754761571.346 [MissionManager](INFO): DefineOutput OnDock:science:Science.EdgeChl = nan ug/l
2025-08-09T17:46:11.376Z,1754761571.376 [MissionManager](INFO): DefineOutput OnDock:science:Science.EdgeChlDepth = nan m
2025-08-09T17:46:11.392Z,1754761571.392 [MissionManager](INFO): DefineOutput OnDock:science:Science.EdgeChlTemperature = nan degC
2025-08-09T17:46:11.405Z,1754761571.405 [MissionManager](INFO): DefineOutput OnDock:science:Science.EdgeChlLatitude = nan arcdeg
2025-08-09T17:46:11.415Z,1754761571.415 [MissionManager](INFO): DefineOutput OnDock:science:Science.EdgeChlLongitude = nan arcdeg
2025-08-09T17:46:11.420Z,1754761571.420 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakNO3 = nan umol/l
2025-08-09T17:46:11.436Z,1754761571.436 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakNO3Depth = nan m
2025-08-09T17:46:11.452Z,1754761571.452 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakNO3Latitude = nan arcdeg
2025-08-09T17:46:11.456Z,1754761571.456 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakNO3Longitude = nan arcdeg
2025-08-09T17:46:11.468Z,1754761571.468 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakOil = nan kg/m3
2025-08-09T17:46:11.473Z,1754761571.473 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakOilDepth = nan m
2025-08-09T17:46:11.488Z,1754761571.488 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakOilLatitude = nan arcdeg
2025-08-09T17:46:11.503Z,1754761571.503 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakOilLongitude = nan arcdeg
2025-08-09T17:46:11.519Z,1754761571.519 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakFDOM = nan ppb
2025-08-09T17:46:11.527Z,1754761571.527 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakFDOMDepth = nan m
2025-08-09T17:46:11.532Z,1754761571.532 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakFDOMTemperature = nan degC
2025-08-09T17:46:11.544Z,1754761571.544 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakFDOMLatitude = nan arcdeg
2025-08-09T17:46:11.556Z,1754761571.556 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakFDOMLongitude = nan arcdeg
2025-08-09T17:46:11.560Z,1754761571.560 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakSalt = nan psu
2025-08-09T17:46:11.579Z,1754761571.579 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakSaltDepth = nan m
2025-08-09T17:46:11.584Z,1754761571.584 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakSaltTemperature = nan degC
2025-08-09T17:46:11.600Z,1754761571.600 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakSaltLatitude = nan arcdeg
2025-08-09T17:46:11.651Z,1754761571.651 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakSaltLongitude = nan arcdeg
2025-08-09T17:46:11.663Z,1754761571.663 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakPlanktivoreLMavgROI = nan count/s
2025-08-09T17:46:11.672Z,1754761571.672 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakPlanktivoreLMavgROIDepth = nan m
2025-08-09T17:46:11.692Z,1754761571.692 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakPlanktivoreLMavgROITemperature = nan degC
2025-08-09T17:46:11.700Z,1754761571.700 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakPlanktivoreLMavgROILatitude = nan arcdeg
2025-08-09T17:46:11.716Z,1754761571.716 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakPlanktivoreLMavgROILongitude = nan arcdeg
2025-08-09T17:46:11.725Z,1754761571.725 [MissionManager](INFO): DefineOutput OnDock:science:Science.EdgePlanktivoreLMavgROI = nan count/s
2025-08-09T17:46:11.745Z,1754761571.745 [MissionManager](INFO): DefineOutput OnDock:science:Science.EdgePlanktivoreLMavgROIDepth = nan m
2025-08-09T17:46:11.759Z,1754761571.759 [MissionManager](INFO): DefineOutput OnDock:science:Science.EdgePlanktivoreLMavgROITemperature = nan degC
2025-08-09T17:46:11.770Z,1754761571.770 [MissionManager](INFO): DefineOutput OnDock:science:Science.EdgePlanktivoreLMavgROILatitude = nan arcdeg
2025-08-09T17:46:11.787Z,1754761571.787 [MissionManager](INFO): DefineOutput OnDock:science:Science.EdgePlanktivoreLMavgROILongitude = nan arcdeg
2025-08-09T17:46:11.796Z,1754761571.796 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakPlanktivoreHMavgROI = nan count/s
2025-08-09T17:46:11.805Z,1754761571.805 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakPlanktivoreHMavgROIDepth = nan m
2025-08-09T17:46:11.820Z,1754761571.820 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakPlanktivoreHMavgROITemperature = nan degC
2025-08-09T17:46:11.825Z,1754761571.825 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakPlanktivoreHMavgROILatitude = nan arcdeg
2025-08-09T17:46:11.837Z,1754761571.837 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakPlanktivoreHMavgROILongitude = nan arcdeg
2025-08-09T17:46:11.842Z,1754761571.842 [MissionManager](INFO): DefineOutput OnDock:science:Science.EdgePlanktivoreHMavgROI = nan count/s
2025-08-09T17:46:11.862Z,1754761571.862 [MissionManager](INFO): DefineOutput OnDock:science:Science.EdgePlanktivoreHMavgROIDepth = nan m
2025-08-09T17:46:11.871Z,1754761571.871 [MissionManager](INFO): DefineOutput OnDock:science:Science.EdgePlanktivoreHMavgROITemperature = nan degC
2025-08-09T17:46:11.876Z,1754761571.876 [MissionManager](INFO): DefineOutput OnDock:science:Science.EdgePlanktivoreHMavgROILatitude = nan arcdeg
2025-08-09T17:46:11.892Z,1754761571.892 [MissionManager](INFO): DefineOutput OnDock:science:Science.EdgePlanktivoreHMavgROILongitude = nan arcdeg
2025-08-09T17:46:11.901Z,1754761571.901 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakPlanktivoreDiatoms = nan count/ml
2025-08-09T17:46:11.910Z,1754761571.910 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakPlanktivoreDiatomsDepth = nan m
2025-08-09T17:46:11.926Z,1754761571.926 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakPlanktivoreDiatomsTemperature = nan degC
2025-08-09T17:46:11.935Z,1754761571.935 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakPlanktivoreDiatomsLatitude = nan arcdeg
2025-08-09T17:46:11.943Z,1754761571.943 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakPlanktivoreDiatomsLongitude = nan arcdeg
2025-08-09T17:46:11.954Z,1754761571.954 [MissionManager](INFO): DefineOutput OnDock:science:Science.EdgePlanktivoreDiatoms = nan count/ml
2025-08-09T17:46:11.970Z,1754761571.970 [MissionManager](INFO): DefineOutput OnDock:science:Science.EdgePlanktivoreDiatomsDepth = nan m
2025-08-09T17:46:11.979Z,1754761571.979 [MissionManager](INFO): DefineOutput OnDock:science:Science.EdgePlanktivoreDiatomsTemperature = nan degC
2025-08-09T17:46:11.987Z,1754761571.987 [MissionManager](INFO): DefineOutput OnDock:science:Science.EdgePlanktivoreDiatomsLatitude = nan arcdeg
2025-08-09T17:46:11.991Z,1754761571.991 [MissionManager](INFO): DefineOutput OnDock:science:Science.EdgePlanktivoreDiatomsLongitude = nan arcdeg
2025-08-09T17:46:12.007Z,1754761572.007 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakPlanktivoreDinoflagellates = nan count/ml
2025-08-09T17:46:12.012Z,1754761572.012 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakPlanktivoreDinoflagellatesDepth = nan m
2025-08-09T17:46:12.037Z,1754761572.037 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakPlanktivoreDinoflagellatesTemperature = nan degC
2025-08-09T17:46:12.054Z,1754761572.054 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakPlanktivoreDinoflagellatesLatitude = nan arcdeg
2025-08-09T17:46:12.076Z,1754761572.076 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakPlanktivoreDinoflagellatesLongitude = nan arcdeg
2025-08-09T17:46:12.080Z,1754761572.080 [MissionManager](INFO): DefineOutput OnDock:science:Science.EdgePlanktivoreDinoflagellates = nan count/ml
2025-08-09T17:46:12.097Z,1754761572.097 [MissionManager](INFO): DefineOutput OnDock:science:Science.EdgePlanktivoreDinoflagellatesDepth = nan m
2025-08-09T17:46:12.112Z,1754761572.112 [MissionManager](INFO): DefineOutput OnDock:science:Science.EdgePlanktivoreDinoflagellatesTemperature = nan degC
2025-08-09T17:46:12.117Z,1754761572.117 [MissionManager](INFO): DefineOutput OnDock:science:Science.EdgePlanktivoreDinoflagellatesLatitude = nan arcdeg
2025-08-09T17:46:12.151Z,1754761572.151 [MissionManager](INFO): DefineOutput OnDock:science:Science.EdgePlanktivoreDinoflagellatesLongitude = nan arcdeg
2025-08-09T17:46:12.170Z,1754761572.170 [MissionManager](INFO): DefineOutput OnDock:science:Science.PatchChl = nan ug/l
2025-08-09T17:46:12.179Z,1754761572.179 [MissionManager](INFO): DefineOutput OnDock:science:Science.PatchChlDepth = nan m
2025-08-09T17:46:12.191Z,1754761572.191 [MissionManager](INFO): DefineOutput OnDock:science:Science.PatchChlLatitude = nan arcdeg
2025-08-09T17:46:12.197Z,1754761572.197 [MissionManager](INFO): DefineOutput OnDock:science:Science.PatchChlLongitude = nan arcdeg
2025-08-09T17:46:12.213Z,1754761572.213 [MissionManager](INFO): DefineOutput OnDock:science:Science.PatchChlDistance = nan m
2025-08-09T17:46:12.218Z,1754761572.218 [MissionManager](INFO): DefineOutput OnDock:science:Science.PatchSalt = nan psu
2025-08-09T17:46:12.241Z,1754761572.241 [MissionManager](INFO): DefineOutput OnDock:science:Science.PatchSaltDepth = nan m
2025-08-09T17:46:12.253Z,1754761572.253 [MissionManager](INFO): DefineOutput OnDock:science:Science.PatchSaltLatitude = nan arcdeg
2025-08-09T17:46:12.267Z,1754761572.267 [MissionManager](INFO): DefineOutput OnDock:science:Science.PatchSaltLongitude = nan arcdeg
2025-08-09T17:46:12.275Z,1754761572.275 [MissionManager](INFO): DefineOutput OnDock:science:Science.PatchSaltDistance = nan m
2025-08-09T17:46:12.280Z,1754761572.280 [MissionManager](INFO): DefineOutput OnDock:science:Science.PatchOil = nan psu
2025-08-09T17:46:12.292Z,1754761572.292 [MissionManager](INFO): DefineOutput OnDock:science:Science.PatchOilDepth = nan m
2025-08-09T17:46:12.319Z,1754761572.319 [MissionManager](INFO): DefineOutput OnDock:science:Science.PatchOilLatitude = nan arcdeg
2025-08-09T17:46:12.324Z,1754761572.324 [MissionManager](INFO): DefineOutput OnDock:science:Science.PatchOilLongitude = nan arcdeg
2025-08-09T17:46:12.363Z,1754761572.363 [MissionManager](INFO): DefineOutput OnDock:science:Science.PatchOilDistance = nan m
2025-08-09T17:46:12.391Z,1754761572.391 [MissionManager](INFO): DefineOutput OnDock:science:Science.TriggeredOnChl = 0 bool
2025-08-09T17:46:12.398Z,1754761572.398 [MissionManager](INFO): DefineOutput OnDock:science:Science.ChlTriggering = nan ug/l
2025-08-09T17:46:12.507Z,1754761572.507 [OnDock:science:Science:PeakDetectChl:B.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2025-08-09T17:46:12.561Z,1754761572.561 [OnDock:science:Science:EdgeDetectChl:B.EdgeDetectVsDepth](DEBUG): Construct EdgeDetectVsDepth.
2025-08-09T17:46:12.642Z,1754761572.642 [OnDock:science:Science:HighestChlPeakReport:A.PeakDetectHorizontal](DEBUG): Construct PeakDetectHorizontal.
2025-08-09T17:46:12.665Z,1754761572.665 [OnDock:science:Science:PeakDetectNO3:B.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2025-08-09T17:46:12.700Z,1754761572.700 [OnDock:science:Science:PeakDetectOil:B.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2025-08-09T17:46:12.734Z,1754761572.734 [OnDock:science:Science:HighestOilPeakReport:A.PeakDetectHorizontal](DEBUG): Construct PeakDetectHorizontal.
2025-08-09T17:46:12.772Z,1754761572.772 [OnDock:science:Science:PeakDetectFDOM:B.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2025-08-09T17:46:12.801Z,1754761572.801 [OnDock:science:Science:PeakDetectSalinity:B.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2025-08-09T17:46:12.917Z,1754761572.917 [OnDock:science:Science:HighestSaltPeakReport:A.PeakDetectHorizontal](DEBUG): Construct PeakDetectHorizontal.
2025-08-09T17:46:13.023Z,1754761573.023 [OnDock:science:Science:PeakDetectPlanktivoreLMavgROI:B.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2025-08-09T17:46:13.075Z,1754761573.075 [OnDock:science:Science:EdgeDetectPlanktivoreLMavgROI:B.EdgeDetectVsDepth](DEBUG): Construct EdgeDetectVsDepth.
2025-08-09T17:46:13.157Z,1754761573.157 [OnDock:science:Science:PeakDetectPlanktivoreHMavgROI:B.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2025-08-09T17:46:13.188Z,1754761573.188 [OnDock:science:Science:EdgeDetectPlanktivoreHMavgROI:B.EdgeDetectVsDepth](DEBUG): Construct EdgeDetectVsDepth.
2025-08-09T17:46:13.266Z,1754761573.266 [OnDock:science:Science:PeakDetectPlanktivoreDiatoms:B.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2025-08-09T17:46:13.350Z,1754761573.350 [OnDock:science:Science:EdgeDetectPlanktivoreDiatoms:B.EdgeDetectVsDepth](DEBUG): Construct EdgeDetectVsDepth.
2025-08-09T17:46:13.458Z,1754761573.458 [OnDock:science:Science:PeakDetectPlanktivoreDinoflagellates:B.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2025-08-09T17:46:13.489Z,1754761573.489 [OnDock:science:Science:EdgeDetectPlanktivoreDinoflagellates:B.EdgeDetectVsDepth](DEBUG): Construct EdgeDetectVsDepth.
2025-08-09T17:46:13.567Z,1754761573.567 [OnDock:science:Science:ChlThreshTrigger:A.ValueDetect](DEBUG): Construct ValueDetect.
2025-08-09T17:46:13.626Z,1754761573.626 [OnDock:L.Execute](DEBUG): Construct Execute.
2025-08-09T17:46:13.666Z,1754761573.666 [OnDock:PeriodicCheck:CheckIP:A.Execute](DEBUG): Construct Execute.
2025-08-09T17:46:13.676Z,1754761573.676 [OnDock:PeriodicCheck:CheckIP:B.Wait](DEBUG): Construct Wait.
2025-08-09T17:46:13.678Z,1754761573.678 [OnDock:N.Docked](DEBUG): Construct.
2025-08-09T17:46:13.678Z,1754761573.678 [OnDock:N.Docked](DEBUG): Initializing internal variables to default values.
2025-08-09T17:46:13.762Z,1754761573.762 [OnDock:Detach:B.Undock](DEBUG): Construct.
2025-08-09T17:46:13.763Z,1754761573.763 [OnDock:Detach:B.Undock](DEBUG): Initializing internal variables to default values.
2025-08-09T17:46:13.935Z,1754761573.935 [MissionManager](DEBUG): 
#   Copyright (c) 2024 MBARI
#   MBARI Proprietary Information. Confidential. All Rights Reserved
#   Unauthorized copying or distribution of this file via any medium is strictly
#   prohibited.
#
#   WARNING - This file contains information whose export is restricted by the
#   Export Administration Act of 1979 (Title 50, U.S.C., App. 2401 et seq.), as
#   amended. Violations of these export laws are subject to severe civil and/or
#   criminal penalties.

mission {
  """
  Wait on dock, communicating when possible
  """

  arguments {
    DockedTime = 8 hour
      """
      Time to stay on dock. Mission timeout will be five minutes longer.
      """

    DetachedTimeout = Dock:Docked.detachTimeout
      """
      Time duration limit for determining if the vehicle is detached from the
      dock.
      """

    RangeTimeout = Dock:Docked.rangeTimeout
      """
      Maximum allowed time without acoustic range.
      """

    TrackingUpdatePeriod = 2 minute
      """
      How long to wait between acoustic queries.
      """

    NumberOfPings = 1 count
      """
      Number of pings requested each time.
      """

    TransponderCode = Dock:Dock.transponderCode
      """
      Transponder Address.
      """

    MaxDepth = BIT:CBIT.stopDepth
      """
      Maximum depth while docked.
      """

    MinAltitude = 5 meter
      """
      Minimum altitude
      """

    MinOffshore = 2 km
      """
      Minimum offshore
      """

    StayOnDock = false
      """
      If true, don't detach from dock at end of mission
      """

    IfconfigInterval = 2 hour
      """
      How long to wait between ifconfig runs
      """

    RunScience = false
      """
      If true, run Science while on the dock.
      """

    # Mission variables (do not change)
    MissionTimeout = DockedTime
      """
      Mission timeout (local variable, do not change)
      """
  }

  timeout duration=MissionTimeout

  insert Insert/StandardEnvelopes.tl
  assign in sequence StandardEnvelopes:MinAltitude = MinAltitude
  assign in sequence StandardEnvelopes:MaxDepth = MaxDepth
  assign in sequence StandardEnvelopes:MinOffshore = MinOffshore
  # End docking 5 minutes before end of mission to allow clean undock
  assign in sequence MissionTimeout = DockedTime + 5 minute

  insert Insert/BackseatDriver.tl

  insert Insert/PowerOnly.tl

  # Send data when connection exists
  aggregate dataRead {
    run while ( true )

    readDatum {
      Universal:platform_communications
    }

    behavior Guidance:Wait {
      run in sequence

      set duration = 5 minute
    }
  }

  aggregate science {
    run in parallel

    break if ( not RunScience )

    insert Insert/Science.tl
  }

  behavior Estimation:TrackAcousticContact {
    run in parallel

    set contactLabelSetting = TransponderCode
    set numberOfSamplesSetting = NumberOfPings
    set updatePeriodSetting = TrackingUpdatePeriod
  }

  syslog important "Restarting logs"

  behavior Guidance:Execute {
    run in sequence

    set command = "restart logs"
  }

  aggregate PeriodicCheck {
    run in parallel

    aggregate CheckIP {
      run in sequence

      behavior Guidance:Execute {
        run in sequence

        set command = "! ifconfig"
      }

      behavior Guidance:Wait {
        run in sequence

        set duration = IfconfigInterval
      }
    }
  }

  behavior Dock:Docked {
    run in sequence

    timeout duration=DockedTime

    set detachTimeout = DetachedTimeout
    set rangeTimeout = RangeTimeout
  }

  # Undock cleanly, instead of relying on DefaultWithUndock to come next
  aggregate Detach {
    run in sequence

    break if ( StayOnDock == true )

    syslog important "Mission ending, breaking off. Range: "
         + Estimation:TrackAcousticContact.range_to_contact~meter + "."

    behavior Dock:Undock {
      run in sequence
    }
  }
}


2025-08-09T17:46:13.944Z,1754761573.944 [CommandExec](IMPORTANT): Running ./Missions/Engineering/OnDock.tl
2025-08-09T17:46:14.079Z,1754761574.079 [MissionManager](IMPORTANT): Started mission OnDock
2025-08-09T17:46:14.080Z,1754761574.080 [OnDock] Running Loop=1
2025-08-09T17:46:14.080Z,1754761574.080 [OnDock](DEBUG): Aggregate::initialize OnDock
2025-08-09T17:46:14.080Z,1754761574.080 [OnDock:StandardEnvelopes] Running Loop=1
2025-08-09T17:46:14.080Z,1754761574.080 [OnDock:StandardEnvelopes](DEBUG): Aggregate::initialize OnDock:StandardEnvelopes
2025-08-09T17:46:14.080Z,1754761574.080 [OnDock:StandardEnvelopes:A.AltitudeEnvelope] Running Loop=1
2025-08-09T17:46:14.080Z,1754761574.080 [OnDock:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Initialize AltitudeEnvelopeComponent.
2025-08-09T17:46:14.080Z,1754761574.080 [OnDock:StandardEnvelopes:B.DepthEnvelope] Running Loop=1
2025-08-09T17:46:14.080Z,1754761574.080 [OnDock:StandardEnvelopes:B.DepthEnvelope](DEBUG): Initialize DepthEnvelopeComponent.
2025-08-09T17:46:14.080Z,1754761574.080 [OnDock:StandardEnvelopes:C.OffshoreEnvelope] Running Loop=1
2025-08-09T17:46:14.080Z,1754761574.080 [OnDock:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Initialize OffshoreEnvelopeComponent.
2025-08-09T17:46:14.081Z,1754761574.081 [OnDock:BackseatDriver] Running Loop=1
2025-08-09T17:46:14.081Z,1754761574.081 [OnDock:BackseatDriver](DEBUG): Aggregate::initialize OnDock:BackseatDriver
2025-08-09T17:46:14.081Z,1754761574.081 [OnDock:BackseatDriver:A.BackseatDriver] Running Loop=1
2025-08-09T17:46:14.081Z,1754761574.081 [OnDock:PowerOnly] Running Loop=1
2025-08-09T17:46:14.081Z,1754761574.081 [OnDock:PowerOnly](DEBUG): Aggregate::initialize OnDock:PowerOnly
2025-08-09T17:46:14.081Z,1754761574.081 [OnDock:PowerOnly:A] Running Loop=1
2025-08-09T17:46:14.081Z,1754761574.081 [OnDock:PowerOnly:B] Running Loop=1
2025-08-09T17:46:14.081Z,1754761574.081 [OnDock:PowerOnly:C] Running Loop=1
2025-08-09T17:46:14.081Z,1754761574.081 [OnDock:PowerOnly:D] Running Loop=1
2025-08-09T17:46:14.081Z,1754761574.081 [OnDock:PowerOnly:E.Wait] Running Loop=1
2025-08-09T17:46:14.081Z,1754761574.081 [OnDock:PowerOnly:E.Wait](DEBUG): Initialize Wait Component.
2025-08-09T17:46:14.082Z,1754761574.082 [OnDock:dataRead] Running Loop=1
2025-08-09T17:46:14.082Z,1754761574.082 [OnDock:dataRead](DEBUG): Aggregate::initialize OnDock:dataRead
2025-08-09T17:46:14.082Z,1754761574.082 [OnDock:dataRead:A] Running Loop=1
2025-08-09T17:46:14.082Z,1754761574.082 [OnDock:science] Running Loop=1
2025-08-09T17:46:14.086Z,1754761574.086 [OnDock:science](DEBUG): Aggregate::initialize OnDock:science
2025-08-09T17:46:14.086Z,1754761574.086 [OnDock:science:Science] Running Loop=1
2025-08-09T17:46:14.086Z,1754761574.086 [OnDock:science:Science](DEBUG): Aggregate::initialize OnDock:science:Science
2025-08-09T17:46:14.087Z,1754761574.087 [OnDock:science:Science:A] Running Loop=1
2025-08-09T17:46:14.087Z,1754761574.087 [OnDock:science:Science:B] Running Loop=1
2025-08-09T17:46:14.087Z,1754761574.087 [OnDock:science:Science:C] Running Loop=1
2025-08-09T17:46:14.087Z,1754761574.087 [OnDock:science:Science:D] Running Loop=1
2025-08-09T17:46:14.087Z,1754761574.087 [OnDock:science:Science:E] Running Loop=1
2025-08-09T17:46:14.087Z,1754761574.087 [OnDock:science:Science:F] Running Loop=1
2025-08-09T17:46:14.087Z,1754761574.087 [OnDock:science:Science:Read_Oil] Running Loop=1
2025-08-09T17:46:14.087Z,1754761574.087 [OnDock:science:Science:PeakDetectChl] Running Loop=1
2025-08-09T17:46:14.087Z,1754761574.087 [OnDock:science:Science:PeakDetectChl](DEBUG): Aggregate::initialize OnDock:science:Science:PeakDetectChl
2025-08-09T17:46:14.087Z,1754761574.087 [OnDock:science:Science:PeakDetectChl:A] Running Loop=1
2025-08-09T17:46:14.087Z,1754761574.087 [OnDock:science:Science:EdgeDetectChl] Running Loop=1
2025-08-09T17:46:14.087Z,1754761574.087 [OnDock:science:Science:EdgeDetectChl](DEBUG): Aggregate::initialize OnDock:science:Science:EdgeDetectChl
2025-08-09T17:46:14.088Z,1754761574.088 [OnDock:science:Science:EdgeDetectChl:A] Running Loop=1
2025-08-09T17:46:14.088Z,1754761574.088 [OnDock:science:Science:HighestChlPeakReport] Running Loop=1
2025-08-09T17:46:14.088Z,1754761574.088 [OnDock:science:Science:HighestChlPeakReport](DEBUG): Aggregate::initialize OnDock:science:Science:HighestChlPeakReport
2025-08-09T17:46:14.088Z,1754761574.088 [OnDock:science:Science:HighestChlPeakReport:A.PeakDetectHorizontal] Running Loop=1
2025-08-09T17:46:14.089Z,1754761574.089 [OnDock:science:Science:HighestChlPeakReport:A.PeakDetectHorizontal](INFO): Initialize.
2025-08-09T17:46:14.089Z,1754761574.089 [OnDock:science:Science:PeakDetectNO3] Running Loop=1
2025-08-09T17:46:14.089Z,1754761574.089 [OnDock:science:Science:PeakDetectNO3](DEBUG): Aggregate::initialize OnDock:science:Science:PeakDetectNO3
2025-08-09T17:46:14.089Z,1754761574.089 [OnDock:science:Science:PeakDetectNO3:A] Running Loop=1
2025-08-09T17:46:14.089Z,1754761574.089 [OnDock:science:Science:PeakDetectOil] Running Loop=1
2025-08-09T17:46:14.089Z,1754761574.089 [OnDock:science:Science:PeakDetectOil](DEBUG): Aggregate::initialize OnDock:science:Science:PeakDetectOil
2025-08-09T17:46:14.090Z,1754761574.090 [OnDock:science:Science:PeakDetectOil:A] Running Loop=1
2025-08-09T17:46:14.090Z,1754761574.090 [OnDock:science:Science:HighestOilPeakReport] Running Loop=1
2025-08-09T17:46:14.090Z,1754761574.090 [OnDock:science:Science:HighestOilPeakReport](DEBUG): Aggregate::initialize OnDock:science:Science:HighestOilPeakReport
2025-08-09T17:46:14.090Z,1754761574.090 [OnDock:science:Science:HighestOilPeakReport:A.PeakDetectHorizontal] Running Loop=1
2025-08-09T17:46:14.090Z,1754761574.090 [OnDock:science:Science:HighestOilPeakReport:A.PeakDetectHorizontal](INFO): Initialize.
2025-08-09T17:46:14.095Z,1754761574.095 [OnDock:science:Science:PeakDetectFDOM] Running Loop=1
2025-08-09T17:46:14.095Z,1754761574.095 [OnDock:science:Science:PeakDetectFDOM](DEBUG): Aggregate::initialize OnDock:science:Science:PeakDetectFDOM
2025-08-09T17:46:14.095Z,1754761574.095 [OnDock:science:Science:PeakDetectFDOM:A] Running Loop=1
2025-08-09T17:46:14.095Z,1754761574.095 [OnDock:science:Science:PeakDetectSalinity] Running Loop=1
2025-08-09T17:46:14.095Z,1754761574.095 [OnDock:science:Science:PeakDetectSalinity](DEBUG): Aggregate::initialize OnDock:science:Science:PeakDetectSalinity
2025-08-09T17:46:14.095Z,1754761574.095 [OnDock:science:Science:PeakDetectSalinity:A] Running Loop=1
2025-08-09T17:46:14.095Z,1754761574.095 [OnDock:science:Science:HighestSaltPeakReport] Running Loop=1
2025-08-09T17:46:14.095Z,1754761574.095 [OnDock:science:Science:HighestSaltPeakReport](DEBUG): Aggregate::initialize OnDock:science:Science:HighestSaltPeakReport
2025-08-09T17:46:14.095Z,1754761574.095 [OnDock:science:Science:HighestSaltPeakReport:A.PeakDetectHorizontal] Running Loop=1
2025-08-09T17:46:14.096Z,1754761574.096 [OnDock:science:Science:HighestSaltPeakReport:A.PeakDetectHorizontal](INFO): Initialize.
2025-08-09T17:46:14.096Z,1754761574.096 [OnDock:science:Science:PeakDetectPlanktivoreLMavgROI] Running Loop=1
2025-08-09T17:46:14.096Z,1754761574.096 [OnDock:science:Science:PeakDetectPlanktivoreLMavgROI](DEBUG): Aggregate::initialize OnDock:science:Science:PeakDetectPlanktivoreLMavgROI
2025-08-09T17:46:14.096Z,1754761574.096 [OnDock:science:Science:PeakDetectPlanktivoreLMavgROI:A] Running Loop=1
2025-08-09T17:46:14.096Z,1754761574.096 [OnDock:science:Science:EdgeDetectPlanktivoreLMavgROI] Running Loop=1
2025-08-09T17:46:14.096Z,1754761574.096 [OnDock:science:Science:EdgeDetectPlanktivoreLMavgROI](DEBUG): Aggregate::initialize OnDock:science:Science:EdgeDetectPlanktivoreLMavgROI
2025-08-09T17:46:14.097Z,1754761574.096 [OnDock:science:Science:EdgeDetectPlanktivoreLMavgROI:A] Running Loop=1
2025-08-09T17:46:14.097Z,1754761574.097 [OnDock:science:Science:PeakDetectPlanktivoreHMavgROI] Running Loop=1
2025-08-09T17:46:14.097Z,1754761574.097 [OnDock:science:Science:PeakDetectPlanktivoreHMavgROI](DEBUG): Aggregate::initialize OnDock:science:Science:PeakDetectPlanktivoreHMavgROI
2025-08-09T17:46:14.097Z,1754761574.097 [OnDock:science:Science:PeakDetectPlanktivoreHMavgROI:A] Running Loop=1
2025-08-09T17:46:14.097Z,1754761574.097 [OnDock:science:Science:EdgeDetectPlanktivoreHMavgROI] Running Loop=1
2025-08-09T17:46:14.097Z,1754761574.097 [OnDock:science:Science:EdgeDetectPlanktivoreHMavgROI](DEBUG): Aggregate::initialize OnDock:science:Science:EdgeDetectPlanktivoreHMavgROI
2025-08-09T17:46:14.097Z,1754761574.097 [OnDock:science:Science:EdgeDetectPlanktivoreHMavgROI:A] Running Loop=1
2025-08-09T17:46:14.097Z,1754761574.097 [OnDock:science:Science:PeakDetectPlanktivoreDiatoms] Running Loop=1
2025-08-09T17:46:14.097Z,1754761574.097 [OnDock:science:Science:PeakDetectPlanktivoreDiatoms](DEBUG): Aggregate::initialize OnDock:science:Science:PeakDetectPlanktivoreDiatoms
2025-08-09T17:46:14.097Z,1754761574.097 [OnDock:science:Science:PeakDetectPlanktivoreDiatoms:A] Running Loop=1
2025-08-09T17:46:14.097Z,1754761574.097 [OnDock:science:Science:EdgeDetectPlanktivoreDiatoms] Running Loop=1
2025-08-09T17:46:14.098Z,1754761574.098 [OnDock:science:Science:EdgeDetectPlanktivoreDiatoms](DEBUG): Aggregate::initialize OnDock:science:Science:EdgeDetectPlanktivoreDiatoms
2025-08-09T17:46:14.098Z,1754761574.098 [OnDock:science:Science:EdgeDetectPlanktivoreDiatoms:A] Running Loop=1
2025-08-09T17:46:14.098Z,1754761574.098 [OnDock:science:Science:PeakDetectPlanktivoreDinoflagellates] Running Loop=1
2025-08-09T17:46:14.098Z,1754761574.098 [OnDock:science:Science:PeakDetectPlanktivoreDinoflagellates](DEBUG): Aggregate::initialize OnDock:science:Science:PeakDetectPlanktivoreDinoflagellates
2025-08-09T17:46:14.102Z,1754761574.102 [OnDock:science:Science:PeakDetectPlanktivoreDinoflagellates:A] Running Loop=1
2025-08-09T17:46:14.102Z,1754761574.102 [OnDock:science:Science:EdgeDetectPlanktivoreDinoflagellates] Running Loop=1
2025-08-09T17:46:14.103Z,1754761574.103 [OnDock:science:Science:EdgeDetectPlanktivoreDinoflagellates](DEBUG): Aggregate::initialize OnDock:science:Science:EdgeDetectPlanktivoreDinoflagellates
2025-08-09T17:46:14.103Z,1754761574.103 [OnDock:science:Science:EdgeDetectPlanktivoreDinoflagellates:A] Running Loop=1
2025-08-09T17:46:14.103Z,1754761574.103 [OnDock:science:Science:ChlThreshTrigger] Running Loop=1
2025-08-09T17:46:14.103Z,1754761574.103 [OnDock:science:Science:ChlThreshTrigger](DEBUG): Aggregate::initialize OnDock:science:Science:ChlThreshTrigger
2025-08-09T17:46:14.103Z,1754761574.103 [OnDock:science:Science:ChlThreshTrigger:A.ValueDetect] Running Loop=1
2025-08-09T17:46:14.103Z,1754761574.103 [OnDock:science:Science:ChlThreshTrigger:A.ValueDetect](INFO): Initialize.
2025-08-09T17:46:14.104Z,1754761574.104 [OnDock:science:Science:OceanCurrent] Running Loop=1
2025-08-09T17:46:14.104Z,1754761574.104 [OnDock:science:Science:OceanCurrent](DEBUG): Aggregate::initialize OnDock:science:Science:OceanCurrent
2025-08-09T17:46:14.104Z,1754761574.104 [OnDock:science:Science:OceanCurrent:A.] Running Loop=1
2025-08-09T17:46:14.104Z,1754761574.104 [OnDock:science:Science:OceanCurrent:A.](INFO): Initializing CurrentEstimator.
2025-08-09T17:46:14.104Z,1754761574.104 [OnDock:J.] Running Loop=1
2025-08-09T17:46:14.104Z,1754761574.104 [OnDock:J.](INFO): Initializing TrackAcousticContact.
2025-08-09T17:46:14.104Z,1754761574.104 [OnDock:PeriodicCheck] Running Loop=1
2025-08-09T17:46:14.104Z,1754761574.104 [OnDock:PeriodicCheck](DEBUG): Aggregate::initialize OnDock:PeriodicCheck
2025-08-09T17:46:14.104Z,1754761574.104 [OnDock:PeriodicCheck:CheckIP] Running Loop=1
2025-08-09T17:46:14.104Z,1754761574.104 [OnDock:PeriodicCheck:CheckIP](DEBUG): Aggregate::initialize OnDock:PeriodicCheck:CheckIP
2025-08-09T17:46:14.105Z,1754761574.105 [OnDock:PeriodicCheck:CheckIP:A.Execute] Running Loop=1
2025-08-09T17:46:14.105Z,1754761574.105 [OnDock:B] Running Loop=1
2025-08-09T17:46:14.105Z,1754761574.105 [OnDock:PeriodicCheck] Running Loop=1
2025-08-09T17:46:14.106Z,1754761574.106 [OnDock:PeriodicCheck:CheckIP:A.Execute](INFO): Executing command ! ifconfig
2025-08-09T17:46:14.106Z,1754761574.106 [OnDock:PeriodicCheck:CheckIP:A.Execute] Stopped
2025-08-09T17:46:14.106Z,1754761574.106 [OnDock:PeriodicCheck:CheckIP:B.Wait] Running Loop=1
2025-08-09T17:46:14.110Z,1754761574.110 [OnDock:PeriodicCheck:CheckIP:B.Wait](DEBUG): Initialize Wait Component.
2025-08-09T17:46:14.110Z,1754761574.110 [OnDock:J.] Running Loop=1
2025-08-09T17:46:14.113Z,1754761574.113 [OnDock:science] Stopped
2025-08-09T17:46:14.113Z,1754761574.113 [OnDock:science](DEBUG): Aggregate::uninitialize OnDock:science
2025-08-09T17:46:14.113Z,1754761574.113 [OnDock:science:Science] Stopped
2025-08-09T17:46:14.114Z,1754761574.114 [OnDock:science:Science](DEBUG): Aggregate::uninitialize OnDock:science:Science
2025-08-09T17:46:14.114Z,1754761574.114 [OnDock:science:Science:A] Stopped
2025-08-09T17:46:14.114Z,1754761574.114 [OnDock:science:Science:B] Stopped
2025-08-09T17:46:14.114Z,1754761574.114 [OnDock:science:Science:C] Stopped
2025-08-09T17:46:14.114Z,1754761574.114 [OnDock:science:Science:D] Stopped
2025-08-09T17:46:14.114Z,1754761574.114 [OnDock:science:Science:E] Stopped
2025-08-09T17:46:14.114Z,1754761574.114 [OnDock:science:Science:F] Stopped
2025-08-09T17:46:14.114Z,1754761574.114 [OnDock:science:Science:Read_Oil] Stopped
2025-08-09T17:46:14.114Z,1754761574.114 [OnDock:science:Science:OceanCurrent] Stopped
2025-08-09T17:46:14.118Z,1754761574.118 [OnDock:science:Science:OceanCurrent](DEBUG): Aggregate::uninitialize OnDock:science:Science:OceanCurrent
2025-08-09T17:46:14.118Z,1754761574.118 [OnDock:science:Science:OceanCurrent:A.] Stopped
2025-08-09T17:46:14.118Z,1754761574.118 [OnDock:science:Science:PeakDetectChl] Stopped
2025-08-09T17:46:14.119Z,1754761574.119 [OnDock:science:Science:PeakDetectChl](DEBUG): Aggregate::uninitialize OnDock:science:Science:PeakDetectChl
2025-08-09T17:46:14.119Z,1754761574.119 [OnDock:science:Science:PeakDetectChl:A] Stopped
2025-08-09T17:46:14.119Z,1754761574.119 [OnDock:science:Science:EdgeDetectChl] Stopped
2025-08-09T17:46:14.119Z,1754761574.119 [OnDock:science:Science:EdgeDetectChl](DEBUG): Aggregate::uninitialize OnDock:science:Science:EdgeDetectChl
2025-08-09T17:46:14.119Z,1754761574.119 [OnDock:science:Science:EdgeDetectChl:A] Stopped
2025-08-09T17:46:14.119Z,1754761574.119 [OnDock:science:Science:HighestChlPeakReport] Stopped
2025-08-09T17:46:14.119Z,1754761574.119 [OnDock:science:Science:HighestChlPeakReport](DEBUG): Aggregate::uninitialize OnDock:science:Science:HighestChlPeakReport
2025-08-09T17:46:14.119Z,1754761574.119 [OnDock:science:Science:HighestChlPeakReport:A.PeakDetectHorizontal] Stopped
2025-08-09T17:46:14.119Z,1754761574.119 [OnDock:science:Science:HighestChlPeakReport:A.PeakDetectHorizontal](DEBUG): Uninitialize.
2025-08-09T17:46:14.119Z,1754761574.119 [OnDock:science:Science:PeakDetectNO3] Stopped
2025-08-09T17:46:14.119Z,1754761574.119 [OnDock:science:Science:PeakDetectNO3](DEBUG): Aggregate::uninitialize OnDock:science:Science:PeakDetectNO3
2025-08-09T17:46:14.119Z,1754761574.119 [OnDock:science:Science:PeakDetectNO3:A] Stopped
2025-08-09T17:46:14.119Z,1754761574.119 [OnDock:science:Science:PeakDetectOil] Stopped
2025-08-09T17:46:14.120Z,1754761574.120 [OnDock:science:Science:PeakDetectOil](DEBUG): Aggregate::uninitialize OnDock:science:Science:PeakDetectOil
2025-08-09T17:46:14.120Z,1754761574.120 [OnDock:science:Science:PeakDetectOil:A] Stopped
2025-08-09T17:46:14.120Z,1754761574.120 [OnDock:science:Science:HighestOilPeakReport] Stopped
2025-08-09T17:46:14.120Z,1754761574.120 [OnDock:science:Science:HighestOilPeakReport](DEBUG): Aggregate::uninitialize OnDock:science:Science:HighestOilPeakReport
2025-08-09T17:46:14.120Z,1754761574.120 [OnDock:science:Science:HighestOilPeakReport:A.PeakDetectHorizontal] Stopped
2025-08-09T17:46:14.120Z,1754761574.120 [OnDock:science:Science:HighestOilPeakReport:A.PeakDetectHorizontal](DEBUG): Uninitialize.
2025-08-09T17:46:14.120Z,1754761574.120 [OnDock:science:Science:PeakDetectFDOM] Stopped
2025-08-09T17:46:14.120Z,1754761574.120 [OnDock:science:Science:PeakDetectFDOM](DEBUG): Aggregate::uninitialize OnDock:science:Science:PeakDetectFDOM
2025-08-09T17:46:14.120Z,1754761574.120 [OnDock:science:Science:PeakDetectFDOM:A] Stopped
2025-08-09T17:46:14.120Z,1754761574.120 [OnDock:science:Science:PeakDetectSalinity] Stopped
2025-08-09T17:46:14.120Z,1754761574.120 [OnDock:science:Science:PeakDetectSalinity](DEBUG): Aggregate::uninitialize OnDock:science:Science:PeakDetectSalinity
2025-08-09T17:46:14.120Z,1754761574.120 [OnDock:science:Science:PeakDetectSalinity:A] Stopped
2025-08-09T17:46:14.120Z,1754761574.120 [OnDock:science:Science:HighestSaltPeakReport] Stopped
2025-08-09T17:46:14.121Z,1754761574.121 [OnDock:science:Science:HighestSaltPeakReport](DEBUG): Aggregate::uninitialize OnDock:science:Science:HighestSaltPeakReport
2025-08-09T17:46:14.121Z,1754761574.121 [OnDock:science:Science:HighestSaltPeakReport:A.PeakDetectHorizontal] Stopped
2025-08-09T17:46:14.121Z,1754761574.121 [OnDock:science:Science:HighestSaltPeakReport:A.PeakDetectHorizontal](DEBUG): Uninitialize.
2025-08-09T17:46:14.121Z,1754761574.121 [OnDock:science:Science:PeakDetectPlanktivoreLMavgROI] Stopped
2025-08-09T17:46:14.121Z,1754761574.121 [OnDock:science:Science:PeakDetectPlanktivoreLMavgROI](DEBUG): Aggregate::uninitialize OnDock:science:Science:PeakDetectPlanktivoreLMavgROI
2025-08-09T17:46:14.121Z,1754761574.121 [OnDock:science:Science:PeakDetectPlanktivoreLMavgROI:A] Stopped
2025-08-09T17:46:14.121Z,1754761574.121 [OnDock:science:Science:EdgeDetectPlanktivoreLMavgROI] Stopped
2025-08-09T17:46:14.121Z,1754761574.121 [OnDock:science:Science:EdgeDetectPlanktivoreLMavgROI](DEBUG): Aggregate::uninitialize OnDock:science:Science:EdgeDetectPlanktivoreLMavgROI
2025-08-09T17:46:14.121Z,1754761574.121 [OnDock:science:Science:EdgeDetectPlanktivoreLMavgROI:A] Stopped
2025-08-09T17:46:14.121Z,1754761574.121 [OnDock:science:Science:PeakDetectPlanktivoreHMavgROI] Stopped
2025-08-09T17:46:14.121Z,1754761574.121 [OnDock:science:Science:PeakDetectPlanktivoreHMavgROI](DEBUG): Aggregate::uninitialize OnDock:science:Science:PeakDetectPlanktivoreHMavgROI
2025-08-09T17:46:14.121Z,1754761574.121 [OnDock:science:Science:PeakDetectPlanktivoreHMavgROI:A] Stopped
2025-08-09T17:46:14.121Z,1754761574.121 [OnDock:science:Science:EdgeDetectPlanktivoreHMavgROI] Stopped
2025-08-09T17:46:14.121Z,1754761574.121 [OnDock:science:Science:EdgeDetectPlanktivoreHMavgROI](DEBUG): Aggregate::uninitialize OnDock:science:Science:EdgeDetectPlanktivoreHMavgROI
2025-08-09T17:46:14.122Z,1754761574.122 [OnDock:science:Science:EdgeDetectPlanktivoreHMavgROI:A] Stopped
2025-08-09T17:46:14.122Z,1754761574.122 [OnDock:science:Science:PeakDetectPlanktivoreDiatoms] Stopped
2025-08-09T17:46:14.122Z,1754761574.122 [OnDock:science:Science:PeakDetectPlanktivoreDiatoms](DEBUG): Aggregate::uninitialize OnDock:science:Science:PeakDetectPlanktivoreDiatoms
2025-08-09T17:46:14.122Z,1754761574.122 [OnDock:science:Science:PeakDetectPlanktivoreDiatoms:A] Stopped
2025-08-09T17:46:14.122Z,1754761574.122 [OnDock:science:Science:EdgeDetectPlanktivoreDiatoms] Stopped
2025-08-09T17:46:14.122Z,1754761574.122 [OnDock:science:Science:EdgeDetectPlanktivoreDiatoms](DEBUG): Aggregate::uninitialize OnDock:science:Science:EdgeDetectPlanktivoreDiatoms
2025-08-09T17:46:14.126Z,1754761574.126 [OnDock:science:Science:EdgeDetectPlanktivoreDiatoms:A] Stopped
2025-08-09T17:46:14.126Z,1754761574.126 [OnDock:science:Science:PeakDetectPlanktivoreDinoflagellates] Stopped
2025-08-09T17:46:14.126Z,1754761574.126 [OnDock:science:Science:PeakDetectPlanktivoreDinoflagellates](DEBUG): Aggregate::uninitialize OnDock:science:Science:PeakDetectPlanktivoreDinoflagellates
2025-08-09T17:46:14.126Z,1754761574.126 [OnDock:science:Science:PeakDetectPlanktivoreDinoflagellates:A] Stopped
2025-08-09T17:46:14.127Z,1754761574.127 [OnDock:science:Science:EdgeDetectPlanktivoreDinoflagellates] Stopped
2025-08-09T17:46:14.127Z,1754761574.127 [OnDock:science:Science:EdgeDetectPlanktivoreDinoflagellates](DEBUG): Aggregate::uninitialize OnDock:science:Science:EdgeDetectPlanktivoreDinoflagellates
2025-08-09T17:46:14.127Z,1754761574.127 [OnDock:science:Science:EdgeDetectPlanktivoreDinoflagellates:A] Stopped
2025-08-09T17:46:14.127Z,1754761574.127 [OnDock:science:Science:ChlThreshTrigger] Stopped
2025-08-09T17:46:14.127Z,1754761574.127 [OnDock:science:Science:ChlThreshTrigger](DEBUG): Aggregate::uninitialize OnDock:science:Science:ChlThreshTrigger
2025-08-09T17:46:14.127Z,1754761574.127 [OnDock:science:Science:ChlThreshTrigger:A.ValueDetect] Stopped
2025-08-09T17:46:14.127Z,1754761574.127 [OnDock:science:Science:ChlThreshTrigger:A.ValueDetect](DEBUG): Uninitialize.
2025-08-09T17:46:14.127Z,1754761574.127 [OnDock:dataRead] Running Loop=1
2025-08-09T17:46:14.128Z,1754761574.128 [OnDock:dataRead:A](DEBUG): Initialize ReadDataComponent to sense platform_communications
2025-08-09T17:46:14.128Z,1754761574.128 [OnDock:PowerOnly] Running Loop=1
2025-08-09T17:46:14.128Z,1754761574.128 [OnDock:PowerOnly:D] Stopped
2025-08-09T17:46:14.129Z,1754761574.129 [OnDock:PowerOnly:C] Stopped
2025-08-09T17:46:14.129Z,1754761574.129 [OnDock:PowerOnly:B] Stopped
2025-08-09T17:46:14.129Z,1754761574.129 [OnDock:PowerOnly:A] Stopped
2025-08-09T17:46:14.129Z,1754761574.129 [OnDock:BackseatDriver] Running Loop=1
2025-08-09T17:46:14.129Z,1754761574.129 [OnDock:B] Stopped
2025-08-09T17:46:14.129Z,1754761574.129 [OnDock:C] Running Loop=1
2025-08-09T17:46:14.129Z,1754761574.129 [OnDock:StandardEnvelopes] Running Loop=1
2025-08-09T17:46:14.129Z,1754761574.129 [OnDock:StandardEnvelopes:C.OffshoreEnvelope] Running Loop=1
2025-08-09T17:46:14.130Z,1754761574.130 [OnDock:StandardEnvelopes:B.DepthEnvelope] Running Loop=1
2025-08-09T17:46:14.130Z,1754761574.130 [OnDock:StandardEnvelopes:A.AltitudeEnvelope] Running Loop=1
2025-08-09T17:46:14.151Z,1754761574.151 [CommandExec](IMPORTANT): got command ! ifconfig
2025-08-09T17:46:14.506Z,1754761574.506 [CommandExec](IMPORTANT): eth0      Link encap:Ethernet  HWaddr 50:2D:F4:07:45:37  
            UP BROADCAST RUNNING MULTICAST  MTU:1500  Metric:1
            RX packets:6007 errors:0 dropped:0 overruns:0 frame:0
            TX packets:7835 errors:0 dropped:0 overruns:0 carrier:0
            collisions:32 txqueuelen:1000 
            RX bytes:2212848 (2.1 Mb)  TX bytes:1795234 (1.7 Mb)
            Interrupt:29 
  
  lo        Link encap:Local Loopback  
            inet addr:127.0.0.1  Mask:255.0.0.0
            UP LOOPBACK RUNNING MULTICAST  MTU:16436  Metric:1
            RX packets:706 errors:0 dropped:0 overruns:0 frame:0
            TX packets:706 errors:0 dropped:0 overruns:0 carrier:0
            collisions:0 txqueuelen:0 
            RX bytes:63924 (62.4 Kb)  TX bytes:63924 (62.4 Kb)
  
  
2025-08-09T17:46:14.849Z,1754761574.849 [OnDock:C] Stopped
2025-08-09T17:46:14.850Z,1754761574.850 [OnDock:D] Running Loop=1
2025-08-09T17:46:15.190Z,1754761575.190 [OnDock:D] Stopped
2025-08-09T17:46:15.190Z,1754761575.190 [OnDock:E] Running Loop=1
2025-08-09T17:46:15.661Z,1754761575.661 [OnDock:E] Stopped
2025-08-09T17:46:15.661Z,1754761575.661 [OnDock:K] Running Loop=1
2025-08-09T17:46:16.117Z,1754761576.117 [OnDock:K](IMPORTANT): Restarting logs
2025-08-09T17:46:16.117Z,1754761576.117 [OnDock:K] Stopped
2025-08-09T17:46:16.117Z,1754761576.117 [OnDock:L.Execute] Running Loop=1